CN113439221A

CN113439221A - Scanning module, distance measuring device and mobile platform

Info

Publication number: CN113439221A
Application number: CN202080005472.XA
Authority: CN
Inventors: 王昊; 黄淮
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2021-09-24
Anticipated expiration: 2040-01-06
Also published as: WO2021138752A1; CN113439221B

Abstract

A scanning module (10), a distance measuring device (100) and a mobile platform (1000) are provided. The first rotating part (142) penetrates through the first optical element (11), and the first optical element (11) and the first rotating part (142) rotate around a first rotating shaft (Z1) together; the second optical element (12) and the second rotating part (172) rotate around a second rotating shaft (Z2); the optical path of the optical pulse avoids the first rotating part (142) in the process of emitting the optical pulse after changing the propagation direction of the optical pulse.

Description

Scanning module, distance measuring device and mobile platform

Technical Field

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

Background

Laser radar includes a plurality of rotors usually, has all accommodated the prism in every rotor, and the peripheral cover of rotor is equipped with the bearing, and the inner circle and the outer lane of bearing are fixed connection rotor and stator respectively, and stator drive rotor drives the inner circle and rotates for the outer lane, drives the prism simultaneously and rotates, however, this kind of structural style makes the ball pivoted linear velocity of bearing great, and the life that leads to the bearing is short, and then leads to laser radar's life to be short.

Disclosure of Invention

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

The scanning module of the embodiment of the application is used for receiving the light pulse, changing the propagation direction of the light pulse and emitting the light pulse, and receiving the light pulse reflected back by an object, and comprises a first optical element, a first rotating part, a second optical element and a second rotating part; the first rotating part penetrates through the first optical element, and the first optical element and the first rotating part rotate around a first rotating shaft together; an accommodating cavity is formed on the inner wall of the second rotating part, the second optical element is installed in the accommodating cavity, and the second optical element and the second rotating part rotate around a second rotating shaft; wherein the optical pulse optical path avoids the first rotating part in a process of being emitted after changing a propagation direction of the optical pulse.

The distance measuring device comprises a distance measuring module and a scanning module, wherein the scanning module is used for receiving optical pulses, changing the propagation direction of the optical pulses and emitting the optical pulses, and receiving the optical pulses reflected back by an object, and comprises a first optical element, a first rotating part, a second optical element and a second rotating part; the first rotating part penetrates through the first optical element, and the first optical element and the first rotating part rotate around a first rotating shaft together; an accommodating cavity is formed on the inner wall of the second rotating part, the second optical element is installed in the accommodating cavity, and the second optical element and the second rotating part rotate around a second rotating shaft; wherein, in the process of emitting the light pulse after changing the propagation direction of the light pulse, the light pulse optical path avoids the first rotating part; the distance measuring module comprises a light source, the light source is used for emitting a light pulse sequence to the scanning module, the scanning module is used for changing the transmission direction of the light pulse and then emitting the light pulse, the light pulse reflected back by the detector passes through the scanning module and then enters the distance measuring module, and the distance measuring module is used for determining the distance between the detector and the distance measuring device according to the reflected light pulse.

The mobile platform comprises a body and a distance measuring device, wherein the distance measuring device is arranged on the body; the distance measuring device comprises a distance measuring module and a scanning module, wherein the scanning module is used for receiving optical pulses, changing the propagation direction of the optical pulses and then emitting the optical pulses, and is used for receiving the optical pulses reflected back by an object; the first rotating part penetrates through the first optical element, and the first optical element and the first rotating part rotate around a first rotating shaft together; an accommodating cavity is formed on the inner wall of the second rotating part, the second optical element is installed in the accommodating cavity, and the second optical element and the second rotating part rotate around a second rotating shaft; wherein, in the process of emitting the light pulse after changing the propagation direction of the light pulse, the light pulse optical path avoids the first rotating part; the distance measuring module comprises a light source, the light source is used for emitting a light pulse sequence to the scanning module, the scanning module is used for changing the transmission direction of the light pulse and then emitting the light pulse, the light pulse reflected back by the detector passes through the scanning module and then enters the distance measuring module, and the distance measuring module is used for determining the distance between the detector and the distance measuring device according to the reflected light pulse.

In the scanning module, range unit and moving platform of this application embodiment, first optical element is worn to establish by first rotation portion, first optical element rotates around first pivot with first rotation portion jointly, first rotation portion need not overlap and establish the periphery at first optical element, the linear velocity of first rotation portion when rotating is less, the loss of first rotation portion is less and life is higher, the life of scanning module has been improved, and simultaneously, first rotation portion is avoided to the light pulse light path, first rotation portion can not influence the scanning module and normally launches and receive the light pulse.

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

Drawings

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

fig. 1 is a schematic structural diagram of a mobile platform according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a distance measuring device according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a scan module according to an embodiment of the present disclosure;

FIG. 4 is an enlarged view of the portion IV of the scan module shown in FIG. 3;

FIG. 5 is an enlarged view of the V portion of the scan module shown in FIG. 3;

fig. 6a to 6c are schematic views of a light spot according to an embodiment of the present application;

fig. 7 is a schematic projection view of a light spot, a first rotating portion and a second rotating portion on a plane according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of a scan module according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of a scan module according to an embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of a scan module according to an embodiment of the present disclosure;

fig. 11 is a schematic projection view of a light spot, a first rotating portion and a second rotating portion on a plane according to an embodiment of the present disclosure;

fig. 12 is a schematic projection view of the light spot, the first rotating portion, and the second rotating portion on a plane according to the embodiment of the present application.

Detailed Description

Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.

In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, a mobile platform 1000 according to an embodiment of the present disclosure includes a body 200 and a distance measuring device 100. The distance measuring device 100 is mounted on the body 200. Specifically, the mobile platform 1000 may be an unmanned aerial vehicle, an unmanned ship, a robot, or other mobile platforms 1000, and the application takes the example that the mobile platform 1000 is an unmanned aerial vehicle as an example for illustration. The body 200 may be a body of the mobile platform 1000, and the distance measuring device 100 may be detachably and directly mounted on the mobile platform 1000, or may be indirectly mounted on the body 200 through a cradle head, etc., without being limited thereto.

Referring to fig. 2, the distance measuring apparatus 100 includes a distance measuring module 20 and a scanning module 10. The distance measuring module 20 may be configured to emit a sequence of light pulses to the scanning module 10, and the scanning module 10 may change the propagation direction of the light pulses so that the light pulses are emitted in different directions. The scanning module 10 may also receive the light pulse reflected by the detected object, and after the light pulse passing through the scanning module 10 enters the distance measuring module 20, the distance measuring module 20 is configured to determine the distance between the detected object and the distance measuring device 100 according to the reflected light pulse.

Specifically, the distance measuring device 100 includes a light source 21, an optical path changing element 22, a collimating element 23, and a detector 24. Where the light source 21 may be one or more laser diodes, the light pulses emitted by the light source 21 are narrow bandwidth light pulses having a wavelength outside the visible range. In the present embodiment, the number of the light sources 21 is plural, and the plural light sources 21 may alternately emit light pulses, that is, when one light source 21 is emitting light pulses, the remaining light sources 21 may not be operated. The light emitting chips of the plurality of light sources 21 may be packaged in the same package module, so that the overall size of the light sources 21 is small, which is beneficial to realizing miniaturization of the distance measuring device 100.

The optical path changing element 22 is disposed on the light emitting path of the light source 21, a light passing hole may be formed on the optical path changing element 22, the light pulse emitted from the light source 21 passes through the light passing hole to be further emitted outwards, and the light pulse entering the distance measuring module 20 from the outside is reflected by the optical path changing element 22 and then reaches the detector 24.

The collimating element 23 is disposed on the light outgoing path of the light source 21, the light pulse passing through the light passing hole reaches the collimating element 23, and the collimating element 23 collimates the light pulse and projects the collimated light pulse to the scanning module 10. In addition, the collimating element 23 is also used to converge the return light reflected by the object and passing through the scanning module 10. In one example, the collimating element 23 may be a collimating lens or other element capable of collimating light.

The detector 24 may be configured to convert the return light passing through the collimating element 23 and reflected by the optical path changing element 22 into an electrical signal, which may be specifically an electrical pulse, and the detector 24 may further determine the distance between the detected object and the distance measuring apparatus 100 based on the electrical pulse. Specifically, the distance between the distance measuring device 100 and the object to be detected may be further calculated according to a Time difference between a Time when the optical pulse is emitted and a Time when the optical pulse is reflected and received, that is, the distance between the distance measuring device 100 and the object to be detected may be calculated by using a Time of Flight (TOF) distance measuring principle.

Referring to fig. 3 to 5, the scanning module 10 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. The scanning module 10 includes a first optical element 11, a first rotating portion 142, a second optical element 12, and a second rotating portion 171. The first rotating portion 142 penetrates the first optical element 11, and the first optical element 11 and the first rotating portion 142 rotate together around the first rotation axis Z1. An inner wall of the second rotating portion 171 forms a receiving cavity 173, and the second optical element 12 is mounted in the receiving cavity 173. The second optical element 12 and the second rotating portion 171 rotate around the second rotation axis Z2. However, in the process of changing the propagation direction of the optical pulse and emitting the optical pulse, the optical path of the optical pulse avoids the first rotating unit 142.

In the scanning module 10, the distance measuring device 100, and the mobile platform 1000 according to the embodiment of the present application, the first optical element 11 is penetrated by the first rotating portion 142, the first optical element 11 and the first rotating portion 142 rotate around the first rotating axis Z1 together, the first rotating portion 142 does not need to be sleeved on the periphery of the first optical element 11, the linear velocity of the first rotating portion 142 during rotation is small, the loss of the first rotating portion 142 is small, and the service life of the scanning module 10 is long, meanwhile, the optical pulse optical path avoids the first rotating portion 142, and the first rotating portion 142 does not affect the normal emission and receiving of the optical pulse by the scanning module 10.

Specifically, referring to the examples shown in fig. 3 to 5, the scan module 10 includes a first optical element 11, a first rotating portion 142, a first optical element 11, and a second rotating portion 171. In the process of emitting the light pulse after the scanning module 10 changes the propagation direction of the light pulse, in an example, the light pulse firstly passes through the first optical element 11 and then passes through the second optical element 12, so that the second optical element 12 can receive more light quantity when receiving the return light; in another example, the optical pulse passes through the second optical element 12 and then passes through the first optical element 11, and the drawings in the present application exemplify that, in the process of exiting after the scanning module 10 changes the propagation direction of the optical pulse, the optical pulse passes through the first optical element 11 and then passes through the second optical element 12.

The first optical element 11 may be made of a material having a good light transmission property such as glass or resin, and the propagation direction of the light pulse is deflected after the light pulse passes through the first optical element 11. The light incident surface and the light emitting surface of the first optical element 11 are not parallel, for example, the first optical element 11 may be a wedge prism, a convex lens, a concave lens, and the like, which is not limited herein.

The first rotating portion 142 penetrates the first optical element 11, and the first optical element 11 and the first rotating portion 142 rotate together around the first rotation axis Z1. In the example shown in fig. 3 and 4, the scanning module 10 further includes a central shaft 13 and a first bearing 14. The first rotation axis Z1 may be a virtual axis passing through the central shaft 13. The inner race 141 of the first bearing 14 is fixedly connected to the central shaft 13, and the outer race 142 of the first bearing 14 serves as a first rotating portion 142. The number of the first bearings 14 may be one or more, and when the number of the first bearings 14 is plural, the plural first bearings 14 are simultaneously penetrated by the central shaft 13. By providing the first bearing 14 penetrating the first optical element 11, the first bearing 14 does not need to surround the first optical element 11, the first bearing 14 can be set to be small in size, and when the first optical element 11 rotates with the first rotating portion 142, the linear velocity of rotation of the first rotating portion 142 is small at the same angular velocity, the wear of the first bearing 14 is low, and the service life of the first bearing 14 is long.

In one example, the first optical element 11 may be directly fixedly connected with the first rotating portion 142, that is, the first optical element 11 may be in contact with the first rotating portion 142 and fixedly connected, for example, the first optical element 11 is fixedly connected with the first rotating portion 142 by glue, or the first optical element 11 is fixedly connected with the first rotating portion 142 by interference fit.

In another example, referring to fig. 3 and 4, the scan module 10 further includes a sleeve 15, and the first optical element 11 is fixedly connected to the sleeve 15. The number of the first bearings 14 includes two, the sleeve 15 is sleeved on the outer rings 142 of the two first bearings 14, and the sleeve 15 pre-stresses the two first bearings 14. The first optical element 11, the first rotating portion 142, and the sleeve 15 rotate together with respect to the inner race 141 of the first bearing 14 and the central shaft 13. Two first bearings 14 are provided and the first optical element 11 is relatively smooth when rotating. The two first bearings 14 are sleeved on the central shaft 13, the inner rings 141 of the two first bearings 14 are fixedly connected with the central shaft 13, the outer rings 142 of the two first bearings 14 are connected with the sleeve 15, and the sleeve 15 can apply a pretightening force to the outer rings 142 of the two first bearings 14, for example, the pretightening force can be applied to separate or approach the outer rings 142 of the two first bearings 14 from each other, so that a play between the inner rings 141 of the first bearings 14 and the outer rings 142 of the first bearings 14 is eliminated, and a shake of the outer rings 142 of the first bearings 14 during rotation is reduced.

Further, the scan module 10 further includes a first rotor 16 and a first stator. The first rotor 16 is sleeved outside the first optical element 11, and the first stator ring is arranged outside the first rotor 16. The first stator is used for driving the first rotor 16 to drive the first optical element 11 and the first rotating portion 142 to rotate together relative to the inner ring 141 of the first bearing 14. The first stator may be disposed on the support of the scan module 10, and the first stator may include a coil, and the coil generates a changing magnetic field when being powered, for example, the second driver 1b or the third driver 1c shown in fig. 2 is used to power the first stator under the control of the controller 1d, so that the coil generates a changing magnetic field when being powered. The first rotor 16 may be provided with a magnetic substance such as a magnet, and after the first stator is energized, the first rotor 16 is driven to rotate by interaction between the first stator and a magnetic field of the magnetic substance. Since the first optical element 11 is fixedly connected to the first rotor 16, the first rotor 16 rotates to drive the first optical element 11 and the first rotating portion 142 to rotate together relative to the inner ring 141 of the first bearing 14. The first stator is arranged outside the first rotor 16 without taking up space inside the first rotor 16, so that a larger first optical element 11 is arranged inside the first rotor 16.

Referring to fig. 3 to fig. 5, the second optical element 12 may be made of a material with good light transmittance, such as glass or resin, and the light pulse propagates in a deflected direction after passing through the second optical element 12. The light incident surface and the light emitting surface of the second optical element 12 are not parallel, for example, the second optical element 12 may be a wedge prism, a convex lens, a concave lens, and the like, which is not limited herein.

The inner wall of the second rotating portion 171 forms a receiving cavity 173, the second optical element 12 is mounted in the receiving cavity 173, and the second optical element 12 and the second rotating portion 171 rotate around the second rotation axis Z2. The second rotation axis Z2 may be a virtual axis passing through the second optical element 12, the second rotation axis Z2 may coincide with the first rotation axis Z1, and the second rotation axis Z2 may be spaced from and parallel to the first rotation axis Z1. In the example shown in fig. 3 and 5, the scan module 10 further includes a second bearing 17, a second rotor 18 and a second stator. An outer ring 172 of the second bearing 17 is fixedly connected to a support of the scan module 10, and an inner ring 171 of the second bearing 17 serves as a second rotating portion 171. The second optical element 12 is accommodated in the second rotor 18, and the second rotating portion 171 is sleeved outside the second rotor 18 and is fixedly connected with the second rotor 18. The second stator is disposed outside the second rotor 18, and the second stator is used for driving the second rotor 18 to drive the second optical element 12 and the second rotating portion 171 to rotate together relative to the outer ring 172 of the second bearing 17.

The second rotor 18 and the second rotating portion 171 are both disposed at the periphery of the second optical element 12, and the area of the second optical element 12 for receiving light is large, thereby improving the accuracy of distance measurement by the distance measuring device 100. A second stator may be disposed on the support of the scan module 10, and the second stator may include a coil that generates a changing magnetic field when energized, for example, a first driver 1a as shown in fig. 2 is used to energize the second stator under the control of a controller 1d to generate a changing magnetic field when energized. The second rotor 18 may be provided with a magnetic substance such as a magnet, and after the second stator is energized, the second rotor 18 is driven to rotate by the interaction between the second stator and the magnetic field of the magnetic substance. Since the second optical element 12 is fixedly connected to the second rotor 18, when the second rotor 18 rotates, the second optical element 12 and the second rotating portion 171 are driven to rotate together relative to the outer ring 172 of the second bearing 17. The second stator is disposed outside the second rotor 18 without occupying space within the second rotor 18 to facilitate positioning of the larger second optical element 12 within the second rotor 18.

In the process of changing the propagation direction of the optical pulse and emitting the optical pulse, the optical path of the optical pulse avoids the first rotating portion 142. The optical pulse path avoiding the first rotating unit 142 means that the optical pulse is not blocked by the first rotating unit 142 all the time during the emission of the optical pulse, so as to avoid the first rotating unit 142 from affecting the emission of the optical pulse. In addition, during the emission of the light pulse, the optical path of the light pulse avoids the second rotating part 171, so as to avoid the light pulse from being attenuated after being projected onto the second rotating part 171.

In summary, in the scanning module 10, the distance measuring device 100 and the mobile platform 1000 of the embodiment of the present application, the first rotating portion 142 penetrates through the first optical element 11, the first optical element 11 and the first rotating portion 142 rotate around the first rotating axis Z1 together, the first rotating portion 142 does not need to be sleeved on the periphery of the first optical element 11, the linear velocity of the first rotating portion 142 during rotation is small, the loss of the first rotating portion 142 is small, and the service life of the scanning module 10 is long, meanwhile, the optical pulse optical path avoids the first rotating portion 142, and the first rotating portion 142 does not affect the normal emission and reception of the optical pulse by the scanning module 10.

Referring to fig. 3 to 5, in some embodiments, the center of the light source 21 is spaced apart from the first rotation axis Z1. The center of the light source 21 is spaced from the first rotation axis Z1, so that the light pulse emitted from the light source 21 is prevented from being blocked by the central shaft 13, the first bearing 14, the sleeve 15, and other elements. Referring to fig. 6a to 6c, the light spot L1 emitted by one light source 21 may be an ellipse as shown in fig. 6a, wherein the inside of the ellipse is the coverage of the light spot. Of course, in other embodiments, the light spot emitted by the light source 21 may have other shapes, such as a circle, a diamond, a rectangle, etc., without limitation. The plurality of light sources 21 may be arranged along a straight line, and the plurality of light spots L1 emitted by the plurality of light sources 21 are shown in fig. 6b, and the connecting lines of the centers of the plurality of light spots L1 are a straight line. As shown in fig. 6c, the light spot set L2 of the plurality of light spots is understood that the light pulses emitted from the plurality of light sources 21 need to avoid the first rotating unit 142, and the light spot set L2 shown in fig. 6c needs to avoid the first rotating unit 142.

Referring to fig. 3 to 5, in some embodiments, the number of the second optical elements 12 and the second rotating portion 171 includes two, two second optical elements 12 are correspondingly installed in the accommodating cavities 173 formed by the inner walls of the two second rotating portions 171, and the two second optical elements 12 are adjacently disposed side by side. The two second optical elements 12 and the second rotating portion 171 may have the same structure, and the two second optical elements 12 may be disposed adjacent to each other, and the two second optical elements 12 may rotate around the same second rotation axis Z2. Wherein the two second optical elements 12 are rotatable in opposite directions at equal speeds such that the light pulses scan back and forth in a predetermined direction after passing the two second optical elements 12. Of course, in other embodiments, the two second optical elements 12 may also rotate at different speeds, in the same direction, and the like, and are not limited herein.

At this time, the number of the first optical elements 11 may be one, and in the process of emitting the light pulse after changing the propagation direction of the light pulse, the light pulse passes through the first optical element 11 and then passes through the two second optical elements 12. Please refer to fig. 3 and fig. 7, a plane P between the first optical element 11 and the second optical element 12 is defined, a projection of the first rotating portion 142 on the plane P is a first projection S1, a projection of the second rotating portion 171 on the plane P is a second projection S2, a projection of the spot collection on the plane P is a spot projection S3, the spot projection S3 moves between the first projection S1 and the second projection S2, the spot projection S3 does not interfere with the first projection S1, and the spot projection S3 does not interfere with the second projection S2. In the example shown in fig. 7, as the first optical element 11 rotates, the center of the spot projection S3 will move on the circle Y, and the spot projection S3 is always located between the first projection S1 and the second projection S2.

Referring to fig. 3, in some embodiments, during the process of exiting after changing the propagation direction of the optical pulse, the optical pulse is incident to the first optical element 11 from the first side C1 of the first rotation axis Z1, and the second rotation axis Z2 is located at the first side C1 of the first rotation axis Z1. That is, when the light pulse is incident on the first optical element 11, the light pulse is positioned on the same side of the first rotation axis Z1 as the second rotation axis Z2, so that the light pulse is not easily projected onto the second rotation unit 171 when the light pulse reaches the second optical element 12, and the light pulse is not easily blocked by the second rotation unit 171. Specifically, referring to fig. 3, on the first side C1 of the first rotation axis Z1, the outer wall 121 of the second optical element 12 protrudes farther from the first rotation axis Z1 than the outer wall 111 of the first optical element 11, so that the second rotation portion 171 is not easy to block the light pulse.

In an example, referring to fig. 3, on a second side C2 of the first rotation axis Z1, the outer wall 111 of the first optical element 11 protrudes farther from the first rotation axis Z1 than the outer wall 121 of the second optical element 12, wherein the second side C2 and the first side C1 are located on opposite sides of the first rotation axis Z1. Since the second side C2 is opposite to the first side C1, the light spot is not projected onto the second rotating portion 171 located at the second side C2, so that the size of the second optical element 12 on the second side C2 can be reduced appropriately to reduce the overall size of the scanning module 10. Further, the scan module 10 further includes a circuit board at least partially disposed in the space R where the outer wall 121 of the second optical element 12 is recessed with respect to the outer wall 111 of the first optical element 11. The circuit board can be used for arranging the controller 1d, the driver and the like, at least part of the circuit board is arranged in the space R, more areas for accommodating the circuit board do not need to be specially arranged, and the size of the scanning module 10 is reduced.

In another example, referring to FIG. 8, on the second side C2 of the first rotation axis Z1, the outer wall 121 of the second optical element 12 is flush with the outer wall 111 of the first optical element 11. The outer wall 121 of the second optical element 12 protrudes at the first side C1 and is flush at the second side C2 compared to the outer wall 111 of the first optical element 11, so as to avoid the protrusion of the second optical element 12 at the second side C2 and reduce the volume of the scanning module 10 at the second side C2.

Referring to FIG. 9, in some embodiments, the first rotation axis Z1 coincides with the second rotation axis Z2, and the radial dimension of the second optical element 12 is larger than the radial dimension of the first optical element 11. The outer wall 121 of the second optical element 12 is protruded from the outer wall 111 of the first optical element 11 at both the first side C1 and the second side C2, so that the light pulse is not easily projected to an area outside the second optical element 12 after passing through the first optical element 11, and is prevented from being blocked by the second rotating portion 171.

Referring to fig. 10, in some embodiments, the number of the first optical elements 11 and the first rotating portions 142 includes two, two first rotating portions 142 penetrate through two first optical elements 11 in a one-to-one correspondence manner, and two first optical elements 11 are adjacent to each other and arranged side by side. The two first optical elements 11 and the first rotating portion 142 may have the same structure, and the two first optical elements 11 may be disposed adjacent to each other, and the two first optical elements 11 may rotate about the same first rotation axis Z1. Wherein the two first optical elements 11 are capable of rotating in opposite directions at a constant speed, so that the light pulse scans back and forth in a predetermined direction after passing through the two first optical elements 11. Of course, in other embodiments, the two first optical elements 11 may also rotate at different speeds, in the same direction, and the like, and are not limited herein.

Please refer to fig. 10 to 12, which define a plane P between the first optical element 11 and the second optical element 12, a projection of the first rotating portion 142 on the plane P is a first projection S1, a projection of the second rotating portion 171 on the plane P is a second projection S2, a projection of the spot collection on the plane P is a spot projection S3, the spot projection S3 moves between the first projection S1 and the second projection S2, the spot projection S3 does not interfere with the first projection S1, and the spot projection S3 does not interfere with the second projection S2. In the example shown in fig. 11 and 12, in the projection S3 of the spot set, the perpendicular X to the line connecting the centers of the projections of the plurality of spots is distributed along the radial direction of the first optical element 11, that is, the perpendicular X passes through the center of the first projection S1. In the example shown in fig. 11, the perpendicular line X is parallel to the moving direction of the projection S3 of the spot set, and on the plane P, the projection S3 of the spot set moves by a distance D1+ D2, and as the two first optical elements 11 rotate, the projection S3 of the spot set moves along the extending direction of D1 and D2, and the projection S3 of the spot set is always located between the first projection S1 and the second projection S2. In the example shown in fig. 12, the perpendicular line X is not parallel to the moving direction of the projection S3 of the spot set, and on the plane P, the projection S3 of the spot set moves by a distance D3+ D4, and as the two first optical elements 11 rotate, the projection S3 of the spot set moves along the extending direction of D3 and D3, wherein D3+ D4 is larger than D1+ D2, so that the moving distance of the spot set is larger, and the projection S3 of the spot set is always located between the first projection S1 shadow and the second projection S2.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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, the schematic representations of the terms used above are not necessarily intended to 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, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

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, "a plurality" means at least two, e.g., two, three, 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

A scanning module configured to receive an optical pulse, change a propagation direction of the optical pulse, and emit the optical pulse, and configured to receive the optical pulse reflected by an object, the scanning module comprising:

a first optical element;

the first rotating part penetrates through the first optical element, and the first optical element and the first rotating part rotate around a first rotating shaft together;

a second optical element; and

the inner wall of the second rotating part forms an accommodating cavity, the second optical element is installed in the accommodating cavity, and the second optical element and the second rotating part rotate around a second rotating shaft;

wherein the optical pulse optical path avoids the first rotating part in a process of being emitted after changing a propagation direction of the optical pulse.
The scanning module of claim 1, wherein the light pulse sequentially passes through the first optical element and the second optical element in the process of exiting after changing the propagation direction of the light pulse; or

In the process of emitting light after the propagation direction of the light pulse is changed, the light pulse sequentially passes through the first optical element and the second optical element.
The scan module of claim 1, wherein the light incident surface and the light emitting surface of the first optical element are not parallel; and/or

The light incident surface and the light emergent surface of the second optical element are not parallel.
The scan module of claim 1, wherein the number of the second optical elements and the second rotating portion includes two, two of the second optical elements are correspondingly installed in the receiving cavities formed by the inner walls of the two second rotating portions, and the two second optical elements are adjacently disposed side by side.
The scan module of claim 4, wherein both of said second optical elements are counter-rotating at a constant speed.
The scan module of claim 4, wherein the first axis of rotation coincides with the second axis of rotation, and the second optical element has a radial dimension that is greater than a radial dimension of the first optical element.
The scan module of claim 4, wherein the light pulse is incident to the first optical element from a first side of the first rotation axis during the emission of the light pulse after the change of the propagation direction of the light pulse, and the second rotation axis is located at the first side of the first rotation axis.
The scan module of claim 7, wherein the outer wall of the second optical element protrudes farther away from the first axis than the outer wall of the first optical element on the first side of the first axis.
The scan module of claim 8, wherein the outer wall of the first optical element protrudes farther away from the first axis than the outer wall of the second optical element on a second side of the first axis opposite to the first side.
The scan module of claim 9, further comprising a circuit board disposed at least partially within a space in which an outer wall of the second optical element is recessed relative to an outer wall of the first optical element.
The scan module of claim 8, wherein the outer wall of the second optical element is flush with the outer wall of the first optical element on a second side of the first hinge, the second side being opposite the first side of the first hinge.
The scan module of claim 1, wherein the number of the first optical elements and the first rotating portions includes two, two of the first rotating portions are correspondingly disposed through the two first optical elements one by one, and the two first optical elements are disposed adjacently and side by side.
The scan module of claim 12, wherein the two first optical elements rotate in opposite directions at equal speeds.
The scan module of claim 1, further comprising:

a central shaft; and

the inner ring of the first bearing is fixedly connected with the central shaft, and the outer ring of the first bearing is the first rotating part.
The scan module of claim 14, further comprising a sleeve, wherein the first optical element is fixedly connected to the sleeve, the number of the first bearings is two, the sleeve is disposed around outer rings of the two first bearings, the sleeve preloads the two first bearings, and the first optical element, the first rotating portion and the sleeve rotate together relative to the inner ring of the first bearing and the central shaft.
The scan module of claim 14, further comprising a first rotor and a first stator, wherein the first rotor is sleeved outside the first optical element, the first stator is annularly disposed outside the first rotor, and the first stator is configured to drive the first rotor to rotate the first optical element and the first rotating portion together relative to the inner ring of the first bearing.
The scan module of claim 1, further comprising:

a support;

the outer ring of the second rotating shaft is fixedly connected with the support, and the inner ring of the second bearing is the second rotating part; and

the second rotor is sleeved outside the second rotor and fixedly connected with the second rotor, and the second optical element is accommodated in the second rotor;

and the second stator is annularly arranged outside the second rotor and used for driving the second rotor to drive the second optical element and the second rotating part to rotate relative to the outer ring of the second bearing together.
A distance measuring device comprising a distance measuring module and a scanning module according to any one of claims 1 to 17, wherein the distance measuring module comprises a light source for emitting a light pulse sequence to the scanning module, the scanning module is configured to change a transmission direction of the light pulse and emit the light pulse, the light pulse reflected by a probe passes through the scanning module and enters the distance measuring module, and the distance measuring module is configured to determine a distance between the probe and the distance measuring device according to the reflected light pulse.
The distance measuring device of claim 18, wherein the number of the first optical elements and the first rotating portions comprises two, two of the first rotating portions are correspondingly inserted through the two first optical elements one by one, and the two first optical elements are adjacently arranged side by side.
A ranging device as claimed in claim 19, characterized in that it comprises a plurality of light sources emitting light pulses which are distributed along a radial direction of the first optical element perpendicular to a line connecting the centers of projection of the plurality of spots formed on the plane between the first optical element and the second optical element.
A ranging device as claimed in claim 20, characterized in that the two first optical elements are rotated in opposite directions at equal speed; the moving direction of the light spots projected on the plane is not parallel to the perpendicular line of the central connecting line of the light spots projected.
The range finder device according to claim 20, wherein the light emitting chips of the plurality of light sources are packaged in the same package module.
A ranging device as claimed in claim 18 characterized in that said light sources are plural in number, said light sources emitting light pulses alternately.
A ranging apparatus as claimed in claim 18 wherein the centre of the light source is spaced from the first axis of rotation.
A mobile platform, comprising:

a body; and

a ranging apparatus as claimed in any of claims 18 to 24 mounted on the body.