CN114930184A

CN114930184A - Laser measuring device and movable platform

Info

Publication number: CN114930184A
Application number: CN202080069561.0A
Authority: CN
Inventors: 张泽政; 王栗; 黄淮; 刘祥
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2022-08-19
Also published as: WO2022141347A1

Abstract

A laser measuring device (100) and a movable platform (1000) are provided. The laser measuring device (100) comprises a shell (10) provided with a first cavity (101) and a second cavity (102), a blocking structure (20), a first light source unit (31) and a light receiving module (50) which are located in the first cavity (101), a second light source unit (32) and a light type changing element (41) which are located in the second cavity (102). The shell (10) and the blocking structure (20) block at least part of light rays from propagating between the two cavities.

Description

Laser measuring device and movable platform

Technical Field

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

Background

Laser measuring devices, such as lidar, use time-of-flight techniques for ranging. Specifically, the laser measuring device measures the distance between the laser measuring device and the probe by emitting pulsed laser light to the probe and by calculating the time difference between the emission of the pulsed laser light and the reception of the pulsed laser light reflected back by the probe. However, when a near-object is measured using a laser measuring device, a pulse signal reflected by the object to be measured easily overlaps with a pulse signal reflected by an internal structure of the laser measuring device, which makes it difficult to accurately measure the near-object, resulting in a measurement dead zone.

Disclosure of Invention

The embodiment of the application provides a laser measuring device and a movable platform.

The embodiment of the application provides a laser measuring device. Laser measuring device includes casing, separation structure, first light source unit, second light source unit, light type changes component and light receiving module. The shell is provided with a first cavity and a second cavity, the blocking structure is arranged in the shell and used for blocking at least part of light rays from transmitting between the first cavity and the second cavity. The first light source unit is located in the first cavity and is used for emitting a first laser pulse. The second light source unit is located in the second cavity and is used for emitting second laser pulses. The light type changing element is located in the second cavity, located on a light path of the second light source unit, and configured to diffuse the second laser pulse from the second light source unit. The light receiving module is located in the first cavity and can receive the first laser pulse or the second laser pulse reflected by the detector.

The embodiment of the application also provides a laser measuring device. The laser measuring device comprises a shell, a blocking structure, a first light source unit, a second light source unit and a detector. The light source comprises a shell, a blocking structure and a light source, wherein the shell is provided with a first cavity and a second cavity, the blocking structure is arranged in the shell and is used for blocking at least part of light rays from being transmitted between the first cavity and the second cavity. The first light source unit is located in the first cavity and is used for emitting a first laser pulse. The second light source unit is located in the second cavity and is used for emitting a second laser pulse. The detector is positioned within the first cavity, the detector capable of receiving the first laser light pulse or the second laser light pulse reflected off of the detector and transmitted back through the same optical element.

The embodiment of the application also provides a movable platform. The movable platform comprises a movable platform body and the laser measuring device in any one of the embodiments. The laser measuring device is installed on the movable platform body.

Laser measuring device and movable platform in the embodiment of the application, through setting up second light source unit and light receiving module in the cavity of difference, and the separation structure can block at least partial light and propagate between two cavities, so make the route of launching second laser pulse inconsistent with the route of receiving second laser pulse, thereby when adopting second light source unit and light receiving module cooperation measuring distance, can avoid producing the overlapping by the pulse signal of surveying object reflection and the pulse signal of being reflected by laser measuring device inner structure, be favorable to improving laser measuring device and measure the accuracy when surveying the object near, avoid measuring the production of blind area. Furthermore, through setting up two light source units, can cooperate the detection that realizes the surveyed object to different distances, be favorable to improving the distance scope of surveying.

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 view of a laser measuring apparatus according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of another laser measuring device according to an embodiment of the present disclosure;

FIG. 3 is a schematic optical path diagram of a laser measuring device according to an embodiment of the present disclosure;

FIG. 4 is a schematic optical path diagram of another laser measuring device according to an embodiment of the present disclosure;

FIG. 5 is a schematic optical path diagram of another laser measuring device according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of another laser measuring device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a movable platform according to an embodiment of the present disclosure.

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 used for 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," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean 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 laser measuring device 100 is provided in the present embodiment. The laser measuring device 100 includes a housing 10, a blocking structure 20, a first light source unit 31, a second light source unit 32, a light pattern changing element 42, and a light receiving module 50. The housing 10 is provided with a first cavity 101 and a second cavity 102, the blocking structure 20 is disposed in the housing 10, and the blocking structure 20 is used for blocking at least part of light from propagating between the first cavity 101 and the second cavity 102. A first light source unit 31 is located within the first cavity 101, the first light source unit 31 being adapted to emit first laser light pulses. A second light source unit 32 is located within the second cavity 102, the second light source unit 32 being configured to emit a second laser light pulse. The light pattern changing element 42 is located in the second cavity 102, and the light pattern changing element 42 is located on the optical path of the second light source unit 32, and diffuses the second laser light pulse from the second light source unit 32. The light receiving module 50 is located in the first cavity 101, and the light receiving module 50 can receive the first laser pulse or the second laser pulse reflected by the probe.

Referring to fig. 1, a laser measuring device 100 is further provided in the present embodiment. The laser measuring device 100 includes a housing 10, a blocking structure 20, a first light source unit 31, a second light source unit 32, and a detector 51. The housing 10 is provided with a first cavity 101 and a second cavity 102, the blocking structure 20 is disposed in the housing 10, and the blocking structure 20 is used for blocking at least part of light from propagating between the first cavity 101 and the second cavity 102. A first light source unit 31 is located within the first cavity 101, the first light source unit 31 being adapted to emit first laser light pulses. A second light source unit 32 is located within the second cavity 102, the second light source unit 32 being adapted to emit second laser light pulses. A detector 51 is located within the first cavity 101, the detector 51 being capable of receiving either the first laser light pulse or the second laser light pulse transmitted back through the same optical element 61 as reflected by the probe.

Existing laser measurement devices, such as lidar, use time-of-flight techniques for ranging. Specifically, the laser measuring device measures the distance between the laser measuring device and the probe by emitting pulsed laser light to the probe and by calculating the time difference between the emission of the pulsed laser light and the reception of the pulsed laser light reflected back by the probe. However, when a near probe is measured using a laser measuring device, a pulse signal reflected by the probe easily overlaps with a pulse signal reflected by an internal structure of the laser measuring device, which makes it difficult to accurately measure the near probe, resulting in a measurement dead zone.

Laser measuring device 100 in this application embodiment is through setting up the detector 51 in second light source unit 32 and the light receiving module 50 in the cavity of difference, and separation structure 20 can block at least partial light and propagate between two cavities, so make the route of launching second laser pulse inconsistent with the route of receiving second laser pulse, thereby when adopting second light source unit 32 and light receiving module 50 cooperation measurement distance, can avoid being surveyed the pulse signal of thing reflection and being produced the overlapping by the pulse signal of laser measuring device 100 inner structure reflection, be favorable to improving the precision of measuring when laser measuring device 100 measures near surveyed the thing, avoid measuring the production of blind area. Furthermore, through setting up two light source unit, can cooperate the detection that realizes the surveyed object to different distances, be favorable to improving the distance scope of surveying.

The following is further described with reference to the accompanying drawings.

Referring to fig. 1, the laser measuring apparatus 100 includes a housing 10, a blocking structure 20, a first light source unit 31, a second light source unit 32, a light type changing element 42, and a light receiving module 50. The blocking structure 20, the first light source unit 31, the second light source unit 32, the light shape changing element 42, and the light receiving module 50 are disposed in the housing 10.

Specifically, with continued reference to fig. 1, the housing 10 includes a first cavity 101 and a second cavity 102. The first light source unit 31 and the light receiving module 50 are both located in the first cavity 101 of the housing 10, and the second light source unit 32 and the light type changing element 42 are both located in the second cavity 102 of the housing 10. It should be noted that the peripheral wall of the housing 10 is made of a light-transmitting material, so that the laser pulse emitted from the light source disposed in the housing 10 can pass through the peripheral wall of the housing 10 to reach the outside, and the laser pulse from the outside can also pass through the peripheral wall of the housing 10 to reach the light receiving module 50 inside the housing 10.

In some embodiments, the housing 10 is a unitary structure; of course, in some embodiments, the housing 10 may be a separate structure. For example, referring to fig. 1, the housing 10 includes a first housing 11 and a second housing 12 which are separated from each other, the first housing 11 has an open side 111, and the second housing 12 has an open side 121.

Referring to fig. 1, the blocking structure 20 is disposed in the housing 10, and the blocking structure 20 is used for blocking at least a portion of light from propagating between the first cavity 101 and the second cavity 102. Specifically, in one example, referring to fig. 2, the blocking structure 20 includes a blocking plate 21 disposed inside the housing 10 and between the first cavity 101 and the second cavity 102, wherein the blocking plate 21 blocks at least a portion of light in the first cavity 101 from entering the second cavity 102, and blocks at least a portion of light in the second cavity 102 from entering the second cavity 102. Therefore, the first laser pulse emitted by the first light source unit 31 can be prevented from being emitted into the second cavity 102, and the first laser pulse reflected by the component in the second cavity 102 can be prevented from being mistakenly used as the laser pulse reflected by the external detection object; meanwhile, the second laser pulse emitted by the second light source unit 32 is prevented from being emitted into the first cavity 101, and the second laser pulse reflected by the component in the first cavity 101 is mistakenly used as the laser pulse reflected by the external detection object, so that the measurement accuracy of the laser measurement device 100 is improved.

Referring to fig. 1, the first light source unit 31 is located in the first cavity 101 of the housing 10, and the first light source unit 31 is configured to emit a first laser pulse. In some embodiments, the first laser light pulse emitted by the first light source unit 31 comprises a single line laser light pulse. Specifically, as shown in fig. 1, the first light source unit 31 includes a single first sub-light source 311, and the first sub-light source 311 is used to emit a single line laser pulse. Since the first laser pulse is a single line laser pulse, the cost of the laser measuring apparatus 100 and the hardware difficulty of a system for subsequently processing the received laser pulse can be reduced. In some embodiments, the first laser light pulses emitted by the first light source unit 32 comprise multi-line laser light pulses. Specifically, the first light source unit 31 includes a plurality of first sub light sources 311, and the plurality of first sub light sources 311 are commonly used to emit the multiline laser light pulses. Since the first laser pulse is a multi-line laser pulse, the measurement accuracy of the measurement apparatus 100 can be improved.

Referring to fig. 1, the second light source unit 32 is located in the second cavity 102 of the housing 10, and the second light source unit 32 is used for emitting the second laser pulse. It should be noted that, in some embodiments, the first light source unit 31 and the second light source unit 32 operate in a time-sharing manner, so that the second laser pulses emitted by the first light source unit 31 and the second laser pulses emitted by the second light source unit 32 can be prevented from interfering with each other.

In some embodiments, the second laser light pulses emitted by the second light source unit 32 comprise single line laser light pulses. Specifically, as shown in fig. 1, the second light source unit 32 includes a single second sub light source 321, and the second sub light source 321 is configured to emit a single line laser pulse. Since the second laser pulse is a single line laser pulse, the cost of the laser measuring apparatus 100 and the hardware difficulty of a system for subsequently processing the received laser pulse can be reduced. In some embodiments, the second laser light pulses emitted by the first light source unit 32 comprise multi-line laser light pulses. Specifically, the second light source unit 32 includes a plurality of second sub light sources 321, and the plurality of second sub light sources 321 are commonly used to emit the multiline laser light pulse. Since the second laser pulse is a multi-line laser pulse, the measurement accuracy of the measurement apparatus 100 can be improved.

The detection distance range corresponding to the first light source unit 31 is different from the detection distance range corresponding to the second light source unit 32, for example, the detection distance range corresponding to the first light source unit 31 may cover the detection distance range corresponding to the second light source unit 32. As such, the first light source unit 31 is used for far object detection, and the second light source unit 32 is used for near object detection.

Furthermore, when the first light source unit 31 and the second light source unit 32 emit light in a time-sharing manner, if they share the light receiving module 50, the laser pulses reflected by the corresponding detectors can be received in a time-sharing manner, so as to avoid interference between the two laser pulses, and measure the far and near objects respectively.

Referring to fig. 1, 3 to 5, in some embodiments, the laser measuring apparatus 100 may further include a scanning unit 60, the scanning unit 60 is located in the first cavity 101, and the scanning unit 60 is located on the optical path of the first light source unit 31, and is configured to change the first laser pulse from the first light source unit 31 to a different transmission direction and emit the first laser pulse. In particular, the scanning unit 60 comprises at least one optical element 61, at least part of the optical element 61 being rotatable to reflect, refract or diffract the first laser light pulse into different directions at different times. In this way, the range in which the first laser pulse emitted by the first light source unit 31 is emitted and the range in which the first laser pulse and the second laser pulse reflected by the probe are received can be expanded, thereby expanding the measurement range of the laser surveying device 100. It should be noted that the number of the optical elements 61 may be 1, 2, 3 or more, the number of the optical elements 61 capable of rotating may also be 1, 2, 3 or more, and even all the optical elements 61 in the scanning unit 60 may rotate, which is not limited herein. Additionally, optical element 61 includes, but is not limited to, at least one of a lens, mirror, prism, galvanometer, grating, liquid crystal, optical phased array.

Referring to fig. 1, in some embodiments, the laser measuring device 100 may further include at least one first driver 71, and the first driver 71 is connected to the optical element 61 and is used for driving the connected optical element 61 to rotate. Specifically, the first driver 71 includes a first stator 711 and a first rotor 712. The first rotor 712 is rotatably mounted on the first stator 711, and the optical element 61 is mounted on the first rotor 712, so that when the first rotor 712 rotates, the optical element 61 connected to the first rotor can be driven to rotate, so as to reflect, refract or diffract the first laser pulse to different directions at different times, thereby expanding the range of the first laser pulse emitted by the first light source unit 31. It should be noted that in some embodiments, the optical element 61 is installed in the first rotor 712, which is beneficial for the first rotor 712 to better bring the optical element 61 to rotate smoothly. In addition, the number of the first drivers 71 in the laser measuring device 100 may be the same as the number of the optical elements 61, and the number of the first drivers 71 may also be smaller than the number of the optical elements 61, which is not limited herein.

Referring to fig. 1, in some embodiments, the laser measuring apparatus 100 may further include a first reflection unit 81, the first reflection unit 81 is located in the first cavity 101, and the first reflection unit 81 is located on the optical path of the scanning unit 60. The first reflection unit 81 is rotatable to reflect the first laser pulse and the second laser pulse passing through the first reflection unit 81. For example, after the first laser pulse passes through the scanning unit 60 and is incident to the first reflecting unit 81, the first laser pulse is reflected by the first reflecting unit 81 to the outside of the housing 10; or, after the first laser pulse reflected by the probe enters the first reflecting unit 81, the first laser pulse is reflected by the first reflecting unit 81 to the light receiving module 50; or, after the second laser pulse reflected by the probe is incident to the first reflection unit 81, the second laser pulse is reflected by the first reflection unit 81 to the light receiving module 50. Because the first reflection unit 81 can rotate, the first laser pulse can be emitted to the outside of the housing 10 along the direction surrounding the peripheral wall of the laser measurement device 100, and the first laser pulse and the second laser pulse which are around the laser measurement device 100 and reflected by the detection object can be reflected into the light receiving module 50 by the first reflection unit 31, that is, the laser measurement device 100 can measure the distance from the detection object to the laser measurement device 100 in each direction of the peripheral wall. Note that the first reflection unit 81 includes a plane mirror or a reflection prism, and is not limited herein.

With continued reference to fig. 1, in some embodiments, the first reflection unit 81 includes a reflection prism. Specifically, the first reflection unit 81 includes a first reflection prism 811 and a first weight 812. The first reflection prism 811 includes a first reflection surface 8111, and the first reflection surface 8111 is used to reflect the laser light pulse passing through the first reflection unit 81. In some embodiments, the first reflecting surface 8111 is coated with a high reflective film, which is beneficial to improve the reflection efficiency of the first reflecting unit 81 for reflecting the laser pulse.

The first weight 812 serves to balance the first reflection unit 81 during the rotation of the first reflection unit 81. Illustratively, the first weight 812 includes a first combining surface 8121, and the first combining surface 8121 is combined with the first reflecting surface 8111 to connect the first weight 812 with the first reflecting prism 811. For example, the first combining surface 8121 is glued with the first reflecting surface 8111 to connect the first weight 812 and the first reflecting prism 811.

In some embodiments, the first weight 812 is combined with the first reflection prism 811 to make the first reflection unit 81 have an axisymmetric structure, and the rotation axis of the first reflection unit 81 coincides with the symmetry axis of the first reflection unit 81, so that the first reflection unit 81 can be smoothly rotated. For example, referring to fig. 1, the density of the first weight 812 is the same as that of the first reflection prism 811, the first weight 812 is combined with the first reflection prism 811 to make the first reflection unit 81 have an axisymmetric structure, and the first reflection unit 81 can rotate around the symmetry axis thereof, specifically, the first weight 812 and the first reflection prism 811 may be triangular bodies respectively. Of course, when the density of the first weight 812 is different from the density of the first reflection prism 811, the first reflection unit 81 may not be an axisymmetric structure, and the first reflection unit 81 may rotate stably only by satisfying the condition that the masses of the first reflection unit 81 in all directions around the rotation axis are equal.

It is understood that, in practical applications, when the density of the first weight 812 is different from that of the first reflecting prism 811, but the shape and size are substantially the same, the first weight 812 may be further provided with a weight, such as a gel, to balance the second reflecting prism 811.

Referring to fig. 3 to 5, the laser measuring apparatus 100 may further include a collimating element 41, where the collimating element 41 is disposed on the light outgoing path of the first light source unit 31, and is used for collimating the laser beam emitted from the first light source unit 31, that is, collimating the laser pulse emitted from the first light source unit 31, and projecting the collimated laser pulse from the first light source unit 31 to the scanning unit 60. The collimating element 41 is located between the first light source unit 31 and the scanning unit 60. The collimating element 41 is further configured to converge at least a portion of the first laser light pulse or the second laser light pulse reflected by the object to be detected and transmitted back through the scanning unit 60 to the detector 51. The collimating element 41 may be a collimating lens or other element capable of collimating a light beam. In one embodiment, the collimating element 41 is coated with an anti-reflection coating to increase the intensity of the transmitted laser pulses.

Referring to fig. 1, the light receiving module 50 is located in the first cavity 101 of the housing 10, and the light receiving module 50 can receive the first laser pulse or the second laser pulse emitted by the object to be detected. Because the second laser pulse emitted by the second light source unit 32 is emitted from the second cavity 102 of the housing 10 to the object to be detected, and the second laser pulse enters the first cavity 101 of the housing 10 and is emitted to the light receiving module 50 after passing through the object to be detected, and the blocking structure 20 can block at least part of light from propagating between the first cavity 101 and the second cavity 102, the path for emitting the second laser pulse is inconsistent with the path for receiving the second laser pulse, so that when the second light source unit 32 and the light receiving module 50 are used for measuring the distance in a matching manner, the pulse signal reflected by the object to be detected can be prevented from being overlapped with the pulse signal reflected by the internal structure of the laser measuring device 100, which is beneficial to improving the measuring accuracy when the laser measuring device 100 measures the object near to be detected, and the occurrence of a measuring blind area can be avoided.

Referring to fig. 2, in some embodiments, the light receiving module 50 may include two detectors 51, and the two detectors 51 are respectively configured to receive the first laser pulse reflected by the detector and the second laser pulse reflected by the detector. Specifically, the light receiving module 50 includes two detectors 51, wherein one detector 51 is used for receiving the first laser pulse reflected by the first detector, and the other detector 51 is used for receiving the second laser pulse reflected by the second detector. Because the light receiving module 50 is provided with the two detectors 51 to respectively receive the first laser pulse reflected by the object to be detected and the second laser pulse reflected by the object to be detected, compared with the case that one detector 51 is adopted to receive the first laser pulse reflected by the object to be detected and the second laser pulse reflected by the object to be detected, the two detectors 51 are arranged without adjusting the laser pulses emitted from different directions to the same position after being reflected, so that the design difficulty of the laser measuring device 100 is reduced. It should be noted that the first detector and the second detector may be the same detector at different times or different detectors, and hereinafter, the first detector and the second detector are also referred to, and are not described again.

It can be understood that, when the light receiving module 50 includes two detectors, the first light source unit 31 and the second light source unit 32 may not be emitted in a time-sharing manner, but it is necessary to avoid interference of the first laser pulse emitted back by the internal structure of the laser measurement device 100 with the detector for receiving the second laser pulse reflected by the object to be detected.

Referring to fig. 1, in some embodiments, the light receiving module 50 includes a detector 51, and the detector 51 is configured to receive the first laser pulse or the second laser pulse reflected by the object. Specifically, the light receiving module 50 includes a detector 51, and the detector 51 is configured to receive a first laser pulse reflected by a first detector or receive a second laser pulse emitted by a second detector. Because the light receiving module 50 is only provided with one detector 51 to receive the first laser pulse or the second laser pulse reflected by the detected object, compared with the case that two detectors 51 are respectively provided to receive the first laser pulse and the second laser pulse, the size and the quality of the laser measuring device 100 can be reduced, and meanwhile, the cost is reduced.

For example, when the light receiving module 50 includes only one detector 51, that is, one detector 51 receives the first laser pulse and the second laser pulse in a time-sharing manner, in some embodiments, as shown in fig. 3, the light emitting axis of the first light source unit 31 is parallel to the light receiving axis of the detector 51. At this time, the first laser pulse emitted by the first light source unit 31 enters the scanning unit 60 after being collimated by the collimating element 41, the scanning unit 60 changes the first laser pulse to different transmission directions and emits the first laser pulse to the first reflecting unit 81, the first reflecting unit 81 reflects the laser pulse to a detection object outside the housing 10, and the first laser pulse reflected by the detection object enters the first cavity 101, is reflected by the first reflecting unit 81, sequentially passes through the scanning unit 60 and the collimating element 41, and then directly enters the detector 51. Thus, by sharing the light receiving module 50, the same set of master control can be adopted to process the signals, thereby reducing the complexity of the system, and leading the system to have compact structure and low cost.

Referring to fig. 4, in some embodiments, the light-emitting optical axis of the first light source unit 31 forms an included angle with the light-receiving optical axis of the detector 51, and in this case, the laser measuring apparatus 100 may further include a light path changing element 90. The optical path changing element 90 is disposed on the outgoing light path of the first light source unit 31, and is configured to combine the outgoing light path of the first light source unit 31 and the incoming light path of the detector 51. Specifically, the optical path changing element 90 is located on the opposite side of the collimating element 41 from the scanning unit 60. The optical path changing element 90 may be a mirror or a half mirror. In one example, the optical path changing element 90 is a small mirror capable of changing the optical path direction of the laser beam emitted from the first light source unit 31 by 90 degrees or other angles. The detector 51 is placed on the same side of the collimating element 41 as the first light source unit 31. In one example, the detector 51 is directly opposite the collimating element 41. It is understood that the scanning unit 60 may change the light pulse sequence to different transmission directions at different times to emit light pulses, the light pulses reflected by the object may be incident to the detector 51 after passing through the scanning unit 60, the detector 51 may be configured to convert at least part of the return light of the first laser pulse or the second laser pulse passing through the collimating element 41 into an electrical signal, the electrical signal may specifically be an electrical pulse, and the detector 51 may further determine the distance between the object and the laser measuring device 100 based on the electrical pulse. When the laser measuring device 100 works, the first light source unit 31 emits a laser pulse, the laser pulse is collimated by the collimating element 41 after passing through the light path changing element 90, the collimated laser pulse is emitted to the first reflecting unit 80 after changing the transmission direction by the scanning unit 60, the laser pulse is reflected out of the housing 10 by the first reflecting unit 80 and is projected onto the object to be detected, after the first laser pulse or the second laser pulse reflected by the object to be detected is reflected to the scanning unit 60 by the first reflecting unit 80, at least a part of the return light is converged on the detector 51 by the collimating element 41. The detector 51 converts at least part of the return light passing through the collimating element 41 into an electrical signal pulse to measure the distance.

Referring to fig. 5, in some embodiments, the light-emitting optical axis of the first light source unit 31 forms an included angle with the light-receiving optical axis of the detector 51, and the laser measuring apparatus 100 may further include a light path changing element 90. The optical path changing element 90 is disposed on the light-emitting path of the first light source unit 31 and between the collimating element 41 and the first light source unit 31, and is configured to transmit the first laser pulse emitted from the first light source unit 31 to the collimating element 41 and reflect at least a portion of the first laser pulse or the second laser pulse from the collimating element 41 to the detector 51. Specifically, the optical path changing element 90 is a large reflector including a reflecting surface 91, and a light passing hole is formed in the middle of the large reflector. The detector 51 and the first light source unit 31 are still disposed on the same side of the collimating element 41, the first light source unit 31 faces the collimating element 41, the detector 51 is opposite to the reflecting surface 91, and the optical path changing element 90 is disposed between the first light source unit 31 and the collimating element 41. When the laser measuring module 100 works, the first light source unit 31 emits the first laser pulse, the first laser pulse is collimated by the collimating element 41 after passing through the light passing hole of the light path changing element 90, the collimated first laser pulse is emitted to the first reflecting unit 80 after the transmission direction is changed by the scanning unit 60, and then is reflected out of the housing 10 by the first reflecting unit 80 and projected onto the object to be detected, after the first laser pulse or the second laser pulse reflected by the object to be detected is reflected to the scanning unit 60 by the first reflecting unit 80, at least a part of the return light is converged by the collimating element 41 onto the reflecting surface 91 of the optical path changing element 90, the reflecting surface 91 reflects the at least a part of the return light onto the detector 51, the detector 51 converts the reflected at least a part of the return light into an electrical signal pulse, and the laser measuring module 100 determines the laser pulse receiving time according to the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the laser measuring module 100 can calculate the flight time by using the pulse receiving time information and the pulse emitting time information, thereby determining the distance from the probe to the laser measuring module 100. In this embodiment, the size of the optical path changing element 90 is large, and the optical path changing element 90 can cover the whole view field range of the first light source unit 31, and the return light is directly reflected to the detector 51 by the optical path changing element 90, so that the blocking of the optical path of the return light by the optical path changing element 90 itself is avoided, the intensity of the return light detected by the detector 51 is increased, and the distance measurement precision is improved.

Referring to fig. 1, the light pattern changing element 42 includes, but is not limited to, at least one of an optical diffuser and a concave lens. Specifically, the light pattern changing element 42 is located within the second cavity 102, and the light pattern changing element 42 is located on the optical path of the second light source unit 32. The light pattern changing element 42 is used to diffuse the second laser light pulse from the second light source unit 32, such as into a circular, square, annular, or the like shape, which can expand the measurement accuracy of the laser measurement module 100.

Further, the second light source unit 32 is used for detecting a short-distance object, and the first light source unit 31 is used for detecting a long-distance object. When the long-distance ranging is realized, the directivity of the laser pulse to be emitted is good, the laser pulse needs to be emitted and collimated, and the laser pulse needs to be received and focused, so that an additional scanning unit 60 is needed; when closer range finding is implemented, the above requirements for transmission and reception are relatively low, and no additional scanning unit 60 may be required. Therefore, the light type changing element 42 is disposed on the light path of the second light source unit 32, and compared with the scanning unit 60 disposed on the light path of the second light source unit 32 for diffusing the second laser pulse, the complexity of the laser measuring module 100 can be reduced, and the manufacturing cost of the laser measuring module 100 can be reduced.

With reference to fig. 1, in some embodiments, the laser measuring apparatus 100 may further include a second reflection unit 82 capable of rotating, the second reflection unit 82 is located in the second cavity 102, the light type changing element 42 is located between the second light source unit 32 and the second reflection unit 82, and the second reflection unit 82 is configured to reflect the second laser pulse diffused by the light modifying element 42 to the outside of the second cavity 102. Illustratively, after passing through the light modification element 42 and being incident on the second reflection unit 82, the second laser pulse is reflected by the second reflection unit 82 to the outside of the housing 10, and since the second reflection unit 82 can rotate, the second laser pulse can be emitted to the outside of the housing 10 along the direction surrounding the peripheral wall of the laser measurement device 100, that is, the laser measurement device 100 can measure the distance from the detection object to the laser measurement device 100 in all directions of the peripheral wall. It should be noted that the second reflection unit 82 includes a plane mirror or a reflection prism, and is not limited herein.

With continued reference to fig. 1, in some embodiments, the second reflecting unit 82 includes a reflecting prism. Specifically, the second reflection unit 82 includes a second reflection prism 821 and a second weight 822. The second reflection prism 821 includes a second reflection surface 8211, and the second reflection surface 8211 is used for reflecting the laser pulse passing through the second reflection unit 82. In some embodiments, the second reflecting surface 8211 is coated with a highly reflective film, which is favorable for improving the reflection efficiency of the second reflecting unit 82 for reflecting the laser pulse.

The second weight 822 serves to balance the second reflection unit 82 during the rotation of the second reflection unit 82. Illustratively, the second weight 822 includes a second combining surface 8221, and the second combining surface 8221 is combined with the second reflecting surface 8211 to connect the second weight 822 with the second reflecting prism 821. For example, the second bonding surface 8221 is glued to the second reflecting surface 8211 to connect the second weight member 822 and the second reflecting prism 821.

In some embodiments, the second weight 822 is combined with the second reflection prism 821 to make the second reflection unit 82 have an axisymmetric structure, and the rotation axis of the second reflection unit 82 coincides with the symmetry axis of the second reflection unit 82, so that the second reflection unit 82 can be smoothly rotated. For example, referring to fig. 1, the density of the second weight member 822 is the same as that of the second reflection prism 821, the second weight member 822 and the second reflection prism 821 are combined to make the second reflection unit 82 have an axisymmetric structure, and the second reflection unit 82 can rotate around the symmetry axis, specifically, the second weight member 822 and the second reflection prism 821 can be triangular respectively. Of course, when the density of the second weight 822 is different from the density of the second reflection prism 821, the second reflection unit 82 may not be an axisymmetric structure, and the second reflection unit 82 may rotate stably only if the mass of the second reflection unit 82 in each direction around the rotation axis is equal.

It is understood that, in practical applications, when the density of the second weight 822 is different from that of the second reflection prism 821, but the shape and the size are substantially the same, the second weight 822 may be further provided with a weight, such as a glue, to balance the second reflection prism 821.

In some embodiments, when the laser measuring module 100 includes both the first reflecting unit 81 and the second reflecting unit 82, the first reflecting unit 81 and the second reflecting unit 82 can rotate synchronously. At this time, the rotation speed and the phase of the first reflection unit 81 and the second reflection unit are the same. Thus, at the same time, the scene area where the light receiving module 50 receives the second laser pulse at least partially overlaps with the scene area where the second light source unit 32 emits the second laser pulse that can be projected, so that the second light source unit 32 does not need to emit the second laser pulse with larger power, and the second laser pulse reflected back by the probe can be incident to the light receiving module 50 through the first reflecting unit 81. That is, the first reflection unit 81 and the second reflection unit 82 rotate synchronously, and the light energy utilization rate can be improved under the same emission power of the second light source unit 32.

Specifically, referring to fig. 1, the laser measuring apparatus 100 may further include a second driver 72, and the second driver 72 is connected to the first reflecting unit 81 and the second reflecting unit 82 and is used for driving the first reflecting unit 81 and the second reflecting unit 82 to rotate synchronously.

In some embodiments, as shown in fig. 2, the number of the second drivers 72 is two, and two second drivers 72 are respectively located in the first cavity 101 and the second cavity 102 and are respectively connected to the first reflecting unit 81 and the second reflecting unit 82. Illustratively, each second driver 72 includes a second stator 721 and a second rotor 722. The second rotor 722 is rotatably mounted on the second stator 721, the first reflection unit 81 or the second reflection unit 82 is mounted on the second rotor 722, and the second rotor 722 can drive the first reflection unit 81 or the second reflection unit 82 mounted thereon to rotate. For example, the laser measurement module 100 includes two second drivers 72, one of the second drivers 72 is disposed in the first cavity 101, and the first reflection unit 81 is connected to the second rotor 722 therein, and the second driver 72 can drive the first reflection unit 81 to rotate; another second driver 72 is disposed in the second chamber 102, and the second reflection unit 82 is connected to the second rotor 722 therein, the second driver 72 can drive the second reflection unit 82 to rotate. At this time, the two second drivers 72 can be designed to synchronously rotate through a control algorithm, so as to drive the first reflection unit 81 and the second reflection unit 82 to synchronously rotate.

In some embodiments, as shown in fig. 1, the number of the second drivers 72 is one, and the second drivers 72 are connected to both the first reflection units 81 and the second reflection units 82. Because one second driver 72 is connected with both the first reflection unit 81 and the second reflection unit 82, a control algorithm is not required to be designed, so that the first reflection unit 81 and the second reflection unit 82 can be ensured to synchronously rotate, and compared with the case that two second drivers 72 are respectively connected with the first reflection unit 81 and the second reflection unit 82, the complexity, the size and the manufacturing cost of the structure of the laser measuring device 100 can be reduced.

In one example, the second driver 72 is disposed between the first cavity 101 and the second cavity 102 and acts as a blocking structure 20 to block at least a portion of light in the first cavity 101 from entering the second cavity 102 and to block at least a portion of light in the second cavity 102 from entering the first cavity 101. Because the second driver 72 that connects first reflecting unit 81 and second reflecting unit 82 is regarded as separation structure 20, can guarantee that first reflecting unit 81 and second reflecting unit 82 rotate in step, need not to set up other separation structure 20 simultaneously and also can block at least partial light and propagate between first chamber 101 and second chamber 102, thereby when improving laser measuring device 100 measurement accuracy, can effectively reduce the complexity of laser measuring device 100 structure, can also reduce laser measuring device 100's height (along the luminous direction of first luminescence unit 31).

Specifically, the second driver 72 may include a second stator 721, a second rotor 722, and a bearing 723. The second rotor 722 is at least partially disposed in the bearing 723, and the second stator 721 is disposed outside the bearing 723, so that the second rotor 722 is rotatably mounted on the second stator 721. The first reflection unit 81 and the second reflection unit 82 are respectively installed at two ends of the second rotor 722, and the second rotor 722 can drive the first reflection unit 81 and the second reflection unit 82 to synchronously rotate. For example, the second stator 721 is housed in the first chamber 101, and the second rotor 722 is rotatably mounted on the second stator 721. The second rotor 722 includes a rotor cover 7221 and a shaft 7222, and the shaft 7222 includes an end 72221. Rotor cover 7221 is accommodated in first cavity 101, and first reflection unit 81 is provided in rotor cover 7221, that is, first reflection unit 81 is connected to rotor cover 7221. The rotor cover 7221 is fixedly coupled to a side of the rotation shaft 7222 remote from the end 72221, the end 7221 of the rotation shaft 7222 is exposed from the second chamber 102, and the second reflecting unit 82 is disposed at the end 72221 of the rotation shaft 7222, i.e., the second reflecting unit 82 is coupled to the end 72221. In this way, the second rotor 722 of the second driver 72 is connected to both the first reflection unit 81 and the second reflection unit 82, so that when the second rotor 722 rotates, the second rotor 722 can drive the first reflection unit 81 and the second reflection unit 82 to rotate synchronously. It should be noted that, in some embodiments, the rotor cover 7221 and the side of the rotating shaft 7222 far from the end 72221 are fixedly connected by dispensing, which is beneficial to make the connection between the rotor cover 7221 and the rotating shaft 7222 more tight, and avoid the falling off of the rotor cover 7221 and the rotating shaft 7222 during the rotation of the second rotor 72, thereby prolonging the service life of the laser measuring apparatus 100.

Of course, in some embodiments, the second stator 721 may be received in the second cavity 102, the rotor cover 7221 of the second rotor 722 may be received in the second cavity 102 and coupled to the second reflection unit 82, and the end 72221 of the shaft 7222 may be exposed from the first cavity 101 and coupled to the first reflection unit 81.

Referring to fig. 1, in some embodiments, the second driver 72 may further include an end cap 724 and a bearing block 725. Specifically, the end cap 724 is disposed on the inner side wall 101 of the housing 10, and the end cap 724 is used for separating the cavity of the housing 10 to form the first cavity 101 and the second cavity 102. This can further block light from propagating between the first cavity 101 and the second cavity 102.

In some embodiments, when the housing 10 includes the first shell 11 and the second shell 12 which are separated, the end cap 724 is disposed on the open side 111 of the first shell 11, and the open side 121 of the second shell 12 is mounted on the side of the end cap 724 away from the first shell 11. That is, the end cap 724 is disposed between the open side 111 of the first case 11 and the open side 121 of the second case 12.

The end cap 724 includes opposing first and

second sides

7241 and 7242, wherein the first side 7241 is closer to the first cavity 101 than the second side 7242. A bearing housing 725 is mounted on the end cap 724, and the second rotor 722 is mounted on the bearing housing 725 through a bearing 723 and passes from the first side 7241 of the end cap 724 to the second side 7242 of the end cap 724, i.e., the second rotor 722 passes from the first chamber 101 to the second chamber 102.

Referring to FIG. 1, in some embodiments, the first side 7241 of the end cap 724 is provided with an opening 7243 and the bearing block 725 is disposed in the opening 7243 of the first side 7241, thereby reducing the longitudinal dimension of the laser measuring device 100. Of course, in some embodiments, the second side 7242 of the end cap 724 is provided with an opening 7244 (shown in FIG. 6) and the bearing block 725 is provided in the opening 7244 of the second side 7242, which also enables the longitudinal dimension of the laser measuring device 100 to be reduced, without limitation.

Referring to FIG. 6, in some embodiments, the first side 7241 of the end cap 724 is provided with a first opening 7243 and the second side 7242 is provided with a second opening 7244, the first opening 7241 communicating with the second opening 7242. Specifically, at least a portion of the second rotor 722 is received within the first opening 7241. A bearing block 726 is formed between the first opening 7241 and the second opening 7242, a bearing block 725 is carried on the bearing block 726, and the bearing block 726 is received in the second opening 7244. This enables further reduction in the longitudinal dimension of the laser measuring apparatus 100.

In some embodiments, when the first light source unit 31 is turned on, if the detector 51 of the light receiving module 50 detects that the distance between the object to be detected and the laser measuring device 100 is within the predetermined distance range, which means that the object to be detected is close to the laser measuring device 100, the laser measuring device 100 turns off the first light source unit 31 and turns on the second light source unit 32, that is, the laser measuring device 100 measures the short-distance object of the laser measuring device 100 through the second light source unit 32. On one hand, since the second laser pulse emitted by the second light source unit 32 is emitted from the second cavity 102 of the housing 10 to the object to be detected, and the second laser pulse is emitted from the first cavity 101 of the housing 10 to the light receiving module 50 after passing through the object to be detected, and the blocking structure 20 can block at least part of light from propagating between the first cavity 101 and the second cavity 102, such that the path for emitting the second laser pulse is inconsistent with the path for receiving the second laser pulse, and thus when the second light source unit 32 and the light receiving module 50 are adopted to cooperate to measure the distance between the object to be detected and the laser measuring device 100 at the near position of the laser measuring device 100, the pulse signal reflected by the object to be detected and the pulse signal reflected by the internal structure of the laser measuring device 100 can be prevented from being overlapped, thereby improving the accuracy of the laser measuring module 100 in measuring the near object to be detected; on the other hand, since the first laser pulse emitted from the first light source unit 31 passes through the scanning unit 40 and the first reflection unit 81 and then exits to the outside of the housing 10, the first light source unit 31 and the light receiving module 50 are adopted to cooperate with each other to measure the distance between the object to be detected at a distance from the laser measuring device 100 to the laser measuring device 100, so that the measuring range and the accuracy of the laser measuring device 100 can be expanded.

It should be noted that, when it is detected that the distance between the detected object and the laser measuring apparatus 100 is within the predetermined distance range, that is, if the first laser pulse emitted by the first light source unit 31 is adopted at this time, the first laser pulse reflected by the detected object may overlap with the pulse signal reflected by the internal structure of the laser measuring apparatus 100; when it is detected that the distance between the object to be detected and the laser measuring apparatus 100 is not within the predetermined distance range, that is, if the first laser pulse emitted from the first light source unit 31 is used at this time, the first laser pulse reflected by the object to be detected does not overlap with the pulse signal reflected by the internal structure of the laser measuring apparatus 100. The predetermined distance range may be set in advance by a manufacturer before the laser measuring device 100 is shipped from the factory. Specifically, the manufacturer of the laser measuring apparatus 100 has undergone a lot of experiments to determine that when the detected object is within a certain range, the first laser pulse reflected by the detected object overlaps with the pulse signal reflected by the internal structure of the laser measuring apparatus 100, and then the range is set as the predetermined distance range. Of course, in some embodiments, the setting may also be set according to the user's needs, and is not limited herein.

Referring to fig. 7, a movable platform 1000 is further provided in the present embodiment. The movable platform 1000 includes a movable platform body 200 and the laser measuring device 100 according to any of the above embodiments, and the laser measuring device 100 is mounted on the movable platform body 1000. Movable platform 1000 may be an unmanned aerial vehicle, an unmanned ship, a robot, an armored combat vehicle, or the like. A movable platform 1000 may be configured with one or more laser measurement modules 100. The laser measuring module 100 may be configured to detect an environment around the movable platform 1000, so that the movable platform 1000 further performs operations such as obstacle avoidance and track selection according to the environment around, and the laser measuring module 100 may be disposed in a front portion or an upper portion of the movable platform 1000.

Laser measuring device 100 in movable platform 1000 in the embodiment of this application, through setting up second light source unit 32 and light receiving module 50 in the cavity of difference, and separation structure 20 can block at least partial light and propagate between two cavities, so make the route of launching second laser pulse inconsistent with the route of receiving second laser pulse, thereby when adopting second light source unit 32 and light receiving module 50 cooperation measurement distance, can avoid being surveyed the pulse signal of thing reflection and being produced the overlapping by the pulse signal of laser measuring device 100 inner structure reflection, be favorable to improving the precision of measuring when laser measuring device 100 measures near surveyed the thing, avoid measuring the production of blind area. Furthermore, through setting up two light source units, can cooperate the detection that realizes the surveyed object to different distances, be favorable to improving the distance scope of surveying.

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. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.

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 should be understood that the above embodiments are exemplary and not to be construed as limiting the present application and that those skilled in the art may make variations, modifications, substitutions and alterations to the above embodiments within the scope of the present application, which is defined by the claims and their equivalents.

Claims

A laser measuring device, comprising:

a housing provided with a first cavity and a second cavity;

a blocking structure disposed within the housing, the blocking structure configured to block at least some light from propagating between the first cavity and the second cavity;

a first light source unit located within the first cavity, the first light source unit for emitting a first laser pulse;

a second light source unit located within the second cavity, the second light source unit for emitting a second laser pulse;

a beam pattern changing element located within the second cavity, the beam pattern changing element located on an optical path of the second light source unit, for diffusing the second laser light pulse from the second light source unit; and

a light receiving module positioned within the first cavity, the light receiving module capable of receiving the first laser pulse or the second laser pulse reflected by a probe.
The laser measuring device according to claim 1, wherein the first light source unit and the second light source unit operate in a time-sharing manner.
The laser measuring device of claim 1, wherein the first laser pulse comprises a single line laser pulse or a multi-line laser pulse; and/or the second laser pulse comprises a single line laser pulse or a multiple line laser pulse.
The laser measuring device according to claim 1, wherein the first light source unit includes a single first sub light source for emitting a single line laser pulse; or the first light source unit comprises a plurality of first sub-light sources which are commonly used for emitting the multi-line laser pulse.
The laser measuring device of claim 1, wherein the second light source unit comprises a single second sub-light source for emitting a single line laser pulse; or the second light source unit comprises a plurality of second sub-light sources which are used for emitting the multi-line laser pulse together.
The laser measuring device of claim 1, further comprising a scanning unit located in the first chamber, the scanning unit being located on an optical path of the first light source unit and adapted to change the first laser light pulse from the first light source unit to a different transmission direction and emit the first laser light pulse.
The laser measuring device of claim 6, wherein the scanning unit comprises at least one optical element, at least some of which are rotatable to reflect, refract or diffract the first laser light pulse into different directions at different times.
The laser measuring device of claim 7, further comprising at least one first driver coupled to the optical element for driving the coupled optical element in rotation.
The laser measuring device of claim 8, wherein the first driver comprises:

a first stator; and

the first rotor is rotatably arranged on the first stator, the optical element is arranged on the first rotor, and the first rotor can drive the optical element to rotate.
The laser measuring device of claim 6, further comprising a first reflecting unit located in the first cavity, the first reflecting unit being located on an optical path of the scanning unit, the first reflecting unit being rotatable for reflecting the first laser pulse or the second laser pulse passing through the first reflecting unit.
The laser measuring device according to claim 10, wherein the first reflecting unit includes a plane mirror or a reflecting prism.
The laser measuring device of claim 10, wherein the first reflecting unit comprises a first reflecting prism having a first reflecting surface for reflecting laser light pulses passing through the first reflecting unit and a first weight for balancing the first reflecting unit during rotation of the first reflecting unit.
The laser measuring device according to claim 12, wherein the first weight member is combined with the first reflecting prism to make the first reflecting unit have an axisymmetric structure, and a rotation axis of the first reflecting unit coincides with a symmetry axis of the first reflecting unit.
The laser measuring device of claim 12, wherein the first weight member includes a first bonding surface glued to the first reflective surface.
The laser measuring device according to claim 12, wherein the first reflecting surface is coated with a highly reflective film.
The laser measuring device of claim 1, further comprising a collimating element for collimating the first laser pulse and focusing the first laser pulse or the second laser pulse.
The laser measuring device of claim 1, wherein the light receiving module comprises two detectors for receiving the first laser pulse reflected by the detector and the second laser pulse reflected by the detector.
The laser measuring device of claim 1, wherein the light receiving module comprises a detector for receiving the first laser light pulse or the second laser light pulse reflected by the detector.
The laser measuring device according to claim 18, wherein a light emitting optical axis of the first light source unit is parallel to a light receiving optical axis of the detector; or

The laser measuring device comprises a detector, a first light source unit, a light emitting optical axis of the first light source unit and a light receiving optical axis of the detector form an included angle, and further comprises a light path changing element, wherein the light path changing element is arranged on the light emitting optical path of the first light source unit and used for combining the light emitting optical path of the first light source unit and the light receiving optical path of the detector; or

The luminous optical axis of first light source unit with the receipts optical axis of detector is the contained angle, first optical module still includes the light path and changes the component, the light path changes the component setting and is in the light-emitting optical path of first light source unit and lie in the collimating component with between the first light source unit, be used for seeing through first light source unit sends first laser pulse extremely the collimating component, and reflect at least partly come from the collimating component first laser pulse or second laser pulse extremely the detector.
The laser measuring apparatus of claim 1, wherein the light pattern changing element includes at least one of an optical diffuser and a concave lens.
The laser surveying device of claim 1, further comprising a second reflecting unit rotatable within the second cavity, wherein the light pattern changing element is located between the second light source unit and the second reflecting unit, and the second reflecting unit is configured to reflect the second laser light pulse diffused by the light modifying element out of the second cavity.
The laser measuring device according to claim 21, wherein the second reflecting unit includes a plane mirror or a reflecting prism.
The laser measuring device of claim 21, wherein the second reflecting unit comprises a second reflecting prism having a second reflecting surface for reflecting the second laser light pulse passing through the second reflecting unit and a second weight for balancing the second reflecting unit during rotation of the second reflecting unit.
The laser measuring device as claimed in claim 23, wherein the second weight member is combined with the second reflecting prism to make the second reflecting unit have an axisymmetric structure, and a rotation axis of the second reflecting unit coincides with a symmetry axis of the second reflecting unit.
The laser measuring device of claim 23, wherein the second weight comprises a second bonding surface that is glued to the second reflecting surface.
The laser measuring device according to claim 23, wherein the second reflecting surface is coated with a highly reflective film.
The laser measuring device according to claim 1, wherein the laser measuring device comprises a first reflecting unit and the second reflecting unit, and the first reflecting unit and the second reflecting unit rotate synchronously.
The laser measuring device of claim 27, wherein the first reflecting unit and the second reflecting unit have the same rotation speed and phase.
The laser measuring device as claimed in claim 27, further comprising a second driver connected to the first and second reflection units for driving the first and second reflection units to rotate synchronously.
The laser measuring device as claimed in claim 29, wherein the number of the second drivers is two, and the two second drivers are respectively located in the first cavity and the second cavity and respectively connected to the first reflecting unit and the second reflecting unit.
The laser measuring device of claim 30, wherein the blocking structure comprises a blocking plate disposed inside the housing, the blocking plate blocking at least a portion of the light in the first cavity from entering the second cavity and blocking at least a portion of the light in the second cavity from entering the second cavity.
The laser measuring device of claim 30, wherein each of the second drivers comprises:

a second stator; and

the second rotor can be rotatably arranged on the second stator, the first reflection unit or the second reflection unit is arranged on the second rotor, and the second rotor rotates to drive the first reflection unit or the second reflection unit to rotate.
The laser measuring device of claim 29, wherein the number of the second drivers is one, and the second drivers are connected to both the first reflecting unit and the second reflecting unit.
The laser measuring device of claim 33, wherein the second driver is disposed between the first cavity and the second cavity and acts as the blocking structure to block at least a portion of the light in the first cavity from entering the second cavity and to block at least a portion of the light in the second cavity from entering the first cavity.
The laser measuring device of claim 33, wherein the second driver comprises:

a second stator; and

the second rotor can be rotatably installed on the second stator, the first reflection unit and the second reflection unit are respectively installed at two ends of the second rotor, and the second rotor can drive the first reflection unit and the second reflection unit to synchronously rotate.
The laser measuring device of claim 35, wherein the second rotor comprises a rotor cover and a rotating shaft fixedly connected with the rotor cover, the first reflecting unit is disposed on the rotor cover, and the second optical reflecting unit is disposed on an end of the rotating shaft.
The laser measuring device of claim 35, wherein the second driver further comprises:

an end cap for separating the cavity of the housing to form the first and second cavities; and

the bearing block is installed on the end cover, and the second rotor is installed on the bearing block through a bearing and penetrates through the first side of the end cover to the second side opposite to the end cover.
The laser measuring device of claim 37, wherein the end cap is provided with an opening on a first side or a second side, and the bearing seat is provided in the opening on the first side or the opening on the second side.
The laser measuring device of claim 37, wherein a first side of the end cap defines a first opening, a second side of the end cap defines a second opening, the first opening communicates with the second opening, a bearing platform is formed between the first opening and the second opening, at least a portion of the second rotor is received in the first opening, the bearing seat is supported on the bearing platform, and the bearing seat is received in the second opening.
The laser measuring device of claim 37, wherein the housing is a unitary structure and the end cap is disposed on an inner sidewall of the housing.
The laser measuring device of claim 37, wherein the housing comprises first and second split shells, the first shell having an open side, the second shell having an open side, the end cap being disposed on the open side of the first shell, the open side of the second shell being mounted to the end cap.
The laser measuring device according to claim 1, wherein the peripheral wall of the housing is made of a light transmitting material.
The laser measuring device according to claim 1, wherein when the first light source unit is turned on, if a distance between the object to be detected and the laser measuring device, which is detected by the detector of the light receiving module, is within a predetermined distance range, the first light source unit is turned off, and the second light source unit is turned on.
A laser measuring device, comprising:

a housing provided with a first cavity and a second cavity;

a blocking structure disposed within the housing, the blocking structure configured to block at least some light from propagating between the first cavity and the second cavity;

a first light source unit located within the first cavity, the first light source unit for emitting a first laser pulse;

a second light source unit located within the second cavity, the second light source unit for emitting a second laser pulse; and

a detector positioned within the first cavity, the detector capable of receiving the first laser light pulse or the second laser light pulse reflected off of a probe transmitted back through the same optical element.
A movable platform, comprising:

a movable platform body; and

the laser measuring device of any one of claims 1 to 44, mounted to the movable platform body.
The movable platform of claim 45, wherein the movable platform body comprises at least one of a drone, a drone vehicle, a drone, a robot.