CN111670337A - Distance measuring device and mobile platform - Google Patents

Abstract

A mobile platform (1000) and a distance measuring device (100) are provided. Distance measuring device (100) includes base (10), two supports (30), range finding module (60), scanning module (40) and a plurality of flexible coupling assembling (50), two supports (30) are all fixed on base (10), range finding module (60) are used for launching light pulse, scanning module (40) are used for changing the transmission direction back outgoing of light pulse, scanning module (40) set up with range finding module (60) interval, scanning module (40) are including scanning casing (41), two supports (30) are located the both sides of carrying on the back of the body of scanning casing (41) respectively, every support (30) are connected with scanning casing (41) through two at least flexible coupling assembling (50).

Description

Distance measuring device and mobile platform Technical Field

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

Background

The conventional distance measuring device includes a scanning module, which includes a driver and an optical element, wherein the driver is used to drive the optical element to rotate so as to change the laser passing through the optical element. When the driver drives the optical element to rotate, the scanning module inevitably generates vibration and noise, and the scanning module easily causes the reduction of the distance measurement precision of the distance measurement device when vibrating.

Disclosure of Invention

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

The distance measuring device comprises a base, two supports, a distance measuring module, a scanning module and a plurality of flexible connecting assemblies, wherein the two supports are fixed on the base; the distance measurement module is used for emitting light pulses; the scanning module is used for changing the transmission direction of the optical pulse and then emitting the optical pulse, the scanning module and the ranging module are arranged at intervals, the scanning module comprises a scanning shell, and the two supports are respectively positioned on two opposite sides of the scanning shell; each bracket is connected with the scanning shell through at least two flexible connecting components.

The application discloses moving platform includes the moving platform body and the aforesaid range unit, the range unit is installed on the moving platform body.

According to the mobile platform and the distance measuring device, the support is fixed on the base, the scanning module is mounted on the support through the flexible connecting assembly, and the flexible connecting assembly enables the scanning module and the base not to be in direct contact, so that vibration of the scanning module can be reduced or even prevented from being transmitted to the base; and because scanning module and range finding module interval set up, therefore can reduce and even avoid the vibration transmission of scanning module to the range finding module on to the detection precision of range finding device has been promoted.

Additional aspects and advantages 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 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 partially exploded schematic view of a distance measuring device according to some embodiments of the present application.

Fig. 2 is a partial perspective view of the distance measuring device shown in fig. 1.

Fig. 3 is a partially exploded perspective view of the ranging apparatus shown in fig. 2.

Fig. 4 is a perspective view of a bracket of the ranging apparatus shown in fig. 3.

Fig. 5 is a schematic exploded perspective view of a scanning module of the distance measuring device shown in fig. 3.

Fig. 6 is a partially exploded perspective view of the ranging apparatus shown in fig. 3.

Fig. 7 is an exploded perspective view of the three mounts of the scan module shown in fig. 5.

Fig. 8 is an exploded perspective view of the three supports of the scan module of fig. 5 from another perspective.

Fig. 9 is a cross-sectional view of a portion of the scan module shown in fig. 4.

Fig. 10 is a cross-sectional view of a portion of the scan module shown in fig. 4.

Fig. 11 is an enlarged schematic view of the scanning module XI shown in fig. 10.

Fig. 12 is an enlarged schematic view of the scanning module XII shown in fig. 10.

Fig. 13 and 14 are schematic cross-sectional views of a partial structure of a scanning module according to some embodiments.

Fig. 15 is a perspective view of the rotor of the scan module shown in fig. 9.

Fig. 16 is a perspective view of the rotor of the scan module shown in fig. 9 from another perspective.

Fig. 17 and 18 are schematic optical path diagrams of a scan module according to some embodiments.

FIG. 19 is a diagram illustrating phase angles of a scan module according to some embodiments.

FIG. 20 is a schematic view of the optical path of the scan module according to some embodiments.

FIG. 21 is a top view of the ranging module shown in FIG. 2.

FIG. 22 is a cross-sectional view of the distance measuring module shown in FIG. 21 taken along line XXII-XXII.

Fig. 23 is an enlarged schematic view at XXIII of the distance measuring module shown in fig. 22.

Fig. 24 is an enlarged schematic view at XXIV in the ranging module shown in fig. 22.

Fig. 25 is a schematic view of a distance measuring principle of a distance measuring device according to some embodiments of the present disclosure.

Fig. 26 is a circuit diagram of a distance measuring module of a distance measuring device according to some embodiments of the present disclosure.

Fig. 27 is another distance measuring principle schematic diagram of a distance measuring device according to some embodiments of the present application.

FIG. 28 is a schematic plan view 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, a distance measuring device 100 of the present application includes a base 10, two supports 30, a distance measuring module 60, a scanning module 40, and a plurality of flexible connecting components 50, wherein the two supports 30 are fixed on the base 10. The distance measuring module 60 is used for emitting light pulses. The scanning module 40 is used for changing the transmission direction of the light pulse and then emitting the light pulse, the scanning module 40 and the ranging module 60 are arranged at intervals, the scanning module 40 comprises a scanning shell 41, and the two supports 30 are respectively located on two opposite sides of the scanning shell 41. Each carriage 30 is connected to the scanning housing 41 by at least two flexible linkage assemblies 50.

The support 30 in the distance measuring device 100 of the present application is fixed on the base 10, the scanning module 40 is installed on the support 30 through the flexible connecting assembly 50, and the flexible connecting assembly 50 enables no direct contact between the scanning module 40 and the base 10, so that the vibration of the scanning module 40 can be reduced or even prevented from being transmitted to the base 10; and because scanning module 40 and ranging module 60 interval set up, therefore can reduce and even avoid scanning module 40's vibration to transmit to ranging module 60 on to the detection precision of range unit 100 has been promoted.

Referring to fig. 1 and 25, the distance measuring apparatus 100 includes a base 10, a cover 20, two supports 30, a scanning module 40, a plurality of flexible connecting members 50, and a distance measuring module 60. The two supports 30 are fixed on the two opposite sides of the base 10. The scanning module 40 and the distance measuring module 60 are arranged on the base 10 at intervals and located between the two brackets 30, and each bracket 30 is connected with the scanning module 40 through at least two flexible connecting components 50. The distance measuring module 60 is used for emitting laser pulses to the scanning module 40, the scanning module 40 is used for changing the transmission direction of the laser pulses and then emitting the laser pulses, the laser pulses reflected by the detector pass through the scanning module 40 and then enter the distance measuring module 60, and the distance measuring module 60 is used for determining the distance between the detector and the distance measuring device 100 according to the reflected laser pulses. The ranging apparatus 100 may detect the distance of the probe to the ranging apparatus 100 by measuring a Time of Flight (TOF), which is a Time-of-Flight (Time-of-Flight) Time of light propagation between the ranging apparatus 100 and the probe. Alternatively, the distance measuring device 100 may detect the distance from the object to be detected to the distance measuring device 100 by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.

Referring to fig. 2 and 3, the base 10 includes a base body 11, a first mounting seat 12 and a second mounting seat 13, and the base body 11 is a plate-shaped structure. The first and second mounting seats 12 and 13 are formed on the top 111 of the base body 11. The first mounting seat 12 may be a mounting wall formed by protruding from the top 111 of the base body 11, the mounting wall is provided with a first base mounting hole 121, and an axial direction of the first base mounting hole 121 is parallel to the top 111 of the base body 11.

Referring to fig. 22 to 24, the second mounting seat 13 may be a base boss protruding from the top 111 of the base body 11, the base boss is provided with a base mounting groove 131, the bottom of the base mounting groove 131 is provided with a second base mounting hole 132, an axial direction of the second base mounting hole 132 is perpendicular to the top 111 of the base body 11, and an axial direction of the second base mounting hole 132 is perpendicular to an axial direction of the first base mounting hole 121. The base body 11 of the present embodiment is a rectangular plate-shaped structure, the number of the first mounting seats 12 and the second mounting seats 13 is two, the two first mounting seats 12 are respectively located on two opposite sides of the base body 11 and are symmetrical with respect to a symmetry plane of the base body 11, the two second mounting seats 13 are also respectively located on two opposite sides of the base body 11 and are symmetrical with respect to the symmetry plane of the base body 11, the first mounting seats 12 and the second mounting seats 13 on the same side are arranged at intervals along a long side of the base body 11, and the above symmetry plane is a plane parallel to the long side of the base body 11 and perpendicular to a short side of the base body 11.

Referring to fig. 1 to 3 again, the cover 20 is disposed on the base 10 and forms an accommodating space together with the base 10, and the cover 20 includes a cover top wall 21 and an annular cover side wall 22. Specifically, the cover top wall 21 is a plate-shaped structure, and the shape of the cover top wall 21 matches the shape of the base body 11. In this embodiment, the shape of the top wall 21 of the cover body matches the shape of the base 10 and has a rectangular plate-like structure. The cover side wall 22 is formed extending from one surface of the cover top wall 21, and the cover side wall 22 is provided at the edge of the cover top wall 21 and surrounds the cover top wall 21. The end of the cover side wall 22 away from the cover top wall 21 can be mounted on the base 10 and around the center of the base body 11 by any one or more of screw connection, snap connection, gluing, welding, etc. The cover 20 of the present embodiment is fixed to the base 10 by the locking member 14, and more specifically, the locking member 14 passes through the base body 11 from the bottom side of the base 10 and is combined with the side wall 22 of the cover, and the locking member 14 may be a screw.

The cover sidewall 22 includes a first cover sidewall 221 and a second cover sidewall 222. The first cover sidewall 221 and the second cover sidewall 222 are located at opposite ends of the cover top wall 21. In one example, the first cover side wall 221 and the second cover side wall 222 are respectively provided on short sides of the cover top wall 21. The first cover sidewall 221 is formed with a transparent area 2211, the area of the first cover sidewall 221 except for the transparent area 2211 is a non-transparent area 2212, and the transparent area 2211 is used for the distance measuring signal emitted by the distance measuring module 60 to pass through. The light-transmitting area 2211 can be made of materials with high light transmittance, such as plastic, resin, glass, etc., and the non-light-transmitting area 2212 can be made of metals with low light transmittance, such as copper, aluminum, etc., which are heat-conductive, wherein preferably, the light-transmitting area 2211 can be made of heat-conductive plastic, which not only meets the light-transmitting requirement, but also meets the heat dissipation requirement. In one example, the light-transmissive region 2211 is substantially circular. In one example, the light-transmissive region 2211 is substantially rectangular, e.g., square.

Referring to fig. 3 and 4, the bracket 30 is mounted on the base 10. The number of the brackets 30 in the embodiment of the present application is two, and the two brackets 30 are respectively installed at opposite sides of the base 10. Each bracket 30 includes a fixing arm 31, a connecting arm 33, and a coupling arm 32.

The fixing arm 31 includes a plurality of fixing portions 310 and a second coupling portion 313, and the fixing arm 31 is mounted on the base 10 through the plurality of fixing portions 310. The number of the fixing portions 310 of the present embodiment is two, the two fixing portions 310 are respectively a first fixing portion 311 and a second fixing portion 312, the first fixing portion 311 and the second fixing portion 312 are respectively located at two opposite ends of the fixing arm 31, and both the first fixing portion 311 and the second fixing portion 312 are rigidly connected to the base 10. The first fixing portion 311 and the second fixing portion 312 are respectively fixed on the first mounting seat 12 and the second mounting seat 13 on the same side of the base 10 by a fixing member 36 (e.g. a locking screw), specifically, the first fixing portion 311 is disposed on the base body 11 and located on one side of the mounting wall, and the fixing member 36 passes through the first base mounting hole 121 and is combined with the first fixing portion 311 to fix the first fixing portion 311 on the first mounting seat 12; the second fixing portion 312 is disposed in the base mounting groove 131, and the fixing member 36 passes through the second fixing portion 312 and is combined with the second base mounting hole 132 to mount the second fixing portion 312 on the second mounting base 13. The second coupling portion 313 is located between the first fixing portion 311 and the second fixing portion 312, the second coupling portion 313 is spaced apart from the top portion 111 of the base body 11, a bracket mounting hole is formed in the second coupling portion 313, and the bracket mounting hole formed in the second coupling portion 313 is defined as a second bracket mounting hole 3131.

One end of the connecting arm 33 is connected to the first fixing portion 311, and the other end of the connecting arm 33 extends in a direction away from the base body 11.

One end of the coupling arm 32 is connected to one end of the connecting arm 33 away from the first fixing portion 311, the other end of the coupling arm 32 extends toward the side away from the fixing arm 31 and is a free end, and the coupling arm 32 is parallel to the top portion 111 of the base body 11. One end of the coupling arm 32 away from the connecting arm 33 is provided with a first coupling portion 321, and the second coupling portion 313 is closer to the base body 11 than the first coupling portion 321. The first coupling portion 321 has a bracket mounting hole, and the bracket mounting hole formed in the first coupling portion 321 is defined as a first bracket mounting hole 3211. In one example, the center of the first fixing portion 311, the center of the second fixing portion 312, the center of the first coupling portion 321, and the center of the second coupling portion 313 are located in the same plane. When the distance measuring device 100 is shocked by external impact, the rotation moment received by the bracket 30 and the scanning module 40 connected to the bracket 30 is small, and the direction of the moment is perpendicular to the plane where the center of the fixing portion 310, the center of the first combining portion 321 and the center of the second combining portion 313 are located, so that the overturning of the distance measuring device 100 caused by external impact can be reduced or even avoided.

Referring to fig. 3, 5, 9 and 25, the scan module 40 is mounted on the base 10 through the bracket 30 and is accommodated in the accommodating space, and the scan module 40 is spaced apart from the base 10. The scan module 40 includes a scan housing 41, a first driver 42, a second driver 43, a third driver 44, a first optical element 45, a second optical element 46, a third optical element 47, a controller 49a and a detector 49 b. The first driver 42 is configured to drive the first optical element 45 to move, so as to change the transmission direction of the laser pulse passing through the first optical element 45. The second driver 43 is used to drive the second optical element 46 in motion to change the direction of transmission of the laser pulses through the second optical element 46. The third driver 44 is used to drive the third optical element 47 in motion to change the direction of transmission of the laser pulses through the third optical element 47. The three optical elements (the first optical element 45, the second optical element 46 and the third optical element 47) cooperate with each other to change the propagation direction of the optical path and to make the scanning module 40 have a larger field of view.

In one example, first Optical element 45, second Optical element 46, and third Optical element 47 may include lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, Optical Phased arrays (Optical Phased arrays), or any combination thereof. In one example, at least one of the first, second and third optical elements 45, 46, 47 is a light refracting element having non-parallel light exiting and entering surfaces, which refracts light beams to exit in different directions when the light refracting element rotates. In one example, the light refracting element is a wedge prism.

In one example, at least some of the optical elements (first optical element 45, second optical element 46, and third optical element 47) are moved, for example, by actuators (first actuator 42, second actuator 43, and third actuator 44) that reflect, refract, or diffract the light beam into different directions at different times. In some embodiments, multiple optical elements of the scanning module 40 can rotate or oscillate about a common axis, with each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the optical elements of the scan module 40 can rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 40 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the optical elements of the scanning module 40 may also rotate in the same direction, or rotate in different directions; or in the same direction, or in different directions, without limitation.

The first driver 42, the second driver 43, and the third driver 44 may drive the optical elements (the first optical element 45, the second optical element 46, and the third optical element 47) 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 elements (the first optical element 45, the second optical element 46, and the third optical element 47) include prisms.

The scanning housing 41 may be used as a housing of the scanning module 40, and the scanning housing 41 may be used to mount components such as the first driver 42, the second driver 43, the third driver 44, the first optical element 45, the second optical element 46, the third optical element 47, the controller 49a, and the detector 49 b. The scanning housing 41 may be an integral structure, and the scanning housing 41 may also be formed by combining a plurality of separate structures, for example, please refer to fig. 6 to 8, the scanning housing 41 may include at least any two of the first support 411, the second support 412, and the third support 413, and also include a first mounting portion 414 and a second mounting portion 415, for example, the scanning housing 41 includes the first mounting portion 414, the second mounting portion 415, the first support 411, and the second support 412; alternatively, the scanning housing 41 includes a first mounting portion 414, a second mounting portion 415, a second support 412, and a third support 413; alternatively, the scanning housing 41 includes a first mounting portion 414, a second mounting portion 415, a first support 411, and a third support 413; alternatively, the scan housing 41 includes a first mounting portion 414, a second mounting portion 415, a first support 411, a second support 412, and a third support 413. The following description will be given only by way of example in which the scan housing 41 includes a first mounting portion 414, a second mounting portion 415, a first holder 411, a second holder 412, and a third holder 413.

Referring to fig. 5 to 8, the first support 411 may be used to mount the first driver 42 and the first optical element 45. The first holder 411 may be the one on the scanning housing 41 that is farthest from the ranging module 60. The first holder 411 includes a first holder body 4111. The first holder body 4111 may have a hollow structure, the hollow portion forms a first accommodating cavity 4119, in this embodiment, the outer contour of the first holder body 4111 is generally rectangular, the shape of the hollow portion may be circular, and the first driver 42 and the first optical element 45 may be installed in the first accommodating cavity 4119. In this embodiment, the first housing body 4111 includes a first housing top surface 4115 and two first housing side surfaces 4116, wherein the two first housing side surfaces 4116 are respectively located on two opposite sides of the first housing body 4111 and are connected to the first housing top surface 4115. Support mounting groove 4117 has been seted up to first support top surface 4115, and the casing mounting hole has been seted up to the bottom surface of support mounting groove 4117, and the casing mounting hole definition that the bottom surface of support mounting groove 4117 was seted up is first casing mounting hole 4118.

The second mount 412 may be used to mount the second driver 43 and the second optical element 46. The second seat 412 may be engaged with the first seat 411, for example, the second seat 412 is sleeved in the first seat 411, and the second seat 412 may be coaxially arranged with the first seat 411 or non-coaxially arranged. The coaxial arrangement of the second support 412 and the first support 411 means that a central axis of the second support 412 coincides with a central axis of the first support 411, and the non-coaxial arrangement means that the central axis of the second support 412 does not coincide with the central axis of the first support 411, for example, the central axes are parallel to each other at intervals or intersect at any angle. The second holder 412 includes a second holder body 4121 and a projection 4120. In one example, the tab 4120 may be used to mount the second pedestal 412 to the bracket 30. The second holder body 4121 may have a hollow structure, the hollow portion forms a second receiving cavity 4126, and the second driver 43 and the second optical element 46 may be mounted in the second receiving cavity 4126. In the embodiment of the present application, the second seat body 4121 includes a second seat bottom surface 41211 and two second seat side surfaces 41212, the two second seat side surfaces 41212 are respectively located on two opposite sides of the second seat body 4121 and are connected to the second seat bottom surface 41211, and the two second seat side surfaces 41212 respectively correspond to the two first seat side surfaces 4116. In one example, the protrusion 4120 may be disposed on the first holder body 4111 near the second holder bottom surface 41211, and it is understood that the protrusion 4120 is formed extending outward from the second holder side surface 41212 near the second holder bottom surface 41211. The protrusion 4120 is formed with a housing mounting hole, and the housing mounting hole formed in the protrusion 4120 is defined as a second housing mounting hole 41201.

The third mount 413 may be used to mount the third driver 44 and the third optical element 47. The third seat 413 may be engaged with the second seat 412, the third seat 413 may be disposed in the second seat 412, and the third seat 413 may be disposed coaxially with or non-coaxially with the second seat 412. The third holder 413 includes a third holder body 4130, the third holder body 4130 may have a hollow structure, the hollow portion forms a third receiving cavity 4134, and the third driver 44 and the third optical element 47 may be mounted in the third receiving cavity 4134. The third support 413 and the first support 411 may be respectively disposed on opposite sides of the second support 412, the light pulse emitted by the distance measuring module 60 may sequentially pass through the third support 413, the second support 412 and the first support 411 and then enter the outside, and the light pulse reflected by the target object may sequentially pass through the first support 411, the second support 412 and the third support 413 and then be received by the distance measuring module 60. The third holder body 4130 includes two third holder sides 4133 that are opposite each other. At this time, two opposite sides of the first support 411 protrude from two opposite sides of the second support 412 and two opposite sides of the third support 413 to form two mounting spaces 416. The two opposite sides of the third support 413 may not exceed the two opposite sides corresponding to the second support 412, and in this embodiment, the two opposite sides of the third support 413 are respectively flush with the two opposite sides corresponding to the second support 412. The opposite sides of the third support 413 do not extend beyond the corresponding opposite sides of the second support 412, thereby facilitating the second mount 13 to be formed in the mounting space 416. In other embodiments, the opposite sides of the third support 413 may extend beyond the corresponding opposite sides of the second support 412, so as to facilitate the formation of the first mounting seat 12 in the mounting space 416.

The first mounting portion 414 may be located at an end of the first holder 411 away from the base 10, and specifically, the first mounting portion 414 is located on the first holder body 4111 near the first holder top surface 4115. The first mounting portion 414 is used to mount the first holder 411 to the bracket 30. The first mounting portion 414 of the present application may be a portion of the first housing body 4111, and in particular, the first mounting portion 414 may be a structure on the first housing body 4111 that forms a housing mounting groove 4117 and a first housing mounting hole 4118. In other embodiments, the first mounting portion 414 may be a flange disposed on the first holder body 4111, the flange defining a first housing mounting hole 4118.

The second mount portion 415 is located at an end of the second holder 412 near the base 10, and specifically, the second mount portion 415 is located at a position of the second holder body 4121 near the second holder bottom surface 41211. The second mount 414 is used to mount the second mount 412 to the bracket 30. The second mounting portion 415 of the present application may be a portion of the second holder 412, and specifically, the second mounting portion 415 may be a projection 4120. The scan housing 41 may be mounted on the carriage 30 by the first and second mounts 12 and 13.

Referring to fig. 5, 9 and 10, the first driver 42 is installed in the scanning housing 41, and specifically, the first driver 42 may be installed in the first accommodating cavity 4119. The first driver 42 includes a first stator assembly 421, a first positioning assembly 422, and a first rotor assembly 423. The first stator assembly 421 may be fixed relative to the first holder body 4111, the first stator assembly 421 may be configured to drive the first rotor assembly 423 to rotate, and the first stator assembly 421 includes a first winding body and a first winding mounted on the first winding body. The first winding body may be a stator core, and the first winding may be a coil. The first winding 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 first stator assembly 421 is sleeved on the first rotor assembly 423.

The first rotor assembly 423 may be rotated by the first stator assembly 421. Specifically, the first rotor assembly 423 includes a first rotor 4231, and an axis of rotation of the first rotor 4231 with respect to the first stator assembly 421 is referred to as a first rotation shaft 4236, and it is understood that the first rotation shaft 4236 may be a solid rotation shaft or a virtual rotation shaft. The first rotor 4231 includes a first yoke 4233a and a first magnet 4233 b. The first magnet 4233b is sleeved on the first magnet yoke 4233a and located between the first magnet yoke 4233a and the first winding, a magnetic field generated by the first magnet 4233b interacts with a magnetic field generated by the first winding to generate an acting force, and the first magnet 4233b drives the first magnet yoke 4233a to rotate under the acting force because the first winding is fixed. The first rotor 4231 has a hollow shape, and the hollow portion of the first rotor 4231 is formed with a first accommodation cavity 4235 through which laser pulses can pass from the scan module 40. Specifically, the first storage cavity 4235 is defined by a first side wall 4234 of the first rotor 4231, and more specifically, in the present embodiment, the first yoke 4233a may have a hollow cylindrical shape, a hollow portion of the first yoke 4233a forms the first storage cavity 4235, and a side wall of the first yoke 4233a may serve as a side wall defining the first storage cavity 4235. Of course, in other embodiments, the first housing chamber 4235 may not be formed in the first yoke 4233a, may be formed in the structure of the first magnet 4233b, and the first side wall 4234 may be a side wall of the structure of the first magnet 4233b, and the present invention is not limited thereto. The first sidewall 4234 is in a ring structure or is part of one ring structure. The first winding of the first stator assembly 421 may be annular and surround the outer surface of the first sidewall 4234.

The first positioning member 422 is disposed on an outer surface of the first sidewall 4234, and the first positioning member 422 is used for limiting the rotation of the first rotor assembly 423 around the fixed first rotation shaft 4236. The first stator assembly 421 and the first positioning assembly 422 are juxtaposed around an outer surface of the first sidewall 4234. The first positioning assembly 422 includes an annular first bearing 422, the first bearing 422 surrounding an outer surface of the first sidewall 4234. The first bearing 422 includes a first inner ring structure 4221, a first outer ring structure 4222, and first rolling elements 4223. The first inner ring structure 4221 is secured to an outer surface of the first sidewall 4234. The first outer ring structure 4222 and the scanning housing 41 are fixed to each other, specifically, the first outer ring structure 4222 and the first support 411 are fixed to each other. The first rolling elements 4223 are located between the first inner ring structure 4221 and the first outer ring structure 4222, the first rolling elements 4223 being adapted to be in rolling connection with the first outer ring structure 4222 and the first inner ring structure 4221, respectively.

The first optical element 45 is installed in the first accommodating cavity 4235, specifically, the first optical element 45 may be installed in cooperation with the first sidewall 4234 and fixedly connected to the first rotor 4231, and the first optical element 45 is located on an outgoing light path and an incoming light path of the laser pulse. The first optical element 45 is rotatable synchronously with the first rotor 4231 about the first rotation axis 4236. The first optical element 45 may change the transmission direction of the laser light passing through the first optical element 45 when rotated.

The second driver 43 is installed in the scan housing 41, and particularly, the second driver 43 may be installed in the second receiving cavity 4126, and the second driver 43 includes a second stator assembly 431, a second positioning assembly 432, and a second rotor assembly 433. The second stator assembly 431 may be fixed relative to the second holder body 4121, the second stator assembly 431 may be used to drive the second rotor assembly 433 to rotate, and the second stator assembly 431 includes a second winding body and second windings mounted on the second winding body. The second winding body may be a stator core, and the second winding may be a coil. The second winding 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 second rotor assembly 433 may be rotated by the second stator assembly 431. Specifically, the second rotor assembly 433 includes a second rotor 4331, and an axis of the second rotor 4331 rotating relative to the second stator assembly 431 is referred to as a second rotating shaft 4337, and it is understood that the second rotating shaft 4337 may be a physical rotating shaft or a virtual rotating shaft. The second rotor 4331 includes a second yoke 4333 and a second magnet 4334. The second magnet 4334 is sleeved on the second magnetic yoke 4333 and located between the second magnetic yoke 4333 and the second winding, the magnetic field generated by the second magnet 4334 interacts with the magnetic field generated by the second winding to generate an acting force, and the second magnet 4334 drives the second magnetic yoke 4333 to rotate under the acting force because the second winding is fixed. The second rotor 4331 has a hollow shape, and a second receiving chamber 4336 is formed in the hollow portion of the second rotor 4331, through which the laser pulse can pass through the scanning module 40 and pass through the second receiving chamber 4336. Specifically, the second receiving chamber 4336 is surrounded by a second side wall 4335 of the second rotor 4331, and more specifically, in the present embodiment, the second yoke 4333 may have a hollow cylindrical shape, a hollow portion of the second yoke 4333 forms the second receiving chamber 4336, and a side wall of the second yoke 4333 may be a side wall surrounding the second receiving chamber 4336. Of course, in other embodiments, the second receiving cavity 4336 may not be formed in the second yoke 4333, may be formed in the structure of the second magnet 4334, and the second side wall 4335 may be a side wall of the structure of the second magnet 4334, and the like, which is not limited herein. The second sidewall 4335 is in a ring configuration or is part of a ring configuration. The second windings of the second stator assembly 431 may be annular and surround the outer surface of the second sidewall 4335.

A second positioning assembly 432 is disposed on the second rotor 4331 on a side of the second stator assembly 431 distal from the first rotor assembly 423. The second positioning assembly 432 is used for limiting the second rotor assembly 433 from rotating around the fixed second rotation shaft 4337. The second stator assembly 431 and the second positioning assembly 432 are juxtaposed around the outer surface of the second sidewall 4335. The second positioning assembly 432 includes an annular second bearing 432, and the second bearing 432 surrounds an outer surface of the second sidewall 4335. The second bearing 432 includes a second inner ring structure 4321, a second outer ring structure 4322, and second rolling elements 4323. The second inner ring structure 4321 and the outer surface of the second sidewall 4335 are fixed to each other. The second outer ring structure 4322 and the scanning housing 41 are fixed to each other, and specifically, the second outer ring structure 4322 and the second support 412 are fixed to each other. The second rolling elements 4323 are located between the second inner ring structure 4321 and the second outer ring structure 4322, and the second rolling elements 4323 are configured to be in rolling contact with the second outer ring structure 4322 and the second inner ring structure 4321, respectively.

The second optical element 46 is installed in the second receiving cavity 4336, specifically, the second optical element 46 can be installed in cooperation with the second sidewall 4335 and fixedly connected to the second rotor 4331, and the second optical element 46 is located on an outgoing light path of the light source and an incoming light path of the return light. The second optical element 46 is capable of rotating synchronously with the second rotor 4331 about the second rotation axis. The second optical element 46 may change the transmission direction of the laser light passing through the second optical element 46 when rotated.

The third driver 44 is installed in the scan housing 41, and particularly, the third driver 44 may be installed in the third receiving chamber 4134. The third driver 44 includes a third stator assembly 441, a third positioning assembly 442, and a third rotor assembly 443. The third stator assembly 441 may be fixed relative to the third carrier body 4130, the third stator assembly 441 may be used to drive the third rotor assembly 443 to rotate, and the third stator assembly 441 includes a third winding body and third windings mounted on the third winding body. The third winding body may be a stator core, and the third winding may be a coil. The third winding 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 third rotor assembly 443 can be rotated by the third stator assembly 441. Specifically, the third rotor assembly 443 includes a third rotor 4431, and an axis of rotation of the third rotor 4431 relative to the third stator assembly 441 is referred to as a third rotating shaft 4437, and it is understood that the third rotating shaft 4437 may be a physical rotating shaft or a virtual rotating shaft. The third rotor 4431 includes a third yoke 4433 and a third magnet 4434. The third magnet 4434 is sleeved on the third magnetic yoke 4433 and located between the third magnetic yoke 4433 and the third winding, the magnetic field generated by the third magnet 4434 interacts with the magnetic field generated by the third winding to generate an acting force, and the third magnet 4434 drives the third magnetic yoke 4433 to rotate under the acting force because the third winding is fixed. The third rotator 4431 has a hollow shape, and the hollow portion of the third rotator 4431 is formed with a third receiving chamber 4436 through which the laser pulse may pass from the scan module 40. Specifically, the third receiving chamber 4436 is surrounded by the third side wall 4435 of the third rotor 4431, and more specifically, in the present embodiment, the third yoke 4433 may have a hollow cylindrical shape, a hollow portion of the third yoke 4433 forms the third receiving chamber 4436, and a side wall of the third yoke 4433 may be a side wall surrounding the third receiving chamber 4436. Of course, in other embodiments, the third receiving chamber 4436 may be formed not in the third yoke 4433 but in the structure of the third magnet 4434 or the like, and the third sidewall 4435 may be a sidewall of the structure of the third magnet 4434 or the like, which is not limited herein. The third sidewall 4435 has a ring structure or is part of a ring structure. The third windings of the third stator assembly 441 may be annular and surround the outer surface of the third sidewall 4435.

The third positioning assembly 442 is disposed on the third rotor 4431, the third positioning assembly 442 is located on a side of the third stator assembly 441 adjacent to the second rotor assembly 433, or the third positioning assembly 442 is located closer to the second rotor assembly 433 relative to the third stator assembly 441. The third positioning assembly 442 limits the rotation of the third rotor assembly 443 about the fixed third rotation shaft 4437. The third stator assembly 441 and the third positioning assembly 442 are juxtaposed around the outer surface of the third sidewall 4435. The third positioning assembly 442 includes an annular third bearing 442, the third bearing 442 surrounding an outer surface of the third sidewall 4435. The third bearing 442 includes a third inner ring structure 4421, a third outer ring structure 4422, and third rolling elements 4423. The third inner ring structure 4421 and the outer surface of the third sidewall 4435 are fixed to each other. The third outer ring structure 4422 and the scan housing 41 are fixed to each other, and specifically, the third outer ring structure 4422 and the third support 413 are fixed to each other. A third rolling element 4423 is located between the third inner ring structure 4421 and the third outer ring structure 4422, the third rolling element 4423 being adapted to be in rolling contact with the third outer ring structure 4422 and the third inner ring structure 4421, respectively.

The third optical element 47 is installed in the third receiving cavity 4436, specifically, the third optical element 47 may be installed in cooperation with the third sidewall 4435 and fixedly connected to the third rotator 4431, and the third optical element 47 is located on the path of the outgoing and incoming laser pulses. The third optical element 47 is capable of rotating synchronously with the third rotator 4431 about the third rotation shaft 4437. The third optical element 47 may change the transmission direction of the laser light passing through the third optical element 47 when it rotates.

Referring to fig. 5 and fig. 25, the controller 49a is connected to the drivers (the first driver 42, the second driver 43, and the third driver 44), and the controller 49a is configured to control the drivers to drive the optical elements (the first optical element 45, the second optical element 46, and the third optical element 47) to rotate according to the control command. Specifically, the controller may be connected to the windings (the first winding, the second winding, and the third winding) and configured to control the magnitude and direction of the current on the windings, so as to control the rotation parameters (the rotation direction, the rotation angle, the rotation duration, and the like) of the rotor assemblies (the first rotor assembly 423, the second rotor assembly 433, and the third rotor assembly 443) to achieve the purpose of controlling the rotation parameters of the optical element. In one example, the controller 49a includes an electronic governor, and the controller 49a may be disposed on an electronic tuning board.

Referring to fig. 9, the detector 49b is used for detecting the rotation parameters of the optical element, such as the rotation direction, the rotation angle, and the rotation speed of the optical element. The number of detectors 49b may be plural, and each detector 49b includes a code wheel and an opto-electronic switch. The code wheel is fixedly connected with a rotor (the first rotor 4231, the second rotor 4331 or the third rotor 4431) and rotates synchronously with the rotor assembly (the first rotor assembly 423, the second rotor assembly 433 or the third rotor assembly 443), and it can be understood that the code wheel rotates synchronously with the optical element because the optical element rotates synchronously with the rotor, and the rotation parameter of the optical element can be obtained by detecting the rotation parameter of the code wheel. Specifically, the rotation parameters of the code disc can be detected through the matching of the code disc and the photoelectric switch.

When the scanning housing 41 (scanning module 40) is mounted on the two brackets 30, the two brackets 30 are located outside the two second holder side faces 41212, respectively, and the two brackets 30 are mounted in the two mounting spaces 416, respectively. Specifically, when both the brackets 30 are mounted on the base 10 and the scanning housing 41 is mounted on both the brackets 30, the first and second mounting seats 12 and 13 are located in the mounting space 416, the fixing arm 31, the connecting arm 33, the first reinforcing arm 34, and the second reinforcing arm 35 are housed in the mounting space 416, and the coupling arm 32 is housed in the mount mounting groove 4117. The scanning housing 41 facilitates the mounting of the bracket 30 in the mounting space 416 by forming the mounting space 416 to reduce the volume of the ranging apparatus 100; further, the first support 411 is provided with a support mounting groove 4117, and the coupling arm 32 is accommodated in the support mounting groove 4117, so that the size of the distance measuring device 100 can be further reduced.

Referring to fig. 21 to 23, the flexible connecting assembly 50 is used to connect the scanning housing 41 to the bracket 30, and the flexible connecting assembly 50 provides a gap between the scanning housing 41 and the base 10 to provide a vibration space for the scanning module 40. The scanning module 40 is installed on the bracket 30 through the flexible connection assembly 50, and the flexible connection assembly 50 enables no direct contact between the scanning module 40 and the base 10, so that the vibration of the scanning module 40 can be reduced or even avoided to be transmitted to the base 10, and the vibration of the scanning module 40 can be reduced or even avoided to be transmitted to the distance measurement module 60 through the base 10.

Specifically, the flexible connecting assembly 50 includes a flexible connecting member 51 and a fastening member 52, and the scanning housing 41 and the stand 30 are connected by the flexible connecting member 51 and the fastening member 52. Specifically, each flexible connection assembly 50 includes a flexible first support portion 511, a flexible connection portion 513, and a flexible second support portion 512. The first and second support portions 511 and 512 are connected to opposite ends of the connection portion 513, respectively. The flexible connecting member 51 has a through hole 514 passing through the first supporting portion 511, the connecting portion 513 and the second supporting portion 512.

Each carriage 30 is connected to the scanning housing 41 by at least two flexible linkage assemblies 50, the at least two flexible linkage assemblies 50 including a first flexible linkage assembly 53 and a second flexible linkage assembly 54.

Referring to fig. 23 and 24, the first flexible connecting assembly 53 is connected to the bracket 30 (the first combining portion 321) and the first mounting portion 414, specifically, the connecting portion 513 of the first flexible connecting assembly 53 is inserted into the first bracket mounting hole 3211, the first supporting portion 511 and the second supporting portion 512 of the first flexible connecting assembly 53 are respectively located on two opposite sides of the first combining portion 321, the second supporting portion 512 of the first flexible connecting assembly 53 is located between the first combining portion 321 and the bottom surface of the support mounting groove 4117, the fastening member 52 of the first flexible connecting assembly 53 passes through the through hole 514 and is combined with the inner wall of the first housing mounting hole 4118, and the first flexible connecting assembly 53 is received in the support mounting groove 4117. The cross-sectional size of the first support portion 511 and the cross-sectional size of the second support portion 512 are both larger than the cross-sectional size of the first bracket mounting hole 3211, so that, when the first flexible coupling assembly 53 is mounted in the first bracket mounting hole 3211, the first support portion 511 is located between the end of the fastener 52 and the first coupling portion 321, and the first support portion 512 can absorb the vibration generated by the first mount 411 and transmitted to the fastener 52; the second supporting portion 512 may be located between the bottom surface of the holder mounting groove 4117 and the first coupling portion 321, and the second supporting portion 512 may absorb vibration generated by the first holder 411 and reduce the transmission of the vibration to the bracket 30. The cross-sectional dimension of the connecting portion 513 may be greater than, less than, or equal to the cross-sectional dimension of the first bracket mounting hole 3211.

The second flexible connecting assembly 54 is connected to the bracket 30 (the second combining portion 313) and the second mounting portion 415, specifically, the connecting portion 513 of the second flexible connecting assembly 54 is inserted into the second housing mounting hole 41201, the first supporting portion 511 and the second supporting portion 512 of the second flexible connecting assembly 54 are respectively located on two opposite sides of the protrusion 4120, the first supporting portion 511 of the second flexible connecting assembly 54 is located between the protrusion 4120 and the second combining portion 313, and the fastening member 52 of the second flexible connecting assembly 54 is inserted through the through hole 514 and combined with the inner wall of the second bracket mounting hole 3131. The cross-sectional size of the first support part 511 and the cross-sectional size of the second support part 512 are both larger than the cross-sectional size of the second housing mounting hole 41201, so that when the second flexible coupling assembly 54 is mounted in the second bracket mounting hole 3131, the first support part 511 can be positioned between the protrusion 4120 and the second coupling part 313, and the first support part 511 can absorb the vibration generated by the second bracket 412 and reduce the transmission of the vibration to the bracket 30; the second supporting portion 512 is located between the end portion of the fastening member 52 and the second coupling portion 313, and the second supporting portion 512 is capable of absorbing vibration generated by the second support 412 and transmitted to the fastening member 52. The connecting portion 513 may have a cross-sectional size greater than, less than, or equal to that of the second housing mounting hole 41201. Since the first coupling portion 321 is located on the side of the bracket 30 far from the base 10, the second coupling portion 313 is located on the side of the bracket 30 close to the base 10, and the scanning housing 41 is connected to the first coupling portion 321 and the second coupling portion 313 through the flexible connector 51, when the distance measuring device 100 is shocked by external impact, the rotation moment received by the scanning housing 41 is small, and the direction of the moment is perpendicular to the plane of the bracket 30, so that the overturning of the distance measuring device 100 caused by the external impact can be reduced or even avoided. Support 30 among range unit 100 of this application is fixed on base 10, and scanning module 40 passes through flexible coupling assembling 50 to be installed on support 30, and flexible coupling assembling 50 makes and does not have direct contact between scanning module 40 and the base 10 to can reduce and even avoid on the vibration transmission of scanning module 40 to base 10.

Referring to fig. 23, in the present embodiment, a cross section of the flexible connecting member 51 taken along a plane passing through an axis of the through hole 514 is "i" shaped. The flexible coupling 51 may be a rubber pad.

The distance measuring module 60 is disposed on the base 10 and spaced apart from the scanning module 40, specifically, the distance measuring module 60 is rigidly fixed on the base 10, in some examples, the base 10 may be an integral structure, and the scanning module 40 and the distance measuring module 60 are mounted on the same base 10. In some examples, the base 10 may be a separate structure, and the ranging module 60 and the scanning module 40 are mounted on two different separate structures of the base 10. Because scanning module 40 and range finding module 60 interval set up, therefore can reduce and even avoid scanning module 40's vibration to transmit to range finding module 60 on to the detection precision of range finding device 100 has been promoted. Because the distance measuring module 60 is rigidly fixed on the base 10, the vibration of the scanning module 40 has little influence on the distance measuring module 60, thereby ensuring the stability of the relative positions of the distance measuring module 60 and the distance measuring device 100 during the whole installation and further improving the detection precision.

Referring to fig. 25 and 27, the distance measuring module 60 includes a light source 61, a light path changing element 62, a collimating element 63, and a detector 64. The distance measuring module 60 may adopt a coaxial optical path, that is, the laser beam emitted from the distance measuring module 60 and the laser beam reflected back share at least a part of the optical path in the distance measuring module 60. Alternatively, the distance measuring module 60 may also adopt an off-axis optical path, that is, the light beam emitted from the distance measuring module 60 and the reflected light beam are transmitted along different optical paths in the distance measuring module 60.

Referring to fig. 25, the distance measuring module 60 is described as using a coaxial optical path to describe the light source 61, the optical path changing element 62, the collimating element 63, and the detector 64.

The light source 61 may be used to emit a sequence of light pulses, optionally with the light source 61 emitting a light beam with a narrow bandwidth having a wavelength outside the visible range. In some embodiments, the light source 61 may include a Laser diode (Laser diode) through which nanosecond-level Laser light is emitted. For example, the light source 61 emits a laser pulse lasting 10 ns.

The collimating element 63 is disposed on the light-emitting path of the light source 61, and is configured to collimate the laser beam emitted from the light source 61, that is, collimate the laser beam emitted from the light source 61, and collimate and project the optical pulse from the light source 61 to the scanning module 40. The collimating element 63 is located between the light source 61 and the scanning module 40. The collimating element 63 is also used to converge at least a portion of the return light reflected by the object and passing through the scanning module 40 to the detector 64. The collimating element 63 may be a collimating lens or other element capable of collimating a light beam. In one embodiment, the collimating element 63 is coated with an anti-reflective coating to increase the intensity of the transmitted beam.

The optical path changing element 62 is disposed on the light emitting path of the light source 61, and is configured to combine the light emitting path of the light source 61 and the light receiving path of the detector 64. Specifically, the optical path changing element 62 is located on the opposite side of the collimating element 63 from the scanning module 40. The optical path changing element 62 may be a mirror or a half mirror. In one example, the optical path changing element 62 is a small mirror capable of changing the optical path direction of the laser beam emitted from the light source 61 by 90 degrees or other angles.

The detector 64 is placed on the same side of the collimating element 63 as the light source 61. In one example, the detector 64 is directly opposite the collimating element 63. It can be understood that the scanning module 40 may change the light pulse sequence to different transmission directions at different times and emit the light pulse, the light pulse reflected by the object to be detected may enter the detector 64 after passing through the scanning module 40, and the detector 64 may be configured to convert at least part of the return light passing through the collimating element 63 into an electrical signal, where the electrical signal may specifically be an electrical pulse, and the detector 64 may further determine the distance between the object to be detected and the distance measuring apparatus 100 based on the electrical pulse.

When the distance measuring device 100 works, the light source 61 emits a laser pulse, the laser pulse is collimated by the collimating element 63 after passing through the light path changing element 62, the collimated laser pulse is emitted after the transmission direction is changed by the scanning module 40 and is 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 scanning module 40 is converged on the detector 64 by the collimating element 63. The detector 64 converts at least part of the return light passing through the collimating element 63 into electrical signal pulses.

Referring to fig. 25 and 26, the ranging apparatus 100 of the present application includes a transmitting circuit 611, a receiving circuit 641, a sampling circuit 642, and an arithmetic circuit 643. The transmit circuitry 611 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 641 may receive the optical pulse sequence reflected by the detected object, perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, process the electrical signal, and output the electrical signal to the sampling circuit 642, where the sampling circuit 642 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 643 may determine the distance between the distance device 100 and the object to be detected based on the sampling result of the sampling circuit 642. In this embodiment, the transmitting circuit 611 includes the light source 61, and the detector 64 includes the receiving circuit 641, the sampling circuit 642, and the arithmetic circuit 643.

Optionally, the distance measuring apparatus 100 may further include a control circuit 644, and the control circuit 644 may implement control on other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like. At this time, the detector 64 may further include a control circuit 644.

It should be understood that, although fig. 26 shows the distance device 100 including one transmitting circuit 611, one receiving circuit 641, one sampling circuit 642 and one arithmetic circuit 643, the embodiment of the present application is not limited thereto, and the number of any one of the transmitting circuit 611, the receiving circuit 641, the sampling circuit 642 and the arithmetic circuit 643 may be at least two, and the at least two light beams may be emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and die of the laser emitting chips in the at least two transmitting circuits are packaged together and accommodated in the same packaging space.

Referring to fig. 27, the distance measuring module 60 is described as using a second coaxial optical path to describe the light source 61, the optical path changing element 62, the collimating element 63, and the detector 64. At this time, the structure and position of the collimating element 63 are the same as those of the collimating element 63 in the first coaxial optical path, except that: the optical path changing element 62 is a large reflector including a reflecting surface 621, and a light passing hole is formed in the middle of the large reflector. Detector 64 is still positioned on the same side of collimating element 63 as light source 61, and compared to the first coaxial optical path described above, the positions of detector 64 and light source 61 are switched, i.e., light source 61 is directly opposite collimating element 63, detector 64 is opposite to reflective surface 621, and optical path changing element 62 is positioned between light source 61 and collimating element 63.

When the distance measuring device 100 works, the light source 61 emits a laser pulse, the laser pulse passes through the light through hole of the optical path changing element 62 and is collimated by the collimating element 63, the collimated laser pulse is emitted after the transmission direction is changed by the scanning module 40 and is 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 scanning module 40 is converged on the reflecting surface 621 of the optical path changing element 62 by the collimating element 63. Reflecting surface 621 reflects the at least a portion of the return light to detector 64, detector 64 converts the reflected at least a portion of the return light to 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 optical path changing element 62 is large, the entire field range of the light source 61 can be covered, the return light is directly reflected to the detector 64 by the optical path changing element 62, the blocking of the optical path of the return light by the optical path changing element 62 itself is avoided, the intensity of the return light detected by the detector 64 is increased, and the distance measurement precision is improved.

Referring to fig. 4 and 22, in some embodiments, the bracket 30 further includes a first reinforcing arm 34, one end of the first reinforcing arm 34 is connected to the second fixing portion 312, the other end of the first reinforcing arm 34 is connected to one end of the connecting arm 33 away from the first fixing portion 311, and the fixing arm 31, the connecting arm 33 and the first reinforcing arm 34 together form a triangle. In other embodiments, one end of the first reinforcing arm 34 is connected to the second fixing portion 312, and the other end of the first reinforcing arm 34 is connected between the two opposite ends of the connecting arm 33, in which case the fixing portion 310, the first reinforcing arm 34 and a portion of the connecting arm 33 together form a triangle. The fixing arm 31, the connecting arm 33, the coupling arm 32, and the first reinforcing arm 34 of the present embodiment are located in the same plane. The bracket 30 of the present embodiment enhances the strength of the bracket 30 by providing the first reinforcing arm 34, and the bracket 30 is less likely to shake when the distance measuring device 100 is impacted by an external force.

Referring to fig. 4 and 22, in some embodiments, the bracket 30 further includes a first reinforcing arm 34 and a second reinforcing arm 35. One end of the first reinforcing arm 34 is connected to the second fixing portion 312, the other end of the first reinforcing arm 34 is connected to the connecting arm 33, and the fixing arm 31, the connecting arm 33 and the first reinforcing arm 34 together form a triangle. The second reinforcing arm 35 connects the first reinforcing arm 34 and the connecting arm 33, and the second reinforcing arm 35 is located in a space surrounded by the first reinforcing arm 34, the fixing arm 31, and the connecting arm 33. The fixing arm 31, the connecting arm 33, the coupling arm 32, the first reinforcing arm 34, and the second reinforcing arm 35 of the present embodiment are located in the same plane. The bracket 30 of the present embodiment enhances the strength of the bracket 30 by providing the first reinforcing arm 34 and the second reinforcing arm 35, and the bracket 30 is less likely to shake when the distance measuring device 100 is subjected to external impact.

Referring to fig. 4 and fig. 22, in some embodiments, the scanning housing 41 includes a first support 411 and a second support 412 connected to each other, the bracket 30 includes a fixing arm 31, a connecting arm 33 and a connecting arm 32 connected in sequence, and the fixing arm 31 is fixed on the base 10 and located on the same side of the first support 411 and the second support 412. Each carriage 30 is connected to the scanning housing 41 by at least two flexible connecting members 50, the at least two flexible connecting members 50 including a first flexible connecting member 53 and a second flexible connecting member 54, the first flexible connecting member 53 connecting the coupling arm 32 to the first mount 411, and the second flexible connecting member 54 connecting the fixing arm 31 to the second mount 412. At this time, the scan housing 41 may not be formed with the installation space 416. The length of the coupling arm 32 in the present embodiment can be made shorter than the length of the coupling arm 32 in the above embodiment, so that the strength of the bracket 30 in the present embodiment is greater than that of the bracket 30 in the above embodiment (the bracket 30 includes only the fixing arm 31, the connecting arm 33, and the coupling arm 32, and the bracket 30 is mounted in the mounting space 416), and the vibration of the scan module 40 can be reduced to cause the vibration of the bracket 30.

Referring to fig. 4 and fig. 22, in some embodiments, the fixing arm 31 includes a first fixing portion 311, a second fixing portion 312 and a second combining portion 313, the first fixing portion 311 and the second fixing portion 312 are located at two opposite ends of the fixing arm 31 and are both fixed on the base 10, the first fixing portion 311 is located at one side of the first support 411, the second fixing portion 312 is located at one side of the second support 412, the second combining portion 313 is located between the first fixing portion 311 and the second fixing portion 312, and the second flexible connecting assembly 54 connects the second combining portion 313 and the second support 412. The length of the coupling arm 32 in the present embodiment can be made shorter than the length of the coupling arm 32 in the above embodiment, so that the strength of the bracket 30 in the present embodiment is greater than that of the bracket 30 in the above embodiment (the bracket 30 includes only the fixing arm 31, the connecting arm 33, and the coupling arm 32, and the bracket 30 is mounted in the mounting space 416), and the vibration of the scan module 40 can be reduced to cause the vibration of the bracket 30.

Referring to fig. 4 and 22, in some embodiments, the scanning housing 41 includes a first support 411 and a second support 412 connected to each other, and the bracket 30 includes a fixing arm 31, a connecting arm 33, a connecting arm 32, and a first reinforcing arm 34. The fixing arm 31, the connecting arm 33, and the coupling arm 32 are connected in this order. The fixing arm 31 is fixed on the base 10 and located on the same side of the first support 411 and the second support 412. One end of the first reinforcing arm 34 is connected to the end of the fixing arm 31 remote from the connecting arm 33, and the other end of the first reinforcing arm 34 is connected to the end of the connecting arm 33 remote from the fixing arm 31. Each carriage 30 is connected to the scanning housing 41 by at least two flexible connecting members 50, the at least two flexible connecting members 50 including a first flexible connecting member 53 and a second flexible connecting member 54, the first flexible connecting member 53 connecting the coupling arm 32 to the first mount 411, and the second flexible connecting member 54 connecting the fixing arm 31 to the second mount 412. In other embodiments, one end of the first reinforcing arm 34 is connected to the end of the fixing arm 31 remote from the connecting arm 33, and the other end of the first reinforcing arm 34 is connected between the opposite ends of the connecting arm 33. The length of the coupling arm 32 in the present embodiment can be made shorter than the length of the coupling arm 32 in the above-described embodiment, so that the strength of the cradle 30 in the present embodiment is greater than that of the cradle 30 in the above-described embodiment (the cradle 30 includes only the fixed arm 31, the connecting arm 33, the coupling arm 32, and the first reinforcing arm 34, and the cradle 30 is mounted in the mounting space 416), and thus the vibration of the scanner module 40 can be reduced to cause the cradle 30 to shake.

Referring to fig. 4 and 22, in some embodiments, the scanning housing 41 includes a first support 411 and a second support 412 connected to each other, and the bracket 30 includes a fixing arm 31, a connecting arm 33, a connecting arm 32, a first reinforcing arm 34, and a second reinforcing arm 35. The fixing arm 31, the connecting arm 33, and the coupling arm 32 are connected in this order. The fixing arm 31 is fixed on the base 10 and located on the same side of the first support 411 and the second support 412. One end of the first reinforcing arm 34 is connected to the end of the fixing arm 31 remote from the connecting arm 33, and the other end of the first reinforcing arm 34 is connected to the connecting arm 33. The second reinforcing arm 35 connects the first reinforcing arm 34 and the connecting arm 33, and the second reinforcing arm 35 is located in a space surrounded by the first reinforcing arm 34 and the connecting arm 33. Each carriage 30 is connected to the scanning housing 41 by at least two flexible connecting members 50, the at least two flexible connecting members 50 including a first flexible connecting member 53 and a second flexible connecting member 54, the first flexible connecting member 53 connecting the coupling arm 32 to the first mount 411, and the second flexible connecting member 54 connecting the fixing arm 31 to the second mount 412. In other embodiments, one end of the first reinforcing arm 34 is connected to the end of the fixing arm 31 remote from the connecting arm 33, and the other end of the first reinforcing arm 34 is connected between the opposite ends of the connecting arm 33. The length of the coupling arm 32 in the present embodiment can be made shorter than the length of the coupling arm 32 in the above embodiment, so that compared to the bracket 30 in the above embodiment (the bracket 30 only includes the fixing arm 31, the connecting arm 33, the coupling arm 32, the first reinforcing arm 34, and the second reinforcing arm 35, and the bracket 30 is mounted in the mounting space 416), the strength of the bracket 30 in the present embodiment is greater, so that the vibration of the scanning module 40 can be reduced to cause the vibration of the bracket 30 to generate a shake.

Referring to fig. 21 to 24, in some embodiments, the flexible connecting member 51 further includes a limiting protrusion 515, and the limiting protrusion 515 protrudes from the first supporting portion 511. The flexible connection member 51 is installed into the bracket mounting hole (the first bracket mounting hole 3211) or the housing mounting hole (the second housing mounting hole 41201) from one end of the second support portion 512, and specifically, when the flexible connection member 51 is installed, the flexible second support portion 512 can be elastically deformed by a pulling force and can pass through the first bracket mounting hole 3211 or the second housing mounting hole 41201. The flexible connecting member 51 is provided with the limiting bump 515, so that the situation that the first supporting portion 511 passes through the first bracket mounting hole 3211 or the second housing mounting hole 41201 due to an excessive pulling force when the flexible connecting member 51 is mounted in the first bracket mounting hole 3211 or the second housing mounting hole 41201 can be avoided.

In this embodiment, the number of the flexible connecting assemblies 50 is at least four, each of the brackets 30 is connected to the scanning housing 41 through at least two flexible connecting assemblies 50 to form a plurality of connecting points, the projections of the plurality of connecting points on the base 10 form an auxiliary plane P (as shown in fig. 21), the center of gravity of the scanning housing 41 (or the center of gravity of the scanning module 40) is located at the center of the auxiliary plane P, the plurality of connecting points located on the same side of the scanning housing 41 include two connecting points diagonally arranged, the two connecting points diagonally arranged form a connecting line L, and the distance from the midpoint of the connecting line L to the base 10 is the same as the distance from the center of gravity to the base 10.

Referring to fig. 21 to 24, in some embodiments, each of the brackets 30 is connected to the scanning housing 41 through two flexible connecting assemblies 50 to form two connecting points, the projection of the four connecting points on the base 10 forms an auxiliary plane P (as shown in fig. 21), and the two connecting points located on the same side of the scanning housing 41 are diagonally arranged to form a connecting line L. The two flexible joint assemblies 50 for connecting one of the supports 30 to the scan housing 41 include a first flexible joint assembly 53 and a second flexible joint assembly 54, the first flexible joint assembly 53 connecting the first coupling portion 321 and the first mounting portion 414, and the second flexible joint assembly 54 connecting the second coupling portion 313 and the second mounting portion 415. The center connecting line of the first flexible connecting component 53 and the second flexible connecting component 54 forms a connecting line L. The distance from the middle point of the connection line L to the base 10 is the same as the distance from the center of gravity of the scanning module 40 (or the center of gravity of the scanning module 40) to the base 10, so that the vibration of the scanning module 40 can be further reduced from being transmitted to the base 10, and when the distance measuring device 100 is shocked by external impact, the rotation moment received by the scanning housing 41 is small, the direction of the moment is perpendicular to the plane where the center of the fixing portion 310, the center of the first combining portion 321 and the center of the second combining portion 313 are located, so that the overturn caused by the external impact on the distance measuring device 100 can be reduced or even avoided.

Referring to fig. 21 to 24, in some embodiments, each of the brackets 30 is connected to the scanning housing 41 through four flexible connecting members 50 to form four connecting points, the projections of the eight connecting points on the base 10 form an auxiliary surface, the four connecting points located on the same side of the scanning housing 41 are arranged at opposite angles, two diagonally arranged connecting points form a first connecting line, the other two diagonally arranged connecting points form a second connecting line, the distance from the midpoint of the first connecting line to the base 10 is the same as the distance from the center of gravity to the base 10, and the distance from the midpoint of the second connecting line to the base 10 is the same as the distance from the center of gravity to the base 10. At this time, two of the flexible connecting members 50 may connect the coupling arm 32 and the first holder 411, and the other two flexible connecting members 50 connect the fixing arm 31 and the second holder 412. Each of the supports 30 is connected to the scanning housing 41 by four flexible joint assemblies 50 so that the scanning housing 41 can be more stably mounted on the supports 30.

Referring to fig. 21 to 24, the four connection points formed by each bracket 30 include a first connection point, a second connection point, a third connection point, and a fourth connection point, the first connection point and the third connection point are located on one side of the bracket 30 away from the base 10, the second connection point and the third connection point are located on one side of the bracket 30 close to the base 10, the fourth connection point is closer to the first connection point than the second connection point, and the shape formed by sequentially connecting the first connection point, the third connection point, the second connection point, the fourth connection point, and the first connection point is a rectangle or a parallelogram. At the moment, a connecting line of the first connecting point and the second connecting point forms a first connecting line, a connecting line of the third connecting point and the fourth connecting point forms a second connecting line, and the midpoint of the first connecting line is superposed with the midpoint of the second connecting line. Each of the supports 30 is connected to the scanning housing 41 by four flexible joint assemblies 50 so that the scanning housing 41 can be more stably mounted on the supports 30.

Referring to fig. 7 and 8, in some embodiments, a first positioning member 4112 is formed on the first support 411. The second holder 412 has a second positioning member 4122 formed thereon. The first support 411 is connected to the second support 412, and the first positioning member 4112 is engaged with the second positioning member 4122 such that the first rotation axis 4236 is spaced apart from the second rotation axis 4337 in parallel by a predetermined distance. Since the first optical element 45 is installed in the first driver 42, the first driver 42 is installed on the first support 411, the second optical element 46 is installed in the second driver 43, and the second driver 43 is installed on the second support 412, the positions of the rotation axes of the first optical element 45 and the second optical element 46 are not easily shifted by the positioning action of the first positioning member 4112 and the second positioning member 4122, and the distance measuring accuracy of the distance measuring device 100 is high.

In the embodiment, the predetermined distance between the first rotation axis 4236 and the second rotation axis 4337 may be set according to actual requirements of the scanning module 40, in this embodiment, the first rotation axis 4236 coincides with the second rotation axis 4337, that is, the predetermined distance between the first rotation axis 4236 and the second rotation axis 4337 is zero. The first positioning member 4112 may be formed at an end of the first holder body 4111 close to the second holder 412, and the second positioning member 4122 may be formed at an end of the second holder body 4121 close to the first holder 411, so that when the first positioning member 4112 and the second positioning member 4122 are installed, an installation angle of the first holder 411 and the second holder 412 can be determined, and only when the first rotation shaft 4236 and the second rotation shaft 4337 coincide, the first holder 411 and the second holder 412 can be correctly fitted, that is, the first positioning member 4112 and the second positioning member 4122 are correctly fitted together.

According to the difference in shape, combination manner, etc. between the first support 411 and the second support 412, the specific forms of the first positioning member 4112 and the second positioning member 4122 can be adjusted properly, the first positioning member 4112 and the second positioning member 4122 can be respectively a buckle and a slot, and the first positioning member 4112 and the second positioning member 4122 can be respectively an internal thread and an external thread.

In the example shown in fig. 8, the first positioning member 4112 includes a positioning groove 4114, and the second positioning member 4122 includes a positioning protrusion 4127, and the positioning protrusion 4127 protrudes into the positioning groove 4114 to cooperate with each other. The positioning groove 4114 may communicate with the first receiving cavity 4119, the depth direction of the positioning groove 4114 may be the same as the direction of the first rotation shaft 4236, the positioning protrusion 4127 is formed by extending from one end of the second holder body 4121, and the extending direction of the positioning protrusion 4127 may be the same as the direction of the second rotation shaft 4337.

Specifically, referring to fig. 7 and 8, the inner wall of positioning groove 4114 is a ring or a portion of a ring, positioning protrusion 4127 includes a plurality of spacer protrusions 4127a spaced apart from each other, the outer wall of the plurality of spacer protrusions 4127a forms a portion of a ring or a portion of a ring, and the outer wall of the plurality of spacer protrusions 4127a abuts against the inner wall of positioning groove 4114. The central axis of the inner wall of the positioning groove 4114 may coincide with the first rotation axis 4236, and the central axis of the outer wall of the plurality of locator protrusions 4127a may coincide with the second rotation axis 4337. The plurality of locator protrusions 4127a may be equally angularly spaced around the circumference of the second rotary shaft 4337. The outer walls of the plurality of locator protrusions 4127a may be in interference fit with the inner wall of the locating groove 4114, so that the first locating member 4112 is not prone to shaking after being matched with the second locating member 4122.

Referring to fig. 7 and 8, in some embodiments, a second positioning member 4122 is formed at one end of the second support 412, and a third positioning member 4123 is formed at the other end of the second support 412. The third holder 413 is formed with a fourth positioning member 4131, and the third positioning member 4123 is engaged with the fourth positioning member 4131 such that the second rotating shaft 4337 is spaced apart from the third rotating shaft 4437 in parallel at a predetermined distance. Since the second optical element 46 is mounted in the second driver 43, the second driver 43 is mounted on the second support 412, the third optical element 47 is mounted in the third driver 44, and the third driver 44 is mounted on the third support 413, the positions of the rotation axes of the second optical element 46 and the third optical element 47 are not easily shifted by the positioning action of the third positioning element 4123 and the fourth positioning element 4131, and the distance measuring accuracy of the distance measuring device is high.

In this embodiment, the predetermined distance between the second rotation axis 4337 and the third rotation axis 4437 may be set according to actual requirements of the scan module 40, and in this embodiment, the second rotation axis 4337 coincides with the third rotation axis 4437, that is, the predetermined distance between the second rotation axis 4337 and the third rotation axis 4437 is zero. Meanwhile, the first rotation axis 4236, the second rotation axis 4337 and the third rotation axis 4437 may be overlapped, so that the light receiving efficiency of the light path light receiving system composed of the first optical element 45, the second optical element 46 and the third optical element 47 is high.

The third positioning member 4123 may be formed at an end of the second holder body 4121 adjacent to the third holder 413, and the fourth positioning member 4131 may be formed at an end of the third holder body 4130 adjacent to the second holder 412, so that when the installation is performed, the installation angle of the first holder 411 and the second holder 412 can be determined by the third positioning member 4123 and the fourth positioning member 4131, and only when the second rotation shaft 4337 and the third rotation shaft 4437 coincide, the second holder 412 and the third holder 413 can be correctly matched, that is, the third positioning member 4123 and the fourth positioning member 4131 are correctly matched.

The specific forms of the third positioning element 4123 and the fourth positioning element 4131 can be adjusted properly according to the differences in the shapes and the combination manners of the second support 412 and the third support 413, the third positioning element 4123 and the fourth positioning element 4131 can be a snap and a slot, respectively, and the third positioning element 4123 and the fourth positioning element 4131 can be an internal thread and an external thread, respectively.

In the example shown in fig. 7 and 8, the third positioning member 4123 includes a positioning groove 4128, and the fourth positioning member 4131 includes a positioning protrusion 4132, and the positioning protrusion 4132 is protruded into the positioning groove 4128 to be engaged with each other. The seating groove 4128 may communicate with the second receiving cavity 4126, the depth direction of the seating groove 4128 may be the same as the direction of the second rotation axis 4337, the seating protrusion 4132 is formed to extend from one end of the third holder body 4130, and the extending direction of the seating protrusion 4132 may be the same as the direction of the third rotation axis 4437.

Specifically, referring to fig. 7 and 8, the inner wall of the positioning groove 4128 is annular or a portion of an annular shape, the positioning protrusion 4132 includes a plurality of spaced positioning sub-protrusions 4132a, the outer wall of the plurality of positioning sub-protrusions 4132a is annular or a portion of an annular shape, and the outer wall of the plurality of positioning sub-protrusions 4132a abuts against the inner wall of the positioning groove 4128. The central axis of the inner wall of the locator groove 4128 may coincide with the first rotation axis 4236, and the central axis of the outer wall of the plurality of locator protrusions 4132a may coincide with the third rotation axis 4437. The plurality of locator protrusions 4132a may be equally angularly spaced around the circumference of the third rotational shaft 4437. The outer walls of the plurality of locator protrusions 4132a may be in interference fit with the inner walls of the locating grooves 4128, so that the third locating element 4123 and the fourth locating element 4131 are not prone to shaking after being matched.

Referring to fig. 7, in some embodiments, the first seat 411 further includes a supporting ring 4113, the first seat body 4111 forms a first receiving cavity 4119, and the supporting ring 4113 extends from an inner wall of the first seat body 4111 to the receiving cavity. As mentioned above, the first housing body 4111 is a hollow structure, the hollow part forms the first housing cavity 4119, in order to increase the volume of the first housing cavity 4119, the inner wall of the first housing body 4111 is usually made thinner, which may cause the strength of the first housing body 4111 to decrease, and is easily deformed when being squeezed or impacted. Support ring 4113 extends to accepting the chamber from the inner wall of first support body 4111, can increase the holistic intensity of first support 411, and first support 411 is difficult for taking place deformation. In this embodiment, the first accommodating cavity 4119 is cylindrical, the supporting ring 4113 is also annular, and the supporting ring 4113 can ensure the roundness of the first accommodating cavity 4119.

Referring to fig. 5 and 7, in some embodiments, the first driver 42 is installed in the first receiving cavity 4119, and the first stator assembly 421 and the first positioning assembly 422 are installed on two opposite sides of the supporting ring 4113, respectively. When the first driver 42 is installed, the first stator assembly 421 may be installed in the first accommodating cavity 4119 from one side of the supporting ring 4113, and the first positioning assembly 422 may be installed in the first accommodating cavity 4119 from the other side of the supporting ring 4113, which may be installed at the same time, without installing the first positioning assembly 422 and the first stator assembly 421 from the same side of the supporting ring 4113, thereby improving the installation efficiency.

Referring to fig. 6 and 9, in some embodiments, the scan module 40 further includes a pre-tensioning assembly 48. The pretensioning assembly 48 includes a first pretensioning member 481 and a second pretensioning member 482. The first preload member 481 is fixed to the first rotor 4231, and the second preload member 482 is fixed to the second bracket 412. The first preload piece 481 is arranged opposite to the second preload piece 482, and the first preload piece 481 and the second preload piece 482 generate an interaction force in the axial direction of the first bearing 422 so that the first inner ring structure 4221 and the first outer ring structure 4222 jointly abut against the first rolling bodies 4223.

It will be appreciated that the second support 412 is fixed relative to the first support 411 and the first outer ring structure 4222 is fixed relative to the first support 411, i.e. the first outer ring structure 4222 is fixed relative to the second support 412. Before the pretensioning assembly 48 is provided, there may be play between the first inner ring structure 4221 and the first rolling elements 4223, which may cause the first inner ring structure 4221 to easily jump in the axial direction of the first bearing 422 to generate noise when the first inner ring structure 4221 rotates. After the pre-tightening assembly 48 is arranged, the interaction force generated by the first pre-tightening piece 481 and the second pre-tightening piece 482 respectively acts on the first inner ring structure 4221 and the second support 412, and the first inner ring structure 4221 abuts against the first rolling body 4223 under the action of the interaction force, so that the play of the first bearing 422 is eliminated, and the first rotating shaft is ensured to rotate smoothly.

Specifically, the interaction force between the first preload member 481 and the second preload member 482 may be an attractive force or a repulsive force. In the embodiment of the present application, the first pre-tightening member 481 and the second pre-tightening member 482 may be made of ferromagnetic material, such as magnets. The repulsive force is generated by opposing the same poles of the magnets, and the attractive force is generated by opposing different poles of the magnets.

Referring to fig. 6 and 9, in some embodiments, the first pre-tightening member 481 is annular, and the first pre-tightening member 481 is sleeved on the first rotor 4231. The first preload member 481 receives the interaction force and then transmits the interaction force to the first rotor 4231 and then to the first inner ring structure 4221. The first annular preload member 481 is subject to a relatively uniform interaction force to prevent the first inner ring structure 4221 from tilting. In another example, the first preload piece 481 may also include a plurality of first sub-preload pieces which are arranged at equal angular intervals in the circumferential direction of the first rotor 4231.

Referring to fig. 6 and 7, in some embodiments, the second fastening member 482 includes a plurality of second fastening sub-members 482a, and the plurality of second fastening sub-members 482a are disposed at equal angular intervals in the circumferential direction of the second seat 412. The second preload members 482 arranged at equal angular intervals can provide a more uniform interaction force for the first preload member 481. In another example, the second preload member 482 may be loop-shaped. In the example shown in fig. 7, the second seat 412 includes a first end 4124 facing the first driver 42, the first end 4124 defines an accommodating groove 4125, and the second pre-tightening member 482 is at least partially accommodated in the accommodating groove 4125. The second preload member 482 is easily fixed to the second base 412, and the second preload member 482 does not protrude from the second base 412 so much as to increase the axial dimension of the scan module 40.

Referring to FIG. 9, in some embodiments, pretensioning assembly 48 further comprises a third pretensioning member 483 and a fourth pretensioning member 484. The third preload member 483 is fixed to the second rotor 4331, the fourth preload member 484 is fixed to the fourth rotor, and the third preload member 483 is disposed opposite to the fourth preload member 484. An interaction force is generated between the third preload element 483 and the fourth preload element 484 in the axial direction of the second bearing 432 and the third bearing 442, so that the second inner ring structure 4321 and the second outer ring structure 4322 jointly bear against the second rolling elements 4323, and the third inner ring structure 4421 and the third outer ring structure 4422 jointly bear against the third rolling elements 4423.

The second outer ring structure 4322 and the second support 412 are fixed to each other, the third outer ring structure 4422 and the third support 413 are fixed to each other, and the second support 412 and the third support 413 are fixed to each other, so that the second outer ring structure 4322 and the third outer ring structure 4422 are fixed to each other. The interaction force between the third preload member 483 and the fourth preload member 484 firstly acts on the second rotor 4331 and the third rotor 4431, respectively, and then is transmitted to the second inner ring structure 4321 and the third inner ring structure 4421, respectively, so that the second inner ring structure 4321 abuts against the second rolling element 4323 to eliminate the play of the second bearing 432, and the third inner ring structure 4421 abuts against the third rolling element 4423 to eliminate the play of the third bearing 442, thereby ensuring that the second bearing 432 and the third bearing 442 rotate smoothly.

Specifically, the interaction force between the third preload member 483 and the fourth preload member 484 may be an attractive force or a repulsive force. In the embodiment of the present application, the third preload member 483 and the fourth preload member 484 may be made of ferromagnetic material, such as magnets. Mutual repulsion is generated by opposing like poles of the magnets and mutual attraction is generated by opposing unlike poles of the magnets. The third preload member 483 may be ring-shaped and fitted over the third rotor 4431, and the fourth preload member 484 may be ring-shaped and fitted over the fourth rotor.

In the embodiment of the present application, the first bearing 422, the second bearing 432, and the third bearing 442 are coaxially disposed. That is, the first rotation shaft 4236, the second rotation shaft 4337, and the third rotation shaft 4437 are coaxially provided.

Referring to fig. 9, in some embodiments, the first optical element 45, the second optical element 46 and the third optical element 47 are disposed side by side in sequence. The scanning module 40 is configured to receive the light pulse, change the propagation direction of the light pulse, and emit the light pulse, and is configured to receive the light pulse reflected by the object. In the process of emitting the light pulse after changing the propagation direction of the light pulse, the light pulse sequentially passes through the third optical element 47, the second optical element 46, and the first optical element 45. In the present embodiment, the aperture of the first optical element 45 is larger than the aperture of the third optical element 47.

By arranging the three optical elements, the refraction angles of the three optical elements which can be combined are more, the aperture of the first optical element 45 is larger than that of the third optical element 47, the first optical element 45 can receive more light pulses reflected back by the object, and the light pulses passing through the second optical element 46 can be deflected by the first optical element 45 by a larger angle, so that the field range of the scanning module 40 is increased.

In one example, the aperture of the first optical element 45 is larger than the aperture of the second optical element 46, and the aperture of the second optical element 46 is equal to the aperture of the third optical element 47. The second driver 43 for mounting the second optical element 46 and the third driver 44 for mounting the third optical element 47 may be the same, and the second support 412 for mounting the second driver 43 and the third support 413 for mounting the third driver 44 may be similar or identical in size.

In further embodiments, the aperture of the first optical element 45 may be larger than the aperture of the second optical element 46, and the aperture of the second optical element 46 is larger than the aperture of the third optical element 47. In the process of emitting the light pulse, the light pulse passes through the third optical element 47, the second optical element 46, and the first optical element 45 in sequence, and the range in which the light pulse can be refracted can be gradually increased without being blocked by the rotors (the third rotor 4431, the second rotor 4331, and the first rotor 4231). Of course, the aperture of the first optical element 45 may be equal to the aperture of the second optical element 46, and the aperture of the second optical element 46 is larger than the aperture of the third optical element 47.

Referring to fig. 9, in some embodiments, the second rotor 4331 extends into the first receiving chamber 4235. Specifically, it may be that the second yoke 4333 protrudes into the second receiving cavity, and since the first optical element 45 is installed in the first receiving cavity 4235, the second optical element 46 is installed in the second receiving cavity 4336 formed by the second rotor 4331, and the second rotor 4331 protrudes into the first receiving cavity 4235, the second optical element 46 may be relatively close to the first optical element 45, and the optical path of the laser light between the second optical element 46 and the first optical element 45 may be reduced. Referring to fig. 9 and 17, taking the emitted laser as an example, the laser is refracted after passing through the second optical element 46, and the second optical element 46 is relatively close to the first optical element 45, so that the range of the laser irradiating on the first optical element 45 is smaller under the same refraction angle, the laser is prevented from being shielded by the laser irradiating on the first rotor 4231, the light emitting and receiving efficiency is improved, and the size of the scanning module 40 in the axial direction can be reduced. In one example, the second optical element 46 at least partially extends into the first accommodation cavity 4235, so that the second optical element 46 and the first optical element 45 are close to each other, and the light emitting efficiency and the light receiving efficiency are further improved.

Referring to fig. 9 and 12, in some embodiments, the inner wall of the first rotor 4231 defines a first receiving cavity 4235, the first rotor 4231 includes an outer end 4239 distal from the second driver 43, and an escape chamfer 4230 is formed at the intersection of the outer end 4239 and the inner wall of the first rotor 4231. On the one hand, the forming of the avoiding chamfer 4230 does not reduce the axial length of the first rotor 4231, so that the first stator assembly 421 can be arranged on the outer peripheral surface of the first magnetic yoke 4233a, on the other hand, the forming of the avoiding chamfer 4230 is beneficial to light passing through the avoiding chamfer 4230 and not shielded by the inner wall of the first rotor 4231, and the light emitting and receiving efficiency of the scanning module 40 is improved. Specifically, the angle α of the escape chamfer 4230 may be any number of degrees within the range (0, 40 degrees), such as 10 degrees, 12 degrees, 15.5 degrees, 23 degrees, 37 degrees, 40 degrees, etc., so as to provide good support for the first stator assembly 421 without significantly impairing the strength of the first rotor 4231.

Correspondingly, in the process of receiving the light pulse reflected back by the object, the light pulse passes through the first optical element 45 and then passes through the second optical element 46 and the third optical element 47. In the embodiment of the present application, the first optical element 45, the second optical element 46, and the third optical element 47 are all light refraction elements, that is, the first optical element 45, the second optical element 46, and the third optical element can individually refract the passing light to change the original propagation direction of the light.

In the embodiment of the present application, the optical axes of the first optical element 45, the second optical element 46 and the third optical element 47 are coaxially disposed, so that the laser pulse is not easily blocked by the first rotor 4231, the second rotor 4331 or the third rotor 4431 after being refracted, thereby improving the light emitting and light receiving efficiency of the scanning module 40. Of course, in other embodiments, the optical axes of the first optical element 45, the second optical element 46, and the third optical element 47 may not be coaxially disposed, and a device such as a reflection element may be added, which is not limited herein.

In one example, the distance between the first optical element 45 and the second optical element 46 may be smaller than the distance between the second optical element 46 and the third optical element 47; or the distance between the first optical element 45 and the second optical element 46 may be equal to or greater than the distance between the second optical element 46 and the third optical element 47.

In some embodiments, the field angle of the scanning module 40 in the horizontal direction is larger than the field angle in the vertical direction, so that the distance measuring device can detect the depth information of the object to be measured around more easily. For example, the angle of view of the scanning module 40 in the horizontal direction is [60 degrees, 80 degrees ], such as an angle within the above range, for example, 60 degrees, 65 degrees, 70 degrees, 71 degrees, 75 degrees, 75.8 degrees, 78 degrees, 80 degrees; the angle of view of the scanning module 40 in the vertical direction is between [25 degrees, 35 degrees ], and is, for example, any angle within the above range, such as 25 degrees, 26 degrees, 26.5 degrees, 27.4 degrees, 28 degrees, 29 degrees, 32 degrees, 35 degrees. In one example, the field of view of the scan module 40 is elongated, such as rectangular, and the long side of the rectangle may be parallel to the horizontal line or the vertical line; or elliptical, the major axis of which may be parallel to the horizontal or vertical.

In some embodiments, the second actuator 43 can rotate to rotate the second optical element 46 about the second rotation axis 4337, and the third actuator 44 can rotate to rotate the third optical element 47 about the third rotation axis 4437. It will be appreciated that the second actuator 43 and the third actuator 44 can be controlled to rotate independently, and the second optical element 46 and the third optical element 47 can rotate simultaneously, and the direction and speed of rotation can be the same or different; it is also possible that the second optical element 46 rotates and the third optical element 47 does not rotate; it is also possible that the second optical element 46 does not rotate and the third optical element 47 rotates. During the rotation of the second optical element 46 and/or the third optical element 47, the light pulses are changed by the second optical element 46 and/or the third optical element 47 to exit in different directions.

Further, the first driver 42 can rotate to rotate the first optical element 45 around the first rotation axis 4236. The first driver 42, the second driver 43 and the third driver 44 can be controlled to rotate independently, so the rotation speed and direction of the second optical element 46 and the third optical element 47 do not affect the rotation speed and direction of the first optical element 45.

Referring to fig. 17, in some embodiments, an included angle between the light emitting surface of the first optical element 45 and a plane perpendicular to the first rotation axis 4236 is less than 10 degrees. In addition, the angle between the light emitting surface of the third optical element 47 and the plane perpendicular to the third rotation axis 4437 is less than 10 degrees.

Or, an included angle between the light emitting surface of the first optical element 45 and the first rotation axis 4236 is between 80 degrees and 90 degrees. In addition, the included angle between the light emitting surface of the third optical element 47 and the third rotating shaft 4437 is between 80 degrees and 90 degrees.

In the example shown in fig. 17, the light exit surface of the first optical element 45 is perpendicular to the first rotation axis 4236. The light emitting surface of the third optical element 47 is perpendicular to the third rotating shaft 4437. The light emitting surface refers to a surface through which the laser pulse passes finally when passing through the optical element when the distance measuring device emits the laser pulse, for example, the light emitting surface of the first optical element 45 refers to a surface through which the emitted laser pulse passes finally when passing through the first optical element 45. The light emitting surface of the first optical element 45 is perpendicular to the third rotation axis 4437, so that the effective light receiving area of the first optical element 45 is larger for the same area of the light emitting surface.

It is understood that the first optical element 45, the second optical element 46 and the third optical element 47 are arranged side by side, and there are opposite surfaces and opposite surfaces between two adjacent optical elements. In the example shown in fig. 17, the second optical element 46 is parallel to two opposing faces of the third optical element 47. The distance between the two opposing faces of the second optical element 46 and the third optical element 47 is [1.5 mm, 5 mm ], and specifically, may be any value within the above range, such as 1.5 mm, 2 mm, 2.7 mm, 3.4 mm, 4 mm, 4.9 mm, 5 mm, and the like. The distance between the two opposing faces of the first optical element 45 and the second optical element 46 is [10 mm, 25 mm ], and specifically, may be any value within the above range, such as 10 mm, 15 mm, 17.3 mm, 17.5 mm, 20 mm, 22.5 mm, 24 mm, 25 mm, and the like. The surfaces of the first optical element 45 opposite to the third optical element 47 are not parallel, and the surface of the first optical element 45 opposite to the third optical element 47 refers to the surface of the first optical element 45 close to the third optical element 47. The distance between the two opposing surfaces may be a distance between the two opposing surfaces and a distance between the two surfaces and an intersection point of each optical axis.

When the first optical element 45, the second optical element 46, and the third optical element 47 are all wedge prisms, the wedge angle of the second optical element 46 and the third optical element 47 may be between [19 degrees and 21 degrees ], for example, any value within the above range, such as 19 degrees, 19.5 degrees, 20 degrees, 20.5 degrees, 20.8 degrees, and 21 degrees, may be adopted. The wedge angles of the second optical element 46 and the third optical element 47 may be equal, for example, 20 degrees or 21 degrees, and the wedge angles of the second optical element 46 and the third optical element 47 may also be unequal, for example, the wedge angle of the second optical element 46 is 20 degrees and the wedge angle of the third optical element 47 is 21 degrees. The wedge angle of the first optical element 45 is between [17 degrees, 19 degrees ], and for example, 17 degrees, 17.7 degrees, 18 degrees, 18.3 degrees, 18.5 degrees, 19 degrees, and the like may be any value within the above range.

Referring to fig. 17 and fig. 20, a surface of the third optical element 47 away from the first optical element 45 is not perpendicular to the optical axis of the third optical element 47. The non-vertical direction is an inclination, and the optical axis of the third optical element 47 may coincide with the third rotation axis 4437, so as to prevent the surface of the third optical element 47 far from the first optical element 45 from reflecting the light emitted from the distance measuring module 60 back to the detector 64, and avoid interference with the light received by the detector 64.

Referring to fig. 18, in some embodiments, the difference between the refractive powers of the second optical element 46 and the third optical element 47 for the light pulse is less than 10 degrees, for example, the difference between the refractive powers is in a range of 0 degree, 2 degrees, 5 degrees, 7 degrees, 8.3 degrees, 10 degrees, or any range less than 10 degrees. In one example, the refractive powers of the second optical element 46 and the third optical element 47 for the light pulse are the same, i.e., the difference between the refractive powers of the second optical element 46 and the third optical element 47 for the light pulse is 0 degrees. The refractive power of the optical element refers to a deflection angle of the emergent light compared with the incident light under the condition that the incident light is perpendicular to the light incident surface. The refractive power difference is less than 10 degrees, which may mean that the deflection directions of the incident light are the same, but the difference of the deflection angles is less than 10 degrees, under the condition that the incident light is perpendicular to the light incident surface; or the deflection directions are different, but the included angle of the deflection directions is less than 10 degrees.

The material of the second optical element 46 and the third optical element 47 may be the same, the second optical element 46 and the third optical element 47 may be both wedge prisms, and the wedge angles of the two may be the same. The two opposite surfaces of the second optical element 46 and the third optical element 47 may be parallel to each other.

When rotating the second and third optical elements 46, 47, the second and third optical elements 46, 47 may be counter-rotating at the same speed, e.g., the second optical element 46 is rotating forward and the third optical element 47 is rotating backward at the same speed, or the second optical element 46 is rotating backward and the third optical element 47 is rotating forward at the same speed.

In some embodiments, during the rotation of the second optical element 46 and the third optical element 47, the sum of the phase angle of the second optical element 46 and the phase angle of the third optical element 47 floats around a fixed value within a range of no more than 20 degrees. Wherein, the phase angle refers to the included angle between the zero position of the light refracting element and a reference direction. Referring to fig. 18 and 19, along the direction of the optical axes of the second optical element 46 and the third optical element 47, the reference direction may be represented by a direction X, the null of the second optical element 46 may be represented by μ 1, the null of the third optical element 47 may be represented by μ 2, the phase angle of the second optical element 46 may be represented by θ 1, the phase angle of the third optical element 47 may be represented by θ 2, and the sum of the phase angle of the second optical element 46 and the phase angle of the third optical element 47 may be represented by θ 1+ θ 2. The phase angle is formed in the reference direction, and the anticlockwise direction is positive, and the clockwise direction is negative; or the phase angle is formed to be negative in the clockwise direction and positive in the counterclockwise direction of the reference direction.

In one example, the sum of the phase angle of the second optical element 46 and the phase angle of the third optical element 47 is a fixed value during the rotation of the second optical element 46 and the third optical element 47. In another example, the reference direction is a horizontal direction, and the sum of the phase angle of the second optical element 46 and the phase angle of the third optical element 47 is floating around 0 degrees, so that the scanning module 40 can scan a strip-shaped field of view extending along the horizontal direction, so that the distance measuring device is more suitable for some scenes, for example, more suitable for obstacle avoidance of an autonomous vehicle.

Referring to fig. 9 and 10, in the present embodiment, the radial dimension of the second rotor 4331 is smaller than that of the first rotor 4231. The second rotor 4331 is arranged coaxially with the first rotor 4231, i.e. the second rotation axis 4337 coincides with the first rotation axis 4236. The second rotor assembly 433 is distributed in the same rotational axis direction as the first rotor assembly 423, and the second rotor assembly 433 is located toward the first face 453 of the first optical element 45 in the first rotor assembly 423.

The radial dimension of the third rotator 4431 is equal to that of the second rotator 4331, and the axial dimension of the third rotator 4431 may be smaller than or equal to or larger than that of the second rotator 4331. The third rotator 4431 is coaxially disposed with the second rotator 4331, i.e., the third rotation axis 4437, the second rotation axis 4337 and the first rotation axis 4236 coincide. The third rotor assembly 443 is distributed in the same direction of the rotation axis as the second rotor assembly 433, and the third rotor assembly 443 is located toward the second face 464 of the second optical element 46 in the second rotor assembly 433.

Referring to fig. 9 and 10, in the present embodiment, the first optical element 45 is formed with a first surface 453 and a second surface 454 which are opposite to each other. The first surface 453 is inclined with respect to the first rotation axis 4236, i.e., the first surface 453 is not at an angle of 0 degree or 90 degrees with respect to the first rotation axis 4236; the second surface 454 is perpendicular to the first rotation axis 4236, i.e., the second surface 454 forms an angle of 90 degrees with the first rotation axis 4236.

It will be appreciated that since the first surface 453 and the second surface 454 are not parallel, the thickness of the first optical element 45 is not uniform, i.e., the thickness of the first optical element 45 is not equal everywhere, there are locations with greater thickness and locations with lesser thickness. In one example, the first optical element 45 includes a first end 451 and a second end 452, and the first end 451 and the second end 452 are respectively located at two ends of the first optical element 45 in a radial direction. The thickness of the first optical element 45 is gradually increased in one direction, and the thickness of the first end 451 is greater than that of the second end 452, or the first optical element 45 may be a wedge (wedge prism).

Since the weight distribution of each optical element is not uniform, when the optical elements rotate at a high speed, the optical elements are easy to shake and not smooth enough, and the rotating speed is limited. To solve this problem, in some implementations of the embodiments of the present application, the dynamic balance of the scan module 40 is improved by reducing the weight of the scan module 40 and increasing the weight of the scan module 40.

For example, when the weight of the scan module 40 is reduced to improve the dynamic balance of the scan module 40, the dynamic balance of the scan module 40 is improved by forming notches on the first optical element 45 and/or the first rotor 4231 in some embodiments below.

The positions of the first optical element 45 and the gap of the first rotor 4231 will be described below:

referring to fig. 9 and 10, in one example, the notch includes a cut corner 455 formed on the first optical element 45, the cut corner 455 is located at an edge of the first end 451, and the cut corner 455 is opposite to an inner surface of the first sidewall 4234 of the first rotor 4231 and is located away from a light path of the first optical element 45, or the cut corner 455 is located at a position where a light ray in the first optical element 45 does not pass through. Thus, the cut angle 455 does not affect the transmission of the laser beam in the first optical element 45 while improving the dynamic balance of the scan module 40.

Referring to fig. 9 and 10, in one example, the first optical element 45 includes a first region and a second region. The first region is opposite the second optical element 46, and the second region extends from the first region beyond the periphery of the second optical element 46. The notch includes a chamfer 455 that opens on the second region of the first optical element 45 on a side adjacent the first end.

Referring to fig. 9 and 10, in an example, the first rotor 4231 includes a third end 4237a and a fourth end 4237b distributed along a direction of the first rotation axis 4236 of the first rotor 4231, the third end 4237a is opposite to the fourth end 4237b, the third end 4237a of the first rotor 4231 is close to the second surface 454 of the first optical element 45, and the fourth end 4237b of the first rotor 4231 is close to the first surface 453 of the first optical element 45. The notch includes an inner cut 4234a formed on an inner surface of the first sidewall 4234 of the first rotor 4231, the inner cut 4234a is adjacent to the first end 451 side of the first optical element 45, the inner cut 4234a is closer to the fourth end 4237b than to the third end 4237a, or the inner cut 4234a extends from the third end 4237a in a direction toward the fourth end 4237 b. In another example, inner slot 4234a is opposite to chamfer 455, and the projection range of inner slot 4234a on first rotation axis 4236 covers the projection range of chamfer 455 on first rotation axis 4236. In another example, the number of the inner grooves 4234a may be plural (greater than or equal to two), and the plurality of inner grooves 4234a are provided at intervals. In this way, a single inward-cutting groove 4234a having a large area can be prevented from greatly affecting the strength of the first side wall 4234.

Referring to fig. 9 and 13, in an example, the first rotor 4231 includes a third end 4237a and a fourth end 4237b distributed along a direction of the first rotation axis 4236 of the first rotor 4231, the third end 4237a is opposite to the fourth end 4237b, the third end 4237a of the first rotor 4231 is close to the second surface 454 of the first optical element 45, and the fourth end 4237b of the first rotor 4231 is close to the first surface 453 of the first optical element 45. The indentations include a groove 4234c formed in the middle (between the outer surface and the inner surface) of the first sidewall 4234 of the first rotor 4231, i.e., the groove 4234c does not extend through the inner surface and the outer surface of the first sidewall 4234. The groove 4234c is close to the first end 451 of the first optical element 45, and the groove 4234c is close to the fourth end 4237b relative to the third end 4237a, or the groove 4234c extends from the third end 4237a in a direction towards the fourth end 4237 b. In another example, the number of the grooves 4234c may be plural (greater than or equal to two), and the plurality of grooves 4234c are provided at intervals. In this way, a single groove 4234c having a large area can be prevented from greatly affecting the strength of the first sidewall 4234.

Referring to fig. 9 and 13, in one example, a projection range of the groove 4234c on the first rotation axis 4236 covers a projection range of the tangential angle on the first rotation axis 4236. In another example, a projection range of the groove 4234c on the first rotation axis 4236 covers a projection range of the inner groove 4234a on the first rotation axis 4236. In another example, the projection range of the groove 4234c on the first rotation axis 4236 covers both the tangential angle and the projection range of the inner groove 4234a on the first rotation axis 4236.

In one example, the first rotor 4231 includes a third end 4237a and a fourth end 4237b distributed along a direction of the first rotation axis 4236 of the first rotor 4231, the third end 4237a is disposed opposite to the fourth end 4237b, the third end 4237a of the first rotor 4231 is adjacent to the second surface 454 of the first optical element 45, and the fourth end 4237b of the first rotor 4231 is adjacent to the first surface 453 of the first optical element 45. The notch includes a circumscribed groove 4234b formed on an outer surface of the first side wall 4234 of the first rotor 4231, the circumscribed groove 4234b is adjacent to the first end 451 side of the first optical element 45, the circumscribed groove 4234b is closer to the third end 4237a than the fourth end 4237b, or the circumscribed groove 4234b extends from the fourth end 4237b in a direction toward the third end 4237 a. In another example, the number of the outer circumferential groove 4234b may be plural (greater than or equal to two), and the plural outer circumferential grooves 4234b are provided at intervals. In this way, a single outward cutting groove 4234b having a large area can be prevented from greatly affecting the strength of the first side wall 4234.

Referring to fig. 10, 15 and 16, in an example, the first rotor 4231 includes a third end 4237a and a fourth end 4237b distributed along the first rotation axis 4236 of the first rotor 4231, the third end 4237a is opposite to the fourth end 4237b, the third end 4237a of the first rotor 4231 is close to the second surface 454 of the first optical element 45, and the fourth end 4237b of the first rotor 4231 is close to the first surface 453 of the first optical element 45. The first side wall 4234 of the first rotor 4231 has a rib 4238 extending radially outwardly from an outer surface thereof, the rib 4238 is disposed around the first side wall 4234 of the first rotor 4231, and the rib 4238 is closer to the fourth end 4237b than to the third end 4237 a. The notch includes an opening 4238a cut in the rib 4238, and the opening 4238a is adjacent to the first end 451 side of the first optical element 45. In another example, the number of the openings 4238a may be plural (greater than or equal to two), and the plurality of openings 4238a are provided at intervals. In this way, it is possible to avoid a large influence of the single opening 4238a having a large area on the strength of the bead 4238.

In one example, the notches (cut angle 455, inner notch 4234a, outer notch 4234b, indentation 4234c, and opening 4238a) may be symmetrical about a third auxiliary surface, which is a plane passing through the first rotation axis 4236, the first end, and the second end.

Thus, the notch is provided to reduce the shaking caused by uneven thickness when the first optical element 45 rotates, and to make the entire first rotor assembly 423 more stable during rotation.

Referring to fig. 20, it can be understood that the position of the notch is a position where the light path does not pass through, which does not affect the propagation of the light beam and does not reduce the light emitting and receiving efficiency of the optical element.

While the weight of the scan module 40 is increased to improve the dynamic balance of the scan module 40, the protrusions 4232 are added to the first rotor 4231 in some embodiments below to improve the dynamic balance of the scan module 40.

Referring to fig. 9 and 10, the positions of the first rotor 4231 and the boss 4232 will be described as follows:

the first rotor assembly 423 further includes a tab 4232, and the tab 4232 is used to improve smooth rotation of the first rotor assembly 423. Specifically, the bump 4232 is disposed on the first sidewall 4234 of the first rotor 4231 and located inside the first storage cavity 4235, the bump 4232 extends from the first sidewall 4234 to the center of the first storage cavity 4235, and the height of the bump 4232 extending to the center of the first storage cavity 4235 may be lower than a predetermined proportion of the radial width of the first storage cavity 4235, where the predetermined proportion may be 0.1, 0.22, 0.3, 0.33, and the like, so as to avoid the bump 4232 blocking the first storage cavity 4235 too much to affect the transmission optical path of the laser pulse.

The boss 4232 may be fixedly connected with the first rotor 4231, thereby achieving synchronous rotation of the boss 4232 and the first rotor 4231. The boss 4232 may be integrally formed with the first rotor 4231, for example, by injection molding or the like. The boss 4232 may also be formed separately from the first rotor 4231, and after the boss 4232 and the first rotor 4231 are formed separately, the boss 4232 is fixed on the first sidewall 4234 of the first rotor 4231, for example, the boss 4232 is bonded on the first sidewall 4234 by an adhesive, or the boss 4232 is fixed on the first sidewall 4234 of the first rotor 4231 by a fastener, for example, a screw, where a surface of the boss 4232, which is attached to the first sidewall 4234, is curved. In the present embodiment, the boss 4232 rotates synchronously with the first yoke 4233a, and the boss 4232 is fixedly connected to the first yoke 4233 a.

Referring to fig. 10 and 11, in an example, when the bump 4232 is installed in the first accommodation cavity 4235, the bump 4232 and the first optical element 45 are distributed along a radial direction of the first rotor 4231, and the first end 451 of the first optical element 45 may contact with an inner surface of the first sidewall 4234, and the second end 452 and the first sidewall 4234 form a gap into which the bump 4232 extends. Thus, since the second end 452 and the bump 4232 are located on the same side of the first rotation shaft 4236, and the first end 451 and the bump 4232 are located on two opposite sides of the first rotation shaft 4236, when the first optical element 45 and the first rotor assembly 423 rotate together, the whole formed by the first optical element 45 and the bump 4232 rotates stably, so that the first rotor assembly 423 is prevented from shaking, and the whole first rotor assembly 423 is more stable in rotation. In another example, the bump 4232 is spaced apart from the first optical element 45, and a surface of the bump 4232 facing the first optical element 45 is planar. In another example, a projection range of the boss 4232 on the first rotation axis 4236 covers a projection range of the first optical element 45 on the first rotation axis 4236.

Referring to fig. 14, in an example, when the bump 4232 is installed in the first accommodation cavity 4235, the bump 4232 and the first optical element 45 are juxtaposed along the first rotation axis 4236 of the first rotor 4231, both the first end 451 and the second end 452 of the first optical element 45 may contact with the inner surface of the first sidewall 4234, and the bump 4232 may contact with the first optical element 45 to make the bump 4232 as close as possible to the first optical element 45. Specifically, the bump 4232 is located at a side of the first surface 453 of the first optical element 45, and the bump 4232 may abut against the first surface 453 of the first optical element 45. When the first optical element 45 is mounted, the first surface 453 abuts against the boss 4232, and the first optical element 45 is considered to be mounted in place in the depth direction of the first accommodation cavity 4235. More specifically, the bump 4232 includes a bump sidewall 1232a, and the bump sidewall 1232a abuts against the first surface 453. In another example, a projection range of the first optical element 45 on the first rotation axis 4236 covers a projection range of the boss 4232 on the first rotation axis 4236.

In one example, when the bump 4232 is installed in the first accommodation cavity 4235, the bump 4232 and the first optical element 45 are arranged side by side along the direction of the first rotation axis 4236 of the first rotor 4231, at this time, the first end 451 and the second end 452 of the first optical element 45 may both contact with the inner surface of the first sidewall 4234, the bump sidewall 1232a may be a flat plate shape perpendicular to the first rotation axis 4236, and the bump sidewall 1232a may also be stepped, so as to simplify the process flow when the bump 4232 and the first rotor 4231 are integrally molded. The bump sidewall 1232a may be inclined with respect to the first rotation axis 4236, that is, the bump sidewall 1232a is not perpendicular to the first rotation axis 4236, and in another example, the inclination direction of the bump sidewall 1232a is the same as the direction of the first surface 453, and the bump sidewall 1232a is attached to the first surface 453, so that the bump sidewall 1232a and the first surface 453 are as close as possible, thereby maximizing the weight effect of the bump 4232, reducing the height of the bump 4232, and reducing the blocking of the optical path by the bump 4232. In another example, a projection range of the first optical element 45 on the first rotation axis 4236 covers a projection range of the boss 4232 on the first rotation axis 4236.

In one example, the bump 4232 may function as a counterweight, the bump 4232 rotates synchronously with the first optical element 45, and the torque of the bump 4232 rotating together with the second end 452 relative to the first rotation axis 4236 is equal to the torque of the first end 451 rotating together with the first rotation axis 4236, that is, the torque generated when the bump 4232 rotating together with the second end 452 rotates together with the first end 451 of the first optical element 45 can be cancelled out without affecting the smoothness of the rest positions of the first rotor 4231 during rotation.

In one example, the boss 4232 is symmetrical about a third auxiliary plane, which is a plane passing through the first rotation axis 4236, the first end 451, and the second end 452. In another example, the boss 4232 may also be symmetrical about a first auxiliary plane, wherein the first auxiliary plane is a plane perpendicular to the first rotation axis 4236 and passing through the center of the first plane 453. In this way, the boss 4232 can be better weight-fitted with the first optical element 45.

In one example, the density of the bumps 4232 is greater than the density of the first rotor 4231, such that when the bumps 4232 are disposed within the first housing cavity 4235, the volume of the bumps 4232 can be set smaller while ensuring the same mass, i.e., the same weight, to reduce the impact of the bumps 4232 on the laser pulses passing through the first housing cavity 4235. In another example, the density of the bumps 4232 may also be greater than the density of the first optical elements 45, so that the volume of the same bumps 4232 can be designed as small as possible.

In this way, the bumps 4232 are provided to reduce the shaking caused by the uneven thickness of the first optical element 45 during the rotation, so that the whole first rotor assembly 423 can be rotated more smoothly.

Referring to fig. 14, in an example, the first rotor 4231 includes a third end 4237a and a fourth end 4237b distributed along a direction of the first rotation axis 4236 of the first rotor 4231, the third end 4237a is opposite to the fourth end 4237b, the third end 4237a of the first rotor 4231 is close to the second surface 454 of the first optical element 45, and the fourth end 4237b of the first rotor 4231 is close to the first surface 453 of the first optical element 45. An avoidance chamfer 4230 is formed on the inner surface of the first side wall 4234 of the first rotor 4231, and the avoidance chamfer 4230 is close to one side of the third end 4237 a. Thus, the avoiding chamfer 4230 not only facilitates the first optical element 45 to be easily installed in the first accommodating cavity 4235, but also facilitates increasing the angle at which the first optical element 45 receives the reflected laser pulses.

In one example, the first rotor 4231 includes a third end 4237a and a fourth end 4237b distributed along a direction of the first rotation axis 4236 of the first rotor 4231, the third end 4237a is disposed opposite to the fourth end 4237b, the third end 4237a of the first rotor 4231 is adjacent to the second surface 454 of the first optical element 45, and the fourth end 4237b of the first rotor 4231 is adjacent to the first surface 453 of the first optical element 45. The first rotor 4231 further includes a boss 4234d, the boss 4234d is provided on an inner surface of the first sidewall 4234 of the first rotor 4231 on a side near the third end 4237a, and the first end 451 is mounted on the boss 4234 d.

In one example, the first optical element 45 is coated with an anti-reflection film having a thickness equal to the wavelength of the laser pulse emitted from the light source, so as to reduce the loss of the laser pulse when passing through the first optical element 45.

Referring to fig. 10, in the present embodiment, the second optical element 46 is formed with a first surface 463 and a second surface 464 which are opposite to each other. The first face 463 of the second optical element 46 faces the first face 453 of the first optical element 45, and the first face 463 of the second optical element 46 is inclined with respect to the second rotation axis 4337, i.e., the first face 463 is at an angle other than 0 degrees or 90 degrees with respect to the second rotation axis 4337. The second surface 464 of the second optical element 46 is opposite to the first surface 453 of the first optical element 45, and the second surface 464 of the second optical element 46 is perpendicular to the second rotation axis 4337, i.e. the included angle between the second surface 464 and the second rotation axis 4337 is 90 degrees, or the second surface 464 of the second optical element 46 is parallel to the second surface 454 of the first optical element 45.

It will be appreciated that since the first face 463 and the second face 464 of the second optical element 46 are not parallel, the thickness of the second optical element 46 is not uniform, i.e., the thickness of the second optical element 46 is not equal everywhere, there are locations of greater thickness and locations of lesser thickness. In one example, the second optical element 46 includes a first end 461 and a second end 462, and the first end 461 and the second end 462 are respectively located at two ends of the second optical element 46 in the radial direction. The thickness of the second optical element 46 gradually increases in one direction. And the thickness of the first end 461 is greater than the thickness of the second end 462, or alternatively, the second optical element 46 may be a wedge (wedge prism).

Since the wedge itself has uneven weight distribution, when the wedge is rotated at a high speed, the whole scanning module 40 may easily shake and be unstable. To solve this problem, in some implementations of the embodiments of the present application, the dynamic balance of the scan module 40 is improved by increasing the weight and the scan module 40. For example, the dynamic balance of the scan module 40 can be improved by adding the boss 4332 in the second rotor 4331.

Referring to fig. 10, in one example, the second rotor assembly 433 further includes a boss 4332, the boss 4332 is disposed on the second sidewall 4335 of the second rotor 4331 and located in the second receiving cavity 4336, and the boss 4332 is used to improve the stability of the second rotor assembly 433 in rotation. Specifically, the boss 4332 extends from the second side wall 4335 to the center of the second receiving cavity 4336, and a height of the boss 4332 extending to the center of the second receiving cavity 4336 may be lower than a predetermined ratio of a radial width of the second receiving cavity 4336, where the predetermined ratio may be 0.1, 0.22, 0.3, 0.33, and the like, so as to prevent the boss 4332 from blocking the second receiving cavity 4336 too much and affecting a transmission optical path of the laser pulse.

The boss 4332 can be fixedly connected to the second rotor 4331, so that the boss 4332 and the second rotor 4331 rotate synchronously. The boss 4332 may be integrally formed with the second rotor 4331, for example, by injection molding or the like. The boss 4332 may also be formed separately from the second rotor 4331, and after the boss 4332 and the second rotor 4331 are formed separately, the boss 4332 is fixed to the second sidewall 4335 of the second rotor 4331, for example, the boss 4332 is adhered to the second sidewall 4335 by an adhesive, or the boss 4332 is fixed to the second sidewall 4335 of the second rotor 4331 by a fastener, for example, a screw, where a surface of the boss 4332 that is attached to the second sidewall 4335 is a curved surface. In the embodiment of the present application, the boss 4332 and the second magnetic yoke 4333 rotate synchronously, and the boss 4332 and the second magnetic yoke 4333 are fixedly connected.

Referring to fig. 10, in an example, when the boss 4332 is installed in the second receiving cavity 4336, the boss 4332 and the second optical element 46 are distributed along a radial direction of the second rotor 4331, a first end 461 of the second optical element 46 may contact an inner surface of the second sidewall 4335, a gap is formed between the second end 462 and the second sidewall 4335, and the boss 4332 extends into the gap. Thus, since the second end 462 and the boss 4332 are located on the same side of the second rotating shaft 4337, and the first end 461 and the boss 4332 are located on two opposite sides of the second rotating shaft 4337, when the second optical element 46 and the second rotor assembly 433 rotate together, the whole rotation formed by the second optical element 46 and the boss 4332 is stable, so that the second rotor assembly 433 is prevented from shaking, which is beneficial to the stability of the whole second rotor assembly 433 during rotation. In another example, boss 4332 is spaced from second optical element 46, and the surface of boss 4332 facing second optical element 46 is planar. In another example, the projection range of the projection 4332 on the second rotation axis 4337 covers the projection range of the second optical element 46 on the second rotation axis 4337.

Referring to fig. 14, in an example, when the boss 4332 is installed in the second receiving cavity 4336, the boss 4332 and the second optical element 46 are arranged in parallel along the second rotation axis 4337 of the second rotor 4331, both the first end 461 and the second end 462 of the second optical element 46 can contact with the inner surface of the second sidewall 4335, and the boss 4332 can contact with the second optical element 46 to make the boss 4332 approach the second optical element 46 as close as possible. Specifically, boss 4332 is located on a side of first face 463 of second optical element 46, and boss 4332 may abut first face 463 of second optical element 46. When the second optical element 46 is mounted, the first surface 463 abuts against the boss 4332, and the second optical element 46 is considered to be mounted in place in the depth direction of the second receiving chamber 4336. More specifically, boss 4332 includes a boss sidewall 1332a, and boss sidewall 1332a abuts first face 463. In another example, the projection range of the second optical element 46 on the second rotation axis 4337 covers the projection range of the boss 4332 on the second rotation axis 4337.

Referring to fig. 14, in an example, when the boss 4332 is installed in the second receiving cavity 4336, the boss 4332 and the second optical element 46 are arranged in parallel along the second rotation axis 4337 of the second rotor 4331, both the first end 461 and the second end 462 of the second optical element 46 can contact with the inner surface of the second sidewall 4335, the boss sidewall 1332a can be a flat plate perpendicular to the second rotation axis 4337, and the boss sidewall 1332a can also be a step shape, so as to simplify the process flow when the boss 4332 and the second rotor 4331 are integrally formed. Boss sidewall 1332a may also be inclined with respect to second rotation axis 4337, that is, boss sidewall 1332a is not perpendicular to second rotation axis 4337, in another example, the inclination direction of boss sidewall 1332a is the same as the direction of first surface 463, and boss sidewall 1332a is attached to first surface 463, so that boss sidewall 1332a and first surface 463 are as close as possible to maximize the weight effect of boss 4332, reduce the height of boss 4332, and reduce the obstruction of optical path by boss 4332. In another example, the projection range of the second optical element 46 on the second rotation axis 4337 covers the projection range of the boss 4332 on the second rotation axis 4337.

In one example, the boss 4332 can function as a counterweight, the boss 4332 and the second optical element 46 rotate synchronously, and the torque of the boss 4332 and the second end 462 relative to the second rotation shaft 4337 is equal to the torque of the first end 461 relative to the second rotation shaft 4337, that is, the torque generated by the boss 4332 and the second end 462 during rotation can be cancelled out by the torque generated by the first end 461 of the second optical element 46 during rotation, without affecting the smoothness of the rest positions of the second rotor 4331 during rotation.

In one example, the boss 4332 is symmetrical about a third auxiliary surface, which is a plane passing through the second rotation axis 4337, the first end 461, and the second end 462. In another example, the boss 4332 may also be symmetric about a first auxiliary surface, wherein the first auxiliary surface is a plane perpendicular to the second rotation axis 4337 and passing through the center of the first face 463. In this manner, boss 4332 can better weight fit with second optical element 46.

In one example, the density of the boss 4332 is greater than the density of the second rotor 4331, such that when the boss 4332 is disposed in the second receiving chamber 4336, the volume of the boss 4332 can be set smaller while ensuring the same mass, i.e., the same weight, to reduce the effect of the boss 4332 on the laser pulses passing through the second receiving chamber 4336. In another example, the density of the lands 4332 may also be greater than the density of the second optical elements 46, such that the volume of the same lands 4332 may be designed to be as small as possible.

Thus, the arrangement of the bosses 4332 is beneficial to reducing the shaking caused by uneven thickness when the second optical element 46 rotates, and is beneficial to the stability of the whole second rotor assembly 433 in rotation.

Referring to fig. 10, in one example, the second optical element 46 is coated with an anti-reflection film having a thickness equal to the wavelength of the laser pulse emitted from the light source, so as to reduce the loss of the laser pulse when passing through the second optical element 46.

In one example, the aperture of the second optical element 46 is between 50% and 70% of the aperture of the first optical element 45. For example, the difference in aperture sizes of the two optical elements (the first optical element 45 and the second optical element 46) may be 50%, and the difference in aperture sizes of the two optical elements (the first optical element 45 and the second optical element 46) may be 60%. In this manner, the aperture sizes of the two optical elements (the first optical element 45 and the second optical element 46) are within an appropriate range to facilitate the propagation of light.

Referring to fig. 10, in the present embodiment, the third optical element 47 is formed with a first face 473 and a second face 474 opposite to each other. The first face 473 of the third optical element 47 is opposite to the second face 464 of the second optical element 46, and the first face 473 of the third optical element 47 is tilted with respect to the third rotation axis 4437, i.e., the first face 473 is not at an angle of 0 degrees or 90 degrees with respect to the third rotation axis 4437. The second surface 474 of the third optical element 47 is opposite to the second surface 464 of the second optical element 46, and the second surface 474 of the third optical element 47 is perpendicular to the third rotation axis 4437, that is, the included angle between the second surface 474 and the third rotation axis 4437 is 90 degrees, or the second surface 474 of the third optical element 47 is parallel to the second surface 464 of the second optical element 46, or the second surface 474 of the third optical element 47, the second surface 464 of the second optical element 46, and the second surface 454 of the first optical element 45 are parallel to each other.

It will be appreciated that since first face 473 and second face 474 of third optical element 47 are not parallel, the thickness of third optical element 47 is not uniform, i.e., the thickness of third optical element 47 is not equal everywhere, there are locations of greater thickness and locations of lesser thickness. In one example, the third optical element 47 includes a first end 471 and a second end 472, and the first end 471 and the second end 472 are respectively located at two ends of the third optical element 47 in the radial direction. The thickness of the third optical element 47 gradually increases in one direction. And the thickness of the first end 471 is greater than the thickness of the second end 472, or alternatively, the third optical element 47 may be a wedge (wedge prism).

Since the wedge itself has uneven weight distribution, when the wedge is rotated at a high speed, the whole scanning module 40 may easily shake and be unstable. To solve this problem, in some implementations of the embodiments of the present application, the dynamic balance of the scan module 40 is improved by increasing the weight and the scan module 40. For example, the dynamic balance of the scan module 40 can be improved by adding the boss 4332 in the second rotor 4331.

When the weight of the scan module 40 is increased to improve the dynamic balance of the scan module 40, the boss 4432 may be added to the third rotator 4431 to improve the dynamic balance of the scan module 40.

Referring to fig. 10, in one example, the third rotor assembly 443 further includes a boss 4432, the boss 4432 is disposed on the third sidewall 4435 of the third rotor 4431 and located in the third receiving cavity 4436, and the boss 4432 is used for improving the stability of the third rotor assembly 443 during rotation. Specifically, the boss 4432 extends from the third side wall 4435 to the center of the third receiving cavity 4436, and the height of the boss 4432 extending to the center of the third receiving cavity 4436 may be lower than a predetermined proportion of the radial width of the third receiving cavity 4436, and the predetermined proportion may be 0.1, 0.22, 0.3, 0.33, and the like, so as to avoid the boss 4432 blocking the third receiving cavity 4436 too much to affect the transmission light path of the laser pulse.

The boss 4432 may be fixedly connected to the third rotator 4431, so that the boss 4432 and the third rotator 4431 rotate synchronously. The boss 4432 may be integrally formed with the third rotator 4431, for example, by injection molding or the like. The boss 4432 may also be formed separately from the third rotator 4431, and after the boss 4432 and the third rotator 4431 are formed separately, the boss 4432 is fixed on the third sidewall 4435 of the third rotator 4431, for example, the boss 4432 is adhered to the third sidewall 4435 by an adhesive, or the boss 4432 is fixed on the third sidewall 4435 of the third rotator 4431 by a fastener, for example, a screw, wherein the surface of the boss 4432, which is adhered to the third sidewall 4435, is a curved surface. In the present embodiment, the boss 4432 rotates synchronously with the third yoke 4433, and the boss 4432 is fixedly coupled to the third yoke 4433.

Referring to fig. 10, in one example, when the boss 4432 is installed in the third receiving cavity 4436, the boss 4432 and the third optical element 47 are distributed along the radial direction of the third rotator 4431, and the first end 471 of the third optical element 47 may contact the inner surface of the third sidewall 4435, and the second end 472 and the third sidewall 4435 form a gap into which the boss 4432 extends. Thus, since the second end 472 and the boss 4432 are located on the same side of the third rotating shaft 4437, and the first end 471 and the boss 4432 are located on opposite sides of the third rotating shaft 4437, when the third optical element 47 and the third rotor assembly 443 rotate together, the whole body formed by the third optical element 47 and the boss 4432 rotates smoothly, so that the third rotor assembly 443 is prevented from shaking, and the whole third rotor assembly 443 rotates more smoothly. In another example, boss 4432 is spaced from third optical element 47 and the surface of boss 4432 facing third optical element 47 is planar. In another example, the projection range of the boss 4432 on the third rotation axis 4437 covers the projection range of the third optical element 47 on the third rotation axis 4437.

Referring to fig. 14, in one example, when the boss 4432 is installed in the third receiving cavity 4436, the boss 4432 and the third optical element 47 are juxtaposed along the third rotation axis 4437 of the third rotator 4431, both the first end 471 and the second end 472 of the third optical element 47 can contact the inner surface of the third sidewall 4435, and the boss 4432 can contact the third optical element 47 to make the boss 4432 as close as possible to the third optical element 47. Specifically, the boss 4432 is located on the side of the first face 473 of the third optical element 47, and the boss 4432 may abut against the first face 473 of the third optical element 47. When the third optical element 47 is mounted, when the first face 473 abuts against the boss 4432, the third optical element 47 can be considered to be mounted in position in the depth direction of the third receiving chamber 4436. More specifically, the boss 4432 includes a boss sidewall 1432a, and the boss sidewall 1432a abuts against the first face 473. In another example, the projection range of the third optical element 47 on the third rotation axis 4437 covers the projection range of the boss 4432 on the third rotation axis 4437.

Referring to fig. 14, in an example, when the boss 4432 is installed in the third receiving cavity 4436, the boss 4432 and the third optical element 47 are arranged in parallel along the third rotation axis 4437 of the third rotator 4431, both the first end 471 and the second end 472 of the third optical element 47 can contact with the inner surface of the third sidewall 4435, the boss sidewall 1432a can be a flat plate perpendicular to the third rotation axis 4437, and the boss sidewall 1432a can also be a step shape, so as to simplify the process flow when the boss 4432 and the third rotator 4431 are integrally formed. The side wall 1432a may be inclined with respect to the third rotation axis 4437, that is, the side wall 1432a is not perpendicular to the third rotation axis 4437, and in another example, the inclined direction of the side wall 1432a is the same as the direction of the first surface 473, and the side wall 1432a is attached to the first surface 473, so that the side wall 1432a is as close as possible to the first surface 473, thereby maximizing the weight of the boss 4432, reducing the height of the boss 4432, and reducing the light path shielding of the boss 4432. In another example, the projection range of the third optical element 47 on the third rotation axis 4437 covers the projection range of the boss 4432 on the third rotation axis 4437.

Referring to fig. 14, in an example, the boss 4432 may function as a counterweight, the boss 4432 and the third optical element 47 rotate synchronously, the torque of the boss 4432 and the second end 472 relative to the third rotation axis 4437 when rotating together is equal to the torque of the first end 471 relative to the third rotation axis 4437 when rotating together, that is, the torque generated when the boss 4432 and the second end 472 rotate together can be cancelled out by the torque generated when the first end 471 of the third optical element 47 rotates, without affecting the smoothness of the rest positions of the third rotor 4431 when rotating.

In one example, the boss 4432 is symmetrical about a third auxiliary surface, which is a plane passing through the third rotation axis 4437, the first end 471 and the second end 472. In another example, the boss 4432 may also be symmetrical with respect to a first auxiliary surface, which is a plane perpendicular to the third rotation axis 4437 and passing through the center of the first surface 473. In this manner, boss 4432 can better weight fit with third optical element 47.

Referring to fig. 14, in one example, the density of the bosses 4432 is greater than that of the third rotor 4431, so that when the bosses 4432 are disposed in the third receiving chamber 4436, the volume of the bosses 4432 can be set smaller while ensuring the same mass, i.e., the same weight, to reduce the influence of the bosses 4432 on the laser pulses passing through the third receiving chamber 4436. In another example, the density of the bosses 4432 may also be greater than the density of the third optical element 47 so that the volume of the same bosses 4432 may be designed to be as small as possible.

Thus, the boss 4432 is provided to reduce the wobbling of the third optical element 47 caused by the uneven thickness during rotation, and to make the entire third rotor assembly 443 more stable during rotation.

In one example, the third optical element 47 is coated with an anti-reflection film having a thickness equal to the wavelength of the laser pulse emitted from the light source, so as to reduce the loss of the laser pulse passing through the third optical element 47.

In one example, the difference in aperture size between the two optical elements (second optical element 46 and third optical element 47) is less than or equal to 10% of the respective aperture size, e.g., the aperture size of the two optical elements (second optical element 46 and third optical element 47) may be the same and the difference in aperture size between the two optical elements (second optical element 46 and third optical element 47) may be equal to 10% of the aperture size of one of the optical elements (second optical element 46 or third optical element 47).

Referring to fig. 9 and 10, in one example, the scan module 40 does not include the third driver 44 and the third optical element 47, but includes a plurality of second rotor assemblies 433, a plurality of second stator assemblies 431 and a plurality of second optical elements 46. Each second optical element 46 is mounted on a corresponding one of the second rotor assemblies 433, and each second stator assembly 431 is configured to drive a corresponding one of the second rotor assemblies 433 to rotate the second optical element 46. Each of the second rotor assembly 433, each of the second stator assemblies 431, and each of the second optical elements 46 may be any one of the second rotor assembly 433, the second stator assembly 431, and the second optical element 46 described above, and will not be described in detail herein. Wherein "plurality" herein each means at least two or more. After the laser beam is changed in direction by one of the second optical elements 46, the direction of the laser beam can be changed again by another one of the second optical elements 46, so as to increase the capability of the scanning module 40 to change the overall laser propagation direction, so as to scan a larger spatial range, and the laser beam can scan a predetermined scanning shape by setting different rotation directions and/or rotation speeds of the second rotor assembly 433. In addition, each second rotor assembly 433 includes a boss (1332/1432), and each boss (1332/1432) is fixed on the second sidewall 4335 of the corresponding second rotor assembly 433, so as to improve the dynamic balance when the second rotor assembly 433 rotates.

The second rotation axes 4337 of the plurality of second rotor assemblies 433 may be identical, and the plurality of second optical elements 46 all rotate about the identical second rotation axes 4337; the second rotating shafts 4337 of the second rotor assemblies 433 may be different, and the second optical elements 46 rotate around the different second rotating shafts 4337. In another example, the plurality of second optical elements 46 may also vibrate in the same direction, or vibrate in different directions, which is not limited herein.

The plurality of second rotor assemblies 433 can rotate at different rotational speeds relative to the corresponding second stator assemblies 431 to rotate the plurality of second optical elements 46 at different rotational speeds; the second rotor assemblies 433 can also rotate in different rotational directions relative to the corresponding second stator assemblies 431 to drive the second optical elements 46 to rotate in different rotational directions; the plurality of second rotor assemblies 433 are capable of rotating at the same magnitude and in opposite directions. For example, the at least one second rotor assembly 433 rotates forward relative to the second stator assembly 431 and the at least one second rotor assembly 433 rotates backward relative to the second stator assembly 431; the at least one second rotor assembly 433 rotates relative to the second stator assembly 431 at a first speed and the at least one second rotor assembly 433 rotates relative to the second stator assembly 431 at a second speed, which may be the same or different.

In one example, the number of the second rotor assembly 433, the second stator assembly 431, and the second optical element 46 is two. The two second rotor assemblies 433 rotate coaxially, and both the two second rotor assemblies 433 rotate coaxially with the first rotor assembly 423. The first face 463 of one of the second optical elements 46 faces the fourth end 4237b of the first rotor 4231 and is opposite the first face 453 of the first optical element 45, and the second face 454 of that second optical element 46 faces the second face 454 of the other optical element.

Referring to fig. 28, an embodiment of the present invention further provides a mobile platform 1000, where the mobile platform 1000 includes a mobile platform body 200 and the distance measuring device 100 of any of the above embodiments. Mobile platform 1000 may be an unmanned aerial vehicle, an unmanned ship, or other like mobile platform. One mobile platform 1000 may be configured with one or more ranging devices 100. The distance measuring device 100 may be used to detect the environment around the mobile platform 1000, so that the mobile platform 1000 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 (36)

1. A ranging apparatus, comprising:

   a base;

   the two brackets are fixed on the base;

   the distance measurement module is used for emitting light pulses;

   the scanning module is used for changing the transmission direction of the optical pulse and then emitting the optical pulse, the scanning module and the ranging module are arranged at intervals, the scanning module comprises a scanning shell, and the two supports are respectively positioned on two opposite sides of the scanning shell; and

   a plurality of flexible linkage assemblies, each of the brackets being connected to the scanning housing by at least two of the flexible linkage assemblies.
2. A ranging device as claimed in claim 1 wherein the support comprises a first engaging portion located on a side of the support remote from the base and a second engaging portion located on a side of the support proximate to the base; at least two flexible coupling assembling includes first flexible coupling assembling and second flexible coupling assembling, first flexible coupling assembling connects first joint reaches the scanning casing, second flexible coupling assembling connects the second joint reaches the scanning casing.
3. A ranging apparatus as claimed in claim 2 wherein the bracket comprises a plurality of fixing portions each combined with the base to fix the bracket to the base.
4. A ranging device as claimed in claim 3, characterized in that said fixed parts are each rigidly connected to said base.
5. A ranging device as claimed in claim 3, characterized in that said second coupling portion is located between two of said fixed portions.
6. The ranging apparatus as claimed in claim 5, wherein a center of the fixing portion, a center of the first coupling portion and a center of the second coupling portion are in the same plane.
7. The range finder device according to claim 1, wherein the scanning housing includes a first support and a second support connected to each other, opposite sides of the first support protrude from opposite sides of the second support to form two mounting spaces, and the two brackets are respectively mounted in the two mounting spaces.
8. A ranging device as claimed in claim 7 further comprising a first optical element mounted in the first mount and a second optical element mounted in the second mount, the first optical element having a larger aperture than the second optical element.
9. A ranging device as claimed in claim 8, characterized in that the scanning module further comprises a first driver and a second driver, the first driver being mounted in the first seat, the first optical element being mounted in the first driver, the first driver being adapted to drive the first optical element in motion; the second driver is installed in the second support, the second optical element is installed in the second driver, and the second driver is used for driving the second optical element to move.
10. The distance measuring device of claim 1, wherein the scanning housing comprises a first support, a second support and a third support which are connected in sequence, two opposite sides of the first support protrude out of two opposite sides of the second support and two opposite sides of the third support to form two installation spaces, and the two supports are respectively installed in the two installation spaces.
11. A ranging apparatus as claimed in claim 10 wherein the opposite sides of the third support do not extend beyond the opposite sides of the second support; or

    The two opposite sides of the third support exceed the two opposite sides corresponding to the second support.
12. A ranging device as claimed in claim 10 further comprising a first optical element, a second optical element and a third optical element, wherein the scanning module further comprises a first driver, a second driver and a third driver, the first driver being mounted in the first mount, the first optical element being mounted in the first driver, the first driver being adapted to drive the first optical element in motion; the second driver is installed in the second support, the second optical element is installed in the second driver, and the second driver is used for driving the second optical element to move; the third driver is installed in the third support, the third optical element is installed in the third driver, and the third driver is used for driving the third optical element to move.
13. A ranging device as claimed in claim 12 characterized in that the aperture of the first optical element is larger than the aperture of the second optical element; the aperture of the second optical element is the same as the aperture of the third optical element.
14. A ranging device as claimed in any of claims 7 to 11 wherein the scanning housing comprises a first mounting portion at an end of the first support remote from the base and a second mounting portion at an end of the second support adjacent the base; at least two flexible coupling assembling includes first flexible coupling assembling and second flexible coupling assembling, first flexible coupling assembling connects the support reaches first installation department, second flexible coupling assembling connects the support reaches the second installation department.
15. A ranging device as claimed in any of claims 7 to 11 wherein the first support comprises a first support body, an abutment mounting slot is defined in a top surface of the first support body, and the at least two flexible connecting members comprise a first flexible connecting member received in the abutment mounting slot and connecting the support and the first support body.
16. A ranging apparatus as claimed in claim 15 wherein the second support includes a second support body and a protrusion extending outwardly from a side of the second support body adjacent the base, at least two of the flexible connecting members further including a second flexible connecting member connecting the support and the protrusion.
17. The distance measuring device according to any one of claims 7 to 11, wherein the bracket comprises a fixed arm, a connecting arm and a combining arm which are connected in sequence, the fixed arm is fixed on the base and is accommodated in the mounting space, and the combining arm is positioned on one side of the first support far away from the base; at least two flexible connecting assemblies comprise a first flexible connecting assembly and a second flexible connecting assembly, the first flexible connecting assembly is connected with the combination arm and the first support, and the second flexible connecting assembly is connected with the fixed arm and the second support.
18. A ranging device as claimed in claim 17 wherein the fixed arm comprises a first fixed portion, a second fixed portion and a second coupling portion, the first fixed portion and the second fixed portion are located at opposite ends of the fixed arm and are fixed to the base, the second coupling portion is located between the first fixed portion and the second fixed portion, and the second flexible connecting assembly connects the second coupling portion to the second support.
19. A ranging apparatus as claimed in claim 17 wherein the bracket further comprises a first reinforcing arm having one end connected to the end of the fixed arm remote from the connecting arm and the other end connected to the end of the connecting arm remote from the fixed arm; or

    The support still includes first enhancement arm, the one end of first enhancement arm is connected the fixed arm keep away from the one end of linking arm, the other end of first enhancement arm is connected between the back of the body both ends of linking arm.
20. A ranging apparatus as claimed in claim 19 wherein the frame further comprises a second reinforcing arm connecting the first reinforcing arm and the connecting arm, the second reinforcing arm being located within a space enclosed by the first reinforcing arm, the fixed arm and the connecting arm.
21. The range finder device according to claim 1, wherein the scanning housing comprises a first support and a second support connected to each other, the bracket comprises a fixed arm, a connecting arm and a combining arm connected in sequence, and the fixed arm is fixed on the base and located on the same side of the first support and the second support; at least two flexible connecting assemblies comprise a first flexible connecting assembly and a second flexible connecting assembly, the first flexible connecting assembly is connected with the combination arm and the first support, and the second flexible connecting assembly is connected with the fixed arm and the second support.
22. The range finder device according to claim 21, wherein the fixed arm includes a first fixed portion, a second fixed portion and a second connecting portion, the first fixed portion and the second fixed portion are located at opposite ends of the fixed arm and are both fixed on the base, the first fixed portion is located at one side of the first support, the second fixed portion is located at one side of the second support, the second connecting portion is located between the first fixed portion and the second fixed portion, and the second flexible connecting assembly connects the second connecting portion and the second support.
23. A ranging apparatus as claimed in claim 21 wherein the bracket further comprises a first reinforcing arm having one end connected to the end of the fixed arm remote from the connecting arm and the other end connected to the end of the connecting arm remote from the fixed arm; or

    The support still includes first enhancement arm, the one end of first enhancement arm is connected the fixed arm keep away from the one end of linking arm, the other end of first enhancement arm is connected between the back of the body both ends of linking arm.
24. A ranging apparatus as claimed in claim 23 wherein the frame further comprises a second reinforcing arm connecting the first reinforcing arm and the connecting arm, the second reinforcing arm being located in a space enclosed by the first reinforcing arm, the fixed arm and the connecting arm.
25. A ranging apparatus as claimed in claim 1 wherein the flexible linkage assembly comprises a flexible linkage and a fastener, the scanning housing and the support being connected by the flexible linkage and the fastener.
26. A ranging device as claimed in claim 25, 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 scanning shell is provided with a shell mounting hole, the connecting part penetrates through the shell mounting hole, the first supporting part and the second supporting part are respectively positioned on two opposite sides of the scanning shell, and the fastening piece penetrates through the through hole and is combined with the bracket; and/or

    The bracket is provided with a bracket mounting hole, the connecting part is arranged in the bracket mounting hole in a penetrating way, the first supporting part and the second supporting part are respectively positioned at two sides of the bracket which are opposite to each other, and the fastener penetrates through the through hole and is combined with the scanning shell.
27. A ranging device as claimed in claim 26 wherein the cross-section of the flexible connector taken on a plane passing through the axis of the through-going hole is "i" shaped.
28. A ranging device as claimed in claim 26 wherein the flexible connector further comprises a stop lug projecting from the first support portion.
29. A ranging device as claimed in claim 1 wherein each support is connected to the scanning housing by at least two flexible connecting members to form a plurality of connection points, the projection of the plurality of connection points onto the base forms an auxiliary surface, the centre of gravity of the scanning housing is located at the centre of the auxiliary surface, the plurality of connection points located on the same side of the scanning housing comprise two diagonally located connection points, the diagonally located connection points form a connection line, and the distance from the midpoint of the connection line to the base is the same as the distance from the centre of gravity to the base.
30. A ranging device as claimed in claim 29 wherein each support is connected to the scanning housing by two of said flexible connecting members and forms two of said attachment points, the projection of the four attachment points onto the base forming the auxiliary surface, the two attachment points on the same side of the scanning housing being diagonally located and forming the attachment line.
31. A ranging apparatus as claimed in claim 30 wherein at least two of the flexible linkage assemblies comprise a first flexible linkage assembly and a second flexible linkage assembly, a line joining the centres of the first and second flexible linkage assemblies forming the connecting line.
32. A ranging device as claimed in claim 29 wherein each support is connected to the scanning housing by four flexible connecting members to form four attachment points, the projection of the eight attachment points onto the base forms the auxiliary surface, the four attachment points on the same side of the scanning housing are arranged at opposite angles in pairs, two of the diagonally arranged attachment points form a first attachment line and the other two diagonally arranged attachment points form a second attachment line, the distance from the midpoint of the first attachment line to the base is the same as the distance from the centre of gravity to the base, and the distance from the midpoint of the second attachment line to the base is the same as the distance from the centre of gravity to the base.
33. A ranging device as claimed in claim 32 wherein the four attachment points defined by each bracket include a first attachment point, a second attachment point, a third attachment point and a fourth attachment point, the first and third attachment points being located on a side of the bracket remote from the base, the second and third attachment points being located on a side of the bracket adjacent the base, the fourth attachment point being closer to the first attachment point than the second attachment point, the shape defined by the sequential connection of the first, third, second, fourth and first attachment points being rectangular or parallelogram.
34. The range finder device according to claim 1, wherein the laser pulse reflected from the object passes through the scanning module and then enters the range finder module, and the range finder module is configured to determine a distance between the object and the range finder device according to the reflected laser pulse.
35. A ranging device as claimed in claim 1 wherein the ranging module is rigidly fixed to the base.
36. A mobile platform, comprising:

    a mobile platform body; and

    a ranging apparatus as claimed in any of claims 1 to 35 wherein the ranging apparatus is mounted on the body of the mobile platform.

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