Reflector assembly, optical distance measurement apparatus and self-driving robot

Abstract

A reflector assembly (100), an optical distance measurement apparatus (200) and a self-driving robot (300). The reflector assembly (100) is rotatably provided on a base (210) of the optical distance measurement apparatus (200), a reflector (20) being provided on a reflector support (10) obliquely with respect to the axis of rotation; a first beam channel plate (30) is fixedly connected to the reflector support (10), one side of the first beam channel plate (30) defining an emission channel (51), and the other side thereof defining a receiving channel (52). A light beam emitted by an optical transceiver module (220) of the optical distance measurement apparatus (200) is suitable for passing through the reflector (20) and the emission channel (51) in sequence and then being emitted to an external object, and the light beam reflected by the external object is suitable for passing through the receiving channel (52) and the reflector (20) in sequence and then being received by the optical transceiver module (220). The reflector assembly (100) comprising the reflector (20) is rotatably provided on the base (210), and the slab-like first beam channel plate (30) is provided to define the emission channel (51) and the receiving channel (52), so that the reflector assembly (100) involves a simple structure and facilitates adjusting the angle of the reflector (20), thereby reducing the assembly accuracy requirement for reflector-related structures.

Description

Mirror assembly, optical distance measuring device and self-propelled robot TECHNICAL FIELD

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

[0002] The optical distance measuring device (such as a laser radar) in the prior art scans and measures distance through a rotating mirror. The mirror and its corresponding support and beam passage piece are rotatably arranged on an upper cover. The rotating process also needs electrical connection and control from a circuit board on a base. The structure is complex, the cost is high, the assembly precision of the mirror related structure is required to be high, and the beam passage piece is generally an L-shaped cylindrical structure, so that the reliability of the connection mode and the installation precision are required to be high. SUMMARY

[0003] In view of the above technical problems, the present application provides a mirror assembly, an optical distance measuring device and a self-propelled robot having the same. The mirror assembly having a mirror is rotatably arranged on a base, and a first beam passage plate in the shape of a plate is arranged to define a transmitting channel and a receiving channel. The structure is simple, and the angle of the mirror is easy to adjust. The assembly precision of the mirror related structure is reduced.

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

[0005] A mirror assembly is rotatably arranged on a base of an optical distance measuring device. The mirror assembly comprises:

[0006] a mirror support;

[0007] a mirror, which is obliquely arranged on the mirror support relative to the rotation axis of the mirror assembly;

[0008] at least one first beam passage plate, which is fixedly connected with the mirror support. One side of at least one first beam passage plate defines a transmitting channel, and the other side of at least one first beam passage plate defines a receiving channel;

[0009] The light beam emitted by a light transceiver module of the optical distance measuring device is adapted to be sequentially transmitted through the mirror and the transmitting channel and then irradiated to an external object. The light beam reflected by the external object is adapted to be sequentially transmitted through the receiving channel and the mirror and then received by the light transceiver module.

[0010] In addition, the mirror assembly according to the present application can also have the following additional technical features.

[0011] In some examples of the present application, the first light beam channel plate is at least two; the emitting channel is defined between the two first light beam channel plates; one side of one of the first light beam channel plates away from the emitting channel defines one of the receiving channels, and / or one side of another of the first light beam channel plates away from the emitting channel defines another of the receiving channels.

[0012] In some examples of the present application, the first light beam channel plate is integrally formed with the mirror support; the first draw-off port is defined between the ends of two adjacent first light beam channel plates; and the distance between the two adjacent first light beam channel plates gradually decreases in a direction away from the first draw-off port.

[0013] In some examples of the present application, the first draw-off port is defined between the ends of two adjacent first light beam channel plates away from the mirror support along the rotation axis of the mirror assembly; or the first draw-off port is defined between the ends of two adjacent first light beam channel plates along a direction perpendicular to the rotation axis of the mirror assembly.

[0014] In some examples of the present application, the mirror assembly further comprises a first light-transmitting member, two ends of the first light-transmitting member being respectively connected with two adjacent first light beam channel plates; the light beam in the emitting channel is adapted to be emitted to an external object after passing through the first light-transmitting member.

[0015] In some examples of the present application, the first light-transmitting member and the light exit axis of the mirror form an included angle of 50°-89.5°.

[0016] In some examples of the present application, the mirror assembly further comprises a second light beam channel plate; the second light beam channel plate is one, and one of the second light beam channel plates is arranged on one side of one of the first light beam channel plates away from the emitting channel and defines one of the receiving channels with one of the first light beam channel plates; or the second light beam channel plate is two, one of the second light beam channel plates is arranged on one side of one of the first light beam channel plates away from the emitting channel and defines one of the receiving channels with one of the first light beam channel plates, and another of the second light beam channel plates is arranged on one side of another of the first light beam channel plates away from the emitting channel and defines another of the receiving channels with another of the first light beam channel plates.

[0017] In some examples of the present application, the mirror assembly further comprises a second light-transmitting member, two ends of the second light-transmitting member being respectively connected with the first light beam channel plate and the second light beam channel plate; the light beam reflected by the external object is adapted to enter the corresponding receiving channel after passing through the second light-transmitting member.

[0018] In some examples of the present application, a band-pass filter layer is arranged on the second light-transmitting member, or a band-pass filter is arranged between the receiving channel and the optical transceiver module along the light path of the light beam reflected by the external object.

[0019] In some examples of the present application, the mirror assembly further comprises a first light-transmitting member, two ends of the first light-transmitting member are respectively connected with two adjacent first light beam channel plates; the light beam in the emitting channel is adapted to be emitted to the external object after passing through the first light-transmitting member; wherein the first light-transmitting member and the second light-transmitting member are integrally formed, or the first light-transmitting member and the second light-transmitting member are separately arranged.

[0020] In some examples of the present application, the first light beam channel plate, the second light beam channel plate and the mirror support are integrally formed; the end portions of the adjacent first light beam channel plate and the second light beam channel plate define a second draw-off port, and the distance between the adjacent first light beam channel plate and the second light beam channel plate gradually decreases in a direction away from the second draw-off port.

[0021] In some examples of the present application, the end portions of the adjacent first light beam channel plate and the second light beam channel plate away from the mirror support define the second draw-off port along the rotation axis of the mirror assembly; or the end portions of the adjacent first light beam channel plate and the second light beam channel plate define the second draw-off port along a direction perpendicular to the rotation axis of the mirror assembly.

[0022] In some examples of the present application, at least part of the first light beam channel plate is located on the side of the mirror close to the mirror support along the rotation axis of the mirror assembly.

[0023] In some examples of the present application, the mirror is provided with a clamping groove, and at least part of the first light beam channel plate is accommodated in the clamping groove.

[0024] In some examples of the present application, the mirror surface of the mirror comprises an emitting mirror surface and a receiving mirror surface, the clamping groove is arranged between the emitting mirror surface and the receiving mirror surface; along the extension direction of the clamping groove, the width of the emitting mirror surface is less than or equal to the width of the receiving mirror surface.

[0025] In some examples of the present application, the mirror support is provided with a light beam outlet and a light beam inlet, both of which are located on the side of the mirror close to the mirror support, and the light beam emitted by the light transceiver module is adapted to pass through the light beam outlet, the mirror and the emission channel in sequence before being emitted to an external object, and the light beam reflected by the external object is adapted to pass through the receiving channel, the mirror and the light beam inlet in sequence before being received by the light transceiver module.

[0026] In some examples of the present application, the mirror support is provided with a light shielding member, which is located on the side of the mirror close to the mirror support along the rotation axis of the mirror assembly, and part of the light shielding member is adapted to cover part of the light transceiver module, the light beam outlet is provided on the light shielding member, the light beam inlet is provided on the outside of the light shielding member, and the light shielding member is fixedly connected with the first light beam channel plate.

[0027] The present application also provides an optical distance measuring device, which comprises a base, a light transceiver module and the mirror assembly according to the present application, the mirror assembly is rotatably arranged on the base, the light transceiver module is arranged on the base and is used for emitting and receiving light beams, and the light beam emitted by the light transceiver module passes through the mirror and the emission channel in sequence before being emitted to an external object, and the light beam reflected by the external object passes through the receiving channel and the mirror in sequence before being received by the light transceiver module.

[0028] In some examples of the present application, the light transceiver module comprises an emission assembly and a receiving assembly, and the light beam of the light transceiver module is emitted from the emission assembly, passes through the mirror and the emission channel in sequence before being emitted to an external object, and the light beam reflected by the external object passes through the receiving channel and the mirror in sequence before being received by the receiving assembly.

[0029] In some examples of the present application, at least part of the axis of the receiving assembly, at least part of the axis of the emission assembly and the rotation axis of the mirror assembly are coaxially arranged.

[0030] In some examples of the present application, the optical distance measuring device further comprises a cover, the cover covers the mirror assembly and is fixedly connected with the mirror assembly, and the side of the cover close to the first light beam channel plate is provided with a light blocking rib, the light blocking rib extends from the cover into the emission channel or the receiving channel to cover the gap between the cover and the first light beam channel plate in the direction perpendicular to the rotation axis of the mirror assembly.

[0031] In some examples of the present application, the mirror assembly further comprises a rotating seat rotatably arranged on the base; the rotating seat is integrally formed with the mirror support, or the rotating seat is separately arranged and fixedly connected with the mirror support.

[0032] In some examples of the present application, the base is provided with a bearing and a lower bearing mounting seat; when the rotating seat is integrally formed with the mirror support, the rotating seat is arranged between the mirror support and the base along the rotating axis of the mirror assembly, the rotating seat is provided with a first upper bearing mounting seat with an opening facing the base, and the bearing is arranged between the first upper bearing mounting seat and the lower bearing mounting seat; or when the rotating seat is separately arranged and fixedly connected with the mirror support, the rotating seat is arranged between the mirror support and the base along the rotating axis of the mirror assembly, the rotating seat is provided with a second upper bearing mounting seat with an opening facing the mirror support, and the bearing is arranged between the second upper bearing mounting seat and the lower bearing mounting seat.

[0033] In some examples of the present application, the optical distance measuring device further comprises an encoding assembly, the encoding assembly comprises an encoding detection unit and a plurality of encoding units, the encoding detection unit is arranged on the base; a plurality of the encoding units are arranged on the side of the rotating seat close to the base in a circumferential interval around the rotating axis of the mirror assembly, and the encoding detection unit and the plurality of the encoding units work together to detect the rotation angle and / or rotation speed of the rotating seat relative to the base.

[0034] The present application also provides a self-walking robot, comprising a robot body and an optical distance measuring device according to the present application.

[0035] The mirror assembly, the optical distance measuring device and the self-walking robot provided by the present application have the following advantages: the mirror assembly with the mirror is rotatably arranged on the base, and the light transmitting and receiving module for transmitting and receiving light beams is arranged on the base, so that the structure is simple, the angle of the mirror can be adjusted during assembly, the assembly precision requirement of the mirror assembly is reduced, and the processing and assembly costs are reduced; at the same time, the first light beam channel plate extending between the mirror and the mirror support defines the transmitting channel and the receiving channel, the possibility of crosstalk between the transmitted light beams and the received light beams is reduced, and the plate-shaped first light beam channel plate has a simple structure, is easy to connect and install, and reduces the production cost.

[0036] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0037] FIG. 1 is a schematic diagram of a self-walking robot according to an embodiment of the present application.

[0038] FIG. 2 is a schematic diagram of an optical distance measuring device according to an embodiment of the present application.

[0039] FIG. 3 is a sectional view of the optical distance measuring device according to an embodiment of the present application.

[0040] FIG. 4 is a schematic diagram of a partial structure of a mirror assembly according to an embodiment of the present application.

[0041] FIG. 5 is a schematic diagram of a front view of a partial structure of the mirror assembly according to an embodiment of the present application.

[0042] FIG. 6 is a schematic diagram of a top view of a partial structure of the mirror assembly according to an embodiment of the present application.

[0043] FIG. 7 is a top view of the mirror assembly according to an embodiment of the present application.

[0044] FIG. 8 is a top view of the mirror assembly according to another embodiment of the present application.

[0045] FIG. 9 is a schematic diagram of the optical distance measuring device according to an embodiment of the present application.

[0046] FIG. 10 is a schematic diagram of a setting manner of a mirror and a first light-transmitting member in the mirror assembly according to an embodiment of the present application.

[0047] FIG. 11 is a schematic diagram of a setting manner of a mirror and a first light beam passage plate in the mirror assembly according to an embodiment of the present application.

[0048] FIG. 12 is a schematic diagram of a partial structure of the optical distance measuring device according to an embodiment of the present application.

[0049] FIG. 13 is a sectional view of the optical distance measuring device according to another embodiment of the present application.

[0050] FIG. 14 is a schematic diagram of a partial structure of the optical distance measuring device according to an embodiment of the present application.

[0051] 100, reflector assembly; 10, reflector support; 10a, light beam outlet; 10b, light beam inlet; 11, light shielding piece; 20, reflector; 21, clamping groove; 22, emitting mirror surface; 23, receiving mirror surface; 30, first light beam channel plate; 30a, first draw port; 31, first light-transmitting piece; 40, second light beam channel plate; 40a, second draw port; 41, second light-transmitting piece; 51, emitting channel; 52, receiving channel; 60, rotating seat; 61, first upper bearing mounting seat; 62, second upper bearing mounting seat; 200, optical distance measuring device; 210, base; 211, bearing; 212, lower bearing mounting seat; 220, optical transceiver module; 221, emitting assembly; 2211, light emitter; 2212, emitting lens; 222, receiving assembly; 2221, light receiver; 2222, receiving lens; 2223, receiving light path adjusting element; 223, circuit board; 230, driving assembly; 241, code detection unit; 242, code unit; 250, upper cover; 250a, light transmission hole; 250b, light blocking rib; 300, self-walking robot; 310, robot body. DETAILED DESCRIPTION

[0052] In order to make the technical problems, technical solutions and beneficial effects solved in the present application clearer, the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and cannot be understood as a limitation of the present application.

[0053] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the 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 by referring to the drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0054] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "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 therefore cannot be understood as indicating or implying 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 a limitation of 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, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0055] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of 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.

[0056] The inventors of the present application found through research and analysis that the optical ranging device (such as laser radar) in the prior art for scanning ranging by rotating the reflector, the reflector and its corresponding bracket, and the light beam passage are rotatably arranged on the upper cover, and the rotation process also needs electrical connection and control from the circuit board on the base, which has a complex structure, high cost, and high assembly precision requirement for the reflector related structure. Because the reflector related structure is arranged on the upper cover, its periphery will be surrounded by the upper cover, it is difficult to adjust the angle of the reflector, so it is generally necessary to improve the assembly precision requirement of the reflector related structure during the design stage, so that the angle adjustment of the reflector is not required after the assembly of the reflector related structure is completed. In addition, the light beam passage is generally an L-shaped cylindrical structure, which often needs to be provided with an opening at the L-shaped corner and attached to the reflector, which has high requirements for the reliability of the connection method and the installation precision. In view of the above reasons, the inventors of the present application have improved the prior art and obtained the technical scheme of the present application.

[0057] The reflector assembly 100, the optical ranging device 200 and the self-walking robot 300 according to the embodiments of the present application are described in detail below with reference to FIGS. 1-13.

[0058] As shown in FIG. 1, the self-walking robot 300 includes a robot body 310 and an optical ranging device 200. The self-walking robot 300 measures the distance of external objects through the optical ranging device 200, thereby realizing self-walking. The self-walking robot 300 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 for carrying goods in a warehouse or factory, etc.

[0059] As shown in FIGS. 2-3, the optical ranging device 200 includes a base 210, a light transceiver module 220 and a reflector assembly 100. The reflector assembly 100 is rotatably arranged on the base 210. The light transceiver module 220 is arranged on the base 210 and is used for emitting and receiving light beams. It should be noted that in FIG. 3, the light transceiver module 220 is represented by a box, which only provides the arrangement position of the light transceiver module 220 in an embodiment of the optical ranging device 200, and does not represent the shape structure of the light transceiver module 220.

[0060] As shown in FIGS. 2-4, the mirror assembly 100 comprises a mirror support 10, a mirror 20 and at least one first light beam passage plate 30. The mirror 20 is obliquely arranged on the mirror support 10 relative to the rotation axis z of the mirror assembly 100. The first light beam passage plate 30 is fixedly connected with the mirror support 10. One side of the at least one first light beam passage plate 30 defines a transmitting passage 51, and the other side of the at least one first light beam passage plate 30 defines a receiving passage 52. The light beam emitted by the light transceiver module 220 is adapted to be transmitted to the external object through the mirror 20 and the transmitting passage 51 in sequence, and the light beam reflected by the external object is adapted to be received by the light transceiver module 220 through the receiving passage 52 and the mirror 20 in sequence.

[0061] The mirror assembly 100 provided by the embodiments of the present application is rotatably arranged on the base 210 instead of being arranged on the upper cover as in the prior art, the electrical connection structure from the circuit board on the base 210 required in the rotation process can be simplified, and since the base 210 needs to avoid the light beam reflected from the mirror 20 and the light beam received back by the mirror 20, the mirror 20 will protrude out of the base 210, so that the angle of the mirror 20 can be adjusted during the assembly process and the assembly precision requirement of the mirror 20 is reduced, thereby reducing the processing and assembly costs. Meanwhile, the first light beam passage plate 30 defines the transmitting passage 51 and the receiving passage 52, which reduces the possibility of crosstalk between the emitted light beam and the received light beam, and compared with the light beam passage piece in the form of an L-shaped cylinder in the prior art, the plate-shaped first light beam passage plate 30 has the advantages of extremely simple structure, easy to ensure connection reliability and installation precision, and reduced production cost.

[0062] As shown in FIGS. 2 and 4-8, in some embodiments, the first light beam passage plate 30 is at least two, the transmitting passage 51 is defined between the two first light beam passage plates 30, one receiving passage 52 is defined on the side of one of the first light beam passage plates 30 away from the transmitting passage 51, or another receiving passage 52 is defined on the side of the other of the first light beam passage plates 30 away from the transmitting passage 51, or one receiving passage 52 is defined on the side of one of the first light beam passage plates 30 away from the transmitting passage 51 and another receiving passage 52 is defined on the side of the other of the first light beam passage plates 30 away from the transmitting passage 51. By providing two first light beam passage plates 30 to define the transmitting passage 51, the anti-crosstalk effect of the light beam in the transmitting passage 51 is further ensured. It should be noted that when the first light beam passage plate 30 is multiple, only one of the first light beam passage plates 30 needs to have the transmitting passage 51 and the receiving passage 52 on the two sides thereof, and each of the first light beam passage plates 30 does not need to define the receiving passage 52.

[0063] In some embodiments, the first light beam channel plate 30 is integrally formed with the mirror support 10. As shown in FIG. 5 or FIG. 6, in some embodiments, a first draft hole 30a is defined between the ends of two adjacent first light beam channel plates 30. The distance between the two adjacent first light beam channel plates 30 gradually decreases in a direction away from the first draft hole 30a. For the light beam channel member with an L-shaped cylindrical structure in the prior art, it cannot be integrally formed with other components and can only be installed and fixed by attachment. However, the mirror assembly 100 provided in the embodiments of the present application achieves the integral formation with the mirror support 10 by adopting the plate-shaped first light beam channel plate 30, and achieves the feasibility of the demolding of the overall structure of the first light beam channel plate 30 and the mirror support 10 after molding by designing the distance between the two adjacent first light beam channel plates 30 to gradually decrease in a direction away from the first draft hole 30a. It should be noted that the ends of the two adjacent first light beam channel plates 30 refer to the edge portions of the two first light beam channel plates 30 in the same direction, and the edge portions are not blocked by the mirror support 10 in the direction, so that the mold can be demolded along the direction.

[0064] As shown in FIG. 5, in some embodiments, along the rotation axis z of the mirror assembly 100, the ends of the two adjacent first light beam channel plates 30 away from the mirror support 10 define the first draft hole 30a, and because the distance between the two adjacent first light beam channel plates 30 gradually decreases in a direction away from the first draft hole 30a, the mold can be demolded from the first draft hole 30a along the rotation axis z of the mirror assembly 100 during the demolding process. As shown in FIG. 6, in other embodiments, along the direction x perpendicular to the rotation axis z of the mirror assembly 100, the ends of the two adjacent first light beam channel plates 30 define the first draft hole 30a, and because the distance between the two adjacent first light beam channel plates 30 gradually decreases in a direction away from the first draft hole 30a, the mold can be demolded from the first draft hole 30a along the direction x perpendicular to the rotation axis z of the mirror assembly 100 during the demolding process.

[0065] As shown in FIG. 7 or FIG. 8, in some embodiments, the mirror assembly 100 further comprises a first light-transmitting member 31, and the two ends of the first light-transmitting member 31 are respectively connected with two adjacent first light beam channel plates 30. That is, the first light-transmitting member 31 is arranged in the emission channel 51, which can prevent foreign matters (such as dust, liquid, etc.) from entering the inside of the optical distance measuring device 200 through the emission channel 51, and the light-transmitting design ensures that the light beams in the emission channel 51 can pass through the first light-transmitting member 31 and then be emitted to the external object.

[0066] As shown in FIG. 10, in some embodiments, the first light-transmitting member 31 is arranged to be inclined to the light-outgoing axis of the reflector 20, i.e., the included angle a between the first light-transmitting member 31 and the light-outgoing axis of the reflector 20 is greater than 0 and less than 90°. After the light beam passes through the emission channel 51 and reaches the first light-transmitting member 31, part of the light beam passes through the first light-transmitting member 31 and is directed to the external object, and another part of the light beam is reflected by the first light-transmitting member 31 back to the emission channel 51. In order to avoid the part of the light beam reflected by the first light-transmitting member 31 from interfering with the ranging result, the first light-transmitting member 31 is arranged to be non-perpendicular to the light-outgoing axis of the reflector 20, so that the light beam reflected by the first light-transmitting member 31 does not return along the original path of the light-outgoing axis of the reflector 20, but is reflected in a direction different from the light-outgoing axis of the reflector 20, thereby reducing the interference with the ranging result.

[0067] In some embodiments, the included angle between the first light-transmitting member 31 and the light-outgoing axis of the reflector 20 is 50°-89.5°, i.e., a is in the range of 50°-89.5°. Specifically, as shown in FIG. 10, considering that there may be a divergence angle β of about 1° during the process of the light beam emitted by the light transceiver module 220 being reflected by the reflector 20 and propagating in the emission channel 51, in order to make the first light-transmitting member 31 as possible to ensure that the light beam in the emission channel 51 is non-perpendicular, the included angle between the first light-transmitting member 31 and the light-outgoing axis of the reflector 20 can be set to be less than or equal to 89.5°, wherein 89.5° is an angle value taken according to the half of the divergence angle of 1°; considering that if the included angle between the first light-transmitting member 31 and the light-outgoing axis of the reflector 20 is set too small, it will occupy too much space along the light-outgoing axis of the reflector 20 in the emission channel 51, thereby causing difficulty in spatial arrangement design, therefore the included angle between the first light-transmitting member 31 and the light-outgoing axis of the reflector 20 can be set to be greater than or equal to 50°. In some embodiments, the included angle a between the first light-transmitting member 31 and the light-outgoing axis of the reflector 20 can be 55°, 60°, 65°, 70°, 75°, 80°, 85°, or other angles.

[0068] As shown in FIG. 10, in some embodiments, the included angle γ between the reflector 20 and the rotation axial direction z of the reflector assembly 100 can be set to 45°, at this time the extension direction of the light-outgoing axis of the reflector 20 is perpendicular to the rotation axial direction z of the reflector assembly 100; in other embodiments, the reflector 20 can be arranged to be greater than 45° or less than 45° to the rotation axial direction z of the reflector assembly 100, for example, in the range of 43°-47°, for example, 43°, 44°, 46°, 47° or other angles, at this time the extension direction of the light-outgoing axis of the reflector 20 is at an included angle greater than 0 with the rotation radial direction of the reflector assembly 100, for example, 0-4°.

[0069] It should be noted that the first light-transmitting member 31 can be a light-transmitting plate member with uniform thickness, or a light-transmitting structure with non-uniform thickness; if the first light-transmitting member 31 is a light-transmitting structure with non-uniform thickness, the included angle between the first light-transmitting member 31 and the light exit axis of the reflector 20 refers to the included angle between the side surface of the first light-transmitting member 31 facing the reflector 20 and the light exit axis of the reflector 20.

[0070] It should be noted that the direction of the light exit axis of the reflector 20 can be determined according to the inclination direction of the reflector 20, the light beam exit direction of the light transceiver module 220, and the light reflection principle. Further, in some embodiments, the light transceiver module 220 includes a transmitting assembly 221 and a circuit board 223, the transmitting assembly 221 includes a light emitter 2211, and the light emitter 2211 is arranged on the circuit board 223, and the light beam exit direction of the light transceiver module 220 can be defined as the included angle between the axis of the light emitter 2211 and the plane of the circuit board 223. Further, in some embodiments, the light transceiver module 220 further includes a receiving assembly 222, the receiving assembly 222 includes a receiving lens 2222, and in the case of not considering the shaking occurring in the rotation process of the reflector assembly 100 or the reflector assembly 100 being in a stationary state, the axis of the light emitter 2211, the axis of the receiving lens 2222, and the rotation axis z of the reflector assembly 100 are coaxially arranged, and the axis of the light emitter 2211 is perpendicular to the plane of the circuit board 223, that is, the normal of the plane of the circuit board 223 can be taken as the light beam exit direction of the light transceiver module 220.

[0071] As shown in FIGS. 2 and 4-8, in some embodiments, the mirror assembly 100 further comprises a second light beam passage plate 40. In some embodiments, the second light beam passage plate 40 is one, which is arranged on the side of a first light beam passage plate 30 away from the emission passage 51 and defines a receiving passage 52 with the first light beam passage plate 30. In other embodiments, the second light beam passage plate 40 is two, one of which is arranged on the side of a first light beam passage plate 30 away from the emission passage 51 and defines a receiving passage 52 with the first light beam passage plate 30, and the other of which is arranged on the side of another first light beam passage plate 30 away from the emission passage 51 and defines another receiving passage 52 with the first light beam passage plate 30. By arranging the second light beam passage plate 40, the receiving passage 52 is defined in combination with the first light beam passage plate 30, which further ensures the receiving effect of the light beam in the receiving passage 52. It should be noted that the number of the second light beam passage plate 40 can be arranged according to the number of the receiving passage 52 required, for example: if the light transceiver module 220 is a single emission and single reception paraxial design, i.e. the emission part and the reception part of the light transceiver module 220 are both one and the axis lines are arranged in parallel or at an angle, only one emission passage 51 and one receiving passage 52 are needed, which can be realized by using two first light beam passage plates 30 and one second light beam passage plate 40; if the light transceiver module 220 is a coaxial design, i.e. the emission part and the reception part of the light transceiver module 220 are coaxially arranged, generally the reception part is sleeved outside the emission part, therefore, in order to ensure the reception of the light beam, two receiving passages 52 need to be arranged on both sides of the emission passage 51, which can be realized by using two first light beam passage plates 30 in the middle and two second light beam passage plates 40 on the outside; if the light transceiver module 220 is a single emission and multiple reception paraxial design or a multiple emission and multiple reception paraxial design, the reception part of the light transceiver module 220 is multiple and multiple receiving passages 52 are needed, which can be realized by using multiple second light beam passage plates 40.

[0072] As shown in FIGS. 7-8, in some embodiments, the mirror assembly 100 further comprises a second light-transmitting piece 41, both ends of which are connected with the adjacent first light beam passage plate 30 and second light beam passage plate 40 respectively, that is, the second light-transmitting piece 41 is arranged in the receiving passage 52, which can achieve the effect of preventing foreign matters (such as dust, liquid, etc.) from entering the inside of the optical distance measuring device 200 through the corresponding receiving passage 52, and the light-transmitting design ensures that the light beam reflected by the external object can enter the corresponding receiving passage 52 after passing through the second light-transmitting piece 41.

[0073] In some embodiments, the second light-transmitting piece 41 is provided with a band-pass filter layer, or a band-pass filter is arranged between the receiving channel 52 and the optical transceiver module 220 along the light path of the light beam reflected by the external object. By arranging the above-mentioned band-pass filter layer or band-pass filter, the part of the light beam reflected by the external object outside the set wavelength range can be filtered out, so as to filter out the stray light such as natural light from entering the optical transceiver module 220 and interfering with the ranging result. It should be noted that the set wavelength range of the band-pass filter layer or band-pass filter can be selected according to the actual parameters of the transmitter and receiver of the optical transceiver module 220, which is not limited here. In other embodiments, the second light-transmitting piece 41 can be provided as a light-transmitting structure with a darker color, which has the effect of filtering out visible light with a smaller wavelength and allowing infrared light with a larger wavelength to pass through.

[0074] As shown in FIG. 7, in some embodiments, the first light-transmitting piece 31 and the second light-transmitting piece 41 are integrally formed, that is, a large light-transmitting piece covers the emitting channel 51 and the receiving channel 52 at the same time, which has the advantages of simple structure and easy assembly. As shown in FIG. 8, in other embodiments, the first light-transmitting piece 31 and the second light-transmitting piece 41 are separately arranged, which facilitates the assembly and selection of the first light-transmitting piece 31 and the second light-transmitting piece 41 according to their respective design requirements, such as the above-mentioned inclination requirement of the first light-transmitting piece 31 and the requirement of setting the filtering function of the second light-transmitting piece 41.

[0075] As shown in FIG. 9, in some embodiments, the optical ranging device 200 further comprises a cover 250 for covering the mirror assembly 100, wherein the cover 250 can be fixedly connected with the mirror assembly 100 and rotates together with the mirror assembly 100, at this time, the cover 250 can be provided with one or more light transmission holes 250a, specifically, there can be one light transmission hole 250a which simultaneously communicates with the emitting channel 51 and the receiving channel 52, or there can be multiple light transmission holes 250a which respectively communicate with the emitting channel 51 and the receiving channel 52, to allow the light beam to exit or enter the cover 250, wherein the first light-transmitting piece 31 and the second light-transmitting piece 41 are oppositely arranged with the one or more light transmission holes 250a, which can achieve the effect of preventing foreign matters (such as dust, liquid, etc.) from entering the inside of the optical ranging device 200 through the light transmission hole 250a. In other embodiments, the cover 250 can be fixedly connected with the base 210 and provided with a light-transmitting structure (not shown in the figure), which is oppositely arranged with the emitting channel 51 and the receiving channel 52, to allow the light beam to exit or enter the cover 250 during the rotation of the mirror assembly 100.

[0076] In some embodiments, the first beam channel plate 30 and the second beam channel plate 40 are integrally formed with the mirror holder 10. As shown in FIG. 5 or FIG. 6, the ends of the adjacent first beam channel plate 30 and the second beam channel plate 40 define a second draw port 40a, and the distance between the adjacent first beam channel plate 30 and the second beam channel plate 40 gradually decreases in a direction away from the second draw port 40a. The mirror assembly 100 provided by the embodiments of the present application achieves the integrally formed with the mirror holder 10 by adopting the plate-shaped first beam channel plate 30 and the second beam channel plate 40, and achieves the feasibility of the demolding of the overall structure of the first beam channel plate 30, the second beam channel plate 40 and the mirror holder 10 after forming by designing the distance between the adjacent first beam channel plate 30 and the second beam channel plate 40 to gradually decrease in a direction away from the second draw port 40a. It should be noted that the ends of the adjacent first beam channel plate 30 and the second beam channel plate 40 refer to the edge portions of the first beam channel plate 30 and the second beam channel plate 40 in the same direction, and the edge portions are not blocked by the mirror holder 10 in the direction, so that the mold can be demolded along the direction.

[0077] As shown in FIG. 5, in some embodiments, along the rotation axis z of the mirror assembly 100, the ends of the adjacent first beam channel plate 30 and the second beam channel plate 40 away from the mirror holder 10 define a second draw port 40a, and since the distance between the adjacent first beam channel plate 30 and the second beam channel plate 40 gradually decreases in a direction away from the second draw port 40a, the mold can be demolded from the second draw port 40a along the rotation axis z of the mirror assembly 100 during the demolding process. As shown in FIG. 6, in other embodiments, along the direction x perpendicular to the rotation axis z of the mirror assembly 100, the ends of the adjacent first beam channel plate 30 and the second beam channel plate 40 define a second draw port 40a, and since the distance between the adjacent first beam channel plate 30 and the second beam channel plate 40 gradually decreases in a direction away from the second draw port 40a, the mold can be demolded from the second draw port 40a along the direction x perpendicular to the rotation axis z of the mirror assembly 100 during the demolding process.

[0078] As shown in FIG. 2, in some embodiments, along the rotation axis z of the mirror assembly 100, at least part of the first beam channel plate 30 is located on the side of the mirror 20 close to the mirror holder 10, that is, the distance between the first beam channel plate 30 and the mirror 20 is set to be close, further reducing the possibility of crosstalk of the light beams emitted from the light transceiver module 220 and the light beams reflected by external objects near the mirror 20.

[0079] As shown in part a and part b of FIG. 11, in some embodiments, the reflector 20 is provided with a clamping groove 21, and at least part of the first light beam channel plate 30 is accommodated in the clamping groove 21, so as to further reduce the possibility of crosstalk of the light beams emitted from the light transceiver module 220 and the light beams reflected by external objects near the reflector 20.

[0080] As shown in part a of FIG. 11, in some embodiments, the mirror surface of the reflector 20 includes an emitting mirror surface 22 and a receiving mirror surface 23, and the clamping groove 21 is arranged between the emitting mirror surface 22 and the receiving mirror surface 23. Along the extension direction of the clamping groove 21, the width of the emitting mirror surface 22 can be equal to the width of the receiving mirror surface 23, for example, the emitting mirror surface 22 and the receiving mirror surface 23 with equal width are naturally formed after the clamping groove 21 is machined on a complete square reflector surface; along the extension direction of the clamping groove 21, the width of the emitting mirror surface 22 can be less than the width of the receiving mirror surface 23, since the required reflection area of the emitting mirror surface 22 is less than the required reflection area of the receiving mirror surface 23, after the clamping groove 21 is machined on a complete reflector surface and the emitting mirror surface 22 and the receiving mirror surface 23 are obtained, part of the emitting mirror surface 22 is cut off, or the emitting mirror surface 22 and the receiving mirror surface 23 which are independent of each other and have different widths are directly used, and the clamping groove 21 is formed by spacing arrangement, so that the part of the emitting mirror surface 22 which is shorter than the receiving mirror surface 23 forms a certain avoidable space to facilitate structural arrangement design.

[0081] As shown in FIG. 4 and FIG. 6, in some embodiments, the reflector support 10 is provided with a light beam outlet 10a and a light beam inlet 10b, and the light beam outlet 10a and the light beam inlet 10b are located on the side of the reflector 20 close to the reflector support 10, the light beams emitted by the light transceiver module 220 are adapted to pass through the light beam outlet 10a, the reflector 20 and the emitting channel 51 in sequence and then be emitted to the external object, and the light beams reflected by the external object are adapted to pass through the receiving channel 52, the reflector 20 and the light beam inlet 10b in sequence and then be received by the light transceiver module 220. By providing the light beam outlet 10a and the light beam inlet 10b on the reflector support 10, it is ensured that the reflector support 10 for supporting the reflector 20 can allow the light beams to pass between the reflector 20 and the light transceiver module 220, so that the reflector support 10 itself also has a certain effect of preventing external natural light interference.

[0082] As shown in FIG. 12, in some embodiments, the light shielding piece 11 is arranged on the mirror support 10, and is located on the side of the mirror 20 close to the mirror support 10 along the rotation axis of the mirror assembly 100. Part of the light shielding piece 11 is used to cover part of the light transceiver module 220. The light beam outlet 10a is arranged on the light shielding piece 11, the light beam inlet 10b is arranged on the outside of the light shielding piece 11, and the light shielding piece 11 is fixedly connected with the first light beam channel plate 30. By arranging the light shielding piece 11, the possibility of crosstalk of the light beams emitted from the light transceiver module 220 and the light beams reflected by external objects near the light beam outlet 10a and the light beam inlet 10b is further reduced. In some embodiments, the light transceiver module 220 has a transmitting end, and part of the light shielding piece 11 covers the transmitting end of the light transceiver module 220. In some embodiments, the light shielding piece 11 is integrally formed with the mirror support 10.

[0083] As shown in FIG. 12, in some embodiments, the light transceiver module 220 includes a transmitting assembly 221 and a receiving assembly 222. The light beams of the light transceiver module 220 are emitted from the transmitting assembly 221, sequentially pass through the mirror 20 and the transmitting channel 51, and are emitted to the external object. The light beams reflected by the external object sequentially pass through the receiving channel 52 and the mirror 20, and are received by the receiving assembly 222. In some embodiments, the light transceiver module 220 is designed based on the time-of-flight principle, that is, the distance between the external object and the optical distance measuring device 200 is calculated according to the time difference or phase difference between the light beams emitted by the transmitting assembly 221 and the light beams received by the receiving assembly 222. In other embodiments, the light transceiver module 220 is designed based on the principle of triangular geometry, that is, the distance between the external object and the optical distance measuring device 200 is calculated through the triangular geometric relationship according to the direction of the light beams emitted by the transmitting assembly 221, the inclination direction of the mirror 20, the position of the light beams received by the receiving assembly 222, the relative position between the transmitting assembly 221 and the receiving assembly 222, and the like.

[0084] As shown in FIG. 12, in some embodiments, the transmitting assembly 221 includes a light emitter 2211 and a transmitting lens 2212. After the light emitter 2211 emits the light beams, the light beams pass through the transmitting lens 2212 for collimation and are emitted to the mirror 20. As shown in FIG. 12, in some embodiments, the receiving assembly 222 includes a light receiver 2221 and a receiving lens 2222. After the receiving lens 2222 focuses the received light beams, the light beams are transmitted to the light receiver 2221. According to the spatial arrangement design requirements and optical performance requirements of the optical distance measuring device 200, the transmitting assembly 221 can be arranged partially or entirely on the light inlet side, the inside or the light outlet side of the receiving lens 2222.

[0085] In some embodiments, one or more optical path adjustment elements can be arranged between the light emitter 2211 and the transmitting lens 2212, between the light receiver 2221 and the receiving lens 2222 along the propagation path of the light beam to adjust the propagation path of the light beam by reflection, refraction, light splitting, etc., so as to optimize the spatial arrangement design of the optical distance measuring device 200. For example, referring to FIG. 12, in some embodiments, the receiving assembly 222 further comprises a receiving optical path adjustment element 2223 having a reflecting surface, which is arranged outside the light-emitting side of the receiving lens 2222, so that the light beam is transmitted to the reflecting surface of the receiving optical path adjustment element 2223 after being focused by the receiving lens 2222, and then the light beam reaches the light receiver 2221 after being reflected by the reflecting surface of the receiving optical path adjustment element 2223, thereby reducing the size of the receiving assembly 222 required to meet the focal length requirement of the receiving lens 2222. Further, the light transceiver module 220 further comprises a circuit board 223, and by reasonably arranging the position of the receiving optical path adjustment element 2223, the light emitter 2211 and the light receiver 2221 can be arranged on the two sides of the circuit board 223, respectively, thereby improving the structural compactness of the light transceiver module 220.

[0086] As shown in FIG. 12, in some embodiments, the axis of the receiving assembly 222, the axis of the transmitting assembly 221, and the rotation axis of the mirror assembly 100 are coaxially arranged along the z direction. It should be noted that, since one or more optical path adjustment elements can be arranged between the light emitter 2211 and the transmitting lens 2212, and between the light receiver 2221 and the receiving lens 2222, at least part of the axis of the receiving assembly 222, at least part of the axis of the transmitting assembly 221, and the rotation axis of the mirror assembly 100 are coaxially arranged along the z direction, which means that at least one of the axis of the light beam in the receiving assembly 222 that has or has not been adjusted by the optical path adjustment element, and the rotation axis of the mirror assembly 100 are coaxially arranged along the z direction, and at least one of the axis of the light beam in the transmitting assembly 221 that has or has not been adjusted by the optical path adjustment element, and the rotation axis of the mirror assembly 100 are coaxially arranged along the z direction. In some embodiments, the axis of the light beam emitted by the light emitter 2211, the axis of the transmitting lens 2212, the rotation axis of the mirror assembly 100, the axis of the receiving lens 2222, and the light receiver 2221 are coaxially arranged. It should be noted that the relative positional relationship between the above-mentioned axis of the receiving assembly 222, the axis of the transmitting assembly 221, the axis of the light beam emitted by the light emitter 2211, the axis of the transmitting lens 2212, the rotation axis of the mirror assembly 100, the axis of the receiving lens 2222, and the light receiver 2221 is not considered the shaking that occurs during the rotation of the mirror assembly 100, or the relative positional relationship when the mirror assembly 100 is in a static state.

[0087] As shown in FIG. 14, in some embodiments, the side of the upper cover 250 close to the first light beam passage plate 30 is provided with a light blocking rib 250b extending from the upper cover 250 into the emission passage 51 or the receiving passage 52 to cover the gap between the upper cover 250 and the first light beam passage plate 30 in the direction perpendicular to the rotation axis of the mirror assembly 100, so as to further reduce the possibility of light beam crosstalk between the emission passage 51 and the receiving passage 52.

[0088] In some embodiments, two light blocking ribs 250b are provided, and the two light blocking ribs 250b are respectively arranged corresponding to the two first light beam passage plates 30. Specifically, in some embodiments, as shown in part a of FIG. 14, one light blocking rib 250b can be located on the side of one first light beam passage plate 30 close to the other first light beam passage plate 30 and extend from the upper cover 250 into the emission passage 51, and the other light blocking rib 250b can be located on the side of the other first light beam passage plate 30 close to the one first light beam passage plate 30 and extend from the upper cover 250 into the emission passage 51; or, in other embodiments, as shown in part b of FIG. 14, one light blocking rib 250b can be located on the side of one first light beam passage plate 30 close to the other first light beam passage plate 30 and extend from the upper cover 250 into the emission passage 51, and the other light blocking rib 250b can be located on the side of the other first light beam passage plate 30 away from the one first light beam passage plate 30 and extend from the upper cover 250 into the receiving passage 52; or, in other embodiments, as shown in part c of FIG. 14, one light blocking rib 250b can be located on the side of one first light beam passage plate 30 away from the other first light beam passage plate 30 and extend from the upper cover 250 into the receiving passage 52, and the other light blocking rib 250b can be located on the side of the other first light beam passage plate 30 away from the one first light beam passage plate 30 and extend from the upper cover 250 into the receiving passage 52.

[0089] As shown in FIG. 13, in some embodiments, the mirror assembly 100 further comprises a rotating seat 60 rotatably arranged on the base 210, and the rotating seat 60 is integrally formed with the mirror support 10, that is, the structure having both the functions of rotating connection and supporting the mirror 20 can be produced at one time by the integral forming method, so that the steps and costs of connecting the two functional components are saved.

[0090] As shown in FIG. 13, in some embodiments, the base 210 is provided with a bearing 211 and a lower bearing mounting seat 212. When the rotating seat 60 is integrally formed with the mirror holder 10, along the rotation axis z of the mirror assembly 100, the rotating seat 60 is arranged between the mirror holder 10 and the base 210, and the rotating seat 60 is provided with a first upper bearing mounting seat 61 with an opening facing the base 210, and the bearing 211 is arranged between the first upper bearing mounting seat 61 and the lower bearing mounting seat 212. Here, the opening of the first upper bearing mounting seat 61 refers to an opening for loading the bearing 211 into the first upper bearing mounting seat 61, that is, the bearing 211 is loaded into the first upper bearing mounting seat 61 from the side of the rotating seat 60 close to the base 210. As shown in FIG. 1, in some embodiments, the first upper bearing mounting seat 61 and the lower bearing mounting seat 212 axially limit the bearing 211 through a buckle structure.

[0091] As shown in FIG. 3, in other embodiments, the rotating seat 60 is separately arranged and fixedly connected with the mirror holder 10, that is, the rotating seat 60 and the mirror holder 10 can be independently designed and processed according to the functions to be achieved respectively, and the design difficulty of meeting the demolding requirement is reduced relative to the integrally formed structure.

[0092] As shown in FIG. 3, in other embodiments, when the rotating seat 60 is separately arranged and fixedly connected with the mirror holder 10, along the rotation axis z of the mirror assembly 100, the rotating seat 60 is arranged between the mirror holder 10 and the base 210, and the rotating seat 60 is provided with a second upper bearing mounting seat 62 with an opening facing the mirror holder 10, and the bearing 211 is arranged between the second upper bearing mounting seat 62 and the lower bearing mounting seat 212. Here, the opening of the second upper bearing mounting seat 62 refers to an opening for loading the bearing 211 into the second upper bearing mounting seat 62, that is, the bearing 211 is loaded into the second upper bearing mounting seat 62 from the side of the rotating seat 60 away from the base 210. As shown in FIG. 1, in some embodiments, the second upper bearing mounting seat 62 and the lower bearing mounting seat 212 axially limit the bearing 211 through a buckle structure.

[0093] In some embodiments, the optical distance measuring device 200 further comprises a driving assembly 230 for driving the rotation of the rotating seat 60. According to the design requirements of the spatial arrangement of the optical distance measuring device 200, the driving assembly 230 can be coaxially arranged with the rotating seat 60 and directly connected, for example, the driving assembly 230 is a motor, the stator of the motor is arranged on the base 210, the rotor of the motor is arranged on the rotating seat 60, and the stator and the rotor of the motor are connected through electromagnetic action to make the rotor rotate and drive the rotating seat 60 to rotate relative to the base 210; the driving assembly 230 can also be coaxially arranged with the rotating seat 60 and connected through a transmission assembly, the driving assembly 230 is a motor, and the output shaft of the motor and the rotating seat 60 are connected through a transmission assembly, wherein the transmission assembly can be a constant speed transmission structure, a variable speed transmission structure, or a one-way transmission structure; as shown in FIG. 3 or FIG. 13, the driving assembly 230 can also be arranged non-coaxially with the rotating seat 60, and the driving assembly 230 is arranged parallel to the rotating seat 60. When the distance between the driving assembly 230 and the rotating seat 60 is close, a gear or the like can be used as a transmission assembly for transmission connection. When the driving assembly 230 and the rotating seat have a certain interval, a plurality of gear structures, a belt transmission structure or a chain transmission structure or the like can be used as a transmission assembly for transmission connection.

[0094] In some embodiments, the optical distance measuring device 200 further comprises an encoding assembly, which comprises an encoding detection unit 241 and a plurality of encoding units 242. The encoding detection unit 241 is arranged on the base 210, and specifically, as shown in FIG. 12, the encoding detection unit 241 is arranged on the circuit board 223. As shown in FIG. 3 or FIG. 13, the plurality of encoding units 242 are arranged on the side of the rotating seat 60 close to the base 210 in a circumferential interval around the rotating shaft of the mirror assembly 100. The encoding detection unit 241 cooperates with the plurality of encoding units 242 to detect the rotation angle and / or rotation speed of the rotating seat 60 relative to the base 210. By arranging the encoding detection unit 241 on the base 210 and arranging the plurality of encoding units 242 on the rotating seat 60, no electrical elements are arranged on the mirror assembly 100 rotating relative to the base 210, and at least one electrical element of the light emitter 2211, the light receiver 2221, the encoding detection unit 241 and the driving assembly 230 is arranged on the relatively fixed base 210, that is, only the circuit board needs to be arranged on the base 210 and no circuit board needs to be arranged on the mirror assembly 100, thereby eliminating the wireless power transmission element commonly used in the prior art laser radar between the fixed part and the rotating part.

[0095] The other configurations and operations of the mirror assembly 100, the optical distance measuring device 200 and the self-walking robot 300 according to the embodiments of the present application are known to those skilled in the art and will not be described in detail here.

[0096] In the description of the application, reference has been made to descriptive terms such as "one embodiment", "some embodiments", "an embodiment", "example", "specific example" or "some examples" etc. It is emphasized that each of these terms refers to a specific feature, structure, material or characteristic described in connection with a particular embodiment or example. The descriptive terms are not necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0097] Although embodiments of this application have been shown and described, it is to be understood that various modifications, substitutions, combinations, and variations can be made therein without departing from the spirit and scope of the application. The application is not to be limited by the embodiments shown and described, but only by the claims and their equivalents.

Claims

1. A reflector assembly, rotatably mounted on the base of an optical rangefinder, characterized in that, The reflector assembly includes: Rearview mirror bracket; The reflector is tilted on the reflector bracket relative to the rotation axis of the reflector assembly; At least one first beam channel plate is fixedly connected to the reflector bracket; one side of the at least one first beam channel plate defines a transmission channel, and the other side of the at least one first beam channel plate defines a reception channel. The light beam emitted by the optical transceiver module of the optical ranging device is adapted to pass through the reflector and the transmitting channel in sequence before being directed toward an external object. The light beam reflected by the external object is adapted to pass through the receiving channel and the reflector in sequence before being received by the optical transceiver module.

2. The reflector assembly according to claim 1, characterized in that, There are at least two first beam channel plates; The emission channel is defined between the two first beam channel plates; One side of the first beam channel plate opposite to the emission channel defines one of the receiving channels, and / or, the other side of the first beam channel plate opposite to the emission channel defines another receiving channel.

3. The reflector assembly according to any one of claims 2, characterized in that, The first beam channel plate is integrally formed with the reflector bracket; a first draft opening is defined between the ends of two adjacent first beam channel plates, and the distance between two adjacent first beam channel plates gradually decreases along the direction away from the first draft opening.

4. The reflector assembly according to claim 3, characterized in that, Along the rotation axis of the reflector assembly, the first draft opening is defined between the ends of two adjacent first beam channel plates that are away from the reflector support. or, The first draft opening is defined between the ends of two adjacent first beam channel plates in a direction perpendicular to the rotation axis of the reflector assembly.

5. The reflector assembly according to claim 2, characterized in that, The reflector assembly further includes a first light-transmitting element, the two ends of which are respectively connected to two adjacent first beam channel plates; the beam in the emission channel is adapted to pass through the first light-transmitting element and then be emitted toward an external object.

6. The reflector assembly according to claim 5, characterized in that, The first light-transmitting element and the light-emitting axis of the reflector have an included angle of 50° to 89.5°.

7. The reflector assembly according to claim 2, characterized in that, It also includes a second beam channel plate; The second beam channel plate is one, and the second beam channel plate is disposed on the side of the first beam channel plate opposite to the emission channel and defines a receiving channel between the second beam channel plate and the first beam channel plate; Alternatively, there may be two second beam channel plates, one of which is disposed on the side of a first beam channel plate opposite to the emission channel and defines a receiving channel between the second and first beam channel plates, and the other of which is disposed on the side of another first beam channel plate opposite to the emission channel and defines another receiving channel between the second and first beam channel plates.

8. The reflector assembly according to claim 7, characterized in that, It also includes a second light-transmitting element, the two ends of which are respectively connected to the adjacent first beam channel plate and the second beam channel plate; The light beam, after being reflected by an external object, is adapted to pass through the second light-transmitting element and enter the corresponding receiving channel.

9. The reflector assembly according to claim 8, characterized in that, The second light-transmitting element is provided with a bandpass filter layer, or a bandpass filter is provided between the receiving channel and the optical transceiver module along the optical path of the light beam reflected by an external object.

10. The reflector assembly according to claim 8, characterized in that, The reflector assembly further includes a first light-transmitting element, the two ends of which are respectively connected to two adjacent first beam channel plates; the beam in the emission channel is adapted to pass through the first light-transmitting element and then be emitted toward an external object; The first light-transmitting element and the second light-transmitting element are integrally formed, or the first light-transmitting element and the second light-transmitting element are separately formed.

11. The reflector assembly according to claim 7, characterized in that, The first beam channel plate, the second beam channel plate, and the reflector bracket are integrally formed; a second draft opening is defined between the ends of adjacent first beam channel plates and second beam channel plates, and the distance between adjacent first beam channel plates and second beam channel plates gradually decreases along the direction away from the second draft opening.

12. The reflector assembly according to claim 11, characterized in that, Along the rotation axis of the reflector assembly, a second draft opening is defined between the ends of adjacent first beam channel plates and second beam channel plates that are away from the reflector support; or, A second draft opening is defined between the ends of adjacent first and second beam channel plates in a direction perpendicular to the rotation axis of the reflector assembly.

13. The reflector assembly according to claim 1, characterized in that, Along the rotational axis of the reflector assembly, at least a portion of the first beam channel plate is located on the side of the reflector closer to the reflector support.

14. The reflector assembly according to claim 13, characterized in that, The reflector is provided with a slot, and at least a portion of the first beam channel plate is accommodated in the slot.

15. The reflector assembly according to claim 14, characterized in that, The reflector includes a emitting mirror and a receiving mirror, and the slot is provided between the emitting mirror and the receiving mirror; Along the extension direction of the slot, the width of the transmitting mirror is less than or equal to the width of the receiving mirror.

16. The reflector assembly according to claim 1, characterized in that, The reflector bracket is provided with a beam outlet and a beam inlet, both of which are located on the side of the reflector closer to the reflector bracket. The beam emitted by the optical transceiver module is adapted to pass through the beam outlet, the reflector and the emission channel in sequence before being directed toward an external object. The beam reflected by the external object is adapted to pass through the receiving channel, the reflector and the beam inlet in sequence before being received by the optical transceiver module.

17. The reflector assembly according to claim 16, characterized in that, The reflector bracket is provided with a light-shielding component. The light-shielding component is located on the side of the reflector closer to the reflector bracket along the rotation axis of the reflector assembly. A portion of the light-shielding component is used to cover a portion of the optical transceiver module. The beam outlet is located on the light-shielding component, and the beam inlet is located on the outside of the light-shielding component. The light-shielding component is fixedly connected to the first beam channel plate.

18. An optical ranging device, characterized in that, The device includes a base, an optical transceiver module, and a reflector assembly according to any one of claims 1-17; the reflector assembly is rotatably mounted on the base; the optical transceiver module is mounted on the base and is used to emit and receive a light beam; the light beam emitted by the optical transceiver module passes sequentially through the reflector and the emission channel and is then directed toward an external object, and the light beam reflected by the external object passes sequentially through the receiving channel and the reflector and is then received by the optical transceiver module.

19. The optical ranging device according to claim 18, characterized in that, The optical transceiver module includes a transmitting component and a receiving component; The light beam emitted from the transmitting component of the optical transceiver module passes sequentially through the reflector and the transmitting channel before being directed toward an external object. After being reflected by the external object, the light beam passes sequentially through the receiving channel and the reflector before being received by the receiving component.

20. The optical ranging device according to claim 19, characterized in that, At least a portion of the axis of the receiving component, at least a portion of the axis of the transmitting component, and the rotation axis of the reflector component are coaxially arranged.

21. The optical ranging device according to claim 18, characterized in that, It also includes a top cover that covers the reflector assembly and is fixedly connected to the reflector assembly; a light-blocking rib is provided on the side of the top cover near the first beam channel plate, and the light-blocking rib extends from the top cover into the emission channel or receiving channel to cover the gap between the top cover and the first beam channel plate in a direction perpendicular to the rotation axis of the reflector assembly.

22. The optical ranging device according to claim 18, characterized in that, The reflector assembly also includes a rotating base, which is rotatably mounted on the base; the rotating base is integrally formed with the reflector bracket, or the rotating base and the reflector bracket are separately arranged and fixedly connected.

23. The optical ranging device according to claim 22, characterized in that, The base is equipped with a bearing and a lower bearing mounting seat; When the rotating seat and the reflector bracket are integrally formed, the rotating seat is disposed between the reflector bracket and the base along the rotation axis of the reflector assembly. The rotating seat is provided with a first upper bearing mounting seat with an opening facing the base. The bearing is disposed between the first upper bearing mounting seat and the lower bearing mounting seat. or, When the rotating seat and the reflector bracket are separately configured and fixedly connected, along the rotation axis of the reflector assembly, the rotating seat is disposed between the reflector bracket and the base. The rotating seat has a second upper bearing mounting seat with an opening facing the reflector bracket, and the bearing is disposed between the second upper bearing mounting seat and the lower bearing mounting seat.

24. The optical ranging device according to claim 22, characterized in that, It also includes an encoding component, which includes an encoding detection unit and multiple encoding units, the encoding detection unit being disposed on the base; The plurality of coding units are circumferentially spaced around the rotation axis of the reflector assembly on the side of the rotating seat near the base. The coding detection unit works in cooperation with the plurality of coding units to detect the rotation angle and / or rotation speed of the rotating seat relative to the base.

25. A self-propelled robot, characterized in that, It includes the robot body and the optical ranging device as described in any one of claims 18-24.

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