Optical emission assembly, optical distance measuring device and mobile robot

Abstract

The utility model discloses an optical emission assembly, optical ranging device and mobile robot, optical emission assembly includes: emission lens, circuit board is set up in the light side of emission lens, first transmitter is set up on the circuit board, and the light beam of first transmitter is emitted and is shot out after the emission lens to form first light beam, second transmitter is set up on the circuit board, and the light beam of second transmitter is emitted and is shot out after the emission lens to form second light beam, and the extension direction of the optical axis of second light beam is different with the extension direction of the optical axis of first light beam, the circuit board is set up to be inclined to horizontal plane to make first light beam extend in the direction parallel to horizontal plane, also make second light beam be inclined to horizontal plane and extend downward. The optical emission assembly, optical ranging device and mobile robot of the application can improve the applicability under multiple scenes, and reduce the installation difficulty.

Description

Technical Field

[0001] This utility model relates to the field of optical ranging, and in particular to an optical emission component, an optical ranging device, and a mobile robot. Background Technology

[0002] LiDAR is a radar system that uses lasers to detect the position, velocity, attitude and other characteristics of a target. Its basic principle is to first emit a detection laser beam toward the target, and then receive the signal reflected back from the target. By comparing the information of the emitted signal and the received signal, information such as the target's distance, azimuth, altitude, velocity, attitude and even shape can be obtained.

[0003] However, the required detection range of LiDAR varies in different application scenarios. For example, in obstacle avoidance scenarios, it is generally required to be able to detect surrounding obstacles, while in mapping scenarios, it is necessary to be able to detect obstacle information over a larger area in order to build an environmental map. Existing robots cannot meet the requirements of the above multiple scenarios at the same time, resulting in limited applicability.

[0004] One technical solution improves applicability by setting up multiple laser emitters that emit laser beams at different angles. However, this solution requires multiple laser emitters to be mounted on the circuit board at different angles, which increases the difficulty of installation. Summary of the Invention

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an optical emission assembly that can improve applicability in multiple scenarios and reduce installation difficulty.

[0006] This invention also proposes an optical ranging device having the aforementioned optical emission components.

[0007] This invention also proposes a mobile robot equipped with the aforementioned optical ranging device.

[0008] An optical emitting assembly according to a first aspect embodiment of the present invention includes: Emitting lens; A circuit board is disposed on the light-incident side of the emitting lens; A first transmitter is disposed on the circuit board, and the light beam emitted by the first transmitter is emitted after passing through the emission lens to form a first light beam; A second emitter is disposed on the circuit board. The light beam emitted by the second emitter passes through the emitting lens and is then emitted to form a second light beam. The extension direction of the optical axis of the second light beam is different from the extension direction of the optical axis of the first light beam. The circuit board is inclined to a horizontal plane, so that the first beam extends in a direction parallel to the horizontal plane, and the second beam is inclined to the horizontal plane and extends downward.

[0009] The optical emitting component according to the embodiments of the present invention has at least the following beneficial effects: A first transmitter and a second transmitter are mounted on a circuit board. The beam emitted by the first transmitter passes through a transmitting lens to form a first beam, and the beam emitted by the second transmitter passes through a transmitting lens to form a second beam. By tilting the circuit board to a horizontal plane, the first beam extends in a direction parallel to the horizontal plane, and the second beam extends downwards at an angle to the horizontal plane. The first beam can acquire obstacle information at a distance, which can be used to scan the surrounding environment and build a map. The second beam can acquire obstacle information at close range, which can facilitate obstacle avoidance. Furthermore, the circuit board mounting method reduces the installation difficulty of the first and second transmitters and improves installation efficiency.

[0010] According to some embodiments of the present invention, the optical axis of the emitting lens is arranged perpendicularly to the circuit board, and / or the optical axis of the first emitter is arranged perpendicularly to the circuit board, and / or the optical axis of the second emitter is arranged perpendicularly to the circuit board.

[0011] According to some embodiments of the present invention, the first transmitter and the second transmitter are respectively disposed on the upper and lower sides of the optical axis of the transmitting lens, wherein the first transmitter and the second transmitter are symmetrically or asymmetrically disposed about the optical axis of the transmitting lens; or, One of the first transmitter and the second transmitter is disposed on the optical axis of the transmitting lens, and the other is disposed on the upper or lower side of the optical axis of the transmitting lens; or, Both the first transmitter and the second transmitter are located on the upper or lower side of the optical axis of the transmitting lens.

[0012] According to some embodiments of the present invention, the first beam and the second beam have the same wavelength, and the first transmitter and the second transmitter operate in a time-sharing manner; or, The first beam and the second beam have different wavelengths, and the first transmitter and the second transmitter work simultaneously.

[0013] An optical ranging device according to a second aspect of the present invention includes the optical transmitting component and the optical receiving component described in the above embodiment; The optical receiving assembly includes a receiving lens and a receiver, with the receiver located on the light-emitting side of the receiving lens; the beam formed by the first beam after being reflected by an external object and finally reaching the receiving lens is the third beam, and the beam formed by the second beam after being reflected by an external object and finally reaching the receiving lens is the fourth beam, and the receiver is used to receive the third beam and the fourth beam focused by the receiving lens.

[0014] According to some embodiments of the present invention, the receiving lens includes a first receiving part and a second receiving part with the same or different focal lengths. The first receiving part is used to receive and focus the third beam, and the second receiving part is used to receive and focus the fourth beam. The first receiving part and the second receiving part are integrally formed, or the first receiving part and the second receiving part are formed independently of each other. The number of receivers is one, and one receiver is used to receive the third beam and the fourth beam focused by the receiving lens; or, the number of receivers is two, one receiver is used to receive the third beam focused by the receiving lens, and the other receiver is used to receive the fourth beam focused by the receiving lens.

[0015] According to some embodiments of the present invention, the focal point of the second receiving part is located between the receiving lens and the receiver; or, the focal point of the second receiving part is located on the side of the receiver away from the receiving lens.

[0016] According to some embodiments of the present invention, the focal point of the first receiving part is located on the receiver.

[0017] According to some embodiments of the present invention, the receiver is disposed on the circuit board, and the distance between the receiving lens and the circuit board along the vertical direction of the circuit board is less than the distance between the transmitting lens and the circuit board along the vertical direction of the circuit board.

[0018] According to some embodiments of the present invention, the optical ranging device further includes an optical engine base and a base, the optical transmitting component and the optical receiving component are disposed on the optical engine base, the optical engine base is provided with a mounting surface for mounting the circuit board, and the mounting surface is inclined to the horizontal plane; The optical engine mount is disposed on the base and can rotate about the vertical direction; or, the optical ranging device further includes a reflector, the optical engine mount is fixedly disposed on the base, the reflector is disposed on the base and can rotate about the vertical direction, for reflecting the first beam and the second beam to an external object and reflecting the third beam and the fourth beam to the receiving lens.

[0019] A mobile robot according to a second aspect embodiment of the present invention includes: The robot itself; and The optical ranging device described in the above embodiments is connected to the robot body and located at the front or side of the mobile robot.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the optical engine base, optical transmitting component, and optical receiving component according to an embodiment of the present invention; Figure 2 This is a cross-sectional view of the optical engine base, optical transmitting assembly, and optical receiving assembly according to an embodiment of the present utility model; Figure 3 This is another structural schematic diagram of the optical engine base, optical transmitting component, and optical receiving component according to an embodiment of the present invention; Figure 4 This is another cross-sectional view of the optical mount, optical transmitting assembly, and optical receiving assembly according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the optical ranging device according to an embodiment of the present invention; Figure 6 This is a cross-sectional view of the optical ranging device according to an embodiment of the present invention.

[0022] Figure label: 100. Transmitting lens; 200. Circuit board; 300. First transmitter; 400. Second transmitter; 10. Optical transmitting assembly; 20. Optical receiving assembly; 201. Receiving lens; 2011. First receiving unit; 2012. Second receiving unit; 202. Receiver; 30. Optical mount; 40. Base; 50. Reflector. Detailed Implementation

[0023] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0025] In the description of the embodiments of this application, the technical terms "first," "second," "third," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0028] In the description of the embodiments of this application, the technical terms "top", "bottom", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0029] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to two components. Internal connectivity or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0030] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0031] Please refer to Figures 1-4 This application provides an optical emission assembly, including an emission lens 100, a circuit board 200, a first transmitter 300, and a second transmitter 400.

[0032] Please refer to Figure 1 and Figure 2 The first transmitter 300 and the second transmitter 400 are disposed on the circuit board 200 for emitting light beams (such as... Figure 2 and Figure 4 (As shown in the tapered structure with cross-section) to the emitting lens 100, wherein the circuit board 200, the first emitter 300 and the second emitter 400 are all disposed on the light-incident side of the emitting lens 100, that is, the side on which the light beam enters the emitting lens 100.

[0033] The emitting lens 100 is made of optical-grade transparent material (such as quartz or optical glass) and has a beam collimation function, used to convert the diverging beams emitted by the first emitter 300 and the second emitter 400 into parallel beams. Specifically, the beam emitted by the first emitter 300 passes through the emitting lens 100 to form a first beam; the beam emitted by the second emitter 400 passes through the emitting lens 100 to form a second beam, wherein the optical axis of the second beam extends in a different direction than that of the first beam.

[0034] The circuit board 200 is inclined to the horizontal plane, so that the first beam extends in a direction parallel to the horizontal plane, and the second beam is also inclined to the horizontal plane and extends downward. The circuit board 200 is inclined to the horizontal plane, meaning it is neither parallel nor perpendicular to the horizontal plane.

[0035] In the above embodiments, by tilting the circuit board 200 to a horizontal plane, the first beam extends in a direction parallel to the horizontal plane, and the second beam is tilted to the horizontal plane and extends downwards. The first beam can acquire obstacle information at a distance, thereby scanning the surrounding environment and constructing a map, while the second beam can acquire obstacle information at close range, thus facilitating obstacle avoidance. Furthermore, the arrangement of the circuit board 200 reduces the installation difficulty of the first transmitter 300 and the second transmitter 400, improving installation efficiency. Moreover, by sharing a single emitting lens 100 to achieve the emission of multiple beams, the size and cost of the optical emitting assembly 10 are reduced, improving the system's integration and reliability.

[0036] In some embodiments, the optical axis of the emitting lens 100 is perpendicular to the circuit board 200. That is, the optical axis of the emitting lens 100 is also tilted relative to the horizontal plane. The emitting lens 100 and the circuit board 200 can be directly or indirectly connected into a whole, and both are tilted relative to the horizontal plane. This allows for simultaneous tilting of both components through a single positioning, avoiding assembly errors caused by separate adjustments and improving installation efficiency.

[0037] In some embodiments, the optical axis of the first transmitter 300 is perpendicular to the circuit board 200. That is, the central axis of the light emitted by the first transmitter 300 is approximately 90° to the surface of the circuit board 200. In this way, by vertically mounting the first transmitter 300 onto the circuit board 200 and simultaneously tilting the circuit board 200, a first beam extending in a direction parallel to the horizontal plane is obtained. Compared to a structure in which the circuit board 200 is arranged vertically and the first transmitter 300 is tilted to mount on the circuit board 200, the installation difficulty of the first transmitter 300 is reduced and the assembly efficiency is improved.

[0038] In some embodiments, the optical axis of the second transmitter 400 is perpendicular to the circuit board 200. That is, the central axis of the light emitted by the second transmitter 400 is approximately 90° to the surface of the circuit board 200. Similarly, this arrangement can reduce the installation difficulty of the second transmitter 400 and further improve assembly efficiency. The optical axis of the first transmitter 300 is parallel to the optical axis of the second transmitter 400.

[0039] It is understandable that the positional distribution of the first transmitter 300 and the second transmitter 400 can be adjusted according to the actual application scenario to meet the needs of different detection angles and detection ranges.

[0040] In some embodiments, the first transmitter 300 and the second transmitter 400 are respectively disposed on the upper and lower sides of the optical axis of the transmitting lens 100, that is, the upper region and the lower region are divided with the optical axis of the transmitting lens 100 as a reference, and the first transmitter 300 and the second transmitter 400 are respectively disposed in the upper region and the lower region. At this time, the light beam emitted by the transmitter in the upper region is deflected downward after passing through the transmitting lens 100, and the light beam emitted by the transmitter in the lower region is deflected upward after passing through the transmitting lens 100.

[0041] Furthermore, the first transmitter 300 and the second transmitter 400 are either symmetrically or asymmetrically arranged with respect to the optical axis of the transmitting lens 100. If their optical axes are symmetrically arranged, the angle between the first beam and the optical axis of the transmitting lens 100 is the same as the angle between the second beam and the optical axis of the transmitting lens 100. If their optical axes are asymmetrically arranged, the angles between the first beam and the second beam and the optical axis of the transmitting lens 100 are different.

[0042] In other embodiments, one of the first emitter 300 and the second emitter 400 is disposed on the optical axis of the emitting lens 100, and the other is disposed above or below the optical axis of the emitting lens 100. In this case, the angle between one of the first beam and the second beam and the optical axis of the emitting lens 100 is 0°, and the angle between the other beam and the optical axis of the emitting lens 100 is greater than 0°.

[0043] In other embodiments, the first transmitter 300 and the second transmitter 400 are both disposed above or below the optical axis of the transmitting lens 100. In this case, the first beam and the second beam deflect to the same side, but at different angles.

[0044] In some embodiments, the first and second beams have the same wavelength, and the first transmitter 300 and the second transmitter 400 operate in a time-division multiplexing mode, meaning they do not operate simultaneously. In this time-division multiplexing mode, the first transmitter 300 and the second transmitter 400 sequentially emit beams of the same wavelength to avoid signal interference and improve detection accuracy.

[0045] In other embodiments, the first and second beams have different wavelengths, and the first transmitter 300 and the second transmitter 400 operate simultaneously. This simultaneous operation mode enhances the system's detection capability and response speed.

[0046] Please refer to Figures 1-6 This application also provides an optical ranging device, including an optical transmitting component 10 and an optical receiving component 20. The optical receiving component 20 is used to receive light reflected by external objects.

[0047] Please refer to Figure 2The optical receiving assembly 20 includes a receiving lens 201 and a receiver 202. The receiving lens 201 has a focusing function, and the receiver 202 is located on the light-emitting side of the receiving lens 201, that is, on the side where the light beam is focused by the receiving lens 201. The light beam formed after the first light beam is reflected by an external object and finally reaches the receiving lens 201 is the third light beam, and the light beam formed after the second light beam is reflected by an external object and finally reaches the receiving lens 201 is the fourth light beam. The receiver 202 is used to receive the third and fourth light beams focused by the receiving lens 201, and converts the received third and fourth light beams into electrical signals. This enables accurate measurement of obstacles at both long and short distances.

[0048] In some embodiments, the receiving lens 201 includes a first receiving part 2011 and a second receiving part 2012 with the same or different focal lengths. The first receiving part 2011 is used to receive and focus a third beam, and the second receiving part 2012 is used to receive and focus a fourth beam.

[0049] The focal lengths of the first receiving part 2011 and the second receiving part 2012 can be determined based on the optical design requirements of the optical receiving component 20 (e.g., a certain focal length is required to ensure detection accuracy) and the available space between the first receiving part 2011 and the second receiving part 2012 and the receiving lens 201 (e.g., whether there is enough space to ensure the focal length). Ultimately, they can be the same or different.

[0050] Please refer to Figure 1 and Figure 2 In some embodiments, the first receiving part 2011 and the second receiving part 2012 are integrally formed, making the overall structure of the receiving lens 201 more compact, thereby reducing the size of the optical ranging device and improving the system integration. In other embodiments, the first receiving part 2011 and the second receiving part 2012 are formed independently of each other.

[0051] Understandably, the number of receivers 202 can be one or two.

[0052] In some embodiments, there is only one receiver 202, which is used to receive the third and fourth beams focused by the receiving lens 201, in order to reduce the cost of the optical ranging device and improve system integration.

[0053] In other embodiments, there are two receivers 202, one receiver 202 for receiving a third beam focused by a receiving lens 201, and the other receiver 202 for receiving a fourth beam focused by a receiving lens 201.

[0054] In some embodiments, the focal point of the second receiving unit 2012 is located between the receiving lens 201 and the receiver 202; or, the focal point of the second receiving unit 2012 is located on the side of the receiver 202 away from the receiving lens 201.

[0055] Specifically, when the focal point of the second receiving unit 2012 is located between the receiving lens 201 and the receiver 202, the fourth beam has already been focused and begins to diverge before reaching the surface of the receiver 202, resulting in a relatively large spot size received by the receiver 202. When the focal point of the second receiving unit 2012 is located on the side of the receiver 202 away from the receiving lens 201, the fourth beam is in a state of incomplete convergence on the surface of the receiver 202, resulting in a relatively large spot size received by the receiver 202.

[0056] Understandably, since the second beam extends downwards at an angle to the horizontal plane to obtain information about nearby obstacles, the fourth beam formed by its reflection from nearby objects experiences less attenuation during transmission. Therefore, the light intensity of the fourth beam is relatively high, so its focal point is not set on the receiver 202, but rather between the receiving lens 201 and the receiver 202, or on the side of the receiver 202 away from the receiving lens 201. This reduces the light intensity per unit area illuminating the receiver 202 and improves the uniformity of light received in the photosensitive area of ​​the receiver 202, reducing signal fluctuations. On the other hand, it increases the likelihood that the light spot can be effectively received by the receiver 202. In this way, even if the receiver 202 uses a small-area chip, it can still meet the detection requirements, thus balancing detection performance and miniaturization requirements.

[0057] In some embodiments, the focus of the first receiving unit 2011 is located on the receiver 202. It is understood that, since the third beam, formed by the long-distance reflection of the first beam, has a lower light intensity, precise focusing enhances the signal strength, ensuring effective acquisition of information about obstacles at a distance.

[0058] Please refer to Figure 3 and Figure 4 In some embodiments, the receiver 202 is disposed on the circuit board 200, and the distance between the receiving lens 201 and the circuit board 200 along the vertical direction of the circuit board 200 is less than the distance between the transmitting lens 100 and the circuit board 200 along the vertical direction of the circuit board 200.

[0059] It is understood that the receiver 202, the first transmitter 300, and the second transmitter 400 are all mounted on the aforementioned circuit board 200. In this structure, the distance between the receiving lens 201 and the receiver 202 along the vertical direction of the circuit board 200 is less than the distance between the transmitting lens 100 and the first transmitter 300 and the second transmitter 400 along the vertical direction of the circuit board 200, respectively. Given a fixed distance between the transmitting lens 100 and its corresponding transmitter or circuit board 200, and a fixed width of the receiving lens 201, the closer the receiving lens 201 is to the receiver 202, the larger the receiving angle can be, thereby expanding the range of light captured by the receiver 202 from obstacles and improving the reliability of detection.

[0060] In other embodiments, the distance between the receiving lens 201 and the circuit board 200 along the vertical direction of the circuit board 200 is greater than or equal to the distance between the transmitting lens 100 and the circuit board 200 along the vertical direction of the circuit board 200. Correspondingly, the farther the receiving lens 201 is from the receiver 202, the smaller the receiving angle can be, thereby improving the signal-to-noise ratio of the received signal.

[0061] In other embodiments, a second circuit board is also included, on which the receiver 202 is disposed.

[0062] Please refer to Figure 5 and Figure 6 In some embodiments, the optical ranging device further includes an optical engine base 30 and a base 40. The optical transmitting component 10 and the optical receiving component 20 are disposed on the optical engine base 30. The optical engine base 30 is provided with a mounting surface for mounting the circuit board 200, and the mounting surface is inclined to the horizontal plane.

[0063] The optical assembly base 30 serves as the mounting foundation for the optical transmitting assembly 10 and the optical receiving assembly 20. The circuit board 200 is mounted on the mounting surface of the optical assembly base 30, and the first transmitter 300, the second transmitter 400, and the receiver 202 are all fixed to the circuit board 200. It is understood that the tilt direction and angle of the mounting surface directly determine the tilt attitude of the circuit board 200, thereby controlling the light emission direction of the first and second transmitters 400 through the vertical linkage relationship of "transmitter optical axis - circuit board 200 - mounting surface". Furthermore, the circuit board 200 only needs to be positioned via the mounting surface of the optical assembly base 30, improving assembly efficiency.

[0064] In some embodiments, the optical assembly 30 is disposed on the base 40 and is rotatable about the vertical direction. The optical assembly 30 is disposed on the base 40 and is rotatable about the vertical direction, thereby driving the optical emitting component 10 and the optical receiving component 20 integrated on the optical assembly 30 to rotate synchronously, realizing 360° full-circle scanning detection.

[0065] In other embodiments, the optical ranging device further includes a reflector 50. The optical engine mount 30 is fixedly mounted on the base 40, and the reflector 50 is mounted on the base 40 and can rotate about the vertical direction. It is used to reflect the first and second light beams to external objects and to reflect the third and fourth light beams to the receiving lens 201. In this way, scanning and detection within a certain angle range can be achieved through the reflection of the rotating reflector 50.

[0066] This application also provides a mobile robot, including a robot body and an optical ranging device. The optical ranging device is connected to the robot body and located at the front or side of the mobile robot. The mobile robot measures the distance to external objects through the optical ranging device, thereby achieving obstacle avoidance. The mobile robot can be a cleaning robot with functions such as sweeping and mopping, a service robot with functions such as food delivery and goods delivery, a lawnmower robot with lawn mowing function, or a handling robot used for transporting goods in warehouses and factories, etc.

[0067] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of protection.

Claims

1. An optical emitting assembly, characterized in that, include: Emitting lens; A circuit board is disposed on the light-incident side of the emitting lens; A first transmitter is disposed on the circuit board, and the light beam emitted by the first transmitter is emitted after passing through the emission lens to form a first light beam; A second emitter is disposed on the circuit board. The light beam emitted by the second emitter passes through the emitting lens and is then emitted to form a second light beam. The extension direction of the optical axis of the second light beam is different from the extension direction of the optical axis of the first light beam. The circuit board is inclined to a horizontal plane, so that the first beam extends in a direction parallel to the horizontal plane, and the second beam is inclined to the horizontal plane and extends downward.

2. The optical emitting assembly according to claim 1, characterized in that, The optical axis of the emitting lens is perpendicular to the circuit board, and / or the optical axis of the first emitter is perpendicular to the circuit board, and / or the optical axis of the second emitter is perpendicular to the circuit board.

3. The optical emitting assembly according to claim 1, characterized in that, The first transmitter and the second transmitter are respectively disposed on the upper and lower sides of the optical axis of the transmitting lens, wherein the first transmitter and the second transmitter are symmetrically or asymmetrically disposed about the optical axis of the transmitting lens; or, One of the first transmitter and the second transmitter is disposed on the optical axis of the transmitting lens, and the other is disposed on the upper or lower side of the optical axis of the transmitting lens; or, Both the first transmitter and the second transmitter are located on the upper or lower side of the optical axis of the transmitting lens.

4. The optical emitting assembly according to claim 1, characterized in that, The first beam and the second beam have the same wavelength, and the first transmitter and the second transmitter operate in a time-division multiplexing manner; or, The first beam and the second beam have different wavelengths, and the first transmitter and the second transmitter work simultaneously.

5. An optical ranging device, characterized in that, Includes the optical transmitting component and the optical receiving component as described in any one of claims 1-4; The optical receiving assembly includes a receiving lens and a receiver, with the receiver located on the light-emitting side of the receiving lens; the beam formed by the first beam after being reflected by an external object and finally reaching the receiving lens is the third beam, and the beam formed by the second beam after being reflected by an external object and finally reaching the receiving lens is the fourth beam, and the receiver is used to receive the third beam and the fourth beam focused by the receiving lens.

6. The optical ranging device according to claim 5, characterized in that, The receiving lens includes a first receiving part and a second receiving part with the same or different focal lengths. The first receiving part is used to receive and focus the third beam, and the second receiving part is used to receive and focus the fourth beam. The first receiving part and the second receiving part are integrally formed, or the first receiving part and the second receiving part are formed independently of each other. The number of receivers is one, and one receiver is used to receive the third beam and the fourth beam focused by the receiving lens; or, the number of receivers is two, one receiver is used to receive the third beam focused by the receiving lens, and the other receiver is used to receive the fourth beam focused by the receiving lens.

7. The optical ranging device according to claim 6, characterized in that, The focal point of the second receiving unit is located between the receiving lens and the receiver; or, the focal point of the second receiving unit is located on the side of the receiver away from the receiving lens; And / or, the focus of the first receiving part is located on the receiver.

8. The optical ranging device according to claim 5, characterized in that, The receiver is disposed on the circuit board, and the distance between the receiving lens and the circuit board along the vertical direction of the circuit board is less than the distance between the transmitting lens and the circuit board along the vertical direction of the circuit board.

9. The optical ranging device according to claim 5, characterized in that, The optical ranging device further includes an optical engine base and a base. The optical transmitting component and the optical receiving component are disposed on the optical engine base. The optical engine base is provided with a mounting surface for mounting the circuit board. The mounting surface is inclined to the horizontal plane. The optical engine mount is disposed on the base and can rotate about the vertical direction; or, the optical ranging device further includes a reflector, the optical engine mount is fixedly disposed on the base, the reflector is disposed on the base and can rotate about the vertical direction, for reflecting the first beam and the second beam to an external object and reflecting the third beam and the fourth beam to the receiving lens.

10. A mobile robot, characterized in that, include: The robot itself; as well as The optical ranging device according to any one of claims 5 to 9 is connected to the robot body and located at the front or side of the mobile robot.

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