CN211627823U

CN211627823U - Distance measuring device, distance detecting equipment and mobile platform

Info

Publication number: CN211627823U
Application number: CN201890000593.3U
Authority: CN
Inventors: 周立奎; 黄淮; 赵进; 洪小平
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-09-28
Filing date: 2018-09-28
Publication date: 2020-10-02
Anticipated expiration: 2028-09-28
Also published as: WO2020062114A1

Abstract

A mobile platform (2000), a distance detection device (1000) and a distance measuring apparatus (100). The distance measuring device (100) comprises a shell (10), a scanning module (20), a distance measuring module (30) and a flexible connecting component (40); the distance measuring module (30) is used for emitting laser pulses to the scanning module (20), the scanning module (30) is used for changing the transmission direction of the laser pulses and then emitting the laser pulses, the laser pulses reflected back by the detection object pass through the scanning module (20) and then enter the distance measuring module (30), and the distance measuring module (30) is used for determining the distance between the detection object and the distance measuring device (100) according to the reflected laser pulses; the housing (10) comprises a mounting seat (13); the scanning module (20) comprises a scanning shell (21), an optical element (23) positioned in the scanning shell (21), and a driver (22) positioned in the scanning shell (21) and used for driving the optical element (23) to move; the scanning module (20) is connected to the mounting base (13) through a flexible connecting component (40), and a gap (20c) is formed between the scanning module (20) and the mounting base (13) to provide a vibration space for the scanning module (20).

Description

Distance measuring device, distance detecting equipment and mobile platform

Technical Field

The application relates to the technical field of laser ranging, in particular to a ranging device, distance detection equipment and a mobile platform.

Background

In order to improve the utilization efficiency of the conditions of the laser emitting and receiving elements and realize high-density high-resolution three-dimensional space scanning ranging, the mechanical ranging device needs to perform deflection scanning on an optical path through a high-rotation-speed motor. The motor running at high speed can cause the vibration generated by the distance measuring device to be larger, thereby reducing the distance measuring precision of the distance measuring device.

Disclosure of Invention

The embodiment of the application provides a distance measuring device, distance detecting equipment and a mobile platform.

The application provides a distance measuring device. The distance measuring device comprises a shell, a scanning module, a distance measuring module and a flexible connecting assembly; the distance measuring module is used for transmitting laser pulses to the scanning module, the scanning module is used for changing the transmission direction of the laser pulses and then emitting the laser pulses, the laser pulses reflected back by the detection object pass through the scanning module and then enter the distance measuring module, and the distance measuring module is used for determining the distance between the detection object and the distance measuring device according to the reflected laser pulses; the housing includes a mount; the scanning module comprises a scanning shell, an optical element positioned in the scanning shell and a driver positioned in the scanning shell and used for driving the optical element to move; the scanning module passes through flexible coupling assembling connects on the mount pad, the scanning module with have the clearance between the mount pad for the scanning module provides vibration space.

The embodiment of the application also provides a distance detection device. The distance detection equipment comprises the distance measuring device and the heat dissipation structure. The heat dissipation structure comprises a baffle assembly and a fan, the baffle assembly and the fan are arranged on the shell, the baffle assembly and the shell are jointly formed with a heat dissipation air channel, the heat dissipation structure is provided with an air inlet and an air outlet which are communicated with the heat dissipation air channel and are outside the distance detection device, and the fan is arranged in the heat dissipation air channel and is located at the air inlet and/or the air outlet.

The embodiment of the application also provides a mobile platform. The mobile platform comprises a mobile platform body and the distance measuring device or the distance detecting equipment, wherein the distance measuring device or the distance detecting equipment is arranged on the mobile platform body.

The application discloses range unit, moving platform and distance detection equipment, because the scanning module passes through flexible coupling assembling to be connected on the mount pad of shell, and have the clearance between scanning module and the mount pad and provide the vibration space for the scanning module, flexible coupling assembling makes and does not have direct contact between scanning module and the shell, can reduce or even avoid on the vibration transmission shell (mount pad) of scanning module to range unit's precision has been promoted.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a distance detecting apparatus according to some embodiments of the present application.

Fig. 2 is a perspective view of another perspective view of a distance detecting apparatus according to some embodiments of the present disclosure.

FIG. 3 is a partially exploded perspective view of a distance detection device according to certain embodiments of the present application.

FIG. 4 is a partially exploded perspective view of a distance detection device according to certain embodiments of the present application.

FIG. 5 is a partially exploded perspective view of another perspective of a range finding device according to certain embodiments of the present application.

FIG. 6 is a perspective view of a ranging assembly of a range finding device according to certain embodiments of the present application.

Fig. 7 is a cross-sectional schematic view of the ranging assembly of fig. 6.

Fig. 8 is a schematic perspective view of a portion of a distance detecting apparatus according to some embodiments of the present application.

Fig. 9 is a partially exploded perspective view of the distance detecting apparatus in fig. 8.

Fig. 10 is a schematic sectional view of the distance detecting apparatus of fig. 8 taken along line X-X.

FIG. 11 is a schematic diagram of a ranging assembly and a ranging module of a ranging apparatus according to some embodiments of the present disclosure.

FIG. 12 is a schematic diagram illustrating a ranging principle of a ranging assembly of a ranging device according to some embodiments of the present disclosure.

Fig. 13 is a schematic sectional view of the distance detecting apparatus of fig. 1 taken along line XIII-XIII.

Fig. 14 is an enlarged schematic view at the distance detection device XIV in fig. 13.

FIG. 15 is an exploded perspective view of a flexible linkage assembly of a range finding device according to certain embodiments of the present application.

Fig. 16 is a schematic sectional view of the distance detecting apparatus of fig. 1 taken along line XVI-XVI.

Fig. 17 is a schematic perspective view of a first electrical connector of a distance detecting apparatus according to some embodiments of the present disclosure.

Fig. 18 is a schematic perspective view of a second electrical connector of a distance detecting apparatus according to some embodiments of the present disclosure.

Fig. 19 is a schematic perspective view of a cover and a protective cover of a distance detecting device according to some embodiments of the present disclosure.

Fig. 20 is a schematic perspective view of a distance detecting apparatus according to some embodiments of the present application.

FIG. 21 is a perspective view of another perspective of a range finding device according to certain embodiments of the present application.

Fig. 22 to 24 are partially exploded perspective views of a distance detecting apparatus according to some embodiments of the present application.

Fig. 25 is a schematic sectional view of the distance detecting apparatus in fig. 20 taken along line XXV-XXV.

FIG. 26 is a schematic diagram of a mobile platform according to some embodiments of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1, the present application provides a distance detection apparatus 1000, and the distance detection apparatus 1000 can be used to measure the distance between a probe and the distance detection apparatus 1000 and the orientation of the probe relative to the distance detection apparatus 1000. In one embodiment, range detection device 1000 may include a radar, such as a lidar. In one embodiment, the distance detection device 1000 may be used to sense external environmental information, such as distance information, orientation information, reflection intensity information, velocity information, etc. of environmental objects. In one implementation, the distance detection device 1000 may detect the distance of the probe to the distance detection device 1000 by measuring the Time of light propagation, i.e., Time-of-Flight (TOF), between the distance detection device 1000 and the probe. Alternatively, the distance detection apparatus 1000 may detect the distance from the probe to the distance detection apparatus 1000 by other techniques, such as a distance measurement method based on phase shift (phase shift) measurement or a distance measurement method based on frequency shift (frequency shift) measurement, which is not limited herein. The distance and orientation detected by the distance detection device 1000 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.

For ease of understanding, the workflow of ranging will be described below by way of example in connection with the range finding device 1000 shown in fig. 11 (b).

As shown in fig. 11(b), the distance detection apparatus 1000 includes a transmission circuit 320, a reception circuit 351, a sampling circuit 352, and an operation circuit 353.

The transmit circuit 320 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 351 may receive the optical pulse train reflected by the detected object, perform photoelectric conversion on the optical pulse train to obtain an electrical signal, process the electrical signal, and output the electrical signal to the sampling circuit 352. The sampling circuit 352 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 353 may determine the distance between the distance detection device 1000 and the object to be detected based on the sampling result of the sampling circuit 352.

Optionally, the distance detecting device 1000 may further include a control circuit 354, and the control circuit 354 may implement control of other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.

It should be understood that, although fig. 11(b) shows the distance detection device 1000 including one transmission circuit 320, one reception circuit 351, one sampling circuit 352 and one arithmetic circuit 353, the embodiment of the present application is not limited thereto, and the number of any one of the transmission circuit 320, the reception circuit 351, the sampling circuit 352 and the arithmetic circuit 353 may be at least two.

Having described one implementation of the circuit framework of the distance detecting device 1000, some examples of the structure of the distance detecting device 1000 will be described below with reference to the respective drawings.

Referring to fig. 1, in particular, the distance detecting apparatus 1000 includes a distance measuring device 100 and a heat dissipation structure 200. Referring to fig. 2 to 4, the distance measuring device 100 includes a housing 10, a scanning module 20 and a distance measuring module 30, wherein the scanning module 20 and the distance measuring module 30 are accommodated in the housing 10. The distance measurement module 30 is used for emitting laser pulses to the scanning module 20, the scanning module 20 is used for changing the transmission direction of the laser pulses and then emitting the laser pulses, the laser pulses reflected back by the detected object pass through the scanning module 20 and then enter the distance measurement module 30, and the distance measurement module 30 is used for determining the distance between the detected object and the distance measurement device 1000 according to the reflected laser pulses. In one example, the circuits described above in fig. 11(b) are all located in the ranging module 30.

In one example, the heat dissipation structure 200 includes a baffle assembly 70 and a fan 80, the baffle assembly 70 and the fan 80 are disposed on the housing 10, the baffle assembly 70 and the housing 10 together form a heat dissipation air duct 73, the heat dissipation structure 200 forms an air inlet 731 and an air outlet 732 which communicate the heat dissipation air duct 73 and the outside of the distance detection device 1000, and the fan 80 is disposed in the heat dissipation air duct 73 and located at the air inlet 731 and/or the air outlet 732.

In one example, referring to fig. 2 and 4, a distance measuring device 100 according to an embodiment of the present disclosure includes a housing 10, a distance measuring assembly 20a, and at least one of the following: flexible connection assembly 40, circuit board assembly 50, thermally conductive element 61, seal 62, and sound absorbing member 63 (shown in fig. 16).

The housing 10 is made of a thermally conductive material, for example, the housing 10 may be made of a thermally conductive metal such as copper, aluminum, or the like, or the housing 10 may be made of a thermally conductive non-metallic material such as thermally conductive plastic. Referring to fig. 16, the housing 10 forms a receiving cavity 10a, and further, the housing 10 forms a sealed receiving cavity 10a, and the distance measuring unit 20a, the flexible connecting unit 40, the circuit board unit 50, the heat conducting element 61, the sealing member 62, and the sound absorbing member 63 are disposed in the receiving cavity 10 a. In one example, the housing 10 includes a base 11, and a cover 12 combined with the base 11 to form a receiving cavity 10 a. In one example, the housing 10 further includes a mounting seat 13, and the mounting seat 13 is disposed in the receiving cavity 10 a. Alternatively, the base 11 and the mounting base 13 may be integrally formed, or the base 11 and the mounting base 13 may be two separate parts that are fixed to each other by bonding or some other fixing structure.

In one example, referring to fig. 4, the base 11 includes a bottom plate 111, an annular limiting wall 112, a positioning column 113 and a mounting protrusion 114.

The base plate 111 has a plate-like structure. Specifically, the bottom plate 111 may have a rectangular plate-shaped structure, a pentagonal plate-shaped structure, and a hexagonal plate-shaped structure. The base plate 111 includes a base underside 1111.

The limiting wall 112 is formed by extending from one side of the bottom plate 111 opposite to the bottom surface 1111 of the base. The stopper wall 112 of the present embodiment is disposed around the center of the bottom plate 111, and specifically, the stopper wall 112 is disposed at a position of the bottom plate 111 close to the edge of the bottom plate 111, and the stopper wall 112 has a certain distance from the edge of the bottom plate 111. An annular space enclosed by the limiting wall 112 and the bottom plate 111 is divided into an installation space 1122 and an accommodating space 1124 by the middle wall 110.

Positioning posts 113 protrude from the bottom plate 111 opposite to the bottom surface 1111 of the base. The number of positioning columns 113 is plural, and plural positioning columns 113 are provided at intervals in installation space 1122. In other words, the position-limiting wall 112 surrounds the positioning pillars 113.

The mounting protrusion 114 is formed extending from the top 1120 of the limiting wall 112 in a direction away from the bottom plate 111. The mounting boss 114 is provided with a plurality of boss coupling holes 1140.

Referring to fig. 4 and 5, the cover 12 is disposed on the base 11, and the cover 12 includes a cover top wall 121 and an annular cover side wall 122.

The cover top wall 121 is a plate-shaped structure, and the shape of the cover top wall 121 matches the shape of the bottom plate 111. In the present embodiment, the bottom plate 111 has a rectangular plate-like structure, and the lid top wall 121 also has a rectangular plate-like structure.

The cover side wall 122 is formed by extending from one surface of the cover top wall 121, and the cover side wall 122 is disposed at the edge of the cover top wall 121 and surrounds the cover top wall 121. The cover sidewall 122 is mounted on the base 111 and surrounds the retaining wall 112 by any one or more of screwing, snapping, gluing, welding, etc. Specifically, the cover sidewall 122 includes a first cover sidewall 1221 and a second cover sidewall 1222. The first cover sidewall 1221 and the second cover sidewall 1222 are located at opposite ends of the cover top wall 121. The first cover sidewall 1221 is formed with a transparent area 1220, an area of the first cover sidewall 1221 except for the transparent area 1220 is a non-transparent area 1223, and the transparent area 1220 is used for allowing a distance measuring signal emitted by the distance measuring device 100 to pass through. The light-transmitting area 1220 is made of materials with high light transmittance such as plastic, resin, glass, etc., and the non-light-transmitting area 1223 is made of metals with low light transmittance and heat conductivity such as copper, aluminum, etc., wherein preferably, the light-transmitting area 1220 can be made of heat-conductive plastic, which not only meets the light-transmitting requirement, but also meets the heat dissipation requirement.

With continued reference to fig. 4, the mounting base 13 is mounted on the bottom plate 111 and located in the mounting space 1120. Specifically, the mounting base 13 includes a mounting plate 131 and a mounting arm 132. Among them, it can be: the mounting plate 131 is an integral structure, and the mounting arm 132 is also an integral structure; or, the mounting plate 131 is an integral structure, the mounting arm 132 is a split structure including a plurality of sub-mounting arms 1320, and at least two sub-mounting arms 1320 are oppositely arranged; alternatively, the mounting plate 131 is a separate structure including a plurality of sub-mounting plates 1310, and the mounting arm 132 is an integral structure; alternatively, the mounting plate 131 is a split structure including a plurality of sub-mounting plates 1310, the mounting arm 132 is a split structure including a plurality of sub-mounting arms 1320, and at least two sub-mounting arms 1320 are disposed opposite to each other.

The following description will be made by taking the mounting plate 131 as an integral structure and the mounting arm 132 as an integral structure: the mounting plate 131 has a plate-like structure. The mounting plate 131 is provided with a plurality of mounting plate positioning holes 1311, and the mounting plate 131 is mounted on the base plate 111 such that the positioning posts 113 are inserted into the mounting plate positioning holes 1311. Mounting plate 131 may be coupled to positioning posts 113 via retaining members (not shown) to secure mounting plate 131 to base 11. The positioning post 113 of the present embodiment has a threaded hole, and the locking member is a screw, and the screw is inserted into the positioning hole 1311 of the mounting plate and combined with the threaded hole to fix the mounting plate 131 on the base 11. A mounting arm 132 is formed extending from the mounting plate 131. The mounting arm 132 is of an annular configuration (including square and circular). The end of the mounting arm 132 away from the mounting plate 131 is a top end 1321, and the top end 1321 is provided with a plurality of mounting arm coupling holes 1322, and the mounting arm coupling holes 1322 extend toward the mounting plate 131. The mounting arm 132 and the mounting plate 131 together define a mounting slot 133.

The following description will be made by taking an example in which the mounting arm 132 is a split structure including a plurality of sub-mounting arms 1320, and at least two sub-mounting arms 1320 are oppositely disposed: in this embodiment, the mounting base 13 includes two sub-mounting bases 130, the mounting plate 131 includes two sub-mounting plates 1310, the mounting arm 132 includes two sub-mounting plates 1320, each sub-mounting base 130 includes one sub-mounting plate 1310 and one sub-mounting arm 1320, the sub-mounting base 130 is in an "L" shape, and the sub-mounting arm 1320 extends from the sub-mounting plate 1310. The two sub-mounting seats 130 of the present embodiment are spaced apart and opposite to each other, the two sub-mounting plates 1310 of the two sub-mounting seats 130 are spaced apart and opposite to each other, the two sub-mounting arms 1320 of the two sub-mounting seats 130 are spaced apart and opposite to each other, and the two sub-mounting seats 130 enclose the mounting groove 133, and more specifically, the two sub-mounting plates 1310 and the two sub-mounting arms 1320 together enclose the mounting groove 133. Each sub-mounting plate 1310 is provided with a mounting plate positioning hole 1311, and each sub-mounting plate 1310 is firstly inserted into the mounting plate positioning hole 1311 through the positioning post 113, and then is combined with the positioning post 113 through a locking member (not shown) to fix the sub-mounting plate 1310 on the base 11.

The structure of the mounting seat 13 is described above by taking only two examples, and the mounting seat 13 having other structures may be designed according to the two examples, which are not described herein again.

The distance measuring assembly 20a is received in the receiving cavity 10a, and specifically, the distance measuring assembly 20a includes a scanning module 20 and a distance measuring module 30. That is, the scanning module 20 and the distance measuring module 30 are accommodated in the accommodating chamber 10a, and the scanning module 20 and the distance measuring module 30 are disposed on the base 11. The distance measuring module 30 is used for emitting laser pulses to the scanning module 20, the scanning module 20 is used for changing the transmission direction of the laser pulses and then emitting the laser pulses, the laser pulses reflected back by the probe pass through the scanning module 20 and then enter the distance measuring module 30, and the distance measuring module 30 is used for determining the distance between the probe and the distance measuring device 1000 according to the reflected laser pulses.

Referring to fig. 4 and 5, the scan module 20 is disposed on the side of the base 11 close to the first cover sidewall 1221, at least one connection portion 20b is disposed between the scan module 20 and the housing 10, and further, the scan module 20 is mounted on the mounting base 13, and at least two connection portions 20b are disposed between the scan module 20 and the mounting base 13. Referring to fig. 6 and 7, in particular, the scan module 20 includes a scan housing 21, a driver 22, an optical element 23, a controller 24 (see fig. 11), and a detector 25. Wherein the driver 22 is used for driving the optical element 23 to move so as to change the transmission direction of the laser light passing through the optical element 23. The Optical element 23 may be a lens, a mirror, a prism, a grating, an Optical Phased Array (Optical Phased Array), or any combination thereof. The driver 22 drives the optical element to rotate, vibrate, move cyclically along a predetermined track, or move back and forth along a predetermined track, which is not limited herein. The following description will be given by way of example in which the optical element 23 includes a prism.

Referring to fig. 6, the scanning housing 21 includes a housing body 211 and two flanges 212. The housing body 211 includes a scan housing top wall 2111, two scan housing side walls 2112, a scan housing bottom wall 2113, and two scan housing end walls 2114. The scanning housing top wall 2111 and the scanning housing bottom wall 2113 are located on two opposite sides of the housing body 211, the two scanning housing side walls 2112 are located on two opposite sides of the housing body 211 and are connected to the scanning housing top wall 2111 and the scanning housing bottom wall 2113, respectively, and the two scanning housing end walls 2114 are located on two opposite sides of the housing body 211 and are connected to the scanning housing top wall 2111, the scanning housing bottom wall 2113 and the two scanning housing side walls 2112. The housing body 211 defines a scan housing cavity 2115 that extends through two scan housing end walls 2114. The scan housing cavity 2115 is circular. Referring to fig. 4, when the mounting plate 131 is an integral structure and the mounting arm 132 is an integral structure, the mounting arm 132 can be opposite to the two scanning housing side walls 2112 of the scanning housing 21; when the mounting plate 131 is a separate structure including a plurality of sub-mounting plates 1310 and the mounting arm 132 is an integral structure, the mounting arm 132 can be opposed to the two scanning housing side walls 2112 of the scanning housing 21.

Two flanges 212 extend from the two scan housing side walls 2112, respectively, in a direction away from the scan housing cavity 2115, with both flanges 212 being located between the scan housing top wall 2111 and the scan housing bottom wall 2113. The flange 212 is provided with a plurality of flange mounting holes 2121, and the plurality of flange mounting holes 2121 correspond to the plurality of mounting arm coupling holes 1322, and specifically, the number, size, and position of the flange mounting holes 2121 correspond to the number, size, and position of the mounting arm coupling holes 1322.

Referring to fig. 6 and 7, the driver 22 is installed in the scan housing cavity 2115, and the driver 22 includes a stator assembly 221, a positioning assembly 222, and a rotor assembly 223. The stator assembly 221, the positioning assembly 222 and the rotor assembly 223 are accommodated in the scan housing 21.

Stator assembly 221 may be used to drive rotor assembly 223 to rotate, and stator assembly 221 includes a winding body 2211 and windings 2212 mounted on winding body 2211. The winding body 221 is a stator core, and the winding 2212 is a coil. The winding 2212 can generate a specific magnetic field under the action of current, and the direction and the strength of the magnetic field can be changed by changing the direction and the strength of the current. The stator assembly 221 is mounted on the housing body 211 and is received within the scan housing cavity 2115. The windings 2212 of this embodiment are located in the scan housing cavity 2115 adjacent a scan housing end wall 1514.

Referring to fig. 8 to 10, the rotor assembly 223 can rotate under the driving of the stator assembly 221, and the rotor assembly 223 includes a rotor 223a and a boss 223 b. The rotor assembly 223 can rotate relative to the stator assembly 221, specifically, the rotor 223a and the boss 223b can both rotate relative to the stator assembly 222, and an axis of rotation of the rotor 223a and the boss 223b is referred to as a rotating shaft 2235, and it is understood that the rotating shaft 2235 can be a solid rotating shaft 2235 or a virtual rotating shaft 2235. At least two coupling portions 20b may be uniformly distributed on the circumference of the rotor 223a, so that the vibration generated when the rotor 223a rotates can be uniformly transmitted to the housing 10 (the mounting seat 13) to reduce the shaking of the distance measuring module 30 relative to the mounting seat 13. Further, the two coupling portions 20b are positioned symmetrically with respect to the rotation shaft 223 of the rotor 223 a. Further, at least two coupling portions 20b are respectively located on at least one circumference centered on the rotation axis 2235 of the rotor 223a and perpendicular to the rotation axis 2235, wherein the coupling portions 20b located on each circumference are evenly distributed on the circumference.

The rotor 223a includes a yoke 2231 and a magnet 2232. The magnet 2232 is sleeved on the magnetic yoke 2231 and located between the magnetic yoke 2231 and the winding 2212, the magnetic field generated by the magnet 2232 interacts with the magnetic field generated by the winding 2212 to generate an acting force, and the magnet 2232 drives the magnetic yoke 2231 to rotate under the acting force because the winding 2212 is fixed. The rotor 223a has a hollow shape, and a hollow portion of the rotor 223a is formed with a housing cavity 2234, through which the laser pulse can pass through the scanning module 20. Specifically, the housing cavity 2234 is defined by an inner wall 2233 of the rotor 223a, and more specifically, in the present embodiment, the yoke 2231 may have a hollow cylindrical shape, a hollow portion of the yoke 2231 forms the housing cavity 2234, and an inner wall of the yoke 2231 may serve as the inner wall 2233 that defines the housing cavity 2234. Of course, in other embodiments, the housing cavity 2234 may be formed not on the yoke 2231, but on the magnet 2232, or the like, and the inner wall 2233 may be an inner wall of the magnet 2232, or the like, without limitation. The inner wall 2233 is in or part of a ring-like structure. The windings 2212 of the stator assembly 221 may be annular and surround the outside of the inner wall 2233.

The boss 223b is provided on the inner wall 2233 of the rotor 223a and is located on the inside of the housing cavity 2234. The bosses 223b serve to improve the smoothness of the rotor assembly 223 when rotating. Specifically, the boss 223b extends from the inner wall 2233 to the center of the receiving cavity 2234, and a height of the boss 223b extending to the center of the receiving cavity 2234 may be lower than a predetermined proportion of a radial width of the receiving cavity 2234, where the predetermined proportion may be 0.1, 0.22, 0.3, 0.33, and the like, so as to avoid that the boss 223b blocks the receiving cavity 2234 too much to affect a transmission optical path of the laser pulse. The boss 223b may rotate synchronously with the rotor 223a, the boss 223b may be fixedly connected with the rotor 223a, for example, the boss 223b may be integrally formed with the rotor 223a, for example, by injection molding or other processes; the boss 223b may be formed separately from the rotor 223a, and after the boss 223b and the rotor 223a are formed separately, the boss 223b is fixed to the inner wall 2233 of the rotor 223a, for example, by adhering the boss 223b to the inner wall 2233. In the present embodiment, the boss 223b rotates in synchronization with the yoke 2231, and the boss 223b is fixedly coupled to the yoke 2231.

Referring to fig. 7, the positioning assembly 222 is located outside the inner wall 2233, and the positioning assembly 222 is used for limiting the rotor assembly 223 to rotate around the fixed rotating shaft 2235. The stator assembly 221 and the positioning assembly 222 are juxtaposed around the outside of the inner wall 2233. The positioning assembly 222 includes a ring-shaped bearing 2221, the bearing 2221 being surrounded on the outside of the inner wall 2233. The bearings 2221 are mounted on the housing body 211 and are received within the scan housing cavity 2115.

The bearing 2221 includes an inner ring structure 2222, an outer ring structure 2223, and rolling elements 2224. The inner ring structure 2222 is secured to the outside of the inner wall 2233. The outer ring structure 2223 and the scanning housing 21 are fixed to each other. Rolling elements 2224 are located between the inner ring structure 2222 and the outer ring structure 2223, and rolling elements 2224 are intended to be in rolling connection with the outer ring structure 2223 and the inner ring structure 2222, respectively.

The prism 23 is installed in the accommodating cavity 2234, specifically, the prism 23 may be installed in cooperation with the inner wall 2233 and fixedly connected to the rotor 223a, and the prism 23 is located on an emitting light path of the laser pulse. The prism 23 can be rotated in synchronization with the rotation of the rotor 223a about the rotation shaft 2235. The prism 23 can change the transmission direction of the laser light passing through the prism 23 when rotated. In the present embodiment, the prism 23 is formed with a first surface 231, a second surface 232, and prism sidewalls 233 connecting the first surface 231 and the second surface 232. The first surface 231 is inclined relative to the rotation axis 2235, i.e., the included angle between the first surface 231 and the rotation axis 2235 is not 0 degree or 90 degrees; the second surface 232 is perpendicular to the rotation axis 2235, i.e., the included angle between the second surface 232 and the rotation axis 2235 is 90 degrees.

It is understood that, since the first surface 231 is not parallel to the second surface 232, the thickness of the prism 23 is not uniform, that is, the thickness of the prism 23 is not equal everywhere, there are positions with larger thickness and positions with smaller thickness, and the position with the smallest thickness or the position with the largest thickness of the prism 23 or other specific positions can be defined as the zero position 235 of the prism 23, so as to facilitate the subsequent detection of the rotational position of the prism 23. In one example, the thickness of the prism 23 gradually increases in one direction. In the present embodiment, the prism 23 can be a wedge, and the null 235 is located at a position on the prism sidewall 233. In some embodiments, prism 23 may be coated with an anti-reflective coating having a thickness equal to the wavelength of the laser pulses emitted from light source 32 (shown in FIG. 11) to reduce loss of the laser pulses through prism 23.

The mounting relationship between the prism 23 and the rotor 223a will be described below:

the inner wall 2233 has a first locating feature 2236 formed thereon. The prism 23 is formed with a second alignment structure 234, and when the prism 23 is mounted in the receiving cavity 2234, the second alignment structure 234 cooperates with the first alignment structure 2236 for aligning the null position 235 of the prism 23 with the first specific position of the rotor 223 a. The first specific position may be any one of rotational positions preset by a user, and the first positioning structure 2236 and the second positioning structure 234 are matched, so that the zero position 235 of the prism 23 is aligned with the first specific position each time the user installs the prism 23 in the accommodating cavity 2234, and it is not necessary to detect a relative rotational angle of the prism 23 with respect to the rotor 223 a.

The first locating features 2236 include protrusions 2236 formed on the inner wall 2233 and the second locating features 234 include cutouts 234 formed in the prism side walls 233. When prism 23 is installed in receiving cavity 2234, protrusion 2236 may be complementary to cutout 234 such that protrusion 2236 mates with cutout 234 while aligning the null of prism 23 with the first particular position, and prism 23 and rotor assembly 223 do not rotate relative to each other, even during rotation.

The edge of the protrusion 2236 is recessed toward the inner wall 2233 to form an escape groove 2237, and the boundary between the cutout 234 and the prism side wall 233 is received in the escape groove 2237. It can be understood that the prism 23 is a precise optical device, the precision and integrity of the external dimension of the prism 23 have a great influence on the optical function of the prism 23, and the corners of the prism 23 are easily worn. By accommodating the boundary between the slit 234 and the prism side wall 233 in the escape groove 2237, the boundary between the slit 234 and the prism side wall 233 can be prevented from being worn.

The protrusions 2236 extend in the direction of the rotational axis 2235, and the depth D of the protrusions 2236 extending in the direction of the rotational axis 2235 is greater than the thickness T of the prisms 23 where the cut-outs 234 are formed. That is, when the prism 23 is mounted in the receiving cavity 2234, the slit 234 is fitted to the protrusion 2236, and the prism 23 does not interfere with the end of the protrusion 2236, and the edge of the prism 23 is not easily worn or chipped.

Of course, the specific form of the first positioning structure 2236 and the second positioning structure 234 is not limited to the above-mentioned discussion of the embodiments, and other specific forms are possible, such as in one form, the first positioning structure 2236 includes a notch formed on the inner sidewall, and the second positioning structure 234 includes a protrusion formed on the prism sidewall 233, and the notch cooperates with the protrusion.

In one example, the number of the first positioning structures 2236 and the second positioning structures 234 is single, and the rotor 223a and the prism 23 are simple in structure because the single first positioning structure 2236 and the single second positioning structure 234 are matched with each other. In another example, the number of the first positioning structures 2236 is multiple, the multiple first positioning structures 2236 are distributed at intervals along the circumferential direction of the inner wall 2233, the number of the second positioning structures 234 is multiple, each second positioning structure 234 is used for being matched with a corresponding one of the first positioning structures 2236, and when the rotor 223a rotates to drive the prism 23 to rotate, the acting forces of the two are relatively dispersed and are not concentrated on one of the second positioning structures 234, so that the prism 23 is not easily worn.

Specifically, in the present embodiment, the number of the first positioning structures 2236 is two, and the number of the second positioning structures 234 is two. The two first positioning structures 2236 are symmetrical about a first cross-section M of the prism 23, where the first cross-section M is defined as a plane passing through the rotational axis 2235 and the null position 235 of the prism 23. Alternatively, the two first positioning structures 2236 are symmetrical about a second cross-section N of the prism 23, where the second cross-section N is defined as a plane passing through the rotation axis 2235 and perpendicular to the first cross-section M. It is to be understood that the first positioning structure 2236 can also be symmetrical about the first cross-section M and, at the same time, symmetrical about the second cross-section N; and similar to the first locating feature 2236, the second locating feature 234 can also be symmetrical about the first cross-section M, or symmetrical about the second cross-section N, or both.

As described above, the prism 23 has a non-uniform thickness, and in some embodiments, the prism 23 includes the first end 236 and the second end 237, and the first end 236 and the second end 237 are respectively located at two ends of the prism 23 in the radial direction. The first end 236 has a thickness greater than that of the second end 237, the second end 237 and the boss 223b are located on the same side of the rotation axis 2235 of the rotor 223a, and the first end 236 and the boss 223b are located on opposite sides of the rotation axis 2235. It can be understood that, due to the uneven thickness of the prism 23, the prism 23 itself may not be smooth and may be shaken when it rotates, and the shaking may be transferred to the rotor assembly 223, resulting in the entire rotor assembly 223 being unstable when it rotates. In one example, the thickness of the prism 23 gradually decreases in a direction from the first end 236 to the second end 237. In this embodiment, since the second end 237 and the boss 223b are located on the same side of the rotating shaft 2235, and the first end 236 and the boss 223b are located on two opposite sides of the rotating shaft 2235, when the prism 23 and the rotor assembly 223 rotate together, the whole formed by the prism 23 and the boss 223b rotates stably, and the rotor assembly 223 is prevented from shaking. Specifically, the boss 223b can now function as a counterweight, the boss 223b rotates synchronously with the prism 23, and the torque of the boss 223b relative to the rotating shaft 2235 when rotating together with the second end 237 is equal to the torque of the first end 236 relative to the rotating shaft 2235 when rotating. In one embodiment, the second end 237 may be the end of the prism 23 where the null 235 is located.

In one example, the density of the lands 223b is greater than the density of the rotors 223a such that when the lands 223b are disposed within the receiving cavity 2234, the volume of the lands 223b can be set smaller to reduce the impact of the lands 223b on the laser pulses passing through the receiving cavity 2234 while maintaining the same mass, i.e., the same weight. In another example, the density of the lands 223b may also be greater than the density of the prisms 23, so that the volume of the same lands 223b may be designed to be as small as possible.

When the boss 223b is mounted in the receiving cavity 2234, the boss 223b may contact the prism 23 to bring the boss 223b as close as possible to the prism 23. Specifically, the boss 223b is located on the side of the first surface 231 of the prism 23, and the boss 223b can abut against the first surface 231 of the prism 23. When the prism 23 is mounted, the first surface 231 abuts against the boss 223b, and the prism 23 is considered to be mounted in place in the depth direction of the housing cavity 2234. More specifically, the boss 223b includes a boss sidewall 2230, and the boss sidewall 2230 abuts against the first surface 231. In order to enable the boss 223b to be weight-fitted with the prism 23, the boss 223b is symmetrical with respect to a first auxiliary surface S, which is a plane perpendicular to the rotation axis 2235 and passing through the center of the first surface 231, and also, the boss 223b may be symmetrical with respect to a second auxiliary surface L, which is a plane passing through the rotation axis 2235, the first end 236 and the second end 237.

The boss sidewall 2230 may have a flat plate shape perpendicular to the rotating shaft 2235, and the boss sidewall 2230 may also have a step shape, so as to simplify the process flow when the boss 223b and the rotor 223a are integrally formed. The boss sidewall 2230 may also be inclined with respect to the rotation axis 2235, that is, the boss sidewall 2230 is not perpendicular to the rotation axis 2235, and in one example, the inclination direction of the boss sidewall 2230 is the same as the direction of the first surface 231, and the boss sidewall 2230 is attached to the first surface 231, so that the boss sidewall 2230 and the first surface 231 are as close as possible, so as to exert the weight function of the boss 223b to the maximum extent, reduce the height of the boss 223b, and reduce the shielding of the boss 223b from the light path.

In one example, the projection range of the prism 23 on the rotation axis 2235 covers the projection range of the projection 223b on the rotation axis 2235. The rotational moment generated by the boss 223b during rotation can be offset from the rotational moment generated by the first end 236 of the prism 23 without affecting the smoothness of the rotation of the remaining positions of the rotor 223 a.

In some embodiments, the driver 22 includes a plurality of rotor assemblies 223, a plurality of stator assemblies 221, and a plurality of prisms 23. Each prism 23 is mounted on a corresponding rotor assembly 223, and each stator assembly 221 is used for driving a corresponding rotor assembly 223 to drive the prism 23 to rotate. Each rotor assembly 223, each stator assembly 221, and each prism 23 may be the rotor assembly 223, the stator assembly 221, and the prism 23 of any of the above embodiments, and will not be described in detail herein. Wherein "plurality" herein each means at least two or more. After the direction of the laser beam is changed by one prism 23, the direction of the laser beam can be changed again by another prism 23, so as to increase the capability of the scanning module 20 to change the propagation direction of the laser beam as a whole, so as to scan a larger space range, and the laser beam can scan a predetermined scanning shape by setting the rotating direction and/or the rotating speed of different rotor assemblies 223. In addition, each rotor assembly 223 includes a boss 223b, and each boss 223b is fixed to an inner wall 2233 of the corresponding rotor assembly 223 for improving dynamic balance when the rotor assembly 223 rotates.

The rotational axes 2235 of the plurality of rotor assemblies 223 may be identical, and the plurality of prisms 23 all rotate about the same rotational axis 2235; the rotational axes 2235 of the plurality of rotor assemblies 223 may be different, and the plurality of prisms 23 may rotate about the different rotational axes 2235. In addition, in some embodiments, the plurality of prisms 23 may also vibrate in the same direction or in different directions, which is not limited herein.

The plurality of rotor assemblies 223 can rotate at different rotational speeds relative to the corresponding stator assemblies 221 to drive the plurality of prisms 23 to rotate at different rotational speeds; the plurality of rotor assemblies 223 can also rotate relative to the corresponding stator assemblies 221 in different rotation directions to drive the plurality of prisms 23 to rotate in different rotation directions; the plurality of rotor assemblies 223 are capable of rotating at the same magnitude and in opposite directions. For example, at least one rotor assembly 223 rotates forward relative to stator assembly 221 and at least one rotor assembly 223 rotates backward relative to stator assembly 221; the at least one rotor assembly 223 rotates relative to the stator assembly 221 at a first speed and the at least one rotor assembly 223 rotates relative to the stator assembly 221 at a second speed, which may be the same or different.

Referring to fig. 11, the controller 24 is connected to the driver 22, and the controller 24 is configured to control the driver 22 to drive the prism 23 to rotate according to the control instruction. Specifically, the controller 24 may be connected to the winding 2212 and configured to control the magnitude and direction of the current on the winding 2212, so as to control the rotation parameters (rotation direction, rotation angle, rotation duration, etc.) of the rotor assembly 223 for the purpose of controlling the rotation parameters of the prism 23. In one example, controller 24 includes an electronic governor, and controller 24 may be disposed on an electronic throttle plate 54.

The detector 25 is used for detecting the rotation parameters of the prism 23, and the rotation parameters of the prism 23 may be the rotation direction, the rotation angle, the rotation speed, and the like of the prism 23. The detector 25 includes a code wheel 251 and an opto-electronic switch 252. The code wheel 251 and the rotor 223a are fixedly connected and rotate synchronously with the rotor component 223, it can be understood that, as the prism 23 and the rotor 223a rotate synchronously, the code wheel 251 and the prism 23 rotate synchronously, and the rotation parameters of the prism 23 can be obtained by detecting the rotation parameters of the code wheel 251. Specifically, the rotation parameter of the code wheel 251 can be detected through the cooperation of the code wheel 251 and the photoelectric switch 252.

A third detent structure 2239 is formed on the rotor 223a, a fourth detent structure 2511 is formed on the code wheel 251, and the third detent structure 2239 cooperates with the fourth detent structure 2511 to align the zero position of the code wheel 251 with the second specific position of the rotor 223 a. Since the null position 235 of the prism 23 corresponds to the first specific position of the rotor 223a when the prism 23 is installed in the accommodating cavity 2234, and the null position of the code wheel 251 is aligned with the second specific position of the rotor 223a when the code wheel 251 is installed on the rotor assembly 223, the first specific position and the second specific position are both predetermined positions, it can be obtained that the null position of the code wheel 251 and the null position 235 of the prism 23 form a predetermined angle, and the rotation parameter of the prism 23 can be obtained through the angle and the rotation parameter of the code wheel 251. In one example, the first particular position is the same as the second particular position, where the null 235 of the prism 23 is aligned with the null of the code wheel 251.

Referring to fig. 9, in the present embodiment, a mounting ring 2238 is formed on the rotor 223a, and the third positioning structure 2239 includes a notch formed on the mounting ring 2238. The code wheel 251 is sleeved on the mounting ring 2238. The fourth detent 2511 includes a detent bump formed on the code wheel 251 that mates with the notch to align the null position of the code wheel 251 with the second particular position.

When the number of the rotor assemblies 223 and the prisms 23 is plural, the number of the code discs 251 may also be plural, each code disc 251 is mounted on a corresponding one of the rotor assemblies 223 (the rotors 223a), and each code disc 251 can be used for detecting the rotation parameters of the prisms 23 mounted on the same rotor assembly 223. At least two code wheels 251 are installed in opposite directions. The mounting directions of at least two code wheels 251 are opposite, which means that one code wheel 251 is sleeved on one rotor 223a in the direction that the front surface faces the rotor 223a, and the other code wheel 251 is sleeved on the other rotor 223a in the direction that the back surface faces the rotor 223a, wherein the front surface and the back surface are two opposite end surfaces of the code wheel 251. Of course, at least two code disks 251 can be installed in the same direction, where the same direction means that one code disk 251 is sleeved on one rotor 223a in the direction that the front surface faces the rotor 223a, and the other code disk 251 is sleeved on the other rotor 223a in the direction that the front surface faces the rotor 223a, or one code disk 251 is sleeved on one rotor 223a in the direction that the back surface faces the rotor 223a, and the other code disk 251 is sleeved on the other rotor 223a in the direction that the back surface faces the rotor 223 a.

The optical switch 252 is used for emitting an optical signal and receiving the optical signal passing through the code wheel 251, and the code wheel 251 may be formed with a light passing hole through which the optical signal can pass but cannot pass through a position other than the light passing hole. When the code wheel 251 rotates, the light passing hole also rotates, the photoelectric switch 252 can continuously emit light signals, and the rotation parameters of the code wheel 251 can be judged by analyzing signals such as the waveform of the light signals received by the photoelectric switch 252, so that the rotation parameters of the prism 23 can be obtained.

In traditional mechanical type laser radar, range finding module and scanning module are unseparated, and whole range finding subassembly can be rotatory round certain pivot. In the distance measuring assembly 20a provided in the embodiment of the present invention, the distance measuring module 30 and the scanning module 20 are independent from each other, and the distance measuring module 30 and the base 11 are kept stationary during the operation. In one example, the range module 30 and the scan module 20 are spaced apart to enable the scan module 20 to vibrate relative to the range module 30.

In some implementations, the scanning module 20 and the ranging module 30 may be fixedly coupled together and then damped as a unit. In some implementations, the scanning module 20 is independently damped and the ranging module 30 is fixed to the base 11. Both of these solutions can greatly reduce the influence of the scanning module 20 on the measurement accuracy of the ranging module 30. If the first scheme is adopted, the vibration of the scanning module 20 is directly transmitted to the distance measuring module 30, and the displacement amount (including translational displacement and rotational displacement) of the vibration has a one-to-one influence on the distance measuring accuracy. If the second scheme is adopted, the vibration of the scanning module 20 will not be transmitted to the distance measuring module 30, and the displacement of the vibration is mainly in the scanning module 20, so that the influence on the distance measuring precision can be greatly reduced. For example, in some distance measuring devices 100 provided in the embodiments of the present invention, the influence on the distance measuring accuracy is about 10 to 1, that is, the vibration displacement of the scanning module 20 is 10, and the influence on the measuring accuracy is only 1. The second solution is described below by way of example with reference to the accompanying drawings.

Referring to fig. 4, fig. 6 and fig. 11(a), the distance measuring module 30 is rigidly fixed in the housing 10, the distance measuring module 30 is disposed opposite to the scanning module 20 with a gap therebetween, the distance measuring module 30 is disposed on a side of the base 11 close to the side wall 1222 of the second cover, and further, the distance measuring module 30 is fixedly mounted on the mounting protrusion 114. Specifically, the distance measuring module 30 includes a distance measuring housing 31, a light source 32, a light path changing element 33, a collimating element 34, and a detector 35. The distance measuring module 30 may adopt a coaxial optical path, that is, the laser beam emitted from the distance measuring module 30 and the laser beam reflected back share at least a part of the optical path in the distance measuring module 30. Alternatively, the distance measuring module 30 may also adopt an off-axis optical path, that is, the light beam emitted from the distance measuring module 30 and the reflected light beam are transmitted along different optical paths in the detecting device.

In some examples, the light source 32 includes the transmit circuit 320 shown in fig. 11 (b). The detector 35 includes the receiving circuit 351, the sampling circuit 352, and the arithmetic circuit 353 shown in fig. 11(b), or further includes the control circuit 354 shown in fig. 11 (b).

The distance measuring shell 31 is fixedly mounted on the mounting protrusion 114 and attached to the mounting protrusion 114, and the mounting protrusion 114 can conduct heat of the distance measuring module 30 to the base 11. Specifically, the ranging housing 31 includes a housing main body 311 and two protruding arms 312. Housing body 311 includes ranging housing top wall 3111, two ranging housing side walls 3112, ranging housing bottom wall 3113 and two ranging housing end walls 3114. Range finding casing top wall 3111 and range finding casing diapire 3113 are located the both sides of carrying on the back of body 311, and two range finding casing lateral walls 3112 are located the both sides of carrying on the back of the body of casing 311 respectively and all connect range finding casing top wall 3111 and range finding casing diapire 3113, and two range finding casing end walls 3114 are located the both sides of carrying on the back of the body of casing 311 and all connect range finding casing top wall 3111, range finding casing diapire 3113 and two scanning casing lateral walls 312. Housing body 311 has a ranging housing cavity 3115 formed through two ranging housing end walls 3114, ranging housing cavity 3115 aligned with scanning housing cavity 2115. The ranging housing cavity 3115 is circular, specifically, the axis of the ranging housing cavity 3115 coincides with the axis of the scanning housing cavity 2115.

The two arms 312 extend from the two ranging housing sidewalls 3112 towards a direction away from the scanning housing cavity 3115, and the two arms 312 are located at the scanning housing bottom wall 2113. The protruding arm 312 is provided with a plurality of protruding arm mounting holes 3121, the plurality of protruding arm mounting holes 3121 correspond to the plurality of protrusion coupling holes 1140, and specifically, the number, size, and position of the protruding arm mounting holes 3121 correspond to the number, size, and position of the protrusion coupling holes 1140. The two protruding arms 312 can be combined with the mounting protrusion 114 by a locking member (not shown) to fix the distance measuring module 30 on the base 11. Specifically, the locking members pass through the protruding arm mounting holes 3121 and then are locked into the protrusion coupling holes 1140, so that the two protruding arms 312 can be fixed to the mounting protrusions 114, thereby fixing the distance measuring module 30 to the base 11. When the distance measuring module 30 is fixed on the base 11, the distance measuring module 30 is aligned with the receiving space 1124, and the receiving space 1124 can be used to receive the cable of the distance measuring module 30.

Referring to fig. 11, the distance measuring module 30 is described as using a first coaxial optical path to describe the light source 32, the optical path changing element 33, the collimating element 34, and the detector 35.

The light source 32 is mounted on the ranging housing 31. The light source 32 may be configured to emit a sequence of laser pulses, optionally with the light source 32 emitting a laser beam having a narrow bandwidth with a wavelength outside the visible range. The light source 32 may be mounted on the ranging housing sidewall 3112 and the laser pulse train emitted by the light source 32 may enter the ranging housing cavity 3115. In some embodiments, the light source 32 may include a Laser diode (Laser diode) through which nanosecond-level Laser light is emitted. For example, the light source 32 emits a laser pulse lasting 10 ns.

The collimating element 34 is disposed on an outgoing light path of the light source 32, and is configured to collimate the laser beam emitted from the light source 32, i.e., to collimate the laser beam emitted from the light source 32 into parallel light. Specifically, the collimating element 34 is mounted within the range housing cavity 3115 and is located at an end of the range housing cavity 3115 proximate to the scan module 20. More specifically, the collimating element 34 is located between the light source 32 and the scanning module 20. The collimating element 34 is also used to condense at least a portion of the return light reflected by the detector. The collimating element 34 may be a collimating lens or other element capable of collimating a light beam. In one embodiment, the collimating element 104 is coated with an anti-reflective coating to increase the intensity of the transmitted beam.

The optical path changing element 33 is installed in the ranging housing cavity 3115 and disposed on the light emitting path of the light source 32, for changing the optical path of the laser beam emitted from the light source 32, and for combining the light emitting path of the light source 32 and the receiving path of the detector 35.

Specifically, the optical path changing element 33 is located on the opposite side of the collimating element 34 from the scan module 20. The optical path changing element 33 may be a mirror or a half mirror, and the optical path changing element 33 includes a reflecting surface 332, and the light source 32 is opposite to the reflecting surface 332. In the present embodiment, the optical path changing element 33 is a small mirror, and can change the optical path direction of the laser beam emitted from the light source 32 by 90 degrees or other angles.

The detector 35 is mounted on the ranging housing 31 and accommodated in the ranging housing cavity 3115, the detector 35 is located at an end of the ranging housing cavity 3115 away from the scanning module 20, the detector 35 and the light source 32 are disposed on a same side of the collimating element 34, wherein the detector 35 is opposite to the collimating element 34, and the detector 35 is configured to convert at least part of return light passing through the collimating element 34 into an electrical signal.

When the distance measuring device 100 works, the light source 32 emits a laser pulse, the laser pulse changes the direction of the light path (may be changed by 90 degrees or other angles) by the light path changing element 33 and then is collimated by the collimating element 34, the collimated laser pulse is changed in the transmission direction by the prism 23 and then is emitted and projected onto a detection object, and at least a part of return light of the laser pulse reflected by the detection object after passing through the prism 23 is converged on the detector 35 by the collimating element 34. Detector 35 converts at least part of the return light passing through collimating element 34 into an electrical signal pulse whose rise and/or fall times determine the laser pulse reception time by ranging device 100. In this manner, the ranging apparatus 100 may calculate the time of flight using the pulse reception time information and the pulse emission time information, thereby determining the distance of the probe to the ranging apparatus 100.

Referring to fig. 12, the distance measuring module 30 is described as using a second coaxial optical path to describe the light source 32, the optical path changing element 33, the collimating element 34, and the detector 35. In this case, the structure and position of the collimating element 34 are the same as those of the collimating element 34 in the first coaxial optical path, except that: the optical path changing element 33 is a large reflector, which includes a reflecting surface 332, and a light passing hole is formed in the middle of the large reflector. The detector 35 and the light source 32 are still disposed on the same side of the collimating element 34, and compared to the above-mentioned first coaxial light path, the positions of the detector 35 and the light source 32 are exchanged, that is, the light source is opposite to the collimating element 34, the detector 35 is opposite to the reflecting surface 332, and the light path changing element 33 is disposed between the light source 32 and the collimating element 34.

When the distance measuring device 100 is in operation, the light source 32 emits a laser pulse, the laser pulse passes through the light-passing hole of the optical path changing element 33 and is collimated by the collimating element 34, the collimated laser pulse is changed in transmission direction by the prism 23 and then emitted and projected onto the detection object, and at least a part of return light of the laser pulse reflected by the detection object after passing through the prism 23 is converged on the reflecting surface 332 of the optical path changing element 33 by the collimating element 34. Reflecting surface 332 reflects the at least a portion of the return light onto detector 35, detector 35 converts the reflected at least a portion of the return light into an electrical signal pulse, and ranging device 100 determines the laser pulse reception time by the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the ranging apparatus 100 may calculate the time of flight using the pulse reception time information and the pulse emission time information, thereby determining the distance of the probe to the ranging apparatus 100. In this embodiment, the size of the light path changing element 33 is large, the light path changing element can cover the whole field range of the light source 32, the return light is directly reflected to the detector 35 by the light path changing element 33, the blocking of the light path of the return light by the light path changing element 33 itself is avoided, the intensity of the return light detected by the detector 35 is increased, and the distance measurement precision is improved.

Referring to fig. 6, 7, and 13 to 15, the flexible connecting assembly 40 is used to connect the scanning housing 21 to the mounting base 13, and the scanning housing 21 is accommodated in the mounting groove 133, and the flexible connecting assembly 40 provides a gap 20c between the scanning module 20 and the mounting base 13 to provide a vibration space for the scanning module 20. In the present embodiment, the number of the flexible connection members 40 is at least two and corresponds to at least two coupling portions 20b, respectively, and each flexible connection member 40 is disposed at the corresponding coupling portion 20 b. A central line between the two coupling portions 20b is in the same plane as the rotation axis 2235 of the rotor 223 a. In addition, the flexible connection assemblies 40 also correspond to the flange mounting holes 2121, and each flexible connection assembly 40 is mounted at a corresponding flange mounting hole 2121, respectively. Specifically, the flexible connection assembly 40 includes a flexible connection member 41 and a fastening member 42. The flexible connector 41 and the flange 212 are mounted to the top end 1321 by fasteners 42.

The flexible connection 41 is disposed between the mounting seat 13 and the scanning housing 21, and the flexible connection 41 is located between the scanning housing top wall 2111 and the scanning housing bottom wall 2113, and further, the flexible connection 41 is located closer to the rotating shaft 2235 of the rotor assembly 223 than the scanning housing bottom wall 2113. Each flexible connector 41 includes a flexible first support portion 411, a flexible connecting portion 413, and a flexible second support portion 412. The first and

second support portions

411 and 412 are respectively connected to opposite ends of the connection portion 413. The flexible connecting member 41 has a through hole 414 passing through the first supporting portion 411, the connecting portion 413 and the second supporting portion 412. The connecting portion 413 is inserted into the flange mounting hole 2121, and the first supporting portion 411 and the second supporting portion 412 are respectively located on two opposite sides of the flange 212. The fastener 42 passes through the through hole 414 and engages the mounting arm engaging hole 1322 of the mounting arm 132 to couple the scanner module 20 to the mounting arm 132 (i.e., the two flanges 212 are coupled to the top end 1321 of the mounting arm 132 by the flexible coupling assembly 40), with the first support portion 411 positioned between the flanges 212 and the top end 1321. In the present embodiment, the cross section of the flexible link 41 taken along a plane passing through the axis of the through-hole 414 is in the shape of an "i". The flexible coupling 41 may be a rubber pad.

Further, the flexible connecting member 41 in this embodiment may further include a supporting protrusion 415, the supporting protrusion 415 protrudes from the first supporting portion 411, and the supporting protrusion 415 is located between the flange 212 and the top end 1321 to increase a contact area with the flange 212 to provide a better flexible connecting force. In this embodiment, a center line between at least two flexible connectors 41 is in the same plane as the rotation axis 2235 of the rotor 223a, and the plane is parallel to the mounting plate 131 or any one of the sub-mounting plates 1310. In another embodiment, the line joining the centers of the two flanges 212 lies in the same plane as the axis of rotation 2235 of the rotor 223a, which plane is parallel to the mounting plate 131 or either of the sub-mounting plates 1310. In yet another embodiment, the center line of the two junctions between the two flanges 212 and the two flexible connectors 41 is in the same plane as the rotational axis 2235 of the rotor 223a, which is parallel to the mounting plate 131 or any one of the sub-mounting plates 1310. In yet another embodiment, the scanning housing 21 includes a plurality of connection points to which the flexible connectors 41 are connected, and a line between the plurality of connection points is in the same plane as the rotation axis 2235 of the rotor 223a, and the plane is parallel to the mounting plate 131 or any one of the sub-mounting plates 1310. With either arrangement, it is possible to reduce the positional and angular shifts of the scanning module 30 caused by the horizontal centrifugal force when the rotor 223a rotates.

The scan module 20, the compliant linkage assembly 40, and the housing 10 form a vibration system having a natural frequency f0 that is less than the vibration frequency of the scan module 20 or greater than the vibration frequency of the scan module 20. Further, the natural frequency f0 of the vibration system is less than 1000Hz, and the ratio of the rotation frequency f of the rotor 223a to the f0 is less than 1/3 or greater than 1.4, i.e., f/f0 < 1/3, or f/f0 > 1.4, preferably, f/f0 > 1.41. When f/f0 is less than 1/3, the vibration of the scanning module 20 caused by the rotation of the rotor 223a is amplified by 1-1.1 times; when f/f0 is greater than 1.4 or f/f0 is greater than 1.41, the vibration of the scanning module 20 caused by the rotation of the rotor 223a is amplified by a factor less than 1; when 1/3 < f/f0 < 1.41, the vibration of the scan module 20 caused by the rotation of the rotor 223a will be amplified by 1 to infinity, and particularly, when f/f0 is equal to 1, the vibration of the scan module 20 caused by the rotation of the rotor 223a will be amplified by infinity.

Generally, when the rotor 223a rotates, the scanning module 20 vibrates due to the rotation of the rotor 223a, since the scanning module 20 is connected to the mounting seat 13 of the housing 10 through the flexible connecting assembly 40, and a gap 20c is formed between the scanning module 20 and the mounting seat 13 to provide a vibration space for the scanning module 20, the flexible connecting assembly 40 enables no direct contact between the scanning module 20 and the housing 10, and the vibration of the scanning module 20 can be reduced or even prevented from being transmitted to the housing 10 (the mounting seat 13). Further, since the natural frequency f0 of the vibration system is less than 1000HZ, high-frequency vibrations above 1000HZ on the scan module 20 are hardly transmitted to the housing 10. Moreover, the ratio of the rotation frequency f of the rotor 223a to the natural frequency f0 is less than 1/3 or greater than 1.4, so that the vibration frequency multiplication vibration generated by the rotation of the rotor 223a of the scanning module 20 can be prevented from being amplified and transmitted to the housing 10. In addition, the noise source in the scanning module 20 usually comes from the rotor 223a rotating at a high speed, and the human ear is sensitive to high-frequency noise exceeding 1000HZ, the housing 10 in the scanning module 20 in the present application forms the sealed accommodating cavity 10a, the sealing level is high, and the high-frequency noise can only pass through the air in the housing 10, penetrate through the housing 10 and then propagate to the outside, and the housing 10 is designed into a sealed structure, so that the acoustic resistance between the rotor 223a and the outside can be increased, therefore, the noise transmitted to the housing 10 by the sealed housing 10 (the accommodating cavity 10a) is greatly attenuated compared with the noise source (the rotor 223a), and the user experience is improved. Furthermore, because the distance measuring module 30 is rigidly fixed in the housing 10, the vibration of the scanning module 20 has little influence on the distance measuring module 30, so as to ensure the stability of the relative positions of the distance measuring module 30 and the distance measuring device 100 during the whole installation process, and improve the distance measuring precision. Finally, in general, the rotor 223a of the scan module 20 inevitably has a certain amount of unbalance, and when the rotor 223a rotates at a high speed, a centrifugal force is generated along the rotating shaft, in this embodiment, the central connecting line between the two flexible connecting members 41 and the rotating shaft 2235 of the rotor 223a are in the same plane; alternatively, the line connecting the centers of the two flanges 212 is in the same plane as the rotational axis 2235 of the rotor 223 a; or, the central connecting line of the two junctions between the two flanges 212 and the two flexible connectors 41 is in the same plane with the rotating shaft 2235 of the rotor 223 a; or, the connecting line between the connecting points of the scan housing 21 to which the plurality of flexible links 41 are connected is in the same plane as the rotating shaft 2235 of the rotor 223a, so that the horizontal centrifugal force can be reduced to cause the position and angle offset of the scan module 20.

Referring to fig. 4 and 6, the circuit board assembly 50 includes a connector 51, a first electrical connector 52, a second electrical connector 53, and an electrical adjusting plate 54.

Referring to fig. 16, the connector 51 extends from the cavity 10a through the base 11. The connector 51 is used to connect an electronic component outside the distance measuring device 100 and the distance measuring device 100. Specifically, one end of the connector 51 is connected to the scanning module 20 and the distance measuring module 30, and the other end is connected to an electronic component outside the distance measuring device 100.

Referring to fig. 6 and 17, the first electrical connector 52 includes a first scan connecting portion 521 for connecting with the scan module 20, a first distance measuring connecting portion 522 for connecting with the distance measuring module 30, and a flexible first bending portion 523 located between the first scan connecting portion 521 and the first distance measuring connecting portion 522. The first scanning connecting portion 521 and the first distance measuring connecting portion 522 are respectively connected to two opposite ends of the first bending portion 523, the first scanning connecting portion 521 is disposed on the scanning housing top wall 2111, and the first distance measuring connecting portion 522 is disposed on the distance measuring housing top wall 3111. The first bending portion 523 includes a first sub-bending portion 5231 and a second sub-bending portion 5232, two opposite ends of the first sub-bending portion 5231 are respectively connected to the first scanning connection portion 521 and the second sub-bending portion 5232, two opposite ends of the second sub-bending portion 5232 are respectively connected to the first distance measurement connection portion 522 and the first sub-bending portion 5231, the first sub-bending portion 5231 and the second sub-bending portion 5232 are respectively located in two different planes, the first scanning connection portion 521 and the first sub-bending portion 5231 are located in the same plane, and the first scanning connection portion 521 and the first distance measurement connection portion 522 are respectively located in two different planes. In this embodiment, the first scanning connection 521 is provided with a circuit for controlling the photoelectric switch 252, and the first distance measuring connection 522 is electrically connected to the photoelectric switch 252, so as to control the photoelectric switch 252.

At present, the distance measuring module 30 and the scanning module 20 are connected by Flexible Printed Circuit (FPC) lines, and the FPC lines are easily subjected to fatigue stress due to vibration of the scanning module 20, which causes poor contact of the socket and cracks of the FPC lines in a short time. First electric connector 52 in this application is through setting up first kink portion 523, and first sub-kink portion 5231 and second sub-kink portion 5232 are respectively in two different planes (these two planes can have the difference in height), thereby make first scanning connecting portion 521 and first range finding connecting portion 522 respectively in two different planes (these two planes also can have the difference in height), first kink portion 523 makes first electric connector 52 have great deformation allowance in the vibration process of scanning module 20, thereby can reduce the stress that produces first electric connector 52 because of the vibration of scanning module 20 by a wide margin, distance measuring device 100's reliability has been improved.

Referring to fig. 6 and 18, the second electrical connector 53 includes a second scanning connection portion 531, a second distance measurement connection portion 532, and a flexible second bending portion 533 located between the second scanning connection portion 531 and the second distance measurement connection portion 532. The second scanning connecting portion 531 and the second distance measuring connecting portion 532 are respectively connected to two opposite ends of the second bending portion 533, the second scanning connecting portion 531 is disposed on the scanning housing bottom wall 2113, and the second distance measuring connecting portion 532 passes through the scanning housing side wall 2112 and then is connected to the distance measuring housing side wall 3112. The second bending portion 533 includes a third sub-bending portion 5331 and a fourth sub-bending portion 5332, two opposite ends of the third sub-bending portion 5331 are respectively connected to the second scanning connection portion 531 and the fourth sub-bending portion 5332, two opposite ends of the fourth sub-bending portion 5332 are respectively connected to the second distance measuring connection portion 532 and the third sub-bending portion 5331, and the third sub-bending portion 5331 and the fourth sub-bending portion 5332 are respectively located in two different planes. The second distance measuring connection portion 532 and the fourth sub-bending portion 5332 are in the same plane, and the second scanning connection portion 531 and the second distance measuring connection portion 532 are in two different planes.

At present, the distance measuring module 30 and the scanning module 20 are connected through the Flexible Printed Circuit (FPC) wire, and the FPC wire is easy to generate fatigue stress due to the vibration of the scanning module 20, so that the phenomena of poor socket contact, FPC wire cracking and the like occur in a short time. The second electrical connector 53 in the present application is through setting up the second bending portion 533, and the third sub-bending portion 5331 and the fourth sub-bending portion 5332 are respectively in two different planes, thereby make the second scanning connecting portion 531 and the second distance measuring connecting portion 532 respectively in two different planes, the second bending portion 533 makes the second electrical connector 53 have a larger deformation allowance in the vibration process of the scanning module 20, thereby can greatly reduce the stress to the second electrical connector 53 due to the vibration of the scanning module 20, and improve the reliability of the distance measuring device 100.

The electric adjusting plate 54 is disposed corresponding to the bottom wall 2113 of the scanning housing, the second scanning connecting portion 531 is electrically connected to the electric adjusting plate 54, and the second distance measuring connecting portion 532 is electrically connected to a power supply circuit (not shown) disposed on the side wall 3112 of the distance measuring housing, so that the power supply circuit supplies power to the electric adjusting plate 54.

Referring to fig. 4, the heat conducting element 61 is disposed between the housing 10 and the scan module 20; or, the heat conducting element 61 is disposed between the housing 10 and the distance measuring module 30; alternatively, the heat conducting element 61 is disposed between the housing 10 and the scanning module 20, and between the housing 10 and the distance measuring module 30. Here, the heat conducting member 61 is made of a heat conducting material, for example, the heat conducting member 61 may be made of a heat conducting metal such as copper, aluminum, or the like, or the heat conducting member 61 may be made of a heat conducting non-metal material such as heat conducting silicon, heat conducting resin, heat conducting plastic, or the like. Specifically, when the heat conducting element 61 is disposed between the housing 10 and the scan module 20, the heat conducting element 61 may be disposed between the scan case bottom wall 2113 and the bottom surface of the mounting space 1122; when the heat conducting element 61 is disposed between the housing 10 and the ranging module 30, the heat conducting element 61 may be disposed between the ranging housing bottom wall 3113 and the bottom surface of the accommodating space 1124. Of course, in other embodiments, thermally conductive element 61 may wrap around any one or more of scan housing side walls 2112, scan housing end walls 2114, and scan housing top wall 2111. Likewise, the thermally conductive element 61 may wrap around any one or more of the ranging housing side walls 3112, ranging housing end walls 3114, and ranging housing top wall 3111. When the distance measuring device 100 works, the scanning module 20 and/or the distance measuring module 30 generate heat, and the heat conducting element 61 can reduce the thermal resistance of transferring the heat on the scanning module 20 and/or the distance measuring module 30 to the shell 10, so that the heat dissipation efficiency of the distance measuring device 100 is improved. In addition, the housing 10 is also made of a heat conductive material, so that the heat dissipation efficiency of the distance measuring device 100 can be further improved.

The sealing member 62 is disposed on the bottom plate 11 and surrounds the position-limiting wall 112, and the sealing member 62 is located between the cover sidewall 122, the position-limiting wall 112 and the bottom plate 11. The setting of sealing member 62 can prevent external impurity, moisture etc. from getting into in the shell 10 to reach dustproof, waterproof function, thereby avoid external impurity, moisture etc. to influence the normal work of scanning module 20 and range finding module 30, improve distance measurement accuracy and extension range unit 100's life.

Referring to fig. 16, the sound absorbing member 63 is made of a sound absorbing material, which may be sponge, foam, rubber, or the like. The sound absorbing member 63 is disposed on an inner surface of the receiving cavity 10 a. That is, the sound absorbing member 63 may be disposed on the base 11, for example, at a position of the bottom plate 111 avoiding the scanning module 20 and the distance measuring module 30; the sound absorbing member 63 may be provided on an inner surface of either the cover top wall 121 or the cover side wall 122. The sound-absorbing member 63 may be adhered to the inner surface of the receiving cavity 10a by adhesive. The noise source in the scanning module 20 usually comes from the rotor 223a that rotates at a high speed, and the human ear is sensitive to high-frequency noise more than 1000HZ, and the sound absorbing member 63 in this application makes the noise transmitted to the housing 10 attenuate greatly than the sound source (rotor 223a), improving user experience.

Referring to fig. 2, 4 and 19, it can be understood that in other embodiments, the housing 10 may further include a protective cover 14, and the protective cover 14 is detachably or fixedly mounted at the light-transmitting region 1220 of the cover 12, in which case, the light-transmitting region 1220 may be a through hole. The laser pulse passing through the prism 23 can be emitted from the protective cover 14 to the outside of the housing 10, and the base 11, the cover 12, and the protective cover 14 together form a sealed housing chamber 10 a. At this time, the protective cover 14 is made of a material having high light transmittance such as plastic, resin, glass, or the like. When the protection cover 14 is detachably installed at the light-transmitting region 1220 of the cover 12, on one hand, the protection cover 14 is conveniently replaced, and on the other hand, the protection cover 14 is conveniently cleaned, so that the influence of impurities accumulated in the light-transmitting region 1220 on the light path of the laser beam is avoided, and the distance detection precision is reduced.

Referring to fig. 3 to 5, the heat dissipation structure 200 includes a baffle assembly 70 and a fan 80. The baffle assembly 70 and the fan 80 are disposed on the housing 10, the baffle assembly 70 and the housing 10 together form a heat dissipation air duct 73, the heat dissipation structure 200 forms an air inlet 731 and an air outlet 732 which are communicated with the heat dissipation air duct 73 and the outside of the distance detection device 1000, and the fan 80 is disposed in the heat dissipation air duct 73 and located at the air inlet 731 and/or the air outlet 732.

Specifically, the baffle assembly 70 includes a baffle 71, the baffle 71 is disposed on a side of the base 11 opposite to the cover 12, and the baffle 71 and the base 11 together form a heat dissipation air duct 73. Two air outlets 732 are formed between the opposite ends of the baffle 71 and the base 11, an air inlet 732 is formed between the two air outlets 732 of the baffle 71, and the fan 80 is installed at the air inlet 732. The baffle 71 is parallel to the base bottom 1111, and a heat dissipation air duct is formed between the base bottom 1111 and the baffle 71. The baffle 71 is provided with a baffle through hole 711, and one end of the joint 51 far away from the base 11 extends out of the baffle 71 through the baffle through hole 711.

In this embodiment, the fan 80 is installed on the base 11 and located at the air inlet 731, and the fan 80 includes a first end surface 81, a second end surface 82, a first side surface 83 and a second side surface 84. The first end surface 81 and the second end surface 82 are located on two opposite sides of the fan 80, and the first side surface 83 and the second side surface 84 are located on two opposite sides of the fan 80 and are both connected with the first end surface 81 and the second end surface 82. The first end surface 81 faces the base 11 at a distance, and the second end surface 82 is in contact with the baffle 71. The two air outlets 732 are disposed on the side of the first side surface 83 and the side of the second side surface 84, respectively. In this embodiment, the fan 80 may be an axial fan.

When the heat dissipation structure 200 dissipates heat to the distance measuring device 100, the fan 80 blows air towards the base 11, the cold air blown out by the fan 80 absorbs heat on the base 11 (the heat generated by the scanning module 20, the distance measuring module 30, etc. and conducted to the base 11) and then becomes hot air, and the hot air is blown out from the two air outlets 732 through the heat dissipation air duct 73, so that the heat on the housing 11 is taken away, heat dissipation to the distance measuring device 100 is realized, and the heat dissipation efficiency is high. Since the heat of the distance measuring device 100 is mainly concentrated on the base 11, the heat dissipation structure 200 is disposed on the base 11 and blows cold air to the base 11, and the hot air is guided out from both sides, so that the heat dissipation efficiency can be improved to the maximum extent.

It is understood that, further, the heat dissipation structure 200 may further include a plurality of heat dissipation fins 90 disposed at intervals on the base 11. The plurality of fins 90 are housed in the heat dissipation air duct 73 and are provided on the air path from the air inlet 731 to the air outlet 732. The heat sink 90 includes a first surface 91 and a second surface 92 opposite to each other, the first surface 91 of each heat sink 90 is attached to the baffle 71, and the second surface 92 is attached to the base bottom surface 1111. In the present embodiment, the plurality of heat dissipation fins 90 includes at least one first heat dissipation fin 93 and a plurality of second heat dissipation fins 94, the first heat dissipation fin 93 separates the plurality of second heat dissipation fins 94 from the joint 51, and at this time, the baffle 71, the base 11, and the first heat dissipation fin 93 together form the heat dissipation air duct 73. The plurality of second fins 94 are symmetrically distributed at the two air outlets 732, a part of the second fins 94 at each air outlet 732 is vertically arranged relative to the first side 83, and a part of the second fins 94 is obliquely arranged relative to the first side 83. When the heat dissipation structure 200 dissipates heat of the distance measuring device 100, the fan 80 blows air towards the base 11, the cold air blown by the fan 80 absorbs heat on the base 11 (the heat generated by the scanning module 20, the distance measuring module 30, etc. and transferred to the base 11) and then becomes hot air, and the hot air still takes away heat on the heat dissipation sheet 90 and blows out the heat from the two air outlets 732 when passing through the heat dissipation air duct 73, so that the heat on the housing 11 is taken away, and the heat dissipation of the distance measuring device 100 is realized. Because the radiating fins 93 are additionally arranged, heat concentrated on the base 11 can be conducted to the radiating fins 93, the radiating area is increased, and the radiating fins 93 are arranged in the radiating air duct 73, so that the heat on the radiating fins 93 can be quickly led out from the air outlets 732 on the two sides along with the air flow, and the radiating efficiency is further improved. In addition, since the first heat sink 93 separates the plurality of second heat sinks 94 from the joint 51, the first surface 91 of each heat sink 90 is attached to the baffle 71, and the second surface 92 is attached to the base bottom surface 1111, the influence of wind flow entering the baffle through hole 711 on the normal operation of the joint 51 is avoided.

Referring to fig. 20 to 22, another distance detecting apparatus 1000 is provided in an embodiment of the present disclosure, where the distance detecting apparatus 1000 includes a distance measuring device 100 and a heat dissipation structure 200.

The ranging apparatus 100 includes a housing 10 and a plurality of ranging assemblies 20 a. A plurality of ranging assemblies 20a are mounted within the housing 10. The field ranges of two adjacent ranging assemblies 20a have an overlapping portion, and each ranging assembly 20a is used for measuring the distance between the object to be measured in the corresponding field range and the distance detection device 1000. By arranging a plurality of ranging assemblies 20a, a larger field range relative to one ranging assembly 20a can be obtained, the total field range of the distance detection device 1000 is increased, and meanwhile, the field ranges of two adjacent ranging assemblies 20a are overlapped, so that a field blind area between two adjacent ranging assemblies 20a is avoided. In addition, because the plurality of ranging assemblies 20a are all pre-installed in the same shell 10, calibration parameters such as relative positions among the plurality of ranging assemblies 20a are relatively fixed, and when the plurality of ranging assemblies 20a are required to perform ranging together, calibration for the plurality of ranging assemblies 20a is not required any more, so that the operation is simplified.

Specifically, the plurality of distance measuring assemblies 20a may be the same or different in type and structure, or at least two distance measuring assemblies 20a of the same type and structure and the distance measuring assemblies 20a of different types and structures may be included in the plurality of distance measuring assemblies 20a, which is not limited herein. In the embodiment of the present application, the plurality of distance measuring assemblies 20a are identical in type and structure, so as to save replacement and maintenance costs.

Referring to fig. 2 and 4, the distance measuring device 100 further includes a flexible connecting member 40, a circuit board assembly 50, a heat conducting element 61, a sealing member 62, and a sound absorbing member 63. The specific structures of the plurality of distance measuring assemblies 20a, the housing 10, the circuit board assembly 50, the heat conducting element 61, the sealing element 62, and the sound absorbing element 63 may be described with reference to the structure of the distance measuring device 100 in any of the above embodiments, and for the same parts, detailed descriptions are omitted, and different parts will be described with emphasis.

The number of the distance measuring assemblies 20a is plural, and the plural number may be two or more, in the embodiment of the present application, the number of the distance measuring assemblies 20a is three as an example for explanation, it is understood that the specific number of the distance measuring assemblies 20a is not limited to three, and may be other, for example, four, five, seven, and the like. The plurality of distance measuring units 20a may be radially installed in the housing 10, that is, the plurality of distance measuring units 20a may emit detection signals (laser pulses) around a common point as a center. In one example, the included angles of the central axes of any two adjacent distance measuring assemblies 20a are equal. Of course, in other embodiments, the included angle between the central axes of the two distance measuring assemblies 20a may not be equal. The central axis can be understood as a straight line where the emitted laser is located when the laser direction is not changed through the prism 23; alternatively, the central axis may be understood as a straight line on which the rotation axis 2235 of the rotor 223a is located.

The included angle of the central axes of the two adjacent distance measuring assemblies 20a is smaller than half of the sum of the field angles of the two adjacent distance measuring assemblies 20a, so that the field angles of the two adjacent distance measuring assemblies 20a necessarily have an overlapping part, and a blind area of a field of view cannot be formed between the two distance measuring assemblies 20 a. Specifically, in one example, the included angle of the central axes of two adjacent distance measuring assemblies 20a is smaller than 80% or 90% of the field angle of any one distance measuring assembly 20a of the two adjacent distance measuring assemblies 20 a; in yet another example, the included angle of the central axes of two adjacent distance measuring assemblies 20a is greater than 30% of the field angle of any one distance measuring assembly 20a of the two adjacent distance measuring assemblies 20a, so that the total field range of the distance detecting device 1000 is not too small while a blind field region is not formed between the two adjacent distance measuring assemblies 20 a. The size of the field of view of the plurality of ranging assemblies 20a may be equal or unequal, and may be set according to the requirement.

Referring to fig. 23 and 24, the housing 10 includes a base 11, a plurality of mounting seats 13 disposed on the base 11, a cover 12 and a protection cover 14.

A plurality of ranging assemblies 20a are mounted on the base 11, and specifically, each ranging assembly 20a is mounted on the base 11 through one mounting seat 13. And the mounting relationship between each ranging assembly 20a and the mount 13, the structure of each mount 13 being the same, etc. may refer to the description of the above embodiments. The difference is that the overall shape of the base 11 is different, and a plurality of sets of mounting structures matched with the distance measuring assembly 20a are formed on the base 11, for example, a plurality of sets of mounting seats 13, a plurality of sets of positioning pillars 113, a plurality of mounting spaces 1122, a plurality of intermediate walls 110, a plurality of sets of mounting protrusions 114, a plurality of receiving spaces 1124, and the like, and the plurality of mounting spaces 1122, the plurality of receiving spaces 1124, and the plurality of intermediate walls 110 may be connected to each other.

Referring to fig. 25, the base 11 and the cover 12 are combined together to form a receiving cavity 10a, and the plurality of distance measuring units 20a are received in the receiving cavity 10a and mounted on the base 11. Specifically, the base 11 and the cover 12 are combined to form a sealed receiving cavity 10a, so as to prevent dust, moisture and the like from entering the receiving cavity 10a, and noise generated by the operation of the distance measuring assembly 20a is not easy to enter the outside from the receiving cavity 10 a. The base 11 includes a bottom plate 111 and an annular limiting wall 112 extending from the bottom plate 111, the cover 12 includes a cover top wall 121 and a cover side wall 122 surrounding the cover top wall 121, and the cover side wall 122 is mounted on the bottom plate 111 and surrounds the limiting wall 112. The distance detecting apparatus 1000 further includes an annular sealing member 62, the annular sealing member 62 being disposed on the bottom plate 111 and surrounding the position-restricting wall 112, the sealing member 62 being located between the cover body side wall 122, the position-restricting wall 112 and the bottom plate 111. The sealing method between the base 11 and the cover 12 may be the same as that of the above embodiment, and may be different from the outer contour of the base 11, the outer contour of the cover 12, the specific shape of the seal 62, and the like.

The cover 12 includes a cover sidewall 122, and a transparent area 1220 is formed on the cover sidewall 122, and the transparent area 1220 is used for allowing the distance measuring signal emitted from the distance measuring assembly 20a to pass through. The transparent region 1220 may be a region made of a transparent material on the cover sidewall 122, the transparent region 1220 may also be a through hole formed on the cover sidewall 122, and a distance measuring signal (e.g., a laser pulse) may pass through the transparent region 1220 to pass into or out of the receiving cavity 10 a. The area of the cover sidewall 122 other than the light-transmitting area 1220 may be a non-light-transmitting area 1223, and the distance measuring signal cannot pass through the non-light-transmitting area 1223, so as to prevent the signal entering from the non-light-transmitting area 1223 from interfering with the distance measuring assembly 20 a.

Specifically, the cover sidewall 122 includes a first cover sidewall 1221 and a second cover sidewall 1222. The first cover sidewall 1221 and the second cover sidewall 1222 are located at opposite ends of the cover top wall 121. When the distance measuring assembly 20a is installed in the receiving cavity 10a, the scanning module 20 can be close to the first cover sidewall 1221, and the distance measuring module 30 can be close to the second cover sidewall 1222.

The cover sidewall 122 (the first cover sidewall 1221) includes a plurality of cover sub-sidewalls 1224, each cover sub-sidewall 1224 having a light-transmissive region 1220 formed thereon, each light-transmissive region 1220 being for passing through a distance measuring signal emitted from a corresponding distance measuring assembly 20 a. In addition, the ranging signal passing through each light-transmitting region 1220 may be received by a corresponding one of the ranging assemblies 20 a. Each ranging module 20a corresponds to a specific transparent area 1220, so as to reduce mutual interference among the ranging modules 20 a.

Referring to fig. 20 and 23, in some embodiments, a plurality of cover sub-sidewalls 1224 are connected in series, the cover sub-sidewalls 1224 are flat, and at least two of the cover sub-sidewalls 1224 are in different planes. In the embodiment of the present application, the plurality of cover sub-sidewalls 1224 are all in different planes, and the included angle between two adjacent cover sub-sidewalls 1224 may be the same, for example, 120 degrees. In one example, each cover sub-sidewall 1224 may lie in a plane that is perpendicular to the rotational axis 2235 of the rotor 223a of the corresponding ranging assembly 20 a. Since the light-transmitting area 1220 is formed on the cover sub-sidewall 1224, and the cover sub-sidewall 1224 is flat, when the light-transmitting area 1220 is a portion of the cover sub-sidewall 1224 made of a light-transmitting material, the overall shape of the light-transmitting area 1220 is also flat, and the flat light-transmitting area 1220 has little influence on parameters such as the propagation direction of the ranging signal, for example, does not cause excessive refraction of the ranging signal; when light-transmitting area 1220 is a through hole on cover sub-sidewall 1224, it is easier to mount a planar lens on cover sub-sidewall 1224 having a flat shape, and the planar lens has less influence on the distance measurement signal, compared to disposing cover sub-sidewall 1224 having a non-flat shape, such as an arc shape.

In some embodiments, each of the plurality of cover sub-sidewalls 1224 has a flat shape, and two adjacent cover sub-sidewalls 1224 are connected by an arc-shaped sub-sidewall. The curved sub-sidewalls make the transition at the junction of two adjacent cover sub-sidewalls 1224 more gradual, and the cover 12 is less likely to generate stress concentration when it is impacted.

Referring to fig. 23 to 25, the protection cover 14 is installed at the light-transmitting region 1220 of the cover 12, and a distance measuring signal (e.g., laser) can be emitted from the protection cover 14 to the outside of the housing 10. The base 11, the cover 12 and the protective cover 14 together form a sealed housing chamber 10 a. The protective cover 14 can be detachably or fixedly installed at the light-transmitting region 1220, and in this case, the light-transmitting region 1220 can be a through hole. The laser pulse passing through the prism 23 can be emitted from the protective cover 14 to the outside of the housing 10, and the base 11, the cover 12, and the protective cover 14 together form a sealed housing chamber 10 a. At this time, the protective cover 14 is made of a material having high light transmittance such as plastic, resin, glass, or the like. When the protection cover 14 is detachably installed at the light-transmitting region 1220 of the cover 12, on one hand, the protection cover 14 is conveniently replaced, and on the other hand, the protection cover 14 is conveniently cleaned, so that the influence of impurities accumulated in the light-transmitting region 1220 on the light path of the laser beam is avoided, and the distance detection precision is reduced.

The circuit board assembly 50 has the same structure as the first electrical connector 52, the second electrical connector 53 and the electrical adjusting plate 54 of the circuit board assembly 50 in the above embodiment, except that the circuit board assembly 50 of the present embodiment includes an adapter plate 55 and a connector 51. The adapter plate 55 is installed in the housing 10, the adapter plate 55 is installed on the base 11, the adapter plate 55 is electrically connected to the plurality of distance measuring assemblies 20a, and specifically, the connection lines led out from the plurality of distance measuring assemblies 20a can be led to the adapter plate 55 through the accommodating space 1124, so that the plurality of distance measuring assemblies 20a can be connected through one adapter plate 55 without leading out the lines of the plurality of distance measuring assemblies 20a from the housing 10 respectively. The adapter plate 55 is used for fusing the ranging results of the plurality of ranging assemblies 20a and outputting the fused ranging results from the connector 51; alternatively, the adapter plate 55 is used to output the ranging results of the plurality of ranging assemblies 20a from the connectors 51, respectively. The connector 51 is connected to the adapter plate 55 and is used to connect an external device, which in this case may be an external device that provides power or control signals to the ranging assembly 20 a.

Referring to fig. 22 to 24, the heat dissipation structure 200 includes a baffle assembly 70 and a fan 80. The baffle assembly 70 and the fan 80 are disposed on the housing 10, the baffle assembly 70 and the housing 10 together form a heat dissipation air duct 73, the heat dissipation structure 200 forms an air inlet 731 and an air outlet 732 which are communicated with the heat dissipation air duct 73 and the outside of the distance detection device 1000, and the fan 80 is disposed in the heat dissipation air duct 73 and located at the air inlet 731 and/or the air outlet 732.

Specifically, referring to fig. 20 and 21, the baffle assembly 70 includes a first baffle 72 and a second baffle 74. The first shutter 72 is provided on the base 11, and the second shutter 74 is provided on the cover side wall 122. The first baffle 72, the second baffle 74, the base 11 and the cover sidewall 122 together form a heat dissipation air duct 73. An air inlet 731 is arranged at one end of the first baffle plate 72, which is far away from the second baffle plate 74, an air outlet 732 is formed on the second baffle plate 74, and the fan 80 is arranged at the air outlet 732. Specifically, the plurality of distance measuring assemblies 20a and the first baffle 72 are respectively disposed on opposite sides of the base 11, and heat generated by the plurality of distance measuring assemblies 20a can be transferred into the heat dissipation air duct 73 through the base 11. The fan 80 may be an axial flow fan, and the fan 80 is configured to establish an airflow entering from the air inlet 731, flowing through the heat dissipation air duct 73, and flowing out from the air outlet 732, where the airflow can take away heat transferred by the base 11 to dissipate heat of the plurality of distance measuring assemblies 20 a. The air outlet 732 is formed on the second baffle 74, and the air inlet 731 is disposed at an end of the first baffle 72 away from the second baffle 74, so as to extend the length of the heat dissipation air duct 73, and facilitate sufficient heat exchange between the air flow and the base 11 in the heat dissipation air duct 73.

The second shutter 74 is provided on the second cover side wall 1222. The number of the air outlets 732 and the number of the fans 80 are both two, and the two fans 80 are respectively installed at the two air outlets 732. The two fans 80 can increase the air volume and the air speed flowing through the heat dissipation air duct 73, so as to facilitate the rapid removal of heat in the heat dissipation air duct 73. The second blocking plate 74 is formed with a blocking plate through hole 711, the connector 51 penetrates through the cover sidewall 122 from the containing cavity 10a, one end of the connector 51 far away from the containing cavity 10a extends from the blocking plate through hole 711 to the second blocking plate 74, and the other end of the connector 51 is used for connecting the distance measuring assembly 20 a. Specifically, the two air outlets 732 may be respectively located at both sides of the baffle penetration hole 711.

Referring to fig. 21 and 22, the heat dissipation structure 200 may further include a plurality of heat dissipation fins 90 disposed on the base 11 at intervals. The plurality of fins 90 are housed in the heat dissipation air duct 73 and are provided on the air path from the air inlet 731 to the air outlet 732. The heat sink 90 includes a first surface 91 and a second surface 92 opposite to each other, the first surface 91 of each heat sink 90 is attached to the first baffle 72, and the second surface 92 is attached to the base bottom surface 1111.

When the heat dissipation structure 200 dissipates heat from the distance measuring device 100, the fan 80 sucks air from the air outlet 723, external cold air enters the heat dissipation air duct 73 from the air inlet 731, and the cold air still carries heat from the heat dissipation fins 90 and blows out from the two air outlets 732 when passing through the heat dissipation air duct 73, so that the heat on the housing 11 is taken away, and heat dissipation of the distance measuring device 100 is realized. Because the radiating fins 93 are additionally arranged, heat concentrated on the base 11 can be conducted to the radiating fins 93, the radiating area is increased, and the radiating fins 93 are arranged in the radiating air duct 73, so that the heat on the radiating fins 93 can be quickly led out from the air outlet 732 along with the air flow, and the radiating efficiency is further improved.

Referring to fig. 22 and 23, the cover 12 further includes a partition 124 extending from the cover side wall 122 to a position far away from the containing cavity 10a, and when the second baffle 74 is disposed on the cover side wall 122, the partition 124 surrounds the baffle through hole 711 and is attached to the second baffle 74. The partition 124 separates the heat dissipation duct 73 from the joint 51, and the partition 124 surrounds the baffle through hole 711 and is attached to the second baffle 74, so that the wind flow is prevented from entering the baffle through hole 711 and affecting the normal operation of the joint 51.

Referring to fig. 26, an embodiment of the present disclosure further provides a mobile platform 2000, where the mobile platform 2000 includes a mobile platform body 3000 and the distance detecting apparatus 1000 or the distance measuring device 100 according to any of the above embodiments. Mobile platform 2000 may be a mobile platform 2000 such as an unmanned aerial vehicle, an unmanned ship, or the like. One mobile platform 2000 may be equipped with one or more range detection apparatuses 1000; or one mobile platform 2000 may be configured with one or more ranging devices 100. The distance detecting device 1000 and the distance measuring apparatus 100 may be used to detect the environment around the mobile platform 2000, so that the mobile platform 2000 further performs operations such as obstacle avoidance and track selection according to the surrounding environment.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.

Claims

1. A distance measuring device is characterized by comprising a shell, a scanning module, a distance measuring module and a flexible connecting assembly; the distance measuring module is used for transmitting laser pulses to the scanning module, the scanning module is used for changing the transmission direction of the laser pulses and then emitting the laser pulses, the laser pulses reflected back by the detection object pass through the scanning module and then enter the distance measuring module, and the distance measuring module is used for determining the distance between the detection object and the distance measuring device according to the reflected laser pulses; the housing includes a mount; the scanning module comprises a scanning shell, an optical element positioned in the scanning shell and a driver positioned in the scanning shell and used for driving the optical element to move; the scanning module passes through flexible coupling assembling connects on the mount pad, the scanning module with have the clearance between the mount pad for the scanning module provides vibration space.

2. A ranging device as claimed in claim 1 wherein there are at least two joints between the scanning module and the housing, the flexible connecting members being provided at each of the joints respectively.

3. A ranging device as claimed in claim 2, characterized in that the driver comprises a rotor for rotating the optical element;

the at least two joints are evenly distributed around the periphery of the rotor.

4. A ranging device as claimed in claim 3, characterized in that said at least two coupling portions are respectively located on at least one circumference centred on and perpendicular to the rotation axis of said rotor;

wherein the bonds on each of the circumferences are evenly distributed over the circumference.

5. A ranging device as claimed in claim 2, characterized in that the driver comprises a rotor for rotating the optical element;

two combining parts are arranged between the scanning module and the shell, and the two combining parts are symmetrically arranged about the rotating shaft of the rotor.

6. The range finder device of claim 1, wherein the scanning housing comprises opposing scanning housing top and bottom walls, and wherein the flexible connection assembly comprises a flexible connection disposed between the mount and the scanning housing, the flexible connection being located between the scanning housing top and bottom walls.

7. A ranging apparatus as claimed in claim 6 wherein the driver further comprises a rotor comprising an inner wall defining a receiving cavity, the optical element being located within the receiving cavity and secured to the inner wall, the flexible link being located closer to the rotational axis of the rotor assembly than the bottom wall of the scanning housing.

8. A ranging device as claimed in claim 6 wherein the driver further comprises a rotor comprising an inner wall forming a receiving cavity, the optical element being located within the receiving cavity and secured to the inner wall,

the scanning shell comprises a plurality of flexible connecting pieces, and connecting lines among the flexible connecting pieces and the rotating shaft of the rotor are located in the same plane.

9. A ranging apparatus as claimed in claim 1 wherein the mounting block comprises:

mounting a plate;

a mounting arm extending from the mounting plate, the mounting plate and the mounting arm together forming a mounting slot, the scanning housing being received in the mounting slot.

10. The ranging apparatus as claimed in claim 9,

the mounting plate is of an integrated structure, and the mounting arm is of an integrated structure and can be opposite to the two scanning shell side walls of the scanning shell; or

The mounting plate is of an integral structure, the mounting arm is of a split structure comprising a plurality of sub mounting arms, and at least two sub mounting arms are arranged oppositely;

the mounting plate is a split structure comprising a plurality of sub-mounting plates, and the mounting arms are of an integral structure and can be opposite to the side walls of the two scanning shells of the scanning shell; or

The mounting panel is for the components of a whole that can function independently structure including a plurality of sub-mounting panels, the installation arm is for the components of a whole that can function independently structure including a plurality of sub-installation arms, and at least two the sub-installation arm sets up relatively.

11. A ranging apparatus as claimed in claim 9 wherein the scanning housing comprises a housing body and two flanges, the housing body comprising two opposite scanning housing side walls, the two flanges extending from the two scanning housing side walls respectively, the two flanges being connected to the top end of the mounting arm by the flexible connection assembly.

12. A ranging apparatus as claimed in claim 11 wherein the driver comprises a rotor,

the central connecting line of the two flanges and the rotating shaft of the rotor are in the same plane; or

The flexible connecting assembly comprises a plurality of flexible connecting pieces arranged between the flange and the mounting arm, and a central connecting line between at least two flexible connecting pieces and a rotating shaft of the rotor are in the same plane; or

The flexible connecting assembly comprises a plurality of flexible connecting pieces arranged between the flanges and the mounting arms, and a central connecting line of two connecting parts between the flanges and the two flanges and a rotating shaft of the rotor are in the same plane.

13. A ranging apparatus as claimed in claim 12 wherein the plane is parallel to the mounting plate.

14. A ranging apparatus as claimed in claim 11 wherein the flexible linkage assembly comprises a flexible linkage and a fastener by which the flexible linkage and the flange are mounted to the top end.

15. A ranging device as claimed in claim 14, wherein the flexible connecting member comprises a flexible first supporting portion, a flexible connecting portion and a flexible second supporting portion, the first supporting portion and the second supporting portion are respectively connected to opposite ends of the connecting portion, and the flexible connecting member is provided with a through hole penetrating through the first supporting portion, the connecting portion and the second supporting portion; the flange is provided with a flange mounting hole, the connecting portion penetrates through the flange mounting hole, the first supporting portion and the second supporting portion are respectively located on two opposite sides of the flange, the fastener penetrates through the through hole and is combined with the mounting arm to connect the scanning module on the connecting arm, and the first supporting portion is located between the flange and the top end.

16. A ranging device as claimed in claim 15 wherein the cross-section of the flexible connector taken on a plane passing through the axis of the through-going hole is "i" shaped.

17. A ranging apparatus as claimed in claim 15 wherein the flexible connector further comprises a support tab projecting from the first support portion, the support tab being located between the flange and the apex.

18. The ranging apparatus as defined in claim 1, wherein the housing further comprises:

the mounting seat is mounted on the base;

the cover body is arranged on the base, the cover body and the base are combined together to form an accommodating cavity, and the scanning module is accommodated in the accommodating cavity.

19. A ranging apparatus as claimed in claim 18 wherein the cover and base combine to form a sealed housing.

20. A ranging device as claimed in claim 18 wherein the cover comprises a cover side wall, the cover side wall having a light transmissive region formed thereon for passing a ranging signal from the ranging device.

21. A ranging apparatus as claimed in claim 20, wherein the housing further comprises a protective cover mounted at the light-transmitting region of the cover, the protective cover being capable of emitting laser pulses through the optical element to the outside of the housing, the base, the cover and the protective cover together forming a sealed housing cavity, the mounting seat being housed in the housing cavity.

22. A ranging apparatus as claimed in claim 18 wherein the base comprises a base plate and an annular stop wall extending from the base plate, the cover comprises a cover top wall and a cover side wall surrounding the cover top wall, the cover side wall being mounted on the base plate and surrounding the stop wall.

23. A ranging apparatus as claimed in claim 22 further comprising an annular sealing member disposed on the base plate and surrounding the retaining wall, the sealing member being located between the cover side wall, the retaining wall and the base plate.

24. The ranging apparatus as claimed in claim 18, further comprising a sound absorbing member made of a sound absorbing material disposed on an inner surface of the receiving cavity.

25. A ranging apparatus as claimed in claim 1 wherein the scanning module, the flexible connecting member and the housing form a vibration system having a natural frequency less than or greater than a vibration frequency of the scanning module.

26. A ranging device as claimed in claim 25 wherein the scanning module comprises a rotor for rotating the optical element, the ratio of the rotational frequency of the rotor to the natural frequency of the vibration system being less than 1/3 or greater than 1.4.

27. A ranging device as claimed in claim 1 wherein the ranging module is rigidly fixed within the housing.

28. A ranging device as claimed in claim 1 wherein a gap is provided between the ranging module and the scanning module.

29. A ranging apparatus as claimed in claim 1 wherein the ranging module and the scanning module are independent of each other.

30. A ranging apparatus as claimed in claim 1 wherein the ranging module further comprises a light path altering element and a collimating element;

the light path changing element is positioned on one side of the collimation element, which is back to the scanning module, and is used for combining an emergent light path of the light source with a receiving light path of the detector;

the collimation element is used for projecting the laser pulse from the light source to the scanning module after being collimated, and is used for converging the light beam from the scanning module to the detector.

31. A ranging apparatus as claimed in claim 1 wherein the optical element is located on an exit path of the laser light pulses from the light source, the optical element has a non-uniform thickness, and the driver drives the optical element to rotate to change a direction of transmission of the laser light through the optical element.

32. A ranging apparatus as claimed in claim 1, characterized in that said driver comprises:

the rotor assembly rotates around a rotating shaft and comprises an inner wall surrounding the rotating shaft, and a containing cavity capable of containing the optical element is formed in the inner wall;

the stator component is used for driving the rotor component to rotate around the rotating shaft;

and the positioning assembly is positioned outside the containing cavity and used for limiting the rotor assembly to rotate by taking the fixed rotating shaft as a center.

33. The range finder device of claim 1, further comprising a first electrical connector comprising a first scan connection portion for connecting with the scan module, a first range finding connection portion for connecting with the range finding module, and a flexible first bend portion between the first scan connection portion and the first range finding connection portion.

34. The range finder device of claim 33, wherein the scanning housing comprises a scanning housing top wall, the range finding module comprises a range finding housing, and the range finding housing comprises a range finding housing top wall;

the first scanning connecting part and the first distance measuring connecting part are connected to two opposite ends of the first bending part respectively, the first scanning connecting part is arranged on the top wall of the scanning shell, and the first distance measuring connecting part is arranged on the top wall of the distance measuring shell.

35. The range finder device according to claim 33, wherein the first bending portion comprises a first sub-bending portion and a second sub-bending portion, opposite ends of the first sub-bending portion are respectively connected to the first scanning connection portion and the second sub-bending portion, opposite ends of the second sub-bending portion are respectively connected to the first range finding connection portion and the first sub-bending portion, and the first sub-bending portion and the second sub-bending portion are respectively located in two different planes.

36. The range finder device according to claim 35, wherein the first scan connection portion and the first sub-bending portion are in a same plane, and the first scan connection portion and the first range finder connection portion are in two different planes.

37. The range finder device of claim 1, wherein the scanning housing comprises a scanning housing bottom wall and a scanning housing side wall, the range finding module comprises a range finding housing, and the range finding housing comprises a range finding housing side wall; the distance measuring device further comprises a second electric connecting piece, the second electric connecting piece comprises a second scanning connecting portion, a second distance measuring connecting portion and a flexible second bending portion, the second scanning connecting portion and the second distance measuring connecting portion are connected to two opposite ends of the second bending portion respectively, the second scanning connecting portion is arranged on the bottom wall of the scanning shell, and the second distance measuring connecting portion is connected with the side wall of the distance measuring shell after passing through the side wall of the scanning shell.

38. The range finder device according to claim 37, wherein the second bending portion comprises a third sub-bending portion and a fourth sub-bending portion, opposite ends of the third sub-bending portion are respectively connected to the second scan connecting portion and the fourth sub-bending portion, opposite ends of the fourth sub-bending portion are respectively connected to the second range finding connecting portion and the third sub-bending portion, and the third sub-bending portion and the fourth sub-bending portion are respectively located in two different planes.

39. The range finder device of claim 38, wherein the second range finder connector and the fourth sub-bent portion are in the same plane, and the second scan connector and the second range finder connector are in two different planes.

40. A ranging device as claimed in any of claims 1 to 39 wherein the optical element comprises a prism located in the path of the outgoing laser pulses through the light source, the prism comprising a first end and a second end, the first and second ends being located at respective opposite ends of the prism in the radial direction, the thickness of the prism decreasing in the direction from the first end to the second end.

41. A distance detection apparatus characterized by comprising:

a ranging apparatus as claimed in any of claims 1 to 40; and

the heat dissipation structure comprises a baffle assembly and a fan, the baffle assembly and the fan are arranged on the shell, the baffle assembly and the shell are jointly formed with a heat dissipation air channel, the heat dissipation structure is provided with a communicating part, the heat dissipation air channel reaches an air inlet and an air outlet outside the distance detection device, and the fan is arranged in the heat dissipation air channel and is positioned at the air inlet and/or the air outlet.

42. A mobile platform, comprising:

a mobile platform body; and

a ranging apparatus as claimed in any of claims 1 to 40 or a range finding device as claimed in claim 41 mounted on the body of the mobile platform.