Optical ranging apparatus and self-moving device

Abstract

The present application discloses an optical ranging apparatus and a self-moving device. An emitting portion of the optical ranging apparatus is used for emitting measurement beams including a first beam and a second beam. Optical axes of a third beam and a fourth beam formed by the first beam and the second beam being respectively directed toward an emitting lens and collimated by the emitting lens have different extension directions. A fifth beam and a sixth beam formed by the third beam and the fourth beam being directed toward an external object and reflected by the external object are respectively focused to a receiving portion by means of a first receiving lens and a second receiving lens.

Description

Optical ranging devices and self-moving devices

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202520583941.6, filed on March 28, 2025, entitled “Optical ranging device and self-moving device”, and Chinese Patent Application No. 202521930543.3, filed on September 8, 2025, entitled “Optical emission assembly, optical ranging device and mobile robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of optical ranging technology, and in particular to an optical ranging device and a self-moving device. Background Technology

[0004] LiDAR (Light Detection and Ranging) is a radar system that uses laser light to detect the position, velocity, attitude, and other characteristics of a target. Its basic principle is to first emit a laser beam towards the target, then receive the signal reflected back from the target. By comparing the emitted and received signals, information such as the target's distance, azimuth, altitude, velocity, attitude, and even shape can be obtained. As an optical ranging device, LiDAR is a core component for enabling precise navigation and intelligent obstacle avoidance in self-moving devices. Miniaturization, lightweight design, and low cost are significant challenges for expanding the application scope and market of LiDAR.

[0005] Taking a self-moving robot vacuum cleaner as an example, the robot vacuum cleaner not only needs to move on its own to clean in the predetermined barrier-free scenario, but also needs to clean in low-lying areas such as under sofas and beds. This requires that the overall height of the robot vacuum cleaner should not be too high. Correspondingly, the laser radar installed on the top, side, and inside of the robot vacuum cleaner should not take up too much space.

[0006] However, in order to realize environmental mapping and obstacle avoidance functions of robotic vacuum cleaners, robotic vacuum cleaners are generally equipped with multiple lidars for performing different single detection tasks, or with integrated lidars that have multiple detection tasks. But regardless of the method, the inventors have found through practice that existing lidars generally occupy a large space in robotic vacuum cleaners and are expensive. Summary of the Invention

[0007] To address the aforementioned problems, this application provides an optical ranging device and a self-moving device including the optical ranging device.

[0008] In a first aspect, this application provides an optical ranging device, including a base and an optomechanical assembly. The optomechanical assembly is mounted on the base and includes: an emitting section for emitting a detection beam; the detection beam includes a first beam and a second beam; an emitting lens located on the light-emitting side of the emitting section, wherein the first beam is directed towards the emitting lens and collimated by the emitting lens to form a third beam, and the second beam is directed towards the emitting lens and collimated by the emitting lens to form a fourth beam, wherein the optical axis of the third beam extends in a different direction than the optical axis of the fourth beam; a receiving section; and a receiving lens located on the light-receiving side of the receiving section; the receiving lens includes a first receiving lens and a second receiving lens, wherein the beam formed by the third beam after being reflected back by an external object and finally reaching the receiving lens is a fifth beam, and the fifth beam is focused onto the receiving section by the first receiving lens; and the beam formed by the fourth beam after being reflected back by an external object and finally reaching the receiving lens is a sixth beam, and the sixth beam is focused onto the receiving section by the second receiving lens.

[0009] In some embodiments, the optical axis of the first beam and the optical axis of the second beam are set at an acute angle, and the optical axis of the first receiving lens and the optical axis of the second receiving lens are set at an acute angle.

[0010] In some embodiments, the optical ranging device further includes a circuit board disposed on the light-incident side of the emitting lens; the emitting part includes a first emitting unit and a second emitting unit, the first emitting unit being disposed on the circuit board, the first light beam emitted by the first emitting unit being emitted after passing through the emitting lens to form a third light beam; the second emitting unit being disposed on the circuit board, the second light beam emitted by the second emitting unit being emitted after passing through the emitting lens to form a fourth light beam, wherein the extension direction of the optical axis of the third light beam is different from the extension direction of the optical axis of the fourth light beam.

[0011] In some embodiments, the circuit board is tilted to a horizontal plane such that the third beam extends in a direction parallel to the horizontal plane, and the fourth beam is tilted to the horizontal plane and extends downward.

[0012] Secondly, this application also provides a self-moving device, including a main body and the optical ranging device described above, wherein the optical ranging device is disposed on the main body.

[0013] The optical ranging device and self-moving device provided in this application have at least the following beneficial effects:

[0014] The optical ranging device emits a first beam from the transmitter, which is then directed towards the transmitting lens. After being collimated by the transmitting lens, a third beam is formed and directed towards an external object. The fifth beam, reflected back from the external object, is focused onto the receiving unit by the first receiving lens. Similarly, a second beam emitted from the transmitter is directed towards the transmitting lens and, after being collimated by the transmitting lens, forms a fourth beam, which is directed towards an external object. The sixth beam, reflected back from the external object, is focused onto the receiving unit by the second receiving lens. The optical axis of the third beam extends in a different direction than that of the fourth beam, allowing the third and fourth beams to be used for different detection purposes. For example, the third beam can be used as a mapping beam for long-distance detection, while the fourth beam can be used as an obstacle avoidance beam for short-distance detection. The mapping beam enables long-distance coverage, facilitating the scanning of the surrounding environment to construct high-precision 2D or 3D maps, or detecting the contours, distances, and positions of objects to plan driving paths or perform scene analysis. The obstacle avoidance beam detects nearby obstacles, facilitating emergency avoidance and ensuring the safe and smooth operation of the self-moving equipment. Since the fifth and sixth beams are focused onto the same receiving unit, multi-functional detection can be achieved with the help of receiving lenses that are low in material cost and can be mass-produced, greatly reducing production costs and facilitating the manufacture of self-moving devices suitable for consumer-grade multi-functional detection. On the other hand, by centrally arranging the emitting unit that can emit at least the first and second beams, the single emitting lens that can collimate both the first and second beams, the receiving lenses that can focus each reflected detection beam separately, and the single receiving unit that can receive each focused detection beam on the same optical ranging device, a single optical ranging device can have multiple detection functions and a more compact structure, which helps to reduce the space occupied by the optical ranging device in the self-moving device. Attached Figure Description

[0015] To better understand this application, specific embodiments are described below with reference to the accompanying drawings. The following detailed description of the embodiments is not intended to limit the scope of this application. Other features, objectives, and advantages of this application will become more apparent upon reading. In the drawings, the same or similar reference numerals denote the same or similar features.

[0016] Figure 1 is a cross-sectional view of an optical ranging device according to an embodiment of this application along a plane;

[0017] Figure 2 is a three-dimensional cross-sectional view of the optomechanical components in the optical ranging device shown in Figure 1;

[0018] Figure 3 is a schematic diagram of the working principle of the optomechanical component shown in Figure 2;

[0019] Figure 4 is a partial cross-sectional view of the optical ranging device shown in Figure 1;

[0020] Figure 5 is a three-dimensional structural schematic diagram of the optical ranging device shown in Figure 1;

[0021] Figure 6 is a schematic diagram of the assembly structure of the optomechanical components and the rotating mirror components in the optical ranging device shown in Figure 5.

[0022] Figure 7 is a three-dimensional structural diagram of the base in the optical ranging device shown in Figure 5;

[0023] Figure 8 is a schematic diagram of the structure of an optomechanical component of an optical ranging device according to another embodiment of this application;

[0024] Figure 9 is a cross-sectional view of the optomechanical assembly shown in Figure 8 along direction AA;

[0025] Figure 10 is a schematic diagram of another optomechanical component of the optical ranging device shown in Figure 8;

[0026] Figure 11 is a cross-sectional view of the optomechanical assembly shown in Figure 10 along direction BB;

[0027] Figure 12 is a schematic diagram of the structure of an optical ranging device according to another embodiment of this application;

[0028] Figure 13 is a cross-sectional view of the optical rangefinder shown in Figure 12 along a plane.

[0029] Reference numerals: 100, optical ranging device; 200, first beam; 300, second beam; 400, third beam; 500, fourth beam; 600, fifth beam; 700, sixth beam; 800, rotation axis; 810, first side of the axis; 820, second side of the axis; 1, base; 11, third optical cavity; 111, emitting optical cavity; 112, receiving optical cavity; 12, light guide port; 121, light exit port; 122, light receiving port; 13, second light blocking element; 131, first inclined surface; 132, second inclined surface; 14, third light blocking element; 141, third inclined surface; 142, fourth inclined surface; 15, inner shell; 16, outer shell; 2. Optomechanical assembly; 21. Transmitter; 211. First transmitting unit; 212. Second transmitting unit; 22. Transmitting lens; 23. Receiver; 24. Receiving lens; 241. First receiving lens; 242. Second receiving lens; 25. First optical cavity; 26. Second optical cavity; 27. Mounting base; 28. Circuit board; 3. Rotating mirror assembly; 31. First mirror body; 32. Second mirror body; 33. Bracket; 34. First light-blocking component; 35. Drive base; 351. Fifth inclined surface; 36. Rotating shaft; 4. Drive assembly. Detailed Implementation

[0030] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are disclosed in the following detailed description to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples. This application is by no means limited to any specific configurations and algorithms presented below, but covers any modifications, substitutions, and improvements to elements, components, and algorithms without departing from the spirit of this application. Well-known structures and techniques are not shown in the accompanying drawings and the following description in order to avoid unnecessary obfuscation of this application.

[0031] This application provides an optical ranging device 100, which is suitable for self-moving devices (not shown in the figure) and can be used to identify the distance between the self-moving device and external objects. Specifically, it can be used for environmental map construction, obstacle recognition and avoidance, positioning and navigation, etc., thereby guiding the driving and operation of the self-moving device.

[0032] It should be noted that the self-moving devices described herein can be used both indoors and outdoors, and include, but are not limited to, cleaning robots (such as sweeping robots, mopping robots, washer-mop combos, water surface cleaning robots, etc.), lawn mowing robots, and logistics robots (such as robots used for object handling in factories, restaurants, hotels, etc.). Furthermore, the optical ranging device 100 described herein can be a semi-solid-state LiDAR; of course, it can also be other suitable types or structures of optical ranging products.

[0033] Figures 1 to 7 illustrate the specific structure and working principle of an optical ranging device according to an embodiment of this application.

[0034] As shown in Figures 1 and 4, an optical ranging device 100 provided in one embodiment of this application includes a base 1 and an optomechanical assembly 2, which is mounted on the base 1. As shown in Figures 1 to 3, the optomechanical assembly 2 includes an optical emitting assembly 10 and an optical receiving assembly 20. The optical emitting assembly 10 includes an emitting part 21 and an emitting lens 22. The emitting part 21 is used to emit a detection beam, which includes a first beam 200 and a second beam 300. The emitting lens 22 is located on the light-emitting side of the emitting part 21 and is used to collimate the diverging detection beam emitted by the emitting part 21 to reduce the rapid energy attenuation of the detection beam due to divergence. The first beam 200 is directed towards the emitting lens 22 and collimated by the emitting lens 22 to form a third beam 400. The second beam 300 is directed towards the emitting lens 22 and collimated by the emitting lens 22 to form a fourth beam 500. The extension direction of the optical axis of the third beam 400 is different from that of the fourth beam 500.

[0035] The optical receiving assembly 20 includes a receiving section 23 and a receiving lens 24. The receiving lens 24 is located on the light-receiving side of the receiving section 23 and includes a first receiving lens 241 and a second receiving lens 242. The beam formed by the third beam 400 after being reflected back by an external object and finally reaching the receiving lens 24 is the fifth beam 600. The fifth beam 600 is focused onto the receiving section 23 by the first receiving lens 241. The beam formed by the fourth beam 500 after being reflected back by an external object and finally reaching the receiving lens 24 is the sixth beam 700. The sixth beam 700 is focused onto the receiving section 23 by the second receiving lens 242. The receiving section 23 can be used to simultaneously receive at least two reflected detection beams. Correspondingly, the receiving lens 24 can be used to simultaneously focus at least two reflected detection beams to reduce the light energy loss of the reflected detection beams, suppress ambient light interference, and improve the spatial resolution of the reflected multiple detection beams, thereby enhancing the light intensity of the effective signal of the detection beams and improving ranging accuracy and signal-to-noise ratio. Because the optical axis of the third beam 400 extends in a different direction than that of the fourth beam 500, the third beam 400 and the fourth beam 500 can be used for different detection purposes. For example, the third beam 400 can be used for long-range detection, while the fourth beam 500 can be used for short-range detection. Exemplarily, the third beam 400 can be a mapping beam, and the fourth beam 500 can be an obstacle avoidance beam. The mapping beam can provide long-range coverage, facilitating the scanning of the surrounding environment to construct a high-precision 2D or 3D map, or it can detect the contours, distances, and positions of objects to plan driving paths or perform scene analysis. The obstacle avoidance beam can detect nearby obstacles, thereby facilitating emergency avoidance and ensuring the safe and smooth operation of the automated mobile device.

[0036] To achieve diverse detection functions of the optical ranging device 100, as shown in Figure 3, the detection beam includes a first beam 200 and a second beam 300, with the optical axis of the second beam 300 forming an acute angle with the optical axis of the first beam 200. Specifically, to achieve this acute angle, the optical axes of the first beam 200 and the second beam 300 can either intersect on the same plane to have a point of intersection, or they can be staggered to avoid intersecting.

[0037] When the third beam 400 is a mapping beam and the fourth beam 500 is an obstacle avoidance beam, by setting the mapping beam and the obstacle avoidance beam emitted by the transmitter 21 at an acute angle to each other, for example, the mapping beam can be set to be directed towards the front of the self-moving device and the obstacle avoidance beam can be configured to be directed towards the platform supporting the self-moving device (specifically, the ground), thereby ensuring that the coverage of the mapping beam is wider, which is beneficial to expanding the mapping area, and also ensuring that the near-field blind zone of the obstacle avoidance beam when detecting the periphery of the self-moving device is smaller, which is beneficial to improving obstacle avoidance accuracy.

[0038] It should be noted that during launch, the first beam 200 and the second beam 300 can be launched sequentially or simultaneously. In practical applications, the launching unit 21 is not limited to launching only the first beam 200 and the second beam 300.

[0039] In the embodiments of this application, as shown in Figures 1 to 3, the emitting lens 22 is located on the light-emitting side of the emitting section 21, and the receiving lens 24 is located on the light-receiving side of the receiving section 23. It should be noted that other reflectors for adjusting the direction of the light path may also be provided between the emitting section 21 and the emitting lens 22. Similarly, other reflectors for adjusting the direction of the light path may also be provided between the receiving lens 24 and the receiving section 23; no particular limitation is made here.

[0040] The receiving lens 24 includes a first receiving lens 241 and a second receiving lens 242, with the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 forming an acute angle (see Figure 3). The first beam 200 emitted by the emitting unit 21 is directed towards the emitting lens 22 and collimated by the emitting lens 22 (i.e., the third beam 400) before being directed towards an external object. The fifth beam 600 reflected back from the external object is focused by the first receiving lens 241 onto the receiving unit 23 (see Figure 3). Similarly, the second beam 300 emitted by the emitting unit 21 is directed towards the emitting lens 22 and collimated by the emitting lens 22 (i.e., the fourth beam 500) before being directed towards an external object. The sixth beam 700 reflected back from the external object is focused by the second receiving lens 242 onto the receiving unit 23 (see Figure 3).

[0041] It is understandable that the fifth beam 600, which is the result of the reflection of the first beam 200 emitted by the transmitter 21 back by an external object, is focused separately by the first receiving lens 241, and the sixth beam 700, which is the result of the reflection of the second beam 300 emitted by the transmitter 21 back by an external object, is focused separately by the second receiving lens 242. This effectively reduces the light energy loss of the reflected fifth beam 600 and sixth beam 700, suppresses interference from ambient light, and enhances the light intensity of each beam, thereby improving ranging accuracy and signal-to-noise ratio. Furthermore, by arranging the optical axes of the first receiving lens 241 and the second receiving lens 242 at an acute angle, the focal lengths of the first receiving lens 241 and the second receiving lens 242 are different, ensuring that both the reflected fifth beam 600 and sixth beam 700 can be focused onto the same receiving unit 23. In short, by arranging multiple receiving lenses 24 with different focal lengths on the light-receiving side of the receiving unit 23, the optical ranging device 100 can realize multiple detection functions by correspondingly focusing the reflected detection beams and focusing each detection beam onto the receiving surface of the same receiving unit 23.

[0042] In this way, compared with the existing schemes that use multiple lidars to achieve multiple detection functions, the optical ranging device 100 directly integrates the emitting part 21 that can emit at least the first beam 200 and the second beam 300, the single emitting lens 22 that can collimate both the first beam 200 and the second beam 300, the receiving lenses 24 that can focus each reflected detection beam (such as the fifth beam 600 and the sixth beam 700) respectively, and the single receiving part 23 that can receive each focused detection beam on the same optical ranging device 100. This allows a single optical ranging device 100 to have multiple detection functions. Obviously, the structure is more compact and helps to reduce the space occupied by the optical ranging device 100 in the self-moving device.

[0043] Compared to existing solutions that use independent photodetectors (such as SPAD arrays) in each optical channel to receive multiple detection beams and achieve multiple detection functions, the optical ranging device 100 uses materials (such as glass or resin) for each receiving lens 24, which are generally lower in cost and can be mass-produced, because photodetectors have high requirements for materials and complex manufacturing processes. Obviously, the overall production cost is lower, which is conducive to the manufacture of self-moving devices with multi-functional detection suitable for consumer use.

[0044] It should be noted that when the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 are configured to form an acute angle, the optical axis of the first receiving lens 241 and the optical axis of the second receiving lens 242 may be located on the same plane and intersect so that they have an intersection point, or they may not be located on the same plane and intersect in a staggered manner so that they do not have an intersection point.

[0045] Furthermore, when receiving the reflected detection beam, the first receiving lens 241 and the second receiving lens 242 can focus the corresponding detection beam sequentially or simultaneously. In practical applications, the receiving lens 24 is not limited to only the first receiving lens 241 and the second receiving lens 242; there can be more receiving lenses 24. The number of receiving lenses 24 is usually consistent with the number of beams emitted by the transmitting unit 21. Correspondingly, the first receiving lens 241 can be a mapping lens, and the second receiving lens 242 can be an obstacle avoidance lens.

[0046] For example, as shown in Figures 1 and 2, the optomechanical assembly 2 also includes a mounting base 27 and a circuit board 28. The emitting part 21, the emitting lens 22, the receiving lens 24, the receiving part 23 and the circuit board 28 are all disposed in the mounting base 27, and the emitting part 21 and the receiving part 23 are both disposed on the circuit board 28, so as to ensure that the structure of the optomechanical assembly 2 is relatively compact and occupies little space.

[0047] In summary, compared with the prior art, the optical ranging device 100 has at least the following beneficial effects: The first beam 200 emitted by the emitting unit 21 is directed towards the emitting lens 22, and after being collimated by the emitting lens 22, forms a third beam 400 which is directed towards an external object. The fifth beam 600 reflected back from the external object is focused by the first receiving lens 241 onto the receiving unit 23. The second beam 300 emitted by the emitting unit 21 is directed towards the emitting lens 22, and after being collimated by the emitting lens 22, forms a fourth beam 500 which is directed towards an external object. The sixth beam 700 reflected back from the external object is focused by the second receiving lens 242 onto the receiving unit 23. The optical axis of the third beam 400 extends in a different direction than that of the fourth beam 500, allowing the third beam 400 and the fourth beam 500 to be used for different detection purposes. For example, the third beam can be a mapping beam for long-distance detection, and the fourth beam can be an obstacle avoidance beam for short-distance detection. The mapping beam can achieve long-distance coverage, facilitating the scanning of the surrounding environment to construct high-precision 2D or 3D maps, or detecting the outline, distance, and position of objects to plan driving paths or perform scene analysis. The obstacle avoidance beam can detect nearby obstacles, thus facilitating emergency avoidance and ensuring the safe and smooth operation of the self-moving device. Since the fifth beam 600 and the sixth beam 700 are focused on the same receiving unit 23, multi-functional detection can be achieved through the low-cost and mass-producible receiving lens 24, greatly reducing production costs and facilitating the manufacture of multi-functional detection self-moving devices suitable for consumer use.

[0048] On the other hand, by concentrating the emitting part 21 that can emit at least the first beam 200 and the second beam 300, the single emitting lens 22 that can collimate both the first beam 200 and the second beam 300, the receiving lenses 24 that can focus each of the reflected detection beams, such as the fifth beam 600 and the sixth beam 700 respectively, and the single receiving part 23 that can receive each of the focused detection beams on the same optical ranging device 100, a single optical ranging device 100 can have multiple detection functions and a more compact structure, which helps to reduce the space occupied by the optical ranging device 100 in the self-moving device.

[0049] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to Figures 1 to 7. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0050] In some embodiments, the optical axis of the first light beam 200 emitted by the emitting unit 21 (e.g., the blue line shown in FIG. 3) passes through the optical center of the emitting lens 22 to maximize the light energy utilization of the first light beam 200, thereby improving ranging accuracy and simplifying optical design. In some embodiments, the optical axis of the second light beam 300 emitted by the emitting unit 21 (e.g., the red line shown in FIG. 3) passes through the optical center of the emitting lens 22 to maximize the light energy utilization of the second light beam 300, thereby improving ranging accuracy and simplifying optical design.

[0051] In some embodiments, the optical axis of the first beam 200 emitted by the emitting unit 21 is parallel to the optical axis of the emitting lens 22 to obtain optimal beam quality and maximum light energy utilization of the first beam 200, thereby improving ranging accuracy and reliability. Correspondingly, the optical axis of the second beam 300 emitted by the emitting unit 21 forms a preset angle with the optical axis of the emitting lens 22. The preset angle is an acute angle.

[0052] In some embodiments, the detection beam emitted by the emitting unit 21 includes a first beam 200. The emitting unit 21 includes a first emitting unit 211, wherein the first emitting unit 211 is used to emit the first beam 200. The first emitting unit 211 is located on the focal point or focal plane of the emitting lens 22 so as to collimate the first beam 200 through the emitting lens 22, which is beneficial to the light energy of the first beam 200 being able to propagate to a longer distance and to enhance the signal-to-noise ratio, thereby improving the ranging capability and ranging accuracy of the optical ranging device 100.

[0053] In some embodiments, the detection beam emitted by the emitting unit 21 includes a second beam 300. The emitting unit 21 includes a second emitting unit 212, wherein the second emitting unit 212 is used to emit the second beam 300. The second emitting unit 212 is located on the focal plane of the emitting lens 22 so as to collimate the second beam 300 through the emitting lens 22, which is beneficial to the light energy of the second beam 300 being able to propagate to a longer distance and to enhance the signal-to-noise ratio, thereby improving the ranging capability and ranging accuracy of the optical ranging device 100.

[0054] For example, as shown in Figures 1 to 4, specifically in this embodiment, the transmitting unit 21 includes a first transmitting unit 211 (e.g., a mapping transmitter) and a second transmitting unit 212 (e.g., an obstacle avoidance transmitter). To improve ranging capability and accuracy, and to simplify optical design and make the overall structure more compact, the first transmitting unit 211 can be located at the focal point of the transmitting lens 22 so that the first beam 200 can be collimated into parallel light. The second transmitting unit 212 can be located on the focal plane of the transmitting lens 22, and the optical axes of the first beam 200 emitted by the first transmitting unit 211 and the second beam 300 emitted by the second transmitting unit 212 can both pass through the optical center of the transmitting lens 22. That is, the first beam 200 and the second beam 300 share a single transmitting lens 22 for collimation, so as to ensure the ranging accuracy of the two beams and simplify the optical design, and improve the structural integration.

[0055] Alternatively, in some embodiments, to enable the detection beam emitted by the emitting unit to include a first beam and a second beam, the emitting unit (not shown in the figure) includes a third emitting unit (not shown in the figure) and a beam splitting unit (not shown in the figure). The third emitting unit can be used to emit a total beam (not shown in the figure), and the beam splitting unit can be used to split the total beam into a first beam and a second beam.

[0056] In some embodiments, in order for the receiving unit 23 to effectively receive the fifth beam 600 and the sixth beam 700 reflected from an external object, the focal point of the first receiving lens 241 and the focal point of the second receiving lens 242 both fall on the receiving unit 23.

[0057] In the first embodiment, the focal point of the first receiving lens 241 coincides with the focal point of the second receiving lens 242. This means that the fifth beam 600 and the sixth beam 700 reflected from an external object can be focused onto the same position of the receiving unit 23 and received. This allows for the use of a receiver 23 with a minimized area, which is beneficial for miniaturization of the optical ranging device 100. Alternatively, in the second embodiment, along the extension direction of the optical axis of the first receiving lens 241, the focal points of both the first receiving lens 241 and the second receiving lens 242 are directly opposite to the first receiving lens 241. This means that the fifth beam 600 and the sixth beam 700 reflected from an external object can be focused onto different positions of the receiving unit 23 and received. However, the focal point of the first receiving lens 241 is relatively close to the focal point of the second receiving lens 242, allowing for the use of a receiver 23 with a smaller area, which is also beneficial for miniaturization of the optical ranging device 100.

[0058] In some embodiments, as shown in FIG3, the optical axis of the first receiving lens 241 is parallel to the optical axis of the first beam 200 emitted by the emitting part 21, so as to further simplify the optical design, ensure a more compact structure of the optomechanical assembly 2, and facilitate improved ranging accuracy. It should be noted that the parallelism mentioned here can be horizontal parallelism, or oblique upward or downward parallelism, and is not particularly limited here, as long as it can meet the corresponding detection function requirements.

[0059] In some embodiments, as shown in FIG3, the optical axis of the second receiving lens 242 is parallel to the optical axis of the second beam 300 emitted by the emitting part 21, so as to further simplify the optical design, ensure a more compact structure of the optomechanical assembly 2, and facilitate improved ranging accuracy. It should be noted that the parallelism mentioned here can be horizontal parallelism, or oblique upward or downward parallelism, and is not particularly limited here, as long as it can meet the corresponding detection function requirements.

[0060] For example, as shown in FIG3, specifically in this embodiment, the optical axis of the first beam 200 emitted by the emitting unit 21 and the optical axis of the first receiving lens 241 are both parallel to the horizontal direction. That is, the direction of the emitted first beam 200 when it is emitted from the emitting unit 21 is horizontal, which facilitates long-distance detection. Correspondingly, the optical axis of the second beam 300 (e.g., an obstacle avoidance beam) emitted by the emitting unit 21 extends obliquely downward relative to the horizontal direction, so as to facilitate obstacle avoidance scanning and other tasks in the near-field area in front of the optical ranging device 100 and the self-moving device; the optical axis of the second receiving lens 242 extends obliquely upward relative to the horizontal direction, so as to focus the reflected sixth beam 700 onto the same receiving unit 23, and the optical axis of the second beam 300 emitted by the emitting unit 21 and the optical axis of the second receiving lens 242 can be obliquely parallel to each other.

[0061] In some embodiments, the first receiving lens 241 and the second receiving lens 242 are integrally formed or separately disposed. Exemplarily, to simplify optical design, as shown in Figures 1 and 2, the first receiving lens 241 and the second receiving lens 242 are integrally formed. Of course, in practice, they can also be spaced apart or connected but independent of each other to achieve a separate arrangement.

[0062] To simplify optical design and improve ranging accuracy, the relative arrangement of the first receiving lens 241 and the second receiving lens 242 can be implemented in at least the following ways:

[0063] In some specific embodiments, the exit surface of the first receiving lens 241 is flush with the exit surface of the second receiving lens 242 (see Figures 1 to 3), or the incident surface of the first receiving lens 241 is flush with the incident surface of the second receiving lens 242.

[0064] In some specific embodiments, as shown in FIG3, along the line connecting the optical centers of the first receiving lens 241 and the second receiving lens 242, the width of the first receiving lens 241 is greater than the width of the second receiving lens 242. For example, when the first beam 200 or the third beam 400 is a mapping beam, and the second beam 300 or the fourth beam 500 is an obstacle avoidance beam, the divergence width of the reflected fifth beam 600 is generally greater than that of the reflected sixth beam 700. Therefore, by configuring the width of the first receiving lens 241 to be greater than the width of the second receiving lens 242, it is beneficial to improve the maximum light energy reception rate of the corresponding detection beam and ensure that the size of the receiving lens 24 is as small as possible.

[0065] In some embodiments, as shown in FIG1, to expand the field of view of the detection beam and improve the ranging capability, the optical ranging device 100 further includes a rotating mirror assembly 3, which is rotatably mounted on the base 1 about its rotation axis 800. Exemplarily, the rotating mirror assembly 3 is located on the emitting side of the emitting lens 22.

[0066] As shown in Figures 1 and 3, the third beam 400 is reflected by the rotating mirror assembly 3 towards an external object, and then reflected by the external object and the rotating mirror assembly 3 in sequence to form the fifth beam 600. Similarly, the fourth beam 500 is reflected by the rotating mirror assembly 3 towards an external object, and then reflected by the external object and the rotating mirror assembly 3 in sequence to form the sixth beam 700.

[0067] In some embodiments, the optical axis of the third beam 400 is perpendicular to the rotation axis 800 (see Figures 1 and 3). In this way, the fifth beam 600 reflected by the rotating mirror assembly 3 can also be perpendicular to the rotation axis 800, so as to ensure that the first beam 200 maintains a stable direction when it is emitted to the external object (e.g., always parallel to the horizontal plane), which is beneficial to realize long-distance detection of the first beam 200 and the third beam 400 (specifically, the mapping beam).

[0068] In some embodiments, the optical axis of the first receiving lens 241 is perpendicular to the rotation axis 800 (see Figures 1 and 3). In this way, the fifth beam 600 reflected back by the external object is reflected by the rotating mirror assembly 3 to the first receiving lens 241, and can be focused by the first receiving lens 241 into a fifth beam 600 with a direction perpendicular to the rotation axis 800 so as to be directed to the receiving part 23, which is beneficial to improve the ranging accuracy and ranging capability.

[0069] It should be noted that the optical axis of the third beam 400, after being collimated by the transmitting lens 22, may intersect with the rotation axis 800 of the rotating mirror assembly 3 on the same plane, or they may be located on different planes and not intersect. Similarly, the optical axis of the first receiving lens 241 may intersect with the rotation axis 800 of the rotating mirror assembly 3 on the same plane, or they may be located on different planes and not intersect.

[0070] In some embodiments, as shown in FIG3, the emitting unit 21 includes a first emitting unit 211 and a second emitting unit 212, wherein the first emitting unit 211 is used to emit a first beam 200 and the second emitting unit 212 is used to emit a second beam 300.

[0071] As shown in Figure 4, the second transmitting unit 212 and the first transmitting unit 211 of the transmitting section 21 are arranged sequentially along the first axial side 810 (e.g., the top side of the base 1) of the rotation axis 800 and the second axial side 820 (e.g., the bottom side of the base 1). The projections of the second transmitting unit 212 and the first transmitting unit 211 are completely offset, partially coincident, or completely coincident. That is, the orthographic projection of the second transmitting unit 212 on the bottom side of the base 1 and the orthographic projection of the first transmitting unit 211 on the bottom side of the base 1 are completely offset, partially coincident, or completely coincident.

[0072] In some embodiments, as shown in FIG4, a first receiving lens 241 and a second receiving lens 242 are sequentially arranged along the axial direction of the rotation axis 800, from the first side 810 (e.g., the top side of the base 1) to the second side 820 (e.g., the bottom side of the base 1). The projections of the first receiving lens 241 and the second receiving lens 242 are completely offset, partially coincident, or completely coincident. That is, the orthographic projection of the first receiving lens 241 on the bottom side of the base 1 and the orthographic projection of the second receiving lens 242 on the bottom side of the base 1 are completely offset, partially coincident, or completely coincident.

[0073] For example, specifically in this embodiment, as shown in Figures 3 and 4, when the base 1 is arranged along the axial direction of the rotation axis 800, the first axial side 810 of the rotation axis 800 is the top side (corresponding to the upper side) of the base 1, and the second axial side 820 is the bottom side (corresponding to the lower side) of the base 1. The second transmitting unit 212 and the first transmitting unit 211 are arranged vertically in sequence, with the first transmitting unit 211 located directly below the second transmitting unit 212. Correspondingly, the first receiving lens 241 and the second receiving lens 242 are arranged vertically in sequence, with the second receiving lens 242 located directly below the first receiving lens 241. In this way, while ensuring that the first beam 200 can be used for long-distance detection and the second beam 300 can be used for short-distance detection, thereby realizing the multi-functional detection characteristics of the optical ranging device 100, the compact arrangement of each component in the optomechanical assembly 2 can be ensured to the greatest extent.

[0074] To enable the second beam 300 to be used for close-range detection, in some embodiments, the optical axis of the fourth beam 500 is tilted relative to the rotation axis 800 along a direction close to the rotation axis 800, and the tilting direction is gradually closer to the axial second side 820 of the rotation axis 800 (see Figures 3 and 4).

[0075] In some embodiments, the optical axis of the second receiving lens 242 is inclined relative to the rotation axis 800 in a direction away from the rotation axis 800, and the inclination direction is gradually closer to the first axial side 810 of the rotation axis 800 (see Figures 3 and 4).

[0076] For example, when the second beam 300 is an obstacle avoidance beam and the base 1 is arranged along the axial direction of the rotation axis 800, the first axial side 810 of the rotation axis 800 is the top side (corresponding to the upper side) of the base 1, and the second axial side 820 is the bottom side (corresponding to the lower side) of the base 1, as shown in Figure 3. The emission direction of the fourth beam 500 after being collimated by the emitting lens 22 is obliquely downward. In this way, it is easy to identify obstacles at close range in front during the forward movement of the self-moving device. Correspondingly, the reflection direction of the fourth beam 500 reflected by the rotating mirror assembly 3 to the second receiving lens 242 is obliquely upward. In this way, it is easy for the second receiving lens 242 to focus the sixth beam 700 reflected back from the obstacle at close range in front, thereby facilitating the detection of obstacles at close range through the second beam 300 or the fourth beam 500.

[0077] In some embodiments, as shown in Figures 1 and 2, to reduce mutual interference between the light beams and improve detection accuracy, the optomechanical assembly 2 is provided with a first optical cavity 25 and a second optical cavity 26, and a third optical cavity 11 is formed within the base 1. The first optical cavity 25 houses an emitting portion 21 and an emitting lens 22, with the emitting lens 22 covering the light exit port of the first optical cavity 25. Correspondingly, the second optical cavity 26 houses a receiving portion 23 and a receiving lens 24, with the receiving lens 24 covering the light receiving port of the second optical cavity 26. It should be noted that the first optical cavity 25 and the second optical cavity 26 typically require optical isolation.

[0078] As shown in Figure 1, the third optical cavity 11 houses the rotating mirror assembly 3. The rotating mirror assembly 3 includes a first mirror body 31, a second mirror body 32, and a first light-blocking member 34. The first light-blocking member 34 separates the third optical cavity 11 into an emitting light cavity 111 and a receiving light cavity 112 (see Figures 1 and 4). The emitting light cavity 111 communicates with the first optical cavity 25, and the receiving light cavity 112 communicates with the second optical cavity 26.

[0079] Understandably, the first mirror 31 is located within the emitting light cavity 111, and the reflective surface of the first mirror 31 can be used to reflect the detection beam emitted from the first light cavity 25 toward an external object. Correspondingly, the second mirror 32 is located within the receiving light cavity 112, and the reflective surface of the second mirror 32 can be used to reflect the detection beam reflected back from the external object toward the receiving lens 24 in the second light cavity 26.

[0080] For example, as shown in FIG1, the rotating mirror assembly 3 further includes a bracket 33 and a rotating shaft 36. The first mirror body 31 and the second mirror body 32 are disposed vertically on the bracket 33 along the rotation axis 800 of the rotating shaft 36, and the first light-blocking member 34 is located between the first mirror body 31 and the second mirror body 32 in the axial direction of the rotation axis 800 to assist in separating the third optical cavity 11 into the emitting light cavity 111 and the receiving light cavity 112. The rotating shaft 36 is disposed at the bottom end of the bracket 33 so as to rotate together with the bracket 33.

[0081] For example, as shown in Figures 1, 5, and 6, to make the overall structure more compact and ensure its stability and reliability, the base 1 includes an inner shell 15 and an outer shell 16. The optomechanical assembly 2 and the rotating mirror assembly 3 are both disposed on the inner shell 15, and the inner shell 15, on which the optomechanical assembly 2 and the rotating mirror assembly 3 are disposed, is disposed on the outer shell 16 and protected by the outer shell 16. In addition, the optomechanical assembly 2 also includes a mounting base 27 (see Figure 6), wherein the circuit board 28, the emitting part 21 (including the first emitting unit 211 and the second emitting unit 212), the emitting lens 22, the receiving lens 24 (including the first receiving lens 241 and the second receiving lens 242), and the receiving part 23 of the optomechanical assembly 2 are all built into the mounting base 27, and a first optical cavity 25 and a second optical cavity 26 are formed within the mounting base 27.

[0082] In some embodiments, in order to enable the detection beam reflected by the rotating mirror assembly 3 to reach an external object, as shown in Figures 4 and 7, the base 1 is provided with a light guide port 12, wherein the light guide port 12 connects the third optical cavity 11 and the external object.

[0083] As shown in Figure 5, the base 1 has a second light-blocking member 13 at the light guide port 12. The second light-blocking member 13 separates the light guide port 12 into a light emission port 121 and a light receiving port 122. The second light-blocking member 13 and the first light-blocking member 34 are arranged radially opposite to each other along the rotation axis 800. In this way, it can be ensured that the emitting light cavity 111 corresponds to the light emission port 121, and the receiving light cavity 112 corresponds to the light receiving port 122. The light emission port 121 can be used to allow the detection beam to be emitted from the emitting light cavity 111 to an external object, and the light receiving port 122 can be used to allow the detection beam to be emitted from the external object back into the receiving light cavity 112.

[0084] As shown in Figures 4, 5 and 7, in order to avoid the second beam 300 emitted from the emitting light cavity 111 towards the external object and to facilitate the second beam 300 in the emitting light cavity 111 to be emitted as far as possible, the second light blocking member 13 has a first inclined surface 131 and a second inclined surface 132 on the side facing the light outlet 121. The first inclined surface 131 gradually approaches the axial second side 820 of the rotation axis 800 along the direction away from the emitting lens 22, and the second inclined surface 132 gradually approaches the axial second side 820 of the rotation axis 800 along the direction close to the emitting lens 22.

[0085] In some embodiments, as shown in Figures 4, 5, and 7, in order to avoid the sixth light beam 700 reflected back from external objects and to allow as much of the sixth light beam 700 reflected back from external objects as possible to reach the receiving light cavity 112, the base 1 is also provided with a third light-blocking member 14 at the light guide port 12. The third light-blocking member 14 is located on the side of the light receiving port 122 away from the second light-blocking member 13. The side of the third light-blocking member 14 facing the light receiving port 122 is provided with a third inclined surface 141 and a fourth inclined surface 142. The third inclined surface 141 gradually approaches the axial second side 820 of the rotation axis 800 along the direction away from the receiving lens 24, and the fourth inclined surface 142 gradually approaches the axial second side 820 of the rotation axis 800 along the direction close to the receiving lens 24.

[0086] In some embodiments, as shown in Figures 4 to 6, the rotating mirror assembly 3 further includes a drive seat 35, which is disposed on the side of the second mirror body 32 away from the second light-blocking member 13. Additionally, the optical ranging device 100 also includes a drive assembly 4, which is disposed on the base 1 and connected to the drive seat 35 to drive the rotating mirror assembly 3 to rotate about the rotation axis 800. Exemplarily, as shown in Figures 1 and 5, the drive seat 35 is disposed at the bottom end of the bracket 33 and is equipped with a rotating shaft 36. Driven by the drive assembly 4, the bracket 33, drive seat 35, first mirror body 31, and second mirror body 32 can rotate together with the rotating shaft 36 about the rotation axis 800, or can rotate relative to the rotating shaft 36, thereby realizing the rotation of the first mirror body 31 and the second mirror body 32, which in turn helps to expand the field of view of the emitted detection beam and improve detection capability.

[0087] It should be noted that the drive component 4 can be a brushless motor to ensure that the optical rangefinder 100 operates with high efficiency, low noise, and long lifespan. Of course, the drive component 4 can also be other suitable types of motors, and the structure of the drive component 4 can be existing or innovative, without any particular limitation.

[0088] In order to avoid the sixth beam 700 reflected back from external objects and to allow as many of the sixth beam 700 reflected back from external objects as possible to hit the receiving optical cavity 112, as shown in Figures 4 to 6, the drive seat 35 is provided with a fifth inclined surface 351 on the side facing the second mirror body 32. The fifth inclined surface 351 gradually approaches the second axial side 820 of the rotation axis 800 along the direction away from the rotation axis 800.

[0089] Figures 8 to 13 illustrate the specific structure and working principle of an optical ranging device according to another embodiment of this application.

[0090] To improve the applicability of the optical ranging device 100 in various scenarios, and to reduce the installation difficulty and improve installation efficiency of the optical transmitting component 10, another embodiment of this application proposes an optical ranging device 100, including an optomechanical component 2 and a base 1, wherein the optomechanical component 2 is disposed on the base 1. The optomechanical component 2 includes an optical transmitting component 10 and an optical receiving component 20.

[0091] Please refer to Figures 8 and 9. This application embodiment provides an optical emitting assembly 10, including an emitting lens 22, a circuit board 28, a first emitting unit 211, and a second emitting unit 212. The first emitting unit 211 and the second emitting unit 212 are disposed on the circuit board 28 and are used to emit a light beam (as shown by the tapered structure with cross-section in Figures 9 and 11) to the emitting lens 22. The circuit board 28, the first emitting unit 211, and the second emitting unit 212 are all disposed on the light-incident side of the emitting lens 22, that is, on the side where the light beam enters the emitting lens 22.

[0092] The emitting lens 22 is made of optical-grade transparent material (such as quartz or optical glass) and has a beam collimation function, used to convert the diverging beams emitted by the first emitting unit 211 and the second emitting unit 212 into parallel beams. Specifically, the first beam 200 emitted by the first emitting unit 211 is emitted through the emitting lens 22 to form a third beam 400; the second beam 300 emitted by the second emitting unit 212 is emitted through the emitting lens 22 to form a fourth beam 500. The optical axis of the fourth beam 500 extends in a different direction than that of the third beam 400, thus enabling different detection applications. For example, the first beam 200 or the third beam 400 can be a mapping beam for long-distance detection, while the second beam 300 or the fourth beam 500 can be an obstacle-avoidance beam for short-distance detection.

[0093] Optionally, the circuit board 28 is inclined to the horizontal plane H, such that the third beam 400 extends in a direction parallel to the horizontal plane H, and the fourth beam 500 is also inclined to the horizontal plane H and extends downward. The circuit board 28 is inclined to the horizontal plane H, meaning that the circuit board 28 is neither parallel nor perpendicular to the horizontal plane H.

[0094] In the above embodiment, by tilting the circuit board 28 to the horizontal plane H, the third beam 400 extends in a direction parallel to the horizontal plane H, and the fourth beam 500 is tilted to the horizontal plane H and extends downwards. The third beam 400 can acquire obstacle information at a distance, thereby scanning the surrounding environment and constructing a map, while the fourth beam 500 can acquire obstacle information at close range, thus facilitating obstacle avoidance. Furthermore, the arrangement of the circuit board 28 reduces the installation difficulty of the first transmitting unit 211 and the second transmitting unit 212, improving installation efficiency. Moreover, by sharing a single transmitting lens 22 to achieve the emission of multiple beams, the size and cost of the optical transmitting assembly 10 are reduced, improving the system's integration and reliability.

[0095] It should be noted that in this article, "the circuit board 28 is tilted relative to the horizontal plane H" means that when the optical ranging device 100 is installed on the self-moving device and the self-moving device is placed parallel to the horizontal plane H, the circuit board 28 is tilted relative to the horizontal plane H.

[0096] In some embodiments, the optical axis of the emitting lens 22 is perpendicular to the circuit board 28. That is, the optical axis of the emitting lens 22 is also tilted relative to the horizontal plane H. The emitting lens 22 and the circuit board 28 can be directly or indirectly connected into a whole, and both are tilted relative to the horizontal plane H. This allows for simultaneous tilting of both components through a single positioning, avoiding assembly errors caused by separate adjustments and improving installation efficiency.

[0097] In some embodiments, the optical axis of the first emitting unit 211 is arranged perpendicular to the circuit board 28. That is, the central axis of the light emitted by the first emitting unit 211 is approximately 90° to the surface of the circuit board 28. In this way, by vertically mounting the first emitting unit 211 onto the circuit board 28 and simultaneously tilting the circuit board 28, a first beam extending in a direction parallel to the horizontal plane can be obtained. Compared to a structure in which the circuit board 28 is arranged vertically and the first emitting unit 211 is mounted at an angle to the circuit board 28, the installation difficulty of the first emitting unit 211 is reduced and the assembly efficiency is improved.

[0098] In some embodiments, the optical axis of the second emitting unit 212 is perpendicular to the circuit board 28. That is, the central axis of the light emitted by the second emitting unit 212 is approximately 90° to the surface of the circuit board 28. Similarly, the above arrangement can reduce the installation difficulty of the second emitting unit 212 and further improve assembly efficiency. The optical axis of the first emitting unit 211 is parallel to the optical axis of the second emitting unit 212.

[0099] It is understood that the optical axis of the first transmitting unit 211 is the same as the optical axis of the first beam 200, and the optical axis of the second transmitting unit 212 is the same as the optical axis of the second beam 300. The positional distribution of the first transmitting unit 211 and the second transmitting unit 212 can be adjusted according to the actual application scenario to meet the needs of different detection angles and detection ranges.

[0100] In some embodiments, the first emitting unit 211 and the second emitting unit 212 are respectively disposed on the upper and lower sides of the optical axis of the emitting lens 22, that is, the upper region and the lower region are divided with the optical axis of the emitting lens 22 as a reference, and the first emitting unit 211 and the second emitting unit 212 are respectively disposed in the upper region and the lower region. At this time, the light beam emitted by the emitting unit in the upper region is deflected downward after passing through the emitting lens 22, and the light beam emitted by the emitting unit in the lower region is deflected upward after passing through the emitting lens 22.

[0101] Furthermore, the first emitting unit 211 and the second emitting unit 212 are either symmetrically or asymmetrically arranged with respect to the optical axis of the emitting lens 22. If their optical axes are symmetrically arranged, the angle between the first beam and the optical axis of the emitting lens 22 is the same as the angle between the second beam and the optical axis of the emitting lens 22. If their optical axes are asymmetrically arranged, the angles between the first beam and the second beam and the optical axis of the emitting lens 22 are different.

[0102] In other embodiments, one of the first emitting unit 211 and the second emitting unit 212 is disposed on the optical axis of the emitting lens 22, and the other is disposed above or below the optical axis of the emitting lens 22. In this case, the angle between one of the first beam 200 and the second beam 300 and the optical axis of the emitting lens 22 is 0°, and the angle between the other and the optical axis of the emitting lens 22 is greater than 0°.

[0103] In other embodiments, the first emitting unit 211 and the second emitting unit 212 are both disposed above or below the optical axis of the emitting lens 22. In this case, the first beam 200 and the second beam 300 deflect to the same side, but at different angles.

[0104] In some embodiments, the first beam 200 and the second beam 300 have the same wavelength, and the first transmitting unit 211 and the second transmitting unit 212 operate in a time-division multiplexing mode, meaning they do not operate simultaneously. In the time-division multiplexing mode, the first transmitting unit 211 and the second transmitting unit 212 sequentially emit beams of the same wavelength to avoid signal interference and improve detection accuracy.

[0105] In other embodiments, the first beam 200 and the second beam 300 have different wavelengths, and the first transmitting unit 211 and the second transmitting unit 212 operate simultaneously. In the simultaneous operation mode, the detection capability and response speed of the system can be enhanced.

[0106] Referring to Figure 9, the optical receiving assembly 20 includes a receiving lens 24 and a receiving section 23. The receiving lens 24 has a focusing function, and the receiving section 23 is located on the light-emitting side of the receiving lens 24, that is, the side after the light beam is focused by the receiving lens 24. Specifically, the beam formed by the third beam 400 after being reflected by an external object and finally reaching the receiving lens 24 is the fifth beam 600, and the beam formed by the fourth beam 500 after being reflected by an external object and finally reaching the receiving lens 24 is the sixth beam 700. The receiving section 23 is used to receive the fifth beam 600 and the sixth beam 700 focused by the receiving lens 24, and to convert the received fifth beam 600 and sixth beam 700 into electrical signals. This enables accurate measurement of obstacles at both long and short distances.

[0107] In some embodiments, the receiving lens 24 includes a first receiving lens 241 and a second receiving lens 242 with the same or different focal lengths. The first receiving lens 241 is used to receive and focus the fifth beam 600, and the second receiving lens 242 is used to receive and focus the sixth beam 700.

[0108] The focal lengths of the first receiving lens 241 and the second receiving lens 242 can be determined based on the optical design requirements of the optical receiving component 20 (e.g., a certain focal length is required to ensure detection accuracy) and the available space between the first receiving lens 241 and the second receiving lens 24 and the receiving lens 24 (e.g., whether there is enough space to ensure the focal length). Ultimately, they can be the same or different.

[0109] Referring to Figures 8 and 9, in some embodiments, the first receiving lens 241 and the second receiving lens 242 are integrally formed, making the overall structure of the receiving lens 24 more compact, thereby reducing the size of the optical ranging device and improving the system integration. In other embodiments, the first receiving lens 241 and the second receiving lens 242 are formed independently.

[0110] It is understood that the number of receivers 23 can be one or two. In some embodiments, the number of receivers 23 is one, and one receiver 23 is used to receive the fifth beam 600 and the sixth beam 700 focused by the receiving lens 24, so as to reduce the cost of the optical ranging device and improve the system integration.

[0111] In other embodiments, there are two receiving units 23, one receiving unit 23 for receiving the fifth beam 600 focused by the receiving lens 24, and the other receiving unit 23 for receiving the sixth beam 700 focused by the receiving lens 24.

[0112] In some embodiments, the focal point of the second receiving lens 242 is located between the receiving lens 24 and the receiving portion 23; or, the focal point of the second receiving lens 242 is located on the side of the receiving portion 23 away from the receiving lens 24.

[0113] Specifically, when the focal point of the second receiving lens 242 is located between the receiving lens 24 and the receiving section 23, the sixth beam 700 is focused and begins to diverge before reaching the surface of the receiving section 23, resulting in a relatively large spot size received by the receiving section 23. When the focal point of the second receiving lens 242 is located on the side of the receiving section 23 away from the receiving lens 24, the sixth beam 700 is not fully converged on the surface of the receiving section 23, resulting in a relatively large spot size received by the receiving section 23.

[0114] Understandably, since the fourth beam 500 extends downwards at an angle to the horizontal plane to obtain information about nearby obstacles, the sixth beam 700 formed by its reflection from nearby objects experiences less attenuation during transmission. Therefore, the light intensity of the sixth beam 700 is relatively high, so its focal point is not set on the receiving unit 23, but rather between the receiving lens 24 and the receiving unit 23, or on the side of the receiving unit 23 away from the receiving lens 24. On the one hand, this reduces the light intensity per unit area illuminating the receiving unit 23 and improves the uniformity of light received in the photosensitive area of ​​the receiving unit 23, reducing signal fluctuations. On the other hand, it increases the likelihood that the light spot can be effectively received by the receiving unit 23. In this way, even if the receiving unit 23 uses a chip with a small area, it can still meet the detection requirements, thus balancing the detection effect and the miniaturization requirements.

[0115] In some embodiments, the focal point of the first receiving lens 241 is located on the receiving unit 23. It is understood that since the fifth beam 600, formed by the long-distance reflection of the third beam 400, has a lower light intensity, precise focusing enhances the signal strength, ensuring effective acquisition of information about distant obstacles.

[0116] Please refer to Figures 10 and 11. In some embodiments, the receiving part 23 is disposed on the circuit board 28, and the distance between the receiving lens 24 and the circuit board 28 along the vertical direction of the circuit board 28 is less than the distance between the emitting lens 22 and the circuit board 28 along the vertical direction of the circuit board 28.

[0117] It is understood that the receiving unit 23, the first transmitting unit 211, and the second transmitting unit 212 are all mounted on the aforementioned circuit board 28. In this structure, the distance between the receiving lens 24 and the receiving unit 23 along the vertical direction of the circuit board 28 is smaller than the distance between the transmitting lens 22 and the first transmitting unit 211 and the second transmitting unit 212 along the vertical direction of the circuit board 28, respectively. Given a fixed distance between the transmitting lens 22 and the corresponding transmitter or circuit board 28, and a fixed width of the receiving lens 24, the closer the receiving lens 24 is to the receiving unit 23, the larger the receiving angle becomes. This expands the range of light captured by the receiving unit 23 from obstacles, improving the reliability of the detection.

[0118] In other embodiments, the distance between the receiving lens 24 and the circuit board 28 along the vertical direction of the circuit board 28 is greater than or equal to the distance between the transmitting lens 22 and the circuit board 28 along the vertical direction of the circuit board 28. Correspondingly, the farther the receiving lens 24 is from the receiving unit 23, the smaller the receiving angle can be, thereby improving the signal-to-noise ratio of the received signal.

[0119] In other embodiments, the optical ranging device 100 further includes a second circuit board on which the receiving unit 23 is disposed.

[0120] Please refer to Figures 12 and 13. In some embodiments, the optical ranging device 100 further includes a mounting base 27. The transmitting part 21, the transmitting lens 22, the receiving part 23 and the receiving lens 24 are disposed on the mounting base 27. The mounting base 27 is provided with a mounting surface for mounting the circuit board 28. The mounting surface is inclined to the horizontal plane H.

[0121] Mounting base 27 serves as the mounting foundation for the optical emitting assembly 10 and the optical receiving assembly 20. Circuit board 28 is mounted on the mounting surface of mounting base 27, and the first emitting unit 211, the second emitting unit 212, and the receiving unit 23 are all fixed to circuit board 28. It is understood that the tilt direction and angle of the mounting surface directly determine the tilt attitude of circuit board 28, thereby controlling the light emission direction of the first emitting unit 211 and the second emitting unit 212 through the vertical linkage relationship of "emitter optical axis - circuit board - mounting surface". Furthermore, circuit board 28 only needs to be positioned via the mounting surface of mounting base 27, improving assembly efficiency.

[0122] In some embodiments, the mounting base 27 is disposed on the base body 1 and is rotatable about the vertical direction. The mounting base 27 is disposed on the base body 1 and is rotatable about the vertical direction, thereby driving the optical transmitting component 10 and the optical receiving component 20 integrated on the mounting base 27 to rotate synchronously, realizing 360° full-circle scanning detection.

[0123] In other embodiments, the optical ranging device 100 further includes a rotating mirror assembly 3. The mounting base 27 is fixedly mounted on the base 1. The rotating mirror assembly 3 is mounted on the base 1 and can rotate about the vertical direction. It is used to reflect the third beam 400 and the fourth beam 500 to external objects and to reflect the fifth beam 600 and the sixth beam 700 to the receiving lens 24. The rotation axis 800 of the rotating mirror assembly 3 is parallel to the vertical direction. The first axial side 810 of the rotation axis 800 is the upper side of the rotation axis 800, and the second axial side 820 is the lower side of the rotation axis 800. Thus, through the reflection of the rotating mirror assembly 3, scanning detection within a certain angle range is achieved.

[0124] Based on the aforementioned optical ranging device 100, this application embodiment also provides a self-moving device, which includes a main body and the aforementioned optical ranging device 100, wherein the optical ranging device 100 is disposed on the main body. Optionally, the optical ranging device 100 is located at the front or side of the main body. The self-moving device measures the distance to external objects through the optical ranging device 100, thereby achieving obstacle avoidance. The self-moving device can be a sweeping robot, a cleaning robot with sweeping and mopping functions, a service robot with food delivery and delivery functions, a lawnmower robot with lawn mowing functions, or a handling robot used for transporting goods in warehouses and factories, etc.

[0125] Taking a robotic vacuum cleaner as an example of a self-moving device, the optical ranging device 100 can be installed at least one location on the top, side wall, and bottom of the robotic vacuum cleaner body, as long as the corresponding detection requirements can be met. There are no particular limitations on the installation location of the optical ranging device 100. It should be noted that by installing the optical ranging device 100, this self-moving device can simultaneously achieve long-distance and short-distance detection, or it can achieve either long-distance or short-distance detection independently, depending on actual needs. That is, users can select different detection modes according to different requirements.

[0126] In summary, compared with the prior art, the self-moving device has at least the following advantages: by adopting the optical ranging device 100 described above, the self-moving device can meet the detection needs of different functions, has low production cost, is conducive to manufacturing consumer-grade multifunctional detection self-moving devices, and occupies little space, which is conducive to miniaturization design.

[0127] Those skilled in the art will understand that the above embodiments are exemplary and not restrictive. Different technical features appearing in different embodiments can be combined to achieve beneficial effects. Based on a study of the drawings, specification, and claims, those skilled in the art should be able to understand and implement other variations of the disclosed embodiments. In the claims, the term "comprising" does not exclude other means or steps; the indefinite article "a" does not exclude a plurality; the terms "first" and "second" are used to identify names and not to indicate any particular order. No reference numerals in the claims should be construed as limiting the scope of protection. The functionality of multiple parts appearing in the claims can be implemented by a single hardware or software module. The appearance of certain technical features in different dependent claims does not mean that these technical features cannot be combined to achieve beneficial effects.

Claims

1. An optical ranging device, comprising a base and an optomechanical assembly, wherein the optomechanical assembly is disposed on the base, and the optomechanical assembly comprises: A transmitter for emitting a detection beam, the detection beam comprising a first beam and a second beam; An emitting lens is located on the light-emitting side of the emitting part. The first light beam is directed toward the emitting lens and collimated by the emitting lens to form a third light beam. The second light beam is directed toward the emitting lens and collimated by the emitting lens to form a fourth light beam. The extension direction of the optical axis of the third light beam is different from the extension direction of the optical axis of the fourth light beam. Receiving Department; A receiving lens is located on the light-receiving side of the receiving section, and the receiving lens includes a first receiving lens and a second receiving lens; The beam formed by the third beam after being reflected by an external object and finally reaching the receiving lens is the fifth beam, which is focused onto the receiving unit by the first receiving lens. The beam formed by the fourth beam after being reflected by an external object and finally reaching the receiving lens is the sixth beam, which is then focused onto the receiving unit by the second receiving lens.

2. The optical distance measuring device according to claim 1, wherein The optical axis of the second beam is set at an acute angle to the optical axis of the first beam, and the optical axis of the first receiving lens is set at an acute angle to the optical axis of the second receiving lens.

3. The optical ranging device according to claim 1 or 2, wherein, The optical axis of the first beam passes through the optical center of the emitting lens; and / or, the optical axis of the second beam passes through the optical center of the emitting lens; and / or, the optical axis of the first beam is parallel to the optical axis of the emitting lens, and the optical axis of the second beam forms a predetermined angle with the optical axis of the emitting lens; The emitting unit includes a first emitting unit for emitting the first beam, the first emitting unit being located at the focal point or focal plane of the emitting lens; and / or, the emitting unit includes a second emitting unit for emitting the second beam, the second emitting unit being located at the focal point or focal plane of the emitting lens; and / or, the emitting unit includes a third emitting unit and a beam splitting unit, the third emitting unit for emitting a total beam, and the beam splitting unit for splitting the total beam into the first beam and the second beam; The focal points of the first receiving lens and the second receiving lens both fall on the receiving part; the focal points of the first receiving lens and the second receiving lens coincide, or, along the extension direction of the optical axis of the first receiving lens, the focal points of the first receiving lens and the second receiving lens are both set directly opposite to the first receiving lens. The optical axis of the first receiving lens is parallel to the optical axis of the first beam emitted by the emitting part; and / or, the optical axis of the second receiving lens is parallel to the optical axis of the second beam emitted by the emitting part.

4. The optical ranging device according to any one of claims 1 to 3, wherein, The first receiving lens and the second receiving lens are integrally formed or separately disposed; And / or, the exit surface of the first receiving lens is flush with the exit surface of the second receiving lens, or the incident surface of the first receiving lens is flush with the incident surface of the second receiving lens. And / or, along the line connecting the optical centers of the first receiving lens and the second receiving lens, the width of the first receiving lens is greater than the width between the second receiving lenses.

5. The optical ranging device according to any one of claims 1 to 4, wherein, The optical ranging device also includes a rotating mirror assembly, which is rotatably mounted on the base about a rotation axis; The third beam is reflected by the rotating mirror assembly towards the external object, and then reflected by the external object and the rotating mirror assembly in sequence to form the fifth beam; The fourth beam is reflected by the rotating mirror assembly towards an external object, and then reflected by the external object and the rotating mirror assembly in sequence to form the sixth beam.

6. The optical ranging device according to claim 5, wherein, The optical axis of the third beam is perpendicular to the rotation axis; and / or, the optical axis of the first receiving lens is perpendicular to the rotation axis; The emitting unit includes a first emitting unit and a second emitting unit. The first emitting unit is used to emit the first beam, and the second emitting unit is used to emit the second beam. The second emitting unit and the first emitting unit are arranged sequentially in a direction pointing from the first axial side to the second axial side of the rotation axis. The projections of the second emitting unit and the first emitting unit are completely offset, partially coincident, or completely coincident. And / or, in a direction pointing from the first axial side to the second axial side of the rotation axis, the first receiving lens and the second receiving lens are arranged sequentially. The projections of the first receiving lens and the second receiving lens are completely offset, partially coincident, or completely coincident. Along a direction close to the rotation axis, the optical axis of the fourth beam is inclined relative to the rotation axis and the inclination direction is gradually closer to the second axial side of the rotation axis; and / or, along a direction away from the rotation axis, the optical axis of the second receiving lens is inclined relative to the rotation axis and the inclination direction is gradually closer to the first axial side of the rotation axis.

7. The optical ranging device according to claim 5 or 6, wherein, The optomechanical assembly is provided with a first optical cavity and a second optical cavity, and a third optical cavity is formed in the housing: The first optical cavity houses the emitting part and the emitting lens, and the emitting lens covers the light outlet of the first optical cavity; The second optical cavity houses the receiving part and the receiving lens, and the receiving lens covers the light receiving port of the second optical cavity; The third optical cavity houses the rotating mirror assembly; the rotating mirror assembly includes a first mirror body, a second mirror body, and a first light-blocking member, the first light-blocking member separating the third optical cavity into an emitting light cavity and a receiving light cavity, the emitting light cavity communicating with the first optical cavity, and the receiving light cavity communicating with the second optical cavity; the first mirror body is located within the emitting light cavity, and the reflective surface of the first mirror body is used to reflect the detection beam emitted from the first optical cavity toward an external object; the second mirror body is located within the receiving light cavity, and the reflective surface of the second mirror body is used to reflect the detection beam reflected back from the external object toward the receiving lens within the second optical cavity.

8. The optical ranging device according to claim 7, wherein, The base is provided with a light guide port, which connects the third optical cavity to an external object; The base is provided with a second light-blocking member at the light guide port. The second light-blocking member separates the light guide port into a light emission port and a light receiving port. The second light-blocking member and the first light-blocking member are arranged radially opposite to each other along the rotation axis. The light emission port is used to allow the detection beam to be emitted from the emitting light cavity to an external object. The light receiving port is used to allow the detection beam to be emitted from the external object back into the receiving light cavity. The second light-blocking member has a first inclined surface and a second inclined surface on the side facing the light emission port. The first inclined surface gradually approaches the second axial side of the rotation axis along the direction away from the emitting lens, and the second inclined surface gradually approaches the second axial side of the rotation axis along the direction close to the emitting lens. The base is also provided with a third light-blocking component at the light guide port. The third light-blocking component is located on the side of the light receiving port that is away from the second light-blocking component. The side of the third light-blocking component facing the light receiving port is provided with a third inclined surface and a fourth inclined surface. The third inclined surface gradually approaches the second axial side of the rotation axis along the direction away from the receiving lens, and the fourth inclined surface gradually approaches the second axial side of the rotation axis along the direction close to the receiving lens. The rotating mirror assembly further includes a drive base, which is disposed on the side of the second mirror body away from the second light-blocking member; the optical ranging device further includes a drive assembly, which is disposed on the base and connected to the drive base to drive the rotating mirror assembly to rotate around the rotation axis; the side of the drive base facing the second mirror body is provided with a fifth inclined surface, which gradually approaches the axial second side of the rotation axis along the direction away from the rotation axis.

9. The optical ranging device according to claim 1, wherein, The optical ranging device further includes a circuit board disposed on the light-incident side of the emitting lens; the emitting part includes a first emitting unit and a second emitting unit, the first emitting unit being disposed on the circuit board, the first light beam emitted by the first emitting unit being emitted after passing through the emitting lens to form a third light beam; the second emitting unit being disposed on the circuit board, the second light beam emitted by the second emitting unit being emitted after passing through the emitting lens to form a fourth light beam, wherein the extension direction of the optical axis of the third light beam is different from the extension direction of the optical axis of the fourth light beam.

10. The optical ranging device according to claim 9, wherein, The circuit board is inclined to the horizontal plane so that the third beam extends in a direction parallel to the horizontal plane, and the fourth beam is also inclined to the horizontal plane and extends downward.

11. The optical emitting assembly according to claim 9 or 10, wherein, The optical axis of the emitting lens is perpendicular to the circuit board, and / or the optical axis of the first emitting unit is perpendicular to the circuit board, and / or the optical axis of the second emitting unit is perpendicular to the circuit board.

12. The optical emitting assembly according to any one of claims 9 to 11, wherein, The first emitting unit and the second emitting unit are respectively disposed on the upper and lower sides of the optical axis of the emitting lens, wherein the first emitting unit and the second emitting unit are symmetrically or asymmetrically disposed about the optical axis of the emitting lens; Alternatively, one of the first transmitting unit and the second transmitting unit may be disposed on the optical axis of the transmitting lens, and the other may be disposed on the upper or lower side of the optical axis of the transmitting lens; Alternatively, both the first emitting unit and the second emitting unit may be disposed on the upper or lower side of the optical axis of the emitting lens.

13. The optical emitting assembly according to any one of claims 9 to 12, wherein, The first beam and the second beam have the same wavelength, and the first transmitting unit and the second transmitting unit operate in a time-division multiplexing manner; Alternatively, the first beam and the second beam have different wavelengths, and the first transmitting unit and the second transmitting unit operate simultaneously.

14. The optical ranging device according to any one of claims 9 to 13, wherein, The first receiving lens and the second receiving lens may have the same or different focal lengths; the first receiving lens and the second receiving lens may be integrally formed; or the first receiving lens and the second receiving lens may be formed independently of each other. The number of receiving units is one, and one receiving unit is used to receive the fifth beam and the sixth beam focused by the receiving lens; or, the number of receiving units is two, one receiving unit is used to receive the fifth beam focused by the receiving lens, and the other receiving unit is used to receive the sixth beam focused by the receiving lens.

15. The optical ranging device according to any one of claims 9 to 14, wherein, The focal point of the second receiving lens is located between the receiving lens and the receiving part; or, the focal point of the second receiving lens is located on the side of the receiving part away from the receiving lens; And / or, the focal point of the first receiving lens is located on the receiving part.

16. The optical ranging device according to any one of claims 9 to 15, wherein, The receiving unit is disposed on the circuit board, and the distance between the receiving lens and the circuit board along the vertical direction of the circuit board is less than the distance between the transmitting lens and the circuit board along the vertical direction of the circuit board.

17. The optical ranging device according to any one of claims 9 to 16, wherein, The optical ranging device further includes a mounting base, and the transmitting part, the transmitting lens, the receiving part and the receiving lens are disposed on the mounting base. The mounting base is provided with a mounting surface for mounting the circuit board, and the mounting surface is inclined to the horizontal plane. The mounting base is disposed on the base body and can rotate about the vertical direction; or, the optical ranging device further includes a rotating mirror assembly, the mounting base is fixedly disposed on the base body, the rotating mirror assembly is disposed on the base body and can rotate about the vertical direction, used to reflect the third beam and the fourth beam to an external object and to reflect the fifth beam and the sixth beam to the receiving lens.

18. A self-moving device, comprising a body and an optical ranging device as described in any one of claims 1 to 17, wherein the optical ranging device is disposed on the body.

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