CN113439221B - Scanning module, range unit and mobile platform - Google Patents
Scanning module, range unit and mobile platform Download PDFInfo
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- CN113439221B CN113439221B CN202080005472.XA CN202080005472A CN113439221B CN 113439221 B CN113439221 B CN 113439221B CN 202080005472 A CN202080005472 A CN 202080005472A CN 113439221 B CN113439221 B CN 113439221B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
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- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A scanning module (10), a ranging device (100) and a mobile platform (1000). The first rotating part (142) is penetrated by the first optical element (11), and the first optical element (11) and the first rotating part (142) rotate together around a first rotating shaft (Z1); the second optical element (12) and the second rotating part (172) rotate around a second rotating shaft (Z2); the optical path of the light pulse avoids the first rotating part (142) in the process of emitting the light pulse after changing the propagation direction.
Description
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
The laser radar generally comprises a plurality of rotors, wherein each rotor is internally provided with a prism, the periphery of each rotor is sleeved with a bearing, the inner ring and the outer ring of each bearing are fixedly connected with the rotor and the stator respectively, the stator drives the rotor to drive the inner ring to rotate relative to the outer ring and drive the prisms to rotate, however, the structural mode enables the linear speed of the rotation of the balls of the bearings to be larger, the service life of the bearings to be shorter, and the service life of the laser radar to be shorter.
Disclosure of Invention
The embodiment of the application provides a scanning module, a distance measuring device and a mobile platform.
The scanning module is used for receiving the light pulse, emitting the light pulse after changing the propagation direction, and receiving the light pulse reflected by the 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 together around a first rotating shaft; the inner wall of the second rotating part forms a containing cavity, the second optical element is arranged in the containing cavity, and the second optical element and the second rotating part rotate around a second rotating shaft; wherein, in the process of emitting after changing the propagation direction of the light pulse, the light pulse light path avoids the first rotating part.
The ranging device comprises a ranging module and a scanning module, wherein the scanning module is used for receiving light pulses, emitting the light pulses after changing the propagation direction and receiving the light pulses reflected 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 together around a first rotating shaft; the inner wall of the second rotating part forms a containing cavity, the second optical element is arranged in the containing cavity, and the second optical element and the second rotating part rotate around a second rotating shaft; wherein, in the process of emitting after changing the propagation direction of the light pulse, the light pulse light 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 emitting light pulses after changing the transmission direction of the light pulses, the light pulses reflected by the detection object are incident to the distance measuring module after passing through the scanning module, and the distance measuring module is used for determining the distance between the detection object and the distance measuring device according to the reflected light pulses.
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 light pulses, emitting the light pulses after changing the propagation direction, and receiving the light pulses reflected 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 together around a first rotating shaft; the inner wall of the second rotating part forms a containing cavity, the second optical element is arranged in the containing cavity, and the second optical element and the second rotating part rotate around a second rotating shaft; wherein, in the process of emitting after changing the propagation direction of the light pulse, the light pulse light 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 emitting light pulses after changing the transmission direction of the light pulses, the light pulses reflected by the detection object are incident to the distance measuring module after passing through the scanning module, and the distance measuring module is used for determining the distance between the detection object and the distance measuring device according to the reflected light pulses.
In the scanning module, the distance measuring device and the mobile platform of this embodiment, first optical element is worn to establish by first rotating part, first optical element rotates around first pivot with first rotating part jointly, first rotating part need not overlap to establish in first optical element's periphery, the linear velocity of first rotating part when rotating is less, the loss of first rotating part is less and life is higher, the life of scanning module has been improved, simultaneously, the optical pulse light path avoids first rotating part, first rotating part can not influence scanning module normal emission and receive optical pulse.
Additional aspects and advantages of embodiments of the 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 application.
Drawings
The foregoing 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, in 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 view of a ranging apparatus according to an embodiment of the present application;
FIG. 3 is a schematic view of a scanning module according to an embodiment of the present disclosure;
FIG. 4 is an enlarged schematic view of the portion IV of the scan module shown in FIG. 3;
FIG. 5 is an enlarged schematic view of a portion V of the scan module shown in FIG. 3;
FIGS. 6 a-6 c are schematic diagrams of spots according to embodiments of the present application;
fig. 7 is a schematic view of projection of the light spot, the first rotating portion, and the second rotating portion on a plane according to the embodiment of the present application;
FIG. 8 is a schematic diagram of a scanning module according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a scanning module according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a scanning module according to an embodiment of the present application;
fig. 11 is a schematic view of projection of the light spot, the first rotating portion, and the second rotating portion on a plane according to the embodiment of the present application;
fig. 12 is a schematic view of projection of the 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 are further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings refer to the same or similar elements or elements having the same or similar functions throughout.
In addition, the embodiments of the present application described below in conjunction with the drawings are exemplary only and are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Referring to fig. 1, a mobile platform 1000 according to an embodiment of the present application includes a body 200 and a ranging device 100. The ranging apparatus 100 is mounted on the body 200. Specifically, mobile platform 1000 may be a mobile platform 1000 such as an unmanned aerial vehicle, an unmanned ship, a robot, etc., and mobile platform 1000 is illustratively described herein as an unmanned aerial vehicle. Body 200 may be the body of mobile platform 1000, and ranging device 100 may be removably mounted directly to mobile platform 1000, or indirectly to body 200 via a cradle head, etc., without limitation.
Referring to fig. 2, the ranging apparatus 100 includes a ranging module 20 and a scanning module 10. The ranging 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 ranging module 20, the ranging module 20 is configured to determine the distance between the detected object and the ranging device 100 according to the reflected light pulse.
Specifically, the ranging apparatus 100 includes a light source 21, an optical path changing element 22, a collimating element 23, and a detector 24. Wherein 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 light range. In the embodiment of the present application, the number of the light sources 21 is plural, and the plural light sources 21 may alternately emit light pulses, that is, while one light source 21 is emitting light pulses, the remaining light sources 21 may be inactive. 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 smaller, which is beneficial to the miniaturization of the ranging device 100.
The light path changing element 22 is disposed on the light emitting path of the light source 21, the light path changing element 22 may be provided with a light passing hole, the light pulse emitted by the light source 21 passes through the light passing hole to be further emitted outwards, and the light pulse entering the ranging module 20 from the outside is reflected by the light path changing element 22 and reaches the detector 24.
The collimating element 23 is disposed on the light-emitting path of the light source 21, and 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 collect return light reflected by the object under inspection 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 return light after passing through the collimating element 23 and reflected by the light path changing element 22 into an electrical signal, which may specifically be an electrical pulse, and the detector 24 may be configured to determine the distance between the probe and the distance measuring device 100 based on the electrical pulse. Specifically, the distance between the ranging device 100 and the object may be further calculated according to the Time difference between the Time when the light pulse is emitted and the Time when the light pulse is reflected and received, that is, the distance between the ranging device 100 and the object may be calculated according to the principle of Time of Flight (TOF) ranging.
Referring to fig. 3 to 5, the scanning module 10 is configured to receive light pulses, change the propagation direction of the light pulses, and emit the light pulses, and receive the light pulses 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 is disposed through the first optical element 11, and the first optical element 11 and the first rotating portion 142 rotate together about the first rotation axis Z1. The inner wall of the second rotating portion 171 forms a housing cavity 173, and the second optical element 12 is mounted in the housing cavity 173. The second optical element 12 and the second rotating portion 171 rotate about the second rotation axis Z2. Wherein, during the process of emitting after changing the propagation direction of the light pulse, the light pulse path avoids the first rotating part 142.
In the scanning module 10, the distance measuring device 100 and the mobile platform 1000 according to the embodiment of the present disclosure, the first optical element 11 is worn by the first rotating portion 142, the first optical element 11 and the first rotating portion 142 rotate together around the first rotation axis Z1, 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 smaller, the loss of the first rotating portion 142 is smaller, the service life of the first rotating portion 142 is longer, the service life of the scanning module 10 is prolonged, and meanwhile, the optical pulse path avoids the first rotating portion 142, and the first rotating portion 142 does not influence the normal emission and the reception of the optical pulse of the scanning module 10.
Specifically, referring to the example shown in fig. 3 to 5, the scanning module 10 includes a first optical element 11, a first rotating portion 142, the 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 one example, the light pulse 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 human light when receiving the return light; in another example, the light pulse passes through the second optical element 12 and then passes through the first optical element 11, and the drawings in this specification exemplify that the light pulse passes through the first optical element 11 and then passes through the second optical element 12 during the process of exiting the scanning module 10 after changing the propagation direction of the light pulse.
The first optical element 11 may be made of a material having good light transmittance 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 emergent 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, or the like, which is not limited herein.
The first rotating portion 142 is disposed through the first optical element 11, and the first optical element 11 and the first rotating portion 142 rotate together about the first rotation axis Z1. Referring to 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 center 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 size of the first bearing 14 can be set smaller, the linear velocity at which the first rotating portion 142 rotates is smaller, the wear of the first bearing 14 is lower, and the service life of the first bearing 14 is longer when the first optical element 11 and the first rotating portion 142 rotate at the same angular velocity.
In one example, the first optical element 11 may be directly fixedly connected to the first rotating portion 142, i.e., the first optical element 11 may be in contact with and fixedly connected to the first rotating portion 142, for example, by adhesively fixedly connecting the first optical element 11 to the first rotating portion 142, or by interference fit of the first optical element 11 to the first rotating portion 142.
In another example, referring to fig. 3 and 4, the scanning 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 with the outer rings 142 of the two first bearings 14, and the sleeve 15 pre-tightens 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 center shaft 13. Two first bearings 14 are provided, and the first optical element 11 is relatively smooth in rotation. 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, the sleeve 15 can apply a pretightening force to the outer rings 142 of the two first bearings 14, for example, the pretightening force is applied to enable the outer rings 142 of the two first bearings 14 to be separated from or close to each other, so that play between the inner rings 141 of the first bearings 14 and the outer rings 142 of the first bearings 14 is eliminated, and shaking of the outer rings 142 of the first bearings 14 during rotation is reduced.
Further, the scan module 10 also 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 is annularly 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 that generates a varying magnetic field when energized, for example, the second driver 1b or the third driver 1c as shown in fig. 2 is used to energize the first stator under the control of the controller 1d, so that the coil generates a varying magnetic field when energized. The first rotor 16 may be provided with a magnetic substance such as a magnet, and the first stator is energized to drive the first rotor 16 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 and does not occupy space within the first rotor 16, so that a larger first optical element 11 is arranged within the first rotor 16.
With continued reference to fig. 3 to 5, the second optical element 12 may be made of a material with good light transmittance, such as glass, resin, etc., and the propagation direction of the light pulse is deflected after the light pulse passes through the second optical element 12. The light incident surface and the light emergent 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, or the like, which is not limited herein.
The inner wall of the second rotating portion 171 forms a housing cavity 173, the second optical element 12 is mounted in the housing 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 apart from and parallel to the first rotation axis Z1. In the example shown in fig. 3 and 5, the scanning module 10 further includes a second bearing 17, a second rotor 18, and a second stator. The outer ring 172 of the second bearing 17 is fixedly connected to the support of the scanning module 10, and the inner ring 171 of the second bearing 17 serves as the 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 fixedly connected to 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 on the outer periphery of the second optical element 12, and the area of the second optical element 12 for receiving light is large, so that the accuracy of ranging by the ranging device 100 is improved. A second stator may be provided on the support of the scan module 10, and the second stator may include a coil that generates a varying magnetic field when energized, for example, the first driver 1a shown in fig. 2 is configured to energize the second stator under the control of the controller 1d to generate a varying magnetic field when energized. The second rotor 18 may be provided with a magnetic substance such as a magnet, and the second stator is energized to drive the second rotor 18 to rotate by interaction of the magnetic field of the second stator and the magnetic substance. Since the second optical element 12 is fixedly connected to the second rotor 18, the second rotor 18 rotates 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 stator is disposed outside the second rotor 18 and does not occupy space within the second rotor 18 so that a larger second optical element 12 is disposed within the second rotor 18.
During the process of emitting light pulses after changing the propagation direction, the light pulse path avoids the first rotating part 142. The fact that the light pulse path avoids the first rotating part 142 means that the light pulse is not blocked by the first rotating part 142 all the time in the process of emitting the light pulse, so that the first rotating part 142 is prevented from influencing the emitting of the light pulse. In addition, during the process of emitting the light pulse, the light pulse path 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 ranging device 100 and the mobile platform 1000 according to the embodiments of the present application, the first optical element 11 is worn by the first rotating portion 142, the first optical element 11 and the first rotating portion 142 rotate together around the first rotation axis Z1, 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 smaller, the loss of the first rotating portion 142 is smaller, the service life of the first rotating portion is longer, the service life of the scanning module 10 is prolonged, and meanwhile, the optical pulse path avoids the first rotating portion 142, and the first rotating portion 142 does not influence the normal emission and reception of the optical pulse of 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 interior of the ellipse is the coverage area 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., which is not limited herein. The light sources 21 may be arranged along a straight line, and as shown in fig. 6b, the light spots L1 emitted from the light sources 21 are in a straight line along the center of the light spots L1. As shown in fig. 6c, it is understood that the light pulse emitted by the light sources 21 avoids the first turning part 142, and the light spot set L2 shown in fig. 6c needs to avoid the first turning part 142.
Referring to fig. 3 to 5, in some embodiments, the number of the second optical elements 12 and the second rotating portions 171 includes two, the two second optical elements 12 are mounted in the accommodating cavities 173 formed on the inner walls of the two second rotating portions 171 in a one-to-one correspondence manner, and the two second optical elements 12 are disposed adjacent to each other. The two second optical elements 12 and the second rotating portion 171 may have identical structures, and the two second optical elements 12 may be disposed adjacent to each other and side by side, and the two second optical elements 12 may rotate about the same second rotation axis Z2. Wherein the two second optical elements 12 can rotate in opposite directions at a constant speed, so that the light pulse passes through the two second optical elements 12 and then scans back and forth along a predetermined direction. Of course, in other embodiments, the two second optical elements 12 may also rotate at different speeds, may also rotate in the same direction, and the like, which is not limited herein.
In this case, the number of the first optical elements 11 may be one, and in the process of emitting light pulses after changing the propagation direction, the light pulses pass through the first optical element 11 and then pass through the two second optical elements 12. Referring to fig. 3 and 7, a plane P between the first optical element 11 and the second optical element 12 is defined, the projection of the first rotating portion 142 on the plane P is a first projection S1, the projection of the second rotating portion 171 on the plane P is a second projection S2, the projection of the spot assembly 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 emitting light pulses after changing the propagation direction, the light pulses are incident on the first optical element 11 from the first side C1 of the first axis of rotation Z1, and the second axis of rotation Z2 is located at the first side C1 of the first axis of rotation Z1. That is, when the light pulse is incident on the first optical element 11, the light pulse and the second rotation axis Z2 are located on the same side of the first rotation axis Z1, so that the light pulse is not easy to be projected onto the second rotation portion 171 when reaching the second optical element 12, and the second rotation portion 171 is not easy to block the light pulse. 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 away from the first rotation axis Z1 compared with 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, at a second side C2 of the first rotation axis Z1, the outer wall 111 of the first optical element 11 protrudes away 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 at opposite sides of the first rotation axis Z1. Since the second side C2 is opposite to the first side C1, the light spot does not project onto the second rotating portion 171 located on 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 scanning module 10 further includes a circuit board at least partially disposed in the space R of the outer wall 121 of the second optical element 12 recessed from the outer wall 111 of the first optical element 11. The circuit board can be used for setting the controller 1d, the driver and the like, and is at least partially arranged in the space R, so that the circuit board does not need to be specially arranged in more areas to accommodate the circuit board, 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 compared to the outer wall 111 of the first optical element 11, and is flush at the second side C2, so as to avoid the second optical element 12 protruding 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 axis of rotation Z1 coincides with the second axis of rotation Z2, and the radial dimension of the second optical element 12 is greater than the radial dimension of the first optical element 11. The outer wall 121 of the second optical element 12 protrudes from the outer wall 111 of the first optical element 11 on both the first side C1 and the second side C2, and the light pulse after passing through the first optical element 11 is not easy to project to the area outside the second optical element 12, so as to avoid 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, and the two first rotating portions 142 penetrate the two first optical elements 11 in a one-to-one correspondence manner, and the two first optical elements 11 are disposed adjacent to each other. The two first optical elements 11 and the first rotating portion 142 may have identical structures, and the two first optical elements 11 may be disposed adjacent to each other and side by side, and the two first optical elements 11 may rotate around the same first rotation axis Z1. The two first optical elements 11 can rotate in opposite directions at the same speed, so that the light pulse passes through the two first optical elements 11 and then scans back and forth along a predetermined direction. Of course, in other embodiments, the two first optical elements 11 may also rotate at different speeds, may also rotate in the same direction, and the like, which is not limited herein.
Referring to fig. 10 to 12, a plane P between the first optical element 11 and the second optical element 12 is defined, the projection of the first rotating portion 142 on the plane P is a first projection S1, the projection of the second rotating portion 171 on the plane P is a second projection S2, the projection of the spot assembly on the plane P is a spot projection S3, the spot projection S3 is located 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. As shown in fig. 11 and 12, in the projection S3 of the spot aggregate, a perpendicular X to the center line 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 X is parallel to the moving direction of the spot-integrated projection S3, and on this plane P, the spot-integrated projection S3 moves by a distance d1+d2, and as the two first optical elements 11 rotate, the spot-integrated projection S3 moves in the extending directions of D1 and D2, and the spot-integrated projection S3 is always located between the first projection S1 and the second projection S2. In the example shown in fig. 12, the perpendicular X is not parallel to the moving direction of the projection S3 of the spot set, and on the plane P, the moving distance of the projection S3 of the spot set is d3+d4, and as the two first optical elements 11 rotate, the projection S3 of the spot set moves along the extending directions of D3 and D3, wherein d3+d4 is greater than d1+d2, so that the moving distance of the spot set is greater, and the projection S3 of the spot set is always located between the first projection S1 and the second projection S2.
In the description of the present specification, descriptions of the terms "certain embodiments," "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., mean 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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 different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, for example two, three, unless explicitly defined otherwise.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application, which is defined by the claims and their equivalents.
Claims (24)
1. A scanning module for receiving light pulses emitted by a light source of a ranging device, emitting the light pulses after changing a propagation direction, and for receiving the light pulses reflected back by an object, wherein the ranging device comprises a plurality of light sources, 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 a containing cavity, the second optical element is arranged in the containing cavity, and the second optical element and the second rotating part rotate around a second rotating shaft;
wherein, in the process of emitting after changing the propagation direction of the light pulse, the light pulse light path avoids the first rotating part;
and the light pulses emitted by the light sources are distributed along the radial direction of the first optical element along the vertical line of the projection center connecting line of the light spots formed on the plane between the first optical element and the second optical element.
2. The scanning module according to claim 1, wherein, during the process of emitting light pulses after changing the propagation direction, the light pulses pass through the first optical element and then pass through the second optical element; or (b)
In the process of emitting light pulses after changing the propagation direction, the light pulses pass through the second optical element and then pass through the first optical element.
3. The scanning module according to claim 1, wherein the light incident surface and the light emergent 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.
4. The scanning module according to claim 1, wherein the number of the second optical elements and the second rotating parts includes two, the two second optical elements are correspondingly installed in the accommodating cavities formed by the inner walls of the two second rotating parts, and the two second optical elements are adjacently arranged side by side.
5. The scanning module of claim 4, wherein the two second optical elements counter-rotate at a constant speed.
6. The scan module of claim 4, wherein the first axis of rotation coincides with the second axis of rotation and the radial dimension of the second optical element is greater than the radial dimension of the first optical element.
7. The scanning module of claim 4, wherein the light pulse is incident on the first optical element from a first side of the first rotating shaft during the light pulse emitting process after changing the propagation direction of the light pulse, and the second rotating shaft is located at the first side of the first rotating shaft.
8. The scan module of claim 7, wherein an outer wall of the second optical element protrudes away from the first axis of rotation on a first side of the first axis of rotation than an outer wall of the first optical element.
9. The scan module of claim 8, wherein an outer wall of the first optical element protrudes away from the first axis of rotation on a second side of the first axis of rotation than an outer wall of the second optical element, the second side being on opposite sides of the first axis of rotation from the first side.
10. The scanning module of claim 9, further comprising a circuit board disposed at least partially within a space of the outer wall of the second optical element that is recessed from the outer wall of the first optical element.
11. The scan module of claim 8, wherein an outer wall of the second optical element is flush with an outer wall of the first optical element on a second side of the first axis of rotation, the second side being on opposite sides of the first axis of rotation from the first side.
12. The scanning module according to claim 1, wherein the number of the first optical elements and the first rotating parts includes two, the two first rotating parts are correspondingly threaded through the two first optical elements, and the two first optical elements are adjacently arranged side by side.
13. A scanning module according to claim 12, wherein the two first optical elements are counter-rotated at equal speeds.
14. The scanning 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.
15. The scanning module of claim 14, further comprising a sleeve, wherein the first optical element is fixedly connected to the sleeve, the number of first bearings includes two, the sleeve is sleeved with 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 an inner ring of the first bearing and the central shaft.
16. The scanning 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 arranged outside the first rotor, and the first stator is used for driving the first rotor to drive the first optical element and the first rotating part to rotate together relative to the inner ring of the first bearing.
17. The scanning 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 rotating part is sleeved outside the second rotor and fixedly connected with the second rotor, and the second optical element is accommodated in the second rotor;
the second stator is arranged outside the second rotor in a surrounding manner and is used for driving the second rotor to drive the second optical element and the second rotating part to rotate together relative to the outer ring of the second bearing.
18. The ranging device is characterized by comprising a ranging module and the scanning module according to any one of claims 1 to 17, wherein the ranging 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 emitting light pulses after changing the transmission direction of the light pulses, the light pulses reflected by a detected object are incident to the ranging module after passing through the scanning module, and the ranging module is used for determining the distance between the detected object and the ranging device according to the reflected light pulses;
the distance measuring device comprises a plurality of light sources, wherein the light pulses emitted by the light sources are distributed along the radial direction of the first optical element along the perpendicular line of the projection center line of a plurality of light spots formed on the plane between the first optical element and the second optical element.
19. The distance measuring device according to claim 18, wherein the number of the first optical elements and the first rotating portions includes two, the two first rotating portions are disposed through the two first optical elements in a one-to-one correspondence, and the two first optical elements are disposed adjacent to each other side by side.
20. A distance measuring device according to claim 18, wherein both of said first optical elements are counter-rotated at equal speeds; the moving direction of the plurality of light spot projections on the plane is not parallel to the perpendicular line of the central connecting line of the plurality of light spot projections.
21. The distance measuring device according to claim 18, wherein the light emitting chips of the plurality of light sources are packaged in the same package module.
22. A range finder device as claimed in claim 18, wherein the number of light sources is plural, and a plurality of the light sources alternately emit light pulses.
23. The ranging device as recited in claim 18 wherein a center of the light source is spaced from the first axis of rotation.
24. A mobile platform, comprising:
a body; and
A ranging apparatus as claimed in any of claims 18 to 23 mounted on the body.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/070399 WO2021138752A1 (en) | 2020-01-06 | 2020-01-06 | Scanning module, distance measurement device, and mobile platform |
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| CN113439221A CN113439221A (en) | 2021-09-24 |
| CN113439221B true CN113439221B (en) | 2024-03-08 |
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| CN117008083B (en) * | 2022-04-29 | 2024-09-10 | 深圳市速腾聚创科技有限公司 | Optical-mechanical system |
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| US5933225A (en) * | 1997-08-12 | 1999-08-03 | Mitsubishi Denki Kabushiki Kaisha | Vehicular optical radar apparatus |
| CN106959508A (en) * | 2015-12-02 | 2017-07-18 | 德克萨斯仪器股份有限公司 | Compact rotation device and the method for manufacturing beam direction device |
| JP2018028466A (en) * | 2016-08-17 | 2018-02-22 | 株式会社トプコン | Measuring device and motor control method |
| CN108496298A (en) * | 2017-04-28 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Driving device, laser measuring device for measuring and mobile platform |
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| WO2021138752A1 (en) | 2021-07-15 |
| CN113439221A (en) | 2021-09-24 |
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