WO2020142953A1 - 一种测距装置 - Google Patents

一种测距装置 Download PDF

Info

Publication number
WO2020142953A1
WO2020142953A1 PCT/CN2019/071040 CN2019071040W WO2020142953A1 WO 2020142953 A1 WO2020142953 A1 WO 2020142953A1 CN 2019071040 W CN2019071040 W CN 2019071040W WO 2020142953 A1 WO2020142953 A1 WO 2020142953A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
fixing
receiving
transmitting
measuring device
Prior art date
Application number
PCT/CN2019/071040
Other languages
English (en)
French (fr)
Inventor
吴敬阳
张家超
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 PCT/CN2019/071040 priority Critical patent/WO2020142953A1/zh
Priority to CN201980005334.9A priority patent/CN111670374A/zh
Publication of WO2020142953A1 publication Critical patent/WO2020142953A1/zh
Priority to US17/371,805 priority patent/US20210333395A1/en

Links

Images

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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out

Definitions

  • Lidar and laser ranging are perception systems for the outside world, which can learn the spatial distance information in the direction of launch.
  • the principle is to actively emit a laser pulse signal to the outside, detect the reflected pulse signal, and judge the distance of the measured object according to the time difference between transmission and reception.
  • the transmitting/receiving element of the laser ranging device is the core optoelectronic device in the ranging module.
  • the transmitting/receiving element is fixed with screws in the assembly of the ranging device.
  • the actual transmitting element and receiving element Due to the manufacturing error of the laser ranging device and related parts (mainly caused by Caused by mechanical processing, parts assembly, circuit board welding, etc.), the actual transmitting element and receiving element always deviate or deflect from the ideal optical position, and the spatial position and attitude of multiple degrees of freedom need to be adjusted to further ensure that the transmitting element and receiving element are in More reasonable optical position.
  • the traditional method uses screw fixation, on the one hand it is difficult to achieve multiple degrees of freedom adjustment in a limited space, so the consistency of the performance of the laser ranging device is difficult to guarantee; on the other hand, under temperature, vibration and other working conditions, a single screw Fixation also risks the failure of threaded fasteners.
  • An embodiment of the present invention provides a distance measuring device, including:
  • the distance measuring device includes a transmitting component, an optical path changing component, a collimating component, a fixing component, and a receiving component;
  • the optical path changing element is used to combine the outgoing optical path of the transmitting component and the receiving optical path of the receiving component,
  • the collimating element is used to collimate the outgoing light beam of the transmitting component and converge the at least part of the light pulse sequence reflected back by the object to the receiving component;
  • the fixing component is used to fix the transmitting component, the receiving component, the optical path changing element and the collimating element to each other;
  • the transmitting component and/or the receiving component are fixed to the fixing component with each other by at least a first fixing method and a second fixing method, and the fixing speed of the first fixing method is higher than that of the second fixing method At a fixed speed, the fixed strength of the second fixed manner is higher than the fixed strength of the first fixed manner.
  • the distance measuring device of the embodiment of the present invention fixes the components of the distance measuring device by combining two different fixing methods, not only provides sufficient space for multi-degree-of-freedom adjustment, but also improves the fixing of the components of the distance measuring device
  • the reliability of the laser distance measuring device makes the laser ranging device meet the performance requirements under more working conditions.
  • FIG. 1 is a distance measuring device according to an embodiment of the invention
  • FIG. 12 is a schematic structural diagram of an example between the transmitting component and/or the receiving component and the fixing component according to an embodiment of the present invention
  • FIG. 13 is a schematic structural diagram of an example between the transmitting component and/or the receiving component and the fixing component according to an embodiment of the present invention
  • FIG. 14 is a schematic diagram of a flexible connection according to an embodiment of the present invention.
  • 16 is a first example of a flexible connection according to an embodiment of the invention.
  • 17 is a second example of the initial state of the pins of the transmitting element and/or the receiving element of the embodiment of the present invention.
  • 20 is a schematic structural block diagram of a distance measuring device according to an embodiment of the present invention.
  • the transmitting element and the receiving element are adjusted to a corresponding optical position in space (generally near the focal point of the lens) to form an effective circuit connection with the system circuit and achieve a reliable structure It can be fixed to ensure that the laser ranging device has sufficient detection distance and detection accuracy when working.
  • the emitting component 110 is used to emit a light pulse sequence
  • the receiving component 150 is configured to receive at least part of the optical pulse sequence reflected back by the object;
  • the optical path changing element 120 is used to combine the outgoing optical path of the transmitting component 110 and the receiving optical path of the receiving component 150;
  • the collimating element 130 is used to collimate the outgoing light beam of the transmitting component 110 and converge the at least part of the optical pulse sequence reflected back by the object to the receiving component;
  • the fixing component 140 is used to fix the transmitting component 110, the receiving component 150, the optical path changing element 120 and the collimating element 130 to each other;
  • the transmitting component 110 and/or the receiving component 150 are fixed to the fixing component to each other by at least a first fixing method and a second fixing method, and the fixing speed of the first fixing method is higher than that of the second fixing
  • the fixed speed of the second fixed mode is higher than the fixed speed of the first fixed mode.
  • the first fixing method can quickly fix the transmitting component and/or receiving component and the fixing component to each other, and the second fixing method can firmly fix the transmitting component and/or receiving component to the fixing component, using The combination of these two fixing methods can achieve reliable structural fixing under any working conditions to ensure the detection distance and detection accuracy of the distance measuring device.
  • the first fixing method refers to the reliable fixing of the transmitting component, the optical path changing element, the collimating element, the receiving component and the fixing component at a specific position of the laser ranging device, so that the transmitting component, the optical path changing element, the collimating element 2.
  • the receiving component and the fixed component cannot be separated from each other and cannot move with each other in the working state.
  • fixing the transmitting component and/or the receiving component with the fixing component in the first fixing manner includes:
  • At least one spacer is provided between the transmitting assembly and/or the receiving assembly and the fixing assembly, and the transmitting assembly and/or the receiving assembly, the fixing assembly and the at least one are screwed
  • the gaskets are fixed to each other.
  • FIG. 2 shows a first example of the first fixing manner of the embodiment of the present invention.
  • a gasket of a suitable size is selected to be set in the 3 mm interval, and then the transmitting component is screwed And/or the receiving component, the fixing component and the spacer are fixed to each other.
  • fixing the transmitting component and/or the receiving component with the fixing component in the first fixing manner includes:
  • FIG. 3 shows a second example of the first fixing manner of the embodiment of the present invention.
  • the fixed assembly is provided with movable jaws (including movable jaw 1 and movable jaw 2), and the movable jaw can achieve at least one of horizontal movement, vertical movement, or rotation on the fixed assembly One; the movable jaw clamps the launching assembly and/or the receiving assembly, and adjusts the launching assembly and/or the receiving assembly to the corresponding position to complete the launching assembly and/or Or the fixing of the receiving component and the fixing component.
  • the movable jaw mainly uses friction to clamp the launching assembly and/or the receiving assembly, if the friction between the movable jaw and the launching assembly and/or the receiving assembly If the force is insufficient, the frictional force between the movable jaw and the other components such as the launching component and/or the receiving component can be increased by surface treatment of the movable jaw or by bonding a high-friction material to further ensure fixation Reliability.
  • the first fixing manner of this embodiment also realizes more free position adjustment of the transmitting assembly and/or the receiving assembly.
  • fixing the transmitting component and/or the receiving component with the fixing component in the first fixing manner includes:
  • At least a part of the space between the transmitting assembly and/or the receiving assembly and the fixing assembly is filled with fixing structural glue to fix each other.
  • FIG. 4 shows a third example of the first fixing manner of the embodiment of the present invention.
  • the transmitting component and/or At least a part of the interval between the receiving component and the fixing component after the glue is cured, the fixing between the transmitting component and/or the receiving component and the fixing component is completed, and the process of curing the fixed structure adhesive is ensured Will not be lost from the gap.
  • An edge in the space between the transmitting component and/or the receiving component and the fixing component is filled with fixing structural glue to fix the transmitting component and/or the receiving component and the fixing component to each other. This way not only achieves a reliable connection, but also further increases the adjustment range and freedom of adjustment between the transmitting assembly and/or the receiving assembly and the fixing assembly, and the dispensing operation is also more than the mechanical connection operation Simple and efficient.
  • the fixing body includes a protruding structure, the protruding structure is placed in an opening of the transmitting component and/or the receiving component, and the protruding structure and the circuit board are filled with a fixing structure glue At least part of the gap between the openings.
  • FIG. 5 shows a fourth example of the first fixing manner of the embodiment of the present invention.
  • the fixing component includes an extension structure, the transmitting component and/or the receiving component is provided with an opening, and the extension structure of the fixing component is inserted into the opening and fixed Structural glue fills the gap between the protruding structure and the opening of the circuit board to form a reliable fixation of the transmitting component and/or the receiving component and the fixing component.
  • the second fixing method refers to that a layer of reinforced structural glue with excellent performance (such as good thermal stability and high mechanical strength) is applied or filled between the transmitting component and/or the receiving component and the fixing component. After the glue is cured, it can ensure that the laser distance measuring device maintains good performance under different working conditions. If the working conditions of the product impose more stringent requirements on the fixing strength of the transmitting component and/or the receiving component, it may be considered to use structural glue that meets the requirements of the working conditions for further strengthening after the fixing is completed. For example, as long as there is a gap between the transmitting component and/or the receiving component and the fixing component, it may be reinforced by filling with structural adhesive. Among them, the structural adhesive for reinforcement can be different from the structural adhesive for fixing.
  • the fixing of the transmitting component and/or the receiving component with the fixing component by the second fixing method includes:
  • the transmitting component and/or the receiving component are fixed to the fixing component with reinforcing structural glue.
  • fixing the transmitting component and/or the receiving component with the fixing component in the second fixing manner includes:
  • the remaining gap in the space between the transmitting component and/or the receiving component and the fixing component is filled by filling the reinforcing structural glue.
  • fixing the transmitting component and/or the receiving component to the fixing component by reinforcing structural glue includes: filling the transmitting component and/or the receiving component and the fixing component with reinforcing structural glue At least part of the gap in the space between.
  • FIG. 6 shows a combination example of the first example of the first fixing method and the second fixing method of the embodiment of the present invention, in which the interval between the gaskets is filled with reinforced structural glue
  • 7 shows a combination example of the second example of the first fixing method and the second fixing method according to an embodiment of the present invention, wherein the transmitting component and/or the receiving component and the fixing are filled with reinforced structural glue Between the components and the space formed by the movable jaws
  • FIG. 8 shows a combination example of the third example of the first fixing method and the second fixing method of the embodiment of the present invention, in which the reinforced structure glue is used to fill and fix The gap between structural adhesives.
  • FIG. 9 shows a first example of a second fixing manner according to an embodiment of the present invention.
  • the fixing of the transmitting component and/or the receiving component with the fixing component by reinforcing structural glue includes:
  • the extending structure is inserted into the opening and the gap between the extending structure and the opening is filled with structural glue;
  • At least a part of the gap in the space between the fixing component and the transmitting component and/or the receiving component is filled with a reinforcing structural glue.
  • the fixing of the transmitting component and/or the receiving component with the fixing component by reinforcing structural glue includes:
  • FIGS. 11-13 illustrate a schematic structural diagram between the transmitting component and/or the receiving component and the fixing component according to an embodiment of the present invention.
  • the reinforced structural glue may be gypsum; it may also be a high temperature resistant inorganic glue.
  • the transmitting assembly includes a transmitting element electrically connected to the transmitting circuit board
  • the receiving assembly includes a receiving element electrically connected to the receiving circuit board.
  • the electrical connection refers to an effective circuit connection formed by the transmitting component and/or the receiving component and the overall circuit system.
  • the electrical connection includes a fixed connection or a flexible connection.
  • the transmitting component includes a fixed connection or a flexible connection of the transmitting element and the transmitting circuit board; and/or the receiving component includes a fixed connection or a flexible connection of the receiving element and the receiving circuit board.
  • the fixed connection includes: the pins of the transmitting element are fixedly welded to the transmitting circuit board; and/or the pins of the receiving element are fixedly welded to the receiving circuit board.
  • the fixed connection welds the transmitting element and/or receiving element to the transmitting circuit board and/or receiving circuit board respectively to form a transmitting assembly and/or receiving assembly, by adjusting the entire transmitting assembly and/or receiving assembly to After fixing the position of the component, the whole transmitting component and/or receiving component is fixed to realize the common fixing of the transmitting element and/or receiving element and the transmitting circuit board and/or receiving circuit board; after that, as long as the transmitting circuit board and/or receiving circuit board When an effective circuit connection is formed with the overall circuit system, the component forms an effective circuit connection with the overall circuit system.
  • the transmitting element and/or the receiving element are welded to the transmitting circuit board and/or the receiving circuit board. When the positions of the transmitting circuit board and/or the receiving circuit board are fixed, the positions of the transmitting element and/or the receiving element are fixed accordingly.
  • FIG. 14 shows a schematic diagram of a flexible connection according to an embodiment of the present invention.
  • the flexible connection may also be that the transmitting element and/or receiving element and the transmitting circuit board and/or receiving circuit board are not welded first, and the position adjustment between the transmitting element and/or receiving element, the transmitting circuit board and/or receiving circuit board is completed Then, fix the transmitting element and/or receiving element, the transmitting circuit board and/or receiving circuit board separately, for example, first fix the transmitting element and/or receiving element, and then fix the transmitting circuit board and/or receiving circuit board separately, wherein, The transmitting element and/or the receiving element may form a flexible and effective circuit connection with the transmitting circuit board and/or the receiving circuit board and the overall circuit system through pin contact, pin welding, pin welding extension wire (wire) or other methods.
  • the pins of the transmitting component and/or the receiving component include a flexible material
  • the flexible connection includes: the pins of the transmitting component elastically contact the metalized holes of the transmitting circuit board; and/ Or, the pins of the receiving component are in elastic contact with the metalized holes of the receiving circuit board.
  • Soldering flexible wires at the ends of the pins of the transmitting element and/or receiving element as extension lines of the pins further increases the relative moving range of the element and the circuit board.
  • FIG. 19 shows a third example of a flexible connection according to an embodiment of the present invention.
  • the collimating element is located at one end of the fixed component, the receiving component is located at the other end of the fixed component, and the at least part of the optical pulse sequence reflected back by the object is in the transmitting component and collimating The element forms an optical path.
  • the collimating element is located at one end of the fixing component, and the emitting component is located at the side of the fixing component.
  • the collimating element 1110 is located at one end of the fixing assembly 1120
  • the receiving assembly 1130 is located at the other end of the fixing assembly 1120
  • the At least part of the optical pulse sequence forms an optical path between the receiving component 1130 and the collimating element 1110 in the fixing component 1120
  • the receiving component 1130 includes a receiving element 1131 and a receiving circuit board 1132 that form an electrical connection
  • the receiving circuit board 1132 includes 4 openings
  • the receiving component 1130 shown relatively fixes the receiving component 1130 and the fixing component 1120 through the four openings and the four extending structures of the fixing component 1120;
  • the four extending structures Insert the four openings respectively, the gaps between the four protruding structures and the four openings can be filled with fixed structural adhesive, and the space between the fixed component and the receiving component can be filled with reinforced structural adhesive to form a reliable Fixing; it is also possible to fill a part of the gap between the four protruding structures and the four openings with a fixing structural glue
  • an emitting component (not shown) is located on the side of the fixed component
  • the optical path changing element is located inside the fixed component, and the emitting component will emit light pulses inside the fixed component through the optical path changing element The sequence is transmitted to the collimating element.
  • the ranging device may be an electronic device such as a laser radar or a laser ranging device.
  • the distance measuring device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
  • the distance measuring device can detect the distance between the detection object and the distance measuring device by measuring the time of light propagation between the distance measuring device and the detection object, that is, time-of-flight (TOF) .
  • TOF time-of-flight
  • the distance measuring device may also detect the distance between the detected object and the distance measuring device through other techniques, such as a distance measuring method based on phase shift measurement, or a distance measuring method based on frequency shift measurement. There are no restrictions.
  • the transmission circuit 2010 may transmit a sequence of light pulses (for example, a sequence of laser pulses).
  • the receiving circuit 2020 can receive the optical pulse sequence reflected by the detected object, and photoelectrically convert the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 2030 after processing the electrical signal.
  • the sampling circuit 2030 can sample the electrical signal to obtain the sampling result.
  • the arithmetic circuit 2040 may determine the distance between the distance measuring device 2000 and the object to be detected based on the sampling result of the sampling circuit 2030.
  • the distance measuring device 2000 may further include a scanning module 2060 for changing at least one laser pulse sequence emitted by the transmitting circuit to change the propagation direction.
  • the module including the transmitting circuit 2010, the receiving circuit 2020, the sampling circuit 2030, and the arithmetic circuit 2040, or the module including the transmitting circuit 2010, the receiving circuit 2020, the sampling circuit 202030, the arithmetic circuit 2040, and the control circuit 2050 may be referred to as a measurement A distance module, the distance measuring module may be independent of other modules, for example, the scanning module 2060.
  • a coaxial optical path may be used in the distance measuring device, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted from the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device. 21 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the distance measuring device 2100 includes a distance measuring module 2110, and the distance measuring module 2110 includes a transmitter 2103 (which may include the above-mentioned transmitting circuit), a collimating element 2104, and a detector 2105 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Optical path changing element 2106.
  • the distance measuring module 2110 is used to emit a light beam and receive back light, and convert the back light into an electrical signal.
  • the transmitter 2103 may be used to transmit a sequence of optical pulses. In one embodiment, the transmitter 2103 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 2103 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 2104 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 2103, and collimate the light beam emitted from the emitter 2103 into parallel light to the scanning module.
  • the collimating element is also used to converge at least a part of the return light reflected by the detection object.
  • the collimating element 2104 may be a collimating lens or other element capable of collimating the light beam.
  • the optical path changing element 2106 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 2104, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact.
  • the transmitter 2103 and the detector 2105 may use respective collimating elements, and the optical path changing element 2106 may be disposed on the optical path behind the collimating element.
  • the light path changing element can use a small area mirror to The transmitting optical path and the receiving optical path are combined.
  • the light path changing element may also use a reflective mirror with a through hole, where the through hole is used to transmit the outgoing light of the emitter 2103, and the reflective mirror is used to reflect the return light to the detector 2105. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 2104. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 2104.
  • the scanning module 2102 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam.
  • the scanning module 2102 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements.
  • at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract or diffract the light beam to different directions at different times.
  • multiple optical elements of the scanning module 2102 may rotate or vibrate about a common axis 2109, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam.
  • the multiple optical elements of the scanning module 2102 may rotate at different rotation speeds, or vibrate at different speeds.
  • at least part of the optical elements of the scanning module 2102 can rotate at substantially the same rotational speed.
  • the multiple optical elements of the scanning module may also rotate around different axes.
  • the multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 2102 includes a first optical element 2114 and a driver 2116 connected to the first optical element 2114.
  • the driver 2116 is used to drive the first optical element 2114 to rotate about a rotation axis 2109 to change the first optical element 2114 Collimate the direction of the beam 2119.
  • the first optical element 2114 projects the collimated light beam 2119 in different directions.
  • the angle between the direction of the collimated light beam 2119 changed by the first optical element and the rotation axis 2109 changes as the first optical element 2114 rotates.
  • the first optical element 2114 includes a pair of opposed non-parallel surfaces through which the collimated light beam 2119 passes.
  • the first optical element 2114 includes a prism whose thickness varies along at least one radial direction.
  • the first optical element 2114 includes a wedge angle prism, which aligns the straight beam 2119 for refraction.
  • the first optical element 2114 and the second optical element 2115 may be driven by the same or different drivers, so that the rotation speed and/or rotation of the first optical element 2114 and the second optical element 2115 are different, thereby projecting the collimated light beam 21121 to the outside space Different directions can scan a larger spatial range.
  • the controller 2118 controls the drivers 2116 and 2117 to drive the first optical element 2114 and the second optical element 2115, respectively.
  • the rotation speeds of the first optical element 2114 and the second optical element 2115 may be determined according to the area and pattern expected to be scanned in practical applications.
  • Drives 2116 and 2117 may include motors or other drives.
  • the second optical element 2115 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 2115 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 2115 includes a wedge angle prism.
  • the scanning module 2102 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
  • the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes.
  • the third optical element includes a prism whose thickness varies along at least one radial direction.
  • the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.
  • each optical element in the scanning module 2102 can project light into different directions, such as the directions of light 2111 and 2113, and thus scan the space around the distance measuring device 2100.
  • the light 2111 projected by the scanning module 2102 hits the object 2101 to be detected, a part of the light object 2101 is reflected to the distance measuring device 2100 in a direction opposite to the projected light 2111.
  • the returned light 2112 reflected by the detected object 2101 passes through the scanning module 2102 and enters the collimating element 2104.
  • the detector 2105 and the emitter 2103 are placed on the same side of the collimating element 2104.
  • the detector 2105 is used to convert at least part of the returned light passing through the collimating element 2104 into an electrical signal.
  • each optical element is coated with an antireflection coating.
  • the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 103, which can increase the intensity of the transmitted light beam.
  • a filter layer is plated on the surface of an element on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
  • the transmitter 2103 may include a laser diode through which laser pulses in the order of nanoseconds are emitted.
  • the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse.
  • the distance measuring device 2100 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detected object 2101 and the distance measuring device 2100.
  • the distance and orientation detected by the distance measuring device 2100 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the distance measuring device of the embodiment of the present invention may be applied to a mobile platform, and the distance measuring device may be installed on the platform body of the mobile platform.
  • a mobile platform with a distance measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
  • the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
  • the platform body When the distance measuring device is applied to an automobile, the platform body is the body of the automobile.
  • the car may be a self-driving car or a semi-automatic car, and no restriction is made here.
  • the platform body When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car.
  • the platform body When the distance measuring device is applied to a robot, the platform body is a robot.
  • the distance measuring device is applied to a camera, the platform body is the camera itself.
  • the invention provides a distance measuring device and fixes the components of the distance measuring device by combining two different fixing methods, which not only provides sufficient space for multi-degree-of-freedom adjustment, but also improves the fixing of the components of the distance measuring device Reliability makes the laser ranging device meet the performance requirements under more working conditions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种测距装置（100），包括：发射组件（110）出射光脉冲序列，接收组件（150）接收经物体反射回的至少部分光脉冲序列；光路改变元件（120）将发射组件（110）的出射光路和接收组件（150）的接收光路合并，准直元件（130）对发射组件（110）的出射光束进行准直，以及将经物体反射回的至少部分光脉冲序列汇聚至接收组件（150）；固定组件（140）将发射组件（110）、接收组件（150）、光路改变元件（120）和准直元件（130）相互固定；其中，发射组件（110）和/或接收组件（150）通过至少第一固定方式和第二固定方式与固定组件（140）相互固定，第一固定方式的固定速度高于第二固定方式，第二固定方式的固定强度高于第一固定方式。该测距装置（100），不仅提供了充足的空间多自由度调节，而且提高了测距装置（100）的组成部分固定的可靠性。

Description

一种测距装置 技术领域
本发明涉及测距技术领域，尤其涉及测距装置。
背景技术
激光雷达和激光测距是对外界的感知系统，可以获知发射方向上的空间距离信息。其原理为主动对外发射激光脉冲信号，探测到反射回来的脉冲信号，根据发射与接收之间的时间差，判断被测物体的距离。激光测距装置的发射/接收元件是测距模块内的核心光电器件，目前，在测距装置的装配中采用螺钉固定发射/接收元件，由于激光测距装置和相关零件的制作误差(主要由机械加工、零件装配、电路板焊接等引起)，实际发射元件和接收元件与理想光学位置总存在偏移或偏转，需要调节多个自由度的空间位置和姿态才能进一步保证发射元件和接收元件处于更合理的光学位置。而传统方法采用螺丝固定，一方面难以在有限空间里实现多个自由度的调节，因此激光测距装置性能的一致性难以保证；另一方面在温度变化、振动等工况下，单一的螺丝固定也存在螺纹紧固件失效的风险。
发明内容
本发明实施例提供一种一种测距装置，以解决测距装置中各个组成部分之间无法实现多自由度调整固定位置以及固定不牢固的问题。
本发明实施例提供了一种测距装置，包括：
所述测距装置包括发射组件、光路改变元件、准直元件、固定组件、接收组件；
所述发射组件用于出射光脉冲序列，所述接收组件用于接收经物体反射回的至少部分光脉冲序列；
所述光路改变元件用于将所述发射组件的出射光路和所述接收组件的接收光路合并，
所述准直元件用于对所述发射组件的出射光束进行准直，以及将经物体反射回的所述至少部分光脉冲序列汇聚至所述接收组件；
所述固定组件用于将所述发射组件、所述接收组件、所述光路改变元件和所述准直元件相互固定；
其中，所述发射组件和/或所述接收组件通过至少第一固定方式和第二固定方式与所述固定组件相互固定，所述第一固定方式的固定速度高于所述第二固定方式的固定速度，所述第二固定方式的固定强度高于所述第一固定方式的固定强度。
本发明实施例的测距装置，通过结合两种不同的固定方式对测距装置的组成部分进行固定，不仅提供了充足的空间用于多自由度调节，而且提高了测距装置的组成部分固定的可靠性，使激光测距装置满足更多工况下的性能要求。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的一种测距装置；
图2是本发明实施例的第一种固定方式的第一示例；
图3是本发明实施例的第一种固定方式的第二示例；
图4是本发明实施例的第一种固定方式的第三示例；
图5是本发明实施例的第一种固定方式的第四示例；
图6是本发明实施例的第一种固定方式的第一示例与第二固定方式的结合示例；
图7是本发明实施例的第一种固定方式的第二示例与第二固定方式的结合示例；
图8是本发明实施例的第一种固定方式的第三示例与第二固定方式的结合示例；
图9是根据本发明实施例的第二固定方式的第一示例；
图10是根据本发明实施例的第二固定方式的第二示例；
图11是根据本发明实施例的所述发射组件和/或所述接收组件与所述固 定组件之间的示例的结构示意图；
图12是根据本发明实施例的所述发射组件和/或所述接收组件与所述固定组件之间的示例的结构示意图
图13是根据本发明实施例的所述发射组件和/或所述接收组件与所述固定组件之间的示例的结构示意图；
图14是本发明实施例的柔性连接的示意图；
图15是本发明实施例的发射元件和/或接收元件的引脚初始状态的第一示例；
图16是本发明实施例的柔性连接的第一示例；
图17是本发明实施例的发射元件和/或接收元件的引脚初始状态的第二示例；
图18是本发明实施例的柔性连接的第二示例；
图19是本发明实施例的柔性连接的第三示例；
图20是本发明实施例的测距装置的示意性结构框图；
图21是本发明的测距装置采用同轴光路的一种实施例的示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
激光测距装置组装过程中需要将发射元件和接收元件在空间中以合适的姿态调节到相应的光学位置上(一般为透镜焦点附近)，与系统电路形成有效的电路连接，并实现可靠的结构固定，才能保证激光测距装置工作时有足够的探测距离以及探测精度。
基于上述考虑，本发明实施例提供了一种测距装置，参见图1，图1示出了本发明实施例的一种测距装置。所述装置100包括：
所述测距装置包括发射组件110、光路改变元件120、准直元件130、固定组件140、接收组件150；
所述发射组件110，用于出射光脉冲序列；
所述接收组件150，用于接收经物体反射回的至少部分光脉冲序列；
所述光路改变元件120，用于将所述发射组件110的出射光路和所述接收组件150的接收光路合并；
所述准直元件130，用于对所述发射组件110的出射光束进行准直，以及将经物体反射回的所述至少部分光脉冲序列汇聚至所述接收组件；
所述固定组件140，用于将所述发射组件110、所述接收组件150、所述光路改变元件120和所述准直元件130相互固定；
其中，所述发射组件110和/或所述接收组件150通过至少第一固定方式和第二固定方式与所述固定组件相互固定，所述第一固定方式的固定速度高于所述第二固定方式的固定速度，所述第二固定方式的固定强度高于所述第一固定方式的固定强度。
其中，第一种固定方式可以快速将发射组件和/或接收组件与所述固定组件相互固定，第二种固定方式可以将发射组件和/或接收组件牢固的固定于所述固定组件上，采用这两种固定方式结合，可以在任何工况下实现可靠的结构固定，以保证所述测距装置的探测距离和探测精度。
第一种固定方式是指在激光测距装置的特定位置上，将发射组件、光路改变元件、准直元件、接收组件与固定组件实现可靠的固定，使发射组件、光路改变元件、准直元件、接收组件与固定组件在工作状态下不可互相分离、不可互相移动。
可选地，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
所述发射组件和/或所述接收组件与所述固定组件之间设置有至少一个垫片，且通过螺丝将所述发射组件和/或所述接收组件、所述固定组件和所述至少一个垫片相互固定。
在一些实施例中，参见图2，图2示出了本发明实施例的第一种固定方式的第一示例。如图2所示，所述发射组件和/或所述接收组件与所述固定组件之间存在3mm间隔，通过选取符合尺寸的垫片设置于3mm间隔中，然后再通过螺丝将所述发射组件和/或所述接收组件、所述固定组件和所述垫片相互固定。具体包括：将所述发射组件和/或所述接收组件与所述固定组件之间的位置调整至合适的位置；通过测量获取所述发射组件和/或所述接收组件与所述固定 组件之间的间隙尺寸，且所述发射组件和/或所述接收组件上设有螺丝安装孔位；然后在一系列固定厚度的垫片中选定或组合出与间隙尺寸相应的厚度，如以1mm垫片和2mm垫片组合出3mm厚度来填充实际间隙，垫在所述发射组件和/或所述接收组件与所述固定组件之间；最后利用螺钉将所述发射组件和/或所述接收组件、垫片与所述固定组件压紧，实现固定。且当垫片厚度越薄、规格越多，可以组合得出的厚度尺寸就越精准。
可选地，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
所述固定组件上设置有活动夹爪，所述活动夹爪夹紧所述发射组件和/或所述接收组件。
在一些实施例中，参见图3，图3示出了本发明实施例的第一种固定方式的第二示例。如图3所示，所述固定组件上设置有活动夹爪(包括活动夹爪1和活动夹爪2)，所述活动夹爪可以在固定组件上实现水平移动、垂直移动或旋转中的至少一种；所述活动夹爪将所述发射组件和/或所述接收组件夹紧，并将所述发射组件和/或所述接收组件调整到相应的位置即完成了所述发射组件和/或所述接收组件与所述固定组件的固定。需要说明的是，所述活动夹爪主要利用摩擦力夹紧所述发射组件和/或所述接收组件，如果所述活动夹爪与所述发射组件和/或所述接收组件之间的摩擦力不足，可以通过对所述活动夹爪进行表面处理或粘结高摩擦材料来增大所述活动夹爪与所述发射组件和/或所述接收组件等其他元件的摩擦力，进一步保证固定的可靠性。而且本实施例的第一种固定方式还实现了更加自由的所述发射组件和/或所述接收组件的位置调节。
可选地，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
通过固定结构胶填充所述发射组件和/或所述接收组件与所述固定组件之间的至少一部分间隔以相互固定。
可选地，所述发射组件和/或所述接收组件与所述固定组件之间存在间隔。
在一些实施例中，参见图4，图4示出了本发明实施例的第一种固定方式 的第三示例。如图4所示，将所述发射组件和/或所述接收组件与所述固定组件之间隔空调整至合适的位置后，采用具备一定粘度的固定结构胶填充所述发射组件和/或所述接收组件与所述固定组件之间的至少一部分间隔，待胶水固化后，即完成了发射组件和/或所述接收组件与所述固定组件之间的固定，且保证固定结构胶固化过程中不会从空隙处流失。所述发射组件和/或所述接收组件与所述固定组件之间的间隔中的边缘处填充有固定结构胶，将所述发射组件和/或所述接收组件与所述固定组件相互固定。这种方式不仅实现了可靠连接，还进一步增加了所述发射组件和/或所述接收组件与所述固定组件之间的调节范围和调节自由度，并且点胶操作也比机械连接的操作更简单高效。
可选地，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
所述固定主体包含伸出结构，将所述伸出结构置于所述所述发射组件和/或所述接收组件的开孔中，采用固定结构胶填充所述伸出结构与所述电路板的开孔之间的至少一部分空隙。
在一些实施例中，参见图5，图5示出了本发明实施例的第一种固定方式的第四示例。如图5所示，所述固定组件包含有伸出结构，所述发射组件和/或所述接收组件上设置有开口，所述固定组件的伸出结构插入所述开孔中，并采用固定结构胶填充所述伸出结构与所述电路板的开孔之间的空隙，以将所述发射组件和/或所述接收组件与所述固定组件形成可靠的固定。
第二固定方式是指所述发射组件和/或所述接收组件与所述固定组件之间涂抹或填充一层性能优异的强化结构胶(比如热稳定性好、机械强度高)，此强化结构胶固化后可保证激光测距装置在不同工况下保持良好的性能。如果产品使用工况对所述发射组件和/或所述接收组件的固定强度提出了更严苛的要求，可以考虑在完成固定之后使用符合工况要求的结构胶做进一步强化。例如，只要所述发射组件和/或所述接收组件与所述固定组件之间还有空隙，便可以进行填充结构胶进行强化。其中，强化用的结构胶可以与固定用的结构胶属于不同型号。
可选地，所述发射组件和/或所述接收组件通过所述第二固定方式与所述 固定组件相互固定包括：
所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定。
可选地，所述发射组件和/或所述接收组件通过所述第二固定方式与所述固定组件相互固定包括：
在第一固定方式的基础上，通过填充强化结构胶填充所述发射组件和/或所述接收组件与固定组件之间的间隔中的剩余空隙。
可选地，所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：采用强化结构胶填充所述发射组件和/或所述接收组件与所述固定组件之间的间隔中的至少一部分空隙。
参见图6-图8，图6示出了本发明实施例的第一种固定方式的第一示例与第二固定方式的结合示例，其中，采用强化结构胶填充垫片之间的间隔；图7示出了本发明实施例的第一种固定方式的第二示例与第二固定方式的结合示例，其中，采用强化结构胶填充在所述发射组件和/或所述接收组件与所述固定组件之间以及所述活动夹爪组成的空间内；图8示出了本发明实施例的第一种固定方式的第三示例与第二固定方式的结合示例，其中，采用强化结构胶填充固定结构胶之间的空隙。
在一些实施例中，参见图9，图9示出根据本发明实施例的第二固定方式的第一示例。如图9所示，所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：
所述固定组件具有伸出结构，所述发射组件和/或所述接收组件具有开孔；
所述伸出结构插入所述开孔并通过结构胶填充所述伸出结构与开孔之间的空隙；
通过强化结构胶填充所述固定组件与所述发射组件和/或所述接收组件之间的间隔中的至少一部分空隙。
在一些实施例中，参见图10，图10示出根据本发明实施例的第二固定方式的第二示例。如图10所示，所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：
所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：
所述固定组件具有伸出结构，所述发射组件和/或所述接收组件中的电路板上具有开孔；
所述伸出结构插入所述开孔并通过结构胶填充所述伸出结构与至少一部分开孔之间的空隙；以及通过强化结构胶填充所述伸出结构与至少一部分开孔之间的空隙。
在一些实施例中，参见图11-图13，图11-图13示出根据本发明实施例的所述发射组件和/或所述接收组件与所述固定组件之间的的结构示意图。
可选地，所述强化结构胶可以是石膏；还可以是耐高温无机胶。
可选地，所述发射组件包括与发射电路板电连接的发射元件，所述接收组件包括与接收电路板电连接的接收元件。
其中，电连接指的是所述发射组件和/或所述接收组件与整体电路系统所形成的有效电路连接。所述电连接包括固定连接或柔性连接。
可选地，所述发射组件包括发射元件与发射电路板固定连接或柔性连接；和/或所述接收组件包括接收元件与接收电路板固定连接或柔性连接。
可选地，所述固定连接包括：所述发射元件的引脚与所述发射电路板固定焊接；和/或，所述接收元件的引脚与所述接收电路板固定焊接。
其中，所述固定连接将发射元件和/或接收元件分别与发射电路板和/或接收电路板焊接到一起形成发射组件和/或接收组件，通过调节整个发射组件和/或接收组件与所示固定组件的位置后固定整个发射组件和/或接收组件的方式，实现发射元件和/或接收元件与发射电路板和/或接收电路板的共同固定；之后只要发射电路板和/或接收电路板与整体电路系统形成有效电路连接，元件就与整体电路系统形成了有效的电路连接。发射元件和/或接收元件焊接在发射电路板和/或接收电路板上，当发射电路板和/或接收电路板的位置固定后，发射元件和/或接收元件的位置也随之固定。
柔性连接是指发射元件和/或接收元件与发射电路板和/或接收电路板之 间的固定是独立进行的，互不影响，但最终在电路上是有效互连的。参见图14，图14示出了本发明实施例的柔性连接的示意图。
柔性连接还可以是发射元件和/或接收元件与发射电路板和/或接收电路板先不进行焊接，完成发射元件和/或接收元件、发射电路板和/或接收电路板之间的位置调整后，将发射元件和/或接收元件、发射电路板和/或接收电路板分别固定，例如先固定发射元件和/或接收元件，再固定发射电路板和/或接收电路板分别固定，其中，发射元件和/或接收元件可以通过引脚接触、引脚焊接、引脚焊延长线(导线)或其他方式与发射电路板和/或接收电路板以及整体电路系统形成柔性的有效电路连接。
可选地，所述发射组件和/或所述接收组件的引脚包含柔性材料，所述柔性连接包括：所述发射组件的引脚与所述发射电路板的金属化孔弹性接触；和/或，所述接收组件的引脚与所述接收电路板的金属化孔弹性接触。
其中，发射元件和/或接收元件引脚采用软材质导电材料并留出足够的长度。引脚穿入发射电路板和/或接收电路板对应的金属化孔之后，发射元件和/或接收元件与发射电路板和/或接收电路板之间留有一定空隙，发射元件和/或接收元件可以在一定范围内相对于发射电路板和/或接收电路板自由移动。
当发射元件和/或接收元件、发射电路板和/或接收电路板分别调整到合适的位置之后分别固定，若引脚本身带有一定弹性并以弯曲的初始状态进入金属化孔内，受到金属化孔的挤压，在回弹力作用下自然会与金属化孔直接接触，以“弹性接触”的形式形成有效电路连接，参见图15-图16，图15示出了本发明实施例的发射元件和/或接收元件的引脚初始状态的第一示例，图16示出了本发明实施例的柔性连接的第一示例。
可选地，所述发射组件和/或所述接收组件的引脚包含柔性材料，所述柔性连接包括：所述发射组件的引脚或引脚延长线与所述发射电路板的金属化孔焊接；和/或，所述接收组件的引脚或引脚延长线与所述接收电路板的金属化孔焊接。
其中，若不考虑发射组件和/或所述接收组件的引脚本身的弹性，则在发射组件和/或所述接收组件的引脚进入金属化孔之后用焊锡进行焊接，也能建立发射元件和/或接收元件与发射电路板和/或接收电路板之间的有效电路连 接，参见图17-图18，图17示出了本发明实施例的发射元件和/或接收元件的引脚初始状态的第二示例，图18示出了本发明实施例的柔性连接的第二示例。
在发射元件和/或接收元件引脚末端焊接柔性导线作为引脚的延长线，进一步增加了元件和电路板的相对移动范围。当发射元件和/或接收元件和发射电路板和/或接收电路板分别固定之后，利用柔性导线分别焊接在发射元件和/或接收元件引脚和发射电路板和/或接收电路板对应的焊接点上，建立发射元件和/或接收元件和发射电路板和/或接收电路板之间的有效电路连接，参见图19，图19示出了本发明实施例的柔性连接的第三示例。
可选地，所述准直元件位于所述固定组件的一端，所述接收组件位于所述固定组件的另一端，所述经物体反射回的所述至少部分光脉冲序列在发射组件和准直元件形成光路。
可选地，述准直元件位于所述固定组件的一端，所述发射组件位于所述固定组件的侧边。
可选地，所述光路改变元件位于所述固定组件内部，所述发射组件通过所述光路改变元件在所述固定组件内部将出射的光脉冲序列发射至所述准直元件。
再次参见图11，如图11所示，所述准直元件1110位于所述固定组件1120的一端，所述接收组件1130位于所述固定组件1120的另一端，所述经物体反射回的所述至少部分光脉冲序列在所述固定组件1120内的接收组件1130和准直元件1110之间形成光路，其中接收组件1130包括形成电连接的接收元件1131和接收电路板1132，接收电路板1132上包含4个开孔，所示接收组件1130通过这4个开孔以及固定组件1120的4个伸出结构，将所示接收组件1130与所示固定组件1120进行相对固定；所述4个伸出结构分别插入所述4个开孔，可以将4个伸出结构与所述4个开孔的空隙均填充固定结构胶，并在固定组件与接收组件之间的间隔填充强化结构胶以形成可靠的固定；还可以是将4个伸出结构与所述4个开孔的一部分空隙采用固定结构胶填充，剩下的采用强化结构胶以形成可靠的固定。而发射组件(未示出)位于所示固定组件的侧边，所述光路改变元件位于所述固定组件内部，所述发射组件通过所述光路改变元件在所述固定组件内部将出射的光脉冲序列发射至所述准直元件。
本发明各个实施例提供的测距装置，该测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施例中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Fl ight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图20所示的测距装置2000对测距的工作流程进行举例描述。
如图20所示，测距装置2000可以包括发射电路2010、接收电路2020、采样电路2030和运算电路2040。
发射电路2010可以发射光脉冲序列(例如激光脉冲序列)。接收电路2020可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路2030。采样电路2030可以对电信号进行采样，以获取采样结果。运算电路2040可以基于采样电路2030的采样结果，以确定测距装置2000与被探测物之间的距离。
可选地，该测距装置2000还可以包括控制电路2050，该控制电路2050可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图20示出的测距装置中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射电路中的发光芯片封装在同一个模块中。例如，每个发射电路包括一个激光发射芯片，该至少两个发射电路中的激光发射芯片中的die封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图20所示的电路，测距装置2000还可以包括扫描 模块2060，用于将发射电路出射的至少一路激光脉冲序列改变传播方向出射。
其中，可以将包括发射电路2010、接收电路2020、采样电路2030和运算电路2040的模块，或者，包括发射电路2010、接收电路2020、采样电路202030、运算电路2040和控制电路2050的模块称为测距模块，该测距模块可以独立于其他模块，例如，扫描模块2060。
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。例如，发射电路出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后，经探测物反射回来的激光脉冲序列经过扫描模块后入射至接收电路。或者，测距装置也可以采用异轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图21示出了本发明的测距装置采用同轴光路的一种实施例的示意图。
测距装置2100包括测距模块2110，测距模块2110包括发射器2103(可以包括上述的发射电路)、准直元件2104、探测器2105(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件2106。测距模块2110用于发射光束，且接收回光，将回光转换为电信号。其中，发射器2103可以用于发射光脉冲序列。在一个实施例中，发射器2103可以发射激光脉冲序列。可选的，发射器2103发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件2104设置于发射器的出射光路上，用于准直从发射器2103发出的光束，将发射器2103发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件2104可以是准直透镜或者是其他能够准直光束的元件。
在图21所示实施例中，通过光路改变元件2106来将测距装置内的发射光路和接收光路在准直元件2104之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器2103和探测器2105分别使用各自的准直元件，将光路改变元件2106设置在准直元件之后的光路上。
在图21所示实施例中，由于发射器2103出射的光束的光束孔径较小，测距装置所接收到的回光的光束孔径较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射发射器2103的出射光， 反射镜用于将回光反射至探测器2105。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图21所示实施例中，光路改变元件偏离了准直元件2104的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件2104的光轴上。
测距装置2100还包括扫描模块2102。扫描模块2102放置于测距模块2110的出射光路上，扫描模块2102用于改变经准直元件2104出射的准直光束2119的传输方向并投射至外界环境，并将回光投射至准直元件2104。回光经准直元件2104汇聚到探测器2105上。
在一个实施例中，扫描模块2102可以包括至少一个光学元件，用于改变光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模块2102包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块2102的多个光学元件可以绕共同的轴2109旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块2102的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块2102的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块2102包括第一光学元件2114和与第一光学元件2114连接的驱动器2116，驱动器2116用于驱动第一光学元件2114绕转动轴2109转动，使第一光学元件2114改变准直光束2119的方向。第一光学元件2114将准直光束2119投射至不同的方向。在一个实施例中，准直光束2119经第一光学元件改变后的方向与转动轴2109的夹角随着第一光学元件2114的转动而变化。在一个实施例中，第一光学元件2114包括相对的非平行的一对表面，准直光束2119穿过该对表面。在一个实施例中，第一光学元件2114包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件2114 包括楔角棱镜，对准直光束2119进行折射。
在一个实施例中，扫描模块2102还包括第二光学元件2115，第二光学元件2115绕转动轴2109转动，第二光学元件2115的转动速度与第一光学元件2114的转动速度不同。第二光学元件2115用于改变第一光学元件2114投射的光束的方向。在一个实施例中，第二光学元件2115与另一驱动器2117连接，驱动器2117驱动第二光学元件2115转动。第一光学元件2114和第二光学元件2115可以由相同或不同的驱动器驱动，使第一光学元件2114和第二光学元件2115的转速和/或转向不同，从而将准直光束21121投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器2118控制驱动器2116和2117，分别驱动第一光学元件2114和第二光学元件2115。第一光学元件2114和第二光学元件2115的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器2116和2117可以包括电机或其他驱动器。
在一个实施例中，第二光学元件2115包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件2115包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件2115包括楔角棱镜。
一个实施例中，扫描模块2102还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块2102中的各光学元件旋转可以将光投射至不同的方向，例如光2111和2113的方向，如此对测距装置2100周围的空间进行扫描。当扫描模块2102投射出的光2111打到被探测物2101时，一部分光被探测物2101沿与投射的光2111相反的方向反射至测距装置2100。被探测物2101反射的回光2112经过扫描模块2102后入射至准直元件2104。
探测器2105与发射器2103放置于准直元件2104的同一侧，探测器2105用于将穿过准直元件2104的至少部分回光转换为电信号。
一个实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器103发射出的光束的波长相等或接近，能够增加透射光束的强度。
一个实施例中，测距装置中位于光束传播路径上的一个元件表面上镀有滤 光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。
在一些实施例中，发射器2103可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置2100可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定被探测物2101到测距装置2100的距离。
测距装置2100探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施例中，本发明实施例的测距装置可应用于移动平台，测距装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施例中，移动平台包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。
本发明通过提供测距装置，通过结合两种不同的固定方式对测距装置的组成部分进行固定，不仅提供了充足的空间用于多自由度调节，而且提高了测距装置的组成部分固定的可靠性，使激光测距装置满足更多工况下的性能要求。
本发明实施例中所使用的技术术语仅用于说明特定实施例而并不旨在限定本发明。在本文中，单数形式“一”、“该”及“所述”用于同时包括复数形式，除非上下文中明确另行说明。进一步地，在说明书中所使用的用于“包括”和/或“包含”是指存在所述特征、整体、步骤、操作、元件和/或构件，但是并不排除存在或增加一个或多个其它特征、整体、步骤、操作、元件和/或构件。
在所附权利要求中对应结构、材料、动作以及所有装置或者步骤以及功能元件的等同形式(如果存在的话)旨在包括结合其他明确要求的元件用于执行 该功能的任何结构、材料或动作。本发明的描述出于实施例和描述的目的被给出，但并不旨在是穷举的或者将被发明限制在所公开的形式。在不偏离本发明的范围和精神的情况下，多种修改和变形对于本领域的一般技术人员而言是显而易见的。本发明中所描述的实施例能够更好地揭示本发明的原理与实际应用，并使本领域的一般技术人员可了解本发明。
本发明中所描述的流程图仅仅为一个实施例，在不偏离本发明的精神的情况下对此图示或者本发明中的步骤可以有多种修改变化。比如，可以不同次序的执行这些步骤，或者可以增加、删除或者修改某些步骤。本领域的一般技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (18)

  1. 一种测距装置，其特征在于，所述测距装置包括发射组件、光路改变元件、准直元件、固定组件、接收组件；
    所述发射组件用于出射光脉冲序列，所述接收组件用于接收经物体反射回的至少部分光脉冲序列；
    所述光路改变元件用于将所述发射组件的出射光路和所述接收组件的接收光路合并，
    所述准直元件用于对所述发射组件的出射光束进行准直，以及将经物体反射回的所述至少部分光脉冲序列汇聚至所述接收组件；
    所述固定组件用于将所述发射组件、所述接收组件、所述光路改变元件和所述准直元件相互固定；
    其中，所述发射组件和/或所述接收组件通过至少第一固定方式和第二固定方式与所述固定组件相互固定，所述第一固定方式的固定速度高于所述第二固定方式的固定速度，所述第二固定方式的固定强度高于所述第一固定方式的固定强度。
  2. 如权利要求1所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
    所述发射组件和/或所述接收组件与所述固定组件之间设置有至少一个垫片，且通过螺丝将所述发射组件和/或所述接收组件、所述固定组件和所述至少一个垫片相互固定。
  3. 如权利要求1所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
    所述固定组件上设置有活动夹爪，所述活动夹爪夹紧所述发射组件和/或所述接收组件。
  4. 如权利要求1所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
    通过结构胶填充所述发射组件和/或所述接收组件与所述固定组件之间的 至少一部分间隔以相互固定。
  5. 如权利要求1所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过所述第一固定方式与所述固定组件相互固定包括：
    所述固定主体包含伸出结构，将所述伸出结构置于所述电路板的开孔中，采用结构胶填充所述伸出结构与所述电路板的开孔之间的至少一部分空隙。
  6. 如权利要求1-5任一项所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过所述第二固定方式与所述固定组件相互固定包括：
    所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定。
  7. 如权利要求6所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：采用强化结构胶填充所述发射组件和/或所述接收组件与所述固定组件之间的间隔中的至少一部分空隙。
  8. 如权利要求6所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：
    所述固定组件具有伸出结构，所述发射组件和/或所述接收组件中的电路板上具有开孔；
    所述伸出结构插入所述开孔并通过结构胶填充所述伸出结构与开孔之间的空隙；
    所述固定组件与所述发射组件和/或所述接收组件之间的间隔中的至少一部分空隙通过强化结构胶填充。
  9. 如权利要求6所述的测距装置，其特征在于，所述发射组件和/或所述接收组件通过强化结构胶与所述固定组件相互固定包括：
    所述固定组件具有伸出结构，所述发射组件和/或所述接收组件中的电路板上具有开孔；
    所述伸出结构插入所述开孔并通过结构胶填充所述伸出结构与至少一部分开孔之间的空隙；以及通过强化结构胶填充所述伸出结构与至少一部分开孔之间的空隙。
  10. 如权利要求6所述的测距装置，其特征在于，所述强化结构胶包括石膏。
  11. 如权利要求1所述的测距装置，其特征在于，所述发射组件包括与发射电路板电连接的发射元件，所述接收组件包括与接收电路板电连接的接收元件。
  12. 如权利要求11所述的测距装置，其特征在于，所述发射组件包括发射元件与发射电路板固定连接或柔性连接；和/或，
    所述接收组件包括接收元件与接收电路板固定连接或柔性连接。
  13. 如权利要求12所述的测距装置，其特征在于，所述固定连接包括：所述发射元件的引脚与所述发射电路板固定焊接；和/或，所述接收元件的引脚与所述接收电路板固定焊接。
  14. 如权利要求12所述的测距装置，其特征在于，所述发射组件和/或所述接收组件的引脚包含柔性材料，所述柔性连接包括：所述发射组件的引脚与所述发射电路板的金属化孔弹性接触；和/或，所述接收组件的引脚与所述接收电路板的金属化孔弹性接触。
  15. 如权利要求12所述的测距装置，其特征在于，所述发射组件和/或所述接收组件的引脚包含柔性材料，所述柔性连接包括：所述发射组件的引脚或引脚延长线与所述发射电路板的金属化孔焊接；和/或，所述接收组件的引脚或引脚延长线与所述接收电路板的金属化孔焊接。
  16. 如权利要求1所述的测距装置，其特征在于，所述准直元件位于所述 固定组件的一端，所述接收组件位于所述固定组件的另一端，所述经物体反射回的所述至少部分光脉冲序列在所述固定组件内的发射组件和准直元件之间形成光路。
  17. 如权利要求1所述的测距装置其特征在于，所述准直元件位于所述固定组件的一端，所述发射组件位于所述固定组件的侧边。
  18. 如权利要求1所述的测距装置其特征在于，所述光路改变元件位于所述固定组件内部，所述发射组件通过所述光路改变元件在所述固定组件内部将出射的光脉冲序列发射至所述准直元件。
PCT/CN2019/071040 2019-01-09 2019-01-09 一种测距装置 WO2020142953A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2019/071040 WO2020142953A1 (zh) 2019-01-09 2019-01-09 一种测距装置
CN201980005334.9A CN111670374A (zh) 2019-01-09 2019-01-09 一种测距装置
US17/371,805 US20210333395A1 (en) 2019-01-09 2021-07-09 Ranging device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/071040 WO2020142953A1 (zh) 2019-01-09 2019-01-09 一种测距装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/371,805 Continuation US20210333395A1 (en) 2019-01-09 2021-07-09 Ranging device

Publications (1)

Publication Number Publication Date
WO2020142953A1 true WO2020142953A1 (zh) 2020-07-16

Family

ID=71521860

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/071040 WO2020142953A1 (zh) 2019-01-09 2019-01-09 一种测距装置

Country Status (3)

Country Link
US (1) US20210333395A1 (zh)
CN (1) CN111670374A (zh)
WO (1) WO2020142953A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08136843A (ja) * 1994-11-04 1996-05-31 Canon Inc 光偏向走査装置
CN101233423A (zh) * 2005-07-28 2008-07-30 罗伯特·博世有限公司 距离测量设备和用于将光电单元固定在导线架单元上的方法
CN101238389A (zh) * 2005-08-08 2008-08-06 莱卡地球系统公开股份有限公司 光电测距仪
CN102597694A (zh) * 2009-10-29 2012-07-18 莱卡地球系统公开股份有限公司 用于大地测量仪的瞄准机构、尤其是瞄准望远镜和用于这样的瞄准机构的物镜单元光学组件
CN104714286A (zh) * 2013-12-13 2015-06-17 欧姆龙株式会社 光学部件的配件及具备光学部件的配件的光电传感器单元
CN104797965A (zh) * 2012-11-21 2015-07-22 高质激光有限公司 用于光学元件的支撑机构和用于调节光学元件的方法
US20160253536A1 (en) * 2015-02-26 2016-09-01 Optoelectronics Co., Ltd. Module for optical information reader
CN207752146U (zh) * 2017-11-29 2018-08-21 武汉万集信息技术有限公司 一种激光雷达发射光路同轴的自动调节装置

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08327866A (ja) * 1995-06-01 1996-12-13 Fuji Photo Film Co Ltd 光源取付装置
JP4085517B2 (ja) * 1999-05-24 2008-05-14 松下電工株式会社 測距センサおよびこの測距センサの固定方法
JP2002228919A (ja) * 2001-01-31 2002-08-14 Fuji Photo Film Co Ltd 測距ユニットの投光素子及び受光素子の位置調整方法及び装置、及びカメラ
JP2004325826A (ja) * 2003-04-25 2004-11-18 Fuji Photo Film Co Ltd 光学部材の固定方法および固定構造
WO2012144341A1 (ja) * 2011-04-20 2012-10-26 三洋電機株式会社 レーザレーダ
DE102011076493A1 (de) * 2011-05-26 2012-11-29 Hilti Aktiengesellschaft Messeinrichtung zur Distanzmessung
JP2013130422A (ja) * 2011-12-20 2013-07-04 Sanyo Electric Co Ltd レーザレーダ
CN205051156U (zh) * 2015-08-31 2016-02-24 伊欧激光科技（苏州）有限公司 激光用光学元件安装结构及激光装置
CN105607217A (zh) * 2016-03-15 2016-05-25 李赵和 一种测距反射镜的固定装置
CN205899006U (zh) * 2016-06-12 2017-01-18 北京飞思迈尔光电科技有限公司 光学扫描传感器
CN206132983U (zh) * 2016-09-19 2017-04-26 深圳乐行天下科技有限公司 一种激光三角测距设备
CN207563914U (zh) * 2017-10-16 2018-07-03 深圳市吉祥云科技有限公司 一种快速可调激光光路装置
CN208117042U (zh) * 2018-03-09 2018-11-20 广州曼歌智能科技有限公司 一种光纤激光器的安装机构
CN108445498A (zh) * 2018-03-15 2018-08-24 中国工程物理研究院电子工程研究所 一种激光周向非扫描目标探测装置
CN109031329B (zh) * 2018-07-02 2024-01-16 昆山丘钛微电子科技有限公司 一种飞行时间测距模组及电子设备

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08136843A (ja) * 1994-11-04 1996-05-31 Canon Inc 光偏向走査装置
CN101233423A (zh) * 2005-07-28 2008-07-30 罗伯特·博世有限公司 距离测量设备和用于将光电单元固定在导线架单元上的方法
CN101238389A (zh) * 2005-08-08 2008-08-06 莱卡地球系统公开股份有限公司 光电测距仪
CN102597694A (zh) * 2009-10-29 2012-07-18 莱卡地球系统公开股份有限公司 用于大地测量仪的瞄准机构、尤其是瞄准望远镜和用于这样的瞄准机构的物镜单元光学组件
CN104797965A (zh) * 2012-11-21 2015-07-22 高质激光有限公司 用于光学元件的支撑机构和用于调节光学元件的方法
CN104714286A (zh) * 2013-12-13 2015-06-17 欧姆龙株式会社 光学部件的配件及具备光学部件的配件的光电传感器单元
US20160253536A1 (en) * 2015-02-26 2016-09-01 Optoelectronics Co., Ltd. Module for optical information reader
CN207752146U (zh) * 2017-11-29 2018-08-21 武汉万集信息技术有限公司 一种激光雷达发射光路同轴的自动调节装置

Also Published As

Publication number Publication date
US20210333395A1 (en) 2021-10-28
CN111670374A (zh) 2020-09-15

Similar Documents

Publication Publication Date Title
CN109613515B (zh) 一种激光雷达系统
US20210281040A1 (en) Laser diode packaging module, distance detection device, and electronic device
US20220120899A1 (en) Ranging device and mobile platform
CN210038146U (zh) 测距模组、测距装置及可移动平台
US20210341610A1 (en) Ranging device
US20210333370A1 (en) Light emission method, device, and scanning system
CN111566510A (zh) 测距装置及其扫描视场的均衡方法、移动平台
CN209356678U (zh) 测距装置
CN209979845U (zh) 一种测距装置及移动平台
WO2020154980A1 (zh) 一种探测装置外参数标定方法、数据处理装置和探测系统
US20210223370A1 (en) Laser scanning apparatus
WO2020142953A1 (zh) 一种测距装置
WO2020133384A1 (zh) 一种激光测距装置及移动平台
CN111670375A (zh) 一种测距装置及移动平台
US20210341580A1 (en) Ranging device and mobile platform
WO2020237500A1 (zh) 一种测距装置及其扫描视场的控制方法
WO2020142909A1 (zh) 数据同步方法、分布式雷达系统及可移动平台
WO2020142920A1 (zh) 一种信号放大方法及装置、测距装置
WO2020142878A1 (zh) 一种测距装置及移动平台
WO2020147121A1 (zh) 雨量测量方法、探测装置、可读存储介质
WO2021026766A1 (zh) 扫描模块的电机转速控制方法、装置和测距装置
WO2020142946A1 (zh) 转发器以及测距系统
WO2023070442A1 (zh) 激光二极管芯片的封装结构及方法、测距装置、可移动平台
WO2023070443A1 (zh) 二极管芯片的封装结构及方法、测距装置、可移动平台
US20210333369A1 (en) Ranging system and mobile platform

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19908703

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19908703

Country of ref document: EP

Kind code of ref document: A1