Shell assembly, optical distance measuring device and mobile robot

Abstract

The utility model discloses a shell assembly, an optical distance measuring device and a mobile robot, and the shell assembly comprises a first light shielding part, a second light shielding part and a third light shielding part. The first shading part forms a first space for accommodating a rotating mirror assembly of the optical distance measuring device, and the rotating mirror assembly rotates around a first axis; the second shading part is connected to one side of the first shading part; the third shading part is connected to one side, deviating from the first shading part, of the second shading part and is provided with a first side wall; wherein the front side of the shell assembly is provided with a first light guide port, the first light guide port is located on the front side of the first shading part, the plane which passes through the first axis and extends front and back is a middle plane, the first side wall is located on one side of the middle plane, and the first side wall is gradually away from the middle plane in the direction from back to front. In the scheme, the first side wall can reflect the stray light towards the direction far away from the light machine assembly, so that the stray light received by the light machine assembly is reduced, and the measurement precision is improved.

Description

Technical Field

[0001] This application relates to the field of optical ranging, and in particular to a housing assembly, an optical ranging device, and a mobile robot. Background Technology

[0002] An optical ranging device includes an optomechanical assembly and a rotating mirror assembly. The optomechanical assembly emits and receives a light beam; the rotating mirror assembly reflects the light beam emitted by the optomechanical assembly and reflects light beams reflected by external objects back to the optomechanical assembly for reception. The rotating mirror assembly rotates around its axis, allowing the light beam emitted by the optomechanical assembly to be reflected in different directions, thereby increasing the scanning range of the optical ranging device. After emitting and receiving the light beam reflected from external objects, the optical ranging device analyzes parameters such as the angle of the reflected light beam, the timing of the light beam emitted by the optomechanical assembly, and the timing of the light beam received by the optomechanical assembly to obtain the relative position parameters between the external object and the optical ranging device.

[0003] In related technologies, the outer shell of the optical ranging device has a simple structure and lacks corresponding light-shielding design. This allows the light reflected by the rotating mirror assembly to be reflected by the outer shell of the optical ranging device before being exited, and then mistakenly received by the optomechanical assembly, thus causing interference and reducing the accuracy of the optical ranging device in distance measurement. Utility Model Content

[0004] The main objective of this application is to propose a housing assembly, an optical ranging device, and a mobile robot that can improve the accuracy of ranging.

[0005] To achieve the above objectives, embodiments of the first aspect of this application provide a housing assembly for an optical ranging device.

[0006] The optical ranging device includes a rotating mirror assembly and an optomechanical assembly. The rotating mirror assembly is rotatable about a first axis. The housing assembly includes:

[0007] A first light-shielding part, the side of the first light-shielding part facing the first axis forms a first space, the first space is suitable for setting the rotating mirror assembly;

[0008] The second light-shielding part is connected to one side of the first light-shielding part along the first axis in the circumferential direction; and

[0009] The third light-shielding part is connected to the side of the second light-shielding part that is away from the first light-shielding part;

[0010] The housing assembly is provided with a first light guide port, which connects the first space and the space outside the housing assembly. The light beam is adapted to be emitted from the optomechanical assembly in sequence, pass through the second light shield to enter the first space, be reflected by the rotating mirror assembly in the first space, and pass through the first light guide port to enter the space outside the housing assembly. The light beam is also adapted to be reflected by an object in the space outside the housing assembly in sequence, pass through the first light guide port to enter the first space, be reflected by the rotating mirror assembly in the first space, and pass through the second light shield to be received by the optomechanical assembly.

[0011] The first light guide is located in front of the first light shield; the plane that passes through the first axis and extends back and forth is the middle plane; the third light shield has a first sidewall, the first sidewall faces the middle plane and is located on the side of the middle plane close to the second light shield; along the direction from back to front, the first sidewall gradually moves away from the middle plane.

[0012] In some embodiments, the housing assembly further includes a fourth light-shielding portion connected to the side of the first light-shielding portion away from the second light-shielding portion. The fourth light-shielding portion has a second sidewall opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. Along the direction from back to front, the second sidewall gradually moves away from the intermediate plane.

[0013] And / or,

[0014] The housing assembly also includes a fourth light-shielding part, which is connected to the side of the first light-shielding part away from the second light-shielding part. The fourth light-shielding part has a second sidewall, which is opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. Along the direction from back to front, the distance between the first sidewall and the second sidewall gradually increases, and / or the first sidewall and the second sidewall are symmetrically or asymmetrically arranged with respect to the intermediate plane.

[0015] And / or,

[0016] The first sidewall is a planar wall, and the extended plane of the first sidewall passes through the first axis or is located behind the first axis;

[0017] And / or,

[0018] The housing assembly also includes a fourth light-shielding part, which is connected to the side of the first light-shielding part away from the second light-shielding part. The fourth light-shielding part has a second sidewall, which is opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. The second sidewall is a planar wall, and the extended plane of the second sidewall passes through the first axis or is located behind the first axis.

[0019] And / or,

[0020] The housing assembly also includes a fourth light-shielding part, which is connected to the side of the first light-shielding part away from the second light-shielding part. The fourth light-shielding part has a second sidewall, which is opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. Both the first sidewall and the second sidewall are planar walls, and the included angle β between the extended plane of the first sidewall and the extended plane of the second sidewall satisfies: 90°≤β≤150°.

[0021] In some embodiments, the first light-shielding portion has a first arcuate wall disposed around a second axis, the second axis being parallel to, coincident with, or intersecting the first axis.

[0022] In some embodiments, the side of the second light-shielding portion facing the first space has a second arcuate wall arranged around a second axis;

[0023] And / or,

[0024] The second light-shielding part has a second arc-shaped wall arranged around a second axis on the side facing the first space, and the second arc-shaped wall is connected to the first arc-shaped wall.

[0025] And / or,

[0026] The second light-shielding part has a second arc-shaped wall arranged around the second axis on the side facing the first space. The second arc-shaped wall and the first arc-shaped wall together form a third arc-shaped wall. The central angle α corresponding to the third arc-shaped wall satisfies: 210°≤α≤280°.

[0027] In some embodiments, the first arc-shaped wall is recessed with a first arc-shaped groove arranged around the second axis. The first arc-shaped groove is adapted to avoid the first light-blocking member of the rotating mirror assembly. In a direction perpendicular to the second axis, the first arc-shaped groove is adapted to be opposite to the first light-blocking member of the rotating mirror assembly. The first arc-shaped groove is adapted to accommodate the edge portion of the first light-blocking member, or the edge portion of the first light-blocking member is adapted to be arranged outside the first arc-shaped groove.

[0028] And / or,

[0029] The second arc-shaped wall is recessed with a second arc-shaped groove arranged around the second axis. The second arc-shaped groove is adapted to avoid the first light-blocking member of the rotating mirror assembly. In the direction perpendicular to the first axis, the second arc-shaped groove is adapted to be opposite to the first light-blocking member of the rotating mirror assembly. The second arc-shaped groove is adapted to accommodate the edge portion of the first light-blocking member, or the edge portion of the first light-blocking member is adapted to be arranged outside the second arc-shaped groove.

[0030] And / or,

[0031] The housing assembly also includes a front side portion, which is connected to the front side of the third light-shielding portion. The front side portion is provided with a second light guide port that communicates with the first light guide port. The front side portion includes a second light-shielding member that is transversely inserted through the second light guide port. The second light-shielding member is provided with a fourth arc-shaped wall facing the first space. A third arc-shaped groove is recessed on the side of the fourth arc-shaped wall facing the first space and arranged around the second axis. In a direction perpendicular to the first axis, the third arc-shaped groove is adapted to be opposite to the first light-shielding member of the rotating mirror assembly. The edge portion of the first light-shielding member is adapted to be arranged outside the third arc-shaped groove or accommodated in the third arc-shaped groove.

[0032] In some embodiments, the second light-shielding portion is provided with an opening communicating with the first space;

[0033] The light beam emitted by the optomechanical assembly is adapted to pass through the opening into the first space, and the light beam reflected by an object in the space outside the housing assembly and the rotating mirror assembly is adapted to pass through the opening and be received by the optomechanical assembly; and / or, the opening includes a first hole and a second hole respectively communicating with the first space, the first hole and the second hole being spaced apart along a direction parallel to the first axis, the light beam emitted by the optomechanical assembly is adapted to pass through the first hole into the first space, and the light beam reflected by an object in the space outside the housing assembly and the rotating mirror assembly is adapted to pass through the second hole and be received by the optomechanical assembly;

[0034] And / or,

[0035] The housing assembly also includes a receiving portion connected to the side of the third light-shielding portion away from the second light-shielding portion. The second light-shielding portion, the third light-shielding portion, and the receiving portion together define a second space. The second space is located on the side of the second light-shielding portion away from the first space. The second space is suitable for accommodating the optical engine assembly. The opening of the second light-shielding portion connects the first space and the second space.

[0036] In some embodiments, the first light-shielding part, the second light-shielding part, and the third light-shielding part are integrally formed;

[0037] or,

[0038] The housing assembly also includes a fourth light-shielding part, which is connected to the first light-shielding part on the side away from the second light-shielding part. The fourth light-shielding part has a second sidewall, which is opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. The first light-shielding part, the second light-shielding part, the third light-shielding part, and the fourth light-shielding part are integrally formed.

[0039] or,

[0040] The housing assembly further includes a fourth light-shielding portion connected to the side of the first light-shielding portion away from the second light-shielding portion. The fourth light-shielding portion has a second sidewall opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. The housing assembly also includes a receiving portion connected to the side of the third light-shielding portion away from the second light-shielding portion. The second light-shielding portion, the third light-shielding portion, and the receiving portion together define a second space. The second space is located on the side of the second light-shielding portion away from the first space and is suitable for accommodating the optical engine assembly. The first light-shielding portion, the second light-shielding portion, the third light-shielding portion, the fourth light-shielding portion, and the receiving portion are integrally formed.

[0041] In some embodiments, the housing assembly further includes a front side portion, the front side of the third light-shielding portion having a first abutting wall, the front side portion being located on the front side of the third light-shielding portion and abutting against the first abutting wall, the front side portion having a second light guide opening communicating with the first light guide opening; the front side portion includes a fifth light-shielding portion, the fifth light-shielding portion being connected to the side of the third light-shielding portion away from the second light-shielding portion, the fifth light-shielding portion having a third sidewall facing the second light guide opening; the first sidewall is a planar wall, the third sidewall is a planar wall, and the third sidewall is parallel or coplanar with the first sidewall, the third sidewall and the first sidewall are spaced apart or connected to each other;

[0042] And / or,

[0043] The housing assembly further includes a fourth light-shielding part, which is connected to the side of the first light-shielding part away from the second light-shielding part. The fourth light-shielding part has a second sidewall opposite to the first sidewall, which extends in a direction away from the first axis. The housing assembly also includes a front side, where the front side of the fourth light-shielding part is provided with a second abutting wall. The front side is located on the front side of the fourth light-shielding part and abuts against the second abutting wall. The front side is provided with a second light guide opening that connects to the first light guide opening. The front side includes a sixth light-shielding part, which is connected to the side of the fourth light-shielding part away from the first light-shielding part. The sixth light-shielding part has a fourth sidewall facing the second light guide opening. Both the second and fourth sidewalls are planar walls. The second and fourth sidewalls are parallel or coplanar, and the second and fourth sidewalls are spaced apart or connected to each other.

[0044] In some embodiments, the housing assembly further includes a front side portion connected to the front side of the third light-shielding portion, and the front side portion is provided with a second light guide opening communicating with the first light guide opening. The front side portion includes a second light-shielding member transversely passing through the second light guide opening. The second light-shielding member is provided with a fourth arc-shaped wall facing the first space. The groove defined by the fourth arc-shaped wall is adapted to accommodate the front portion of the first light-shielding member of the rotating mirror assembly.

[0045] And / or,

[0046] The housing assembly also includes a front side portion, which is connected to the front side of the third light-shielding portion. The front side portion is provided with a second light guide port that communicates with the first light guide port. The front side portion includes a second light-shielding member that is transversely inserted through the second light guide port. The second light guide port includes an inlet port and an outlet port located on both sides of the second light-shielding member. The light beam emitted by the optomechanical assembly is reflected by the rotating mirror assembly and then led out through the outlet port. The light beam reflected by an external object is introduced into the first space through the inlet port and reflected by the rotating mirror assembly to be received by the optomechanical assembly.

[0047] And / or,

[0048] The housing assembly also includes a front side portion, which is connected to the front side of the third light-shielding portion. The front side portion is provided with a second light guide port that communicates with the first light guide port. The front side portion includes a second light-shielding member that is transversely inserted through the second light guide port. The second light guide port includes an inlet port and an outlet port located on both sides of the second light-shielding member. The light beam emitted by the optomechanical assembly is reflected by the rotating mirror assembly and then led out through the outlet port. The light beam reflected by an external object is guided into the first space through the inlet port and reflected by the rotating mirror assembly to be received by the optomechanical assembly. The side of the second light-shielding member facing the outlet port is provided with a first inclined surface and a second inclined surface. The second inclined surface is located on the side of the first inclined surface away from the third light-shielding portion. The first inclined surface is inclined towards the inlet port in a direction that gradually moves away from the second inclined surface, and / or the second inclined surface is inclined towards the inlet port in a direction that gradually moves away from the first inclined surface.

[0049] An embodiment of the second aspect of this application also provides an optical ranging device, comprising:

[0050] The housing assembly of any of the above;

[0051] A rotating mirror assembly, disposed in the first space, is configured to rotate about a first axis as a central axis; and

[0052] The optomechanical assembly is located on the side of the second light-shielding part away from the first space. The optomechanical assembly is used to emit and receive light beams.

[0053] In some embodiments, the first light-shielding part has a first arc-shaped wall arranged around a second axis, the second axis being parallel, coincident, or intersecting the first axis, and the diameter D1 corresponding to the first arc-shaped wall and the maximum rotational outer diameter D2 of the rotating mirror assembly satisfying: 0mm≤D1-D2≤1mm.

[0054] In some embodiments, the rotating mirror assembly includes a first reflector, a second reflector, and a first light-blocking member. The first light-blocking member divides the first space into a first chamber and a second chamber distributed along a direction parallel to the first axis. The first reflector is located in the first chamber, and the second reflector is located in the second chamber. The first reflector is used to reflect the light beam emitted by the optomechanical assembly, and the second reflector is used to reflect the light beam reflected by the object to be received by the optomechanical assembly.

[0055] The reflecting surface of the first mirror is disposed at a distance from or across the first axis; the reflecting surface of the second mirror is disposed at a distance from or across the first axis.

[0056] A portion of the reflecting surface of the first mirror is parallel to the first axis, and / or a portion of the reflecting surface of the first mirror is inclined relative to the first axis.

[0057] The reflecting surface of the second mirror is parallel to the first axis, and / or the reflecting surface of the second mirror is inclined relative to the first axis.

[0058] In some embodiments, the optomechanical assembly includes a first emitting element and a second emitting element;

[0059] The optical axis of the beam emitted by the first emitting element is perpendicular to the first axis and intersects with or is spaced from the first axis;

[0060] The second emitting element is tilted relative to the first axis along the optical axis of the emitted beam, and intersects with or is spaced from the first axis.

[0061] An embodiment of the second aspect of this application also provides a mobile robot, comprising:

[0062] The optical ranging device of any of the above; and

[0063] The main body of the robot, with the optical ranging device connected to it.

[0064] Compared with the prior art, the beneficial effects of this application are:

[0065] In the technical solution of this application, a housing assembly is used to shield the rotating mirror assembly of the optical ranging device from light. The housing assembly includes a first light-shielding part, a second light-shielding part, and a third light-shielding part. The first light-shielding part has a first space on one side, and the rotating mirror assembly is disposed within the first space and rotates around a first axis. The second light-shielding part is connected to one circumferential side of the first light-shielding part. The light beam is adapted to be emitted sequentially from the optomechanical assembly, pass through the second light-shielding part into the first space, be reflected by the rotating mirror assembly within the first space, pass through the first light guide port into the space outside the housing assembly, and the light beam is also adapted to be reflected sequentially by an object in the space outside the housing assembly, pass through the first light guide port into the first space, be reflected by the rotating mirror assembly within the first space, pass through the second light-shielding part, and be received by the optomechanical assembly. The third light-shielding part is connected to the side of the second light-shielding part away from the first light-shielding part, and the third light-shielding part has a first sidewall. A plane extending forward and backward through the first axis is a central plane, and the first sidewall is disposed on one side of the central plane, gradually moving away from the central plane in a direction from back to front. This design allows the light beam reflected by the rotating mirror assembly to be reflected back by other structures located between the rotating mirror assembly and the housing assembly, and then reflected away from the optomechanical assembly by the first sidewall. This reduces the probability of stray light being reflected and received by the optomechanical assembly. At the same time, the first sidewall, which is inclined outward relative to the middle plane, can avoid the effective scanning angle of the light beam, thereby ensuring the ranging accuracy and effective ranging range of the optical ranging device. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0067] Figure 1 This is a three-dimensional schematic diagram of an optical ranging device from a first perspective in one embodiment of this application;

[0068] Figure 2 This is a top-view cross-sectional schematic diagram of an optical ranging device in one embodiment of this application;

[0069] Figure 3 This is a top view of the optical ranging device after removing the front side portion in one embodiment of this application.

[0070] Figure 4 This is a perspective view of the optical ranging device in one embodiment of this application.

[0071] Figure 5 This is an exploded view of an optical ranging device in one embodiment of this application;

[0072] Figure 6 This is an exploded view of the housing assembly in one embodiment of this application;

[0073] Figure 7 This is a three-dimensional schematic diagram of the optical ranging device after removing the front side portion in one embodiment of this application;

[0074] Figure 8 This is a cross-sectional schematic diagram of an optical ranging device in one embodiment of this application;

[0075] Figure 9 for Figure 8 A magnified view of a portion of point A in the middle.

[0076] Explanation of icon numbers:

[0077] Optical ranging device 1;

[0078] Housing assembly 10;

[0079] First light-shielding part 100; first arc-shaped wall 110; first arc-shaped groove 111; first arc-shaped protrusion 112;

[0080] Second light-shielding part 200; second arc-shaped wall 210; second arc-shaped groove 211; second arc-shaped protrusion 220;

[0081] Hole 230; First hole 231; Second hole 232;

[0082] Third light-shielding part 300; First side wall 310; First supporting wall 320;

[0083] Fourth light-shielding part 400; Second side wall 410; Second supporting wall 420;

[0084] 500 cubic meters of space;

[0085] First space 600; First chamber 610; Second chamber 620;

[0086] Second space 700;

[0087] First light guide port: 800;

[0088] Front side 900; Second light guide 910; Light inlet 911; Light outlet 912; Fifth light shield 920; Third side wall 921; Sixth light shield 930; Fourth side wall 931; Second light blocking element 940; Fourth arc-shaped wall 941; Third arc-shaped groove 942; First inclined surface 943; Second inclined surface 944; Through groove 945; Outer peripheral plate 950; Light-transmitting protective plate 960;

[0089] Rotating mirror assembly 20; First light-blocking component 21; First reflecting mirror 22; Second reflecting mirror 23;

[0090] Optomechanical component 30;

[0091] Second axis 40;

[0092] First axis 50;

[0093] The middle plane is 60 degrees.

[0094] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0095] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0096] In related technologies, a light-transmitting protective plate is installed at the light outlet to provide good protection for the internal components of the optical rangefinder. However, due to the simple structure of the outer shell of the optical rangefinder, there is no corresponding light-shielding design. As a result, before the light reflected by the rotating mirror assembly exits the optical rangefinder, some of the light may be reflected by the protective plate of the optical rangefinder and misreceived by the optomechanical assembly, while some of the light may be reflected by the outer shell of the rotating mirror assembly and misreceived by the optomechanical assembly. The misreceived light interferes with the data analysis of the optical rangefinder, thereby reducing the accuracy of the optical rangefinder's distance measurement.

[0097] In view of this, see Figure 1 - Figure 9 This application provides a housing assembly 10 for an optical ranging device 1, which reduces stray light received by the optomechanical assembly 30 of the optical ranging device 1, thereby improving the ranging accuracy of the optical ranging device 1. The optical ranging device 1 can be used in any device requiring optical ranging, such as vehicles, drones, ships, automated production lines, humanoid robots, or robotic vacuum cleaners. For ease of description, the following embodiments use a robotic vacuum cleaner as an example.

[0098] See Figure 1 - Figure 2 ,as well as Figure 5 - Figure 6The optical ranging device 1 includes a housing assembly 10, a rotating mirror assembly 20, and an optomechanical assembly 30. The optomechanical assembly 30 is used to emit and receive a light beam; the rotating mirror assembly 20 is used to reflect the light beam emitted by the optomechanical assembly 30 and to reflect the light beam reflected by an external object back to be received by the optomechanical assembly 30. By rotating around a first axis 50, the rotating mirror assembly 20 can reflect the light beam emitted by the optomechanical assembly 30 in different directions, thereby increasing the scanning range of the optical ranging device 1. After emitting and receiving the light beam reflected back by the external object, the optical ranging device 1 analyzes and processes parameters such as the angle of the light beam reflected by the rotating mirror assembly 20, the timing of the light beam emitted by the optomechanical assembly 30, and the timing of the light beam received by the optomechanical assembly 30 to obtain the relative position parameters between the external object and the optical ranging device 1.

[0099] The rotating mirror assembly 20 is disposed within the housing assembly 10, such that the housing assembly 10 is at least used for light-shielding the rotating mirror assembly 20. The housing assembly 10 is provided with a first light guide port 800, which is used to guide the light beam reflected by the rotating mirror assembly 20 or to acquire the light beam reflected by an external object and reflected by the rotating mirror assembly 20 to be received by the optomechanical assembly 30. Specifically, the housing assembly 10 includes a first light-shielding part 100, a second light-shielding part 200, and a third light-shielding part 300.

[0100] See Figure 2 - Figure 6 A first light-shielding part 100 forms a first space 600 facing the first axis 50, and a rotating mirror assembly 20 is disposed within the first space 600. A second light-shielding part 200 is connected to one side of the first light-shielding part 100 along the circumference of the first axis 50. The light beam emitted by the optomechanical assembly 30 passes through the second light-shielding part 200 and is reflected by the rotating mirror assembly 20 within the first space 600. The light beam reflected by an external object is reflected by the rotating mirror assembly 20 within the first space 600 and then passes through the second light-shielding part 200 and is received by the optomechanical assembly 30. A third light-shielding part 300 is connected to the side of the second light-shielding part 200 away from the first light-shielding part 100, and the third light-shielding part 300 has a first sidewall 310. A plane extending forward and backward through the first axis 50 is a central plane 60, and the first sidewall 310 is located on one side of the central plane 60, specifically on the side of the central plane 60 closer to the second light-shielding part 200. Along the direction from back to front, the first sidewall 310 gradually moves away from the central plane 60. In this scheme, when the light beam reflected by the rotating mirror assembly 20 is reflected back by other structures located between the rotating mirror assembly 20 and the housing assembly 10, it can be reflected by the first sidewall 310 in a direction away from the optomechanical assembly 30, thereby reducing the probability of this stray light being reflected and received by the optomechanical assembly 30. At the same time, the first sidewall 310, which is inclined outward relative to the middle plane 60, can avoid the effective scanning angle of the light beam, thereby ensuring the ranging accuracy and effective ranging range of the optical ranging device 1.

[0101] See Figure 2 as well as Figure 5 In some embodiments, the first light-shielding part 100 has a first arc-shaped wall 110 arranged around the second axis 40. The side of the first arc-shaped wall 110 facing the second axis 40 forms a first space 600, which is suitable for accommodating the rotating mirror assembly 20. In other words, when the housing assembly 10 is assembled with the rotating mirror assembly 20, the first arc-shaped wall 110 is arranged in an arc around the rotating mirror assembly 20, so that the distance between the first arc-shaped wall 110 and the rotating mirror assembly 20 at various points along the circumference of the rotating mirror assembly 20 can be smaller and more uniform. The surrounding angle of the first arc-shaped wall 110 relative to the rotating mirror assembly 20 can be determined according to actual needs. For example, when the light emission angle of the optical rangefinder 1 is large, the surrounding angle of the first arc-shaped wall 110 can be reduced accordingly to avoid the light beam; when the light emission angle of the optical rangefinder 1 is small, the surrounding angle of the first arc-shaped wall 110 can be increased accordingly to ensure the light-shielding effect.

[0102] The specific shape of the first arc-shaped wall 110 can be designed according to actual needs. For example, the projection of the first arc-shaped wall 110 onto a plane perpendicular to the second axis 40 can be a circular arc segment or an elliptical line segment. In this embodiment, the first arc-shaped wall 110 is a circular arc wall, which makes the processing and forming of the first arc-shaped wall 110 simpler. At the same time, the first arc-shaped wall 110 can also better fit the shape swept by the rotating mirror assembly 20 during rotation, so that the first arc-shaped wall 110 can get closer to the outer periphery of the rotating mirror assembly 20, thereby reducing the gap between the first arc-shaped wall 110 and the rotating mirror assembly 20 without interfering with the rotation of the rotating mirror assembly 20. Compared to the scheme where the sidewall of the first light-shielding part 100 facing the rotating mirror assembly 20 is composed of multiple mutually perpendicular planar walls, in this scheme the gaps between the rotating mirror assembly 20 and the first arc-shaped wall 110 are relatively uniform and can be minimized. As a result, the first light-shielding part 100 has a better light-shielding effect, and stray light is less likely to be reflected from the first arc-shaped wall 110 and received by the optomechanical assembly 30. This reduces stray light interference to the optomechanical assembly 30 and improves the ranging accuracy of the optical ranging device 1.

[0103] In some embodiments, the first light-shielding part 100 can be an arc-shaped plate arranged around the second axis 40, that is, the side wall of the first light-shielding part 100 away from the first arc-shaped wall 110 is also an arc-shaped wall, and the distance between the arc-shaped wall and the first arc-shaped wall 110 is the same, so that the thickness of the first light-shielding part 100 in the radial direction along the second axis 40 can be uniformly set. The above design can reduce the material used in the first light-shielding part 100 on the one hand, and reduce the volume of the first light-shielding part 100 on the other hand, thereby reducing the space occupied by the first light-shielding part 100 and reducing the weight of the first light-shielding part 100. In other embodiments, the first light-shielding part 100 can be in the form of a block, with only the side wall facing the rotating mirror assembly 20 having an arc-shaped wall surface, and the remaining outer wall surfaces of the first light-shielding part 100 being flat walls. Along the circumference of the second axis 40, the thickness of the first light-shielding part 100 in the radial direction along the second axis 40 can be varied segment by segment. For example, the thickness of the first light-shielding part 100 in the radial direction along the second axis 40 can first decrease and then increase. This design can improve the structural strength of the first light-shielding part 100.

[0104] For ease of description, the front-back direction is defined as follows: a straight line perpendicular to the second axis 40 and parallel to the front-back direction is parallel to or intersects the central axis of the light beam exiting the first light guide 800 in a vertical plane. The first light guide 800 is located on the front side of the first light-shielding part 100, and the first light-shielding part 100 is located on the rear side of the first light guide 800.

[0105] See Figure 2 as well as Figure 5The second light-shielding part 200 is connected to one side of the first light-shielding part 100 along the second axis 40. The second light-shielding part 200 is provided with an opening 230 communicating with the first space 600. The light beam is emitted from the optomechanical assembly 30, passes through the opening 230 into the first space 600, is reflected by the rotating mirror assembly 20 in the first space 600, passes through the first light guide port 800 and enters the space outside the housing assembly 10. The light beam is also reflected by an object in the space outside the housing assembly 10, passes through the first light guide port 800 into the first space 600, is reflected by the rotating mirror assembly 20 in the first space 600, passes through the opening 230 and is received by the optomechanical assembly 30. In this design, the opening 230 of the second light-shielding part 200 is used for normal light transmission between the optomechanical assembly 30 and the rotating mirror assembly 20. The remaining portion of the second light-shielding part 200, excluding the opening 230, is positioned between the rotating mirror assembly 20 and the optomechanical assembly 30 to block stray light reflected from the rotating mirror assembly 20 or other housing structures of the optical ranging device 1. Compared to a design where no second light-shielding part 200 is provided between the optomechanical assembly 30 and the rotating mirror assembly 20 (i.e., no obstruction is provided between the optomechanical assembly 30 and the rotating mirror assembly 20), the second light-shielding part 200 in this design further prevents stray light from being reflected and received by the optomechanical assembly 30, thereby further improving the ranging accuracy of the optical ranging device 1.

[0106] In some embodiments, a light-transmitting element (not shown) may be disposed within the opening 230 of the second light-shielding portion 200, through which light beams emitted or received by the optomechanical assembly 30 can pass. The optomechanical assembly 30 can receive or emit light beams through the opening 230, while the portion outside the opening 230 is used for light-shielding. The second light-shielding portion 200 and the light-transmitting element effectively block the light beams between the optomechanical assembly 30 and the rotating mirror assembly 20, preventing foreign objects on the rotating mirror assembly 20 side of the second light-shielding portion 200 from being guided to the optomechanical assembly 30 side through the opening 230. In other embodiments, the light-transmitting element may not be disposed within the opening 230, thereby reducing the number of components and lowering material costs.

[0107] The connection method between the second light-shielding part 200 and the first light-shielding part 100 can be determined according to actual needs. For example, the second light-shielding part 200 and the first light-shielding part 100 can be connected by snap-fit, adhesive bonding, welding, or integral molding. In this embodiment, the second light-shielding part 200 and the first light-shielding part 100 are integrally connected, specifically by integral injection molding. The integral injection molding structure not only simplifies the production process but also enhances the connection stability between the first light-shielding part 100 and the second light-shielding part 200.

[0108] See Figure 2 - Figure 3 ,as well as Figure 5In some embodiments, the second light-shielding portion 200 has a second arcuate wall 210 disposed around the second axis 40 on the side facing the first space 600. The second arcuate wall 210 can be a circular arcuate wall or a curved wall of other shapes. The second arcuate wall 210 can be connected to or spaced apart from the first arcuate wall 110 (e.g., the second arcuate wall 210 is closer to or further away from the second axis 40 along the radial direction of the second axis 40). When the first arcuate wall 110 and the second arcuate wall 210 are connected to each other and both the first arcuate wall 110 and the second arcuate wall 210 are circular arcuate walls, the corresponding diameters of the first arcuate wall 110 and the second arcuate wall 210 can be equal, and the second arcuate wall 210 and the first arcuate wall 110 together form a third arcuate wall, which is also a circular arcuate wall. In this scheme, the gaps of the rotating mirror assembly 20 at various points along the circumference of the second axis 40 can be more uniform, thereby reducing stray light being reflected to the optomechanical assembly 30. Furthermore, when the third arc-shaped wall formed by the second arc-shaped wall 210 and the first arc-shaped wall 110 is a circular arc-shaped wall, in some embodiments, the central angle α corresponding to the third arc-shaped wall can satisfy: 210°≤α≤280°. For example, the central angle α corresponding to the third arc-shaped wall can be 210°, 220°, 230°, 240°, 250°, 260°, 270°, or 280°, etc. When 210°≤α≤280°, it can better match the field of view requirements of the beam emanating from the first light guide 800, achieving a better light-shielding effect.

[0109] See Figure 5 - Figure 6 In some embodiments, the opening 230 of the second light-shielding part 200 includes a first hole 231 and a second hole 232 respectively communicating with the first space 600. The first hole 231 and the second hole 232 are spaced apart along a direction parallel to the second axis 40. The light beam emitted by the optomechanical component 30 passes through the first hole 231 to the first space 600, and the light beam reflected by external objects and the rotating mirror component 20 is suitable to pass through the second hole 232 and be received by the optomechanical component 30. In this scheme, the light beam emitted and the light beam received by the optomechanical component 30 pass through different openings 230 on the second light-shielding part 200, so that the second light-shielding part 200 can maximize the blocking of the space between the optomechanical component 30 and the rotating mirror component 20 that does not need to guide light, thereby improving the light-shielding effect of the second light-shielding part 200. In other embodiments, the opening 230 may include only one hole, and the light beam emitted and the light beam received by the optomechanical component 30 both pass through the same hole. In this scheme, the processing of the opening 230 of the second light-shielding part 200 is simpler.

[0110] The specific shape and tilt angle of the first sidewall 310 can be adjusted according to actual needs. The first sidewall 310 can be a planar wall or an arc-shaped wall. When the first sidewall 310 is a planar wall, its extension plane can be parallel to, intersect with, or pass through the second axis 40. When the plane passing through the first sidewall 310 is parallel to the second axis 40, the extension plane of the first sidewall 310 can be located in front of the second axis 40 (the boundary line between the intermediate plane 60 and the extension plane of the first sidewall 310 is located in front of the second axis 40) or in rear of the second axis 40 (the boundary line between the intermediate plane 60 and the extension plane of the first sidewall 310 is located in rear of the second axis 40). When the first sidewall 310 is a planar wall, its structure is simpler and it is also easier to avoid beams. When the first sidewall 310 is an arc-shaped wall, the rate of change of the distance between the first sidewall 310 and the intermediate plane 60 in the direction from back to front can gradually increase or gradually decrease. That is, the first sidewall 310 can protrude towards the intermediate plane 60, or the first sidewall 310 can be recessed away from the intermediate plane 60. When the first sidewall 310 is an arc-shaped wall, the curvature and direction of the first sidewall 310 can be adjusted according to the reflection path of the light beam, thereby reducing stray light reflected to the optomechanical assembly 30.

[0111] The connection method between the third light-shielding part 300 and the second light-shielding part 200 depends on actual needs. For example, the third light-shielding part 300 and the second light-shielding part 200 can be connected by snap-fit, adhesive bonding, welding, or integral molding. In this embodiment, the third light-shielding part 300 and the second light-shielding part 200 are integrally connected, specifically by integral injection molding. The integral injection molding structure not only simplifies the manufacturing process but also enhances the connection stability between the third light-shielding part 300 and the second light-shielding part 200. Further, see... Figure 3 In some embodiments, the first light-shielding part 100, the second light-shielding part 200 and the third light-shielding part 300 can be integrally molded at the same time, specifically, they can be integrally injection molded.

[0112] See Figure 5 - Figure 6In some embodiments, the housing assembly 10 further includes a fourth light-shielding portion 400, which is connected to the side of the first light-shielding portion 100 opposite to the second light-shielding portion 200. The fourth light-shielding portion 400 has a second sidewall 410. The second sidewall 410 and the first sidewall 310 jointly define the aforementioned first light guide port 800, i.e., the first light guide port 800 is located between the first sidewall 310 and the second sidewall 410. The second sidewall 410 is located on one side of the intermediate plane 60, specifically on the side of the intermediate plane 60 opposite to the first sidewall 310. Along the rear-to-front direction, the second sidewall 410 gradually moves away from the intermediate plane 60. In this scheme, when the light beam reflected by the rotating mirror assembly 20 is reflected back by the protective cover at the light exit position, the reflected stray light will not directly guide the optomechanical assembly 30; instead, the stray light will be reflected by the second sidewall 410 during the reflection process. Furthermore, due to the inclined structure of the second sidewall 410, stray light can be reflected away from the optomechanical component 30 by the second sidewall 410, thereby reducing the probability of this stray light being reflected and received by the optomechanical component 30, and further improving the ranging accuracy of the optical ranging device 1.

[0113] The specific shape and tilt angle of the second sidewall 410 can be adjusted according to actual needs. The second sidewall 410 can be a planar wall or an arc-shaped wall. When the second sidewall 410 is a planar wall, its extension plane can be parallel to, intersect with, or pass through the second axis 40. When the extension plane of the second sidewall 410 is parallel to the second axis 40, it can be located in front of the second axis 40 (the boundary line between the intermediate plane 60 and the extension plane of the second sidewall 410 is located in front of the second axis 40) or behind the second axis 40 (the boundary line between the intermediate plane 60 and the extension plane of the second sidewall 410 is located behind the second axis 40). When the second sidewall 410 is a planar wall, its structure is simpler and it is also easier to avoid beams. When the second sidewall 410 is an arc-shaped wall, the rate of change of the distance between the second sidewall 410 and the intermediate plane 60 in the direction from back to front can gradually increase or gradually decrease. That is, the second sidewall 410 can protrude towards the intermediate plane 60, or the second sidewall 410 can be recessed away from the intermediate plane 60. When the second sidewall 410 is an arc-shaped wall, the curvature and direction of the second sidewall 410 can be adjusted according to the reflection path of the light beam, thereby reducing stray light reflected to the optomechanical assembly 30.

[0114] The connection method between the fourth light-shielding part 400 and the first light-shielding part 100 depends on actual needs. For example, the fourth light-shielding part 400 and the first light-shielding part 100 can be connected by snap-fit, adhesive bonding, welding, or integral molding. In this embodiment, the fourth light-shielding part 400 and the first light-shielding part 100 are integrally connected, specifically by integral injection molding. The integral injection molding structure not only simplifies the manufacturing process but also enhances the connection stability between the first light-shielding part 100 and the fourth light-shielding part 400. Further, see... Figure 3 In some embodiments, the first light-shielding part 100, the second light-shielding part 200, the third light-shielding part 300 and the fourth light-shielding part 400 can all be integrally formed at the same time, and the four parts can be integrally injection molded.

[0115] See Figure 3 ,as well as Figure 5 - Figure 6 In some embodiments, the distance between the first sidewall 310 of the fourth light-shielding part 400 and the second sidewall 410 of the third light-shielding part 300 gradually increases along the rear-to-front direction, thereby matching the divergent shape of the light beam from the first light guide 800 and facilitating light-shielding treatment. Specifically, when both the first sidewall 310 and the second sidewall 410 are planar walls, the rate of change of the distance between the first sidewall 310 and the second sidewall 410 is constant along the rear-to-front direction; when both the first sidewall 310 and the second sidewall 410 are planar walls, the rate of change of the distance between the first sidewall 310 and the second sidewall 410 can gradually increase or gradually decrease along the rear-to-front direction.

[0116] See Figure 3 ,as well as Figure 5 - Figure 6 In some embodiments, the first sidewall 310 of the fourth light-shielding part 400 and the second sidewall 410 of the third light-shielding part 300 can be symmetrically arranged with respect to the intermediate plane 60. This arrangement ensures that when the light beam exits the space between the first sidewall 310 and the second sidewall 410, the amount of light emitted near the first sidewall 310 and the amount of light emitted near the second sidewall 410 are the same. Therefore, the field of view on the left side of the optical ranging device 1 is the same as the field of view on the right side of the optical ranging device 1, resulting in more uniform scanning. Furthermore, the symmetrical arrangement of the first sidewall 310 and the second sidewall 410 with respect to the intermediate plane 60 simplifies their manufacturing. In other embodiments, the first sidewall 310 and the second sidewall 410 can also be asymmetrically arranged with respect to the intermediate plane 60, allowing for adjustment of the reflection angles of the first sidewall 310 and the second sidewall 410 for stray light as needed, thereby reducing the amount of stray light received by the optomechanical assembly 30.

[0117] See Figure 3 ,as well as Figure 5 - Figure 6 In some embodiments, when both the first sidewall 310 and the second sidewall 410 are planar walls, the included angle β between the extended plane of the first sidewall 310 and the extended plane of the second sidewall 410 can satisfy: 90°≤β≤150°. For example, the included angle β between the extended plane of the first sidewall 310 and the extended plane of the second sidewall 410 can be 90°, 100°, 110°, 120°, 130°, 140°, or 150°, etc. When 90°≤β≤150°, it can better match the field of view requirements of the light beam exiting the first light guide 800, so that the first sidewall 310 and the second sidewall 410 are as close as possible to the light beam exiting the first light guide 800 without affecting the light output field of view, so as to achieve a better light blocking effect.

[0118] It should be noted that the sum of the included angle β between the extended planes of the first sidewall 310 and the second sidewall 410, and the central angle α corresponding to the third arcuate wall, can be equal to 360°, greater than 360°, or less than 360°. When the sum of the included angle β and the central angle α equals 360°, the boundary line between the extended planes of the first sidewall 310 and the second sidewall 410 coincides with the second axis 40. When the sum of the included angle β and the central angle α is greater than 360°, the boundary line between the extended planes of the first sidewall 310 and the second sidewall 410 is located in front of the second axis 40; when the sum of the included angle β and the central angle α is less than 360°, the boundary line between the extended planes of the first sidewall 310 and the second sidewall 410 is located behind the second axis 40.

[0119] The specific structure of the rotating mirror assembly 20 of the optical rangefinder 1 can be configured according to actual needs. See [link / reference] Figure 3 ,as well as Figure 5 - Figure 6In some embodiments, the rotating mirror assembly 20 is configured to rotate about a first axis 50. The rotating mirror assembly 20 includes a first reflecting mirror 22, a second reflecting mirror 23, and a first light-blocking member 21. The first light-blocking member 21 may be in the shape of a circular plate, and its thickness direction is parallel to the first axis 50. The first reflecting mirror 22 and the second reflecting mirror 23 are located on opposite sides of the first light-blocking member 21 along a direction parallel to the first axis 50. After the rotating mirror assembly 20 is disposed in the first space 600, the first light-blocking member 21 divides the first space 600 into a first chamber 610 and a second chamber 620 distributed along a direction parallel to the second axis 40. The first reflecting mirror 22 is located in the first chamber 610, and the second reflecting mirror 23 is located in the second chamber 620. The first reflecting mirror 22 is used to reflect the light beam emitted by the optomechanical assembly 30, and the second reflecting mirror 23 is used to reflect the light beam reflected by an object to be received by the optomechanical assembly 30. In this scheme, by setting a first light-blocking component 21 to separate the first reflector 22 and the second reflector 23, and placing the first reflector 22 and the second reflector 23 in two relatively independent chambers (i.e., the first chamber 610 and the second chamber 620), the crosstalk between the beam emitted by the optomechanical assembly 30 and the beam received can be reduced, thereby improving the sensing accuracy.

[0120] See Figure 3 ,as well as Figure 5 - Figure 6 In some embodiments, the reflecting surface of the first reflector 22 may be spaced from or intersect with the first axis 50. When the reflecting surface of the first reflector 22 is spaced from the first axis 50, the reflecting surface of the first reflector 22 may be parallel to or inclined relative to the first axis 50. When the reflecting surface of the first reflector 22 is inclined relative to the first axis 50, the reflecting surface of the first reflector 22 may be inclined at a small angle toward the second reflector 23 or at a small angle away from the second reflector 23. When the reflecting surface of the first reflector 22 intersects with the first axis 50, the reflecting surface of the first reflector 22 may intersect with the first axis 50, or the first axis 50 may lie within the extended plane of the reflecting surface of the first reflector 22.

[0121] See Figure 3 ,as well as Figure 5 - Figure 6In some embodiments, the reflecting surface of the second reflector 23 may be spaced apart from or intersect with the first axis 50. When the reflecting surface of the second reflector 23 is spaced apart from the first axis 50, the reflecting surface of the second reflector 23 may be parallel to or inclined relative to the first axis 50. When the reflecting surface of the second reflector 23 is inclined relative to the first axis 50, the reflecting surface of the second reflector 23 may be inclined at a small angle toward the first reflector 22 or at a small angle away from the first reflector 22. When the reflecting surface of the second reflector 23 intersects with the first axis 50, the reflecting surface of the second reflector 23 may intersect with the first axis 50, or the first axis 50 may lie within the extended plane of the reflecting surface of the second reflector 23. In this embodiment, both the reflecting surfaces of the first reflector 22 and the second reflector 23 are arranged parallel to the first axis 50, and the reflecting surfaces of the first reflector 22 and the second reflector 23 are coplanar with each other.

[0122] When the rotating mirror assembly 20 is positioned within the first space 600, the first axis 50 of the rotating mirror assembly 20 and the second axis 40 of the first arc-shaped wall 110 can coincide, be parallel, or intersect each other. In this embodiment, the first axis 50 and the second axis 40 are arranged to coincide, thereby making the gap between the outer periphery of the rotating mirror assembly 20 and the outer periphery of the first arc-shaped wall 110 more uniform, thus improving the light-blocking effect of the first light-blocking part 100. Similarly, the axis of the second arc-shaped wall 210 can also coincide with the second axis 40 and the first axis 50, thereby further improving the light-blocking effect of the second arc-shaped wall 210.

[0123] See Figure 3 ,as well as Figure 5 - Figure 7In some embodiments, the first arc-shaped wall 110 is recessed with a first arc-shaped groove 111 arranged around the second axis 40. The first arc-shaped groove 111 is used to avoid the first light-blocking member 21 of the rotating mirror assembly 20. Along a direction perpendicular to the second axis 40, the first arc-shaped groove 111 is opposite to the first light-blocking member 21 of the rotating mirror assembly 20. In some embodiments, the first arc-shaped groove 111 is adapted to accommodate the edge portion of the first light-blocking member 21. In this case, along a direction parallel to the second axis 40, the edge portion of the first light-blocking member 21 coincides with the inner portion of the first light-shielding portion 100. In this configuration, the first reflecting mirror 22 and the second reflecting mirror 23 of the rotating mirror assembly 20 can be closer to the first arc-shaped wall 110, thereby improving the light-shielding effect of the first arc-shaped wall 110. In other embodiments, the edge portion of the first light-blocking member 21 is adapted to be arranged outside the first arc-shaped groove 111. In this case, when viewed along a direction parallel to the second axis 40, the first light-blocking member 21 and the first arc-shaped wall 110 are spaced apart. In this scheme, without increasing the distance between the first reflector 22 and the second reflector 23 and the first arc-shaped wall 110, the rotating mirror assembly 20 with the first light-blocking member 21 can be installed into or removed from the first space 600 in a direction parallel to the second axis 40, which facilitates the installation and removal of the rotating mirror assembly 20 and reduces the probability of friction between the rotating mirror assembly 20 and the first light-blocking part 100 due to vibration during rotation.

[0124] See Figure 2 - Figure 3 In some embodiments, the first arc-shaped wall 110 is a circular arc-shaped wall, and the diameter D1 of the first arc-shaped wall 110 and the maximum outer diameter D2 of the rotating mirror assembly 20 satisfy: 0mm ≤ D1 - D2 ≤ 1mm. For example, D1 - D2 can be 0mm, 0.2mm, 0.4mm, 0.8mm, or 1mm, etc. When D1 - D2 is 0mm, the first arc-shaped wall 110 can be recessed with the aforementioned first arc-shaped groove 111, thereby allowing the first arc-shaped groove 111 to avoid the first light-blocking member 21. In this embodiment, when 0mm ≤ D1 - D2 ≤ 1mm, the light-blocking effect of the first arc-shaped wall 110 can be guaranteed while reducing the probability of friction between the rotating mirror assembly 20 and the first arc-shaped wall 110 due to vibration during rotation. In a further embodiment, the second arc-shaped wall 210 is also a circular arc-shaped wall, and the center of gravity of the second arc-shaped wall 210 coincides with that of the first arc-shaped wall 110.

[0125] See Figure 3 - Figure 4In some embodiments, the first light-shielding portion 100 has an arc-shaped plate structure. Specifically, a first arc-shaped protrusion 112 is provided on the side of the first light-shielding portion 100 opposite to the first arc-shaped wall 110. The first arc-shaped protrusion 112 is located on the outer periphery of the first arc-shaped groove 111 and covers the first arc-shaped groove 111 along the radial direction of the second axis 40. In this design, the first arc-shaped protrusion 112 can increase the thickness of the first light-shielding portion 100 at the position of the first arc-shaped groove 111, thereby improving the structural strength of the first light-shielding portion 100.

[0126] See Figure 3 - Figure 7 In some embodiments, the second light-shielding portion 200 has a recessed second arc-shaped groove 211 on the side facing the first space 600, which is arranged around the second axis 40. The second arc-shaped groove 211 is used to avoid the first light-blocking member 21 of the rotating mirror assembly 20. Along a direction perpendicular to the second axis 40, the second arc-shaped groove 211 is opposite to the first light-blocking member 21 of the rotating mirror assembly 20. In some embodiments, the second arc-shaped groove 211 is adapted to accommodate the edge portion of the first light-blocking member 21. In this case, along a direction parallel to the second axis 40, the edge portion of the first light-blocking member 21 coincides with the inner portion of the second light-shielding portion 200. In this configuration, the first reflecting mirror 22 and the second reflecting mirror 23 of the rotating mirror assembly 20 can be closer to the second arc-shaped wall 210, thereby improving the light-shielding effect of the second arc-shaped wall 210. In other embodiments, the edge portion of the first light-blocking member 21 is adapted to be arranged outside the second arc-shaped groove 211. In this case, when viewed along a direction parallel to the second axis 40, the first light-blocking member 21 and the second arc-shaped wall 210 are spaced apart. In this design, the rotating mirror assembly 20 with the first light-blocking member 21 can be installed into or removed from the first space 600 in a direction parallel to the second axis 40 without increasing the distance between the first reflector 22 and the second reflector 23 and the second arc-shaped wall 210. This facilitates the installation and removal of the rotating mirror assembly 20 and reduces the probability of friction between the rotating mirror assembly 20 and the second light-blocking part 200 due to vibration during rotation. In some embodiments, the first arc-shaped groove 111 and the second arc-shaped groove 211 are interconnected and together form an arc-shaped groove arranged around the second axis 40.

[0127] See Figure 3 - Figure 7In some embodiments, a second arc-shaped protrusion 220 is provided on the side of the second light-shielding portion 200 opposite to the second arc-shaped wall 210. The second arc-shaped protrusion 220 is located on the outer periphery of the second arc-shaped groove 211 and covers the second arc-shaped groove 211 radially along the second axis 40. In this design, the second arc-shaped protrusion 220 can increase the thickness of the second light-shielding portion 200 at the position of the second arc-shaped groove 211, thereby improving the structural strength of the second light-shielding portion 200. Furthermore, the second arc-shaped protrusion 220 can connect to the first arc-shaped protrusion 112, and the second arc-shaped protrusion 220 and the first arc-shaped protrusion 112 together form an arc-shaped protrusion arranged around the second axis 40.

[0128] See Figure 3 - Figure 7 In some embodiments, the housing assembly 10 further includes a receiving portion 500 connected to the side of the third light-shielding portion 300 opposite to the second light-shielding portion 200. The second light-shielding portion 200, the third light-shielding portion 300, and the receiving portion 500 together define a second space 700, located on the side of the second light-shielding portion 200 opposite to the first space 600. The second space 700 is used to accommodate the optomechanical assembly 30, and the opening 230 of the second light-shielding portion 200 connects the first space 600 and the second space 700. In this design, the receiving portion 500 can cover the optomechanical assembly 30, thereby reducing the amount of external light entering the optical ranging device 1 and being received by the optomechanical assembly 30, thus improving the measurement accuracy of the optomechanical assembly 30. Furthermore, the receiving part 500 can be integrally formed with the first light-shielding part 100, the second light-shielding part 200, the third light-shielding part 300 and the fourth light-shielding part 400, thereby reducing the number of parts in the housing assembly 10 and improving processing efficiency and assembly efficiency.

[0129] See Figure 3 - Figure 7 In some embodiments, the housing assembly 10 further includes a front side portion 900, which is connected to the front side of the third light-shielding portion 300, and the front side portion 900 is provided with a second light guide port 910 communicating with the first light guide port 800. The second light guide port 910 is located in front of the first light guide port 800, so that the light beam emitted by the optomechanical assembly 30 passes through the first light guide port 800 and then through the second light guide port 910 after being reflected by the rotating mirror assembly 20. The front side portion 900 includes a second light-blocking member 940 that is laterally disposed through the second light guide port 910. Along the front-rear direction, the second light-blocking member 940 is at least partially opposite to the first light-blocking member 21 of the rotating mirror assembly 20. The structure of the second light-blocking member 940 of the front side portion 900 enables the front side of the first light-blocking member 21 of the rotating mirror assembly 20 to be well shielded, thereby improving the separation effect between the first reflecting mirror 22 and the second reflecting mirror 23 of the rotating mirror assembly 20.

[0130] See Figure 3 - Figure 7 In some embodiments, the second light-blocking member 940 is provided with a fourth arc-shaped wall 941 facing the first space 600, and the edge portion of the first light-blocking member 21 extends into the recessed space formed by the fourth arc-shaped wall 941. Compared to a structure where the sidewall of the second light-blocking member 940 facing the first space 600 is a flat wall, in this solution the fourth arc-shaped wall 941 can better fit the shape of the first light-blocking member 21, so that the gap between the fourth arc-shaped wall 941 and the first light-blocking member 21 at various points along the circumference of the first axis 50 can be as small and uniform as possible, further improving the light-blocking effect of the second light-blocking member 940. Furthermore, the fourth arc-shaped wall 941 can be a circular arc-shaped wall, and the central axis of the fourth arc-shaped wall 941 coincides with the first axis 50.

[0131] See Figure 3 - Figure 7 In some embodiments, the fourth arc-shaped wall 941 has a third arc-shaped groove 942 recessed on the side facing the first space 600, which is arranged around the second axis 40. The edge portion of the first light-blocking member 21 is arranged outside or accommodated within the third arc-shaped groove 942. In this scheme, when the edge portion of the first light-blocking member 21 is accommodated within the third arc-shaped groove 942, when viewed along a direction parallel to the first axis 50, the first light-blocking member 21 and the second light-blocking member 940 are at least partially overlapped, thereby further improving the separation effect on the light beam reflected by the first reflector 22 and the light beam reflected by the second reflector 23, and effectively reducing the probability of light crosstalk. When the edge of the first light-blocking member 21 is located outside the third arc-shaped groove 942, the first reflector 22 and the second reflector 23 can be brought as close as possible to the fourth arc-shaped wall 941, while the rotating mirror assembly 20 with the first light-blocking member 21 can be installed into or removed from the first space 600 in a direction parallel to the second axis 40. This facilitates the installation and removal of the rotating mirror assembly 20 and reduces the probability of friction between the rotating mirror assembly 20 and the front side 900 due to vibration during rotation. In a further embodiment, the third arc-shaped groove 942 can be a circular arc groove, and the central axis of the third arc-shaped groove 942 can be aligned with the first axis 50, so that the third arc-shaped groove 942 can further match the shape of the first light-blocking member 21 and improve the light-blocking effect.

[0132] See Figure 5 as well as Figure 8 - Figure 9In some embodiments, the side of the second light-blocking member 940 facing away from the rotating mirror assembly 20 is also provided with a through groove 945. Along the front-back direction, the through groove 945 is arranged opposite to the second axis 40, and the through groove 945 connects to the third arc-shaped groove 942. In this solution, compared with the structure of the second light-blocking member 940 without the through groove 945, this solution removes the thinner part of the second light-blocking member 940 at the end position of the third arc-shaped groove 942 (i.e., by opening the through groove 945). On the one hand, this facilitates the injection molding of the second light-blocking member 940, and on the other hand, it prevents the thinner part of the second light-blocking member 940 from cracking during subsequent assembly, thereby forming a complex reflective surface and reducing the generation of stray light.

[0133] See Figure 5 - Figure 6 In some embodiments, the second light-blocking member 940 is laterally disposed through the second light guide port 910 of the front side portion 900, dividing the second light guide port 910 into two parts: an entrance port 911 and an exit port 912. Specifically, the second light guide port 910 includes an entrance port 911 and an exit port 912 located on both sides of the second light-blocking member 940, respectively. The light beam emitted by the optomechanical assembly 30 is reflected by the rotating mirror assembly 20 and then led out through the exit port 912. The light beam reflected by an external object is guided into the first space 600 through the entrance port 911 and reflected by the rotating mirror assembly 20 to be received by the optomechanical assembly 30. In this scheme, by having the led-out light beam and the received light beam pass through different openings, the crosstalk between the led-out light beam and the received light beam can be reduced, thereby improving the accuracy of ranging. The entrance port 911 and the exit port 912 are located on the upper and lower sides of the second light-blocking member 940, specifically, the exit port 912 can be located above the entrance port 911.

[0134] See Figure 5 - Figure 6In some embodiments, the second light-blocking member 940 has a first inclined surface 943 and a second inclined surface 944 on the side facing the light outlet 912, with the second inclined surface 944 located on the side of the first inclined surface 943 away from the third light-shielding part 300. The first inclined surface 943 is tilted towards the light inlet 911 in a direction gradually moving away from the second inclined surface 944, and / or the second inclined surface 944 is tilted towards the light inlet 911 in a direction gradually moving away from the first inclined surface 943. In this design, when the light beam reflected and led out of the light outlet 912 by the rotating mirror assembly 20 is tilted towards the light inlet 911, the first inclined surface 943 and the second inclined surface 944 can effectively avoid the led-out light beam, thereby increasing the tilt angle of the light beam reflected and led out by the rotating mirror assembly 20, thus better adapting to the corresponding application scenarios. For example, when the light output port 912 is located above the light input port 911, the arrangement of the first inclined surface 943 and the second inclined surface 944 allows the light beam exiting the light output port 912 to tilt more downwards, thereby enabling the optical ranging device 1 to scan a closer area of ​​the ground.

[0135] See Figure 5 - Figure 6 In some embodiments, the front side portion 900 includes a front side plate and an outer peripheral plate 950 connected to the outer periphery of the front side plate and extending rearward. The outer peripheral plate 950 is arranged around the axis of the second light guide 910. The front side plate is attached to the front side of the third light-shielding portion 300 and the fourth light-shielding portion 400. The first light-shielding portion 100, the second light-shielding portion 200, the third light-shielding portion 300, and the fourth light-shielding portion 400 are all located within the outer peripheral plate 950. Thus, the front side portion 900 wraps around the outer periphery of the first light-shielding portion 100, the second light-shielding portion 200, the third light-shielding portion 300, and the fourth light-shielding portion 400 around the axis of the second light guide 910, improving the appearance sealing of the optical ranging device 1 and further improving the light-shielding effect. In other embodiments, the front side portion 900 may also include only the front side plate, and the front side plate is attached to the front side of the third light-shielding portion 300 and the fourth light-shielding portion 400.

[0136] See Figure 5 - Figure 6In some embodiments, the front side of the third light-shielding portion 300 has a first supporting wall 320, and the front side portion 900 includes a fifth light-shielding portion 920. The front side portion 900 is located in front of the third light-shielding portion 300, and the fifth light-shielding portion 920 abuts against the first supporting wall 320 (i.e., the fifth light-shielding portion 920 abuts against the side of the third light-shielding portion 300 opposite to the second light-shielding portion 200). Specifically, the extending plane of the first supporting wall 320 can be perpendicular to the intermediate plane 60, thereby enabling the first supporting wall 320 to better position the fifth light-shielding portion 920. The fifth light-shielding portion 920 has a third sidewall 921 facing the second light guide port 910, and the distance between the third sidewall 921 and the intermediate plane 60 can gradually increase along the direction from back to front. In some embodiments, both the first sidewall 310 and the third sidewall 921 can be planar walls. In this case, the third sidewall 921 and the first sidewall 310 can be arranged parallel to each other or coplanarly. When the third sidewall 921 is arranged parallel to the first sidewall 310, along a direction perpendicular to the first sidewall 310, the third sidewall 921 can be located on the side of the first sidewall 310 facing or away from the second light guide port 910. In some embodiments, the third sidewall 921 and the first sidewall 310 can be spaced apart from each other or connected to each other. When the third sidewall 921 and the first sidewall 310 are spaced apart from each other, they can be spaced apart along a direction perpendicular to the first sidewall 310, or they can be spaced apart along a direction parallel to the first sidewall 310. When the third sidewall 921 and the first sidewall 310 are connected to each other, both the first sidewall 310 and the third sidewall 921 can be planar and coplanar or non-coplanar, and both the first sidewall 310 and the third sidewall 921 can be curved surfaces and continuous by lines or points. See also Figure 5 - Figure 6 In this embodiment, both the first sidewall 310 and the third sidewall 921 are planar, and are coplanar and interconnected. This design extends the reflective surface of the second light guide 910 near the optomechanical assembly 30, thereby further reducing stray light interference.

[0137] See Figure 5 - Figure 6In some embodiments, the front side of the fourth light-shielding portion 400 has a second supporting wall 420, and the front side portion 900 includes a sixth light-shielding portion 930. The front side portion 900 is located on the front side of the fourth light-shielding portion 400, and the sixth light-shielding portion 930 abuts against the second supporting wall 420 (i.e., the sixth light-shielding portion 930 abuts against the side of the fourth light-shielding portion 400 opposite to the second light-shielding portion 200). Specifically, the extending plane of the second supporting wall 420 can be perpendicular to the intermediate plane 60, thereby enabling the second supporting wall 420 to better position the sixth light-shielding portion 930. The sixth light-shielding portion 930 has a fourth sidewall 931 facing the second light guide port 910, and the distance between the fourth sidewall 931 and the intermediate plane 60 can gradually increase along the direction from back to front. In some embodiments, both the second sidewall 410 and the fourth sidewall 931 can be planar walls. In this case, the fourth sidewall 931 and the second sidewall 410 can be arranged parallel to each other or coplanarly. When the fourth sidewall 931 is arranged parallel to the second sidewall 410, along a direction perpendicular to the second sidewall 410, the fourth sidewall 931 can be located on the side of the second sidewall 410 facing or away from the second light guide port 910. In some embodiments, the fourth sidewall 931 and the second sidewall 410 can be spaced apart from each other or connected to each other. When the fourth sidewall 931 and the second sidewall 410 are spaced apart from each other, they can be spaced apart along a direction perpendicular to the second sidewall 410, or they can be spaced apart along a direction parallel to the second sidewall 410. When the fourth sidewall 931 and the second sidewall 410 are connected to each other, both the second sidewall 410 and the fourth sidewall 931 can be planar and coplanar or non-coplanar, and both the second sidewall 410 and the fourth sidewall 931 can be curved surfaces and continuous by lines or points. See also Figure 5 - Figure 6 In this embodiment, both the second sidewall 410 and the fourth sidewall 931 are planar, and are coplanar and interconnected. Furthermore, the wall surface formed by the first sidewall 310 and the third sidewall 921 is symmetrically arranged with respect to the wall surface formed by the second sidewall 410 and the fourth sidewall 931 about the intermediate plane 60. This design extends the reflective surface of the second light guide 910 on the side facing away from the optomechanical assembly 30, thereby further reducing stray light interference.

[0138] See Figure 5 - Figure 6In some embodiments, one end of the second light-blocking member 940 of the front side portion 900 can be connected to the third sidewall 921 of the fifth light-shielding portion 920, and the other end of the second light-blocking member 940 can be connected to the fourth sidewall 931 of the sixth light-shielding portion 930. Furthermore, the front side of the second light-blocking member 940 is flush with the front side of the fourth sidewall 931 and the front side of the second sidewall 410, and the rear side of the second light-blocking member 940 abuts against the first sidewall 310 of the third light-shielding portion 300 and the second sidewall 410 of the fourth light-shielding portion 400, respectively. In this solution, on the one hand, the second light-blocking member 940 can also be used to separate the first light guide port 800, thereby improving the light-blocking effect of the second light-blocking member 940; on the other hand, the second light-blocking member 940 can also be used to abut against the light-transmitting protective plate 960 located on the front side of the housing assembly 10, so that the light-transmitting protective plate 960 on the front side can be well positioned.

[0139] See Figure 1 - Figure 9 The second aspect of this application also provides an optical ranging device 1, which includes the housing assembly 10 in any of the above embodiments, and further includes the rotating mirror assembly 20 and the optomechanical assembly 30 in any of the above embodiments. Given the improvements to the housing assembly 10, the optical ranging device 1 in this embodiment possesses all the technical effects of the aforementioned housing assembly 10, which will not be elaborated upon here.

[0140] In some embodiments, the optomechanical assembly 30 includes a first emitting element (not shown) and a second emitting element (not shown). The optical axis of the beam emitted by the first emitting element is perpendicular to and intersects or is spaced from the first axis 50. In this embodiment, the beam emitted by the first emitting element extends substantially laterally outward, thereby increasing the detection range of the optical ranging device 1. The second emitting element is tilted relative to the first axis 50 along the optical axis of its emitted beam, and intersects or is spaced from the first axis 50. In some embodiments, the optical axis of the beam emitted by the second emitting element may be tilted downward, thereby increasing the detection accuracy of the optical ranging device 1 for objects near the ground; in other embodiments, the optical axis of the beam emitted by the second emitting element may be tilted upward, thereby increasing the detection accuracy of the optical ranging device 1 for objects above it.

[0141] See Figure 1 - Figure 9The third aspect of this application also provides a mobile robot, which includes the optical ranging device 1 described above. The mobile robot further includes a robot body, the optical ranging device 1 being connected to the robot body, and the robot body being equipped with a control system capable of path planning and obstacle avoidance based on the distance information provided by the optical ranging device 1. Specifically, the mobile robot can be used as a sweeping robot. Given the improvements to the housing assembly 10, the mobile robot in this embodiment possesses all the aforementioned technical effects of the housing assembly 10, which will not be elaborated upon here.

[0142] It should be noted that if directional indications (such as up, down, left, right, front, back, etc.) are involved in the embodiments of this application, these directional indications are only used to explain the relative positional relationships and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly. When a direction reference is introduced in a specific embodiment, unless the direction is specifically limited to unidirectional, the direction can be unidirectional or bidirectional (two parallel and opposite directions). Whether it is unidirectional or bidirectional depends on what those skilled in the art can achieve. When the direction reference is bidirectional, it should be considered that two parallel and different embodiments have been introduced simultaneously.

[0143] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or," "and / or," or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where A and B are simultaneously satisfied. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0144] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural transformations made based on the content of the specification and drawings of this application under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. Housing assembly for optical rangefinders. The optical ranging device includes a rotating mirror assembly and an optomechanical assembly, wherein the rotating mirror assembly is rotatable about a first axis, characterized in that... The housing assembly includes: A first light-shielding part, wherein a first space is formed on the side of the first light-shielding part facing the first axis, and the first space is adapted to house the rotating mirror assembly; The second light-shielding part is connected to one side of the first light-shielding part along the first axis in the circumferential direction; and The third light-shielding part is connected to the side of the second light-shielding part that is away from the first light-shielding part; The housing assembly is provided with a first light guide port, which connects the first space and the space outside the housing assembly. The light beam is adapted to be emitted from the optomechanical assembly in sequence, pass through the second light-shielding part into the first space, be reflected by the rotating mirror assembly in the first space, pass through the first light guide port into the space outside the housing assembly, and the light beam is also adapted to be reflected by an object in the space outside the housing assembly in sequence, pass through the first light guide port into the first space, be reflected by the rotating mirror assembly in the first space, pass through the second light-shielding part and be received by the optomechanical assembly. The first light guide is located in front of the first light-shielding part; the plane extending through the first axis and back and forth is the middle plane; the third light-shielding part has a first sidewall, the first sidewall faces the middle plane and is located on one side of the middle plane, and along the direction from back to front, the first sidewall gradually moves away from the middle plane.

2. The housing assembly as claimed in claim 1, characterized in that, The housing assembly further includes a fourth light-shielding part, which is connected to the side of the first light-shielding part away from the second light-shielding part. The fourth light-shielding part has a second sidewall, which is opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. Along the direction from back to front, the second sidewall gradually moves away from the intermediate plane; And / or, Along the direction from back to front, the distance between the first sidewall and the second sidewall gradually increases, and / or the first sidewall and the second sidewall are symmetrically or asymmetrically arranged with respect to the intermediate plane; And / or, The first sidewall is a planar wall, and the extended plane of the first sidewall passes through the first axis or is located behind the first axis; And / or, The second sidewall is a planar wall, and the extended plane of the second sidewall passes through the first axis or is located behind the first axis; And / or, Both the first sidewall and the second sidewall are planar walls, and the angle β between the extended plane of the first sidewall and the extended plane of the second sidewall satisfies: 90°≤β≤150°.

3. The housing assembly as claimed in claim 1, characterized in that, The first light-shielding part has a first arc-shaped wall arranged around a second axis, which is parallel to, coincides with, or intersects the first axis.

4. The housing assembly as claimed in claim 3, characterized in that, The side of the second light-shielding part facing the first space has a second arc-shaped wall arranged around the second axis; The second arc-shaped wall is connected to the first arc-shaped wall; And / or, The second arc-shaped wall and the first arc-shaped wall together form the third arc-shaped wall; the central angle α corresponding to the third arc-shaped wall satisfies: 210°≤α≤280°.

5. The housing assembly as claimed in claim 4, characterized in that, The first arc-shaped wall is recessed with a first arc-shaped groove arranged around the second axis. The first arc-shaped groove is adapted to avoid the first light-blocking member of the rotating mirror assembly. In a direction perpendicular to the second axis, the first arc-shaped groove is adapted to be opposite to the first light-blocking member of the rotating mirror assembly. The first arc-shaped groove is adapted to accommodate the edge portion of the first light-blocking member, or the edge portion of the first light-blocking member is adapted to be arranged outside the first arc-shaped groove. And / or, The second arc-shaped wall is recessed with a second arc-shaped groove arranged around the second axis. The second arc-shaped groove is adapted to avoid the first light-blocking member of the rotating mirror assembly. In a direction perpendicular to the first axis, the second arc-shaped groove is adapted to be opposite to the first light-blocking member of the rotating mirror assembly. The second arc-shaped groove is adapted to accommodate the edge portion of the first light-blocking member, or the edge portion of the first light-blocking member is adapted to be arranged outside the second arc-shaped groove. And / or, The housing assembly further includes a front side portion connected to the front side of the third light-shielding portion, and the front side portion is provided with a second light guide port communicating with the first light guide port. The front side portion includes a second light-blocking member transversely passing through the second light guide port. The second light-blocking member is provided with a fourth arc-shaped wall facing the first space. The side of the fourth arc-shaped wall facing the first space is recessed with a third arc-shaped groove arranged around the second axis. In a direction perpendicular to the first axis, the third arc-shaped groove is adapted to be opposite to the first light-blocking member of the rotating mirror assembly. The edge portion of the first light-blocking member is adapted to be arranged outside the third arc-shaped groove or accommodated in the third arc-shaped groove.

6. The housing assembly as claimed in claim 1, characterized in that, The second light-shielding part is provided with an opening that connects to the first space; The light beam emitted by the optomechanical assembly is adapted to pass through the opening into the first space, and the light beam reflected by an object in the space outside the housing assembly and the rotating mirror assembly is adapted to pass through the opening and be received by the optomechanical assembly; or, the opening includes a first hole and a second hole respectively communicating with the first space, the first hole and the second hole being spaced apart along a direction parallel to the first axis, the light beam emitted by the optomechanical assembly being adapted to pass through the first hole into the first space, and the light beam reflected by an object in the space outside the housing assembly and the rotating mirror assembly being adapted to pass through the second hole and be received by the optomechanical assembly; And / or, The housing assembly further includes a receiving portion connected to the side of the third light-shielding portion opposite to the second light-shielding portion. The second light-shielding portion, the third light-shielding portion, and the receiving portion together define a second space. The second space is located on the side of the second light-shielding portion opposite to the first space. The second space is adapted to accommodate the optical engine assembly. The opening of the second light-shielding portion connects the first space and the second space.

7. The housing assembly as claimed in claim 1, characterized in that, The first light-shielding part, the second light-shielding part, and the third light-shielding part are integrally formed; or, The housing assembly further includes a fourth light-shielding part, which is connected to the side of the first light-shielding part away from the second light-shielding part. The fourth light-shielding part has a second sidewall, which is opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. The first light-shielding part, the second light-shielding part, the third light-shielding part, and the fourth light-shielding part are integrally formed. or, The housing assembly further includes a fourth light-shielding portion connected to the side of the first light-shielding portion away from the second light-shielding portion. The fourth light-shielding portion has a second sidewall opposite to the first sidewall and located on the side of the intermediate plane away from the first sidewall. The housing assembly also includes a receiving portion connected to the side of the third light-shielding portion away from the second light-shielding portion. The second light-shielding portion, the third light-shielding portion, and the receiving portion together define a second space located on the side of the second light-shielding portion away from the first space. The second space is adapted to accommodate the optical engine assembly. The first light-shielding portion, the second light-shielding portion, the third light-shielding portion, the fourth light-shielding portion, and the receiving portion are integrally formed.

8. The housing assembly as claimed in claim 1, characterized in that, The housing assembly further includes a front side portion, the front side of the third light-shielding portion has a first abutting wall, the front side portion is located on the front side of the third light-shielding portion and abuts against the first abutting wall, the front side portion is provided with a second light guide port communicating with the first light guide port; the front side portion includes a fifth light-shielding portion, the fifth light-shielding portion is connected to the side of the third light-shielding portion away from the second light-shielding portion, the fifth light-shielding portion has a third sidewall facing the second light guide port; the first sidewall is a planar wall, the third sidewall is a planar wall, and the third sidewall is parallel or coplanar with the first sidewall, the third sidewall and the first sidewall are spaced apart or connected to each other; And / or, The housing assembly further includes a fourth light-shielding portion connected to the side of the first light-shielding portion away from the second light-shielding portion. The fourth light-shielding portion has a second sidewall opposite to the first sidewall, and the second sidewall extends in a direction away from the first axis. The housing assembly also includes a front side portion, with a second abutting wall on the front side of the fourth light-shielding portion. The front side portion is located on the front side of the fourth light-shielding portion and abuts against the second abutting wall. The front side portion has a second light guide opening communicating with the first light guide opening. The front side portion includes a sixth light-shielding portion connected to the side of the fourth light-shielding portion away from the first light-shielding portion. The sixth light-shielding portion has a fourth sidewall facing the second light guide opening. Both the second sidewall and the fourth sidewall are planar walls. The second sidewall is parallel or coplanar with the fourth sidewall, and the second sidewall and the fourth sidewall are spaced apart or connected to each other.

9. The housing assembly as claimed in claim 1, characterized in that, The housing assembly further includes a front side portion, which is connected to the front side of the third light-shielding portion, and the front side portion is provided with a second light guide port that communicates with the first light guide port. The front side portion includes a second light-blocking member that is laterally inserted through the second light guide port. The second light-blocking member is provided with a fourth arc-shaped wall facing the first space; the groove defined by the fourth arc-shaped wall is adapted to accommodate the front part of the first light-blocking member of the rotating mirror assembly; And / or, The second light guide port includes an inlet and an outlet located on both sides of the second light-blocking member. The light beam emitted by the optomechanical assembly is reflected by the rotating mirror assembly and then exited through the outlet. The light beam reflected by an external object is introduced into the first space through the inlet and reflected by the rotating mirror assembly to be received by the optomechanical assembly. The second light-blocking member has a first inclined surface and a second inclined surface on the side facing the outlet. The second inclined surface is located on the side of the first inclined surface away from the third light-blocking part. The first inclined surface is inclined towards the inlet in a direction gradually away from the second inclined surface, and / or the second inclined surface is inclined towards the inlet in a direction gradually away from the first inclined surface.

10. An optical ranging device, characterized in that, include: The housing assembly according to any one of claims 1-9; The rotating mirror assembly is disposed in the first space, and the rotating mirror assembly is configured to rotate about the first axis as a central axis; and The optomechanical assembly is located on the side of the second light-shielding part away from the first space, and the optomechanical assembly is used to emit and receive the light beam.

11. The optical ranging device as described in claim 10, characterized in that, The first light-shielding part has a first arc-shaped wall arranged around a second axis, the second axis being parallel, coincident, or intersecting the first axis, and the diameter D1 corresponding to the first arc-shaped wall and the maximum rotational outer diameter D2 of the rotating mirror assembly satisfying: 0mm≤D1-D2≤1mm.

12. The optical ranging device as described in claim 10, characterized in that, The rotating mirror assembly includes a first reflector, a second reflector, and a first light-blocking member. The first light-blocking member divides the first space into a first chamber and a second chamber distributed along a direction parallel to the first axis. The first reflector is located in the first chamber, and the second reflector is located in the second chamber. The first reflector is used to reflect the light beam emitted by the optomechanical assembly, and the second reflector is used to reflect the light beam reflected by the object to be received by the optomechanical assembly. The reflecting surface of the first reflector is disposed at a distance from or across the first axis; the reflecting surface of the second reflector is disposed at a distance from or across the first axis. A portion of the reflecting surface of the first reflector is parallel to the first axis, and / or a portion of the reflecting surface of the first reflector is inclined relative to the first axis. A portion of the reflecting surface of the second mirror is parallel to the first axis, and / or a portion of the reflecting surface of the second mirror is inclined relative to the first axis.

13. The optical ranging device as described in claim 10, characterized in that, The optomechanical assembly includes a first emitting element and a second emitting element; The optical axis of the light beam emitted by the first emitting element is perpendicular to the first axis and intersects with or is spaced from the first axis; The second emitting element is inclined relative to the first axis along the optical axis of the emitted beam, and intersects with or is spaced from the first axis.

14. A mobile robot, characterized in that, include: The optical ranging device according to any one of claims 10-13; as well as The robot body, with the optical ranging device connected to the robot body.

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