WO2020062115A1 - Appareil de détection de distance et plateforme mobile - Google Patents

Appareil de détection de distance et plateforme mobile Download PDF

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Publication number
WO2020062115A1
WO2020062115A1 PCT/CN2018/108506 CN2018108506W WO2020062115A1 WO 2020062115 A1 WO2020062115 A1 WO 2020062115A1 CN 2018108506 W CN2018108506 W CN 2018108506W WO 2020062115 A1 WO2020062115 A1 WO 2020062115A1
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WO
WIPO (PCT)
Prior art keywords
baffle
base
ranging
distance
module
Prior art date
Application number
PCT/CN2018/108506
Other languages
English (en)
Chinese (zh)
Inventor
周立奎
徐宗财
黄淮
洪小平
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201890000595.2U priority Critical patent/CN211236241U/zh
Priority to PCT/CN2018/108506 priority patent/WO2020062115A1/fr
Publication of WO2020062115A1 publication Critical patent/WO2020062115A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating

Definitions

  • the present application relates to the field of laser ranging technology, in particular to a distance detection device and a mobile platform.
  • the waterproof sealing level of the distance measuring device is required to be high. Because the distance-measuring device has a high level of waterproof sealing, it is difficult for the heat in the distance-measuring device to dissipate into the air, and it may cause the distance-measuring device to overheat during use.
  • Embodiments of the present application provide a distance detection device and a mobile platform.
  • the present application provides a distance detection device.
  • the distance detecting device includes a distance measuring device and a heat dissipation structure.
  • the ranging device includes a housing, a ranging module, and a scanning module, and the ranging module and the scanning module are housed in the housing; the ranging module is configured to scan the The module emits laser pulses.
  • the scanning module is used to change the transmission direction of the laser pulses.
  • the laser pulses reflected by the detection object pass through the scanning module and enter the distance measuring module.
  • the ranging module is configured to determine the distance between the detection object and the distance detection device according to the reflected laser pulse.
  • the heat dissipation structure includes a baffle assembly and a fan, and the baffle assembly and the fan are disposed on the casing.
  • the baffle assembly and the casing form a heat dissipation air duct together, and the heat dissipation structure is formed in communication.
  • the cooling air duct and an air inlet and an air outlet outside the distance detection device, and the fan is disposed in the cooling air duct and is located at the air inlet and / or the air outlet.
  • An embodiment of the present application further provides a mobile platform.
  • the mobile platform includes a mobile platform body and the distance detection device as described above, and the distance detection device is mounted on the mobile platform body.
  • the mobile platform and the distance detection device of the present application use a fan in the heat dissipation structure to blow air to the casing, and the cold wind blown by the fan absorbs the heat on the casing (the heat generated by the scanning module, the ranging module, etc. and is conducted to the casing) and becomes Hot air, hot air is blown out from the two air outlets after passing through the heat dissipation air duct, thereby taking away the heat on the housing, realizing heat radiation to the distance measuring device, and high heat radiation efficiency.
  • FIG. 1 is a schematic perspective structural diagram of a distance detection device according to some embodiments of the present application.
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a distance detection device according to another embodiment of the present application from another perspective.
  • FIG. 3 is a partially exploded perspective view of a distance detection device according to some embodiments of the present application.
  • FIG. 4 is a partially exploded perspective view of a distance detection device according to some embodiments of the present application.
  • FIG. 5 is a partially exploded schematic view from another perspective of the distance detection device according to some embodiments of the present application.
  • FIG. 6 is a schematic diagram of a three-dimensional structure of a distance measuring component of a distance detecting device according to some embodiments of the present application.
  • FIG. 7 is a schematic cross-sectional view of the ranging component in FIG. 6.
  • FIG. 8 is a partial three-dimensional structure diagram of a distance detection device according to some embodiments of the present application.
  • FIG. 9 is a partially exploded perspective view of the distance detection device in FIG. 8.
  • FIG. 10 is a schematic cross-sectional view of the distance detection device in FIG. 8 along line X-X.
  • FIG. 11 is a schematic diagram of a ranging principle and a module of a ranging component of a ranging device of some embodiments of the present application.
  • FIG. 12 is a schematic diagram of a ranging principle of a ranging component of a ranging device of some embodiments of the present application.
  • FIG. 13 is a schematic cross-sectional view of the distance detection device in FIG. 1 along a line XIII-XIII.
  • FIG. 14 is an enlarged schematic diagram of the distance detection device XIV in FIG. 13.
  • 15 is a schematic exploded perspective view of a flexible connection component of a distance detection device according to some embodiments of the present application.
  • FIG. 16 is a schematic cross-sectional view of the distance detection device in FIG. 1 along the XVI-XVI line.
  • FIG. 17 is a schematic three-dimensional structure diagram of a first electrical connector of a distance detection device according to some embodiments of the present application.
  • FIG. 18 is a schematic three-dimensional structure diagram of a second electrical connector of a distance detection device according to some embodiments of the present application.
  • FIG. 19 is a schematic three-dimensional structure diagram of a cover body and a protective cover of a distance detection device according to some embodiments of the present application.
  • FIG. 20 is a schematic perspective structural diagram of a distance detection device according to some embodiments of the present application.
  • FIG. 21 is a schematic three-dimensional structure diagram of a distance detection device according to another embodiment of the present application from another perspective.
  • 22 to 24 are schematic partial exploded views of a distance detection device according to some embodiments of the present application.
  • 25 is a schematic cross-sectional view of the distance detection device in FIG. 20 along a line XXV-XXV.
  • FIG. 26 is a schematic structural diagram of a mobile platform according to some embodiments of the present application.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality" is two or more, unless specifically defined otherwise.
  • the "first" or “under” of the second feature may include the first and second features in direct contact, and may also include the first and second features. Not directly, but through another characteristic contact between them.
  • the first feature is “above”, “above”, and “above” the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
  • an embodiment of the present application provides a distance detection device 1000.
  • the distance detection device 1000 can be used to measure a distance between a detection object and the distance detection device 1000 and an orientation of the detection object relative to the distance detection device 1000.
  • the range detection device 1000 may include a radar, such as a lidar.
  • the distance detection device 1000 may be used to sense external environmental information, such as distance information, orientation information, reflection intensity information, velocity information, and the like of an environmental target.
  • the distance detection device 1000 can detect the detection object to the distance detection device 1000 by measuring a time of light propagation between the distance detection device 1000 and the detection object, that is, a time-of-flight (TOF). the distance.
  • TOF time-of-flight
  • the distance detection device 1000 may also detect the distance from the detection object to the distance detection device 1000 by other technologies, such as a distance measurement method based on phase shift measurement, or a distance measurement method based on frequency shift measurement. There are no restrictions here.
  • the distance and orientation detected by the distance detection device 1000 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance detection device 1000 includes a transmitting circuit 320, a receiving circuit 351, a sampling circuit 352, and an arithmetic circuit 353.
  • the transmitting circuit 320 may transmit a light pulse sequence (for example, a laser pulse sequence).
  • the receiving circuit 351 may receive a light pulse sequence reflected by the detected object, and perform photoelectric conversion on the light pulse sequence to obtain an electric signal.
  • the electric signal may be processed and then output to the sampling circuit 352.
  • the sampling circuit 352 may sample the electrical signal to obtain a sampling result.
  • the arithmetic circuit 353 may determine the distance between the distance detection device 1000 and the detected object based on the sampling result of the sampling circuit 352.
  • the distance detection device 1000 may further include a control circuit 354, which may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • a control circuit 354 may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • the distance detecting device 1000 shown in FIG. 11 (b) includes a transmitting circuit 320, a receiving circuit 351, a sampling circuit 352, and an arithmetic circuit 353, the embodiment of the present application is not limited thereto.
  • the number of any one of the receiving circuit 351, the sampling circuit 352, and the arithmetic circuit 353 may be at least two.
  • circuit frame of the distance detection device 1000 An implementation manner of the circuit frame of the distance detection device 1000 has been described above, and some examples of the structure of the distance detection device 1000 will be described below with reference to the accompanying drawings.
  • the distance detecting device 1000 includes a distance measuring device 100 and a heat dissipation structure 200.
  • the distance measuring device 100 includes a housing 10, a scanning module 20 and a distance measuring module 30.
  • the scanning module 20 and the distance measuring module 30 are housed in the housing 10.
  • the ranging module 30 is used to emit laser pulses to the scanning module 20.
  • the scanning module 20 is used to change the transmission direction of the laser pulses and then emitted.
  • the laser pulses reflected by the detection object pass through the scanning module 20 and enter the ranging module. Group 30.
  • the ranging module 30 is configured to determine the distance between the detection object and the distance detection device 1000 according to the reflected laser pulse.
  • the circuits described in FIG. 11 (b) described above are all located in the ranging module 30.
  • the heat dissipation structure 200 includes a baffle assembly 70 and a fan 80.
  • the baffle assembly 70 and the fan 80 are disposed on the casing 10.
  • the baffle assembly 70 and the casing 10 together form a heat dissipation air duct 73, and the heat dissipation structure 200 is formed with
  • the cooling air duct 73 and the air inlet 731 and the air outlet 732 outside the distance detection device 1000 are connected, and the fan 80 is disposed in the cooling air duct 73 and located at the air inlet 731 and / or the air outlet 732.
  • the distance measuring device 100 includes a housing 10, a distance measuring component 20 a, and at least one of the following: a flexible connection component 40, a circuit board component 50, and a heat conducting component 61. , A sealing member 62, and a sound absorbing member 63 (shown in FIG. 16).
  • the casing 10 is made of a thermally conductive material.
  • the casing 10 may be made of a thermally conductive metal such as copper, aluminum, or the casing 10 may be made of a thermally conductive non-metal material such as a thermally conductive plastic.
  • the housing 10 is formed with a receiving cavity 10a.
  • the housing 10 is formed with a sealed receiving cavity 10a, a distance measuring component 20a, a flexible connection component 40, a circuit board component 50, a heat conducting element 61, a seal 62,
  • the sound absorbing member 63 and the sound absorbing member 63 are both disposed in the receiving cavity 10a.
  • the casing 10 includes a base 11, and the cover 12 is combined with the base 11 to form a receiving cavity 10 a.
  • the housing 10 further includes a mounting base 13 disposed in the receiving cavity 10a.
  • the base 11 may be integrally formed with the mounting base 13, or the base 11 and the mounting base 13 may also be two parts independent of each other and fixed to each other by bonding or some fixing structure.
  • the base 11 includes a bottom plate 111, an annular limiting wall 112, a positioning post 113, and a mounting protrusion 114.
  • the bottom plate 111 has a plate-like structure. Specifically, the bottom plate 111 may have a rectangular plate-like structure, a pentagonal plate-like structure, and a hexagonal plate-like structure. The bottom plate 111 includes a base bottom surface 1111.
  • the limiting wall 112 is formed from a side of the bottom plate 111 opposite to the base bottom surface 1111.
  • the limiting wall 112 of the present embodiment is disposed around the center of the bottom plate 111.
  • the limiting wall 112 is disposed at a position of the bottom plate 111 near the edge of the bottom plate 111, and there is a distance between the limiting wall 112 and the edge of the bottom plate 111. A certain distance.
  • An annular space surrounded by the limiting wall 112 and the bottom plate 111 is divided into an installation space 1122 and a receiving space 1124 by the intermediate wall 110.
  • the positioning pillar 113 is formed from a side of the bottom plate 111 opposite to the base bottom surface 1111.
  • the number of the positioning pillars 113 is multiple, and the plurality of positioning pillars 113 are disposed at intervals in the installation space 1122.
  • the limiting wall 112 surrounds the plurality of positioning posts 113.
  • the mounting protrusion 114 extends from the top portion 1120 of the limiting wall 112 in a direction away from the bottom plate 111.
  • the mounting protrusion 114 is provided with a plurality of protrusion coupling holes 1140.
  • the cover body 12 is disposed on the base 11.
  • the cover body 12 includes a cover body top wall 121 and an annular cover body side wall 122.
  • the cover top wall 121 has a plate-like structure, and the shape of the cover top wall 121 matches the shape of the bottom plate 111.
  • the bottom plate 111 has a rectangular plate-like structure
  • the lid top wall 121 also has a rectangular plate-like structure.
  • the cover side wall 122 is formed by extending from one surface of the cover top wall 121.
  • the cover side wall 122 is disposed on the edge of the cover top wall 121 and surrounds the cover top wall 121.
  • the cover side wall 122 is mounted on the bottom plate 111 and surrounds the limiting wall 112 by any one or more methods such as screwing, engaging, gluing, and welding.
  • the cover sidewall 122 includes a first cover sidewall 1221 and a second cover sidewall 1222.
  • the first cover side wall 1221 and the second cover side wall 1222 are located at opposite ends of the cover top wall 121.
  • the first cover side wall 1221 is formed with a light-transmitting area 1220.
  • the area except the light-transmitting area 1220 of the first cover-side wall 1221 is a non-light-transmitting area 1223.
  • the light-transmitting area 1220 is used for the distance measurement device 100 to emit.
  • the ranging signal passes through.
  • the light-transmitting area 1220 is made of a material with high light transmittance such as plastic, resin, glass, etc.
  • the non-light-transmitting area 1223 is made of a metal with low heat transmittance such as copper and aluminum, among which, preferably,
  • the light-transmitting area 1220 can be made of thermally conductive plastic, which can meet both the light-transmitting requirements and the heat-dissipating requirements.
  • the mounting base 13 is mounted on the bottom plate 111 and is located in the installation space 1120.
  • the mounting base 13 includes a mounting plate 131 and a mounting arm 132.
  • the mounting plate 131 is an integrated structure, and the mounting arm 132 is also an integrated structure; or, the mounting plate 131 is an integrated structure, the mounting arm 132 is a split structure including a plurality of sub-mounting arms 1320, and at least two sub-mounting arms 1320 are oppositely arranged; or, the mounting plate 131 is a split structure including a plurality of sub-mounting plates 1310, and the mounting arm 132 is an integrated structure; or, the mounting plate 131 is a split structure including a plurality of sub-mounting plates 1310, and the mounting arm 132 is A split structure of a plurality of sub-mounting arms 1320, and at least two sub-mounting arms 1320 are oppositely disposed.
  • the mounting plate 131 has a plate-like structure.
  • the mounting plate 131 is provided with a plurality of mounting plate positioning holes 1311.
  • the mounting plate 131 is mounted on the bottom plate 111 and the positioning post 113 is penetrated in the mounting plate positioning holes 1311.
  • the mounting plate 131 may be combined with the positioning post 113 by a locking member (not shown) to fix the mounting plate 131 on the base 11.
  • the positioning post 113 of this embodiment is provided with a threaded hole, and the locking member is a screw. The screw is threaded in the mounting plate positioning hole 1311 and is combined with the threaded hole to fix the mounting plate 131 on the base 11.
  • the mounting arm 132 extends from the mounting plate 131.
  • the mounting arm 132 has a ring structure (including a square ring and a circular ring).
  • An end of the mounting arm 132 remote from the mounting plate 131 is a top end 1321.
  • the top end 1321 defines a plurality of mounting arm coupling holes 1322.
  • the mounting arm coupling holes 1322 extend toward the mounting plate 131 side.
  • the mounting arm 132 and the mounting plate 131 form a mounting groove 133 together.
  • the mounting arm 132 is a split structure including a plurality of sub-mounting arms 1320, and at least two sub-mounting arms 1320 are oppositely arranged.
  • the mounting base 13 includes two sub-mounting bases 130, and the mounting plate 131 includes Two sub-mounting plates 1310.
  • the mounting arm 132 includes two sub-mounting plates 1320.
  • Each sub-mounting base 130 includes a sub-mounting plate 1310 and a sub-mounting arm 1320.
  • the sub-mounting base 130 has an "L" shape.
  • the mounting plate 1310 is extended.
  • the two sub-mounting bases 130 of this embodiment are spaced apart from each other, the two sub-mounting plates 1310 of the two sub-mounting bases 130 are spaced apart from each other, and the two sub-mounting arms 1320 of the two sub-mounting bases 130 are spaced apart from each other. 130 surrounds the mounting groove 133. More specifically, the two sub-mounting plates 1310 and the two sub-mounting arms 1320 collectively form the mounting groove 133.
  • Each sub-mounting plate 1310 is provided with a mounting plate positioning hole 1311. Each sub-mounting plate 1310 is first penetrated in the mounting plate positioning hole 1311 through a positioning post 113, and then is combined with the positioning post 113 through a locking member (not shown). The sub-mounting plate 1310 is fixed on the base 11.
  • the mounting bases 13 of other structures can be designed according to these two examples, and will not be repeated here.
  • the ranging module 20a is contained in the receiving cavity 10a.
  • the ranging module 20a includes a scanning module 20 and a ranging module 30. That is, the scanning module 20 and the ranging module 30 are both contained in the receiving cavity 10 a, and at the same time, the scanning module 20 and the ranging module 30 are disposed on the base 11.
  • the ranging module 30 is used to emit laser pulses to the scanning module 20, and the scanning module 20 is used to change the transmission direction of the laser pulses to be emitted.
  • the laser pulses reflected by the detection object are incident on the measuring module 20 after passing through the scanning module 20.
  • the distance module 30 is used to determine the distance between the detection object and the distance detection device 1000 according to the reflected laser pulse.
  • the scanning module 20 is disposed on the side of the base 11 near the side wall 1221 of the first cover.
  • the scanning module 20 and the housing 10 have at least one joint portion 20 b.
  • the scanning module 20 The group 20 is mounted on the mounting base 13, and there are at least two coupling portions 20 b between the scanning module 20 and the mounting base 13.
  • the scanning module 20 includes a scanning housing 21, a driver 22, an optical element 23, a controller 24 (see FIG. 11), and a detector 25.
  • the driver 22 is used for driving the optical element 23 to move, so as to change the transmission direction of the laser light passing through the optical element 23.
  • the optical element 23 may be a lens, a mirror, a prism, a grating, an optical phased array, or any combination of the foregoing optical elements.
  • the driver 22 drives the optical element to drive the optical element to rotate, vibrate, cyclically move along a predetermined trajectory, or move back and forth along a predetermined trajectory, which is not limited herein.
  • the optical element 23 includes a prism as an example for description.
  • the scanning housing 21 includes a housing body 211 and two flanges 212.
  • the housing body 211 includes a scanning housing top wall 2111, two scanning housing side walls 2112, a scanning housing bottom wall 2113, and two scanning housing end walls 2114.
  • the scanning housing top wall 2111 and the scanning housing bottom wall 2113 are located on opposite sides of the housing body 211, and the two scanning housing side walls 2112 are respectively located on opposite sides of the housing body 211 and are connected to the scanning housing top.
  • the two scanning housing end walls 2114 are located on opposite sides of the housing body 211 and are connected to the scanning housing top wall 2111, the scanning housing bottom wall 2113, and the two scanning housings.
  • the housing body 211 is provided with a scanning housing cavity 2115 penetrating through two scanning housing end walls 2114.
  • the scanning housing cavity 2115 is circular.
  • the mounting plate 131 is an integrated structure and the mounting arm 132 is also an integrated structure
  • the mounting arm 132 can be opposite to the two scanning housing side walls 2112 of the scanning housing 21;
  • the split structure of the mounting plate 1310 when the mounting arm 132 is an integrated structure, the mounting arm 132 can also be opposed to the two scanning housing side walls 2112 of the scanning housing 21.
  • the two flanges 212 extend from the two scanning housing side walls 2112 in a direction away from the scanning housing cavity 2115, and the two flanges 212 are located between the scanning housing top wall 2111 and the scanning housing bottom wall 2113.
  • the flange 212 is provided with a plurality of flange mounting holes 2121, and the plurality of flange mounting holes 2121 correspond to a plurality of mounting arm coupling holes 1322. Specifically, the number, size and position of the flange mounting holes 2121 are combined with the mounting arms. The number, size, and position of the holes 1322 correspond to the settings.
  • the driver 22 is installed in the scanning housing cavity 2115.
  • the driver 22 includes a stator assembly 221, a positioning assembly 222, and a rotor assembly 223.
  • the stator assembly 221, the positioning assembly 222 and the rotor assembly 223 are accommodated in the scanning housing 21.
  • the stator assembly 221 can be used to drive the rotor assembly 223 to rotate.
  • the stator assembly 221 includes a winding body 2211 and a winding 2212 mounted on the winding body 2211.
  • the winding body 221 is a stator core, and the winding 2212 is a coil.
  • the winding 2212 can generate a specific magnetic field under the action of the current, and the direction and intensity of the magnetic field can be changed by changing the direction and intensity of the current.
  • the stator assembly 221 is mounted on the housing body 211 and is housed in the scanning housing cavity 2115.
  • the winding 2212 in this embodiment is located at a position of the scanning housing cavity 2115 near an end wall 1514 of the scanning housing.
  • the rotor assembly 223 can be rotated by the drive of the stator assembly 221.
  • the rotor assembly 223 includes a rotor 223 a and a boss 223 b.
  • the rotor assembly 223 can rotate relative to the stator assembly 221.
  • both the rotor 223a and the boss 223b can rotate relative to the stator assembly 222.
  • the axis of rotation of the rotor 223a and the boss 223b is called a rotation shaft 2235. It can be understood that the rotation shaft 2235 can It is a physical axis 2235, or it may be a virtual axis 2235.
  • At least two joints 20b can be evenly distributed on the periphery of the rotor 223a, so that the vibration generated when the rotor 223a rotates can be evenly transmitted to the housing 10 (mounting base 13) to reduce the distance measurement module 30 generated relative to the mounting base 13.
  • the positions of the two coupling portions 20b are symmetrically disposed with respect to the rotation axis 223 of the rotor 223a.
  • at least two joint portions 20b are respectively located on at least one circumference centered on the rotation shaft 2235 of the rotor 223a and perpendicular to the rotation shaft 2235, wherein the junction portions 20b located on each circumference are evenly distributed on the circumference.
  • the rotor 223a includes a yoke 2231 and a magnet 2232.
  • the magnet 2232 is sleeved on the yoke 2231 and is located between the yoke 2231 and the winding 2212.
  • the magnetic field generated by the magnet 2232 interacts with the magnetic field generated by the winding 2212 and generates a force. Since the winding 2212 is fixed, the magnet 2232 is at The yoke 2231 is driven to rotate under the force.
  • the rotor 223 a has a hollow shape. A hollow portion of the rotor 223 a is formed with a storage cavity 2234. The laser pulse can pass through the storage cavity 2234 and pass through the scanning module 20.
  • the storage cavity 2234 is surrounded by the inner wall 2233 of the rotor 223a.
  • the yoke 2231 may have a hollow cylindrical shape, and the hollow portion of the yoke 2231 forms the storage cavity 2234.
  • the yoke The inner wall of 2231 can be used as the inner wall 2233 surrounding the receiving cavity 2234.
  • the storage cavity 2234 may not be formed on the yoke 2231, or may be formed on a structure such as the magnet 2232.
  • the inner wall 2233 may also be an inner wall of the structure such as the magnet 2232, which is not limited herein.
  • the inner wall 2233 has a ring structure or a part of a ring structure.
  • the winding 2212 of the stator assembly 221 may be annular and surround the outside of the inner wall 2233.
  • the boss 223b is disposed on the inner wall 2233 of the rotor 223a and is located inside the storage cavity 2234.
  • the boss 223b is used to improve the movement stability when the rotor assembly 223 rotates.
  • the boss 223b extends from the inner wall 2233 to the center of the storage cavity 2234, and the height of the boss 223b extending to the center of the storage cavity 2234 may be lower than a predetermined ratio of the radial width of the storage cavity 2234, and the predetermined ratio may be 0.1, 0.22 , 0.3, 0.33, etc. to avoid that the boss 223b obstructs the receiving cavity 2234 too much and affects the transmission path of the laser pulse.
  • the boss 223b can rotate in synchronization with the rotor 223a, and the boss 223b can be fixedly connected to the rotor 223a.
  • the boss 223b can be integrally formed with the rotor 223a, for example, integrally formed by injection molding or the like; the boss 223b can also be formed separately from the rotor 223a
  • the bosses 223b are fixed on the inner wall 2233 of the rotor 223a.
  • the bosses 223b are bonded to the inner wall 2233 by using adhesive.
  • the boss 223b rotates synchronously with the yoke 2231, and the boss 223b is fixedly connected with the yoke 2231.
  • the positioning component 222 is located on the outer side of the inner wall 2233.
  • the positioning component 222 is used to restrict the rotor component 223 from rotating around the fixed rotating shaft 2235.
  • the stator assembly 221 and the positioning assembly 222 surround the outside of the inner wall 2233 side by side.
  • the positioning assembly 222 includes a ring-shaped bearing 2221 that surrounds the outside of the inner wall 2233.
  • the bearing 2221 is mounted on the housing body 211 and is housed in the scanning housing cavity 2115.
  • the bearing 2221 includes an inner ring structure 2222, an outer ring structure 2223, and a rolling body 2224.
  • the inner ring structure 2222 and the outer side of the inner wall 2233 are fixed to each other.
  • the outer ring structure 2223 and the scanning case 21 are fixed to each other.
  • the rolling body 2224 is located between the inner ring structure 2222 and the outer ring structure 2223.
  • the rolling body 2224 is used for rolling connection with the outer ring structure 2223 and the inner ring structure 2222, respectively.
  • the prism 23 is installed in the storage cavity 2234. Specifically, the prism 23 can be installed in cooperation with the inner wall 2233 and fixedly connected to the rotor 223a. The prism 23 is located on the light path of the laser pulse. The prism 23 can rotate in synchronization with the rotor 223a around the rotation shaft 2235. When the prism 23 is rotated, the transmission direction of the laser light passing through the prism 23 can be changed.
  • the prism 23 is formed with a first surface 231, a second surface 232 opposite to each other, and a prism sidewall 233 connecting the first surface 231 and the second surface 232.
  • the first surface 231 is inclined with respect to the rotation axis 2235, that is, the angle between the first surface 231 and the rotation axis 2235 is not 0 degrees or 90 degrees; the second surface 232 is perpendicular to the rotation axis 2235, that is, the angle between the second surface 232 and the rotation axis 2235 is 90 degrees.
  • the thickness of the prism 23 is not uniform, that is, the thickness of the prism 23 is not the same everywhere.
  • the position where the thickness of 23 is the smallest or the position where the thickness is the greatest or other specific positions is defined as the zero position 235 of the prism 23, so that the subsequent rotation position of the prism 23 can be detected.
  • the thickness of the prism 23 is gradually increased in one direction.
  • the prism 23 may be a wedge mirror, and the zero position 235 is located at a position on the prism sidewall 233.
  • the prism 23 may be further coated with an anti-reflection coating, and the thickness of the anti-reflection film is equal to the wavelength of the laser pulse emitted by the light source 32 (shown in FIG. 11), which can reduce the prism 23 through which the laser pulse passes Time loss.
  • a first positioning structure 2236 is formed on the inner wall 2233.
  • a second positioning structure 234 is formed on the prism 23.
  • the second positioning structure 234 cooperates with the first positioning structure 2236, so that the zero position 235 of the prism 23 and the first position of the rotor 223a Align at a specific position.
  • the first specific position may be any one of the rotation positions set by the user in advance.
  • the first positioning structure 2236 includes a protrusion 2236 formed on the inner wall 2233, and the second positioning structure 234 includes a cutout 234 formed on the prism sidewall 233.
  • the protrusion 2236 can be complementary to the cutout 234, so that the protrusion 2236 cooperates with the cutout 234, and at the same time, the zero position of the prism 23 is aligned with the first specific position. Even during the rotation, the prism 23 and the rotor assembly 223 do not rotate relative to each other.
  • An avoidance groove 2237 is formed at the edge of the protrusion 2236 toward the inner wall 2233, and an intersection of the cutout 234 and the prism side wall 233 is received in the avoidance groove 2237.
  • the prism 23 is a precise optical device. The precision and integrity of the external dimensions of the prism 23 have a greater influence on the optical effect of the prism 23, and the corners of the prism 23 are more likely to be worn.
  • the interface between the notch 234 and the prism side wall 233 is housed in the avoidance groove 2237, which can prevent the interface between the notch 234 and the prism side wall 233 from being worn.
  • the protrusion 2236 extends in the direction of the rotation axis 2235, and the depth D of the protrusion 2236 in the direction of the rotation axis 2235 is greater than the thickness T of the prism 23 at the position where the cutout 234 is formed. That is, when the prism 23 is installed in the storage cavity 2234, the cutout 234 cooperates with the protrusion 2236, and the prism 23 does not interfere with the end of the protrusion 2236. The edge of the prism 23 is not easy to be worn or cause chipping. .
  • the specific forms of the first positioning structure 2236 and the second positioning structure 234 are not limited to the discussion of the above-mentioned embodiment, and may also have other specific forms.
  • the first positioning structure 2236 includes a The cutout
  • the second positioning structure 234 includes a protrusion formed on the prism side wall 233, and the cutout cooperates with the protrusion.
  • the number of the first positioning structure 2236 and the second positioning structure 234 are both single, the single first positioning structure 2236 and the single second positioning structure 234 cooperate with each other, and the structures of the rotor 223a and the prism 23 are simple.
  • the number of the first positioning structures 2236 is multiple, and the plurality of the first positioning structures 2236 are spaced apart along the circumferential direction of the inner wall 2233.
  • the number of the second positioning structures 234 is multiple, and each of the second positioning structures 234 is used to cooperate with a corresponding first positioning structure 2236.
  • the number of the first positioning structures 2236 is two, and the number of the second positioning structures 234 is two.
  • the two first positioning structures 2236 are symmetrical with respect to the first cross section M of the prism 23, wherein the first cross section M is defined as a plane passing through the rotation axis 2235 and the zero position 235 of the prism 23.
  • the two first positioning structures 2236 are symmetrical with respect to the second cross section N of the prism 23, wherein the second cross section N is defined as a plane passing through the rotation axis 2235 and perpendicular to the first cross section M.
  • first positioning structure 2236 can be symmetrical about the first cross section M, it can also be symmetrical about the second cross section N; and similar to the first positioning structure 2236, the second positioning structure 234 can also be about the first cross section.
  • the section M is symmetrical, or symmetrical about the second cross section N, or both the first cross section M and the second cross section N.
  • the thickness of the prism 23 is not uniform.
  • the prism 23 includes a first end 236 and a second end 237.
  • the first end 236 and the second end 237 are respectively located in the radial direction of the prism 23. Both ends.
  • the thickness of the first end 236 is greater than the thickness of the second end 237.
  • the second end 237 and the boss 223b are located on the same side of the rotating shaft 2235 of the rotor 223a, and the first end 236 and the boss 223b are located on opposite sides of the rotating shaft 2235. It can be understood that, due to the uneven thickness of the prism 23, the prism 23 itself is unstable and sloshing when it rotates.
  • Such sloshing may be transmitted to the rotor assembly 223, resulting in the entire rotor assembly 223 being unstable when rotating.
  • the thickness of the prism 23 is gradually reduced in a direction from the first end 236 to the second end 237.
  • the second end 237 and the boss 223b are located on the same side of the rotation shaft 2235, and the first end 236 and the boss 223b are located on opposite sides of the rotation shaft 2235, when the prism 23 and the rotor assembly 223 rotate together
  • the overall rotation formed by the prism 23 and the boss 223b is stable to prevent the rotor assembly 223 from shaking.
  • the boss 223b can act as a counterweight at this time.
  • the boss 223b rotates synchronously with the prism 23.
  • the torque relative to the rotation shaft 2235 is equal to the rotation of the first end 236.
  • the torque is relative to the rotating shaft 2235.
  • the second end 237 may be an end where the zero position 235 of the prism 23 is located.
  • the density of the boss 223b is greater than the density of the rotor 223a, so that when the boss 223b is disposed in the receiving cavity 2234, the volume of the boss 223b can be set under the same quality, that is, under the same weight. It is smaller to reduce the influence of the boss 223b on the laser pulse passing through the receiving cavity 2234.
  • the density of the projections 223b may be greater than the density of the prisms 23, so that the volume of the same projections 223b can be designed as small as possible.
  • the boss 223b When the boss 223b is installed in the storage cavity 2234, the boss 223b can be in contact with the prism 23 so that the boss 223b is as close to the prism 23 as possible. Specifically, the boss 223b is located on a side where the first surface 231 of the prism 23 is located, and the boss 223b may abut the first surface 231 of the prism 23. When the prism 23 is mounted, when the first surface 231 and the boss 223b abut, it can be considered that the prism 23 is mounted in place in the depth direction of the storage cavity 2234. More specifically, the boss 223b includes a boss sidewall 2230, and the boss sidewall 2230 abuts against the first surface 231.
  • the boss 223b is symmetrical about the first auxiliary surface S, wherein the first auxiliary surface S is a plane perpendicular to the rotation axis 2235 and passing through the center of the first surface 231.
  • the boss 223b may be symmetrical about the second auxiliary surface L, and the second auxiliary surface L is a plane passing through the rotation shaft 2235, the first end 236, and the second end 237.
  • the boss side wall 2230 may be in a flat plate shape perpendicular to the rotating shaft 2235, and the boss side wall 2230 may also be stepped to simplify the process flow when the boss 223b and the rotor 223a are integrally formed.
  • the boss sidewall 2230 may also be inclined with respect to the rotation shaft 2235, that is, the boss sidewall 2230 is not perpendicular to the rotation shaft 2235.
  • the slope direction of the boss sidewall 2230 is the same as that of the first surface 231, and the boss side The wall 2230 is adhered to the first surface 231, so that the side wall 2230 of the boss is as close as possible to the first surface 231 to maximize the weight of the boss 223b and reduce the height of the boss 223b, thereby reducing the boss. 223b blocking the light path.
  • the projection range of the prism 23 on the rotation axis 2235 covers the projection range of the projection 223b on the rotation axis 2235.
  • the torque generated when the boss 223b is rotated can be offset with the torque generated when the first end 236 of the prism 23 is rotated without affecting the stability of the rest of the rotor 223a when it is rotated.
  • the driver 22 includes a plurality of rotor assemblies 223, a plurality of stator assemblies 221, and a plurality of prisms 23.
  • Each prism 23 is mounted on a corresponding one of the rotor components 223, and each stator component 221 is used to drive the corresponding one of the rotor components 223 to drive the prism 23 to rotate.
  • Each rotor component 223, each stator component 221, and each prism 23 may be the rotor component 223, the stator component 221, and the prism 23 in any one of the foregoing embodiments, and will not be described in detail herein.
  • "a plurality" means at least two or more than two.
  • each rotor assembly 223 includes a boss 223b, and each boss 223b is fixed on the inner wall 2233 of the corresponding rotor assembly 223 to improve the dynamic balance when the rotor assembly 223 rotates.
  • the rotating shafts 2235 of the multiple rotor assemblies 223 may be the same, and the multiple prisms 23 may rotate around the same rotating shaft 2235; the rotating shafts 2235 of the multiple rotor assemblies 223 may also be different, and the multiple prisms 23 rotate around different rotating shafts 2235.
  • the multiple prisms 23 may also vibrate in the same direction or in different directions, which is not limited herein.
  • the plurality of rotor assemblies 223 can rotate with respect to the corresponding stator assembly 221 at different rotation speeds to drive the plurality of prisms 23 to rotate at different rotation speeds; the plurality of rotor assemblies 223 can also rotate with respect to the corresponding stators with different rotation directions.
  • the component 221 is rotated to drive the plurality of prisms 23 to rotate in different rotation directions; the plurality of rotor components 223 can be rotated at the same speed and in opposite directions.
  • At least one rotor assembly 223 rotates forward with respect to stator assembly 221, and at least one rotor assembly 223 reverses rotation with respect to stator assembly 221; at least one rotor assembly 223 rotates relative to stator assembly 221 at a first speed, and at least one rotor assembly 223 The second component is rotated relative to the stator assembly 221 at a second speed.
  • the first speed and the second speed may be the same or different.
  • the controller 24 is connected to the driver 22, and the controller 24 is used to control the driver 22 to drive the prism 23 to rotate according to a control instruction.
  • the controller 24 may be connected to the winding 2212 and used to control the magnitude and direction of the current on the winding 2212 to control the rotation parameters (rotation direction, rotation angle, rotation duration, etc.) of the rotor assembly 223 to control the prism 23 The purpose of the rotation parameters.
  • the controller 24 includes an electronic speed governor, and the controller 24 may be disposed on the electric speed control plate 54.
  • the detector 25 is configured to detect a rotation parameter of the prism 23, and the rotation parameter of the prism 23 may be a rotation direction, a rotation angle, a rotation speed, and the like of the prism 23.
  • the detector 25 includes a code disc 251 and a photoelectric switch 252.
  • the code disc 251 is fixedly connected to the rotor 223a and rotates synchronously with the rotor assembly 223. It can be understood that because the prism 23 rotates synchronously with the rotor 223a, the code disc 251 rotates synchronously with the prism 23, and the prism can be obtained by detecting the rotation parameter of the code disc 251 23 rotation parameters. Specifically, the rotation parameter of the code disc 251 can be detected through the cooperation of the code disc 251 and the photoelectric switch 252.
  • a third positioning structure 2239 is formed on the rotor 223a, and a fourth positioning structure 2511 is formed on the code disc 251.
  • the third positioning structure 2239 cooperates with the fourth positioning structure 2511 so that the zero position of the code disc 251 and the second position of the rotor 223a Align at a specific position.
  • the zero position 235 of the prism 23 corresponds to the first specific position of the rotor 223a
  • the code disc 251 is installed on the rotor assembly 223
  • the zero position of the code disc 251 is equal to the first position of the rotor 223a.
  • the two specific positions are aligned.
  • the first specific position and the second specific position are both predetermined positions.
  • the zero position of the code disc 251 and the zero position 235 of the prism 23 are at a predetermined angle. Through this angle and the rotation of the code disc 251 The parameters can be used to obtain the rotation parameters of the prism 23.
  • the first specific position is the same as the second specific position. At this time, the zero position 235 of the prism 23 is aligned with the zero position of the code disc 251.
  • a mounting ring 2238 is formed on the rotor 223 a, and the third positioning structure 2239 includes a notch formed on the mounting ring 2238.
  • the code disc 251 is sleeved on the mounting ring 2238.
  • the fourth positioning structure 2511 includes positioning protrusions formed on the code disc 251, and the positioning protrusions cooperate with the notches to align the zero position of the code disc 251 with the second specific position.
  • the number of the code discs 251 may also be multiple, and each code disc 251 is mounted on a corresponding one of the rotor assemblies 223 (rotor 223a), and each code disc 251 can be used to detect the rotation parameters of the prisms 23 mounted on the same rotor assembly 223.
  • the mounting directions of at least two code wheels 251 are opposite.
  • At least two code discs 251 are installed in opposite directions, which means that one code disc 251 is sleeved on one rotor 223a with the front side facing the rotor 223a, and the other code disc 251 is sleeved on the other with the back side facing the rotor 223a.
  • the front and back surfaces of the rotor 223a are opposite ends of the code disc 251.
  • the same installation direction means that one code disc 251 is sleeved on one rotor 223a with the front side facing the rotor 223a, and the other code disc 251 is also on the front side.
  • the photoelectric switch 252 can be used for transmitting optical signals and for receiving optical signals passing through the code disc 251.
  • the code disc 251 can be formed with a light hole, and the light signal can pass through the light hole but not outside the light hole. The location goes through. When the code disc 251 rotates, the light hole also rotates.
  • the photoelectric switch 252 can continuously emit light signals. By analyzing the waveform of the optical signal received by the photoelectric switch 252 and other signals, it can be used to determine the rotation parameters of the code disc 251, and then obtain a prism. 23 rotation parameters.
  • the ranging module and the scanning module are not separated, and the entire ranging component will rotate around a certain rotation axis.
  • the distance measuring module 20a provided in the embodiment of the present invention, the distance measuring module 30 and the scanning module 20 are separated from each other, and the distance measuring module 30 and the base 11 remain stationary during the working process.
  • the ranging module 30 and the scanning module 20 are spaced apart so that the scanning module 20 can vibrate relative to the ranging module 30.
  • the scanning module 20 and the ranging module 30 may be fixedly connected together to reduce vibration as a whole.
  • the scanning module 20 performs vibration reduction independently, and the ranging module 30 is fixed to the base 11. Both solutions can greatly reduce the influence of the scanning module 20 on the measurement accuracy of the ranging module 30. If the first solution is adopted, the vibration of the scanning module 20 will be directly transmitted to the ranging module 30, and the displacement amount of the vibration (including translational displacement and rotational displacement) will have a one-to-one impact on the ranging accuracy. If the second solution is adopted, the vibration of the scanning module 20 will not be transmitted to the ranging module 30, and the displacement amount of the vibration is mainly in the scanning module 20, and the influence on the ranging accuracy will be greatly reduced.
  • the influence on the ranging accuracy is about a 10-to-1 relationship, that is, the vibration displacement of the scanning module 20 is 10, and the influence on the measuring accuracy is only 1.
  • the second scheme is taken as an example and described in combination with the drawings.
  • the ranging module 30 is rigidly fixed in the housing 10.
  • the ranging module 30 and the scanning module 20 are oppositely disposed with a gap between them.
  • the ranging module 30 is disposed on the side of the base 11 near the side wall 1222 of the second cover. Further, the distance measuring module 30 is fixed on the mounting protrusion 114.
  • the ranging module 30 includes a ranging housing 31, a light source 32, an optical path changing element 33, a collimating element 34, and a detector 35.
  • the ranging module 30 may use a coaxial optical path, that is, the laser beam emitted by the ranging module 30 and the reflected laser beam share at least a part of the optical path in the ranging module 30.
  • the ranging module 30 may also use an off-axis optical path, that is, the light beam emitted by the ranging module 30 and the reflected beam are transmitted along different optical paths in the detection device, respectively.
  • the light source 32 includes a transmitting circuit 320 shown in FIG. 11 (b).
  • the detector 35 includes a receiving circuit 351, a sampling circuit 352, and an arithmetic circuit 353 shown in FIG. 11 (b), or further includes a control circuit 354 shown in FIG. 11 (b).
  • the ranging housing 31 is fixedly mounted on the mounting protrusion 114 and is attached to the mounting protrusion 114.
  • the mounting protrusion 114 can conduct the heat of the ranging module 30 to the base 11.
  • the ranging housing 31 includes a housing body 311 and two convex arms 312.
  • the housing body 311 includes a top wall of the ranging housing 3111, two side walls 3112 of the ranging housing, a bottom wall 3113 of the ranging housing, and two end walls 3114 of the ranging housing.
  • the top wall 3111 of the ranging housing and the bottom wall 3113 of the ranging housing are located on opposite sides of the housing main body 311, and two side walls 3112 of the ranging housing are located on opposite sides of the housing main body 311 and are connected to the measuring side.
  • the top wall 3111 of the housing and the bottom wall 3113 of the ranging housing, two end walls 3114 of the ranging housing are located on opposite sides of the housing main body 311 and are both connected to the top wall 3111 of the ranging housing and the bottom of the ranging housing
  • the housing body 311 is provided with a ranging housing cavity 3115 penetrating the two ranging housing end walls 3114, and the ranging housing cavity 3115 is aligned with the scanning housing cavity 2115.
  • the ranging housing cavity 3115 is circular. Specifically, the axis of the ranging housing cavity 3115 coincides with the axis of the scanning housing cavity 2115.
  • the two convex arms 312 extend from the side walls 3112 of the two ranging housings in a direction away from the cavity 3115 of the scanning and ranging housing, respectively, and are located at the bottom wall 2113 of the scanning housing.
  • the convex arm 312 is provided with a plurality of convex arm installation holes 3121, and the multiple convex arm installation holes 3121 correspond to the multiple convex combination holes 1140. Specifically, the number, size and position of the convex arm installation holes 3121 are combined with the protrusions. The number, size, and position of the holes 1140 are set accordingly.
  • the two convex arms 312 can be combined with the mounting protrusion 114 through a locking member (not shown) to fix the distance measuring module 30 on the base 11.
  • the locking member passes through the convex arm mounting hole 3121 and is locked into the convex coupling hole 1140 to fix the two convex arms 312 to the mounting protrusion 114, so that the ranging module 30 is fixed to the base 11 on.
  • the ranging module 30 is aligned with the receiving space 1124, and the receiving space 1124 can be used to receive the cables of the ranging module 30.
  • the distance measuring module 30 uses the first coaxial optical path to describe the light source 32, the optical path changing element 33, the collimating element 34, and the detector 35.
  • the light source 32 is mounted on the ranging housing 31.
  • the light source 32 may be used to emit a laser pulse sequence.
  • the laser beam emitted by the light source 32 is a narrow-bandwidth light beam with a wavelength outside the visible light range.
  • the light source 32 can be installed on the side wall 3112 of the ranging housing, and the laser pulse sequence emitted by the light source 32 can enter the cavity 3115 of the ranging housing.
  • the light source 32 may include a laser diode, and the laser diode emits laser light at the nanosecond level. For example, the laser pulse emitted by the light source 32 lasts for 10 ns.
  • the collimating element 34 is disposed on the light exiting light path of the light source 32 and is used to collimate the laser beam emitted from the light source 32, that is, collimate the laser beam emitted from the light source 32 into parallel light.
  • the collimation element 34 is installed in the ranging housing cavity 3115 and is located at an end of the ranging housing cavity 3115 near the scanning module 20. More specifically, the collimating element 34 is located between the light source 32 and the scanning module 20.
  • the collimation element 34 is also used to condense at least a portion of the reflected light reflected by the probe.
  • the collimating element 34 may be a collimating lens or other elements capable of collimating a light beam.
  • the collimating element 104 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the light path changing element 33 is installed in the cavity 3115 of the ranging housing and is set on the light path of the light source 32 to change the light path of the laser beam emitted from the light source 32 and to change the light path of the light source 32 and the detector 35. Receive light path merge.
  • the light path changing element 33 is located on a side of the collimating element 34 opposite to the scanning module 20.
  • the light path changing element 33 may be a mirror or a half mirror.
  • the light path changing element 33 includes a reflective surface 332, and the light source 32 is opposite to the reflective surface 332.
  • the optical path changing element 33 is a small mirror, and can change the optical path direction of the laser beam emitted from the light source 32 by 90 degrees or other angles.
  • the detector 35 is mounted on the ranging housing 31 and is contained in the ranging housing cavity 3115.
  • the detector 35 is located at an end of the ranging housing cavity 3115 away from the scanning module 20, and the detector 35 and the light source 32 are placed in the standard.
  • the light source 32 emits a laser pulse.
  • the laser pulse is changed by the light path changing element 33 to change the direction of the light path (can be changed by 90 degrees or other angles).
  • the laser pulse after collimation is collimated by the collimation element 34.
  • the prism 23 changes the transmission direction, it is emitted and projected onto the detection object.
  • At least a part of the returned light after the laser pulse reflected by the detection object passes through the prism 23 is collected by the collimator element 34 onto the detector 35.
  • the detector 35 converts at least a part of the returned light passing through the collimating element 34 into an electrical signal pulse, and the ranging device 100 determines the laser pulse receiving time by the rising edge time and / or the falling edge time of the electrical signal pulse. In this way, the ranging device 100 can calculate the flight time by using the pulse receiving time information and the pulse sending time information, thereby determining the distance from the detected object to the ranging device 100.
  • the distance measurement module 30 uses the second coaxial optical path to describe the light source 32, the optical path changing element 33, the collimating element 34, and the detector 35.
  • the structure and position of the collimation element 34 are the same as the structure and position of the collimation element 34 in the first coaxial optical path, except that the light path changing element 33 is a large mirror, and the large mirror includes a reflection
  • the surface 332 is provided with a light-passing hole at a middle position of the large reflecting mirror.
  • the detector 35 and the light source 32 are still placed on the same side of the collimating element 34.
  • the positions of the detector 35 and the light source 32 are interchanged, that is, the light source is facing the collimating element 34.
  • the detector 35 is opposite to the reflecting surface 332, and the light path changing element 33 is located between the light source 32 and the collimating element 34.
  • the light source 32 emits a laser pulse.
  • the laser pulse passes through the light path of the optical path changing element 33 and is collimated by the collimating element 34.
  • the collimated laser pulse is emitted by the prism 23 after changing the transmission direction. After being projected on the detection object, at least a part of the return light of the laser pulse reflected by the detection object after passing through the prism 23 is collected by the collimating element 34 onto the reflection surface 332 of the optical path changing element 33.
  • the reflecting surface 332 reflects the at least part of the reflected light to the detector 35, and the detector 35 converts the reflected at least part of the reflected light into an electrical signal pulse, and the distance measuring device 100 passes the rising edge time of the electrical signal pulse and / Or the falling edge time determines the laser pulse receiving time.
  • the ranging device 100 can calculate the flight time by using the pulse receiving time information and the pulse sending time information, thereby determining the distance from the detected object to the ranging device 100.
  • the size of the light path changing element 33 is large, and it can cover the entire field of view of the light source 32.
  • the return light is directly reflected by the light path changing element 33 to the detector 35, which prevents the light path changing element 33 itself from affecting the return light path.
  • the occlusion increases the intensity of the return light that can be detected by the detector 35 and improves the ranging accuracy.
  • the flexible connecting component 40 is used to connect the scanning housing 21 to the mounting base 13, and the scanning housing 21 is received in the mounting groove 133.
  • the flexible connecting component 40 A gap 20 c is provided between the scanning module 20 and the mounting base 13 to provide a vibration space for the scanning module 20.
  • the number of the flexible connection assemblies 40 is at least two and corresponds to at least two joint portions 20b, and each flexible connection assembly 40 is disposed at the corresponding joint portion 20b.
  • the central connection line between the two joint portions 20b is in the same plane as the rotation shaft 2235 of the rotor 223a.
  • the flexible connecting components 40 also correspond to the flange mounting holes 2121, and each of the flexible connecting components 40 is respectively installed at the corresponding flange mounting hole 2121.
  • the flexible connecting assembly 40 includes a flexible connecting member 41 and a fastener 42.
  • the flexible connecting member 41 and the flange 212 are mounted on the top end 1321 by a fastener 42.
  • the flexible connecting member 41 is disposed between the mounting base 13 and the scanning housing 21, and the flexible connecting member 41 is located between the scanning housing top wall 2111 and the scanning housing bottom wall 2113. Further, the flexible connecting member 41 is located in the scanning housing.
  • the body bottom wall 2113 is closer to the rotation shaft 2235 of the rotor assembly 223.
  • Each flexible connecting member 41 includes a flexible first supporting portion 411, a flexible connecting portion 413, and a flexible second supporting portion 412.
  • the first support portion 411 and the second support portion 412 are respectively connected to opposite ends of the connection portion 413.
  • the flexible connecting member 41 is provided with a through hole 414 penetrating the first supporting portion 411, the connecting portion 413 and the second supporting portion 412.
  • the connecting portion 413 is passed through the flange mounting hole 2121, and the first support portion 411 and the second support portion 412 are located on opposite sides of the flange 212, respectively.
  • the fastener 42 passes through the through hole 414 and is combined with the mounting arm coupling hole 1322 on the mounting arm 132 to connect the scanning module 20 to the mounting arm 132 (that is, the two flanges 212 are connected to the mounting through the flexible connection assembly 40.
  • the first support portion 411 is located between the flange 212 and the top end 1321.
  • the cross section of the flexible connector 41 that is cut by the plane passing through the axis of the through hole 414 has an “I” shape.
  • the flexible connecting member 41 may be a rubber pad.
  • the flexible connecting member 41 may further include a support projection 415 protruding from the first support portion 411, and the support projection 415 is located between the flange 212 and the top end 1321 to increase and protrude.
  • the contact area of the edge 212 provides a better flexible connection force.
  • the center line between the at least two flexible connecting members 41 is in the same plane as the rotation shaft 2235 of the rotor 223a, and the plane is parallel to the mounting plate 131 or any one of the sub-mounting plates 1310.
  • the center line of the two flanges 212 is in the same plane as the rotation shaft 2235 of the rotor 223a, and the plane is parallel to the mounting plate 131 or any one of the sub-mounting plates 1310.
  • the center line of the two joints between the two flanges 212 and the two flexible connectors 41 is in the same plane as the rotation shaft 2235 of the rotor 223a, and the plane is parallel to the mounting plate 131 or Any one of the sub-mounting plates 1310.
  • the scanning housing 21 includes a plurality of connection points connected by the flexible connection members 41, and the lines between the plurality of connection points are in the same plane as the rotation axis 2235 of the rotor 223a, and the plane is parallel to the mounting plate. 131 or any one of the sub-mounting plates 1310. Regardless of the above-mentioned settings, when the rotor 223a rotates, the position and angle of the scanning module 30 caused by the horizontal centrifugal force can be reduced.
  • the scanning module 20, the flexible connection assembly 40, and the casing 10 form a vibration system, and the natural frequency f0 of the vibration system is smaller than the vibration frequency of the scanning module 20 or greater than the vibration frequency of the scanning module 20. Furthermore, the natural frequency f0 of the vibration system is less than 1000HZ, and the ratio of the rotation frequency f to f0 of the rotor 223a is less than 1/3 or greater than 1.4, that is, f / f0 ⁇ 1/3, or f / f0> 1.4, which is better. Ground, f / f0> 1.41.
  • the vibration of the scanning module 20 due to the rotation of the rotor 223a will be enlarged by 1 to 1.1 times; when f / f0> 1.4 or f / f0> 1.41, the scanning module 20 will be amplified by the rotor.
  • the vibration caused by the rotation of 223a will be magnified less than 1; when 1/3 ⁇ f / f0 ⁇ 1.41, the vibration of the scanning module 20 due to the rotation of the rotor 223a will be amplified by 1 to infinite times, in particular, f
  • / f0 1
  • the vibration of the scanning module 20 due to the rotation of the rotor 223a will be magnified infinitely.
  • the scanning module 20 vibrates due to the rotation of the rotor 223a. Since the scanning module 20 is connected to the mounting base 13 of the housing 10 through the flexible connection assembly 40, and the scanning module 20 and the mounting base There is a gap 20c between 13 to provide a vibration space for the scanning module 20, and the flexible connection assembly 40 makes there is no direct contact between the scanning module 20 and the casing 10, which can reduce or even avoid the transmission of the vibration of the scanning module 20 to the casing 10 (mounting seat) 13) on. Further, since the natural frequency f0 of the vibration system is less than 1000 HZ, high-frequency vibrations higher than 1000 HZ on the scanning module 20 can hardly be transmitted to the casing 10.
  • the ratio of the rotation frequency f of the rotor 223a to the natural frequency f0 is less than 1/3 or greater than 1.4, which can prevent the vibration of the frequency doubling vibration of the scanning module 20 due to the rotation of the rotor 223a from being transmitted to the casing 10.
  • the noise source in the scanning module 20 usually comes from the high-speed rotating rotor 223a, and the human ear is more sensitive to high-frequency noise above 1000HZ.
  • the housing 10 in the scanning module 20 in the present application forms a sealed receiving cavity. 10a, the sealing level is high, and high-frequency noise can only pass through the air in the casing 10, penetrate the casing 10 and then spread to the outside.
  • the casing 10 as a sealed structure can increase the acoustic resistance between the rotor 223a and the outside. Therefore, the sealed casing 10 (accommodating cavity 10a) greatly reduces the noise transmitted to the casing 10 compared to the sound source (rotor 223a), which improves the user experience. Furthermore, since the ranging module 30 is rigidly fixed in the housing 10, the vibration of the scanning module 20 has little effect on the ranging module 30, thereby ensuring the relative installation position of the ranging module 30 and the ranging device 100 as a whole. The stability of the measurement improves the accuracy of ranging. Finally, in general, the rotor 223a of the scanning module 20 inevitably has a certain amount of imbalance.
  • the center connection between the two flexible connectors 41 and the rotor is in the same plane; or, the center line of the two flanges 212 is in the same plane as the rotation axis 2235 of the rotor 223a; or, two between the two flanges 212 and the two flexible connectors 41
  • the center line of the contact point is in the same plane as the rotation axis 2235 of the rotor 223a; or, the connection line between the connection points of the scanning housing 21 connected to the plurality of flexible connectors 41 is the same as the rotation axis 2235 of the rotor 223a In the plane, the position and angle of the scanning module 20 caused by the horizontal centrifugal force can be reduced.
  • the circuit board assembly 50 includes a connector 51, a first electrical connection member 52, a second electrical connection member 53, and an ESC 54.
  • the connector 51 passes through the base 11 from the receiving cavity 10 a.
  • the connector 51 is used to connect electronic components outside the distance measuring device 100 and the distance measuring device 100. Specifically, one end of the connector 51 is connected to the scanning module 20 and the ranging module 30, and the other end is connected to electronic components outside the ranging device 100.
  • the first electrical connection member 52 includes a first scanning connection portion 521 for connecting with the scanning module 20, a first ranging connection portion 522 for connecting with the ranging module 30, and
  • the flexible first bending portion 523 is located between the first scanning connection portion 521 and the first ranging connection portion 522.
  • the first scanning connection portion 521 and the first ranging connection portion 522 are respectively connected to opposite ends of the first bending portion 523.
  • the first scanning connection portion 521 is disposed on the top wall 2111 of the scanning housing.
  • the first ranging connection portion 522 is disposed on the top wall 3111 of the ranging housing.
  • the first bending portion 523 includes a first sub-bending portion 5231 and a second sub-bending portion 5232.
  • the opposite ends of the first sub-bending portion 5231 are connected to the first scanning connection portion 521 and the second sub-bending portion 5232, respectively.
  • the opposite ends of the second sub-bend portion 5232 are connected to the first ranging connection portion 522 and the first sub-bend portion 5231, respectively.
  • the first sub-bend portion 5231 and the second sub-bend portion 5232 are respectively in two different In the plane, the first scan connection portion 521 and the first sub-bend portion 5231 are in the same plane, and the first scan connection portion 521 and the first distance measurement connection portion 522 are in two different planes.
  • a circuit for controlling the photoelectric switch 252 is provided on the first scanning connection portion 521, and the first ranging connection portion 522 is electrically connected to the photoelectric switch 252, so as to control the photoelectric switch 252.
  • the power supply and communication between the ranging module 30 and the scanning module 20 are connected by a flexible circuit board (Flexible Printed Circuit, FPC) line.
  • FPC Flexible Printed Circuit
  • the first electrical connector 52 in the present application is provided with a first bent portion 523, and the first sub-bend portion 5231 and the second sub-bend portion 5232 are respectively in two different planes (the two planes may have Height difference), so that the first scanning connection portion 521 and the first ranging connection portion 522 are respectively in two different planes (the two planes may also have a height difference), and the first bending portion 523 makes the first electrical connection
  • the connecting member 52 has a large deformation margin during the vibration process of the scanning module 20, so that the stress on the first electrical connecting member 52 due to the vibration of the scanning module 20 can be greatly reduced, and the distance measurement device 100 is improved. reliability.
  • the second electrical connection member 53 includes a second scanning connection portion 531, a second ranging connection portion 532, and a flexible connection between the second scanning connection portion 531 and the second ranging connection portion 532.
  • the second scan connection portion 531 and the second distance measurement connection portion 532 are respectively connected to opposite ends of the second bending portion 533.
  • the second scan connection portion 531 is disposed on the bottom wall 2113 of the scan housing.
  • the second distance measurement connection portion 532 is connected to the ranging housing sidewall 3112 after scanning the housing sidewall 2112.
  • the second bending portion 533 includes a third sub-bending portion 5331 and a fourth sub-bending portion 5332.
  • the opposite ends of the third sub-bending portion 5331 are connected to the second scanning connection portion 531 and the fourth sub-bending portion 5332, respectively.
  • the opposite ends of the fourth sub-bend portion 5332 are connected to the second ranging connection portion 532 and the third sub-bend portion 5331, respectively.
  • the third sub-bend portion 5331 and the fourth sub-bend portion 5332 are respectively different from each other. In the plane.
  • the second ranging connection portion 532 and the fourth sub-bend portion 5332 are in the same plane, and the second scanning connection portion 531 and the second ranging connection portion 532 are in two different planes, respectively.
  • the power supply and communication between the ranging module 30 and the scanning module 20 are connected through a flexible circuit board FPC line.
  • the FPC line is prone to fatigue stress due to the vibration of the scanning module 20, resulting in poor socket contact in a short time, FPC line cracks and other phenomena.
  • the second electrical connecting member 53 in the present application is provided with a second bent portion 533, and the third sub-bent portion 5331 and the fourth sub-bend portion 5332 are respectively in two different planes, so that the second scanning connection is made.
  • the portion 531 and the second ranging connection portion 532 are respectively in two different planes, and the second bending portion 533 makes the second electrical connection member 53 have a large deformation margin during the vibration process of the scanning module 20, so that The stress on the second electrical connecting member 53 caused by the vibration of the scanning module 20 can be greatly reduced, and the reliability of the distance measuring device 100 is improved.
  • the electrical adjustment plate 54 is provided corresponding to the bottom wall 2113 of the scanning housing.
  • the second scanning connection portion 531 is electrically connected to the electrical adjustment plate 54.
  • the second ranging connection portion 532 is connected to a power supply circuit (3112) provided on the side wall 3112 of the ranging housing. (Not shown) is electrically connected, so that the power supply circuit supplies power to the ESC 54.
  • the thermally conductive element 61 is disposed between the casing 10 and the scanning module 20; or, the thermally conductive element 61 is disposed between the casing 10 and the ranging module 30; or the thermally conductive element 61 is disposed between the casing 10 and the scanning module 20
  • the modules 20 are arranged between the housing 10 and the ranging module 30.
  • the thermally conductive element 61 is made of a thermally conductive material.
  • the thermally conductive element 61 may be made of a thermally conductive metal such as copper or aluminum, or the thermally conductive element 61 may be made of a thermally conductive non-metallic material such as thermally conductive silicon, thermally conductive resin, or thermally conductive plastic.
  • the thermally conductive element 61 when the thermally conductive element 61 is disposed between the housing 10 and the scanning module 20, the thermally conductive element 61 may be disposed between the bottom wall 2113 of the scanning housing and the bottom surface of the installation space 1122; when the thermally conductive element 61 is disposed between the housing 10 and When the distance measuring module 30 is located, the heat conducting element 61 may be disposed between the bottom wall 3113 of the distance measuring housing and the bottom surface of the receiving space 1124.
  • the thermally conductive element 61 may wrap any one or more of the scanning housing side wall 2112, the scanning housing end wall 2114, and the scanning housing top wall 2111.
  • the heat conducting element 61 can wrap any one or more of the side wall 3112 of the ranging housing, the end wall 3114 of the ranging housing, and the top wall 3111 of the ranging housing.
  • both the scanning module 20 and / or the ranging module 30 generate heat, and the arrangement of the thermally conductive element 61 can reduce the heat transfer to the scanning module 20 and / or the ranging module 30.
  • the thermal resistance to the casing 10 improves the heat dissipation efficiency of the distance measuring device 100.
  • the casing 10 is also made of a thermally conductive material, which can further improve the heat dissipation efficiency of the distance measuring device 100.
  • the sealing member 62 is disposed on the bottom plate 11 and surrounds the limiting wall 112.
  • the sealing member 62 is located between the cover side wall 122, the limiting wall 112 and the bottom plate 11.
  • the arrangement of the sealing member 62 can prevent external impurities, moisture and the like from entering the casing 10 to achieve dustproof and waterproof functions, thereby preventing external impurities and moisture from affecting the normality of the scanning module 20 and the ranging module 30 Work to improve the distance measurement accuracy and extend the service life of the distance measurement device 100.
  • the sound absorbing member 63 is made of a sound absorbing material, and the sound absorbing material may be sponge, foam, rubber, or the like.
  • the sound absorbing member 63 is provided on the inner surface of the receiving cavity 10a. That is, the sound absorbing member 63 may be provided on the base 11, for example, at a position of the base plate 111 that avoids the scanning module 20 and the ranging module 30; the sound absorbing member 63 may also be provided on the cover top wall 121 and the cover body. On the inner surface of any one of the side walls 122. The sound absorbing member 63 may be adhered to the inner surface of the receiving cavity 10a by using adhesive.
  • the noise source in the scanning module 20 usually comes from the high-speed rotating rotor 223a.
  • the human ear is more sensitive to high-frequency noise above 1000HZ.
  • the sound absorbing member 63 in this application makes the noise transmitted to the casing 10 compared to the sound source (rotor 223a) The attenuation is greatly improved, and the user experience is improved.
  • the housing 10 may further include a protective cover 14.
  • the protective cover 14 is detachably installed or fixedly installed at the light-transmitting area 1220 of the cover body 12.
  • the light transmitting region 1220 may be a through hole.
  • the laser pulse passing through the prism 23 can be emitted from the protective cover 14 to the outside of the casing 10, and the base 11, the cover body 12, and the protective cover 14 together form a sealed receiving cavity 10 a.
  • the protective cover 14 is made of a material having a high light transmittance such as plastic, resin, and glass.
  • the protective cover 14 When the protective cover 14 is detachably installed at the light-transmitting area 1220 of the cover body 12, on the one hand, it is convenient to replace the protective cover 14 and on the other hand, it is convenient to clean the protective cover 14 so as to avoid accumulation in the light-transmitting area 1220.
  • the impurities affect the optical path of the laser beam, thereby reducing the accuracy of distance detection.
  • the heat dissipation structure 200 includes a baffle assembly 70 and a fan 80.
  • the baffle assembly 70 and the fan 80 are disposed on the casing 10, and the baffle assembly 70 and the casing 10 together form a heat dissipation air duct 73, and the heat dissipation structure 200 is formed with a heat dissipation air duct 73 and an air inlet 731 and an air outlet outside the detection device 1000
  • the air outlet 732 and the fan 80 are disposed in the heat dissipation air duct 73 and located at the air inlet 731 and / or the air outlet 732.
  • the baffle assembly 70 includes a baffle 71.
  • the baffle 71 is disposed on a side of the base 11 opposite to the cover 12, and the baffle 71 and the base 11 collectively surround a heat dissipation air passage 73.
  • Two air outlets 732 are formed between the opposite ends of the baffle 71 and the base 11.
  • the baffle 71 is provided with an air inlet 732 between the two air outlets 732, and the fan 80 is installed at the air inlet 732.
  • the baffle 71 is arranged in parallel with the bottom surface 1111 of the base, and a heat dissipation air duct is formed between the bottom surface 1111 of the base and the baffle 71.
  • the baffle 71 is provided with a baffle perforation 711, and the end of the joint 51 remote from the base 11 is protruded out of the baffle 71 by the baffle perforation 711.
  • the fan 80 is installed on the base 11 and is located at the air inlet 731.
  • the fan 80 includes a first end surface 81, a second end surface 82, a first side surface 83, and a second side surface 84.
  • the first end surface 81 and the second end surface 82 are located on opposite sides of the fan 80, and the first side surface 83 and the second side surface 84 are located on opposite sides of the fan 80 and both connect the first end surface 81 and the second end surface 82.
  • the first end surface 81 and the base 11 are spaced apart from each other, and the second end surface 82 and the baffle 71 are attached to each other.
  • the two air outlets 732 are respectively disposed on the side where the first side surface 83 is located and the side where the second side surface 84 is located.
  • the fan 80 may be an axial fan.
  • the fan 80 blows air toward the base 11, and the cold wind from the fan 80 absorbs the heat on the base 11 (the scanning module 20, the ranging module 30, etc. are generated and transmitted to the base
  • the heat on the seat 11) becomes hot air, and the hot air is blown out from the two air outlets 732 after passing through the heat dissipation air duct 73, thereby taking away the heat on the housing 11 and realizing the heat dissipation of the distance measuring device 100 with high heat dissipation efficiency.
  • the heat dissipation structure 200 is arranged on the base 11 and blows cold air directly to the base 11, and the hot air is led out from both sides, so that the heat dissipation can be maximized. effectiveness.
  • the heat dissipation structure 200 may further include a plurality of heat sinks 90 disposed on the base 11 at intervals.
  • the plurality of heat sinks 90 are accommodated in the heat dissipation air duct 73 and disposed on the air path from the air inlet 731 to the air outlet 732.
  • the heat sink 90 includes a first surface 91 and a second surface 92 opposite to each other.
  • the first surface 91 of each heat sink 90 is attached to the baffle 71, and the second surface 92 is attached to the bottom surface 1111 of the base.
  • the plurality of heat sinks 90 include at least one first heat sink 93 and a plurality of second heat sinks 94.
  • the first heat sink 93 separates the plurality of second heat sinks 94 from the connector 51.
  • the plate 71, the base 11, and the first fins 93 together form a heat dissipation air duct 73.
  • a plurality of second heat sinks 94 are symmetrically distributed at the two air outlets 732, and a part of the second heat sinks 94 at each air outlet 732 is vertically disposed with respect to the first side 83, and a portion of the second heat sinks 94 is inclined with respect to the first side 83 Settings.
  • the fan 80 blows air toward the base 11, and the cold wind from the fan 80 absorbs the heat on the base 11 (the scanning module 20, the ranging module 30, etc. are generated and transmitted to the base
  • the heat on the seat 11) becomes hot air.
  • the hot air passes through the cooling air duct 73, it also takes away the heat on the heat sink 90 and blows it out from the two air outlets 732, so as to take away the heat on the housing 11 to achieve distance measurement. Heat dissipation of the device 100.
  • the heat sink 93 Since the heat sink 93 is added, the heat concentrated on the base 11 can be transmitted to the heat sink 93, which increases the heat dissipation area, and the heat sink 93 is disposed in the heat dissipation duct 73, so that the heat on the heat sink 93 can also be Quickly follow the wind flow and lead out from the air outlets 732 on both sides, which further improves the heat dissipation efficiency.
  • the first heat sink 93 separates the plurality of second heat sinks 94 from the joint 51, the first surface 91 of each heat sink 90 is attached to the baffle 71, and the second surface 92 is attached to the bottom surface 1111 of the base. Close, to prevent the wind from entering the baffle hole 711 and affecting the normal operation of the joint 51.
  • an embodiment of the present application further provides another distance detecting device 1000.
  • the distance detecting device 1000 includes a distance measuring device 100 and a heat dissipation structure 200.
  • the ranging device 100 includes a housing 10 and a plurality of ranging components 20 a.
  • a plurality of distance measuring assemblies 20 a are installed in the housing 10. There are overlapping portions of the field-of-view ranges of two adjacent distance-measuring components 20a, and each distance-measuring component 20a is used to measure the distance between the object to be measured in the corresponding field-of-view and the distance detection device 1000.
  • Setting multiple ranging components 20a can obtain a larger field of view relative to one ranging component 20a, and increase the total field of view of the distance detection device 1000.
  • the vision of two adjacent ranging components 20a There is an overlap in the field ranges to avoid a blind spot in the field of view between two adjacent ranging components 20a.
  • the calibration parameters such as the relative positions between the multiple ranging components 20a have been relatively fixed.
  • the types and structures of the plurality of ranging components 20a may be the same or different, or there may be at least two ranging components 20a of the same type and structure in the plurality of ranging components 20a, as well as different types and structures of the ranging components.
  • the distance from the component 20a is not limited herein.
  • the types and structures of the plurality of ranging components 20a are the same to save replacement and maintenance costs.
  • the distance measuring device 100 further includes a flexible connection assembly 40, a circuit board assembly 50, a heat conducting element 61, a sealing member 62, and a sound absorbing member 63.
  • a flexible connection assembly 40 for specific structures of the plurality of distance measuring components 20a, the housing 10, the circuit board component 50, the heat conducting element 61, the sealing member 62, and the sound absorbing member 63, reference may be made to the structure description of the distance measuring device 100 in any one of the above embodiments. I wo n’t go into details here, and I ’ll focus on the different parts below.
  • the number of the ranging components 20a is multiple, and the number may be two or more. In the embodiment of the present application, the number of the ranging components 20a is three.
  • the plurality of distance measuring components 20a may be radially installed in the housing 10, that is, the plurality of distance measuring components 20a may emit detection signals (laser pulses) around the center with a common point.
  • the included angles of the central axes of any two adjacent ranging components 20a are equal. Of course, in other embodiments, the included angle between the central axes of different two ranging components 20a may not be equal.
  • the central axis can be understood as a straight line where the laser light emitted when the laser direction is not changed through the prism 23; or, the central axis can be understood as a straight line where the rotation axis 2235 of the rotor 223a is located.
  • the included angle between the central axes of two adjacent ranging components 20a is less than half of the sum of the field angles of two adjacent ranging components 20a, so that the viewing angles of two adjacent ranging components 20a must be There is an overlapping portion, and a blind zone of the field of view will not be formed between the two ranging components 20a.
  • the included angle between the central axes of two adjacent ranging components 20a is less than 80% or 90% of the field angle of any one of the two adjacent ranging components 20a.
  • the included angle between the central axes of two adjacent ranging components 20a is greater than 30% of the field angle of any one of the two adjacent ranging components 20a.
  • the size of the field-of-view ranges of the plurality of ranging components 20a may be equal or unequal, and may be set according to requirements.
  • the casing 10 includes a base 11, a plurality of mounting bases 13, a cover 12 and a protective cover 14 disposed on the base 11.
  • a plurality of ranging components 20 a are mounted on the base 11. Specifically, each ranging component 20 a is mounted on the base 11 through a mounting base 13. For the mounting relationship between each distance measuring component 20 a and the mounting base 13, the structural similarities of each mounting base 13 can be referred to the description of the above embodiment. The difference lies in that the overall shape of the base 11 is different.
  • the base 11 is formed with a plurality of sets of mounting structures supporting the ranging module 20a.
  • the mounting structure is, for example, a plurality of sets of mounting bases 13, a plurality of sets of positioning columns 113, and a plurality of mountings.
  • the base 11 is combined with the cover 12 to form a receiving cavity 10 a.
  • a plurality of distance measuring components 20 a are received in the receiving cavity 10 a and installed on the base 11.
  • the base 11 is combined with the cover 12 to form a sealed receiving cavity 10a to prevent outside dust, water vapor, etc. from entering the receiving cavity 10a, and the noise generated by the distance measuring assembly 20a is not easy to come from the receiving cavity 10a.
  • the base 11 includes a bottom plate 111 and an annular limiting wall 112 extending from the bottom plate 111.
  • the cover 12 includes a cover top wall 121 and a cover side wall 122 surrounding the cover top wall 121.
  • the cover side wall 122 is installed on the bottom plate.
  • the distance detection device 1000 further includes an annular seal 62, which is disposed on the bottom plate 111 and surrounds the limiting wall 112.
  • the seal 62 is located between the cover side wall 122, the limiting wall 112 and the bottom plate 111.
  • the sealing method of the base 11 and the cover 12 may be the same as that of the above embodiment, and the differences are the outer contour of the base 11, the outer contour of the cover 12, and the specific shape of the seal 62.
  • the cover body 12 includes a cover body side wall 122, and a light transmitting area 1220 is formed on the cover body side wall 122, and the light transmitting area 1220 is used for passing a ranging signal sent by the ranging component 20a.
  • the light-transmitting area 1220 may be an area made of a light-transmitting material on the cover side wall 122.
  • the light-transmitting area 1220 may also be a through hole formed in the cover side wall 122.
  • the ranging signal (such as a laser pulse) may be Passing through the light-transmitting area 1220 to penetrate into or out of the receiving cavity 10a.
  • the area other than the light-transmitting area 1220 on the side wall 122 of the cover body may be a non-light-transmitting area 1223. The ranging signal cannot pass through the non-light-transmitting area 1223 to prevent the signal from entering from the non-light-transmitting area 1223. From the component 20a.
  • the cover sidewall 122 includes a first cover sidewall 1221 and a second cover sidewall 1222.
  • the first cover side wall 1221 and the second cover side wall 1222 are located at opposite ends of the cover top wall 121.
  • the scanning module 20 may be near the first cover sidewall 1221, and the ranging module 30 may be near the second cover sidewall 1222.
  • the cover side wall 122 (the first cover side wall 1221) includes a plurality of cover sub-side walls 1224. Each cover sub-side wall 1224 is formed with a light transmitting region 1220, and each light transmitting region 1220 is used for The ranging signal sent by the corresponding one ranging component 20a passes through. In addition, the ranging signal penetrated from each of the light-transmitting regions 1220 can also be received by a corresponding one of the ranging components 20a. Each distance measuring component 20a corresponds to a specific light-transmitting area 1220, which reduces mutual interference between multiple distance measuring components 20a.
  • a plurality of cover sub-side walls 1224 are connected in sequence, the cover sub-side wall 1224 has a flat plate shape, and at least two cover sub-side walls 1224 are in different planes. .
  • a plurality of cover body side walls 1224 are all in different planes, and an included angle between two adjacent cover body side walls 1224 may be the same, for example, 120 degrees.
  • the plane on which each of the cover side walls 1224 is located may be perpendicular to the rotation axis 2235 of the rotor 223a of the corresponding distance measuring component 20a.
  • the cover side wall 1224 Since the light transmitting area 1220 is formed on the cover side wall 1224, the cover side wall 1224 is flat. When the light transmitting area 1220 is a part of the cover side wall 1224 made of a light transmitting material, light is transmitted. The overall shape of the area 1220 is also flat. The flat-shaped light-transmitting area 1220 has a small influence on the propagation direction and other parameters of the ranging signal, for example, it will not cause excessive refraction of the ranging signal. When the light-transmitting area 1220 is When the through holes in the cover side wall 1224 are provided in a non-flat shape, such as an arc shape, the flat cover side wall 1224 is more convenient for installing a flat lens, and the flat lens pair The effect of ranging signals is small.
  • the plurality of cover sub-side walls 1224 are respectively flat, and two adjacent cover sub-side walls 1224 are connected by an arc-shaped sub-side wall.
  • the arc-shaped sub-wall makes the transition of the connection between two adjacent sub-walls 1224 of the cover relatively gentle, and the cover 12 is less prone to stress concentration when it is subjected to a collision.
  • the protective cover 14 is installed at the light-transmitting area 1220 of the cover body 12, and a ranging signal (such as a laser) can be emitted from the protective cover 14 to the outside of the casing 10.
  • a ranging signal such as a laser
  • the base 11, the cover 12, and the protective cover 14 together form a sealed receiving cavity 10a.
  • the protective cover 14 may be detachably or fixedly installed at the light-transmitting area 1220.
  • the light-transmitting area 1220 may be a through hole.
  • the laser pulse passing through the prism 23 can be emitted from the protective cover 14 to the outside of the casing 10, and the base 11, the cover body 12, and the protective cover 14 together form a sealed receiving cavity 10 a.
  • the protective cover 14 is made of a material having a high light transmittance such as plastic, resin, and glass.
  • a material having a high light transmittance such as plastic, resin, and glass.
  • the circuit board assembly 50 has the same structure as the first electrical connection member 52, the second electrical connection member 53, and the ESC 54 of the circuit board assembly 50 in the above embodiment. The difference is that the circuit board assembly 50 of this embodiment Includes an adapter plate 55 and a connector 51.
  • the adapter plate 55 is installed in the housing 10, and the adapter plate 55 is installed on the base 11.
  • the adapter plate 55 is electrically connected to the plurality of distance measuring components 20a. Specifically, the connection lines drawn from the plurality of distance measuring components 20a may be It is guided to the adapter plate 55 through the receiving space 1124.
  • a plurality of distance measuring components 20a can be connected through one adapter plate 55, and the lines of the plurality of distance measuring components 20a do not need to be led out of the casing 10 respectively.
  • the adapter plate 55 is used for fusing the distance measurement results of the plurality of distance measuring components 20a and outputted from the connector 51; or the adapter plate 55 is used for outputting the distance measurement results of the multiple distance measurement components 20a from the connector 51 respectively.
  • the connector 51 is connected to the adapter board 55 and is used to connect an external device. At this time, the external device may be an external device that provides a power source or a control signal to the ranging component 20a.
  • the heat dissipation structure 200 includes a baffle assembly 70 and a fan 80.
  • the baffle assembly 70 and the fan 80 are disposed on the casing 10, and the baffle assembly 70 and the casing 10 together form a heat dissipation air duct 73, and the heat dissipation structure 200 is formed with a heat dissipation air duct 73 and an air inlet 731 and an air outlet outside the detection device 1000
  • the air outlet 732 and the fan 80 are disposed in the heat dissipation air duct 73 and located at the air inlet 731 and / or the air outlet 732.
  • the baffle assembly 70 includes a first baffle 72 and a second baffle 74.
  • the first baffle 72 is disposed on the base 11, and the second baffle 74 is disposed on the cover side wall 122.
  • the first baffle 72, the second baffle 74, the base 11 and the cover side wall 122 together form a heat dissipation air duct 73.
  • An air inlet 731 is opened at an end of the first baffle 72 remote from the second baffle 74.
  • the second baffle 74 is formed with an air outlet 732.
  • the fan 80 is installed at the air outlet 732.
  • the plurality of distance measuring components 20 a and the first baffle 72 are respectively disposed on opposite sides of the base 11, and the heat generated by the plurality of distance measuring components 20 a can be transferred into the heat dissipation air duct 73 through the base 11.
  • the fan 80 may be an axial fan. The fan 80 is used to establish an airflow entering from the air inlet 731, flowing through the cooling air duct 73, and flowing out of the air outlet 732. The airflow can take away the heat transferred from the base 11 to The distance measuring unit 20a performs heat radiation.
  • the air outlet 732 is formed on the second baffle 74, and the air inlet 731 is provided on the end of the first baffle 72 away from the second baffle 74, which lengthens the length of the heat dissipation air duct 73 and facilitates airflow in the heat dissipation air duct 73 Full heat exchange with the base 11.
  • the second baffle 74 is disposed on the second cover side wall 1222.
  • the number of the air outlets 732 and the number of the fans 80 are two, and the two fans 80 are respectively installed at the two air outlets 732.
  • the two fans 80 can increase the volume and speed of the air passing through the heat dissipation air duct 73, so as to facilitate the rapid removal of the heat in the heat dissipation air duct 73.
  • a baffle perforation 711 is formed on the second baffle 74.
  • the joint 51 passes through the side wall 122 of the cover from the receiving cavity 10a, and the end of the joint 51 that is far from the receiving cavity 10a protrudes from the baffle perforation 711 to the second baffle 74.
  • the other end of the joint 51 is used to connect the distance measuring component 20a.
  • the two air outlets 732 may be respectively located on two sides of the baffle hole 711.
  • the heat dissipation structure 200 may further include a plurality of heat sinks 90 disposed on the base 11 at intervals.
  • the plurality of radiating fins 90 are accommodated in the heat radiating air duct 73 and disposed on the air path from the air inlet 731 to the air outlet 732.
  • the heat sink 90 includes a first surface 91 and a second surface 92 opposite to each other. The first surface 91 of each heat sink 90 is attached to the first baffle 72, and the second surface 92 is attached to the bottom surface 1111 of the base.
  • the fan 80 sucks air from the air outlet 723, and the cold air from the outside enters the heat dissipation air duct 73 from the air inlet 731, and when the cold air passes the heat dissipation duct 73, it also takes away the heat sink 90 The heat from the air is blown out from the two air outlets 732, so that the heat on the casing 11 is taken away, and the distance measurement device 100 is cooled.
  • the heat sink 93 Since the heat sink 93 is added, the heat concentrated on the base 11 can be transmitted to the heat sink 93, which increases the heat dissipation area, and the heat sink 93 is disposed in the heat dissipation duct 73, so that the heat on the heat sink 93 can also be Quickly follow the airflow to exit from the air outlet 732, which further improves the heat dissipation efficiency.
  • the cover 12 further includes a partition plate 124 extending from the cover side wall 122 away from the receiving cavity 10a.
  • the partition 124 surrounds the block The plate is perforated 711 and is attached to the second baffle 74.
  • the partition plate 124 separates the cooling air duct 73 from the joint 51, and the partition plate 124 surrounds the baffle perforation 711 and is attached to the second baffle 74 to prevent wind from entering the baffle perforation 711 and affecting the normal operation of the joint 51.
  • an embodiment of the present application further provides a mobile platform 2000.
  • the mobile platform 2000 includes a mobile platform body 3000 and the distance detecting device 1000 or the distance measuring device 100 according to any one of the foregoing embodiments.
  • the mobile platform 2000 may be a mobile platform 2000 such as an unmanned aerial vehicle, an unmanned vehicle, or an unmanned ship.
  • One mobile platform 2000 may be configured with one or more distance detecting devices 1000; or one mobile platform 2000 may be configured with one or more distance measuring devices 100.
  • the distance detection device 1000 and the distance measuring device 100 can be used to detect the environment around the mobile platform 2000, so that the mobile platform 2000 further performs obstacle avoidance, trajectory selection, and other operations according to the surrounding environment.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.

Abstract

L'invention concerne une plateforme mobile (2000) et un appareil de détection (1000). L'appareil de détection de distance (1000) comprend un dispositif de mesure de distance (100) et une structure de dissipation de chaleur (200). Le dispositif de mesure de distance (100) comprend un boîtier (10), un module de mesure de distance (30) et un module de balayage (20), le module de mesure de distance (30) et le module de balayage (20) sont logés à l'intérieur du boîtier (10) ; et le module de mesure de distance (30) est utilisé pour transmettre une impulsion laser au module de balayage (20), le module de balayage (20) est utilisé pour modifier la direction de transmission de l'impulsion laser et ensuite émettre celle-ci, une impulsion laser réfléchie par un objet détecté est incidente sur le module de mesure de distance (30) après avoir traversé le module de balayage (20), et le module de mesure de distance (30) est utilisé pour déterminer la distance entre l'objet détecté et l'appareil de détection de distance (1000) en fonction de l'impulsion laser réfléchie. La structure de dissipation de chaleur (200) comprend un ensemble déflecteur (70) et un ventilateur (80), l'ensemble déflecteur (70) et le ventilateur (80) sont disposés sur le boîtier (10), l'ensemble déflecteur (70) et le boîtier (10) forment ensemble un canal d'air de dissipation de chaleur (73) ; la structure de dissipation de chaleur (200) est pourvue d'une entrée d'air (731) et d'une sortie d'air (732) en communication avec le canal d'air de dissipation de chaleur (73) ; et le ventilateur (80) est disposé dans le canal d'air de dissipation de chaleur (73) et est situé à l'entrée d'air (731) et/ou à la sortie d'air (732).
PCT/CN2018/108506 2018-09-28 2018-09-28 Appareil de détection de distance et plateforme mobile WO2020062115A1 (fr)

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CN201890000595.2U CN211236241U (zh) 2018-09-28 2018-09-28 距离探测设备及移动平台
PCT/CN2018/108506 WO2020062115A1 (fr) 2018-09-28 2018-09-28 Appareil de détection de distance et plateforme mobile

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CN205049733U (zh) * 2015-10-26 2016-02-24 惠州市杰普特电子技术有限公司 激光测距装置
CN105510885A (zh) * 2015-12-09 2016-04-20 西安天邦达电子科技有限公司 一种轻量化全密封安防监控雷达结构
WO2018031830A1 (fr) * 2016-08-10 2018-02-15 Okeeffe James Télémétrie laser et utilisation améliorée d'un miroir situé à distance
CN107864587A (zh) * 2017-10-16 2018-03-30 西安电子工程研究所 一种新型复合式电子机箱及设计和装配方法
CN107907862A (zh) * 2017-09-28 2018-04-13 北京华航无线电测量研究所 一种车载阵列式雷达之主控分机
CN108318874A (zh) * 2018-04-12 2018-07-24 北醒（北京）光子科技有限公司 一种面阵激光雷达及移动平台

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205049733U (zh) * 2015-10-26 2016-02-24 惠州市杰普特电子技术有限公司 激光测距装置
CN105510885A (zh) * 2015-12-09 2016-04-20 西安天邦达电子科技有限公司 一种轻量化全密封安防监控雷达结构
WO2018031830A1 (fr) * 2016-08-10 2018-02-15 Okeeffe James Télémétrie laser et utilisation améliorée d'un miroir situé à distance
CN107907862A (zh) * 2017-09-28 2018-04-13 北京华航无线电测量研究所 一种车载阵列式雷达之主控分机
CN107864587A (zh) * 2017-10-16 2018-03-30 西安电子工程研究所 一种新型复合式电子机箱及设计和装配方法
CN108318874A (zh) * 2018-04-12 2018-07-24 北醒（北京）光子科技有限公司 一种面阵激光雷达及移动平台

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