Optical range finding device and autonomous mobile robot

Abstract

An optical range finding device (1000) and an autonomous mobile robot (2000). The optical range finding device (1000) comprises: a transmitting assembly (120), which comprises a transmitting lens group (121) and a light emitter (122), wherein the light emitter (122) is used for emitting a transmission light beam; a lower reflector assembly (140); a receiving assembly (130), which comprises a receiving lens group (131) and a light receiver (132), wherein received light passes the receiving lens group (131) and the lower reflector assembly (140) and then reaches the light receiver (132); and a circuit board (150), wherein the light emitter (122) is arranged on the side of the circuit board (150) close to the transmitting lens group (121), and the light receiver (132) is arranged on the side of the circuit board (150) away from the transmitting lens group (121); the distance between the circuit board (150) and the transmitting lens group (121) is greater than the distance between the receiving lens group (131) and the transmitting lens group (121). In the optical range finding device, by arranging both the light emitter (122) and the light receiver (132) on the circuit board (150), integration and simplification of the structure is implemented; moreover, by arranging the receiving lens group (131) and the transmitting lens group (121) on the same side of the circuit board (150), the overall size of the transmitting lens group (121), the receiving lens group (131) and the circuit board (150) is reduced, thereby providing conditions for miniaturization of the optical range finding device (1000).

Description

Optical distance measuring device and self-walking robot TECHNICAL FIELD

[0001] The present application belongs to the field of optical distance measuring, and particularly relates to an optical distance measuring device and a self-walking robot. BACKGROUND

[0002] The optical distance measuring device (such as a laser radar) in the prior art is coaxial and transmits and receives, and the light emitter and the light receiver are often arranged on two different circuit boards, or the transmitting lens and the receiving lens are arranged in a structure with a large spacing. These structures all have the problems of complex structure and large volume. SUMMARY

[0003] In view of the above technical problems, the present application provides an optical distance measuring device and a self-walking robot having the same, which arranges the light emitter and the light receiver on a circuit board, realizes the integration and simplification of the structure, and arranges the receiving lens group and the transmitting lens group on the same side of the circuit board, so that the size of the transmitting lens group, the receiving lens group and the circuit board as a whole can be reduced, thereby providing conditions for the miniaturization of the optical distance measuring device.

[0004] The specific technical solutions of the present application are as follows:

[0005] An optical distance measuring device comprises:

[0006] A transmitting assembly, which comprises a transmitting lens group and a light emitter, the light emitter being configured to emit a transmitting light beam;

[0007] A lower mirror assembly;

[0008] A receiving assembly, which comprises a receiving lens group and a light receiver, the light receiver being configured to receive a receiving light beam reflected by an external object of the optical distance measuring device and passing through the receiving lens group and the lower mirror assembly;

[0009] A circuit board, which is provided with the light emitter and the light receiver, and the receiving lens group and the transmitting lens group are arranged on the same side of the circuit board.

[0010] In addition, the optical distance measuring device according to the present application can also have the following additional technical features.

[0011] In some examples of the present application, the light emitter is arranged on the side of the circuit board close to the transmitting lens group, and the light receiver is arranged on the side of the circuit board away from the transmitting lens group.

[0012] In some examples of the present application, the receiving lens group and the light receiver are arranged on one side of the reflecting surface of the lower mirror assembly.

[0013] In some examples of the present application, the receiving lens group is provided with a light emitting hole for allowing the emitted light beam emitted by the light emitter to pass through, and the emitting lens group is arranged in the light emitting hole or outside the side of the light emitting hole away from the light emitter.

[0014] In some examples of the present application, the circuit board comprises a first circuit board part and a second circuit board part, the first circuit board part is arranged radially outside the receiving lens group, and part or all of the second circuit board part is arranged in the light emitting hole, the side of the second circuit board part close to the emitting lens group is provided with the light emitter, the side of the second circuit board part away from the emitting lens group is provided with the light receiver, and the first circuit board part and the second circuit board part are connected through a connecting part.

[0015] In some examples of the present application, the receiving lens group is provided with a circuit board avoiding slot extending along the radial direction of the receiving lens group and communicating with the light emitting hole, and the connecting part between the first circuit board part and the second circuit board part is arranged in the circuit board avoiding slot.

[0016] In some examples of the present application, the first circuit board part is sleeved on the second circuit board part, and the connecting part and an avoiding part are arranged between the first circuit board part and the second circuit board part, and the received light beam received by the receiving lens group passes through the avoiding part and then reaches the lower mirror assembly.

[0017] In some examples of the present application, the optical distance measuring device further comprises a base, the circuit board is arranged on the base, part of the base is formed as the lower mirror assembly, or the base is provided with a recess, the recess is recessed away from the light receiver, the lower mirror assembly is arranged in the recess, or the recess is formed as the lower mirror assembly, or the base is provided with an opening, and the received light beam passes through the opening and then reaches the lower mirror assembly.

[0018] In some examples of the present application, along the axial direction of the emitting lens group, the emitting lens group, the light emitter, the circuit board, the light receiver and the lower mirror assembly are arranged in sequence, and / or the axial line of the emitting lens group is parallel to or coaxial with the axial line of the receiving lens group.

[0019] In some examples of the present application, the optical distance measuring device further comprises a base and an upper mirror assembly, the upper mirror assembly is rotatably arranged on the base, the upper mirror assembly is used for reflecting the emitted light beam emitted by the light emitter to the external area of the optical distance measuring device, and the rotation axis of the upper mirror assembly is coaxial with the axial line of the emitting lens group and the axial line of the receiving lens group.

[0020] In some examples of the present application, the upper mirror assembly comprises an upper mirror and a rotating seat, the rotating seat is rotatably arranged on the bearing seat of the base through a bearing; the rotating seat cooperates with the outer side surface of the bearing, the bearing seat cooperates with the inner side surface of the bearing, and the bearing seat is sleeved on the receiving mirror group; or, the rotating seat cooperates with the inner side surface of the bearing, the bearing seat cooperates with the outer side surface of the bearing, and the bearing is sleeved on the receiving mirror group.

[0021] In some examples of the present application, a driving assembly is further included, the driving assembly is used for driving the rotation of the upper mirror assembly; the driving assembly is coaxially arranged with the upper mirror assembly, or the driving assembly is non-coaxially arranged with the upper mirror assembly; and / or, the driving assembly is directly connected with the upper mirror assembly, or the driving assembly is drivingly connected with the upper mirror assembly through a transmission assembly.

[0022] The present application further provides a self-walking robot, comprising a robot body and an optical distance measuring device provided by the embodiments of the present application.

[0023] The optical distance measuring device and the self-walking robot provided by the present application, by arranging the lower mirror assembly to fold the receiving light beam passing through the receiving mirror group, and further arranging the light emitter and the light receiver on the two sides of the circuit board respectively, the present application saves a large amount of space occupied by one circuit board, realizes the integration and simplification of the structure; at the same time, since the distance between the circuit board provided with the light emitter and the transmitting mirror group corresponds to the focal length of the transmitting mirror group, and the distance between the circuit board and the receiving mirror group after the receiving light beam is folded is less than the focal length of the receiving mirror group, by arranging the receiving mirror group and the transmitting mirror group on the same side of the circuit board, the size of the transmitting mirror group, the receiving mirror group and the circuit board as a whole can be reduced, thereby providing conditions for the miniaturization of the optical distance measuring device.

[0024] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 is a schematic view of a self-walking robot provided by an embodiment of the present application.

[0026] Fig. 2 is a sectional view of an optical distance measuring device provided by an embodiment of the present application.

[0027] Fig. 3 is a sectional view of a receiving mirror group and a fixing support of an optical distance measuring device provided by another embodiment of the present application.

[0028] Fig. 4 is a bottom view of a fixed module of an optical distance measuring device according to an embodiment of the present application.

[0029] Fig. 5 is a bottom view of a fixed module of an optical distance measuring device according to another embodiment of the present application.

[0030] Fig. 6 is a sectional view of an optical distance measuring device according to another embodiment of the present application.

[0031] Fig. 7 is a top view of a fixed module of an optical distance measuring device according to an embodiment of the present application.

[0032] Fig. 8 is a sectional view of an optical distance measuring device according to another embodiment of the present application.

[0033] Fig. 9 is a sectional view of a lower mirror assembly of an optical distance measuring device according to an embodiment of the present application.

[0034] Reference signs: 1000, optical distance measuring device; 100, fixed module; 110, fixed support; 111, lower extension support part; 111a, notch; 111b, first extension column unit; 111c, second extension column unit; 112, side extension support part; 112a, extension plate unit; 113, reinforcing structure; 120, emission assembly; 121, emission mirror group; 122, light emitter; 130, reception assembly; 131, reception mirror group; 131a, light emission hole; 131b, circuit board avoiding groove; 132, light receiver; 140, lower mirror assembly; 141, lower mirror; 142, lower mirror adjusting member; 150, circuit board; 151, first circuit board part; 152, second circuit board part; 153, connecting part; 154, avoiding part; 161, first fixing member; 164, fourth fixing member; 200, base; 200a, groove; 200b, opening; 200c, bearing seat; 300, upper mirror assembly; 310, upper mirror; 320, rotating seat; 330, bearing; 2000, self-walking robot; 2100, robot body. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0036] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain the present application and should not be understood as limiting the present application.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "vertical", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the features defined as "first" and "second" can be explicitly or implicitly included one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] The optical distance measuring device 1000 and the self-walking robot 2000 according to the embodiments of the present application are described in detail below with reference to FIGS. 1-9. As shown in FIG. 1, the self-walking robot 2000 includes a robot body 2100 and an optical distance measuring device 1000. The self-walking robot 2000 measures the distance of external objects through the optical distance measuring device 1000, thereby realizing self-walking. The self-walking robot 2000 can be a cleaning robot having the functions of sweeping and mopping, can be a service robot having the functions of delivering food and delivering objects, can be a lawn mower robot having the function of mowing grass, can be a carrying robot used for carrying goods in a warehouse or factory, etc.

[0040] As shown in FIG. 2, the optical distance measuring device 1000 includes a transmitting assembly 120, a receiving assembly 130, a lower mirror assembly 140, and a circuit board 150. The transmitting assembly 120 includes a transmitting mirror set 121 and a light transmitter 122, and the light transmitter 122 is used to emit a transmitting light beam. The receiving assembly 130 includes a receiving mirror set 131 and a light receiver 132, and the light receiver 132 is used to receive a receiving light beam reflected from external objects of the optical distance measuring device 1000, passing through the receiving mirror set 131 and the lower mirror assembly 140. The light transmitter 122 and the light receiver 132 are provided on the circuit board 150. Among them, the receiving mirror set 131 and the transmitting mirror set 121 are arranged on the same side of the circuit board 150.

[0041] The optical distance measuring device 1000 provided by the embodiments of the present application is characterized in that the receiving light beam passing through the receiving mirror group 131 is folded by the lower mirror assembly 140, and the light emitter 122 and the light receiver 132 are both arranged on the circuit board 150, thereby saving a large amount of space occupied by one circuit board, and realizing the integration and simplification of the structure. Meanwhile, the distance between the circuit board 150 provided with the light emitter 122 and the transmitting mirror group 121 corresponds to the focal length of the transmitting mirror group 121, and the distance between the circuit board 150 after the receiving light beam is folded and the receiving mirror group 131 is less than the focal length of the receiving mirror group 131. Therefore, by arranging the receiving mirror group 131 and the transmitting mirror group 121 on the same side of the circuit board 150, the overall size of the transmitting mirror group 121, the receiving mirror group 131 and the circuit board 150 in the direction perpendicular to the circuit board 150 is small, specifically, the overall size is approximately the larger value of the distance between the circuit board 150 and the transmitting mirror group 121 and the distance between the circuit board 150 and the receiving mirror group 131, rather than the sum of the distance between the circuit board 150 and the transmitting mirror group 121 and the distance between the circuit board 150 and the receiving mirror group 131, thereby providing a condition for the miniaturization of the optical distance measuring device 1000.

[0042] As shown in FIG. 2, in some embodiments, the light emitter 122 is arranged on the side of the circuit board 150 close to the transmitting mirror group 121, and the light receiver 132 is arranged on the side of the circuit board 150 away from the transmitting mirror group 121. In some embodiments, the circuit board 150 can be a single circuit board, the light emitter 122 is arranged on the side of the single circuit board close to the transmitting mirror group 121, and the light receiver 132 is arranged on the side of the single circuit board away from the transmitting mirror group 121. In other embodiments, the circuit board 150 can be two circuit boards, the light emitter 122 is arranged on the side of one circuit board close to the transmitting mirror group 121, and the light receiver 132 is arranged on the side of the other circuit board away from the transmitting mirror group 121, wherein the two circuit boards can be arranged in a spaced manner or in a bonded manner.

[0043] As shown in FIG. 2, in some embodiments, the receiving mirror group 131 and the light receiver 132 are both arranged on the side of the reflecting surface of the lower mirror assembly 140. Specifically, along the axial direction of the receiving mirror group 131, the lower mirror assembly 140 is arranged in a spaced manner with the receiving mirror group 131 and the light receiver 132, the reflecting surface of the lower mirror assembly 140 is arranged opposite to the receiving mirror group 131, and the reflecting surface of the lower mirror assembly 140 is arranged opposite to the light receiver 132, thereby providing space and distance for the focusing of the receiving light beam, folding the optical path of the receiving light beam, and reducing the distance between the receiving mirror group 131 and the light receiver 132.

[0044] As shown in FIG. 2, in some embodiments, the receiving mirror group 131 is provided with a light emitting hole 131a for allowing the emitted light beam emitted by the light emitter 122 to pass through, the light emitter 122 is arranged opposite to the emitting mirror group 121 through the light emitting hole 131a, and the emitting mirror group 121 is arranged in the light emitting hole 131a, thereby minimizing the distance between the emitting mirror group 121 and the receiving mirror group 131. In other embodiments, the emitting mirror group 121 can also be arranged outside the side of the light emitting hole 131a away from the light emitter 122.

[0045] As shown in FIG. 6, in some embodiments, the circuit board 150 comprises a first circuit board part 151 and a second circuit board part 152, the first circuit board part 151 is arranged radially outside the receiving mirror group 131, and the second circuit board part 152 is partially or completely arranged in the light emitting hole 131a, the second circuit board part 152 is provided with the light emitter 122 and the light receiver 132, and the first circuit board part 151 and the second circuit board part 152 are connected through a connecting part 153. The partial or complete arrangement of the second circuit board part 152 provided with the light emitter 122 and the light receiver 132 in the light emitting hole 131a not only ensures the corresponding arrangement of the light emitter 122 and the emitting mirror group 121, and the corresponding arrangement of the light receiver 132 and the receiving mirror group 131 and the lower reflecting mirror assembly 140, but also ensures the possibility that the received light beam is blocked by the second circuit board part 152 during the focusing process of the receiving mirror group 131, thereby improving the amount of light beam that can be received by the light receiver 132, and improving the distance measuring reliability. At the same time, the first circuit board part 151 provided radially outside the receiving mirror group 131 has electronic components for circuit connection with the light emitter 122 and the light receiver 132, thereby ensuring the reasonable distribution of various electronic components on the circuit board 150. In some embodiments, the side of the second circuit board part 152 close to the emitting mirror group 121 is provided with the light emitter 122, and the side of the second circuit board part 152 away from the emitting mirror group 121 is provided with the light receiver 132. In some embodiments, the first circuit board part 151 and the second circuit board part 152 are integrally formed as a PCB board, specifically, the first circuit board part 151, the second circuit board part 152 and the connecting part 153 are integrally formed. In other embodiments, the first circuit board part 151 and the second circuit board part 152 are separately formed, and are connected through wires, preferably, the board surfaces of the first circuit board part 151 and the second circuit board part 152 are arranged in coincidence.

[0046] As shown in FIG. 6, in some embodiments, the receiving lens group 131 is provided with a circuit board avoiding groove 131b extending along the radial direction of the receiving lens group 131 and communicating with the light emitting hole 131a, and the connecting part 153 between the first circuit board part 151 and the second circuit board part 152 is arranged in the circuit board avoiding groove 131b. By arranging the circuit board avoiding groove 131b, the connecting part 153 between the first circuit board part 151 and the second circuit board part 152 can be arranged in the circuit board avoiding groove 131b, so as to minimize the overall height of the receiving lens group 131 and the circuit board 150.

[0047] As shown in FIG. 4 or FIG. 5, in some embodiments, the first circuit board part 151 is sleeved on the second circuit board part 152, and the connecting part 153 and the avoiding part 154 are arranged between the first circuit board part 151 and the second circuit board part 152, and the received light beam received by the receiving lens group 131 passes through the avoiding part 154 and then reaches the lower mirror assembly 140, and then the lower mirror assembly 140 reflects the received light beam to the light receiver 132 on the second circuit board part 152. By arranging the avoiding part 154, the received light beam can pass through the circuit board 150 to reach the lower mirror assembly 140 after being received by the receiving lens group 131, so as to ensure the passability of the light path while arranging the second circuit board part 152 in the light emitting hole 131a.

[0048] As shown in FIG. 2 and FIG. 6, in some embodiments, the optical distance measuring device 1000 further comprises a base 200, and the circuit board 150 is arranged on the base 200. The base 200 is provided with a groove 200a, and the recess direction of the groove 200a is away from the light receiver 132, and the lower mirror assembly 140 is arranged in the groove 200a. The base 200 accommodates the lower mirror assembly 140 by arranging the groove 200a, which is beneficial to reduce the reflection of stray light on the lower mirror assembly 140 and improve the distance measuring reliability. In other embodiments, the groove 200a can be directly formed as the lower mirror assembly 140, specifically, the surface of the groove 200a facing the receiving lens group 131 and the light receiver 132 is formed as a reflecting surface.

[0049] As shown in FIG. 8, in some embodiments, the base 200 is provided with an opening 200b, and the received light beam reaches the lower mirror assembly 140 through the opening 200b. By arranging the opening 200b on the base 200, the space on the side of the base 200b away from the emitting assembly 120 or the receiving assembly 130 or the circuit board 150 is effectively utilized to arrange the lower mirror assembly 140, which has the advantages of simple structure and small volume.

[0050] As shown in FIG. 2, FIG. 6 and FIG. 8, in some embodiments, the emitting mirror group 121, the light emitter 122, the circuit board 150, the light receiver 132 and the lower mirror assembly 140 are arranged in sequence along the axis direction of the emitting mirror group 121, and the arrangement makes the components arranged with small gaps, which is conducive to reducing the size of the fixed module 100 along the axis direction of the emitting mirror group 121.

[0051] As shown in FIG. 2, FIG. 6 and FIG. 8, in some embodiments, the axis of the emitting mirror group 121 is parallel or coaxial with the axis of the receiving mirror group 131. The coaxial arrangement of the emitting mirror group 121 and the receiving mirror group 131 can reduce the near distance measurement blind area of the optical distance measuring device 1000, and the parallel arrangement of the emitting mirror group 121 and the receiving mirror group 131 can be applied to a non-uniform receiving mirror group 131, and improve the distance detection effect in a specific direction.

[0052] As shown in FIG. 9, in some embodiments, the optical distance measuring device 1000 further comprises an upper mirror assembly 300, which is rotatably arranged on the base 200, and is used to reflect the emitted light beam of the light emitter 122 to the external area of the optical distance measuring device 1000. The rotation axis of the upper mirror assembly 300, the axis of the emitting mirror group 121 and the axis of the receiving mirror group 131 are coaxial. By arranging the rotating upper mirror assembly 300, the light beam realizes multi-angle emission and reception in the rotation process, so that the optical distance measuring device 1000 realizes multi-angle distance measurement without rotating the emitting assembly 120 and the receiving assembly 130, and the structure is simple. In other embodiments, the optical distance measuring device 1000 can not be provided with the rotating upper mirror assembly 300, so as to realize single-direction distance measurement through the emitting assembly 120 and the receiving assembly 130 in the fixed module 100.

[0053] As shown in FIG. 9, in some embodiments, the upper mirror assembly 300 includes an upper mirror 310 and a rotating seat 320 rotatably arranged on the bearing seat 200c of the base 200 through a bearing 330. The circuit board 150 is provided with a clearance 154, and the bearing seat 200c is connected with the bearing 330 through the clearance 154. The clearance 154 is arranged on the circuit board 150 to avoid the bearing seat 200c, thereby improving the compactness of the structure. In some embodiments, the rotating seat 320 cooperates with the outer side of the bearing 330, the bearing seat 200c cooperates with the inner side of the bearing 330, and the bearing seat 200c is sleeved on the receiving mirror group 131, wherein the radially inner side of the clearance 154 is used to allow the receiving light beam to pass through, and the radially outer side of the clearance 154 is used to allow the bearing seat 200c to pass through. In other embodiments, the rotating seat 320 cooperates with the inner side of the bearing 330, the bearing seat 200c cooperates with the outer side of the bearing 330, and the bearing 330 is sleeved on the receiving mirror group 131. That is, by radially nesting the bearing 330 and the receiving mirror group 131, the overall height of the bearing 330 and the receiving mirror group 131 is effectively reduced, thereby providing conditions for miniaturization of the optical distance measuring device 1000.

[0054] In some embodiments, the optical distance measuring device 1000 further includes a driving assembly (not shown in the figure) for driving the upper mirror assembly 300 to rotate.

[0055] In some embodiments, the driving assembly is coaxially arranged with the upper mirror assembly 300 and directly connected. When the arrangement space, especially the vertical space, allows, the driving assembly is arranged coaxially with the upper mirror assembly 300, which is conducive to optimizing the lateral size of the optical distance measuring device 1000, and the driving assembly is directly connected with the upper mirror assembly 300, which can optimize the vertical size of the optical distance measuring device 1000. It should be noted that the vertical direction is the upward and downward direction shown in FIGS. 2, 6 and 8, and the lateral direction is the direction perpendicular to the vertical direction.

[0056] In other embodiments, the driving assembly is coaxially arranged with the upper mirror assembly 300 and is drivingly connected through a transmission assembly (not shown in the figure). When the arrangement space, especially the vertical space, allows, the driving assembly is arranged coaxially with the upper mirror assembly 300, which is conducive to optimizing the lateral size of the optical distance measuring device 1000, and the driving assembly is drivingly connected with the upper mirror assembly 300 through the transmission assembly 500, which has a higher degree of freedom in structural arrangement.

[0057] In some embodiments, the driving assembly is coaxial with the upper mirror assembly 300 and directly connected with the upper mirror assembly 300. In some embodiments, the driving assembly is coaxial with the upper mirror assembly 300 and connected with the upper mirror assembly 300 through a transmission assembly. In some embodiments, the driving assembly is non-coaxial with the upper mirror assembly 300 and directly connected with the upper mirror assembly 300. In some embodiments, the driving assembly is non-coaxial with the upper mirror assembly 300 and connected with the upper mirror assembly 300 through a transmission assembly.

[0058] In some embodiments, the driving assembly is coaxial with the upper mirror assembly 300 and directly connected with the upper mirror assembly 300. In some embodiments, the driving assembly is coaxial with the upper mirror assembly 300 and connected with the upper mirror assembly 300 through a transmission assembly. In some embodiments, the driving assembly is non-coaxial with the upper mirror assembly 300 and directly connected with the upper mirror assembly 300. In some embodiments, the driving assembly is non-coaxial with the upper mirror assembly 300 and connected with the upper mirror assembly 300 through a transmission assembly.

[0059] As shown in FIG. 2, in some embodiments, the optical distance measuring device 1000 comprises a fixed module 100 and a base 200, and the fixed module 100 is fixedly arranged on the base 200. The fixed module 100 comprises a fixed support 110, a transmitting assembly 120, a receiving assembly 130, a lower mirror assembly 140 and a circuit board 150. The receiving mirror group 131, the lower mirror assembly 140 and the circuit board 150 are fixedly connected with the fixed support 110. The transmitting mirror group 121 comprises a transmitting lens, which can be a single lens or a combination of multiple lenses. The receiving mirror group 131 comprises a receiving lens, which can be a single lens or a combination of multiple lenses.

[0060] The optical distance measuring device 1000 emits a light beam through the light emitter 122 and receives the light beam through the light receiver 132, and according to the time of light beam emission to reception or the geometric relationship of the light path, the distance between the optical distance measuring device 1000 and the external object can be determined. The light path of the light beam received by the receiving mirror group 131 is folded through the lower mirror assembly 140, so that the light emitter 122 and the light receiver 132 can be arranged together on the same circuit board 150, greatly improving the integration of the optical distance measuring device 1000 and reducing the size of the receiving assembly 130 along the axis of the receiving mirror group 131. At the same time, the receiving mirror group 131 integrated with the emitting mirror group 121, the circuit board 150 integrated with the light emitter 122 and the light receiver 132, and the lower mirror assembly 140 are all fixedly connected with the fixed support 110, thereby realizing the integration of these parts that need to be installed and debugged, and obtaining a modularized fixed module 100, that is, the debugging can be completed on the fixed support 110, and then the whole is installed on the base 200, thereby reducing a large number of connection structures and reducing the difficulty and cost of installation and debugging. It should be noted that the optical distance measuring device 1000 can be a laser radar, that is, the light beam emitted by the light emitter 122 is laser; or the light beam emitted by the light emitter 122 can not be laser, for example, non-laser infrared light or visible light.

[0061] As shown in FIG. 3, in some embodiments, the fixed support 110 is integrally formed with the receiving mirror group 131, thereby reducing the installation and connection process of the receiving mirror group 131 and reducing the connection structure and the difficulty and cost of installation and debugging. It should be noted that the fixed support 110 and the receiving mirror group 131 can be integrally formed in the same mold using the same material, or the receiving mirror group 131 can be placed in the corresponding forming mold of the fixed support 110, and then the fixed support 110 is poured to integrally form the receiving mirror group 131 and the fixed support 110.

[0062] As shown in FIGS. 2-3, in some embodiments, the fixed support 110 includes a lower extension support part 111, the upper end of the lower extension support part 111 is fixedly connected with the receiving mirror group 131, the lower end of the lower extension support part 111 is fixedly connected with the lower mirror assembly 140, and the receiving mirror group 131 and the light receiver 132 are arranged on one side of the reflecting surface of the lower mirror assembly 140, so that the receiving mirror group 131 and the lower mirror assembly 140 are arranged in a spaced manner along the axis direction of the receiving mirror group 131, and the reflecting surface of the lower mirror assembly 140 is arranged opposite to the receiving mirror group 131 and the reflecting surface of the lower mirror assembly 140 is arranged opposite to the light receiver 132. Through the arrangement of the above-mentioned lower extension support part 111, the receiving mirror group 131 and the lower mirror assembly 140 are arranged in a spaced manner along the axis direction of the receiving mirror group 131, which provides space and distance for the focusing of the light beam, and at the same time, supports the lower mirror assembly 140.

[0063] As shown in FIGS. 2-4, in some embodiments, the lower extension support part 111 is provided with a notch 111a, the circuit board 150 includes a first circuit board part 151 and a second circuit board part 152, the first circuit board part 151 is arranged outside the lower extension support part 111, the second circuit board part 152 is arranged inside the lower extension support part 111, the light emitter 122 and the light receiver 132 are arranged on the second circuit board part 152, and a connecting part 153 between the first circuit board part 151 and the second circuit board part 152 passes through the notch 111a. By arranging the notch 111a and arranging the light emitter 122 and the light receiver 132 inside the lower extension support part 111, the corresponding arrangement of the light emitter 122 and the light emitter 122 with the transmitting lens group 121 and the corresponding arrangement of the light receiver 132 with the receiving lens group 131 and the lower reflector assembly 140 are ensured, and the electronic components electrically connected with the light emitter 122 and the light receiver 132 are arranged outside the lower extension support part 111, so that the reasonable distribution of the electronic components on the circuit board 150 is ensured. Especially for the receiving lens group 131 and the fixed support 110 which are integrally formed, the connection between the second circuit board part 152 inside the lower extension support part 111 and the first circuit board part 151 inside the lower extension support part 111 needs to be realized through the notch 111a.

[0064] As shown in FIG. 4, in some embodiments, the lower extension support part 111 is formed as a first extension column unit 111b, the first extension column unit 111b is a C-shaped ring structure provided with the notch 111a, the C-shaped opening of the first extension column unit 111b is formed as the notch 111a, the upper end of the first extension column unit 111b is fixedly connected with the receiving lens group 131, and the lower end of the first extension column unit 111b is fixedly connected with the lower reflector assembly 140. For the C-shaped ring structure of the first extension column unit 111b, the support strength is higher.

[0065] As shown in FIG. 5, in other embodiments, the lower extension support part 111 includes a plurality of second extension column units 111c, the plurality of second extension column units 111c are arranged circumferentially and spaced apart around the second circuit board part 152, the upper end of the second extension column unit 111c is fixedly connected with the receiving lens group 131, and the lower end of the second extension column unit 111c is fixedly connected with the lower reflector assembly 140, wherein the space between two second extension column units 111c is formed as the notch 111a. For the plurality of second extension column units 111c, the area of the lower end surface of each second extension column unit 111c for cooperating with the lower reflector assembly 140 is small, which facilitates maintaining good flatness during machining of the lower end surface, thereby reducing installation errors and debugging time.

[0066] As shown in FIG. 6, in some other embodiments, the circuit board 150 comprises a first circuit board part 151 and a second circuit board part 152, the first circuit board part 151 is arranged at the outer side of the lower extension support part 111, the second circuit board part 152 is arranged at the inner side of the lower extension support part 111, the light emitter 122 and the light receiver 132 are arranged on the second circuit board part 152, and a connecting part 153 between the first circuit board part 151 and the second circuit board part 152 is arranged between the receiving lens group 131 and the lower extension support part 111. Arranging the light emitter 122 and the light receiver 132 at the inner side of the lower extension support part 111 ensures the corresponding arrangement of the light emitter 122 and the transmitting lens group 121, and the corresponding arrangement of the light receiver 132 and the receiving lens group 131 and the lower reflector assembly 140, and arranging the electronic components electrically connected with the light emitter 122 and the light receiver 132 at the outer side of the lower extension support part 111 ensures the reasonable distribution of the electronic components on the circuit board 150. For the separately arranged receiving lens group 131 and the fixed support 110, the connection between the second circuit board part 152 arranged in the lower extension support part 111 and the first circuit board part 151 arranged in the lower extension support part 111 can be realized by arranging the connecting part 153 between the first circuit board part 151 and the second circuit board part 152 between the receiving lens group 131 and the lower extension support part 111.

[0067] As shown in FIG. 6, in some other embodiments, along the axial direction of the receiving lens group 131, the side of the receiving lens group 131 close to the lower extension support part 111 is provided with a circuit board avoiding slot 131b, the connecting part 153 between the first circuit board part 151 and the second circuit board part 152 is arranged in the circuit board avoiding slot 131b, the receiving lens group 131 is provided with a light emitting hole 131a for allowing the transmitting light beam emitted by the light emitter 122 to pass through, the light emitter 122 is arranged opposite to the transmitting lens group 121 through the light emitting hole 131a, the transmitting lens group 121 is arranged in the light emitting hole 131a or outside the side of the light emitting hole 131a away from the light emitter 122, and part or all of the second circuit board part 152 is arranged in the light emitting hole 131a. By arranging the circuit board avoiding slot 131b to raise the height of the circuit board 150, especially the second circuit board part 152, relative to the receiving lens group 131, part or all of the second circuit board part 152 is arranged in the light emitting hole 131a, which can ensure that the light beam is blocked by the second circuit board part 152 during focusing by the receiving lens group 131, and improve the amount of light beam that can be received by the light receiver 132, thereby improving the distance measuring reliability.

[0068] As shown in FIG. 1 and FIG. 7, in some embodiments, the fixed support 110 further comprises a side extension support portion 112 extending from the lower extension support portion 111 in a direction away from the lower extension support portion 111, and the side extension support portion 112 is used to fixedly connect with the circuit board 150. By the fixed connection of the circuit board 150 with the side extension support portion 112, the support width of the fixed support 110 to the circuit board 150 is ensured, that is, the support stability of the fixed support 110 to the circuit board 150 is ensured.

[0069] As shown in FIG. 7, in some embodiments, the side extension support portion 112 comprises a plurality of extension plate units 112a, and the plurality of extension plate units 112a are circumferentially spaced around the lower extension support portion 111. In some embodiments, the extension lengths of the plurality of extension plate units 112a are the same, that is, the support width of the fixed support 110 to the circuit board 150 on each extension plate unit 112a is the same, and the support stability of the fixed support 110 to the circuit board 150 in the circumferential direction is ensured. In other embodiments, as shown in FIG. 7, since the distribution of electronic components at different positions on the circuit board 150 is often different, the extension lengths of at least two extension plate units 112a can also be different, thereby avoiding the electronic components with different distribution on the circuit board 150.

[0070] As shown in FIG. 2, in some embodiments, the circuit board 150 is matched and fixedly connected with the lower surface of the side extension support portion 112, that is, the circuit board 150 is arranged to the lower surface of the side extension support portion 112 from the end of the lower extension support portion 111 away from the receiving lens group 131, and the circuit board 150 is fixed with the side extension support portion 112. If the receiving lens group 131 is integrally formed with the fixed support 110, this matching mode is beneficial to the assembly of the circuit board 150.

[0071] As shown in FIG. 6, in other embodiments, the circuit board 150 is matched and fixedly connected with the upper surface of the side extension support portion 112. For the fixed support 110 and the receiving lens group 131 in a split type, the circuit board 150 can be arranged to the upper surface of the side extension support portion 112 from top to bottom and fixed with the side extension support portion 112, and then the receiving lens group 131 mounted with the transmitting lens group 121 is arranged above the circuit board 150 mounted with the light transmitter 122 and the light receiver 132 and fixed with the lower extension support portion 111.

[0072] As shown in FIG. 3, in some embodiments, a reinforcing structure 113 is arranged between the side extending support part 112 and the lower extending support part 111. Based on the side extending support part 112 being a structure extending from the lower extending support part 111 in a direction away from the lower extending support part 111, the support reliability of the side extending support part 112 to the circuit board 150 can be improved by arranging the reinforcing structure 113.

[0073] As shown in FIG. 7, in some embodiments, the fixing module 100 further comprises a first fixing member 161, which is used to fixedly connect the fixing support 110 and the circuit board 150. By arranging the first fixing member 161, the fixing of the circuit board 150 on the fixing support 110 is realized, and the fixing support 110 serves as a support structure member and has good support strength to the circuit board 150. In other embodiments, the fixing support 110 and the circuit board 150 can also be fixedly connected by gluing.

[0074] In some embodiments, the fixing module 100 further comprises a second fixing member (not shown in the figure), which is used to fixedly connect the fixing support 110 and the base 200. By arranging the second fixing member, the fixing module 100 realizes the connection and fixing with the base 200 through the fixing support 110, and the fixing support 110 serves as a support structure member and has good support strength to the fixing module 100 as a whole. In other embodiments, the fixing support 110 and the base 200 can also be fixedly connected by gluing.

[0075] In some embodiments, the fixing module 100 further comprises a third fixing member (not shown in the figure), which is used to fixedly connect the circuit board 150 and the base 200. By arranging the third fixing member, the fixing module 100 realizes the connection and fixing with the base 200 through the circuit board 150 with a larger area, which is conducive to the simplification of the structure. In other embodiments, the circuit board 150 and the base 200 can also be fixedly connected by gluing.

[0076] As shown in FIG. 2, in some embodiments, the fixing module 100 further comprises a fourth fixing member 164, which is used to fixedly connect the fixing support 110, the circuit board 150 and the base 200. By arranging the fourth fixing member 164, the functions of fixedly connecting the fixing support 110 and the circuit board 150 are realized, and the function of fixing the fixing module 100 as a whole on the base 200 is also realized, that is, the reuse of structure and function is realized, and the effects of high support reliability and structure simplification are achieved. In other embodiments, the fixing support 110, the circuit board 150 and the base 200 can also be fixedly connected by gluing.

[0077] As shown in FIGS. 2 and 6, in some embodiments, the fixed mold group 100 is arranged on the upper side of the base 200, the base 200 is provided with a groove 200a, the recess direction of the groove 200a is away from the fixed mold group 100, and the lower reflector assembly 140 is arranged in the groove 200a. The base 200 accommodates the lower reflector assembly 140 by arranging the groove 200a, which is beneficial to reduce the reflection of stray light on the lower reflector assembly 140 and improve the ranging reliability.

[0078] As shown in FIG. 8, in some embodiments, the base 200 is provided with an opening 200b, and the part of the fixed support 110 connected with the lower reflector assembly 140 passes through the opening 200b from the upper side of the base 200 to the lower side of the base 200. The base 200 avoids the lower reflector assembly 140 by arranging the opening 200b, which has the advantages of simple structure and small volume.

[0079] As shown in FIG. 8, in some embodiments, the lower reflector assembly 140 includes a lower reflector 141 and a lower reflector adjusting piece 142, the lower reflector 141 is fixed on the lower reflector adjusting piece 142, and the lower reflector adjusting piece 142 is fixed on the fixed support 110. By arranging the lower reflector adjusting piece 142, the position and angle of the lower reflector 141 can be adjusted during the debugging stage, and the lower reflector adjusting piece 142 is fixed on the fixed support 110 by gluing or the like after the adjustment is completed.

[0080] The other configurations and operations of the optical ranging device 1000 and the self-walking robot 2000 according to the embodiments of the present application are known to those skilled in the art, and will not be described in detail here.

[0081] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0082] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. An optical distance measuring device, characterized in that The application relates to an optical distance measuring device, which comprises: a transmitting assembly, which comprises a transmitting lens assembly and a light transmitter for emitting a transmitting light beam; a lower mirror assembly; a receiving assembly, which comprises a receiving lens assembly and a light receiver for receiving a receiving light beam reflected by an external object of the optical distance measuring device through the receiving lens assembly and the lower mirror assembly; a circuit board, which is provided with the light transmitter and the light receiver; the receiving lens assembly and the transmitting lens assembly are arranged on the same side of the circuit board.

2. The optical distance measuring device according to claim 1, characterized in that The light transmitter is arranged on the side of the circuit board close to the transmitting lens assembly, and the light receiver is arranged on the side of the circuit board away from the transmitting lens assembly.

3. The optical distance measuring device according to claim 1, characterized in that The receiving lens assembly and the light receiver are arranged on the side of the reflecting surface of the lower mirror assembly.

4. The optical distance measuring device according to claim 1, characterized in that The receiving lens assembly is provided with a light transmitting hole for allowing the transmitting light beam emitted by the light transmitter to pass through, and the transmitting lens assembly is arranged in the light transmitting hole or on the side of the light transmitting hole away from the light transmitter.

5. The optical distance measuring device according to claim 4, characterized in that The circuit board comprises a first circuit board part and a second circuit board part, the first circuit board part is arranged on the radial outer side of the receiving lens assembly, and the second circuit board part is partially or completely arranged in the light transmitting hole and is provided with the light transmitter and the light receiver; the first circuit board part and the second circuit board part are connected through a connecting part.

6. The optical distance measuring device according to claim 5, characterized in that The receiving lens assembly is provided with a circuit board avoiding groove, which extends along the radial direction of the receiving lens assembly and communicates with the light transmitting hole, and the connecting part between the first circuit board part and the second circuit board part is arranged in the circuit board avoiding groove.

7. The optical distance measuring device according to claim 5, characterized in that The first circuit board part is sleeved on the second circuit board part, and the connecting part and an avoiding part are arranged between the first circuit board part and the second circuit board part; the receiving light beam received by the receiving lens assembly passes through the avoiding part and then reaches the lower mirror assembly.

8. The optical distance measuring device according to claim 1, characterized in that The application further comprises a base, and the circuit board is arranged on the base. Part of the base is formed as the lower mirror assembly. Alternatively, The base is provided with a groove, the recess direction of the groove is away from the light receiver, and the lower mirror assembly is arranged in the groove or the groove is formed as the lower mirror assembly. Alternatively, The base is provided with an opening, and the receiving light beam passes through the opening and then reaches the lower mirror assembly.

9. The optical distance measuring device according to claim 1, characterized in that Along the axial direction of the transmitting lens assembly, the transmitting lens assembly, the light transmitter, the circuit board, the light receiver and the lower mirror assembly are arranged in sequence. The axial line of the transmitting lens assembly is parallel to or coaxial with the axial line of the receiving lens assembly.

10. The optical distance measuring device according to claim 1, characterized in that The application further comprises a base and an upper mirror assembly, the upper mirror assembly is rotatably arranged on the base, the upper mirror assembly is used for reflecting the transmitting light beam emitted by the light transmitter to the external region of the optical distance measuring device, and the rotating shaft of the upper mirror assembly is coaxial with the axial line of the transmitting lens assembly and the axial line of the receiving lens assembly.

11. The optical distance measuring device according to claim 10, characterized in that The upper reflector assembly comprises an upper reflector and a rotating seat, which is rotatably arranged on the bearing seat of the base through a bearing; The rotating seat cooperates with the outer side surface of the bearing, the bearing seat cooperates with the inner side surface of the bearing, and the bearing seat is sleeved on the receiving mirror group; or, the rotating seat cooperates with the inner side surface of the bearing, the bearing seat cooperates with the outer side surface of the bearing, and the bearing is sleeved on the receiving mirror group.

12. The optical distance measuring device according to claim 10, characterized in that Further comprising a driving assembly for driving the upper reflector assembly to rotate; The driving assembly is coaxially arranged with the upper reflector assembly, or the driving assembly is non-coaxially arranged with the upper reflector assembly; And / or, The driving assembly is directly connected with the upper reflector assembly, or the driving assembly is drivingly connected with the upper reflector assembly through a transmission assembly.

13. A self-walking robot, characterized by comprising: The optical distance measuring device comprises a robot body and an optical distance measuring device as claimed in any one of claims 1-12.

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