CN209485276U - Range unit and mobile platform - Google Patents
Range unit and mobile platform Download PDFInfo
- Publication number
- CN209485276U CN209485276U CN201920037169.2U CN201920037169U CN209485276U CN 209485276 U CN209485276 U CN 209485276U CN 201920037169 U CN201920037169 U CN 201920037169U CN 209485276 U CN209485276 U CN 209485276U
- Authority
- CN
- China
- Prior art keywords
- support
- optical element
- arm
- range unit
- flexible connection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 92
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims description 483
- 230000002787 reinforcement Effects 0.000 claims description 62
- 238000009434 installation Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 15
- 230000005484 gravity Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000003447 ipsilateral effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 16
- 210000000529 third trochanter Anatomy 0.000 description 46
- 230000005291 magnetic effect Effects 0.000 description 45
- 230000036316 preload Effects 0.000 description 45
- 238000004804 winding Methods 0.000 description 35
- 230000008859 change Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 17
- 238000005096 rolling process Methods 0.000 description 17
- 230000003993 interaction Effects 0.000 description 14
- 230000000694 effects Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 8
- 238000009826 distribution Methods 0.000 description 8
- 230000001360 synchronised effect Effects 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 229920000297 Rayon Polymers 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 3
- 239000003292 glue Substances 0.000 description 3
- 238000001746 injection moulding Methods 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000002834 transmittance Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The range unit of the application includes pedestal, two brackets, ranging mould group, scanning module and multiple flexible connection components, and two brackets are each attached on pedestal；Ranging mould group is for emitting light pulse；For changing being emitted after the transmission direction of light pulse, scanning module and ranging mould group interval are arranged scanning module, and scanning module includes scanning shell, and two brackets are located at the opposite two sides of scanning shell；Each bracket is connect by least two flexible connection components with scanning shell.Bracket in range unit is fixed on the base, and scanning module is rack-mount by flexible connection component, and flexible connection component makes without directly contacting between scanning module and pedestal, so as to reduce or even avoid the vibration of scanning module to be transmitted on pedestal；And since scanning module and ranging mould group interval are arranged, it is thus possible to reduce and even the vibration of scanning module be avoided to be transmitted in ranging mould group, to improve the detection accuracy of range unit.Disclosed herein as well is mobile platforms.
Description
Technical field
This application involves laser ranging technique field, in particular to a kind of range unit and mobile platform.
Background technique
Existing range unit includes scanning module, and scanning module includes driver and optical element, and driver is for driving
Dynamic optical element rotation is to change the laser by optical element.When driver driving optical element rotation, scanning module is not
Evitable generation vibration and noise, and scanning module is easy to cause the range accuracy of range unit to reduce in vibration.
Utility model content
The application embodiment provides a kind of range unit and mobile platform.
The range unit of the application includes pedestal, two brackets, ranging mould group, scanning module and multiple flexible connection groups
Part, two brackets are each attached on the pedestal；The ranging mould group is for emitting light pulse；The scanning module is used for
It is emitted after changing the transmission direction of the light pulse, the scanning module and the ranging mould group interval are arranged, the scanning mould
Group includes scanning shell, and two brackets are located at the opposite two sides of the scanning shell；Each bracket is by extremely
Few two flexible connection components are connect with the scanning shell, and the scanning module and the pedestal are separately.
The mobile platform of the application includes mobile platform ontology and range unit described above, the range unit installation
On the mobile platform ontology.
The mobile platform and the bracket in range unit of the application is fixed on the base, and scanning module passes through flexible connection group
Part is rack-mount, and flexible connection component makes without directly contacting between scanning module and pedestal, so as to reduce even
The vibration of scanning module is avoided to be transmitted on pedestal；And since scanning module and ranging mould group interval are arranged, it is thus possible to subtract
It is few even the vibration of scanning module to be avoided to be transmitted in ranging mould group, to improve the detection accuracy of range unit.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the application is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the partially exploded diagram of the range unit of the application certain embodiments.
Fig. 2 is the part isometric structural schematic diagram of range unit shown in FIG. 1.
Fig. 3 is the part isometric decomposition diagram of range unit shown in Fig. 2.
Fig. 4 is the stereoscopic schematic diagram of the bracket of range unit shown in Fig. 3.
Fig. 5 is the perspective exploded view of the scanning module of range unit shown in Fig. 3.
Fig. 6 is the part isometric decomposition diagram of range unit shown in Fig. 3.
Fig. 7 is the perspective exploded view of three supports of scanning module shown in fig. 5.
Fig. 8 is the perspective exploded view at three another visual angles of support of scanning module shown in fig. 5.
Fig. 9 is the diagrammatic cross-section of the part-structure of scanning module shown in Fig. 4.
Figure 10 is the diagrammatic cross-section of the part-structure of scanning module shown in Fig. 4.
Figure 11 is the enlarged diagram at scanning module XI shown in Fig. 10.
Figure 12 is the enlarged diagram at scanning module XII shown in Fig. 10.
Figure 13 and Figure 14 is the diagrammatic cross-section of the part-structure of the scanning module of certain embodiments.
Figure 15 is the stereoscopic schematic diagram of the rotor of scanning module shown in Fig. 9.
Figure 16 is the stereoscopic schematic diagram at another visual angle of rotor of scanning module shown in Fig. 9.
Figure 17 and Figure 18 is the light path schematic diagram of the scanning module of certain embodiments.
Figure 19 is the schematic diagram of the phase angle of the scanning module of certain embodiments.
Figure 20 is the light path schematic diagram of the scanning module of certain embodiments.
Figure 21 is the top view of ranging mould group shown in Fig. 2.
Figure 22 is ranging mould group shown in Figure 21 along the diagrammatic cross-section of XXII-XXII line.
Figure 23 is the enlarged diagram in ranging mould group shown in Figure 22 at XXIII.
Figure 24 is the enlarged diagram in ranging mould group shown in Figure 22 at XXIV.
Figure 25 is the range measurement principle schematic diagram of the range unit of the application certain embodiments.
Figure 26 is the circuit diagram of the ranging mould group of the range unit of the application certain embodiments.
Figure 27 is another range measurement principle schematic diagram of the range unit of the application certain embodiments.
Figure 28 is the floor map of the mobile platform of the application certain embodiments.
Specific embodiment
Presently filed embodiment is described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
In the description of the present application, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
It describes the application and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second " are only used for
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.?
In the description of the present application, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In this application unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize the different structure of the application.In order to
Simplify disclosure herein, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And purpose does not lie in limitation the application.In addition, the application can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, this application provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Referring to Fig. 1, the range unit 100 of the application includes 10, two brackets 30 of pedestal, ranging mould group 60, scanning mould
Group 40 and multiple flexible connection components 50, two brackets 30 are each attached on pedestal 10.Ranging mould group 60 is for emitting light pulse.
Scanning module 40 after the transmission direction of light pulse for changing being emitted, and scanning module 40 and the interval of ranging mould group 60 are arranged, scanning
Mould group 40 includes scanning shell 41, and two brackets 30 are located at the opposite two sides of scanning shell 41.Each bracket 30 is by extremely
Few two flexible connection components 50 are connect with scanning shell 41.
Bracket 30 in the range unit 100 of the application is fixed on pedestal 10, and scanning module 40 passes through flexible connection group
Part 50 is mounted on bracket 30, and flexible connection component 50 contacts nothing between scanning module 40 and pedestal 10 directly, so as to
Enough reduce even avoids the vibration of scanning module 40 from being transmitted on pedestal 10；And due between scanning module 40 and ranging mould group 60
Every setting, it is thus possible to reduce and even the vibration of scanning module 40 be avoided to be transmitted in ranging mould group 60, to improve ranging
The detection accuracy of device 100.
Please refer to Fig. 1 and Figure 25, range unit 100 includes pedestal 10,20, two brackets 30 of lid, scanning module 40, more
A flexible connection component 50 and ranging mould group 60.Two brackets 30 are each attached to the opposite two sides on pedestal 10.Scanning module 40
It is arranged at intervals on pedestal 10 and is located between two brackets 30 with ranging mould group 60, each bracket 30 is flexible by least two
Connection component 50 is connect with scanning module 40.Ranging mould group 60 is used to emit laser pulse, scanning module 40 to scanning module 40
For changing being emitted after the transmission direction of laser pulse, enter after the detection reflected laser pulse of object is scanned mould group 40
Be incident upon ranging mould group 60, ranging mould group 60 be used to be determined according to reflected laser pulse detection object and range unit 100 it
Between distance.Range unit 100 can be flown by the time of light propagation between measurement range unit 100 and detection object, i.e. light
Time (Time-of-Flight, TOF), to detect the distance for detecting object to range unit 100.Alternatively, range unit 100 can also
To detect the distance for detecting object to range unit 100 by other technologies, such as based on phase shift (phase shift) survey
The distance measuring method of amount, or the distance measuring method based on frequency shifts (frequency shift) measurement, herein with no restrictions.
Fig. 2 and Fig. 3 are please referred to, pedestal 10 includes base body 11, the first mounting base 12 and the second mounting base 13, pedestal sheet
The plate-like structure of body 11.First mounting base 12 and the second mounting base 13 are formed on the top 111 of base body 11.First installation
Seat 12 can be for from the mounting wall of the protrusion formation of the top of base body 11 111, mounting wall offers first base mounting hole
121, the axis direction of first base mounting hole 121 is parallel to the top 111 of base body 11.
Incorporated by reference to Figure 22 to Figure 24, the second mounting base 13 can be from the bottom that the protrusion of the top of base body 11 111 is formed
Seat boss, offers pedestal mounting groove 131 on base boss, the bottom of pedestal mounting groove 131 offers second base mounting hole
132, the axis direction of second base mounting hole 132 perpendicular to base body 11 top 111, second base mounting hole 132
Axis direction of the axis direction perpendicular to first base mounting hole 121.The base body 11 of present embodiment is in rectangular plate-like knot
The quantity of structure, the first mounting base 12 and the second mounting base 13 is two, and two the first mounting bases 12 are located at base body
A 11 opposite sides and symmetrical face about base body 11 is symmetrical, two the second mounting bases 13 are also located at base body
The 11 opposite sides and plane of symmetry about base body 11 is symmetrical, first mounting base 12 and the second mounting base 13 of the same side
It is arranged along the long side interval of base body 11, the above-mentioned plane of symmetry is to be parallel to the long side of base body 11 and perpendicular to pedestal
The face of the short side of ontology 11.
Referring again to Fig. 1 to Fig. 3, lid 20 is arranged on pedestal 10 and accommodating space, lid is collectively formed with pedestal 10
20 include the covered body wall 22 of lid roof 21 and annular.Specifically, the plate-like structure of lid roof 21, the shape of lid roof 21
The shape of shape and base body 11 matches.In the present embodiment, the shape of lid roof 21 and the shape of pedestal 10 match simultaneously
In rectangular plate-like structure.Covered body wall 22 is extended to form from a surface of lid roof 21, and covered body wall 22 is arranged on lid top
The edge of wall 21 simultaneously surround lid roof 21.One end of the separate lid roof 21 of covered body wall 22 can be connected through a screw thread, block
The mode that any one or more mode such as conjunction, glued, welding combines is mounted on pedestal 10 and around base body 11
Center.The lid 20 of present embodiment is fixed on pedestal 10 by locking member 14, more specifically, locking member 14 is by pedestal 10
Bottom side passes through base body 11 and is combined with covered body wall 22, and locking member 14 can be screw.
Covered body wall 22 includes the first covered body wall 221 and the second covered body wall 222.First covered body wall 221 and second
Covered body wall 222 is located at the opposite end of lid roof 21.In one example, the first covered body wall 221 and the second covered body wall
222 are separately positioned on the short side of lid roof 21.First covered body wall 221 is formed with transparent area 2211, the first covered body wall
221 region in addition to transparent area 2211 is alternatively non-transparent district 2212, and transparent area 2211 is used for the ranging issued for ranging mould group 60
Signal passes through.Transparent area 2211 can be made of the higher material of the light transmittances such as plastics, resin, glass, and alternatively non-transparent district 2212
Can the lower metal of and light transmittance thermally conductive by copper, aluminium etc. be made, wherein preferably, heat-conducting plastic can be used in transparent area 2211,
Not only light transmission demand had been met, but also has been able to satisfy radiating requirements.In one example, the generally circular shape of transparent area 2211.One is shown
In example, the generally rectangular shaped shape of transparent area 2211, such as square shape.
Fig. 3 and Fig. 4 is please referred to, bracket 30 is mounted on pedestal 10.The quantity of bracket 30 in the application embodiment is
Two, two brackets 30 are separately mounted to the opposite sides of pedestal 10.Each bracket 30 includes fixed arm 31,33 and of linking arm
Combination arm 32.
Fixed arm 31 includes multiple fixed parts 310 and the second engaging portion 313, and fixed arm 31 is pacified by multiple fixed parts 310
On pedestal 10.The quantity of the fixed part 310 of present embodiment is two, and two fixed parts 310 are respectively the first fixed part
311 and second fixed part 312, the first fixed part 311 and the second fixed part 312 are located at the opposite end of fixed arm 31, and
One fixed part 311 and the second fixed part 312 are rigidly connected with pedestal 10.First fixed part 311 and the second fixed part 312 pass through
Fixing piece 36 (such as lock-screw), which is separately fixed in first mounting base 12 and the second mounting base 13 of 10 the same side of pedestal, to be had
Body, the side on base body 11 and being located at mounting wall is arranged in the first fixed part 311, and fixing piece 36 is pacified across first base
Dress hole 121 is simultaneously combined with the first fixed part 311 the first fixed part 311 to be fixed in the first mounting base 12；Second fixed part
312 be arranged in pedestal mounting groove 131, fixing piece 36 pass through the second fixed part 312 and combined with second base mounting hole 132 with
Second fixed part 312 is mounted in the second mounting base 13.It is fixed that second engaging portion 313 is located at the first fixed part 311 and second
Between portion 312, the top 111 of the second engaging portion 313 and base body 11 separately, has been provided with branch on the second engaging portion 313
Frame mounting hole, the rack mounting apertures that the second engaging portion 313 opens up are defined as second support mounting hole 3131.
One end of linking arm 33 is connected on the first fixed part 311, and the other end of linking arm 33 is towards far from base body 11
Direction extend.
One end of combination arm 32 be connected to linking arm 33 far from the first fixed part 311 one end, combination arm 32 it is another
It holds and extends towards the side far from fixed arm 31 and be free end, combination arm 32 is parallel to the top 111 of base body 11.Combination arm
One end of 32 separate linking arm 33 is provided with the first engaging portion 321, the second engaging portion 313 compared with the first engaging portion 321 closer to
Base body 11.Rack mounting apertures are offered on first engaging portion 321, the rack mounting apertures definition that the first engaging portion 321 opens up
For first support mounting hole 3211.In one example, the center of the first fixed part 311, the center of the second fixed part 312, first
The center of the center of engaging portion 321 and the second engaging portion 313 is in the same plane.When range unit 100 is by foreign impacts
And when generating vibration, the rotating torque that bracket 30 and the scanning module 40 connecting with bracket 30 are subject to is smaller, the direction of the torque
Perpendicular to the plane where the center at the center of fixed part 310, the center of the first engaging portion 321 and the second engaging portion 313, thus
It can reduce or even avoid generating overturning because range unit 100 is by foreign impacts.
Also referring to Fig. 3, Fig. 5, Fig. 9 and Figure 25, scanning module 40 is mounted on pedestal 10 and is accommodated by bracket 30
In accommodating space, scanning module 40 and pedestal 10 are separately.Scanning module 40 include scanning shell 41, the first driver 42,
Second driver 43, third driver 44, the first optical element 45, the second optical element 46, third optical element 47, controller
49a and detector 49b.Wherein, the first driver 42 passes through the first optics for driving the movement of the first optical element 45 to change
The transmission direction of the laser pulse of element 45.Second driver 43 is for driving the movement of the second optical element 46, to change process
The transmission direction of the laser pulse of second optical element 46.Third driver 44 is used to that third optical element 47 to be driven to move, with
Change the transmission direction of the laser pulse by third optical element 47.Three optical elements (the first optical elements 45, the second light
Learn element 46 and third optical element 47) it cooperates with each other, it can be used in changing the direction of propagation of optical path and to scan
Mould group 40 has biggish visual field.
In one example, the first optical element 45, the second optical element 46 and third optical element 47 may include lens,
Times of reflecting mirror, prism, galvanometer, grating, liquid crystal, optical phased array (Optical Phased Array) or above-mentioned optical element
Meaning combination.In one example, at least one of the first optical element 45, the second optical element 46 and third optical element 47 light
Learning element is the photorefractive element with not parallel light-emitting surface and incidence surface, can be by light in photorefractive element rotation
Beam refracts to different directions outgoing.In one example, which is prism wedge.
In one example, at least partly (the first optical element 45, the second optical element 46 and third optics are first for optical element
Part 47) it is movement, such as this is driven by driver (the first driver 42, the second driver 43 and third driver 44)
At least partly optical element is moved, and the optical element of the movement can be in different moments by light beam reflection, refraction or diffraction
To different directions.In some embodiments, multiple optical elements of scanning module 40 can be rotated or be vibrated around common axis,
The optical element of each rotation or vibration is for constantly changing the direction of propagation of incident beam.In one embodiment, mould is scanned
Multiple optical elements of group 40 can be rotated with different revolving speeds, or be vibrated at different rates.In another embodiment, it sweeps
At least partly optical element for retouching mould group 40 can be rotated with essentially identical revolving speed.In some embodiments, scan module
Multiple optical elements are also possible to rotate around different axis.In some embodiments, multiple optical elements of scanning module 40
It can be and rotate in the same direction, or rotate in different directions；Perhaps it vibrates in same direction or along different sides
To vibration, this is not restricted.
First driver 42, the second driver 43 and third driver 44 can drive optical element (the first optical element
45, the second optical element 46 and third optical element 47) rotation, vibration, along desired trajectory loopy moving or along pre- orbit determination
Mark moves back and forth, herein with no restrictions.Below with optical element (the first optical element 45, the second optical element 46 and third light
Learn element 47) include prism for, carry out citing description.
Scanning shell 41 can be used as the shell of scanning module 40, and scanning in shell 41 can be used for installing the first driver
42, the second driver 43, third driver 44, the first optical element 45, the second optical element 46, third optical element 47, control
The elements such as device 49a and detector 49b processed.Scanning shell 41 can be integrated overall structure, and scanning shell 41 can also be by more
A separate structure is composed, for example, scanning shell 41 may include the first support 411, the second support incorporated by reference to Fig. 6 to Fig. 8
412 and third support 413 at least any two while further include the first mounting portion 414 and the second mounting portion 415, such as
Scanning shell 41 includes the first mounting portion 414, the second mounting portion 415, the first support 411 and the second support 412；Alternatively, scanning
Shell 41 includes the first mounting portion 414, the second mounting portion 415, the second support 412 and third support 413；Alternatively, scanning shell
41 include the first mounting portion 414, the second mounting portion 415, the first support 411 and third support 413；Alternatively, scanning shell 41 wraps
Include the first mounting portion 414, the second mounting portion 415, the first support 411, the second support 412 and third support 413.Below only to sweep
Retouching shell 41 includes the first mounting portion 414, the second mounting portion 415, the first support 411, the second support 412 and third support 413
For be described.
Incorporated by reference to Fig. 5 to Fig. 8, the first support 411 can be used for installing the first driver 42 and the first optical element 45.The
One support 411 can be a support on scanning shell 41 farthest away from ranging mould group 60.First support 411 includes the first support
Ontology 4111.First support body 4111 can be hollow structure, and hollow part forms the first accommodating chamber 4119, in this Shen
Please be in embodiment, the outer profile of the first support body 4111 is integrally in rectangle, and the shape of hollow space can be circle, and first drives
Dynamic device 42 and the first optical element 45 may be mounted in the first accommodating chamber 4119.In the embodiment of the present application, the first support sheet
Body 4111 includes the first support top surface 4115 and two the first support sides 4116, and two the first support sides 4116 are located at
The opposite two sides of first support body 4111 simultaneously connect the first support top surface 4115.First support top surface 4115 offers support peace
Tankage 4117, the bottom surface of support mounting groove 4117 offer shell bores, the shell that the bottom surface of support mounting groove 4117 opens up
Mounting hole is defined as first shell mounting hole 4118.
Second support 412 can be used for installing the second driver 43 and the second optical element 46.Second support 412 can be with
First support 411 cooperates, such as the second support 412 is set in the first support 411, and the second support 412 can be with first
Support 411 is coaxially disposed or is not coaxially disposed.Wherein, the second support 412 and the coaxial arrangement of the first support 411 refer to second
The central axes of support 412 are overlapped with the central axes of the first support 411, are not coaxially disposed the central axes for referring to the second support 412
It is not overlapped, such as parallel interval or is intersected with any angle with the central axes of the first support 411.Second support 412 includes the
Two support bodies 4121 and protrusion 4120.In one example, protrusion 4120 can be used for the second support 412 being mounted on bracket
On 30.Second support body 4121 can be hollow structure, and hollow part forms the second accommodating chamber 4126, the second driver
43 and second optical element 46 may be mounted in the second accommodating chamber 4126.In the embodiment of the present application, the second support body
4121 include the second bottom surface of support saddle 41211 and two the second support sides 41212, and position is distinguished in two the second support sides 41212
Opposite two sides and the second bottom surface of support saddle 41211 of connection in the second support body 4121, two the second support sides 41212 difference
It is corresponding with two the first support sides 4116.In one example, protrusion 4120 be can be set in the first support body 4111
On the position of the second bottom surface of support saddle 41211, it will be understood that protrusion 4120 is from the second support side 41212 close to the
The position of two bottom surface of support saddle 41211 extends outward to form.Protrusion 4120 offers shell bores, what protrusion 4120 opened up
Shell bores are defined as second shell mounting hole 41201.
Third support 413 can be used for installing third driver 44 and third optical element 47.Third support 413 can be with
Second support 412 cooperates, and third support 413 can be set in the second support 412, and third support 413 can be with second
Support 412 is coaxially disposed or is not coaxially disposed.Third support 413 includes third support body 4130, third support body
4130 can be hollow structure, and hollow part forms third accommodating chamber 4134, third driver 44 and third optical element
47 may be mounted in third accommodating chamber 4134.Third support 413 and the first support 411 can be separately positioned on the second support
412 opposite two sides, the light pulse that ranging mould group 60 emits can successively pass through third support 413, the second support 412 and the
Enter the external world after one support 411, the first support 411, the second support 412 can successively be passed through by the light pulse that target object reflects
And it is received again by ranging mould group 60 after third support 413.Third support body 4130 includes two opposite third support sides
4133.At this point, the opposite two sides of the first support 411 are corresponding with respect to the corresponding opposite two sides of the second support 412 and third support 413
Opposite two sides protrude to form two installation spaces 416.It the opposite two sides of third support 413 can be without departing from the second support
412 corresponding opposite two sides, in the present embodiment, the opposite two sides of third support 413 are corresponding with the second support 412 opposite respectively
Two sides flush.The opposite two sides of third support 413 are without departing from the corresponding opposite two sides of the second support 412, consequently facilitating the second peace
Dress seat 13 is formed in installation space 416.In other embodiments, the opposite two sides of third support 413 can also be beyond the
The corresponding opposite two sides of two support 412, in this way, being formed in installation space 416 convenient for the first mounting base 12.
First mounting portion 414 can be located at one end of the separate pedestal 10 of the first support 411, specifically, the first mounting portion
414 are located on the position of close first support top surface 4115 of the first support body 4111.First mounting portion 414 is used for first
Support 411 is mounted on bracket 30.The first mounting portion 414 of the application can be a part of the first support body 4111, tool
Body, the first mounting portion 414 can be the formation support mounting groove 4117 being interpreted as in the first support body 4111 and first shell
The structure of body mounting hole 4118.In other embodiments, the first mounting portion 414 can be setting in the first support body 4111
On flange, which offers first shell mounting hole 4118.
Second mounting portion 415 is located at one end of the close pedestal 10 of the second support 412, specifically, the second mounting portion 415
In the second support body 4121 on the position of the second bottom surface of support saddle 41211.Second mounting base 414 is used for the second support
412 are mounted on bracket 30.The second mounting portion 415 of the application can be a part of the second support 412, specifically, second
Mounting portion 415 can be protrusion 4120.Scanning shell 41 can be mounted on by the first mounting base 12 and the second mounting base 13
On bracket 30.
Fig. 5, Fig. 9 and Figure 10 are please referred to, the first driver 42 is mounted in scanning shell 41, specifically, the first driver
42 may be mounted in the first accommodating chamber 4119.First driver 42 includes the first stator module 421, the first positioning component 422
And the first rotor component 423.First stator module 421 can be relatively fixed with the first support body 4111, the first stator module
421 can be used for driving the first rotor component 423 to rotate, and the first stator module 421 includes the first winding ontology and is mounted on first
The first winding on winding ontology.Wherein, the first winding ontology can be stator core, and the first winding can be coil.First
Winding can generate specific magnetic field under the action of electric current, can change the side in magnetic field by changing sense of current and intensity
To and intensity.First stator module 421 is arranged on the first rotor component 423.
The first rotor component 423 being rotated by the first stator module 421.Specifically, the first rotor component
423 include the first rotor 4231, and the first rotor 4231 is known as the first rotary shaft relative to the axis that the first stator module 421 rotates
4236, it will be understood that the first rotary shaft 4236 can be the shaft of entity, be also possible to virtual shaft.The first rotor 4231
Including the first magnetic yoke 4233a and the first magnet 4233b.First magnet 4233b is set on the first magnetic yoke 4233a and is located at first
Between magnetic yoke 4233a and the first winding, the magnetic field interaction that the magnetic field and the first winding that the first magnet 4233b is generated generate is simultaneously
Active force is generated, since the first winding is fixed motionless, then the first magnet 4233b drives the first magnetic yoke 4233a under active force
Rotation.The first rotor 4231 is in hollow shape, and the hollow part of the first rotor 4231 is formed with the first containing cavities 4235, is swashed
Light pulse can pass through the first containing cavities 4235 and pass through from scanning module 40.Specifically, the first containing cavities 4235 are by first
The first side wall 4234 of rotor 4231 surrounds, more specifically, in the application embodiment, during the first magnetic yoke 4233a can be in
Empty tubular, the hollow part of the first magnetic yoke 4233a form the first containing cavities 4235, and the side wall of the first magnetic yoke 4233a can be with
As the side wall for surrounding the first containing cavities 4235.Certainly, in other embodiments, the first containing cavities 4235 may not be shape
It on the first magnetic yoke 4233a, can also be formed in the structures such as the first magnet 4233b, the first side wall 4234 is also possible to
The one isostructural side wall of magnet 4233b, herein with no restrictions.The structure annular in shape of the first side wall 4234 is a cyclic structure
A part.First winding of the first stator module 421 can outer surface annular in shape and being looped around the first side wall 4234.
First positioning component 422 is located at the outer surface of the first side wall 4234, and the first positioning component 422 is for limiting first turn
Sub-component 423 is rotated centered on the first fixed rotary shaft 4236.First stator module 421 and the first positioning component 422 are simultaneously
Column wrap is in the outer surface of the first side wall 4234.First positioning component 422 includes the first bearing 422 of annular, first bearing 422
It is looped around the outer surface of the first side wall 4234.First bearing 422 include first in ring structure 4221, the first outer ring structure 4222 and
First rolling element 4223.Ring structure 4221 and the outer surface of the first side wall 4234 are fixed to each other in first.First outer ring structure
4222 are fixed to each other with scanning shell 41, and specially the first outer ring structure 4222 is fixed to each other with the first support 411.First rolls
Body 4223 is located in first between ring structure 4221 and the first outer ring structure 4222, and the first rolling element 4223 is for respectively with first
Ring structure 4221 rolls connection in outer ring structure 4222 and first.
First optical element 45 is mounted in the first containing cavities 4235, and specifically, the first optical element 45 can be with first
Side wall 4234 is coupled and is fixedly connected with the first rotor 4231, and the first optical element 45 is located at the outgoing of laser pulse and enters
It penetrates in optical path.First optical element 45 can be rotated synchronously with the first rotor 4231 around the first rotary shaft 4236.First optics member
Part 45 can change the transmission direction of the laser by the first optical element 45 when rotating.
Second driver 43 is mounted in scanning shell 41, and specifically, the second driver 43 may be mounted at the second receiving
In chamber 4126, the second driver 43 includes the second stator module 431, the second positioning component 432 and the second rotor assembly 433.The
Two stator modules 431 can be relatively fixed with the second support body 4121, and the second stator module 431 can be used for driving the second rotor
Component 433 rotates, and the second stator module 431 includes the second winding ontology and the second winding being mounted on the second winding ontology.
Wherein, the second winding ontology can be stator core, and the second winding can be coil.Second winding can under the action of electric current
Specific magnetic field is generated, can change direction and the intensity in magnetic field by changing sense of current and intensity.
Second rotor assembly 433 being rotated by the second stator module 431.Specifically, the second rotor assembly
433 include the second rotor 4331, and the second rotor 4331 is known as the second rotary shaft relative to the axis that the second stator module 431 rotates
4337, it will be understood that the second rotary shaft 4337 can be the shaft of entity, be also possible to virtual shaft.Second rotor 4331
Including the second magnetic yoke 4333 and the second magnet 4334.Second magnet 4334 is set in the second magnetic yoke 4333 and is located at the second magnetic yoke
4333 and second between winding, and the magnetic field interaction that the magnetic field and the second winding that the second magnet 4334 generates generate simultaneously generates work
Firmly, due to the second winding be fixed it is motionless, then the second magnet 4334 driven under active force the second magnetic yoke 4333 rotate.Second
Rotor 4331 is in hollow shape, and the hollow part of the second rotor 4331 is formed with the second containing cavities 4336, and laser pulse can
It is passed through from scanning module 40 with passing through the second containing cavities 4336.Specifically, the second containing cavities 4336 are by the second rotor 4331
Second sidewall 4335 surround, more specifically, in the application embodiment, the second magnetic yoke 4333 can be in hollow tubular,
The hollow part of second magnetic yoke 4333 forms the second containing cavities 4336, and the side wall of the second magnetic yoke 4333, which can be used as, surrounds second
The side wall of containing cavities 4336.Certainly, in other embodiments, the second containing cavities 4336, which may not be, is formed in the second magnetic yoke
It on 4333, can also be formed in the structures such as the second magnet 4334, second sidewall 4335 is also possible to the equal knot of the second magnet 4334
The side wall of structure, herein with no restrictions.The structure annular in shape of second sidewall 4335 or a part for a cyclic structure.Second is fixed
Second winding of sub-component 431 can outer surface annular in shape and being looped around second sidewall 4335.
Second positioning component 432 is arranged on the second rotor 4331 and is located at the first turn separate of the second stator module 431
The side of sub-component 423.Second positioning component 432 is for limiting the second rotor assembly 433 with the second fixed rotary shaft 4337
Centered on rotate.Second stator module 431 and the second positioning component 432 are looped around the outer surface of second sidewall 4335 side by side.The
Two positioning components 432 include the second bearing 432 of annular, and second bearing 432 is looped around the outer surface of second sidewall 4335.Second
Bearing 432 includes ring structure 4321, the second outer ring structure 4322 and the second rolling element 4323 in second.Ring structure 4321 in second
It is fixed to each other with the outer surface of second sidewall 4335.Second outer ring structure 4322 is fixed to each other with scanning shell 41, and specially the
Two outer ring structures 4322 are fixed to each other with the second support 412.Second rolling element 4323 is located at ring structure 4321 and second in second
Between outer ring structure 4322, the second rolling element 4323 with ring structure 4321 in the second outer ring structure 4322 and second for rolling respectively
Dynamic connection.
Second optical element 46 is mounted in the second containing cavities 4336, and specifically, the second optical element 46 can be with second
Side wall 4335 is coupled and is fixedly connected with the second rotor 4331, the second optical element 46 be located on the emitting light path of light source and
In the input path of light echo.Second optical element 46 can be rotated synchronously with the second rotor 4331 around the second shaft.Second optics
Element 46 can change the transmission direction of the laser by the second optical element 46 when rotating.
Third driver 44 is mounted in scanning shell 41, and specifically, third driver 44 may be mounted at third receiving
In chamber 4134.Third driver 44 includes third stator module 441, third positioning component 442 and third trochanter component 443.The
Three stator modules 441 can be relatively fixed with third support body 4130, and third stator module 441 can be used for driving third trochanter
Component 443 rotates, and third stator module 441 includes tertiary winding ontology and the tertiary winding being mounted on tertiary winding ontology.
Wherein, tertiary winding ontology can be stator core, and the tertiary winding can be coil.The tertiary winding can under the action of electric current
Specific magnetic field is generated, can change direction and the intensity in magnetic field by changing sense of current and intensity.
Third trochanter component 443 being rotated by third stator module 441.Specifically, third trochanter component
443 include third trochanter 4431, and third trochanter 4431 is known as third rotary shaft relative to the axis that third stator module 441 rotates
4437, it will be understood that third rotary shaft 4437 can be the shaft of entity, be also possible to virtual shaft.Third trochanter 4431
Including third magnetic yoke 4433 and third magnet 4434.Third magnet 4434 is set in third magnetic yoke 4433 and is located at third magnetic yoke
Between 4433 and the tertiary winding, the magnetic field interaction in magnetic field and tertiary winding generation that third magnet 4434 generates simultaneously generates work
Firmly, due to the tertiary winding be fixed it is motionless, then third magnet 4434 driven under active force third magnetic yoke 4433 rotate.Third
Rotor 4431 is in hollow shape, and the hollow part of third trochanter 4431 is formed with third containing cavities 4436, and laser pulse can
It is passed through from scanning module 40 with passing through third containing cavities 4436.Specifically, third containing cavities 4436 are by third trochanter 4431
Third side wall 4435 surround, more specifically, in the application embodiment, third magnetic yoke 4433 can be in hollow tubular,
The hollow part of third magnetic yoke 4433 forms third containing cavities 4436, and the side wall of third magnetic yoke 4433, which can be used as, surrounds third
The side wall of containing cavities 4436.Certainly, in other embodiments, third containing cavities 4436, which may not be, is formed in third magnetic yoke
It on 4433, can also be formed in the structures such as third magnet 4434, third side wall 4435 is also possible to the equal knot of third magnet 4434
The side wall of structure, herein with no restrictions.The structure annular in shape of third side wall 4435 or a part for a cyclic structure.Third is fixed
The tertiary winding of sub-component 441 can outer surface annular in shape and being looped around third side wall 4435.
Third positioning component 442 is arranged on third trochanter 4431, and third positioning component 442 is located at third stator module
441 close to the second rotor assembly 433 side, in other words, third positioning component 442 relative to third stator module 441 more
Close to the second rotor assembly 433.Third positioning component 442 is for limiting third trochanter component 443 with fixed third rotary shaft
It is rotated centered on 4437.Third stator module 441 and third positioning component 442 are looped around the appearance of third side wall 4435 side by side
Face.Third positioning component 442 includes the 3rd bearing 442 of annular, and 3rd bearing 442 is looped around the appearance of third side wall 4435
Face.3rd bearing 442 includes ring structure 4421, third outer ring structure 4422 and third rolling element 4423 in third.Third inner ring
Structure 4421 and the outer surface of third side wall 4435 are fixed to each other.Third outer ring structure 4422 is fixed to each other with scanning shell 41,
Specially third outer ring structure 4422 is fixed to each other with third support 413.Third rolling element 4423 is located at ring structure in third
Between 4421 and third outer ring structure 4422, third rolling element 4423 for respectively with third outer ring structure 4422 and third inner ring
Structure 4421 rolls connection.
Third optical element 47 is mounted in third containing cavities 4436, and specifically, third optical element 47 can be with third
Side wall 4435 is coupled and is fixedly connected with third trochanter 4431, and third optical element 47 is located at the outgoing of laser pulse and enters
It penetrates in optical path.Third optical element 47 can be rotated synchronously with third trochanter 4431 around third rotary shaft 4437.Third optics member
Part 47 can change the transmission direction of the laser by third optical element 47 when rotating.
Fig. 5 and Figure 25 is please referred to, (the first driver 42, the second driver 43, third drive for controller 49a and driver
Device 44) connection, controller 49a, which is used to control driver according to control instruction, drives optical element (the first optical element 45, second
Optical element 46, third optical element 47) rotation.Specifically, controller can be with winding (the first winding, the second winding, third
Winding) connection, and size and direction for the electric current in control winding, with control rotor assembly (the first rotor component 423,
Second rotor assembly 433, third trochanter component 443) rotational parameters (rotation direction, rotational angle, rotation duration etc.)
To achieve the purpose that control the rotational parameters of optical element.In one example, controller 49a includes electron speed regulator, control
Device 49a can be set on electric tuned plate.
Referring to Fig. 9, detector 49b is used to detect the rotational parameters of optical element, the rotational parameters of optical element can be with
It is rotation direction, rotational angle and the velocity of rotation etc. of optical element.The quantity of detector 49b can be multiple, each detection
Device 49b includes code-disc and optoelectronic switch.Code-disc and rotor (the first rotor 4231 or second rotor 4331 or third trochanter
4431) be fixedly connected and with rotor assembly (the first rotor component 423 or the second rotor assembly 433 or third trochanter component 443)
It rotates synchronously, it will be understood that since optical element and rotor rotate synchronously, then code-disc and optical element rotate synchronously, and pass through inspection
Survey the rotational parameters of the rotational parameters then available optical element of code-disc.Specifically, pass through the cooperation of code-disc and optoelectronic switch
It can detecte the rotational parameters of code-disc.
When scanning shell 41 (scanning module 40) and being mounted on two brackets 30, two brackets 30 are located at two the
The outside of two support sides 41212, and two brackets 30 are separately mounted in two installation spaces 416.Specifically, when two
Bracket 30 is installed on pedestal 10, and when scanning shell 41 and being mounted on two brackets 30, the first mounting base 12 and second
Mounting base 13 is respectively positioned in installation space 416, and fixed arm 31, linking arm 33, the first reinforcement arm 34 and the second reinforcement arm 35 are received
Hold in installation space 416, combination arm 32 is housed in support mounting groove 4117.Shell 41 is scanned by forming installation space
416, consequently facilitating bracket 30 to be mounted on to the volume for reducing range unit 100 in installation space 416；Further, first
Support 411 opens up support mounting groove 4117, and combination arm 32 is housed in support mounting groove 4117 can further decrease survey
Volume away from device 100.
Figure 21 to Figure 23 is please referred to, flexible connection component 50 is connected to bracket 30 for that will scan shell 41, and flexibility is even
Connected components 50, which to scan between shell 41 and pedestal 10, has gap to provide oscillation space for scanning module 40.Scanning module
40 are mounted on bracket 30 by being flexibly connected component 50, and flexible connection component 50 makes nothing between scanning module 40 and pedestal 10
It directly contacts, so as to reduce or even avoid the vibration of scanning module 40 to be transmitted on pedestal 10, and then can reduce even
The vibration of scan components 40 is avoided to be transmitted in ranging mould group 60 by pedestal 10.
Specifically, flexible connection component 50 includes flexible connecting member 51 and fastener 52, scans shell 41 and bracket 30 is logical
It crosses flexible connecting member 51 and fastener 52 connects.Specifically, each flexible connection component 50 includes the first support portion flexible
511, interconnecting piece 513 flexible and the second support portion 512 flexible.First support portion 511 and the second support portion 512 are separately connected
In the opposite end of interconnecting piece 513.Flexible connecting member 51 is offered through the first support portion 511, interconnecting piece 513 and the second support
The through hole 514 in portion 512.
Each bracket 30 is connect by least two flexible connection components 50 with scanning shell 41, at least two flexible connections
Component 50 includes the first flexible connection component 53 and the second flexible connection component 54.
Please refer to Figure 23 and Figure 24, the first flexible connection 53 connecting bracket 30 (the first engaging portion 321) of component and the first peace
Dress portion 414, specifically, the interconnecting piece 513 of the first flexible connection component 53 are threaded through in first support mounting hole 3211, and first is soft
The first support portion 511 and the second support portion 512 of property connection component 53 are located at the opposite two sides of the first engaging portion 321, and
One is flexibly connected the second support portion 512 of component 53 between the first engaging portion 321 and the bottom surface of support mounting groove 4117, the
The fastener 52 of one flexible connection component 53 passes through through hole 514 and in conjunction with the inner wall of first shell mounting hole 4118, and first
Flexible connection component 53 is housed in support mounting groove 4117.The cross sectional dimensions of first support portion 511 and the second support portion 512
Cross sectional dimensions be all larger than the cross sectional dimensions of first support mounting hole 3211, in this way, when the first flexible connection component 53 is pacified
When being attached in first support mounting hole 3211, the first support portion 511 be located at fastener 52 end and the first engaging portion 321 it
Between, the first support portion 512 can absorb vibration that is being generated by the first support 411 and being transmitted on fastener 52；Second support
Portion 512 can be located between the bottom surface and the first engaging portion 321 of support mounting groove 4117, and the second support portion 512 can absorb the
Vibration that one support 411 generates simultaneously reduces vibration and is transmitted on bracket 30.The cross sectional dimensions of interconnecting piece 513 can be greater than, is small
In or equal to first support mounting hole 3211 cross sectional dimensions.
Second flexible connection 54 connecting bracket 30 (the second engaging portion 313) of component and the second mounting portion 415, specifically, the
The interconnecting pieces 513 of two flexible connection components 54 are threaded through in second shell mounting hole 41201, and the of the second flexible connection component 54
One support portion 511 and the second support portion 512 are located at the opposite two sides of protrusion 4120, and the of the second flexible connection component 54
One support portion 511 is located between protrusion 4120 and the second engaging portion 313, and the fastener 52 of the second flexible connection component 54 passes through
Through hole 514 and in conjunction with the inner wall of second support mounting hole 3131.The cross sectional dimensions of first support portion 511 and the second support
The cross sectional dimensions in portion 512 is all larger than the cross sectional dimensions of second shell mounting hole 41201, in this way, when the second flexible connection group
When part 54 is installed in second support mounting hole 3131, the first support portion 511 can be located at protrusion 4120 and the second engaging portion
Between 313, the first support portion 511, which can absorb the vibration of the second support 412 generation and reduce vibration, to be transmitted on bracket 30；The
Two support portions 512 are located between the end of fastener 52 and the second engaging portion 313, and the second support portion 512 can be absorbed by second
Vibration that is that support 412 generates and being transmitted on fastener 52.The cross sectional dimensions of interconnecting piece 513 can be greater than, is less than or wait
In the cross sectional dimensions of second shell mounting hole 41201.Since the first engaging portion 321 is located at the one of the separate pedestal 10 of bracket 30
Side, the second engaging portion 313 are located at 10 side of close pedestal of bracket 30, and scanning shell 41 is connected to the by flexible connecting member 51
On one engaging portion 321 and the second engaging portion 313, thus, when range unit 100 is generated vibration by foreign impacts, scanning
The rotating torque that shell 41 is subject to is smaller, and the direction of the torque is perpendicular to the plane where bracket 30, so as to reduce even
It avoids generating overturning because range unit 100 is by foreign impacts.Bracket 30 in the range unit 100 of the application is fixed on bottom
On seat 10, scanning module 40 is mounted on bracket 30 by being flexibly connected component 50, and flexible connection component 50 makes scanning module
Without directly contacting between 40 and pedestal 10, so as to reduce or even avoid the vibration of scanning module 40 to be transmitted on pedestal 10.
Please refer to Figure 23, in the present embodiment, what the face by the axis by through hole 514 of flexible connecting member 51 was intercepted
Section is in the shape of an " I ".Flexible connecting member 51 can be rubber pad.
Ranging mould group 60 is arranged on pedestal 10 and is spaced with scanning module 40 and is arranged, specifically, 60 rigidity of ranging mould group
It is fixed on pedestal 10, in some examples, pedestal 10 can be structure as a whole, and scanning module 40 and ranging mould group 60 are mounted on together
On one pedestal 10.In some examples, pedestal 10 can be separate structure, and ranging mould group 60 and scanning module 40 are mounted on pedestal 10
Two different separate structures on.Since scanning module 40 and the interval of ranging mould group 60 are arranged, it is thus possible to reduce and even keep away
The vibration for exempting from scanning module 40 is transmitted in ranging mould group 60, to improve the detection accuracy of range unit 100.Due to ranging
Mould group 60 is rigidly fixed on pedestal 10, and the vibration of scanning module 40 is to the influence very little of ranging mould group 60, to guarantee ranging
The stability of 100 complete machine relative mounting positions of mould group 60 and range unit, further improves detection accuracy.
Figure 25 and Figure 27 are please referred to, ranging mould group 60 includes light source 61, optical path change element 62, collimating element 63 and visits
Survey device 64.The laser beam of coaxial optical path namely the outgoing of ranging mould group 60 can be used in ranging mould group 60 and through reflecting
Laser beam at least partly optical path is shared in ranging mould group 60.Alternatively, ranging mould group 60 can also use different axial light path,
I.e. ranging mould group 60 be emitted light beam and through reflected light beam in ranging mould group 60 respectively along different optic paths.
Figure 25 is please referred to, is illustrated light source 61 using a kind of coaxial optical path with ranging mould group 60 below, optical path changes
Element 62, collimating element 63 and detector 64.
Light source 61 can be used for emitting light pulse sequence, and optionally, the light beam that light source 61 is launched is wavelength in visible light
Narrow bandwidth light beam except range.In some embodiments, light source 61 may include laser diode (Laser diode), lead to
Cross the laser diode transmitting other laser of nanosecond.For example, the laser pulse that light source 61 emits continues 10ns.
Collimating element 63 is arranged in the light optical path out of light source 61, for collimating the laser beam issued from light source 61, that is,
To the laser beam collimation that light source 61 issues, and scanning module 40 will be projected to after the light pulse of light source 61 collimation.Collimation
Element 63 is between light source 61 and scanning module 40.Collimating element 63, which is also used to assemble, to be reflected and is scanned through detection object
At least part of the light echo of mould group 40 is to detector 64.Collimating element 63 can be collimation lens or other and can collimate
The element of light beam.In one embodiment, it is coated with anti-reflection film on collimating element 63, the intensity of transmitted light beam can be increased.
Optical path changes element 62 and the going out in light optical path of light source 61 is arranged in, for by the emitting light path and detector of light source 61
64 receiving light path merges.Specifically, optical path changes the side opposite with scanning module 40 that element 62 is located at collimating element 63.
It can be reflecting mirror or half-reflecting half mirror that optical path, which changes element 62,.In one example, it is small reflector that optical path, which changes element 62,
The optical path direction for the laser beam that light source 61 can be issued changes 90 degree or other angles.
Detector 64 and light source 61 are placed in the same side of collimating element 63.In one example, detector 64 and collimation member
63 face of part.It is emitted it is appreciated that scanning module 40 can change light pulse sequence to different transmission directions in different moments,
The light pulse being reflected back through detection object can be incident to detector 64 after being scanned mould group 40, and detector 64 can be used for passing through
At least partly light echo of collimating element 63 is converted to electric signal, and electric signal is specifically as follows electric pulse, and detector 64 can be also based on
Electric pulse determines detection the distance between object and range unit 100.
When range unit 100 works, light source 61 issues laser pulse, and the laser pulse is quasi- after optical path changes element 62
Straight element 63 collimates, and the laser pulse after collimation, which is scanned, to be emitted and projected after mould group 40 changes transmission direction on detection object,
At least part of light echo is collimated element 63 and converges to spy after the laser pulse being reflected back through detection object is scanned mould group 40
It surveys on device 64.At least partly light echo that detector 64 passes through collimating element 63 is converted to electric signal pulse.
Figure 25 and Figure 26 are please referred to, the range unit 100 of the application includes transmit circuit 611, receives circuit 641, sampling
Circuit 642 and computing circuit 643.Transmit circuit 611 can emit light pulse sequence (such as laser pulse sequence).Receive circuit
641 can receive the light pulse sequence by being detected object reflection, and carry out photoelectric conversion to the light pulse sequence, to obtain electricity
Signal, then can export after handling electric signal and electric signal can be adopted to 642 sample circuit 642 of sample circuit
Sample, to obtain sampled result.Computing circuit 643 can be based on the sampled result of sample circuit 642, to determine distance means 100
The distance between detected object.In the present embodiment, transmit circuit 611 includes light source 61, and detector 64 includes receiving circuit
641, sample circuit 642 and computing circuit 643.
Optionally, which can also include control circuit 644, which may be implemented to other
The control of circuit, for example, can control the working time of each circuit and/or carry out parameter setting etc. to each circuit.At this point,
Detector 64 may also include control circuit 644.
Although it should be understood that including 611, reception circuits of a transmit circuit in distance means 100 shown in Figure 26
641, a sample circuit 642 and a computing circuit 643, but the embodiment of the present application is not limited to this, transmit circuit 611,
Receive circuit 641, sample circuit 642, any circuit in computing circuit 643 quantity be also possible at least two, be used for
In same direction or respectively along different directions outgoing at least two-way light beam；Wherein, this at least two-beam road can be while be emitted,
It is also possible to be emitted in different moments respectively.In one example, the luminescence chip at least two transmit circuit is encapsulated in together
In one module.For example, each transmit circuit includes a Laser emission chip, the laser hair at least two transmit circuit
Die in core shooting piece is packaged together, and is accommodated in the same encapsulated space.
Figure 27 is please referred to, below with ranging mould group 60 is illustrated light source 61 using second of coaxial optical path, optical path changes
Dependent element 62, collimating element 63 and detector 64.At this point, in the structure of collimating element 63 and position and the first coaxial optical path
Collimating element 63 structure and position it is identical, the difference is that: optical path change element 62 be large reflective mirror, the large reflective mirror
Middle position including reflecting surface 621, and the large reflective mirror offers light hole.Detector 64 and light source 61 are still placed in standard
The same side of straight element 63, compares the first coaxial optical path above-mentioned, the location swap of detector 64 and light source 61, that is, light source
61 with 63 face of collimating element, detector 64 and reflecting surface 621 are opposite, and optical path changes element 62 and is located at light source 61 and collimating element
Between 63.
When range unit 100 works, light source 61 issues laser pulse, which changes the light passing of element 62 from optical path
Hole is collimated element 63 after passing through and collimates, and the laser pulse after collimation is scanned after mould group 40 changes transmission direction and is emitted and projects
Onto detection object, at least part of light echo is collimated element after the laser pulse being reflected back through detection object is scanned mould group 40
63, which converge to optical path, changes on the reflecting surface 621 of element 62.At least part of light echo is reflexed to detector by reflecting surface 621
On 64, at least partly light echo that detector 64 is reflected this is converted to electric signal pulse, and range unit 100 passes through the electric signal
The rising time of pulse and/or failing edge time determine laser pulse receiving time.In this way, range unit 100 can use
Pulse receiving time information and pulse issue temporal information and calculate the flight time, so that it is determined that detecting object to range unit 100
Distance.In present embodiment, the size that optical path changes element 62 is larger, can cover the entire field range of light source 61, light echo
Element 62 is changed by optical path and directly reflexes to detector 64, optical path change element 62 itself is avoided and light echo optical path is blocked,
The intensity of light echo can be detected by increasing detector 64, improve range accuracy.
Incorporated by reference to Fig. 4 and Figure 22, in some embodiments, bracket 30 further includes the first reinforcement arm 34, the first reinforcement arm
34 one end is connected on the second fixed part 312, and the other end connection linking arm 33 of the first reinforcement arm 34 is fixed far from first
The one end in portion 311, fixed arm 31, linking arm 33 and the first reinforcement arm 34 surround a triangle jointly.In other embodiments
In, one end of the first reinforcement arm 34 is connected on the second fixed part 312, and the other end of the first reinforcement arm 34 is connected to linking arm 33
Opposite both ends between, at this point, fixed part 310, the first reinforcement arm 34 and part linking arm 33 surround a triangle jointly.This
Fixed arm 31, linking arm 33, combination arm 32 and the first reinforcement arm 34 of embodiment are in the same plane.Present embodiment
Bracket 30 is by the first reinforcement arm 34 of setting, so that the intensity of bracket 30 is enhanced, when range unit 100 is by foreign impacts
When, the shaking that bracket 30 generates is smaller.
Incorporated by reference to Fig. 4 and Figure 22, in some embodiments, bracket 30 further includes the first reinforcement arm 34 and the second reinforcement arm
35.One end of first reinforcement arm 34 is connected on the second fixed part 312, and the other end of the first reinforcement arm 34 connects linking arm 33,
Fixed arm 31, linking arm 33 and the first reinforcement arm 34 surround a triangle jointly.Second reinforcement arm 35 connects the first reinforcement arm
34 and linking arm 33, the second reinforcement arm 35 be located in the space that the first reinforcement arm 34, fixed arm 31 and linking arm 33 are surrounded.This
Fixed arm 31, linking arm 33, combination arm 32, the first reinforcement arm 34 and the second reinforcement arm 35 of embodiment are generally aligned in the same plane
It is interior.The bracket 30 of present embodiment is by the first reinforcement arm 34 of setting and the second reinforcement arm 35, to enhance the strong of bracket 30
Degree, when range unit 100 is by foreign impacts, the shaking that bracket 30 generates is smaller.
Incorporated by reference to Fig. 4 and Figure 22, in some embodiments, scanning shell 41 includes the first support 411 for connecting and the
Two supports 412, bracket 30 include sequentially connected fixed arm 31, linking arm 33 and combination arm 32, and fixed arm 31 is fixed on pedestal
On 10 and positioned at the same side of the first support 411 and the second support 412.Each bracket 30 passes through at least two flexible connection components
50 connect with scanning shell 41, and at least two flexible connection components 50 include the first flexible connection component 53 and the second flexible connection
Component 54, the first flexible connection component 53 connect combination arm 32 and the first support 411, and the second flexible connection component 54 is connected and fixed
Arm 31 and the second support 412.At this point, scanning shell 41 can be formed without installation space 416.Combination arm 32 in present embodiment
Length can be made shorter compared with the length of combination arm 32 in above embodiment, thus compared to the branch in above embodiment
Frame 30 (bracket 30 only includes fixed arm 31, linking arm 33 and combination arm 32, and bracket 30 is mounted in installation space 416), this
The intensity of the bracket 30 of embodiment is bigger, so as to reduce the rolling for generating bracket 30 because of the vibration of scanning module 40
It is dynamic.
Incorporated by reference to Fig. 4 and Figure 22, in some embodiments, fixed arm 31 includes the first fixed part 311, the second fixed part
312 and second engaging portion 313, the first fixed part 311 and the second fixed part 312 are located at opposite both ends of fixed arm 31 and fixed
On pedestal 10, the first fixed part 311 is located at the side of the first support 411, and the second fixed part 312 is located at the second support 412
Side, between the first fixed part 311 and the second fixed part 312, the second flexible connection component 54 is connected for the second engaging portion 313
Second engaging portion 313 and the second support 412.The length of combination arm 32 is compared with combination arm 32 in above embodiment in present embodiment
Length can be made shorter, thus compared in above embodiment bracket 30 (bracket 30 only include fixed arm 31, connection
Arm 33 and combination arm 32, and bracket 30 is mounted in installation space 416), the intensity of the bracket 30 of present embodiment is bigger, thus
The shaking for generating bracket 30 because of the vibration of scanning module 40 can be reduced.
Incorporated by reference to Fig. 4 and Figure 22, in some embodiments, scanning shell 41 includes the first support 411 for connecting and the
Two supports 412, bracket 30 include fixed arm 31, linking arm 33, combination arm 32 and the first reinforcement arm 34.Fixed arm 31, linking arm
33 and combination arm 32 be sequentially connected.Fixed arm 31 is fixed on pedestal 10 and is located at the same of the first support 411 and the second support 412
Side.One end of first reinforcement arm 34 is connected and fixed one end of the separate linking arm 33 of arm 31, the other end of the first reinforcement arm 34
Connect one end of the separate fixed arm 31 of linking arm 33.Each bracket 30 passes through at least two flexible connection components 50 and scanning shell
Body 41 connects, and at least two flexible connection components 50 include that the first flexible connection component 53 and second are flexibly connected component 54, the
One flexible connection component 53 connects combination arm 32 and the first support 411, and second, which is flexibly connected component 54, is connected and fixed arm 31 and the
Two supports 412.In other embodiments, one end of the first reinforcement arm 34 is connected and fixed the one of the separate linking arm 33 of arm 31
End, the other end of the first reinforcement arm 34 are connected between the opposite both ends of linking arm 33.The length of combination arm 32 in present embodiment
Degree can be made shorter compared with the length of combination arm 32 in above embodiment, thus compared to the bracket 30 in above embodiment
(bracket 30 only includes fixed arm 31, linking arm 33, combination arm 32 and the first reinforcement arm 34, and bracket 30 is mounted on installation space
In 416), the intensity of the bracket 30 of present embodiment is bigger, makes bracket 30 because of the vibration of scanning module 40 so as to reduce
The shaking of generation.
Incorporated by reference to Fig. 4 and Figure 22, in some embodiments, scanning shell 41 includes the first support 411 for connecting and the
Two supports 412, bracket 30 include fixed arm 31, linking arm 33, combination arm 32, the first reinforcement arm 34 and the second reinforcement arm 35.Gu
Fixed arm 31, linking arm 33 and combination arm 32 are sequentially connected.Fixed arm 31 is fixed on pedestal 10 and is located at the first support 411 and the
The same side of two supports 412.One end of first reinforcement arm 34 is connected and fixed one end of the separate linking arm 33 of arm 31, and first reinforces
The other end of arm 34 is connected on linking arm 33.Second reinforcement arm 35 connects the first reinforcement arm 34 and linking arm 33, and second reinforces
In the space that arm 35 is located at the first reinforcement arm 34 and linking arm 33 is surrounded.Each bracket 30 passes through at least two flexible connection groups
Part 50 is connect with scanning shell 41, and at least two flexible connection components 50 are flexible even including the first flexible connection component 53 and second
Connected components 54, the first flexible connection component 53 connect combination arm 32 and the first support 411, and the second flexible connection connection of component 54 is solid
Fixed arm 31 and the second support 412.In other embodiments, one end of the first reinforcement arm 34 is connected and fixed the separate connection of arm 31
The other end of one end of arm 33, the first reinforcement arm 34 is connected between the opposite both ends of linking arm 33.It is combined in present embodiment
The length of arm 32 can be made shorter compared with the length of combination arm 32 in above embodiment, thus compared in above embodiment
Bracket 30 (bracket 30 only include fixed arm 31, linking arm 33, combination arm 32, the first reinforcement arm 34 and the second reinforcement arm 35, and
Bracket 30 is mounted in installation space 416), the intensity of the bracket 30 of present embodiment is bigger, so as to reduce because scanning mould
The shaking organized 40 vibration and generate bracket 30.
Incorporated by reference to Figure 21 to Figure 24, in some embodiments, flexible connecting member 51 further includes spacing block set 515, limit
Convex block 515 is protruded from the first support portion 511.Flexible connecting member 51 is installed from 512 one end of the second support portion to rack mounting apertures (
One rack mounting apertures 3211) in or shell bores (second shell mounting hole 41201) in, specifically, installation be flexibly connected
When part 51, elastic deformation can occur under the action of pullling power and can pass through first support peace for the second support portion 512 flexible
Fill hole 3211 or second shell mounting hole 41201.Spacing block set 515 is arranged in flexible connecting member 51, can be avoided and connects by flexibility
Fitting 51 be mounted in first support mounting hole 3211 or second shell mounting hole 41201 in when because it is excessive and make to pull power
First support portion 511 also passes through first support mounting hole 3211 or second shell mounting hole 41201.
In the present embodiment, the quantity of flexible connection component 50 is at least four, and each bracket 30 is flexible by least two
Connection component 50 connect and is formed multiple tie points with scanning shell 41, and it is auxiliary that projection of multiple tie points on pedestal 10 forms one
The center of gravity (or center of gravity of scanning module 40) of principal surface P (as shown in figure 21), scanning shell 41 are located at the center of secondary surface P, are located at
Scanning the ipsilateral multiple tie points of shell 41 includes two tie points being diagonally arranged, and two tie points being diagonally arranged form one
The distance of the midpoint of connecting line L, connecting line L to pedestal 10 is identical at a distance from center of gravity to pedestal 10.
Incorporated by reference to Figure 21 to Figure 24, in some embodiments, each bracket 30 by two flexible connection components 50 and
Scanning shell 41 connects and forms two tie points, and projection of the four points of connection on pedestal 10 forms secondary surface P (such as Figure 21 institute
Show), two tie points ipsilateral positioned at scanning shell 41 are diagonally arranged and form connecting line L.For connecting a bracket 30
Two flexible connection components 50 connecting with scanning shell 41 include the first flexible connection component 53 and the second flexible connection component
54, the first flexible connection component 53 connects the first engaging portion 321 and the first mounting portion 414, and the second flexible connection component 54 connects
Second engaging portion 313 and the second mounting portion 415.The line of centres of first flexible connection component 53 and the second flexible connection component 54
Form connecting line L.Distance and the center of gravity (or center of gravity of scanning module 40) of scanning shell 41 of the midpoint of connecting line L to pedestal 10
Distance to pedestal 10 is identical, is transmitted on pedestal 10 so as to further decrease the vibration of scanning module 40, and when survey
When being generated vibration by foreign impacts away from device 100, the rotating torque that scanning shell 41 is subject to is smaller, and the direction of the torque is hung down
Directly in the plane where the center at the center of fixed part 310, the center of the first engaging portion 321 and the second engaging portion 313, so as to
Enough reduce even avoids generating overturning because range unit 100 is by foreign impacts.
Incorporated by reference to Figure 21 to Figure 24, in some embodiments, each bracket 30 by four flexible connection components 50 and
Scanning shell 41 connects and forms four points of connection, and projection of eight tie points on pedestal 10 forms secondary surface, is located at scanning
Relative angle is arranged the ipsilateral four points of connection of shell 41 two-by-two, and two tie points being diagonally arranged form the first connecting line, in addition
Two tie points for being diagonally arranged form the second connecting lines, and the distance and center of gravity at the midpoint of the first connecting line to pedestal 10 are described in
The distance of pedestal 10 is identical, and the distance of midpoint to the pedestal 10 of the second connecting line is identical at a distance from center of gravity to pedestal 10.At this point,
Two of them flexible connection component 50 can connect combination arm 32 and the first support 411, other two flexible connection component 50 connects
Connect fixed arm 31 and the second support 412.Each bracket 30 is connect by four flexible connection components 50 with scanning shell 41, thus
Scanning shell 41 can be more firmly mounted on bracket 30.
Incorporated by reference to Figure 21 to Figure 24, the four points of connection that each bracket 30 is formed include the first tie point, the second tie point,
Third tie point and the 4th tie point, the first tie point and third tie point are located at the side of the separate pedestal 10 of bracket 30, the
Two tie points and third tie point are located at the side of the close pedestal 10 of bracket 30, the 4th tie point compared with the second tie point closer to
First tie point is sequentially connected the first tie point, third tie point, the second tie point, the 4th tie point and the first tie point institute
The shape of formation is rectangle or parallelogram.At this point, the first tie point and the second tie point line form the first connecting line, the
Three tie points and the 4th tie point line form the second connecting line, and the midpoint of the first connecting line is overlapped with the midpoint of the second line.
Each bracket 30 is connect by four flexible connection components 50 with scanning shell 41, more firm so as to scan shell 41
Ground is mounted on bracket 30.
Fig. 7 and Fig. 8 are please referred to, in some embodiments, the first locating piece 4112 is formed on the first support 411.The
The second locating piece 4122 is formed on two supports 412.First support 411 connects with the second support 412, the first locating piece 4112 with
Second locating piece 4122 cooperation, so that the first rotary shaft 4236 and the second rotary shaft 4337 are with preset distance parallel interval.Due to
First optical element 45 is mounted in the first driver 42, and the first driver 42 is mounted on the first support 411, the second optics member
Part 46 is mounted in the second driver 43, and the second driver 43 is mounted on the second support 412, by the first locating piece 4112 with
The positioning action of second locating piece 4122, the first optical element 45 and the position of the rotary shaft of the second optical element 46 are not susceptible to
Offset, the range accuracy of range unit 100 are higher.
Wherein, the preset distance at the first rotary shaft 4236 and the second rotary shaft 4337 interval can be real according to scanning module 40
The demand on border is configured, and in the embodiment of the present application, the first rotary shaft 4236 is overlapped with the second rotary shaft 4337, that is, first
Preset distance between rotary shaft 4236 and the second rotary shaft 4337 is zero.First locating piece 4112 can be formed in the first support
One end close to the second support 412 of ontology 4111, the second locating piece 4122 can be formed in leaning on for the second support body 4121
One end of nearly first support 411 can determine first by the first locating piece 4112 and the second locating piece 4122 during installation
The setting angle of seat 411 and the second support 412, only when the first rotary shaft 4236 is overlapped with the second rotary shaft 4337, first
Seat 411 could correctly cooperate with the second support 412, that is, the first locating piece 4112 and the second locating piece 4122 correctly cooperate
Together.
The differences such as shape, combination according to the first support 411 and the second support 412, the first locating piece 4112 and the
The concrete form of two locating pieces 4122 can suitably make adjustment, and the first locating piece 4112 can divide with the second locating piece 4122
It Wei not buckle and card slot, the first locating piece 4112 and the second locating piece 4122 can be respectively internal screw thread and external screw thread etc..
In example as shown in Figure 8, the first locating piece 4112 includes locating slot 4114, and the second locating piece 4122 includes fixed
Position protrusion 4127, positioning projection 4127 protrude into locating slot 4114 to cooperate.Locating slot 4114 can be with the first accommodating chamber
4119 communicate, and the depth direction of locating slot 4114 can be identical as the direction of the first rotary shaft 4236, and positioning projection 4127 is from
One end of two support bodies 4121 extends to form, and the extending direction of positioning projection 4127 can be with the direction of the second rotary shaft 4337
It is identical.
Specifically, please refer to Fig. 7 and Fig. 8, the inner wall of locating slot 4114 in a ring or a part of annular, positioning projection
4127 include that the locators at multiple intervals protrude 4127a, the outer wall group of multiple locators protrusion 4127a circularize or annular one
The outer wall of part, multiple locator protrusion 4127a supports the inner wall of locating slot 4114.The central axes of the inner wall of locating slot 4114 can
To be overlapped with the first rotary shaft 4236, the central axes of the outer wall of multiple locator protrusion 4127a can be with the second rotary shaft 4337
It is overlapped.Multiple locator protrusion 4127a can be around the equiangularly spaced distribution of circumferential direction of the second rotary shaft 4337.Multiple locators are convex
The outer wall of 4127a can be interference fitted with the inner wall of locating slot 4114 out, so that the first locating piece 4112 and the second locating piece
It is not susceptible to shake after 4122 cooperations.
Fig. 7 and Fig. 8 are please referred to, in some embodiments, the second locating piece 4122 is formed in the one of the second support 412
End, the other end of the second support 412 are formed with third locating piece 4123.The 4th locating piece 4131 is formed on third support 413,
Third locating piece 4123 and the 4th locating piece 4131 cooperate, so that the second rotary shaft 4337 is with third rotary shaft 4437 with pre- spacing
From parallel interval.Since the second optical element 46 is mounted in the second driver 43, the second driver 43 is mounted on the second support
On 412, third optical element 47 is mounted in third driver 44, and third driver 44 is mounted on third support 413, is passed through
The positioning action of third locating piece 4123 and the 4th locating piece 4131, the rotation of the second optical element 46 and third optical element 47
The position of axis is not susceptible to deviate, and the range accuracy of range unit is higher.
Wherein, the preset distance that the second rotary shaft 4337 is spaced with third rotary shaft 4437 can be real according to scanning module 40
The demand on border is configured, and in the embodiment of the present application, the second rotary shaft 4337 is overlapped with third rotary shaft 4437, that is, second
Preset distance between rotary shaft 4337 and third rotary shaft 4437 is zero.Meanwhile first rotary shaft 4236, the second rotary shaft
4337 can be overlapped setting with third rotary shaft 4437, so that the first optical element 45, the second optical element 46 and third light
The receipts light efficiency for learning the optical path receipts photosystem that element 47 forms is higher.
Third locating piece 4123 can be formed in one end of the close third support 413 of the second support body 4121, and the 4th
One end close to the second support 412 that locating piece 4131 can be formed in third support body 4130 can pass through during installation
Third locating piece 4123 and the 4th locating piece 4131 determine the setting angle of the first support 411 and the second support 412, only second
When rotary shaft 4337 is overlapped with third rotary shaft 4437, the second support 412 could correctly cooperate with third support 413, that is, third
Locating piece 4123 is correctly combined together with the 4th locating piece 4131.
According to the differences such as the second support 412 and shape, the combination of third support 413, third locating piece 4123 and the
The concrete form of four locating pieces 4131 can suitably make adjustment, and third locating piece 4123 can divide with the 4th locating piece 4131
It Wei not buckle and card slot, third locating piece 4123 and the 4th locating piece 4131 can be respectively internal screw thread and external screw thread etc..
In example as shown in Figure 7 and Figure 8, third locating piece 4123 includes positioning groove 4128, the 4th locating piece
4131 include positioning protrusion 4132, and positioning protrusion 4132 protrudes into positioning groove 4128 to cooperate.Positioning groove 4128 can
To communicate with the second accommodating chamber 4126, the depth direction of positioning groove 4128 can be identical as the direction of the second rotary shaft 4337,
One end of positioning protrusion 4132 from third support body 4130 extends to form, and the extending direction of positioning protrusion 4132 can be with third
The direction of rotary shaft 4437 is identical.
Specifically, please refer to Fig. 7 and Fig. 8, the inner wall of positioning groove 4128 in a ring or a part of annular, positioning protrusion
4132 include multiple intervals locator protrusion 4132a, the outer wall of multiple locator protrusion 4132a in a ring or annular one
Point, the outer wall of multiple locator protrusion 4132a supports the inner wall of positioning groove 4128.The central axes of the inner wall of positioning groove 4128
It can be overlapped with the first rotary shaft 4236, the central axes of the outer wall of multiple locator protrusion 4132a can be with third rotary shaft
4437 are overlapped.Multiple locator protrusion 4132a can be around the equiangularly spaced distribution of circumferential direction of third rotary shaft 4437.Multiple positioning
The outer wall of sub- protrusion 4132a can be interference fitted with the inner wall of positioning groove 4128, so that third locating piece 4123 and the 4th is determined
Position part 4131 is not susceptible to shake after cooperating.
Referring to Fig. 7, in some embodiments, the first support 411 further includes support ring 4113, the first support body
4111 form the first accommodating chamber 4119, and support ring 4113 extends from the inner wall of the first support body 4111 to accommodating chamber.It has been observed that
First support body 4111 is hollow structure, and hollow part forms the first accommodating chamber 4119, in order to increase by the first accommodating chamber
4119 volume, it will usually the which so that inner wall of the first support body 4111 is arranged relatively thin, and this may result in the first support
The strength reduction of ontology 4111, deformation is easy to happen when being squeezed and hitting.Support ring 4113 is from the firstth support body
4111 inner wall extends to accommodating chamber, can increase the whole intensity of the first support 411, and the first support 411 is not susceptible to deformation.
In the embodiment of the present application, the first accommodating chamber 4119 is cylindrical, and support ring 4113 is also annular in shape, and support ring 4113 can protect
Demonstrate,prove the circularity of the first accommodating chamber 4119.
Fig. 5 and Fig. 7 are please referred to, in some embodiments, the first driver 42 is mounted in the first accommodating chamber 4119, the
Stator group part 421 and the first positioning component 422 two sides that be separately mounted to support ring 4113 opposite.First driver is being installed
When 42, it can be mounted in the first accommodating chamber 4119 from the side of support ring 4113 by the first stator module 421, from support ring
First positioning component 422 is mounted in the first accommodating chamber 4119 by 4113 other side, and the two can be installed simultaneously, without
First positioning component 422 and the first stator module 421 are installed from the same side of support ring 4113, improve installation effectiveness.
Fig. 6 and Fig. 9 are please referred to, in some embodiments, scanning module 40 further includes pre-tightening component 48.Pre-tighten component 48
Including the first preload piece 481 and the second preload piece 482.First preload piece 481 is fixed on the first rotor 4231, the second preload piece
482 are fixed on the second support 412.First preload piece 481 is oppositely arranged with the second preload piece 482, and the first preload piece 481 with
Second preload piece 482 generates the interaction force of the axial direction along first bearing 422, so that ring structure 4221 and the in first
One outer ring structure 4222 supports the first rolling element 4223 jointly.
It is appreciated that the second support 412 and the first support 411 are relatively fixed, the first outer ring structure 4222 and the first support
411 is relatively fixed, that is, the first outer ring structure 4222 and the second support 412 are relatively fixed.Before not set preload component 48, the
It there may be clearance in one between ring structure 4221 and the first rolling element 4223, clearance will lead to ring structure 4221 in first and exist
When rotation, ring structure 4221 is easy to jump in the axial direction of first bearing 422 and generate noise in first.Setting pre-tightens component 48
Afterwards, the interaction force that the first preload piece 481 and the second preload piece 482 generate is respectively acting in first ring structure 4221 and the
On two supports 412, ring structure 4221 supports the first rolling element 4223 under the action of interaction force in first, eliminates first axle
Hold 422 clearance, it is ensured that first rotating shaft stability of rotation.
Specifically, the interaction force between the first preload piece 481 and the second preload piece 482 can be mutual attractive force,
It is also possible to mutually exclusive power.In the embodiment of the present application, the first preload piece 481 can be by ferromagnetic with the second preload piece 482
Property is special to be made, such as is magnet.By can produce above-mentioned mutually exclusive power for the peer of magnet is opposite, by by magnetic
The different grade of iron is opposite to can produce above-mentioned mutual attractive force.
Fig. 6 and Fig. 9 are please referred to, in some embodiments, the first preload piece 481 is annular in shape, and the first preload piece 481 is arranged
On the first rotor 4231.First preload piece 481 after interaction force by being transmitted on the first rotor 4231, then is transmitted to
In one on ring structure 4221.The interaction force that cricoid first preload piece 481 is subject to is more uniform, avoids ring structure in first
4221 run-off the straights.In another example, the first preload piece 481 also may include the multiple first sub- preload pieces, and multiple first
Circumferential direction equiangularly spaced setting of the sub- preload piece along the first rotor 4231.
Referring again to Fig. 6 and Fig. 7, in some embodiments, the second preload piece 482 includes the multiple second sub- preload pieces
The equiangularly spaced setting of circumferential direction of 482a, multiple second sub- preload piece 482a along the second support 412.The of equiangularly spaced setting
Two preload pieces 482 can provide more uniform interaction force for the first preload piece 481.In another example, the second preload piece
482 with can be annular in shape.In example as shown in Figure 7, the second support 412 includes the first end face towards the first driver 42
4124, accommodation groove 4125 is offered in first end face 4124, and the second preload piece 482 is at least partly housed in accommodation groove 4125.
Second preload piece 482 easily fixes on the second support 412, and the second preload piece 482 will not protrude too from the second support 412
Axial dimension that is more and increasing scanning module 40.
Referring to Fig. 9, in some embodiments, pre-tightening component 48 further includes third preload piece 483 and the 4th preload piece
484.Third preload piece 483 is fixed on the second rotor 4331, and the 4th preload piece 484 is fixed on fourth trochanter, and third pre-tightens
Part 483 is oppositely arranged with the 4th preload piece 484.It generates between third preload piece 483 and the 4th preload piece 484 along second bearing
432 with the axial interaction force of 3rd bearing 442 so that in second ring structure 4321 with the second outer ring structure 4322 jointly
The second rolling element 4323 is supported, ring structure 4421 and third outer ring structure 4422 support third rolling element 4423 jointly in third.
Second outer ring structure 4322 is fixed to each other with the second support 412, third outer ring structure 4422 and 413 phase of third support
It mutually fixes, and the second support 412 is fixed to each other with third support 413, then the second outer ring structure 4322 and third outer ring structure
4422 are fixed to each other.Interaction force between third preload piece 483 and the 4th preload piece 484 is respectively acting on second turn first
Son 4331 then is transmitted in second in ring structure 4321 and third on ring structure 4421 respectively on third trochanter 4431, so that
Ring structure 4321 supports the second rolling element 4323 to eliminate the clearance of second bearing 432 in second, and ring structure 4421 supports in third
Third rolling element 4423 is held to eliminate the clearance of 3rd bearing 442, guarantees second bearing 432 and 442 stability of rotation of 3rd bearing.
Specifically, the interaction force between third preload piece 483 and the 4th preload piece 484 can be mutual attractive force,
It is also possible to mutually exclusive power.In the embodiment of the present application, third preload piece 483 can be by ferromagnetic with the 4th preload piece 484
Property is special to be made, such as is magnet.By can produce mutually exclusive power for the peer of magnet is opposite, by by the different of magnet
Grade is opposite to can produce mutual attractive force.Third preload piece 483 can be annular in shape and be set on third trochanter 4431, and the 4th is pre-
Tight part 484 can be annular in shape and be set on fourth trochanter.
In the embodiment of the present application, first bearing 422, second bearing 432 and 3rd bearing 442 are coaxially disposed.That is, first
Rotary shaft 4236, the second rotary shaft 4337 and third rotary shaft 4437 are coaxially disposed.
Referring to Fig. 9, in some embodiments, the first optical element 45, the second optical element 46 and third optics member
Part 47 is successively arranged side by side.Scanning module 40 is emitted after light pulse is changed the direction of propagation for receiving light pulse, and is used for
Receive the light pulse being reflected back through object.Wherein, during being emitted after changing light pulse propagation direction, light pulse is successively passed through
Cross third optical element 47, the second optical element 46 and the first optical element 45.In the embodiment of the present application, the first optical element
45 bore is greater than the bore of third optical element 47.
By the way that three optical elements are arranged, the refraction angle that three optical elements can combine is more, and the first optics member
The bore of part 45 is greater than the bore of third optical element 47, and the first optical element 45 can receive the light being more reflected back by object
Pulse, and bigger angle can be deflected by the first optical element 45 by the light pulse of the second optical element 46, it improves and sweeps
Retouch the field range of mould group 40.
In one example, the bore of the first optical element 45 is greater than the bore of the second optical element 46, and the second optics member
The bore of part 46 is equal to the bore of third optical element 47.The second driver 43 and the installation the of second optical element 46 are installed
The third driver 44 of three optical elements 47 can be set the same, and install the second support 412 and peace of the second driver 43
The size for filling the third support 413 of third driver 44 also can be set close or identical.
In a further embodiment, the bore of the first optical element 45 can be greater than the bore of the second optical element 46, and
The bore of second optical element 46 is greater than the bore of third optical element 47.Light pulse is during outgoing, successively by the
Three optical elements 47, the second optical element 46 and the first optical element 45, the range that light pulse can be refracted into can be gradually
Increase and will not be blocked by rotor (third trochanter 4431, the second rotor 4331, the first rotor 4231).Certainly, the first optics member
The bore of part 45 can also be equal to the bore of the second optical element 46, and the bore of the second optical element 46 is greater than third optics member
The bore of part 47.
Referring to Fig. 9, in some embodiments, the second rotor 4331 protrudes into the first containing cavities 4235.Specifically, may be used
To be that the second magnetic yoke 4333 is extend into containing cavities, since the first optical element 45 is mounted in the first containing cavities 4235, the
Two optical elements 46 are mounted in the second containing cavities 4336 of the second rotor 4331 formation, and the second rotor 4331 protrudes into the first storage
In chamber 4235, the second optical element 46 and the first optical element 45 can actually be made relatively close, reduce laser second
Light path between optical element 46 and the first optical element 45.Fig. 9 and Figure 17 is please referred to, by taking shoot laser as an example, laser passes through
It is reflected after second optical element 46, since the second optical element 46 and the first optical element 45 are relatively close, so that in identical folding
Under firing angle degree, the range that laser impinges upon on the first optical element 45 is smaller, avoid in laser irradiation to the first rotor 4231 and by
It blocks, improve out light and receives the efficiency of light, simultaneously, additionally it is possible to reduce the size of scanning module 40 in the axial direction.In an example
In son, the second optical element 46 is extending at least partially into the first containing cavities 4235, so that the second optical element 46 and the first optics
Element 45 is close to each other, further increases out light and receives the efficiency of light.
Fig. 9 and Figure 12 are please referred to, in some embodiments, the inner wall of the first rotor 4231 forms the first containing cavities
4235, the first rotor 4231 includes the outer end 4239 far from the second driver 43, the inner wall of outer end 4239 and the first rotor 4231
Intersection be formed with evacuation chamfering 4230.The first rotor 4231 will not be cut down vertically by forming evacuation 4230 one side of chamfering
Length on the other hand, form evacuation so that the first stator module 421 can be set on the outer peripheral surface of the first magnetic yoke 4233a
Chamfering 4230 be conducive to light from evacuation chamfering 4230 in pass through, without being blocked by the inner wall of the first rotor 4231, improve
Scanning module 40 goes out light and receives the efficiency of light.Specifically, avoid chamfering 4230 angle [alpha] can be range can be (0,40]
Degree, any degree in the range such as example, 10 degree, 12 degree, 15.5 degree, 23 degree, 37 degree, 40 degree, in this way, will not be to the
The intensity of one rotor 4231 causes too big weakening, has preferable supporting role to the first stator module 421.
Accordingly, during receiving the light pulse being reflected back through object, light pulse first passes through the first optical element 45
Afterwards using the second optical element 46 and third optical element 47.In the embodiment of the present application, the first optical element 45, the second light
It learns element 46 and third optical element 47 is photorefractive element, that is, the first optical element 45, the second optical element 46 and third
Optics individually can generate refraction action by the light to process, to change the original direction of propagation of light.
In the embodiment of the present application, the optical axis of the first optical element 45, the second optical element 46 and third optical element 47
Coaxial arrangement, so that laser pulse is not easy by the first rotor 4231, the second rotor 4331 or third trochanter 4431 after being refracted
It blocks, that improves scanning module 40 goes out light and light efficiency.Certainly, in other embodiments, the first optical element 45, the second light
The optical axis for learning element 46 and third optical element 47 may not be coaxial arrangement, furthermore it is also possible to add the devices such as reflecting element
Part, this is not restricted.
In one example, the distance between the first optical element 45 and the second optical element 46 can be less than the second optics members
The distance between part 46 and third optical element 47；Or first the distance between optical element 45 and the second optical element 46 can
To be equal to or more than the distance between the second optical element 46 and third optical element 47.
In some embodiments, the field angle of scanning module 40 in the horizontal direction is greater than visual field in the vertical direction
Angle, so that range unit is easier to detect the depth information of the determinand of surrounding.For example, scanning module 40 is in the horizontal direction
Field angle between [60 degree, 80 degree], for example, 60 degree, 65 degree, 70 degree, 71 degree, 75 degree, 75.8 degree, 78 degree, 80 degree etc. appoint
The angle of meaning within the above range；The field angle of scanning module 40 in the vertical direction is between [25 degree, 35 degree], for example,
Any angles within the above range such as 25 degree, 26 degree, 26.5 degree, 27.4 degree, 28 degree, 29 degree, 32 degree, 35 degree.In an example
In son, the field range of scanning module 40 is in long strip, such as in rectangle, the long side of rectangle can be with horizontal line or vertical line
In parallel；Perhaps the elliptical long axis of ellipse can be parallel with horizontal line or vertical line.
In some embodiments, the second driver 43 can be rotated to drive the second optical element 46 around the second rotary shaft
4337 rotations, third driver 44 can be rotated to drive third optical element 47 to rotate around third rotary shaft 4437.It can manage
Solution, the second driver 43 can be independently controlled rotation with third driver 44, then the second optical element 46 can be with third light
It learns element 47 to rotate simultaneously, the direction of rotation and speed can be identical or not identical；It is also possible to the rotation of the second optical element 46
And third optical element 47 does not rotate；Be also possible to the second optical element 46 do not rotate and third optical element 47 rotate.Second
During rotation, light pulse is by the second optical element 46 and/or third light for optical element 46 and/or third optical element 47
Element 47 is learned to change to different direction outgoing.
Further, the first driver 42 can be rotated to drive the first optical element 45 to revolve around the first rotary shaft 4236
Turn.First driver 42, the second driver 43 and third driver 44 can be independently controlled rotation, then the second optical element
46 will not influence velocity of rotation and the direction of the first optical element 45 with the velocity of rotation of third optical element 47 and direction.
Please refer to Figure 17, in some embodiments, the light-emitting surface of the first optical element 45 with perpendicular to the first rotary shaft
The angle of 4236 plane is less than 10 degree.In addition, the light-emitting surface of third optical element 47 with perpendicular to third rotary shaft 4437
The angle of plane is less than 10 degree.
In other words, the light-emitting surface of the first optical element 45 and the angle of the first rotary shaft 4236 be located at 80 degree to 90 degree it
Between.In addition, the light-emitting surface of third optical element 47 and the angle of third rotary shaft 4437 are between 80 degree and 90 degree.
In example as shown in figure 17, the light-emitting surface of the first optical element 45 is vertical with the first rotary shaft 4236.Third
47 light-emitting surface of optical element is vertical with third rotary shaft 4437.Wherein, light-emitting surface is referred in range unit shoot laser pulse
When, laser pulse surface for eventually passing through when passing through optical element, such as the light-emitting surface of the first optical element 45 are pointed out to penetrate
Laser pulse passes through the surface eventually passed through when the first optical element 45.The light-emitting surface and third rotary shaft of first optical element 45
4437 is vertical, so that effective light receiving area of the first optical element 45 is larger for the area of identical light-emitting surface.
It is appreciated that the first optical element 45, the second optical element 46 and third optical element 47 are arranged side by side, it is adjacent
There are opposite surface and opposite surfaces between two optical elements.In example as shown in figure 17, the second optical element
46 opposite with third optical element 47 two faces are parallel.Opposite two of second optical element 46 and third optical element 47
The distance in a face specifically can be 1.5 millimeters, 2 millimeters, 2.7 millimeters, 3.4 millimeters, 4 millis between [1.5 millimeters, 5 millimeters]
Rice, 4.9 millimeters, any values within the above range such as 5 millimeters.First optical element 45 is opposite with the second optical element 46
Two faces distance between [10 millimeters, 25 millimeters], specifically can be 10 millimeters, 15 millimeters, 17.3 millimeters, 17.5 milli
Rice, 20 millimeters, 22.5 millimeters, 24 millimeters, any values within the above range such as 25 millimeters.First optical element 45 and third
The opposite face of optical element 47 is not parallel, and the first optical element 45 face opposite with third optical element 47 refers to the first optical element
45 with the face close to each other of third optical element 47.Wherein, the distance in two opposite faces, can refer to two opposite faces it
Between, the distance between the intersection point in two faces and respective optical axis.
When first optical element 45, the second optical element 46 are prism wedge with third optical element 47, the second optics
The angle of wedge of element 46 and third optical element 47 can be between [19 degree, 21 degree], such as 19 degree, 19.5 degree, 20 degree, 20.5
Degree, 20.8 degree, the value arbitrarily within the above range such as 21 degree.The angle of wedge of second optical element 46 and third optical element 47 can
With equal, such as it be 20 degree or be 21 degree etc., the angle of wedge of the second optical element 46 and third optical element 47 can also be with
It is unequal, such as the angle of wedge of the second optical element 46 is 20 degree and the angle of wedge of third optical element 47 is 21 degree.First optics member
The angle of wedge of part 45 is between [17 degree, 19 degree], such as 17 degree, 17.7 degree, 18 degree, 18.3 degree, 18.5 degree, 19 degree etc. arbitrarily exist
Value in above range.
Figure 17 and Figure 20 are please referred to, the face of separate first optical element 45 and third optical element on third optical element 47
47 optical axis out of plumb.Wherein, out of plumb can be understood as tilting, and the optical axis of third optical element 47 can be with third rotary shaft
4437 are overlapped, the light that can will be emitted from ranging mould group 60 to avoid the face on third optical element 47 far from the first optical element 45
It is reflected back detector 64, avoids interfering the received light of detector 64.
Figure 18 is please referred to, in some embodiments, the second optical element 46 is with third optical element 47 to light pulse
The difference of refracting power is less than 10 degree, such as the difference of refracting power is 0 degree, 2 degree, 5 degree, 7 degree, 8.3 degree, 10 degree etc. arbitrarily less than 10
The range of degree.In one example, the second optical element 46 is identical as refracting power of the third optical element 47 to light pulse,
That is, the second optical element 46 and third optical element 47 are 0 degree to the difference of the refracting power of light pulse.Wherein, optical element
Refracting power refers to that in the case where incident light vertical incidence surface, emergent light compares the deviation angle of incident light.The difference of refracting power
Less than 10 degree, can refer in the case where incident light vertical incidence surface, it is identical to the deviation direction of incident light, but deviation angle
Difference less than 10 degree；Either deviation direction is different, but the angle in deviation direction is less than 10 degree.
The material of second optical element 46 and third optical element 47 can be identical, the second optical element 46 and third
Optical element 47 can be prism wedge, and the angle of wedge of the two can be identical.Second optical element 46 and third optical element
47 two opposite faces can be parallel to each other.
When rotating the second optical element 46 with third optical element 47, the second optical element 46 and third optical element 47
It can be constant speed reverse rotation, such as the second optical element 46 rotates forward and third optical element 47 is inverted with identical speed,
Or second optical element 46 reversion and third optical element 47 with identical speed rotating forward.
In some embodiments, during the second optical element 46 is rotated with third optical element 47, the second light
The sum of the phase angle of element 46 and the phase angle of third optical element 47 float near a fixed value, and floating range is not
More than 20 degree.Wherein, phase angle refers to the angle between the zero-bit of photorefractive element and a reference direction.Please refer to Figure 18 and
Figure 19, along the direction of second optical element 46 and the optical axis of third optical element 47, reference direction can be by direction X institute
Show, the zero-bit of the second optical element 46 can be indicated by μ 1, and the zero-bit of third optical element 47 can be indicated by μ 2, the second optics
The phase angle of element 46 can be indicated that the phase angle of third optical element 47 can be indicated by θ 2 by θ 1, the second optics member
The sum of the phase angle of part 46 and the phase angle of third optical element 47 can be indicated by θ 1+ θ 2.Wherein, phase angle is formed
It is positive in the counter clockwise direction of reference direction, is negative clockwise；Or phase angle is formed in the clockwise of reference direction
Direction is negative, and is counterclockwise positive.
In one example, during the second optical element 46 is rotated with third optical element 47, the second optical element
The sum of 46 phase angle and the phase angle of third optical element 47 are fixed value.In another example, above-mentioned benchmark
Direction is horizontal direction, and the phase angle and the sum of the phase angle of third optical element 47 of the second optical element 46 are attached at 0 degree
It is close to float, scanning module 40 can be made to scan horizontally extending band-like visual field, so that range unit is more suitable for certain
A little scenes, such as it is more suitable for the avoidance of autonomous driving vehicle.
Please refer to Fig. 9 and Figure 10, in the present embodiment, the radial dimension of the second rotor 4331 is less than the diameter of the first rotor 4231
To size.Second rotor 4331 is coaxially disposed with the first rotor 4231, i.e. 4236 weight of the second rotary shaft 4337 and the first rotary shaft
It closes.Second rotor assembly 433 and the first rotor component 423 are along the directional spreding of identical shaft, and the second rotor assembly 433
It is located towards the position in the first face 453 of the first optical element 45 in the first rotor component 423.
The radial dimension of third trochanter 4431 is equal to the radial dimension of the second rotor 4331, the axial ruler of third trochanter 4431
It is very little can be less than or equal to or greater than the second rotor 4331 axial dimension.Third trochanter 4431 is coaxially set with the second rotor 4331
It sets, i.e., third rotary shaft 4437, the second rotary shaft 4337 and the first rotary shaft 4236 are overlapped.Third trochanter component 443 and second
Rotor assembly 433 is along the directional spreding of identical shaft, and third trochanter component 443 is located towards the second rotor assembly 433
In the second optical element 46 the second face 464 position.
Fig. 9 and Figure 10 are please referred to, in the application embodiment, the first optical element 45 is formed with the first opposite face
453 and second face 454.First face 453 is tilted relative to the first rotary shaft 4236, i.e. the first face 453 and the first rotary shaft 4236
Angle be not in 0 degree or 90 degree；Second face 454 is vertical with the first rotary shaft 4236, i.e. the second face 454 and the first rotary shaft 4236
Angle be in 90 degree.
It is appreciated that due to the first face 453 and the second face 454 it is not parallel, the first optical element 45 it is in uneven thickness, i.e.,
The thickness of first optical element 45 be not it is equal everywhere, there are the biggish position of thickness and the lesser positions of thickness.One
In a example, the first optical element 45 includes first end 451 and second end 452, and first end 451 is located at second end 452
The both ends in the radial direction of first optical element 45.The thickness of first optical element 45 is gradually increased in one direction, and
The thickness of first end 451 is greater than the thickness of second end 452, and in other words, the first optical element 45 can be wedge mirror (prism wedge).
Since the distribution of weight of each optical element itself is uneven, when high-speed rotation, will lead to be easy shake and it is inadequate
Steadily, and then the speed of rotation is limited.In order to solve this technical problem, in some implementations of the embodiment of the present application, lead to
It crosses the weight for reducing scanning module 40 and increases the mode of scanning module 40 and weight to improve the dynamic balancing of scanning module 40.
For example, when the dynamic balancing by the way of the weight for reducing scanning module 40 to improve scanning module 40, below
Some embodiments on the first optical element 45 and/or the first rotor 4231 formed notch by way of with improve scanning
The dynamic balancing of mould group 40.
The position of the first optical element 45 and the notch of the first rotor 4231 is explained below:
Fig. 9 and Figure 10 are please referred to, in one example, notch includes the corner cut 455 being provided on the first optical element 45,
The inner surface of the first side wall 4234 of the marginal position for the first end 451 that corner cut 455 is located at, corner cut 455 and the first rotor 4231
The position of the optical path far from the first optical element 45 that is opposite and being located at the first optical element 45, in other words, corner cut 455 is located at
In first optical element 45 light without position.In this way, corner cut 455 is in the dynamically balanced situation for improving scanning module 40
Under, laser is not also influenced to be transmitted in the first optical element 45.
Fig. 9 and Figure 10 are please referred to, in one example, the first optical element 45 includes first area and second area.The
One region is opposite with the second optical element 46, and second area is from except the periphery that first area extends to the second optical element 46.
Notch include be provided on the second area of the first optical element 45 and close to first end side corner cut 455.
Fig. 9 and Figure 10 are please referred to, in one example, the first rotor 4231 includes the first rotation along the first rotor 4231
The third end 4237a and the 4th end 4237b of 4236 directional spreding of axis, third end 4237a are disposed opposite to each other with the 4th end 4237b, the
The third end 4237a of one rotor 4231 is close to the second face 454 of the first optical element 45, the 4th end of the first rotor 4231
4237b is close to the first face 453 of the first optical element 45.Notch includes the first side wall 4234 for being formed in the first rotor 4231
Undercut slots 4234a on inner surface, undercut slots 4234a are close to 451 side of first end of the first optical element 45, undercut slots
4234a is with respect to third end 4237a closer to the 4th end 4237b, and in other words, undercut slots 4234a is from third end 4237a towards the 4th end
The direction of 4237b extends.In another example, undercut slots 4234a and corner cut 455 are opposite, and undercut slots 4234a is in the first rotation
Drop shadow spread of drop shadow spread's covering corner cut 455 in the first rotary shaft 4236 on axis 4236.In another example, inscribe
The quantity of slot 4234a can multiple (are greater than or equal to two), the setting of the interval multiple undercut slots 4234a.It so, it is possible to avoid list
A biggish undercut slots 4234a of area causes large effect to the intensity of the first side wall 4234.
Fig. 9 and Figure 13 are please referred to, in one example, the first rotor 4231 includes the first rotation along the first rotor 4231
The third end 4237a and the 4th end 4237b of 4236 directional spreding of axis, third end 4237a are disposed opposite to each other with the 4th end 4237b, the
The third end 4237a of one rotor 4231 is close to the second face 454 of the first optical element 45, the 4th end of the first rotor 4231
4237b is close to the first face 453 of the first optical element 45.Notch includes the first side wall 4234 for being formed in the first rotor 4231
The groove 4234c at middle part (between outer surface and inner surface), i.e. groove 4234c are not through the inner surface of the first side wall 4234 and outer
Surface.Groove 4234c is more leaned on close to 451 side of first end of the first optical element 45, groove 4234c with respect to third end 4237a
Nearly 4th end 4237b, in other words, groove 4234c extend from third end 4237a towards the direction of the 4th end 4237b.In another example
In son, the quantity of groove 4234c can multiple (being greater than or equal to two), the setting of the interval multiple groove 4234c.It so, it is possible
The biggish groove 4234c of single area is avoided to cause large effect to the intensity of the first side wall 4234.
Fig. 9 and Figure 13 are please referred to, in one example, drop shadow spread of the groove 4234c in the first rotary shaft 4236 is covered
Drop shadow spread of the lid corner cut in the first rotary shaft 4236.In another example, groove 4234c is in the first rotary shaft 4236
Drop shadow spread of the covering undercut slots 4234a in the first rotary shaft 4236, drop shadow spread.In another example, groove
4234c covers corner cut and undercut slots 4234a in the first rotary shaft 4236 in the drop shadow spread in the first rotary shaft 4236
Drop shadow spread.
In one example, the first rotor 4231 includes 4236 directional spreding of the first rotary shaft along the first rotor 4231
Third end 4237a and the 4th end 4237b, third end 4237a are disposed opposite to each other with the 4th end 4237b, the third of the first rotor 4231
Hold 4237a close to the second face 454 of the first optical element 45, the 4th end 4237b of the first rotor 4231 is close to the first optics member
First face 453 of part 45.Notch includes the outer grooving being formed on the outer surface of the first side wall 4234 of the first rotor 4231
4234b, outer grooving 4234b are close to 451 side of first end of the first optical element 45, and outer grooving 4234b is with respect to the 4th end 4237b
Closer to third end 4237a, in other words, outer grooving 4234b extends from the 4th end 4237b towards the direction of third end 4237a.Another
In one example, the quantity of outer grooving 4234b can multiple (being greater than or equal to two), the multiple intervals outer grooving 4234b settings.
It so, it is possible that the biggish outer grooving 4234b of single area is avoided to cause large effect to the intensity of the first side wall 4234.
Figure 10, Figure 15 and Figure 16 are please referred to, in one example, the first rotor 4231 includes along the of the first rotor 4231
The third end 4237a and the 4th end 4237b of one rotary shaft, 4236 directional spreding, third end 4237a is opposite with the 4th end 4237b to be set
It setting, the third end 4237a of the first rotor 4231 is close to the second face 454 of the first optical element 45, and the 4th of the first rotor 4231 the
Hold 4237b close to the first face 453 of the first optical element 45.Along diameter on the outer surface of the first side wall 4234 of the first rotor 4231
To convex ribs 4238 are extended outward to form, convex ribs 4238 are arranged around the first side wall 4234 of the first rotor 4231,4238 phase of convex ribs
To third end 4237a closer to the 4th end 4237b.Notch includes the opening 4238a being provided on convex ribs 4238, and be open 4238a
Close to 451 side of first end of the first optical element 45.In another example, the quantity of 4238a of being open multiple (can be greater than
Or it is equal to two), the multiple interval opening 4238a settings.It so, it is possible to avoid the biggish opening 4238a of single area to convex ribs
4238 intensity causes large effect.
In one example, notch (corner cut 455, undercut slots 4234a, outer grooving 4234b, groove 4234c and opening
4238a) can be symmetrical about third secondary surface, third secondary surface is across the first rotary shaft 4236, first end and second end
Plane.
In this way, the setting of above-mentioned notch is caused when advantageously reducing the rotation of the first optical element 45 due in uneven thickness
Shaking, be conducive to entire the first rotor component 423 rotation when it is more steady.
Please referring to Figure 20, it will be understood that the position of above-mentioned notch is optical path without position, does not influence the propagation of light beam,
Optical element will not be reduced goes out light and receipts light efficiency.
When the dynamic balancing to improve scanning module 40 by the way of the weight for increasing scanning module 40, below some
Improving the dynamic balancing of scanning module 40 in such a way that the first rotor 4231 increases convex block 4232 in embodiment.
Fig. 9 and Figure 10 are please referred to, the position of the first rotor 4231 Yu convex block 4232 is explained below:
The first rotor component 423 further includes convex block 4232, and convex block 4232 is used to improve when the first rotor component 423 rotates
It is dynamic steady.Specifically, convex block 4232 is arranged on the first side wall 4234 of the first rotor 4231 and is located at the first containing cavities 4235
Interior, convex block 4232 extends from the first side wall 4234 to the center of the first containing cavities 4235, and convex block 4232 is to the first containing cavities 4235
The height that extends of center can be 0.1 lower than the predetermined ratio of the radial width of the first containing cavities 4235, predetermined ratio,
0.22,0.3,0.33 etc., the transmission optical path that is too many and influencing laser pulse of the first containing cavities 4235 is blocked to avoid convex block 4232.
Convex block 4232 can be fixedly connected with the first rotor 4231, to realize that convex block 4232 is synchronous with the first rotor 4231
Rotation.Convex block 4232 can be integrally formed with the first rotor 4231, such as be integrally formed by techniques such as injection moldings.Convex block 4232
It seperated with the first rotor 4231 can form, after convex block 4232 is separately formed with the first rotor 4231, then convex block 4232 is fixed
On the first side wall 4234 of the first rotor 4231, such as convex block 4232 is bonded on the first side wall 4234 by viscose glue, or
Convex block 4232 is fixed on the first side wall 4234 of the first rotor 4231 by fastener such as screw, wherein convex block 4232
The surface being bonded with the first side wall 4234 is curved surface.In the application embodiment, convex block 4232 is synchronous with the first magnetic yoke 4233a
Rotation, convex block 4232 are fixedly connected with the first magnetic yoke 4233a.
Figure 10 and Figure 11 are please referred to, in one example, when convex block 4232 is mounted in the first containing cavities 4235, convex block
4232 and first optical element 45 along the radial distribution of the first rotor 4231, the first end 451 of the first optical element 45 can at this time
To contact with the inner surface of the first side wall 4234, second end 452 and the first side wall 4234 form gap, and convex block 4232 protrudes between this
In gap.In this way, since second end 452 and convex block 4232 are located at the same side of the first rotary shaft 4236, and first end 451 and convex block
4232 are located at the opposite two sides of the first rotary shaft 4236, when the first optical element 45 and 423 common rotation of the first rotor component
When, the first optical element 45 and the unitary rotation that convex block 4232 is formed are steady, so that the first rotor component 423 be avoided to shake
It is dynamic, it is more steady in rotation to be conducive to entire the first rotor component 423.In another example, convex block 4232 and the first light
It learns element 45 to be spaced, the surface of the first optical element 45 of direction of convex block 4232 is plane.In another example, convex block 4232
Drop shadow spread of first optical element 45 in the first rotary shaft 4236 is covered in the drop shadow spread in the first rotary shaft 4236.
Figure 14 is please referred to, in one example, when convex block 4232 is mounted in the first containing cavities 4235, convex block 4232 and
One optical element 45 is set side by side along 4236 direction of the first rotary shaft of the first rotor 4231, at this time the of the first optical element 45
One end 451 and second end 452 can be contacted with the inner surface of the first side wall 4234, and convex block 4232 can be with the first optical element
45 are in contact so that convex block 4232 is close with the first optical element 45 as much as possible.Specifically, convex block 4232 is located at the first optics
Side where the first face 453 of element 45, convex block 4232 can be supported with the first face 453 of the first optical element 45.Pacifying
It when filling the first optical element 45, is supported when the first face 453 with convex block 4232, it may be considered that the first optical element 45 is received first
Receive chamber 4235 depth direction on be installed in place.More specifically, convex block 4232 includes convex block side wall 1232a, convex block side wall 1232a
It is supported with the first face 453.In another example, drop shadow spread covering of first optical element 45 in the first rotary shaft 4236
Drop shadow spread of the convex block 4232 in the first rotary shaft 4236.
In one example, when convex block 4232 is mounted in the first containing cavities 4235, convex block 4232 and the first optical element
45 are set side by side along 4236 direction of the first rotary shaft of the first rotor 4231, at this time 451 He of first end of the first optical element 45
Second end 452 can be contacted with the inner surface of the first side wall 4234, and convex block side wall 1232a can be in and the first rotary shaft 4236
Vertical tabular, convex block side wall 1232a can also be stepped, with simplify convex block 4232 and the first rotor 4231 one at
Process flow when type.Convex block side wall 1232a can also be tilted relative to the first rotary shaft 4236, i.e. convex block side wall 1232a with
First rotary shaft, 4236 out of plumb, in another example, the direction of the inclined direction of convex block side wall 1232a and the first face 453
Identical, convex block side wall 1232a is bonded with the first face 453, so that convex block side wall 1232a and the first face 453 are as close as possible to maximum
The counterweight effect of convex block 4232 is played to limit, reduces the height of convex block 4232, optical path is blocked to reduce convex block 4232.
In another example, drop shadow spread covering convex block 4232 of first optical element 45 in the first rotary shaft 4236 is in the first rotation
Drop shadow spread in shaft 4236.
In one example, convex block 4232 can play the role of counterweight, and convex block 4232 is synchronous with the first optical element 45
Torque when rotation, convex block 4232 and 452 common rotation of second end relative to the first rotary shaft 4236, equal to 451 turns of first end
Torque when dynamic relative to the first rotary shaft 4236, in other words, convex block 4232 turn with what is generated when 452 common rotation of second end
The torque that square generates when can rotate with the first end 451 of the first optical element 45 offsets, without will affect the first rotor
Stationarity when 4231 remaining position rotation.
In one example, convex block 4232 is symmetrical about third secondary surface, and third secondary surface is across the first rotary shaft
4236, the plane of first end 451 and second end 452.In another example, convex block 4232 can also be about the first secondary surface pair
Claim, wherein the first secondary surface is the plane at the center perpendicular to the first rotary shaft 4236 and across the first face 453.In this way, convex block
4232 preferably can preferably can carry out weight mix with the first optical element 45.
In one example, the density of convex block 4232 is greater than the density of the first rotor 4231, so that the setting of convex block 4232 exists
When in the first containing cavities 4235, under the identical quality of guarantee, i.e., identical counterweight effect, the volume of convex block 4232 be can be set
Must be smaller, to reduce influence of the convex block 4232 to the laser pulse by the first containing cavities 4235.In another example, convex block
4232 density can also be greater than the density of the first optical element 45, so that the volume of identical convex block 4232 can be designed as far as possible
It is small.
In this way, the setting of above-mentioned convex block 4232 advantageously reduce the first optical element 45 rotation when due in uneven thickness and
It is more steady in rotation to be conducive to entire the first rotor component 423 for caused shaking.
Figure 14 is please referred to, in one example, the first rotor 4231 includes the first rotary shaft along the first rotor 4231
The third end 4237a and the 4th end 4237b of 4236 directional spredings, third end 4237a are disposed opposite to each other with the 4th end 4237b, and first
The third end 4237a of rotor 4231 is close to the second face 454 of the first optical element 45, the 4th end 4237b of the first rotor 4231
Close to the first face 453 of the first optical element 45.The inner surface of the first side wall 4234 of the first rotor 4231 offers evacuation and falls
Angle 4230 avoids chamfering 4230 close to the side of third end 4237a.In this way, evacuation chamfering 4230 not only contributes to the first optics
Element 45 is easily mounted in the first containing cavities 4235, and also help increase the first optical element 45 receive it is reflected
The angle of laser pulse.
In one example, the first rotor 4231 includes 4236 directional spreding of the first rotary shaft along the first rotor 4231
Third end 4237a and the 4th end 4237b, third end 4237a are disposed opposite to each other with the 4th end 4237b, the third of the first rotor 4231
Hold 4237a close to the second face 454 of the first optical element 45, the 4th end 4237b of the first rotor 4231 is close to the first optics member
First face 453 of part 45.The first rotor 4231 further includes raised 4234d, and the first of the first rotor 4231 is arranged in raised 4234d
Side on the inner surface of side wall 4234 and close to third end 4237a, first end 451 are mounted on raised 4234d.
In one example, anti-reflection film is coated on the first optical element 45, what the thickness and light source of anti-reflection film were launched swashs
The wavelength of light pulse is equal, can reduce loss when the first optical element 45 that laser pulse passes through.
Referring to Fig. 10, the second optical element 46 is formed with opposite the first face 463 and in the application embodiment
Two faces 464.First face 463 of the second optical element 46 is towards the first face 453 of the first optical element 45, and the second optics is first
First face 463 of part 46 is tilted relative to the second rotary shaft 4337, i.e. the first face 463 and the angle of the second rotary shaft 4337 are not in
0 degree or 90 degree.Second face 464 of the second optical element 46 and the first face 453 of the first optical element 45 are opposite, and the second light
The second face 464 for learning element 46 is vertical with the second rotary shaft 4337, i.e., the angle of the second face 464 and the second rotary shaft 4337 is in 90
Degree, in other words, the second face 464 of the second optical element 46 and the second face 454 of the first optical element 45 are parallel.
It is appreciated that since the first face 463 of the second optical element 46 and the second face 464 are not parallel, the second optical element
46 it is in uneven thickness, i.e. the thickness of the second optical element 46 be not it is equal everywhere, there are the biggish position of thickness and thickness
Spend lesser position.In one example, the second optical element 46 include first end 461 and second end 462, first end 461 with
Second end 462 is located at the both ends in the radial direction of the second optical element 46.The thickness of second optical element 46 is along one
Direction is gradually increased.And the thickness of first end 461 is greater than the thickness of second end 462, and in other words, the second optical element 46 can be with
For wedge mirror (prism wedge).
Since the distribution of weight of wedge mirror itself is uneven, when high-speed rotation wedge mirror, entire scanning module may result in
40 be easy shake and it is not stable enough.In order to solve this technical problem, in some implementations of the embodiment of the present application, pass through increase
The mode of scanning module 40 and weight improves the dynamic balancing of scanning module 40.For example, can be by the second rotor 4331
Increase the mode of boss 4332 to improve the dynamic balancing of scanning module 40.
Referring to Fig. 10, in one example, the second rotor assembly 433 further includes boss 4332, the setting of boss 4332 exists
In the second sidewall 4335 of second rotor 4331 and it is located in the second containing cavities 4336, boss 4332 is for improving the second rotor set
It is dynamic steady when part 433 rotates.Specifically, boss 4332 extends from second sidewall 4335 to the center of the second containing cavities 4336,
The height that boss 4332 extends to the center of the second containing cavities 4336 can be pre- lower than the radial width of the second containing cavities 4336
Certainty ratio, predetermined ratio can be 0.1,0.22,0.3,0.33 etc., and it is too many to block the second containing cavities 4336 to avoid boss 4332
And influence the transmission optical path of laser pulse.
Boss 4332 can be fixedly connected with the second rotor 4331, to realize that boss 4332 is synchronous with the second rotor 4331
Rotation.Boss 4332 can be integrally formed with the second rotor 4331, such as be integrally formed by techniques such as injection moldings.Boss 4332
Can molding seperated with the second rotor 4331, after boss 4332 and the second rotor 4331 are separately formed, then by the fixation of boss 4332
In the second sidewall 4335 of the second rotor 4331, such as boss 4332 is bonded in second sidewall 4335 by viscose glue, or
Boss 4332 is fixed in the second sidewall 4335 of the second rotor 4331 by fastener such as screw, wherein boss 4332
The surface being bonded with second sidewall 4335 is curved surface.In the application embodiment, boss 4332 is synchronous with the second magnetic yoke 4333
Rotation, boss 4332 are fixedly connected with the second magnetic yoke 4333.
Referring to Fig. 10, in one example, when boss 4332 is mounted in the second containing cavities 4336, boss 4332 and
Two optical elements 46 are along the radial distribution of the second rotor 4331, and the first end 461 of the second optical element 46 can be with second at this time
The inner surface of side wall 4335 contacts, and second end 462 and second sidewall 4335 form gap, and boss 4332 protrudes into the gap.Such as
This, since second end 462 and boss 4332 are located at the same side of the second rotary shaft 4337, and first end 461 and boss 4332
In the opposite two sides of the second rotary shaft 4337, when the second optical element 46 and the second 433 common rotation of rotor assembly, second
Optical element 46 and the unitary rotation that boss 4332 is formed are steady, so that the second rotor assembly 433 be avoided to shake, are conducive to
Entire second rotor assembly 433 is more steady in rotation.In another example, between boss 4332 and the second optical element 46
Every the surface of the second optical element 46 of direction of boss 4332 is plane.In another example, boss 4332 is in the second rotation
Drop shadow spread on axis 4337 covers drop shadow spread of second optical element 46 in the second rotary shaft 4337.
Figure 14 is please referred to, in one example, when boss 4332 is mounted in the second containing cavities 4336, boss 4332 and
Two optical elements 46 are set side by side along 4337 direction of the second rotary shaft of the second rotor 4331, at this time the of the second optical element 46
One end 461 and second end 462 can be contacted with the inner surface of second sidewall 4335, and boss 4332 can be with the second optical element
46 are in contact so that boss 4332 is close with the second optical element 46 as much as possible.Specifically, boss 4332 is located at the second optics
Side where the first face 463 of element 46, boss 4332 can be supported with the first face 463 of the second optical element 46.Pacifying
It when filling the second optical element 46, is supported when the first face 463 with boss 4332, it may be considered that the second optical element 46 is received second
Receive chamber 4336 depth direction on be installed in place.More specifically, boss 4332 includes plateau sidewall 1332a, plateau sidewall 1332a
It is supported with the first face 463.In another example, drop shadow spread covering of second optical element 46 in the second rotary shaft 4337
Drop shadow spread of the boss 4332 in the second rotary shaft 4337.
Figure 14 is please referred to, in one example, when boss 4332 is mounted in the second containing cavities 4336, boss 4332 and
Two optical elements 46 are set side by side along 4337 direction of the second rotary shaft of the second rotor 4331, at this time the of the second optical element 46
One end 461 and second end 462 can be contacted with the inner surface of second sidewall 4335, and plateau sidewall 1332a can be in and second
The vertical tabular of rotary shaft 4337, plateau sidewall 1332a can also be stepped, to simplify boss 4332 and the second rotor
4331 process flow when being integrally formed.Plateau sidewall 1332a can also be tilted relative to the second rotary shaft 4337, i.e. boss
4337 out of plumb of side wall 1332a and the second rotary shaft, in another example, the inclined direction of plateau sidewall 1332a and first
The direction in face 463 is identical, and plateau sidewall 1332a is bonded with the first face 463, so that plateau sidewall 1332a and the first face 463 are as far as possible
It is close, to play the counterweight effect of boss 4332 to the maximum extent, reduce the height of boss 4332, so that it is right to reduce boss 4332
Optical path is blocked.In another example, drop shadow spread of second optical element 46 in the second rotary shaft 4337 covers boss
4332 drop shadow spread in the second rotary shaft 4337.
In one example, boss 4332 can play the role of counterweight, and boss 4332 is synchronous with the second optical element 46
Torque when rotation, boss 4332 and 462 common rotation of second end relative to the second rotary shaft 4337, equal to 461 turns of first end
Torque when dynamic relative to the second rotary shaft 4337, in other words, boss 4332 turn with what is generated when 462 common rotation of second end
The torque that square generates when can rotate with the first end 461 of the second optical element 46 offsets, without will affect the second rotor
Stationarity when 4331 remaining position rotation.
In one example, boss 4332 is symmetrical about third secondary surface, and third secondary surface is across the second rotary shaft
4337, the plane of first end 461 and second end 462.In another example, boss 4332 can also be about the first secondary surface pair
Claim, wherein the first secondary surface is the plane at the center perpendicular to the second rotary shaft 4337 and across the first face 463.In this way, boss
4332 preferably can preferably can carry out weight mix with the second optical element 46.
In one example, the density of boss 4332 is greater than the density of the second rotor 4331, so that the setting of boss 4332 exists
When in the second containing cavities 4336, under the identical quality of guarantee, i.e., identical counterweight effect, the volume of boss 4332 be can be set
Must be smaller, to reduce influence of the boss 4332 to the laser pulse by the second containing cavities 4336.In another example, boss
4332 density can also be greater than the density of the second optical element 46, so that the volume of identical boss 4332 can be designed as far as possible
It is small.
In this way, the setting of above-mentioned boss 4332 advantageously reduce the second optical element 46 rotation when due in uneven thickness and
It is more steady in rotation to be conducive to entire second rotor assembly 433 for caused shaking.
Referring to Fig. 10, in one example, anti-reflection film, the thickness and light source of anti-reflection film are coated on the second optical element 46
The wavelength for the laser pulse launched is equal, can reduce loss when the second optical element 46 that laser pulse passes through.
In one example, the size of the bore of the second optical element 46 is the size of the bore of the first optical element 45
50%-70%.For example, the difference of the caliber size of two optical elements (the first optical element 45 and the second optical element 46) can
Think 50%, the difference of the caliber size of two optical elements (the first optical element 45 and the second optical element 46) can be
60%.In this way, the caliber size of two optical elements (the first optical element 45 and the second optical element 46) is in range appropriate
Inside be conducive to the propagation of light.
Referring to Fig. 10, third optical element 47 is formed with opposite the first face 473 and in the application embodiment
Two faces 474.First face 473 of third optical element 47 and the second face 464 of the second optical element 46 are opposite, and third optics
First face 473 of element 47 is tilted relative to third rotary shaft 4437, i.e. the angle of the first face 473 and third rotary shaft 4437 is not
In 0 degree or 90 degree.Second face 474 of third optical element 47 and the second face 464 of the second optical element 46 are opposite, and third
Second face 474 of optical element 47 is vertical with third rotary shaft 4437, i.e. the second face 474 and the angle of third rotary shaft 4437 are in
90 degree, in other words, the second face 474 of third optical element 47 and the second face 464 of the second optical element 46 are parallel, in other words,
Second face in the second face 474 of third optical element 47, the second face 464 of the second optical element 46 and the first optical element 45
454 threes are parallel to each other.
It is appreciated that since the first face 473 of third optical element 47 and the second face 474 are not parallel, third optical element
47 it is in uneven thickness, i.e. the thickness of third optical element 47 be not it is equal everywhere, there are the biggish position of thickness and thickness
Spend lesser position.In one example, third optical element 47 include first end 471 and second end 472, first end 471 with
Second end 472 is located at the both ends in the radial direction of third optical element 47.The thickness of third optical element 47 is along one
Direction is gradually increased.And the thickness of first end 471 is greater than the thickness of second end 472, and in other words, third optical element 47 can be with
For wedge mirror (prism wedge).
Since the distribution of weight of wedge mirror itself is uneven, when high-speed rotation wedge mirror, entire scanning module may result in
40 be easy shake and it is not stable enough.In order to solve this technical problem, in some implementations of the embodiment of the present application, pass through increase
The mode of scanning module 40 and weight improves the dynamic balancing of scanning module 40.For example, can be by the second rotor 4331
Increase the mode of boss 4332 to improve the dynamic balancing of scanning module 40.
When the dynamic balancing to improve scanning module 40 by the way of the weight for increasing scanning module 40, can by
Increase the mode of boss 4432 in third trochanter 4431 to improve the dynamic balancing of scanning module 40.
Referring to Fig. 10, in one example, third trochanter component 443 further includes boss 4432, the setting of boss 4432 exists
On the third side wall 4435 of third trochanter 4431 and it is located in third containing cavities 4436, boss 4432 is for improving third trochanter group
It is dynamic steady when part 443 rotates.Specifically, boss 4432 extends from third side wall 4435 to the center of third containing cavities 4436,
The height that boss 4432 extends to the center of third containing cavities 4436 can be pre- lower than the radial width of third containing cavities 4436
Certainty ratio, predetermined ratio can be 0.1,0.22,0.3,0.33 etc., and it is too many to block third containing cavities 4436 to avoid boss 4432
And influence the transmission optical path of laser pulse.
Boss 4432 can be fixedly connected with third trochanter 4431, to realize that boss 4432 is synchronous with third trochanter 4431
Rotation.Boss 4432 can be integrally formed with third trochanter 4431, such as be integrally formed by techniques such as injection moldings.Boss 4432
It seperated with third trochanter 4431 can form, after boss 4432 is separately formed with third trochanter 4431, then boss 4432 is fixed
On the third side wall 4435 of third trochanter 4431, such as boss 4432 is bonded on third side wall 4435 by viscose glue, or
Boss 4432 is fixed on the third side wall 4435 of third trochanter 4431 by fastener such as screw, wherein boss 4432
The surface being bonded with third side wall 4435 is curved surface.In the application embodiment, boss 4432 is synchronous with third magnetic yoke 4433
Rotation, boss 4432 are fixedly connected with third magnetic yoke 4433.
Referring to Fig. 10, in one example, when boss 4432 is mounted in third containing cavities 4436, boss 4432 and
Three optical elements 47 are along the radial distribution of third trochanter 4431, and the first end 471 of third optical element 47 can be with third at this time
The inner surface of side wall 4435 contacts, and second end 472 and third side wall 4435 form gap, and boss 4432 protrudes into the gap.Such as
This, since second end 472 and boss 4432 are located at the same side of third rotary shaft 4437, and first end 471 and boss 4432
In the opposite two sides of third rotary shaft 4437, when third optical element 47 and 443 common rotation of third trochanter component, third
Optical element 47 and the unitary rotation that boss 4432 is formed are steady, so that third trochanter component 443 be avoided to shake, are conducive to
Entire third trochanter component 443 is more steady in rotation.In another example, between boss 4432 and third optical element 47
Every the surface towards third optical element 47 of boss 4432 is plane.In another example, boss 4432 is rotated in third
Drop shadow spread of drop shadow spread's covering third optical element 47 in third rotary shaft 4437 on axis 4437.
Figure 14 is please referred to, in one example, when boss 4432 is mounted in third containing cavities 4436, boss 4432 and
Three optical elements 47 are set side by side along 4437 direction of third rotary shaft of third trochanter 4431, at this time the of third optical element 47
One end 471 and second end 472 can be contacted with the inner surface of third side wall 4435, and boss 4432 can be with third optical element
47 are in contact so that boss 4432 is close with third optical element 47 as much as possible.Specifically, boss 4432 is located at third optics
Side where the first face 473 of element 47, boss 4432 can be supported with the first face 473 of third optical element 47.Pacifying
It when filling third optical element 47, is supported when the first face 473 with boss 4432, it may be considered that third optical element 47 is received in third
Receive chamber 4436 depth direction on be installed in place.More specifically, boss 4432 includes plateau sidewall 1432a, plateau sidewall 1432a
It is supported with the first face 473.In another example, drop shadow spread covering of the third optical element 47 in third rotary shaft 4437
Drop shadow spread of the boss 4432 in third rotary shaft 4437.
Figure 14 is please referred to, in one example, when boss 4432 is mounted in third containing cavities 4436, boss 4432 and
Three optical elements 47 are set side by side along 4437 direction of third rotary shaft of third trochanter 4431, at this time the of third optical element 47
One end 471 and second end 472 can be contacted with the inner surface of third side wall 4435, and plateau sidewall 1432a can be in and third
The vertical tabular of rotary shaft 4437, plateau sidewall 1432a can also be stepped, to simplify boss 4432 and third trochanter
4431 process flow when being integrally formed.Plateau sidewall 1432a can also be tilted relative to third rotary shaft 4437, i.e. boss
Side wall 1432a and 4437 out of plumb of third rotary shaft, in another example, the inclined direction of plateau sidewall 1432a and first
The direction in face 473 is identical, and plateau sidewall 1432a is bonded with the first face 473, so that plateau sidewall 1432a and the first face 473 are as far as possible
It is close, to play the counterweight effect of boss 4432 to the maximum extent, reduce the height of boss 4432, so that it is right to reduce boss 4432
Optical path is blocked.In another example, drop shadow spread of the third optical element 47 in third rotary shaft 4437 covers boss
4432 drop shadow spread in third rotary shaft 4437.
Figure 14 is please referred to, in one example, boss 4432 can play the role of counterweight, boss 4432 and third optics
Element 47 rotates synchronously, boss 4432 and torque when 472 common rotation of second end relative to third rotary shaft 4437, is equal to the
Torque when one end 471 rotates relative to third rotary shaft 4437, in other words, boss 4432 and 472 common rotation of second end
When the torque that generates when can be rotated with the first end 471 of third optical element 47 of the torque that generates offset, without shadow
Ring stationarity when remaining position rotation of third trochanter 4431.
In one example, boss 4432 is symmetrical about third secondary surface, and third secondary surface is across third rotary shaft
4437, the plane of first end 471 and second end 472.In another example, boss 4432 can also be about the first secondary surface pair
Claim, wherein the first secondary surface is the plane at the center perpendicular to third rotary shaft 4437 and across the first face 473.In this way, boss
4432 preferably can preferably can carry out weight mix with third optical element 47.
Figure 14 is please referred to, in one example, the density of boss 4432 is greater than the density of third trochanter 4431, so that boss
When 4432 settings are in third containing cavities 4436, under the identical quality of guarantee, i.e., identical counterweight effect, the body of boss 4432
Product can be set smaller, to reduce influence of the boss 4432 to the laser pulse by third containing cavities 4436.At another
In example, the density of boss 4432 can also be greater than the density of third optical element 47, so that the volume of identical boss 4432 can
To be designed small as far as possible.
In this way, the setting of above-mentioned boss 4432 advantageously reduce third optical element 47 rotate when due in uneven thickness and
It is more steady in rotation to be conducive to entire third trochanter component 443 for caused shaking.
In one example, anti-reflection film is coated on third optical element 47, what the thickness and light source of anti-reflection film were launched swashs
The wavelength of light pulse is equal, can reduce the loss when third optical element 47 that laser pulse passes through.
In one example, the caliber size of two optical elements (the second optical element 46 and third optical element 47)
Difference is less than or equal to the 10% of respective caliber size, for example, two optical elements (the second optical element 46 and third optics members
Part 47) caliber size can be identical, the bore of two optical elements (the second optical element 46 and third optical element 47) is big
Small difference can be equal to the caliber size of one of optical element (the second optical element 46 or third optical element 47)
10%.
Incorporated by reference to Fig. 9 and Figure 10, in one example, scanning module 40 does not include third driver 44 and third optics member
Part 47, but including multiple second rotor assembly 433, multiple second stator modules 431 and multiple second optical elements 46.Each
Second optical element 46 is mounted on corresponding second rotor assembly 433, and each second stator module 431 is for driving pair
Second rotor assembly 433 answered drives the rotation of the second optical element 46.Each second rotor assembly 433, each second are determined
Sub-component 431 and each second optical element 46 can be fixed for the second rotor assembly 433, second in any of the above-described embodiment
Sub-component 431 and the second optical element 46, no longer specifically describe herein.Wherein, herein " multiple " refer both at least two or
It is more than two.Laser beam, can also be by another the second optical element 46 after second optical element 46 changes direction
Change direction again, to increase the whole ability for changing direction of laser propagation of scanning module 40, to scan biggish space model
It encloses, and it is possible to by rotation direction and/or velocity of rotation that the second different rotor assembly 433 is arranged, so that laser beam
Scan scheduled scanning shape.In addition, each second rotor assembly 433 includes boss (1332/1432), each boss
(1332/1432) it is fixed in the second sidewall 4335 of corresponding second rotor assembly 433, for improving the second rotor assembly
Dynamic balancing when 433 rotation.
Second rotary shaft 4337 of multiple second rotor assembly 433 can be identical, and multiple second optical elements 46 are around this
Identical second rotary shaft 4337 rotates；Second rotary shaft 4337 of multiple second rotor assembly 433 can not also be identical, multiple
Second optical element 46 is rotated around the second different rotary shafts 4337.In another example, multiple second optical elements 46 are gone back
It can vibrate or vibrate in different directions in same direction, herein with no restrictions.
Multiple second rotor assembly 433 can be with different velocities of rotation relative to 431 turns of corresponding second stator module
It is dynamic, to drive multiple second optical elements 46 to rotate with different velocities of rotation；Multiple second rotor assembly 433 can also be with not
With rotation direction rotated relative to corresponding second stator module 431, to drive multiple second optical elements 46 with different
Rotation direction rotation；Multiple second rotor assembly 433 can be identical and contrary with size speed rotation.For example, at least one
A second rotor assembly 433 is rotated forward relative to the second stator module 431, and at least one second rotor assembly 433 is relative to
The reversion of two stator modules 431；At least one second rotor assembly 433 is rotated with First Speed relative to the second stator module 431,
And at least one second rotor assembly 433 is rotated with second speed relative to the second stator module 431, First Speed and the second speed
Degree can be the same or different.
In one example, the quantity of the second rotor assembly 433, the second stator module 431 and the second optical element 46 is equal
It is two.Two the second rotor assembly 433 rotate coaxially, and two the second rotor assembly 433 and the first rotor component 423 are equal
It rotates coaxially.First face 463 of one of them the second optical element 46 towards the first rotor 4231 the 4th end 4237b and with
First face 453 of one optical element 45 is opposite, the second face 454 of second optical element 46 towards another optical element the
Two faces 454.
Figure 28 is please referred to, the application embodiment also provides a kind of mobile platform 1000, and mobile platform 1000 includes movement
Platform body 200 and the range unit of any of the above-described embodiment 100.Mobile platform 1000 can be unmanned vehicle, nobody
The mobile platforms such as vehicle, unmanned boat.One mobile platform 1000 can be configured with one or more range units 100.Range unit
100 can be used for detecting the environment around mobile platform 1000, in order to which mobile platform 1000 is according further to the environment of surrounding
Carry out the operations such as avoidance, track selection.
In the description of this specification, reference term " certain embodiments ", " embodiment ", " some embodiment party
The description of formula ", " exemplary embodiment ", " example ", " specific example " or " some examples " etc. means in conjunction with the embodiment party
Formula or example particular features, structures, materials, or characteristics described are contained at least one embodiment or example of the application
In.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover,
Particular features, structures, materials, or characteristics described can be in any one or more embodiments or example with suitable
Mode combine.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one described feature.In the description of the present application, the meaning of " plurality " is at least two, such as two,
Three etc., unless otherwise specifically defined.
Although presently filed embodiment has been shown and described above, it is to be understood that above embodiment is
Illustratively, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be right
Above embodiment is changed, modifies, replacement and variant, and scope of the present application is defined by the claims and their equivalents.
Claims (36)
1. a kind of range unit characterized by comprising
Pedestal；
Two brackets, two brackets are each attached on the pedestal；
Ranging mould group, for emitting light pulse；
Scanning module is emitted after the transmission direction for changing the light pulse, between the scanning module and the ranging mould group
Every setting, the scanning module includes scanning shell, and two brackets are located at the opposite two sides of the scanning shell；And
Multiple flexible connection components, each bracket are connected by at least two flexible connection components and the scanning shell
It connects, the scanning module and the pedestal are separately.
2. range unit according to claim 1, which is characterized in that the bracket includes that the first engaging portion and second combine
Portion, first binding site is in the side far from the pedestal of the bracket, and second binding site is in the bracket
Close to the pedestal side；At least two flexible connection components include that the first flexible connection component and the second flexibility connect
Connected components, the first flexible connection component connect first engaging portion and the scanning shell, second flexible connection
Component connects second engaging portion and the scanning shell.
3. range unit according to claim 2, which is characterized in that the bracket includes multiple fixed parts, multiple described
Fixed part is in conjunction with the pedestal with the bracket is fixed on the base.
4. range unit according to claim 3, which is characterized in that the fixed part is rigidly connected with the pedestal.
5. range unit according to claim 3, which is characterized in that second binding site is in two fixed parts
Between.
6. range unit according to claim 5, which is characterized in that the center of the fixed part, first engaging portion
Center and second engaging portion center in the same plane.
7. range unit according to claim 1, which is characterized in that the scanning shell include the first support to connect and
Second support, the corresponding opposite two sides protrusion of relatively described second support in the opposite two sides of first support is to form two peaces
Space is filled, two brackets are separately mounted in two installation spaces.
8. range unit according to claim 7, which is characterized in that the range unit further include the first optical element and
Second optical element, first optical element are mounted in first support, and second optical element is mounted on described
In second support, the bore of first optical element is greater than the bore of second optical element.
9. range unit according to claim 8, which is characterized in that the scanning module further includes the first driver and
Two drivers, first driver are mounted in first support, and first optical element is mounted on described first and drives
In dynamic device, first driver is for driving first optical element motion；Second driver is mounted on described
In two supports, second optical element is mounted in second driver, and second driver is for driving described the
Two optical element motions.
10. range unit according to claim 1, which is characterized in that the scanning shell includes first successively to connect
Opposite two sides and the institute of second support are compared in support, the second support and third support, the opposite two sides of first support
It states the corresponding opposite two sides of third support to protrude to form two installation spaces, two brackets are separately mounted to two institutes
It states in installation space.
11. range unit according to claim 10, which is characterized in that the opposite two sides of the third support are without departing from institute
State the corresponding opposite two sides of the second support；Or
The opposite two sides of the third support exceed the corresponding opposite two sides of second support.
12. range unit according to claim 10, which is characterized in that the range unit further includes the first optics member
Part, the second optical element and third optical element, the scanning module further include that the first driver, the second driver and third are driven
Dynamic device, first driver are mounted in first support, and first optical element is mounted on first driver
Interior, first driver is for driving first optical element motion；Second driver is mounted on described second
In seat, second optical element is mounted in second driver, and second driver is for driving second light
Learn element movement；The third driver is mounted in the third support, and the third optical element is mounted on the third
In driver, the third driver is for driving the third optical element motion.
13. range unit according to claim 12, which is characterized in that the bore of first optical element is greater than described
The bore of second optical element；The bore of second optical element is identical as the bore of the third optical element.
14. according to range unit described in claim 7 to 11 any one, which is characterized in that the scanning shell includes the
One mounting portion and the second mounting portion, first installation position are described in one end far from the pedestal of first support
Second installation position is in one end close to the pedestal of second support；At least two flexible connection components include the
One flexible connection component and the second flexible connection component, the first flexible connection component connect the bracket and first peace
Dress portion, the second flexible connection component connect the bracket and second mounting portion.
15. according to range unit described in claim 7 to 11 any one, which is characterized in that first support includes the
One support body, the top surface of first support body offer support mounting groove, at least two flexible connection component packets
Include the first flexible connection component, the first flexible connection component be housed in the support mounting groove and connect the bracket and
First support body.
16. range unit according to claim 15, which is characterized in that second support include the second support body and
Protrusion, the protrusion are extended outward to form from second support body close to the pedestal side, at least two institutes
Stating flexible connection component further includes the second flexible connection component, and the second flexible connection component connects the bracket and described convex
Portion out.
17. according to range unit described in claim 7 to 11 any one, which is characterized in that the bracket includes successively connecting
Fixed arm, linking arm and the combination arm connect, the fixed arm are fixed on the base and are housed in the installation space, institute
State the side far from the pedestal that combination arm is located at first support；At least two flexible connection components include first
It is flexibly connected component and the second flexible connection component, the first flexible connection component connects the combination arm and described first
Seat, the second flexible connection component connect the fixed arm and second support.
18. range unit according to claim 17, which is characterized in that the fixed arm includes the first fixed part, second
Fixed part and the second engaging portion, first fixed part and second fixed position are in the opposite end of the fixed arm and equal
It is fixed that second binding site is between first fixed part and second fixed part on the base, and described the
Two flexible connection components connect second engaging portion and second support.
19. range unit according to claim 17, which is characterized in that the bracket further includes the first reinforcement arm, described
One end of first reinforcement arm connects one end far from the linking arm of the fixed arm, and the other end of first reinforcement arm connects
Connect one end far from the fixed arm of the linking arm；Or
The bracket further includes the first reinforcement arm, and one end of first reinforcement arm connects the separate connection of the fixed arm
The other end of one end of arm, first reinforcement arm is connected between the opposite both ends of the linking arm.
20. range unit according to claim 19, which is characterized in that the bracket further includes the second reinforcement arm, described
Second reinforcement arm connects first reinforcement arm and the linking arm, second reinforcement arm are located at first reinforcement arm, institute
It states in the space that fixed arm and the linking arm are surrounded.
21. range unit according to claim 1, which is characterized in that the scanning shell includes the first support to connect
And second support, the bracket includes sequentially connected fixed arm, linking arm and combination arm, and the fixed arm is fixed on the bottom
On seat and positioned at the same side of first support and second support；At least two flexible connection components include first
It is flexibly connected component and the second flexible connection component, the first flexible connection component connects the combination arm and described first
Seat, the second flexible connection component connect the fixed arm and second support.
22. range unit according to claim 21, which is characterized in that the fixed arm includes the first fixed part, second
Fixed part and the second engaging portion, first fixed part and second fixed position are in the opposite both ends of the fixed arm and equal
It fixes on the base, first fixed position is in the side of first support, and second fixed position is in described
The side of second support, second binding site is between first fixed part and second fixed part, and described second
It is flexibly connected component and connects second engaging portion and second support.
23. range unit according to claim 21, which is characterized in that the bracket further includes the first reinforcement arm, described
One end of first reinforcement arm connects one end far from the linking arm of the fixed arm, and the other end of first reinforcement arm connects
Connect one end far from the fixed arm of the linking arm；Or
The bracket further includes the first reinforcement arm, and one end of first reinforcement arm connects the separate connection of the fixed arm
The other end of one end of arm, first reinforcement arm is connected between the opposite both ends of the linking arm.
24. range unit according to claim 23, which is characterized in that the bracket further includes the second reinforcement arm, described
Second reinforcement arm connects first reinforcement arm and the linking arm, second reinforcement arm are located at first reinforcement arm, institute
It states in the space that fixed arm and the linking arm are surrounded.
25. range unit according to claim 1, which is characterized in that the flexible connection component includes flexible connecting member
And fastener, the scanning shell are connected with the bracket by the flexible connecting member and the fastener.
26. range unit according to claim 25, which is characterized in that the flexible connecting member includes first flexible
Support part, interconnecting piece flexible and the second support portion flexible, first support portion and second support portion are connected to
The opposite end of the interconnecting piece, the flexible connecting member are offered through first support portion, the interconnecting piece and described
The through hole of second support portion；
The scanning shell offers shell bores, and the interconnecting piece is threaded through in the shell bores, and described first
Support part and second support portion are located at the opposite two sides of the scanning shell, and the fastener passes through the through hole simultaneously
In conjunction with the bracket；And/or
Rack mounting apertures are offered on the bracket, the interconnecting piece is threaded through in the rack mounting apertures, first support
Portion and second support portion are located at the opposite two sides of the bracket, the fastener pass through the through hole and with it is described
Shell is scanned to combine.
27. range unit according to claim 26, which is characterized in that the flexible connecting member runs through described in process
The section that the face of the axis in hole is intercepted is in the shape of an " I ".
28. range unit according to claim 26, which is characterized in that the flexible connecting member further includes spacing block set,
The spacing block set is protruded from first support portion.
29. range unit according to claim 1, which is characterized in that each bracket is described soft by least two
Property connection component connect and is formed multiple tie points, the projection of multiple tie points on the base with the scanning shell
Form a secondary surface, the center of gravity of the scanning shell is located at the center of the secondary surface, scans ipsilateral more of shell positioned at described
A tie point includes two tie points being diagonally arranged, and two be diagonally arranged the tie point forms a connecting line, institute
The distance for stating midpoint to the pedestal of connecting line is identical at a distance from the center of gravity to the pedestal.
30. range unit according to claim 29, which is characterized in that each bracket is connected by two flexibilities
Connected components connect with the scanning shell and are formed two tie points, the projection of four tie points on the base
The secondary surface is formed, two tie points ipsilateral positioned at the scanning shell are diagonally arranged and form the connecting line.
31. range unit according to claim 30, which is characterized in that at least two flexible connection components include the
One flexible connection component and the second flexible connection component, the first flexible connection component and the second flexible connection component
The line of centres forms the connecting line.
32. range unit according to claim 29, which is characterized in that each bracket is connected by four flexibilities
Connected components connect with the scanning shell and are formed four tie points, the projection of eight tie points on the base
The secondary surface is formed, relative angle is arranged four tie points ipsilateral positioned at the scanning shell two-by-two, and two diagonally set
The tie point set forms the first connecting line, other two described tie point being diagonally arranged forms the second connecting line, described
The distance of the midpoint of first connecting line to the pedestal is identical at a distance from the center of gravity to the pedestal, second connecting line
Midpoint to the pedestal distance it is identical at a distance from the center of gravity to the pedestal.
33. range unit according to claim 32, which is characterized in that four connections that each bracket is formed
Point includes the first tie point, the second tie point, third tie point and the 4th tie point, and first tie point and the third connect
Contact is located at the side far from the pedestal of the bracket, and second tie point and the third tie point are located at the branch
The side close to the pedestal of frame, the 4th tie point second tie point closer to first tie point, according to
It is secondary to connect first tie point, the third tie point, second tie point, the 4th tie point and first company
It is rectangle or parallelogram that contact, which is formed by shape,.
34. range unit according to claim 1, which is characterized in that detected the laser pulse that object is reflected back and pass through institute
It is incident to the ranging mould group after stating scanning module, the ranging mould group is used to determine the spy according to the laser pulse being reflected back
Survey the distance between object and the range unit.
35. range unit according to claim 1, which is characterized in that the ranging mould group is rigidly fixed in the pedestal
On.
36. a kind of mobile platform, which is characterized in that the mobile platform includes:
Mobile platform ontology；And
Range unit described in 5 any one of claims 1 to 3, the range unit are mounted on the mobile platform ontology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920037169.2U CN209485276U (en) | 2019-01-09 | 2019-01-09 | Range unit and mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920037169.2U CN209485276U (en) | 2019-01-09 | 2019-01-09 | Range unit and mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209485276U true CN209485276U (en) | 2019-10-11 |
Family
ID=68130553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920037169.2U Expired - Fee Related CN209485276U (en) | 2019-01-09 | 2019-01-09 | Range unit and mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209485276U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111670337A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| CN112161585A (en) * | 2020-09-15 | 2021-01-01 | 上海远葆工业设计有限公司 | General type high accuracy 3D laser scanning module of light source |
| WO2022000164A1 (en) * | 2020-06-29 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Distance detection device and mobile platform |
| WO2023044915A1 (en) * | 2021-09-27 | 2023-03-30 | 深圳市大疆创新科技有限公司 | Distance-measuring device and movable platform with same |
-
2019
- 2019-01-09 CN CN201920037169.2U patent/CN209485276U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111670337A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| CN111670337B (en) * | 2019-01-09 | 2022-06-28 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| WO2022000164A1 (en) * | 2020-06-29 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Distance detection device and mobile platform |
| CN114127508A (en) * | 2020-06-29 | 2022-03-01 | 深圳市大疆创新科技有限公司 | Distance detection device and movable platform |
| CN112161585A (en) * | 2020-09-15 | 2021-01-01 | 上海远葆工业设计有限公司 | General type high accuracy 3D laser scanning module of light source |
| WO2023044915A1 (en) * | 2021-09-27 | 2023-03-30 | 深圳市大疆创新科技有限公司 | Distance-measuring device and movable platform with same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209485276U (en) | Range unit and mobile platform | |
| CN109597050B (en) | Laser radar | |
| CN109613515B (en) | Laser radar system | |
| US20210215825A1 (en) | Distance detection device | |
| Sandner et al. | Large aperture MEMS scanner module for 3D distance measurement | |
| JP7087415B2 (en) | Rider device | |
| WO2020114229A1 (en) | Laser radar optical system and scanning method | |
| JP2022511542A (en) | Laser measuring device and unmanned aerial vehicle | |
| CN209728159U (en) | Scanning module, range unit and mobile platform | |
| US20210041560A1 (en) | Distance detection apparatuses | |
| CN115639565A (en) | Laser radar system | |
| CN209878990U (en) | Scanning module, distance measuring device and mobile platform | |
| CN113075680A (en) | Laser radar and method for manufacturing laser radar | |
| WO2020142965A1 (en) | Scanning module, distance measurement device, and movable platform | |
| US20230028159A1 (en) | Lidar, and detection method and manufacturing method for lidar | |
| TW201823674A (en) | Laser distance measuring device | |
| US20210333393A1 (en) | Scanning module, distance measuring device and mobile platform | |
| CN111279212B (en) | Scanning module, range unit and mobile platform | |
| CN111670337B (en) | Distance measuring device and mobile platform | |
| CN112119343B (en) | Scanning module and distance measuring device | |
| JP7035558B2 (en) | Rider device | |
| US20230341677A1 (en) | Optical assembly for scanning lidar system | |
| CN209979838U (en) | Multi-line laser radar | |
| CN108254735A (en) | Laser ranging system | |
| WO2021138752A1 (en) | Scanning module, distance measurement device, and mobile platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191011 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |