CN209728159U

CN209728159U - Scanning module, range unit and mobile platform

Info

Publication number: CN209728159U
Application number: CN201920038419.4U
Authority: CN
Inventors: 王昊
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2019-01-09
Filing date: 2019-01-09
Publication date: 2019-12-03
Anticipated expiration: 2029-01-09

Abstract

This application discloses a kind of scanning modules.Scanning module includes scanning shell, the first driver, the second driver, the first optical element and the second optical element, and scanning shell includes the first support and the second support.The first locating piece is formed on first support, the first driver is formed with the first containing cavities, and the first optical element is mounted in the first containing cavities, and the first driver is mounted on the first support and the first optical element is driven to rotate around the first rotary shaft.The second locating piece is formed on second support, the second driver is formed with the second containing cavities, and the second optical element is mounted in the second containing cavities, and the second driver is mounted on the second support and the second optical element is driven to rotate around the second rotary shaft.First support connects with the second support, and the first locating piece and the second locating piece cooperate, so that the first rotary shaft and the second rotary shaft are with preset distance parallel interval.Disclosed herein as well is a kind of range unit and mobile platforms.

Description

Scanning module, range unit and mobile platform

Technical field

This application involves laser ranging technique field, in particular to a kind of scanning module, range unit and mobile platform.

Background technique

Laser radar generally includes multiple motors and multiple prisms, and prism is mounted in motor and is driven by a motor rotation, Laser can change the direction of propagation after prism, further, rotate any one prism and can change the propagation side of laser To however, needing to cooperate between multiple prisms so that laser is propagated to desired direction, it is difficult to position between multiple prisms Relative position, cause the range accuracy of laser radar to decline.

Utility model content

The application embodiment provides a kind of scanning module, range unit and mobile platform.

The scanning module of the application embodiment includes scanning shell, the first driver, the second driver, the first optics member Part and the second optical element, the scanning shell include the first support and the second support.First is formed on first support Locating piece, first driver are formed with the first containing cavities, and first optical element is mounted in first containing cavities, First driver is mounted on first support and first optical element is driven to rotate around the first rotary shaft.It is described The second locating piece is formed on second support, second driver is formed with the second containing cavities, the second optical element peace In second containing cavities, second driver is mounted on second support and drives second optical element It is rotated around the second rotary shaft, second optical element and first optical element are arranged side by side, second optical element It is different from the revolving speed of first optical element and/or steering.First support connects with second support, and described first Locating piece and second locating piece cooperate so that first rotary shaft and second rotary shaft with preset distance it is parallel between Every.

In some embodiments, first rotary shaft and the second rotation overlapping of axles.

In some embodiments, first locating piece includes locating slot, and second locating piece includes positioning projection, The positioning projection protrudes into the locating slot to cooperate.

In some embodiments, the inner wall of the locating slot in a ring or annular a part, the positioning projection packet The locator protrusion at multiple intervals is included, the outer wall group of multiple locator protrusions circularizes or a part of annular, Duo Gesuo The outer wall for stating locator protrusion supports the inner wall of the locating slot.

In some embodiments, the scanning shell further includes third support, and institute's scanning module further includes third Driver and third optical element, the third driver are formed with third containing cavities, and the third optical element is mounted on institute It states in third containing cavities, the third driver is mounted on the third support and drives the third optical element around third Rotary shaft rotation.

In some embodiments, second support is described between first support and the third support Second locating piece is formed in one end of second support, and the other end of second support is formed with third locating piece, described The 4th locating piece is formed on third support, the third locating piece and the 4th locating piece cooperate, so that second rotation Shaft and the third rotary shaft are with preset distance parallel interval.

In some embodiments, second rotary shaft and the third rotate overlapping of axles.

In some embodiments, the third locating piece includes positioning groove, and the 4th locating piece includes convex It rises, the positioning protrusion protrudes into the positioning groove to cooperate.

In some embodiments, the inner wall of the positioning groove in a ring or annular a part, the positioning protrusion Locator protrusion including multiple intervals, the outer wall of multiple locator protrusions in a ring or annular a part, Duo Gesuo The outer wall for stating locator protrusion supports the inner wall of the positioning groove.

In some embodiments, first optical element and second optical element are photorefractive element, institute The bore for stating the first optical element is greater than the bore of second optical element.

In some embodiments, the distance between first optical element and second optical element are less than institute State the distance between the second optical element and the third optical element.

In some embodiments, first driver includes the first rotor, and the first rotor forms described first Containing cavities, second driver include the second rotor, and second rotor protrudes into first containing cavities.

In some embodiments, second optical element is extending at least partially into first containing cavities.

In some embodiments, first support includes the first support body and support ring, the first support sheet Body forms the first accommodating chamber, and the support ring extends from the inner wall of first support body to first accommodating chamber.

In some embodiments, first driver is mounted in first accommodating chamber, first driver Including the first stator module, the first positioning component and the first rotor component, the first rotor component can be fixed described first It is rotated relative to first stator module around first rotary shaft under the restriction effect of hyte part, first stator module With first positioning component two sides that be separately mounted to the support ring opposite.

In some embodiments, first driver includes the first rotor, and the inner wall of the first rotor forms the One containing cavities, the first rotor include the outer end far from second driver, and the outer end is interior with the first rotor The intersection of wall is formed with evacuation chamfering.

In some embodiments, it is described evacuation chamfering angle be (0,40] degree.

In some embodiments, second driver includes the second rotor assembly, and second rotor assembly includes Second rotor and boss, second rotor form second containing cavities, in the boss setting is bitrochanteric described the On wall and it is located in second containing cavities；

Second optical element includes first end and second end, the first end of second optical element and described second The second end of optical element is located at the both ends in the radial direction of second optical element, second optical element The thickness of first end be greater than second optical element second end thickness, the second end of second optical element with it is described Boss is opposite and is located at the same side of the bitrochanteric rotary shaft, and the first end of second optical element with it is described convex Platform is located at the opposite two sides of second rotary shaft.

In some embodiments, second optical element and the boss interval are arranged.

The range unit of the application embodiment includes scanning module described in any of the above-described embodiment and ranging mould group, The ranging mould group be used for the scanning module emit light pulse, the scanning module for changing the light pulse transmission It is emitted behind direction, the light pulse being reflected back through detection object is incident to the ranging mould group, the survey after the scanning module It is used to determine the distance between the detection object and the range unit according to the light pulse being reflected back away from mould group.

In some embodiments, the ranging mould group includes light source and detector, wherein the light source is used for emergent light Pulse train；

The scanning module is used in different moments change the light pulse sequence to different transmission directions and be emitted, through visiting It surveys the light pulse that object is reflected back and is incident to the detector after the scanning module；

The light pulse that the detector is used to be reflected back according to is converted into electric pulse, and is determined based on the electric pulse The distance between the detection object and the range unit.

In some embodiments, the ranging mould group further includes that optical path changes element and collimating element；

The optical path changes element and is located at the collimating element backwards to the side of the scanning module, is used for the light source Emitting light path and the detector receiving light path merge；

The collimating element, for will from the light pulse of the light source collimation after be projected to the scanning module, and For the light beam from the scanning module to be converged to the detector.

The mobile platform of the application embodiment includes ranging described in mobile platform ontology and any of the above-described embodiment Device, the range unit are mounted on the mobile platform ontology.

In the scanning module of the application, range unit and mobile platform, the first optical element is mounted in the first driver, First driver is mounted on the first support, and the second optical element is mounted in the second driver, and the second driver is mounted on On two supports, pass through the positioning action of the first locating piece and the second locating piece, the rotation of the first optical element and the second optical element The position of shaft is not susceptible to deviate, and guarantees that the range accuracy of range unit is higher.

The additional aspect and advantage of presently filed embodiment will be set forth in part in the description, partially will be from following Description in become obvious, or recognized by the practice of presently filed embodiment.

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 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.

The application provides a kind of scanning module 40.Scanning module 40 includes scanning shell 41, the drive of the first driver 42, second Dynamic device 43, the first optical element 45 and the second optical element 46, scanning shell 41 include the first support 411 and the second support 412. The first locating piece 4112 is formed on first support 411, the first driver 42 is formed with the first containing cavities 4119, the first optics 45, member is mounted in the first containing cavities 4119, and the first driver 42 is mounted on the first support 411 and drives the first optics first Part 45 is rotated around the first rotary shaft 4236.The second locating piece 4122, the formation of the second driver 43 are formed on second support 412 There are the second containing cavities 4126, the second optical element 46 is mounted in the second containing cavities 4126, and the second driver 43 is mounted on second On support 412 and the second optical element 46 is driven to rotate around the second rotary shaft 4337.Second optical element 46 and the first optics member Part 45 is arranged side by side, and the second optical element 46 is different from the revolving speed of the first optical element 45 and/or steering.First support 411 with Second support 412 connects, and the first locating piece 4112 and the second locating piece 4122 cooperate, so that the first rotary shaft 4236 and the second rotation Shaft 4337 is with preset distance parallel interval.

First optical element 45 is mounted in the first driver 42, and the first driver 42 is mounted on the first support 411, the Two optical elements 46 are mounted in the second driver 42, and the second driver 42 is mounted on the second support 412, pass through the first positioning The position of the rotary shaft of the positioning action of part 4112 and the second locating piece 4122, the first optical element 45 and the second optical element 46 It is not susceptible to deviate, guarantees that the range accuracy of range unit 100 is higher.

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 peace Filling 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 pedestal sheet The opposite sides of the body 11 and plane of symmetry about base body 11 is symmetrical, first mounting base 12 of the same side and the second mounting base 13 are arranged along the long side interval of base body 11, and the above-mentioned plane of symmetry is to be parallel to the long side of base body 11 and the bottom of perpendicular to The face of the short side of seat 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, from And 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 element (the first optical elements 45, second Optical 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 sweep Mould group 40 is retouched with 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, example 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, sweeping Retouching shell 41 includes the first mounting portion 414, the second mounting portion 415, the second support 412 and third support 413；Alternatively, scanning shell Body 41 includes the first mounting portion 414, the second mounting portion 415, the first support 411 and third support 413；Alternatively, scanning shell 41 Including the first mounting portion 414, the second mounting portion 415, the first support 411, the second support 412 and third support 413.Below only with Scanning shell 41 includes the first mounting portion 414, the second mounting portion 415, the first support 411, the second support 412 and third support It is described for 413.

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 first Seat ontology 4111.First support body 4111 can be hollow structure, and hollow part forms the first accommodating chamber 4119, at this To apply 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 Driver 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 Ontology 4111 includes the first support top surface 4115 and two the first support sides 4116, two the first support side 4116 difference Opposite two sides and the first support top surface 4115 of connection positioned at the first support body 4111.First support top surface 4115 offers branch Seat mounting groove 4117, the bottom surface of support mounting groove 4117 offer shell bores, what the bottom surface of support mounting groove 4117 opened up Shell bores are 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 are divided It is not corresponding with two the first support sides 4116.In one example, protrusion 4120 be can be set in the first support body 4111 Close to the second bottom surface of support saddle 41211 position on, it will be understood that protrusion 4120 is close from the second support side 41212 The position of second bottom surface of support saddle 41211 extends outward to form.Protrusion 4120 offers shell bores, and protrusion 4120 opens up Shell bores be 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, ranging mould group 60 emit light pulse can successively pass through third support 413, the second support 412 and Enter the external world after first support 411, the first support 411, the second support can successively be passed through by the light pulse that target object reflects 412 and third support 413 after received again by ranging mould group 60.Third support body 4130 includes two opposite third support sides Face 4133.At this point, the opposite two sides of the first support 411 are right with respect to the corresponding opposite two sides of the second support 412 and third support 413 It protrudes to form two installation spaces 416 the opposite two sides answered.It the opposite two sides of third support 413 can be without departing from second 412 corresponding opposite two sides of seat, in the present embodiment, the opposite two sides of third support 413 phase corresponding with the second support 412 respectively Back 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 second Mounting base 13 is formed in installation space 416.In other embodiments, the opposite two sides of third support 413 can also exceed The corresponding opposite two sides of second 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 includes ring structure 4221, the first outer ring structure 4222 in first 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, the first optical element 45 be located at laser pulse outgoing and In input path.First optical element 45 can be rotated synchronously with the first rotor 4231 around the first rotary shaft 4236.First optics Element 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 second turn Sub-component 433 rotate, the second stator module 431 include the second winding ontology and be mounted on the second winding ontology second around Group.Wherein, the second winding ontology can be stator core, and the second winding can be coil.Second winding is under the action of electric current Specific magnetic field can be 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 It on yoke 4333, can also be formed in the structures such as the second magnet 4334, second sidewall 4335 is also possible to second magnet 4334 etc. 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 Second winding of stator module 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 for respectively with ring structure 4321 in the second outer ring structure 4322 and second Roll 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, and the second optical element 46 is 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 light Learn the transmission direction that can change the laser by the second optical element 46 when element 46 rotates.

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 that third is driven to turn Sub-component 443 rotates, third stator module 441 include tertiary winding ontology and the third that is mounted on tertiary winding ontology around Group.Wherein, tertiary winding ontology can be stator core, and the tertiary winding can be coil.The tertiary winding is under the action of electric current Specific magnetic field can be 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 It on yoke 4433, can also be formed in the structures such as third magnet 4434, third side wall 4435 is also possible to third magnet 4434 etc. 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 The tertiary winding of stator module 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, third optical element 47 be located at laser pulse outgoing and In input path.Third optical element 47 can be rotated synchronously with third trochanter 4431 around third rotary shaft 4437.Third optics Element 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 is used for according to control instruction control driver driving optical element (the first optical element 45, the Two optical elements 46, third optical element 47) rotation.Specifically, controller can with winding (the first winding, the second winding, The tertiary winding) connection, and size and direction for the electric current in control winding, to control rotor assembly (the first rotor component 423, the second rotor assembly 433, third trochanter component 443) rotational parameters (rotation direction, rotational angle, rotation duration Deng) to achieve the purpose that the rotational parameters for controlling optical element.In one example, controller 49a includes electron speed regulator, control Device 49a processed 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.Scan mould Group 40 is mounted on bracket 30 by being flexibly connected component 50, and flexible connection component 50 makes between scanning module 40 and pedestal 10 Without directly contacting, so as to reduce or even avoid the vibration of scanning module 40 to be transmitted on pedestal 10, and then can reduce very It is transmitted in ranging mould group 60 to avoiding the vibration of scan components 40 from passing through 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 fastener 52 of first flexible connection component 53 passes through through hole 514 and in conjunction with the inner wall of first shell mounting hole 4118, the One flexible connection component 53 is housed in support mounting groove 4117.The cross sectional dimensions and the second support portion of first support portion 511 512 cross sectional dimensions is all larger than the cross sectional dimensions of first support mounting hole 3211, in this way, when the second flexible connection component 54 When being installed 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, the second flexible connection component 54 First 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 is worn Cross 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 second The cross sectional dimensions of support part 512 is all larger than the cross sectional dimensions of second shell mounting hole 41201, in this way, when the second flexible connection When component 54 is installed in second support mounting hole 3131, the first support portion 511 can be located at protrusion 4120 and be combined with second Between portion 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； Second support portion 512 is located between the end of fastener 52 and the second engaging portion 313, and the second support portion 512 can be absorbed by Vibration that is that two supports 412 generate and being transmitted on fastener 52.The cross sectional dimensions of interconnecting piece 513 can be greater than, be less than or Equal to the cross sectional dimensions of second shell mounting hole 41201.Since the first engaging portion 321 is located at 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 by flexible connecting member 51 On first engaging portion 321 and the second engaging portion 313, thus, when range unit 100 is generated vibration by foreign impacts, sweep Retouch that the rotating torque that shell 41 is subject to is smaller, the direction of the torque is perpendicular to the plane where bracket 30, so as to reduce very To avoiding generating overturning because range unit 100 is by foreign impacts.Bracket 30 in the range unit 100 of the application is fixed On pedestal 10, scanning module 40 is mounted on bracket 30 by being flexibly connected component 50, and flexible connection component 50 to scan Without directly contacting between mould group 40 and pedestal 10, so as to reduce or even avoid the vibration of scanning module 40 to be transmitted to pedestal 10 On

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 In 10 two different separate structures.Since scanning module 40 and the interval of ranging mould group 60 are arranged, it is thus possible to reduce even The vibration of scanning module 40 is avoided to be transmitted in ranging mould group 60, to improve the detection accuracy of range unit 100.Due to surveying It is rigidly fixed on pedestal 10 away from mould group 60, the vibration of scanning module 40 is to the influence very little of ranging mould group 60, to guarantee to survey Stability away from 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 electricity Road 641 can receive the light pulse sequence by being detected object reflection, and carry out photoelectric conversion to the light pulse sequence, to obtain Electric signal, then can export after handling electric signal and electric signal can be carried out to 642 sample circuit 642 of sample circuit Sampling, to obtain sampled result.Computing circuit 643 can be based on the sampled result of sample circuit 642, to determine distance means The distance between 100 and 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 big reflection Mirror includes reflecting surface 621, and the middle position of the large reflective mirror offers light hole.Detector 64 is still placed in light source 61 The first coaxial optical path above-mentioned, the location swap of detector 64 and light source 61, that is, light are compared in the same side of collimating element 63 Source 61 and 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 collimation member Between part 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 detection by reflecting surface 621 On device 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 telecommunications It feels the pulse the rising time of punching and/or the failing edge time determines laser pulse receiving time.In this way, range unit 100 can benefit Temporal information is issued with pulse receiving time information and pulse and calculates 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, returns Light changes element 62 by optical path and directly reflexes to detector 64, avoids optical path and changes screening of the element 62 to light echo optical path itself Gear, 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 Between 33 opposite both ends, at this point, fixed part 310, the first reinforcement arm 34 and part linking arm 33 surround a triangle jointly. Fixed arm 31, linking arm 33, combination arm 32 and the first reinforcement arm 34 of present embodiment are in the same plane.Present embodiment Bracket 30 by setting the first reinforcement arm 34, 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 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.At this point, scanning shell 41 can be formed without installation space 416.Combination arm in present embodiment 32 length 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 includes fixed arm 31, linking 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, 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 in above embodiment in present embodiment 32 length can be made shorter, so that (bracket 30 only includes fixed arm 31, connects compared to the bracket 30 in above embodiment Arm 33 and combination arm 32 are connect, and bracket 30 is mounted in installation space 416), the intensity of the bracket 30 of present embodiment is bigger, So as to reduce the shaking for generating bracket 30 because of the vibration of scanning module 40.

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 first support 411 and the second support 412 The same side.One end of first reinforcement arm 34 is connected and fixed one end of the separate linking arm 33 of arm 31, the first reinforcement arm 34 it is another One end of the separate fixed arm 31 of end connection linking arm 33.Each bracket 30 passes through at least two flexible connection components 50 and scanning Shell 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, First flexible connection component 53 connects combination arm 32 and the first support 411, the second flexible connection component 54 be connected and fixed arm 31 and Second support 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 connections Component 50 is connect with scanning shell 41, and at least two flexible connection components 50 include that the first flexible connection component 53 and second are 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 connects 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 of arm 31 and connects One end of arm 33 is connect, the other end of the first reinforcement arm 34 is connected between the opposite both ends of linking arm 33.It is tied in present embodiment The length for closing arm 32 can be made shorter compared with the length of combination arm 32 in above embodiment, thus compared to above embodiment In 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 of scanning The vibration of mould group 40 and make bracket 30 generate shaking.

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 It is specifically, flexible even in installation in (first support mounting hole 3211) or in shell bores (second shell mounting hole 41201) When fitting 51, elastic deformation can occur under the action of pullling power and can pass through first support for the second support portion 512 flexible Mounting hole 3211 or second shell mounting hole 41201.Spacing block set 515 is arranged in flexible connecting member 51, can be avoided will be flexible Connector 51 be mounted in first support mounting hole 3211 or second shell mounting hole 41201 in when because pull power it is excessive and The first support portion 511 is set also to pass 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 projection of multiple tie points on pedestal 10 forms one The center of gravity (or center of gravity of scanning module 40) of secondary surface P (as shown in Figure 21), scanning shell 41 are located at the center of secondary surface P, position It include two tie points being diagonally arranged in the ipsilateral multiple tie points of scanning shell 41, two tie points being diagonally arranged are formed The distance of the midpoint of one 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 It is shown), 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 group Part 54, the first flexible connection component 53 connect the first engaging portion 321 and the first mounting portion 414, and the second flexible connection component 54 connects Connect the second engaging portion 313 and the second mounting portion 415.The center of first flexible connection component 53 and the second flexible connection component 54 Line forms connecting line L.The midpoint of connecting line L is to the distance of pedestal 10 and center of gravity (or the scanning module 40 of scanning shell 41 Center of gravity) to pedestal 10 distance it is identical, be transmitted on pedestal 10 so as to further decrease the vibration of scanning module 40, and When range unit 100 is generated vibration by foreign impacts, the rotating torque that scanning shell 41 is subject to is smaller, the side of the torque Plane to where the center at center, the first engaging portion 321 and the center of the second engaging portion 313 perpendicular to fixed part 310, from And it can reduce or even avoid 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, from And 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 Cooperate with the second locating piece 4122, so that the first rotary shaft 4236 and the second rotary shaft 4337 are with preset distance parallel interval.By It is mounted in the first driver 42 in the first optical element 45, the first driver 42 is mounted on the first support 411, the second optics Element 46 is mounted in the second driver 43, and the second driver 43 is mounted on the second support 412, passes through the first locating piece 4112 With the positioning action of the second locating piece 4122, the first optical element 45 and the position of the rotary shaft of the second optical element 46 are not easy to send out Raw 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 first One end close to the second support 412 of seat ontology 4111, the second locating piece 4122 can be formed in the second support body 4121 Close to one end of the first support 411, during installation, first can be determined by the first locating piece 4112 and the second locating piece 4122 The setting angle of support 411 and the second support 412, only when the first rotary shaft 4236 is overlapped with the second rotary shaft 4337, first Support 411 could correctly cooperate with the second support 412, that is, the first locating piece 4112 correctly cooperates with the second locating piece 4122 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 and the second locating piece 4122 can be with Respectively 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 side of the second rotary shaft 4337 To 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 The outer wall of protrusion 4127a can be interference fitted with the inner wall of locating slot 4114, 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 predetermined Apart from parallel interval.Since the second optical element 46 is mounted in the second driver 43, the second driver 43 is mounted on second On seat 412, third optical element 47 is mounted in third driver 44, and third driver 44 is mounted on third support 413, By the positioning action of third locating piece 4123 and the 4th locating piece 4131, the second optical element 46 and third optical element 47 The position of rotary shaft 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 Locating piece 4131 can be formed in one end close to the second support 412 of third support body 4130, during installation, Ke Yitong It crosses third locating piece 4123 and the 4th locating piece 4131 determines the setting angle of the first support 411 and the second support 412, only exist When second 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 and the 4th locating piece 4131 can be with Respectively 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.It is multiple fixed The outer wall of seat protrusion 4132a can be interference fitted with the inner wall of positioning groove 4128, so that third locating piece 4123 and the 4th Locating piece 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 be with Guarantee 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 generate along first bearing 422 axial direction interaction force so that in first ring structure 4221 with First 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 In 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 After 48, the interaction force that the first preload piece 481 and the second preload piece 482 generate be respectively acting in first ring structure 4221 with On second support 412, ring structure 4221 supports the first rolling element 4223 under the action of interaction force in first, eliminates first The clearance of bearing 422, 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 ring structure 4321 and the second outer ring structure 4322 are total in second With the second rolling element 4323 is supported, ring structure 4421 and third outer ring structure 4422 support third rolling element jointly in third 4423。

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 driver 43 the second support 412 and The size for installing 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 receipts It receives in chamber 4235, the second optical element 46 and the first optical element 45 can actually be made relatively close, reduce laser the Light path between two optical elements 46 and the first optical element 45.Fig. 9 and Figure 17 is please referred to, by taking shoot laser as an example, laser warp It is reflected after crossing the second optical element 46, since the second optical element 46 and the first optical element 45 are relatively close, so that identical Under refraction angle, the range that laser impinges upon on the first optical element 45 is smaller, avoid in laser irradiation to the first rotor 4231 and It is blocked, improves 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.At one In example, 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 light 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. Angle arbitrarily within the above range；The field angle of scanning module 40 in the vertical direction between [25 degree, 35 degree], such as For 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.At one In example, the field range of scanning module 40 is in long strip, such as in rectangle, and the long side of rectangle can be with horizontal line or perpendicular Straight line 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 for optical element 46 and/or third optical element 47 Optical element 47, which changes to different directions, to be emitted.

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 between [1.5 millimeters, 5 millimeters] Millimeter, 4.9 millimeters, any values within the above range such as 5 millimeters.The phase of first optical element 45 and the second optical element 46 Pair two faces distance between [10 millimeters, 25 millimeters], specifically can be 10 millimeters, 15 millimeters, 17.3 millimeters, Any values within the above range such as 17.5 millimeters, 20 millimeters, 22.5 millimeters, 24 millimeters, 25 millimeters.First optical element 45 opposite with third optical element 47 faces are not parallel, and the first optical element 45 face opposite with third optical element 47 refers to first Optical element 45 and the face close to each other of third optical element 47.Wherein, the distance in two opposite faces, can refer to opposite Between two faces, 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 be equal, such as 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 With 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 The angle of wedge of element 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. are appointed The value of meaning within the 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, floating range No 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 shape It is positive at the counter clockwise direction in reference direction, is negative clockwise；Or phase angle is formed in the up time of reference direction Needle 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 is 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.At another In example, the quantity of groove 4234c can multiple (being greater than or equal to two), the setting of the interval multiple groove 4234c.In this way, energy The biggish groove 4234c of single area is enough 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 can be multiple (big In or equal to two), the multiple intervals opening 4238a settings.It so, it is possible to avoid the biggish opening 4238a of single area to convex The intensity of muscle 4238 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 into 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 with it is convex Block 4232 is located at the opposite two sides of the first rotary shaft 4236, when the first optical element 45 turns jointly with the first rotor component 423 When dynamic, 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 most The counterweight effect of convex block 4232 is played to limits, reduces the height of convex block 4232, to reduce screening of the convex block 4232 to optical path Gear.In another example, drop shadow spread covering convex block 4232 of first optical element 45 in the first rotary shaft 4236 is the Drop shadow spread in one rotary 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 Symmetrically, 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 is also helped increase the first optical element 45 reception and reflected Laser pulse angle.

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 angle of the first face 463 and the second rotary shaft 4337 is 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 second Second face 464 of optical element 46 is vertical with the second rotary shaft 4337, i.e. the angle in the second face 464 and the second rotary shaft 4337 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 Think 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 It is dynamic steady when component 433 rotates.Specifically, boss 4332 prolongs from second sidewall 4335 to the center of the second containing cavities 4336 It stretches, the height that boss 4332 extends to the center of the second containing cavities 4336 can be lower than the radial width of the second containing cavities 4336 Predetermined ratio, predetermined ratio can be 0.1,0.22,0.3,0.33 etc., block the second containing cavities 4336 to avoid boss 4332 Transmission optical path that is too many and influencing 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, the Two optical elements 46 and the unitary rotation that boss 4332 is formed are steady, so that the second rotor assembly 433 be avoided to shake, have It is more steady in rotation conducive to entire second rotor assembly 433.In another example, boss 4332 and the second optical element The surface at 46 intervals, the second optical element 46 of direction of boss 4332 is plane.In another example, boss 4332 is second Drop shadow spread in rotary shaft 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 most It measures close, to play the counterweight effect of boss 4332 to the maximum extent, reduces the height of boss 4332, to reduce boss 4332 Optical path is blocked.In another example, drop shadow spread covering of second optical element 46 in the second rotary shaft 4337 is convex Drop shadow spread of the platform 4332 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 Symmetrically, 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, convex Platform 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 Think wedge mirror (prism wedge).

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 It is dynamic steady when component 443 rotates.Specifically, boss 4432 prolongs from third side wall 4435 to the center of third containing cavities 4436 It stretches, the height that boss 4432 extends to the center of third containing cavities 4436 can be lower than the radial width of third containing cavities 4436 Predetermined ratio, predetermined ratio can be 0.1,0.22,0.3,0.33 etc., block third containing cavities 4436 to avoid boss 4432 Transmission optical path that is too many and influencing 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, the Three optical elements 47 and the unitary rotation that boss 4432 is formed are steady, so that third trochanter component 443 be avoided to shake, have It is more steady in rotation conducive to entire third trochanter component 443.In another example, boss 4432 and third optical element 47 intervals, the surface towards third optical element 47 of boss 4432 are plane.In another example, boss 4432 is in third Drop shadow spread of drop shadow spread's covering third optical element 47 in third rotary shaft 4437 in 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 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 most It measures close, to play the counterweight effect of boss 4432 to the maximum extent, reduces the height of boss 4432, to reduce boss 4432 Optical path is blocked.In another example, drop shadow spread covering of the third optical element 47 in third rotary shaft 4437 is convex Drop shadow spread of the platform 4432 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, and boss 4432 and torque when 472 common rotation of second end relative to third rotary shaft 4437 are equal to Torque when first end 471 rotates relative to third rotary shaft 4437, in other words, boss 4432 and second end 472 turn jointly The torque that the torque generated when dynamic generates when can rotate with the first end 471 of third optical element 47 offsets, without Influence 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 Symmetrically, 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, convex Platform 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 light Beam scanning goes out scheduled scanning shape.In addition, each second rotor assembly 433 includes boss (1332/1432), each Boss (1332/1432) is fixed in the second sidewall 4335 of corresponding second rotor assembly 433, for improving second turn Dynamic balancing when sub-component 433 rotates.

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

1. a kind of scanning module, which is characterized in that including scanning shell, the first driver, the second driver, the first optical element And second optical element, the scanning shell include:

First support is formed with the first locating piece on first support, and first driver is formed with the first containing cavities, institute It states the first optical element to be mounted in first containing cavities, first driver is mounted on first support and drives First optical element is rotated around the first rotary shaft；And

Second support is formed with the second locating piece on second support, and second driver is formed with the second containing cavities, institute It states the second optical element to be mounted in second containing cavities, second driver is mounted on second support and drives Second optical element is rotated around the second rotary shaft, and second optical element and first optical element are arranged side by side, Second optical element is different from the revolving speed of first optical element and/or steering；

First support connects with second support, and first locating piece and second locating piece cooperate, so that institute The first rotary shaft and second rotary shaft are stated with preset distance parallel interval.

2. scanning module according to claim 1, which is characterized in that first rotary shaft and the second rotary shaft weight It closes.

3. scanning module according to claim 1, which is characterized in that first locating piece includes locating slot, and described Two locating pieces include positioning projection, and the positioning projection protrudes into the locating slot to cooperate.

4. scanning module according to claim 3, which is characterized in that the inner wall of the locating slot in a ring or annular one Part, the positioning projection include the locator protrusion at multiple intervals, the outer wall group of multiple locators protrusions circularize or The outer wall of a part of annular, multiple locator protrusions supports the inner wall of the locating slot.

5. scanning module according to claim 1, which is characterized in that the scanning shell further includes third support, institute, institute Stating scanning module further includes third driver and third optical element, and the third driver is formed with third containing cavities, described Third optical element is mounted in the third containing cavities, and the third driver is mounted on the third support and drives institute Third optical element is stated to rotate around third rotary shaft.

6. scanning module according to claim 5, which is characterized in that second support is located at first support and institute It states between third support, second locating piece is formed in one end of second support, the other end shape of second support At there is third locating piece, the 4th locating piece, the third locating piece and the 4th locating piece are formed on the third support Cooperation, so that second rotary shaft and the third rotary shaft are with preset distance parallel interval.

7. scanning module according to claim 6, which is characterized in that second rotary shaft and the third rotary shaft weight It closes.

8. scanning module according to claim 6, which is characterized in that the third locating piece includes positioning groove, described 4th locating piece includes positioning protrusion, and the positioning protrusion protrudes into the positioning groove to cooperate.

9. scanning module according to claim 8, which is characterized in that the inner wall of the positioning groove in a ring or annular A part, the positioning protrusion include multiple intervals locator protrusion, the outer wall of multiple locator protrusions in a ring or A part of annular, the outer wall of multiple locator protrusions support the inner wall of the positioning groove.

10. scanning module according to claim 1, which is characterized in that first optical element and second optics Element is photorefractive element, and the bore of first optical element is greater than the bore of second optical element.

11. scanning module according to claim 5, which is characterized in that first optical element and second optics The distance between element is less than the distance between second optical element and the third optical element.

12. according to claim 1 or scanning module described in 10, which is characterized in that first driver includes the first rotor, The first rotor forms first containing cavities, and second driver includes the second rotor, and second rotor protrudes into institute It states in the first containing cavities.

13. scanning module according to claim 12, which is characterized in that second optical element is extending at least partially into institute It states in the first containing cavities.

14. scanning module according to claim 1, which is characterized in that first support include the first support body and Support ring, first support body form the first accommodating chamber, and the support ring is from the inner wall of first support body to institute State the extension of the first accommodating chamber.

15. scanning module according to claim 14, which is characterized in that first driver is mounted on described first and receives In cavity, first driver includes the first stator module, the first positioning component and the first rotor component, the first rotor Component can under the restriction effect of first positioning component relative to first stator module around first rotary shaft Rotation, first stator module and first positioning component two sides that be separately mounted to the support ring opposite.

16. scanning module according to claim 1, which is characterized in that first driver includes the first rotor, described The inner wall of the first rotor forms the first containing cavities, and the first rotor includes the outer end far from second driver, described outer End and the intersection of the inner wall of the first rotor are formed with evacuation chamfering.

17. scanning module according to claim 16, which is characterized in that it is described evacuation chamfering angle be (0,40] degree.

18. scanning module according to claim 1, which is characterized in that second driver includes the second rotor assembly, Second rotor assembly includes the second rotor and boss, and second rotor forms second containing cavities, and the boss is set It sets on the bitrochanteric inner wall and is located in second containing cavities；

Second optical element includes first end and second end, the first end of second optical element and second optics The second end of element is located at the both ends in the radial direction of second optical element, and the first of second optical element The thickness at end is greater than the thickness of the second end of second optical element, the second end of second optical element and the boss The same side that is opposite and being located at the bitrochanteric rotary shaft, and the first end of second optical element and the boss position In the opposite two sides of second rotary shaft.

19. scanning module according to claim 18, which is characterized in that second optical element and the boss interval Setting.

20. a kind of range unit characterized by comprising

Scanning module described in claim 1 to 19 any one；And

Ranging mould group, the ranging mould group are used to emit light pulse to the scanning module, and the scanning module is for changing institute It is emitted after stating the transmission direction of light pulse, the light pulse being reflected back through detection object is incident to the survey after the scanning module Away from mould group, the ranging mould group be used to be determined according to the light pulse that is reflected back between the detection object and the range unit away from From.

21. range unit according to claim 20, which is characterized in that the ranging mould group includes light source and detector, Wherein, the light source is for being emitted light pulse sequence；

The scanning module is used in different moments change the light pulse sequence to different transmission directions and be emitted, through detecting object The light pulse being reflected back is incident to the detector after the scanning module；

The light pulse that the detector is used to be reflected back according to is converted into electric pulse, and based on described in electric pulse determination Detect the distance between object and the range unit.

22. range unit according to claim 21, which is characterized in that the ranging mould group further includes that optical path changes element And collimating element；

The optical path changes element and is located at the collimating element backwards to the side of the scanning module, for going out the light source The receiving light path for penetrating optical path and the detector merges；

The collimating element and is used for for that will be projected to the scanning module after the light pulse of light source collimation Light beam from the scanning module is converged into the detector.

23. a kind of mobile platform characterized by comprising

Mobile platform ontology；And

Range unit described in claim 20 to 22 any one, the range unit are mounted on the mobile platform ontology On.