WO2020142957A1

WO2020142957A1 - Distance measurement apparatus and mobile platform

Info

Publication number: WO2020142957A1
Application number: PCT/CN2019/071044
Authority: WO
Inventors: 黄森洪; 吴敬阳; 徐宗财; 刘祥
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-09
Filing date: 2019-01-09
Publication date: 2020-07-16
Also published as: CN111670376A; CN111670376B

Abstract

A distance measurement apparatus (100) and a mobile platform. The distance measurement apparatus (100) comprises a transmission module, a receiving module, and a temperature control system, wherein the transmission module is used for emitting an optical pulse; the receiving module is used for receiving at least part of the optical pulse reflected by an object, and determining a distance of the object with respect to the distance measurement apparatus (100) according to the received at least part of the optical pulse; the temperature control system comprises: a heating circuit and/or a heat dissipation module, the heating circuit being used for heating a device (301) to be temperature-controlled, and the heat dissipation module is used for performing heat dissipation on the device (301); and the distance measurement device further comprises a control module which is used for controlling the operation or turn-off of the heating circuit and/or the heat dissipation module on the basis of a comparison result of the current environment temperature of the device (301) and a target temperature. Accurate control of a temperature range is implemented by means of a heating function of the heating circuit or a refrigeration function of the heat dissipation module.

Description

Distance measuring device and mobile platform

Instructions

Technical field

The invention generally relates to the technical field of distance measuring devices, and more particularly to a range measuring device system and a mobile platform.

Background technique

Lidar is a perception system of the outside world. By transmitting and receiving light wave information, the three-dimensional and three-dimensional information of the outside world can be obtained. 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; combined with the information of the angle of emission of the optical pulse, the three-dimensional depth information can be reconstructed and learned. Laser ranging is an application field similar to the principle of lidar. It also needs to know the time difference between the transmitted pulse and the received pulse to know the distance of the measured object. However, the laser rangefinder does not have angle information, and can only obtain the single-dimensional spatial distance information in the emission direction.

In the fields of laser radar and optical fiber communication, lasers are used as signal sources to emit laser signals with specific wavelengths and optical power according to specific applications. Some typical application scenarios of lidar, such as automobiles, intelligent robots, drones, etc. for autonomous driving or map mapping, have a wide environmental temperature range, covering an ambient temperature range of -40 to 85°C.

The wavelength of the pulsed laser diode (PLD) varies greatly with temperature. In the above temperature range, the wavelength change reaches more than 40nm. In order to adapt to the laser wavelength change, the design bandwidth of the receiving filter must be greater than 40nm, so that the received noise increases and the signal noise The ratio deteriorates and the range decreases. On the other hand, the laser lifetime decays significantly with increasing temperature. The detection distance is mainly related to the power of the emitted laser. Under the premise of the same receiving sensitivity, the greater the power, the farther the detection distance. However, the wavelength and optical power of the laser diode are shifted as the ambient temperature changes. Therefore, the laser wavelength, power stability, and a wider ambient temperature range have become a major contradiction. Therefore, a complete temperature control scheme must be designed for the distance measuring device.

Summary of the invention

The present invention has been proposed to solve at least one of the above problems. Specifically, one aspect of the present invention provides a distance measuring device, the distance measuring device includes a transmitting module, a receiving module, and a temperature control system,

The transmitting module is used to emit light pulses;

The receiving module is configured to receive at least part of the optical pulse reflected back by the object, and determine the distance of the object relative to the distance measuring device according to the received at least part of the optical pulse;

The temperature control system includes:

A heating circuit and/or a heat dissipation module, the heating circuit is used to heat the temperature control device, and the heat dissipation module is used to dissipate heat to the temperature control device;

The control module is configured to control the heating circuit and/or the heat dissipation module to operate or shut down based on the comparison result of the current ambient temperature and the target temperature of the temperature-controlling device.

Exemplarily, the control module includes:

A processor, configured to obtain the ambient temperature of the temperature-controlled device, and compare the current ambient temperature with the target temperature to generate a control signal;

A heating control circuit and/or a heat dissipation control circuit, the heating control circuit is used to obtain the control signal, and the heating circuit is controlled to operate or shut down according to the control signal, and the heat dissipation control circuit is used to obtain the control signal , Control the heat dissipation module to run or shut down according to the control signal.

Exemplarily, the target temperature includes a first target temperature and a second target temperature, where the first target temperature is less than the second target temperature, and the processor is specifically configured to:

Obtain the current ambient temperature of the temperature-controlled device, compare the current ambient temperature with the target temperature, and if the current ambient temperature is less than the first target temperature, generate a first control signal for controlling The heating circuit operates or controls the heat dissipation module to be turned off. If the current ambient temperature is greater than the second target temperature, a second control signal is generated for controlling the heating circuit to turn off or the heat dissipation module to operate.

Exemplarily, the heating control circuit includes a first switching circuit, a control terminal of the first switching circuit is connected to the control signal, and the control signal is used to control the on-off time of the first switching circuit.

Exemplarily, the control signal includes a PWM signal, and the on-off time of the first switching circuit is controlled by the duty cycle of the PWM signal to control the running time or the off time of the heating circuit.

Exemplarily, the input terminal of the first switching circuit is electrically connected to the output terminal of the heating circuit, and the output terminal of the first switching circuit is grounded;

And/or, the input end of the heating circuit is electrically connected to the power supply voltage.

Exemplarily, the first switching circuit includes a first MOS tube, the control signal is connected to a control terminal of the first MOS tube, and one of the source terminal and the drain terminal of the first MOS tube serves as the first One input terminal of the switch circuit, the other serves as the output terminal of the first switch circuit.

Exemplarily, the heating control circuit further includes a first filtering circuit for filtering the control signal input to the first switching circuit.

Exemplarily, the input terminal of the first filter circuit is electrically connected to the control signal, and the output terminal of the first filter circuit is grounded.

Exemplarily, the first filter circuit includes a resistor and a capacitor arranged in parallel.

Exemplarily, the distance measuring device further includes a switching power supply for converting the control signal into a DC voltage, so that the heating circuit continuously generates heat.

Exemplarily, the switching power supply includes:

A second switching circuit for controlling the charging and discharging of the energy storage circuit of the switching power supply;

An energy storage circuit for storing electrical energy when the second switching circuit is on and discharging when the second switching circuit is off;

The output filter circuit is used for charging when the second switching circuit is turned on and discharging when the second switching circuit is turned off.

Exemplarily, the input terminal of the second switch circuit is electrically connected to the power supply voltage, and the output terminal of the second switch circuit is electrically connected to the input terminal of the energy storage circuit; and

The output terminal of the energy storage circuit is electrically connected to the input terminal of the output filter circuit, and the output terminal of the output filter circuit is grounded.

Exemplarily, the second switch circuit includes a second MOS tube, wherein one end of the source and drain terminals of the second MOS tube is electrically connected to the power supply voltage, and the other end is electrically connected to the power storage circuit. Input.

Exemplarily, the first switching circuit includes one of an NMOS transistor and a PMOS transistor, and/or, the second MOS transistor includes a PMOS transistor.

Exemplarily, the switching power supply further includes:

A freewheeling circuit, the freewheeling circuit is turned on when the second switching circuit is turned off, and is used for a freewheeling function to provide a discharge circuit of the energy storage circuit.

Exemplarily, one end of the freewheeling circuit is electrically connected to the input end of the energy storage circuit, and the other end is grounded.

Exemplarily, the freewheeling circuit includes a diode, wherein the cathode of the diode is electrically connected to the input terminal of the energy storage circuit, and the anode of the diode is grounded.

Exemplarily, the temperature control system further includes a voltage dividing circuit, and the voltage dividing node of the voltage dividing circuit is electrically connected to the control terminal of the second switching circuit, and is used to control the second switching circuit to be turned on or off.

Exemplarily, the output terminal of the voltage dividing circuit is electrically connected to the input terminal of the heating control circuit, and the input terminal of the voltage dividing circuit is electrically connected to the power supply voltage.

Exemplarily, the voltage dividing circuit includes at least two resistors connected in series.

Exemplarily, the switching power supply includes a BUCK switching power supply, wherein the energy storage circuit includes an inductor, and/or, the output filter circuit includes a capacitor.

Exemplarily, the temperature control system further includes:

The second filter circuit is used to filter the voltage output by the power supply voltage.

Exemplarily, the temperature control system further includes:

The input terminal of the second filter circuit is electrically connected to the power supply voltage, and the output terminal of the second filter circuit is grounded.

Illustratively, the first filter circuit includes at least one capacitor.

Exemplarily, the heating circuit includes at least one heating resistor.

Exemplarily, the heating circuit includes at least two heating resistors arranged in parallel.

Exemplarily, the distance measuring device further includes:

A circuit board, the temperature-controlling device is arranged on the circuit board;

A heat conduction layer, the heat conduction layer is disposed below the temperature-controlling device, and is used to conduct the heat generated by the heating resistor to the temperature-controlling device.

Exemplarily, at least one thermal island is provided on the thermal conductive layer, and the thermal island is used to isolate the thermal conductive layers on opposite sides of the thermal island.

Exemplarily, a plurality of the thermal islands are arranged in a ring shape along the circumference of the device to be controlled.

Exemplarily, the ring shape includes a circular ring shape or a polygonal ring shape.

Exemplarily, each of the thermal islands has a long shape.

Exemplarily, the thermal island is an opening penetrating the thermal conductive layer.

Exemplarily, the material of the thermal conductive layer includes a ground layer.

Exemplarily, the target temperature includes a first target temperature and a second target temperature, the second target temperature is greater than the first target temperature, and the heat dissipation control circuit is specifically configured to:

When the current ambient temperature is lower than the first target temperature, controlling the heat dissipation module to be turned off;

When the current ambient temperature is greater than or equal to the second target temperature, the heat dissipation module is controlled to operate.

Exemplarily, the target temperature further includes a third target temperature and a fourth target temperature, wherein the third target temperature is greater than the second target temperature, and the fourth target temperature is greater than the third target temperature, The heat dissipation control circuit is also specifically used for:

If the current ambient temperature is between the second target temperature and the third target temperature, the heat dissipation rate of the heat dissipation module is controlled to be maintained at the first rate.

Exemplarily, the heat dissipation control circuit is also specifically used for:

If the current ambient temperature is greater than or equal to the third target temperature and less than the fourth target temperature, controlling the heat dissipation rate of the heat dissipation module to be between the first rate and the second rate, wherein the first The second rate is greater than the first rate; and

If the current ambient temperature is greater than or equal to the fourth target temperature, control the heat dissipation rate of the heat dissipation module to be maintained at the second rate.

When the current ambient temperature is gradually increased from less than the first target temperature to between the first target temperature and the second target temperature, controlling the heat dissipation module to be turned off;

When the current ambient temperature continues to increase to be greater than or equal to the second target temperature, the heat dissipation module is controlled to operate.

When the current ambient temperature decreases from greater than or equal to the second target temperature to between the first target temperature and the second target temperature, controlling the heat dissipation rate of the heat dissipation module to be maintained at the first rate;

When the current ambient temperature drops below the first target temperature, the heat dissipation module is controlled to be turned off.

Exemplarily, the heat dissipation module includes a fan, and the heat dissipation control circuit is also specifically used for:

By controlling the duty ratio of the fan to control the rotational speed of the fan, the heat dissipation rate of the heat dissipation module is controlled, where the greater the duty ratio, the greater the heat dissipation rate of the heat dissipation module.

Exemplarily, the duty cycle includes a first duty cycle and a second duty cycle, the second duty cycle is greater than the first duty cycle, wherein the heat dissipation control circuit is specifically configured to:

Controlling the fan to operate at the first duty ratio to control the heat dissipation rate of the heat dissipation module to be maintained at the first rate;

Controlling the fan to operate at the second duty cycle to control the heat dissipation rate of the heat dissipation module to be maintained at the second rate; and

Controlling the duty ratio of the fan to vary between the first duty ratio and the second duty ratio to control the heat dissipation rate of the heat dissipation module to be between the first rate and the second rate between.

Exemplarily, the heat dissipation control circuit is specifically used for:

Controlling the duty ratio of the fan to change linearly between the first duty ratio and the second duty ratio to control the heat dissipation rate of the heat dissipation module between the first rate and the second rate between.

The duty ratio of the fan is controlled to be zero to control the heat dissipation module to be turned off.

Exemplarily, the temperature-controlling device is installed in a receiving cavity in the housing, wherein the heat dissipation module is used to dissipate heat to the housing.

Exemplarily, the heat dissipation module includes a fan.

Exemplarily, the temperature control system further includes:

A temperature detection circuit is used to detect the current ambient temperature of the temperature-controlled device.

Exemplarily, the distance measuring device further includes:

At least one heat-conducting medium, the heat-conducting medium includes a heat dissipation portion, and at least a part of the surface of the heat dissipation portion is attached to at least a part of the heat dissipation surface of the temperature-controlling device, and is used to extract heat from the temperature-controlling device.

Exemplarily, the distance measuring device includes at least two of the thermally conductive media, wherein at least a part of the surface of the heat dissipation portion of each of the thermally conductive media is attached to different temperature-controlling devices for respectively corresponding to The heat of the temperature-control device is derived.

Exemplarily, the temperature-controlling device is installed in a housing cavity of the housing, and two opposite surfaces of the heat-dissipating portion of the heat-conducting medium respectively at least partially fit the heat-radiating surface of the temperature-controlling device and the housing Part of the surface.

Exemplarily, the heat conductive medium further includes an installation portion, wherein the installation portion is used to install the heat conductive medium on the housing.

Exemplarily, the mounting portion and the heat dissipation portion are connected to each other at a predetermined angle, and/or, the mounting portion and the heat dissipation portion are integrally formed.

Exemplarily, the predetermined angle is substantially 90°.

Exemplarily, the distance measuring device further includes at least one connecting member and at least one waist hole provided on the mounting portion, the connecting member passes through the waist hole to install the thermally conductive medium on the housing, The housing is located in the receiving cavity of the housing.

Exemplarily, the length of the waist hole is greater than the radial length of the connecting member to adjust the position of the conductive medium along the length of the waist hole before the connecting member is fastened; and/or,

The radial length of the connecting member is smaller than the width of the waist hole to adjust the position of the conductive medium along the width direction of the waist hole before the connecting member is fastened.

Exemplarily, the length extension direction of the waist hole is perpendicular to the heat dissipation surface of the temperature-controlling device, so as to adjust the heat dissipation portion to fit the temperature-control device along the length extension direction.

Exemplarily, a gasket is further provided between an end of the connecting member facing away from the housing and the waist hole.

Exemplarily, the thickness of the region where the installation portion is provided with the waist hole is smaller than the thickness of other regions of the thermally conductive medium.

Exemplarily, the connecting member includes at least one of screws and bolts.

Exemplarily, the heat dissipation portion includes a first surface and a second surface that are oppositely arranged, and a bump is further provided on the first surface of the heat dissipation portion adjacent to the temperature-control device, and the bump At least part of the surface opposite to the first surface conforms to the heat dissipation surface of the device to be temperature controlled.

Exemplarily, the size of the surface of the bump that fits the device to be temperature-controlled is smaller than the size of the first surface of the heat dissipation part.

Exemplarily, the first surface and the second surface of the heat dissipation portion are opposite, not parallel surfaces.

Exemplarily, the temperature control system includes at least two of the heat conduction media, wherein the bumps are provided on the heat dissipation portions of the heat conduction media of the at least two heat conduction media.

Exemplarily, the distance measuring device includes a first temperature-controlling device and a second temperature-controlling device, wherein the temperature control system includes a first heat-conducting medium and a second heat-conducting medium. The protrusions are provided on the heat dissipation portion, the protrusions on the first heat conduction medium are attached to at least a part of the heat dissipation surface of the first temperature-controlling device, and the heat dissipation portion of the second heat conduction medium is attached to the first 2. At least part of the heat dissipation surface of the device to be temperature controlled.

Exemplarily, the first temperature-controlled device includes an emitter, and/or the second temperature-controlled device includes a detector.

Exemplarily, the material of the heat-conducting medium includes a metal, wherein the metal includes copper.

Exemplarily, the distance measuring device includes a laser radar.

In yet another aspect of the present invention, a mobile platform is provided, the mobile platform including the foregoing distance measuring device; and

A platform body, the distance measuring device is installed on the platform body.

Illustratively, the mobile platform includes a drone, robot, car or boat.

The distance measuring device of the present invention starts heating when the ambient temperature is too low through the heating circuit, and the heat dissipation module is used for heat dissipation at high temperature, so that the target temperature is controlled below the ambient temperature at high temperature and the target temperature at low temperature Controlling above the ambient temperature effectively reduces the temperature range of, for example, the transmitter module including the transmitter, controls the wavelength variation range, reduces the design bandwidth of the receiving filter, reduces noise, and improves the signal-to-noise ratio. The range is increased, and the life of the transmitter is increased.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For a person of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

FIG. 1 shows a schematic structural diagram of a distance measuring device in an embodiment of the present invention;

2 shows a schematic diagram of a distance measuring device in an embodiment of the present invention;

3 shows a flow chart of a control strategy of a temperature control system including a heating circuit in an embodiment of the invention;

4 shows a circuit diagram of a temperature control system including a heating circuit in an embodiment of the present invention;

5 shows a circuit diagram of a temperature control system including a heating circuit in another embodiment of the present invention;

6 shows a schematic diagram of a thermal island in an embodiment of the present invention;

7 shows a schematic diagram of the installation of the thermally conductive medium in an embodiment of the present invention;

8 is a schematic perspective view of a heat-conducting medium in another embodiment of the present invention;

9 shows a perspective schematic view of a distance-measuring device equipped with a thermally conductive medium in an embodiment of the present invention;

10 shows a top view of the distance measuring device in FIG. 9;

FIG. 11 shows a partial schematic diagram of a distance-measuring device installed with a heat-conducting medium in an embodiment of the present invention;

FIG. 12 shows a partial schematic view of one side of a distance-measuring device installed with a thermally conductive medium in an embodiment of the present invention;

13 shows a flow chart of a control strategy of a temperature control system including a heat dissipation module in an embodiment of the invention;

14 shows a schematic diagram of a fan speed regulation strategy of a temperature control system in an embodiment of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the present invention more obvious, an exemplary embodiment according to the present invention will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without paying any creative work should fall within the protection scope of the present invention.

In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments presented herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for describing specific embodiments only and is not intended as a limitation of the present invention. As used herein, the singular forms "a", "an", and "said/the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "comprising", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components, and/or groups. As used herein, the term "and/or" includes any and all combinations of the listed items.

In order to thoroughly understand the present invention, a detailed structure will be proposed in the following description in order to explain the technical solution proposed by the present invention. The alternative embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may have other embodiments.

The distance measuring device of the present application will be described in detail below with reference to the drawings. In the case of no conflict, the features in the following examples and implementations can be combined with each other.

First, with reference to FIGS. 1 and 2, a more detailed exemplary description of the structure of a distance measuring device in an embodiment of the present invention, the distance measuring device includes a laser radar, the distance measuring device is only used as an example, for other suitable measurement The distance device can also be applied to this application.

The solutions provided by the embodiments of the present invention may be applied to a distance measuring device, and the distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device. In one embodiment, 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. In an implementation manner, the distance measuring device can detect the distance between the detecting 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). Alternatively, 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.

For ease of understanding, the following describes the working process of distance measurement in conjunction with the distance measurement device 100 shown in FIG. 1.

The distance measuring device includes a transmitting module, a receiving module and a temperature control system, the transmitting module is used to emit light pulses; the receiving module is used to receive at least part of the optical pulses reflected back by the object, and according to the received at least Part of the light pulse determines the distance of the object relative to the distance measuring device.

Specifically, as shown in FIG. 1, the transmitting module includes a transmitting circuit 110; the receiving module includes a receiving circuit 120, a sampling circuit 130, and an arithmetic circuit 140.

The transmitting circuit 110 may emit a light pulse sequence (for example, a laser pulse sequence). The receiving circuit 120 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 130 after processing the electrical signal. The sampling circuit 130 may sample the electrical signal to obtain the sampling result. The arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.

Optionally, the distance measuring device 100 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.

It should be understood that although the distance measuring device shown in FIG. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection, the embodiments of the present application are not limited thereto, and the transmitting circuit , The number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit may also be at least two, for emitting at least two light beams in the same direction or respectively in different directions; wherein, the at least two light paths may be simultaneously The shot may be shot at different times. In one example, the light-emitting chips in the at least two emission circuits are packaged in the same module. For example, each emitting circuit includes a laser emitting chip, and the die in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.

In some implementations, in addition to the circuit shown in FIG. 1, the distance measuring device 100 may further include a scanning module for changing at least one laser pulse sequence emitted by the transmitting circuit to change the propagation direction.

Among them, the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement Distance module, the distance measuring module may be independent of other modules, for example, a scanning module.

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. For example, after at least one laser pulse sequence emitted by the transmitting circuit is emitted by the scanning module to change the propagation direction, the laser pulse sequence reflected by the detection object passes through the scanning module and enters the receiving circuit. Alternatively, 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. FIG. 2 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 200 includes a distance measuring module 210. The distance measuring module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, and a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Optical path changing element 206. The distance measuring module 210 is used to emit a light beam and receive back light, and convert the back light into an electrical signal. Among them, the transmitter 203 may be used to transmit a light pulse sequence. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range. The collimating element 204 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted by the emitter 203 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 204 may be a collimating lens or other element capable of collimating the light beam.

In the embodiment shown in FIG. 2, the optical path changing element 206 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact. In some other implementation manners, the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.

In the embodiment shown in FIG. 2, since the beam aperture of the light beam emitted by the transmitter 203 is small and the beam aperture of the returned light received by the distance measuring device is large, the light path changing element can use a small-area mirror to convert The transmitting optical path and the receiving optical path are combined. In some other implementations, the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the reflector is used to reflect the return light to the detector 205. 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.

In the embodiment shown in FIG. 2, the optical path changing element is offset from the optical axis of the collimating element 204. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 204.

The distance measuring device 200 further includes a scanning module 202. The scanning module 202 is placed on the exit optical path of the distance measuring module 210. The scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted through the collimating element 204 and project it to the outside environment, and project the return light to the collimating element 204 . The returned light is converged on the detector 205 via the collimating element 204.

In one embodiment, the scanning module 202 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. For example, the scanning module 202 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. In one example, 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. In some embodiments, multiple optical elements of the scanning module 202 may rotate or vibrate about a common axis 209, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different rotation speeds, or vibrate at different speeds. In another embodiment, at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, 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.

In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214. The driver 216 is used to drive the first optical element 214 to rotate about a rotation axis 209 to change the first optical element 214 The direction of the collimated light beam 219. The first optical element 214 projects the collimated light beam 219 to different directions. In one embodiment, the angle between the direction of the collimated light beam 219 after the first optical element changes and the rotation axis 209 changes as the first optical element 214 rotates. In one embodiment, the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the first optical element 214 includes a wedge-angle prism, aligning the straight beam 219 for refraction.

In one embodiment, the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209. The rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214. The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214. In one embodiment, the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 may be driven by the same or different drivers, so that the first optical element 214 and the second optical element 215 have different rotation speeds and/or rotations, thereby projecting the collimated light beam 219 to the outside space Different directions can scan a larger spatial range. In one embodiment, the controller 218 controls the

drivers

216 and 217 to drive the first optical element 214 and the second optical element 215, respectively. The rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.

Drives

216 and 217 may include motors or other drives.

In one embodiment, the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.

In one embodiment, the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element includes a prism whose thickness varies along at least one radial direction. In one embodiment, 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.

The rotation of each optical element in the scanning module 202 can project light into different directions, such as the direction and direction 213 of the projected light 211, thus scanning the space around the distance measuring device 200. When the light 211 projected by the scanning module 202 hits the detection object 201, a part of the light is reflected by the detection object 201 to the distance measuring device 200 in a direction opposite to the projected light 211. The returned light 212 reflected by the detection object 201 passes through the scanning module 202 and enters the collimating element 204.

The detector 205 is placed on the same side of the collimating element 204 as the emitter 203. The detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.

In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.

In one embodiment, 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.

In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, 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. In this way, the distance measuring device 200 can calculate the TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance between the detection object 201 and the distance measuring device 200. The distance and orientation detected by the distance measuring device 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.

In order to accurately control the temperature of the distance measuring device, the distance measuring device in one embodiment of the present invention further includes a temperature control system, the temperature control system includes a heating circuit and/or a heat dissipation module, the heating circuit is used to control the temperature The device is heated, and the heat dissipation module is used to dissipate heat to the temperature-control device; the temperature control system further includes a control module to control the temperature control device based on the comparison result of the current ambient temperature and the target temperature of the temperature-control device The heating circuit and/or the heat dissipation module are operated or turned off. The above distance measuring device includes a heating circuit to start heating when the ambient temperature is too low, and the heat dissipation module is used to dissipate heat at high temperatures, so that the target temperature is controlled below the ambient temperature at high temperatures, and the target temperature is controlled at low temperatures. Above the ambient temperature, the temperature range of the transmitter module including the transmitter is effectively reduced, the wavelength variation range is controlled, the design bandwidth of the receiving filter is reduced, the noise is reduced, the signal-to-noise ratio is increased, and the Range, and improve the life of the transmitter.

Hereinafter, a temperature control system including a heating circuit will be exemplarily described with reference to FIGS. 3 to 5.

In one embodiment, as shown in FIG. 3, the temperature control system includes a heating circuit for heating the device to be controlled, the heating circuit may be any suitable circuit capable of heating, and the heating circuit includes at least one heating resistor . Furthermore, the heating circuit includes at least two heating resistors arranged in parallel.

In one example, as shown in FIG. 3, in order to detect the ambient temperature of the temperature-controlled device, the distance measuring device further includes a temperature detection circuit for detecting the current ambient temperature of the temperature-controlled device. Wherein, the temperature detection circuit includes a temperature sensor, and the temperature sensor may be any type of sensor that can be used for temperature detection, including but not limited to a thermocouple or a thermistor.

The temperature control system further includes a control module for controlling the heating circuit to operate or shut down based on the comparison result of the current ambient temperature and the target temperature of the device to be controlled. In a specific embodiment, as shown in FIG. 3, the control module specifically includes a processor and a heating control circuit (not shown). The processor is used to obtain the ambient temperature of the temperature-controlling device, and convert the current ambient temperature A control signal is generated after comparing with the target temperature, for example, the temperature detection circuit detects the current ambient temperature of the device to be controlled, and the processor receives the current ambient temperature and compares the current ambient temperature with the target temperature After the control signal is generated. The target temperature in this article refers to that the wavelength and power of the emitted beam of the transmitter are stable with small fluctuations at the target temperature or the range of the target temperature range.

In one example, as shown in FIG. 3, the target temperature is a target temperature range interval, and the target temperature includes a first target temperature (that is, target temperature 1 in FIG. 3) and a second target temperature (that is, The target temperature 2) in FIG. 3, wherein the first target temperature is less than the second target temperature, for example, the first target temperature is the upper limit of the target temperature, and the second target temperature is the lower limit of the target temperature, once detected If the current ambient temperature of the device to be controlled is less than the first target temperature or the temperature data is greater than the second target temperature, then the wavelength and power of the emitted beam of the transmitter will fluctuate. The processor is specifically used to: The current ambient temperature of the temperature-to-be-controlled device (may also be referred to as a device to be heated), compare the current ambient temperature with the target temperature, and if the current ambient temperature is less than the first target temperature, generate a A control signal for controlling the operation (including startup) of the heating circuit, if the current ambient temperature is greater than a second target temperature, a second control signal is generated for controlling the heating circuit to shut down, the shutting down includes controlling the heating The circuit is always closed, or it may be that during the heating process of the heating circuit, once it is detected that the current ambient temperature is greater than the second target temperature, a second control signal for controlling the heating circuit to stop is generated.

The first target temperature range is between 0° and 50°, and/or, the second target temperature range is between 0° and 50°, the above temperature range is only an example, and for other The temperature ranges of wavelength and power temperature can also be applied to the embodiments of the present invention. In a specific example, the first target temperature is 0° and the second target temperature is 50°, and the control module is specifically used to control The temperature control device performs heating or cooling to control the temperature of the transmitter between the 0°-50°. In other embodiments, the first target temperature is 5° and the second target temperature is 40°, the control module is specifically used to control the temperature control device to heat or cool, so as to The temperature is controlled between 4° and 45°. Or, in one embodiment, the first target temperature is 1° to 45° lower than the second target temperature, or 5° to 30° lower, and the first target temperature and the second target The temperature range of the temperature is still between 0° and 50°.

The heating control circuit is used to obtain the control signal and control the heating circuit to operate or shut down according to the control signal. Optionally, the control circuit may be any suitable circuit, and the processor may include a microprocessor (MCU). The control signal generated by the processor according to the comparison between the current ambient temperature and the target temperature is, for example, a PWM signal.

In a specific embodiment, as shown in FIG. 4, the heating control circuit includes a first switch circuit, a control terminal of the first switch circuit is connected to a control signal such as a PWM signal, and the control signal is used to control the first switch The on-off time of the circuit. Exemplarily, the control signal includes a PWM signal, and the on-off time of the first switching circuit is controlled by the duty cycle of the PWM signal to control the running time or the off time of the heating circuit.

Furthermore, the input terminal of the first switch circuit is electrically connected to the output terminal of the heating circuit, the output terminal of the first switch circuit is grounded, and the input terminal of the heating circuit is electrically connected to the power supply voltage VCC, which is To provide the working voltage for the heating circuit, the voltage value of the power supply voltage is reasonably set according to actual needs, and is not specifically limited here.

In one example, as shown in FIG. 4, the first switching circuit includes a first MOS transistor Q1, the control signal is connected to the control terminal G of the first MOS transistor, and the source terminal of the first MOS transistor is One of the drain terminals serves as an input terminal of the first switching circuit, and the other serves as an output terminal of the first switching circuit. For example, the first switching circuit includes one of an NMOS transistor and a PMOS transistor, and the ON or OFF of the NMOS transistor or the PMOS transistor is controlled by a control signal to control the operation or shutdown of the heating circuit. In the embodiment shown in FIG. 4 The first switching circuit includes an NMOS transistor, the gate G of the NMOS transistor is electrically connected to a control signal (eg, a PWM signal), the source S of the NMOS transistor is grounded, and the drain D of the NMOS transistor is electrically connected to the output of the heating circuit, wherein The NMOS transistor turns on when connected to a high level, the heating circuit starts to heat, and turns off when connected to a low level, and the heating circuit is turned off.

In one example, the heating control circuit further includes a first filter circuit for filtering the control signal input to the first switching circuit. The input terminal of the first filter circuit is electrically connected to the control signal, and the output terminal of the first filter circuit is grounded (that is, connected to a low potential). The first filter circuit may be any suitable filter circuit, and may include at least one of a capacitor, a resistor, or an inductor capable of performing a filter function. For example, as shown in FIG. 3, the first filter circuit includes A resistor R1 and a capacitor C1.

In one example, as shown in FIG. 3, the temperature control system further includes a second filter circuit for filtering the voltage output by the power supply voltage VCC. Exemplarily, the input terminal of the second filter circuit is electrically connected to the power supply voltage, and the output terminal of the second filter circuit is grounded. The second filter circuit may be any suitable filter circuit, and may include at least one of a capacitor, a resistor, or an inductor capable of performing a filtering function. For example, as shown in FIG. 3, the second filter circuit includes a capacitor C2 The input terminal of the capacitor is electrically connected to the power supply voltage, and the output terminal is grounded.

In the embodiment of FIG. 3, the heating circuit includes four heating resistors R2, R3, R4, and R5 connected in parallel, or may include other numbers of heating resistors, which are not specifically limited herein.

The heating circuit includes a heating resistor. Due to the low cost of the heating resistor, the cost of the entire temperature control system can be reduced, and the processor (such as a microprocessor) is used to directly control the first duty cycle of the control signal (such as the PWM signal). The on-off time of the switch circuit (such as MOS tube), and then control the heating heat of the heating resistor, the higher the duty cycle of the PWM signal, the greater the heat generation, so as to achieve the heating of the temperature control device at low temperature.

In another specific embodiment, as shown in FIG. 5, the heating control circuit includes a first switching circuit, a control terminal of the first switching circuit is connected to a control signal such as a PWM signal, and the control signal is used to control the first The on-off time of the switching circuit. Exemplarily, the control signal includes a PWM signal, and the on-off time of the first switching circuit is controlled by the duty cycle of the PWM signal to control the running time or the off time of the heating circuit.

Furthermore, the input terminal of the first switching circuit is electrically connected to the output terminal of the heating circuit, and the output terminal of the first switching circuit is grounded.

In one example, as shown in FIG. 5, the first switching circuit includes a first MOS transistor Q1, the control signal is connected to the control terminal G of the first MOS transistor, and the source terminal of the first MOS transistor is One of the drain terminals serves as an input terminal of the first switching circuit, and the other serves as an output terminal of the first switching circuit. For example, the first switch circuit includes one of an NMOS transistor and a PMOS transistor, and the control signal controls the on or off of the NMOS transistor or the PMOS transistor, thereby controlling the heating circuit to operate or shut off. In the embodiment shown in FIG. 5 The first MOS transistor Q1 may be an NMOS transistor. The gate G of the NMOS transistor is connected to a control signal, such as a PWM signal, and is turned on when the control signal is at a high level, and the circuit between the control power supply and the ground is turned on.

Continuing as shown in FIG. 5, the temperature control system further includes a switching power supply for converting the control signal into a DC voltage, so that the heating circuit continues to generate heat. The design of the switching power supply realizes the conversion of the control signal, such as the PWM signal, to DC, and the heating circuit can continue to generate heat to make the heat generation more uniform. Similarly, for example, the duty ratio of the control signal of the PWM signal controls the heating value of the heating circuit. The higher the duty ratio, the higher the output voltage of the switching power supply, and the higher the operating voltage of the heating circuit and the greater the heating value. The switching power supply may be any suitable switching power supply, such as a BUCK switching power supply.

In one example, as shown in FIG. 5, the switching power supply is a BUCK switching power supply. The switching power supply includes a second switching circuit, an energy storage circuit, an output filter circuit, and a freewheeling circuit.

Specifically, the second switching circuit is used to control the charging and discharging of the energy storage circuit of the switching power supply. Optionally, the second switching circuit includes a second MOS transistor Q2, wherein one end of the source and drain terminals of the second MOS transistor is electrically connected to the power supply voltage, and the other end is electrically connected to the energy storage circuit For example, the second MOS transistor Q2 is a PMOS transistor.

The energy storage circuit is used for storing electrical energy when the second switching circuit is on and discharging when the second switching circuit is off. Optionally, the energy storage circuit includes at least one inductor L1.

The output filter circuit is used for charging when the second switch circuit is on and discharging when the second switch circuit is off; for example, the output filter circuit includes a capacitor C2.

The freewheeling circuit is turned on when the second switch circuit is turned off, and is used for freewheeling to provide a discharge circuit of the energy storage circuit. Optionally, the freewheeling circuit includes a diode D1, or other suitable circuits or components.

Exemplarily, the input end of the second switch circuit is electrically connected to the power supply voltage, the output end of the second switch circuit is electrically connected to the input end of the energy storage circuit; and the output end of the energy storage circuit is electrically connected to the The input end of the output filter circuit, the output end of the output filter circuit is grounded; one end of the freewheeling circuit is electrically connected to the input end of the energy storage circuit, and the other end is grounded, for example, the diode D1 of the freewheeling circuit The cathode of is electrically connected to the input end of the energy storage circuit, and the anode of the diode is grounded.

In one example, the distance measuring device further includes a voltage divider circuit, a voltage divider node of the voltage divider circuit is electrically connected to the control terminal of the second switch circuit, and is used to control the second switch circuit to be turned on or off . Since the turn-on and turn-off of the voltage dividing circuit is controlled by the first switch circuit, that is, when the first switch circuit is turned on, the second switch circuit is also turned on, and when the first switch circuit is turned off, the second switch circuit is also turned off. Furthermore, the output terminal of the voltage dividing circuit is electrically connected to the input terminal of the heating control circuit, and the input terminal of the voltage dividing circuit is electrically connected to the power supply voltage. Exemplarily, the voltage dividing circuit includes at least two resistors connected in series, for example, as shown in FIG. 5, the voltage dividing circuit includes a resistor R1 and a resistor R2 connected in series, wherein the voltage dividing node is located between the two resistors The control terminal of the second switching circuit is the gate G of the PMOS transistor, which is electrically connected to the voltage dividing node of the voltage dividing circuit, so that the voltage connected to the PMOS transistor is less than the power supply voltage VCC electrically connected to the source S of the PMOS transistor Therefore, when the first switching circuit is turned on, the second switching circuit including the PMOS transistor is also turned on. At this time, the diode D1 electrically connected to the PMOS transistor is turned off, and the energy storage inductor L1 is magnetized and flows through the inductor The current increases linearly while charging capacitor C2 to provide energy to the heating circuit. The heating circuit includes parallel heating resistors R3, R4, R5, and R6 to provide energy. At this time, the heating circuit works to heat the temperature control device, and the first switch When the circuit is turned off, the second switching circuit including the PMOS transistor is also turned off. At this time, the diode D1 is turned on, the energy storage inductor L1 is discharged through the diode D1, the inductor current decreases linearly, the output voltage is discharged by the output filter capacitor C2 and the reduced inductance The current is maintained to continue to provide energy to the heating circuit so that the heating circuit can continue to generate heat. Similarly, the duty cycle of the PWM signal controls the heating value of the heating resistor. The higher the duty cycle, the higher the output voltage of the BUCK switching power supply, and the higher the operating voltage of the heating resistor and the greater the heating value.

In the temperature control system of the above embodiment, as shown in FIG. 6, the distance measuring device further includes a circuit board (not shown), and the temperature-to-be-controlled device 301 is disposed on the circuit board. The temperature control device includes at least one of the foregoing transmitter, receiver, and analog circuit.

Continuing as shown in FIG. 6, the distance measuring device further includes a thermally conductive layer 300, which is disposed on the circuit board below the temperature-to-be-controlled device 301, and is used to conduct the heat generated by the heating resistor to all Narrate temperature control device 301. The heat conductive layer 300 may be any suitable metal heat conductive layer, such as copper, silver, aluminum and other metals. In this embodiment, the material of the thermally conductive layer includes a ground layer, which can be used not only for electrically connecting devices in the circuit that need to be grounded, but also as a thermal conductive layer to conduct the heat generated by the heating resistor to the temperature to be controlled Device 301.

In one example, due to the large laying area of the thermal conductive layer of the ground layer, for example, the heat of the heating circuit may be conducted to other devices to be controlled, and other unnecessary areas may also be heated, affecting the heating efficiency. As shown in FIG. 3, at least one thermal island 302 is provided on the thermal conductive layer 300, the thermal island is used to isolate the thermal conductive layers 300 on opposite sides of the thermal island, so that the heat will be more concentratedly conducted to the temperature-controlled device 301. Among them, PMOS can realize the heating resistance through the heat conduction layer of the ground layer for thermal conduction, and can form a thermal island on the circuit board to reduce the area of the heating object and improve the heating efficiency, especially the When the embodiment is incorporated in FIG. 4.

Optionally, the plurality of thermal islands 302 are arranged in a ring shape at intervals along the circumference of the device to be controlled. The ring shape includes a circular ring shape or a polygonal ring shape, or another ring shape with a suitable shape. In particular, as shown in FIG. 6, each of the thermal islands 302 has a long shape. Exemplarily, the thermal island 302 may be an opening penetrating the thermal conductive layer 300, or may also be a layer of thermal insulation material penetrating the thermal conductive layer 300, such as an insulating layer or other materials with poor thermal conductivity.

When the temperature of the distance measuring device, especially the device to be temperature controlled, is high, it is often necessary to conduct heat to the outside of the housing of the distance measuring device for heat dissipation. In some locations, a copper block is used between the internal device of the product and the housing Thermally conductive media can reduce thermal resistance and ensure the thermal conductivity of internal devices.

The position of some devices relative to the case is fixed. Simply select the inner surface of a case parallel to the heat dissipation surface of the device, and press the copper block between these two parallel surfaces. When the case is installed, both sides of the copper block It will naturally closely fit the internal devices and the shell to achieve good heat transfer, as shown in Figure 7, and the position of some devices relative to the shell may be adjusted unless the copper block of different thickness or the position of the shell is adjustable. The method does not apply. Therefore, in one embodiment of the present invention, an adjustable thermal conductive medium is provided, and the thermal conductive medium will be exemplarily described below with reference to FIGS. 8 to 12.

In a specific embodiment, as shown in FIG. 8, the distance measuring device further includes at least one thermally conductive medium 700, and the thermally conductive medium 700 includes a heat dissipation portion 701, and at least a part of the surface of the heat dissipation portion fits the to-be-controlled At least a part of the heat dissipation surface of the temperature device (not shown) is used to extract the heat of the temperature-control device. The material of the heat conducting medium includes metal, wherein the metal includes copper.

As shown in FIG. 8, the thermally conductive medium 700 further includes an installation portion 703, wherein the installation portion 703 is used to install the thermally conductive medium 700 on the housing of the distance measuring device, and the housing may be used for installation Housings of various optical elements of the distance measuring device, such as collimating elements, optical elements in the scanning module, optical path changing elements, etc. The mounting portion 703 and the heat dissipation portion 701 are connected to each other at a predetermined angle, and/or, the mounting portion 703 and the heat dissipation portion 701 are integrally formed. Exemplarily, the predetermined angle is substantially 90°. The specific shape of the heat dissipation part 701 can be matched according to the housing space between the housing of the actual distance-measuring device and the device to be temperature-controlled.

Exemplarily, as shown in FIG. 8, the thickness of the area where the mounting portion 703 is provided with the waist hole 704 is smaller than the thickness of other areas of the heat conductive medium 700. Since the thickness of other regions is thicker, the thermal resistance can be reduced.

Continuing as shown in FIG. 8, at least one waist hole 704 is provided on the mounting portion 703, and the length of the waist hole 704 is greater than the radial length of the connecting member passing through the waist hole to fasten the connecting member Adjust the position of the conductive medium in the length direction of the waist hole at the front, so that the heat dissipation part of the conductive medium is closer to the device to be temperature controlled, which is beneficial to the heat extraction of the device to be temperature controlled. Moreover, the radial length of the connecting piece (when the cross-section of the connecting piece is circular, the length of the connecting piece refers to the diameter of the connecting piece) is smaller than the width of the waist hole, so that before the connecting piece is fastened The width direction of the waist hole adjusts the position of the conductive medium, so that the heat dissipation portion of the conductive medium is closer to the device to be temperature controlled, which is beneficial to the heat extraction of the device to be temperature controlled.

In one example, as shown in FIGS. 8 and 9, the length extension direction of the waist hole 704 is perpendicular to the heat dissipation surface of the temperature-controlling device, so as to adjust the heat dissipation portion to fit the Temperature control device.

As shown in FIG. 9, the distance measuring device further includes at least one connector 705, and the connector includes at least one of screws and bolts. The connecting member 705 passes through the waist hole to install the heat conductive medium 700 on the housing 900. Exemplarily, a gasket 706 is further provided between the end of the connecting member 705 facing away from the housing 900 and the waist hole, and the diameter of the gasket 706 should be greater than the width of the waist hole.

As shown in FIG. 10, the heat dissipation portion 701 includes a first surface and a second surface that are disposed oppositely. For example, the first surface and the second surface of the heat dissipation portion 701 are opposite, not parallel surfaces. A bump 702 is further provided on the first surface of the heat dissipation portion adjacent to the temperature-controlling device, and at least a part of the surface of the bump 702 opposite to the first surface conforms to the temperature-controlling device Cooling surface. Optionally, the size of the surface of the bump 702 that fits the temperature-control device is smaller than the size of the first surface of the heat dissipation portion 701. Among them, the function of the bump 702 is to avoid heat reflow. Wherein, bumps may be provided on only part of the thermally conductive medium, wherein the material of the bumps includes any good thermally conductive materials, such as metal materials, and the metal materials include copper or other materials. The bumps may be welded or bonded The heat sink 701 may be integrally formed with the heat sink 701.

The distance measuring device includes at least two of the thermally conductive media, wherein the protrusions are provided on the heat dissipation portions of the thermally conductive media of the at least two of the thermally conductive media. Specifically, the distance measuring device includes a first temperature-controlled device and a second temperature-controlled device, wherein the distance measuring device includes a first heat-conductive medium and a second heat-conductive medium, and the The bumps are provided on the heat dissipation part, and the bumps on the first heat-conducting medium are attached to at least part of the heat dissipation surface of the first temperature-controlling device. For example, as shown in FIG. The device includes an emitter 203, and a bump 702 is provided only on the thermally conductive medium 700 attached to the emitter 203; the heat dissipation portion of the second thermally conductive medium is attached to at least a part of the heat dissipation surface of the second temperature-controlled device. The second temperature-controlled device includes a detector 205.

As shown in FIG. 9, FIG. 10 and FIG. 12, the distance measuring device includes at least two of the thermally conductive media, wherein at least a part of the surface of the heat dissipation portion of each of the thermally conductive media conforms to different temperatures to be controlled A device for respectively deriving the heat of the corresponding temperature-controlling device, for example, including a heat-conducting medium 800 and a heat-conducting medium 700, the heat dissipation portion of the heat-conducting medium 800 is at least partially surface-fitted to the detector 205, and the heat dissipation portion of the heat-conducting medium 700 is at least Part of the surface is attached to the emitter 203.

As shown in FIG. 11, the temperature-to-be-controlled device is installed in the accommodating cavity of the housing 400, and two opposite surfaces of the heat dissipation portion of the heat-conducting medium 700 are at least partially attached to the heat dissipation surface of the device to be temperature-controlled and Part of the surface of the housing 400 is used to conduct the heat of the device to be temperature controlled (for example, the transmitter 203) to the housing 400 through the heat conductive medium 700, thereby achieving heat dissipation. The housing is located in the receiving cavity of the housing.

In one example, one plane of the housing is perpendicular to the heat dissipation surface of the device to be temperature-controlled, ensuring that there are two vertical first planes and second planes corresponding to the heat conductive medium such as a copper block structure. The heat-conducting medium can be translated on the second plane to adjust the position. When the first plane and the device to be temperature-controlled are fixed on the second plane, the heat-conducting medium can also be closely attached when the housing is installed.

If screws are used to fix the thermally conductive medium such as copper block as shown in FIG. 8. The first plane and the second plane respectively serve as a fitting surface and a mounting surface for the temperature-controlled device. An elongated waist hole is formed on the second plane, and the width and length of the waist hole are larger than the diameter of the screw. When the screw passes through, the copper block can still use the gap to adjust in different directions. In other non-critical parts, the copper block can be increased in thickness as much as possible to reduce the thermal resistance.

The structure of the heat conduction medium (such as copper block) designed by the invention can be in the same specification, so that the heat conduction medium is closely adhered to the temperature-controlled device and the casing at the same time, and the position of the casing is not adjusted. The above heat conduction medium is good for heat conduction Channels to direct heat out of the enclosure.

In order to enable the heat removed to the housing to be quickly dissipated, the temperature control system of the present invention further includes a heat dissipation module, and the heat dissipation module is used to dissipate heat to the temperature-controlled device. The heat dissipation module may include a fan or other devices for heat dissipation.

Further, the temperature control system further includes a control module for controlling the heat dissipation module to operate or shut down based on the comparison result of the current ambient temperature and the target temperature of the device to be controlled.

Further, the control module includes a processor and a heat dissipation control circuit, configured to obtain the ambient temperature of the temperature-controlled device, and compare the current ambient temperature with the target temperature to generate a control signal; The heat dissipation control circuit is used to obtain the control signal and control the heat dissipation module to operate or shut down according to the control signal.

The target temperature includes a first target temperature and a second target temperature, wherein the first target temperature is less than the second target temperature, and the processor is specifically configured to: obtain the current ambient temperature of the temperature-controlling device , Compare the current ambient temperature with the target temperature, and if the current ambient temperature is less than the first target temperature, generate a first control signal for controlling the heat dissipation module to shut down, if the current environment If the temperature is greater than the second target temperature, a second control signal is generated for controlling the operation of the heat dissipation module.

In an example, the target temperature includes a first target temperature and a second target temperature, the second target temperature is greater than the first target temperature, and the heat dissipation control circuit is specifically configured to: when the current ambient temperature is less than The first target temperature controls the heat dissipation module to be turned off; when the current ambient temperature is greater than or equal to the second target temperature, the heat dissipation module is controlled to operate. The heat dissipation control circuit may receive the above control signal generated by the processor, and perform corresponding actions according to the control signal.

In order to realize the detection of the ambient temperature of the temperature control device, the distance measuring device further includes a temperature detection circuit for detecting the current ambient temperature of the temperature control device. Wherein, the temperature detection circuit includes a temperature sensor, and the temperature sensor may be any type of sensor that can be used for temperature detection, including but not limited to a thermocouple or a thermistor.

In the control strategy of the heat dissipation module in an embodiment shown in FIG. 13, first, the distance measuring device is powered on, for example, the lidar is powered on, the temperature detection circuit detects the current ambient temperature of the temperature-controlled device, and the current environment is controlled by the control module The temperature is compared with a second target temperature (for example, target temperature a), when the current ambient temperature is less than the second target temperature, the heat dissipation module is controlled to be turned off, for example, the fan is stopped, if the current ambient temperature is greater than or equal to the At the second target temperature, the speed is adjusted according to the speed regulation strategy.

FIG. 14 shows a speed regulation strategy in a specific embodiment. The target temperature includes a first target temperature (temperature d), a second target temperature (temperature a), a third target temperature (temperature b), and a fourth target temperature (for example, temperature c), where the first target temperature is greater than the first The second target temperature, the third target temperature is greater than the second target temperature, and the fourth target temperature is greater than the third target temperature. The above temperature can be set reasonably according to the temperature requirements of the device. For example, the above temperatures can all be set between 0 and 50°, within a smaller temperature range.

The heat dissipation control circuit is further specifically configured to: if the current ambient temperature is between the second target temperature and the third target temperature, control the heat dissipation rate of the heat dissipation module to be maintained at the first rate; The current ambient temperature is greater than or equal to the third target temperature and less than the fourth target temperature, and the heat dissipation rate of the heat dissipation module is controlled between the first rate and the second rate, wherein the second rate Greater than the first rate; and if the current ambient temperature is greater than or equal to the fourth target temperature, controlling the rate of heat dissipation of the heat dissipation module to be maintained at the second rate.

In an example, the heat dissipation control circuit is further specifically configured to: when the current ambient temperature gradually increases from less than the first target temperature to between the first target temperature and the second target temperature, control The heat dissipation module is turned off; when the current ambient temperature continues to rise to greater than or equal to the second target temperature, the heat dissipation module is controlled to operate.

In one example, the heat dissipation control circuit is further specifically configured to: when the current ambient temperature decreases from greater than or equal to the second target temperature to between the first target temperature and the second target temperature, control The heat dissipation rate of the heat dissipation module is maintained at a first rate; when the current ambient temperature decreases to less than the first target temperature, the heat dissipation module is controlled to be turned off.

Through the above control method, according to the temperature range of the current ambient temperature, the heat dissipation rate of the heat dissipation module is adjusted appropriately, which can increase the heat dissipation rate when the temperature is high, so as to quickly cool the temperature, but at a slightly higher temperature, but does not meet the target When the temperature is required, the heat can be dissipated at a slightly lower heat dissipation rate. When the temperature is low, the heat dissipation module can be kept closed to improve the heat dissipation efficiency and improve the temperature control accuracy of the distance measuring device.

Wherein, the aforementioned heat dissipation module includes a fan, and the heat dissipation control circuit is further specifically used to: control the rotation speed of the fan by controlling the duty ratio of the fan, thereby controlling the heat dissipation rate of the heat dissipation module, wherein, the duty The greater the ratio, the greater the heat dissipation rate of the heat dissipation module.

As shown in FIG. 3, the duty cycle includes a first duty cycle X and a second duty cycle Y, the second duty cycle is greater than the first duty cycle, wherein the heat dissipation control circuit is specifically Used to: control the fan to operate at the first duty ratio to control the heat dissipation rate of the heat dissipation module to maintain the first rate; control the fan to operate at the second duty ratio to control The heat dissipation rate of the heat dissipation module is maintained at the second rate; and the duty ratio of the fan is controlled to change between the first duty ratio and the second duty ratio to control the heat dissipation module The heat dissipation rate is between the first rate and the second rate.

In one example, the heat dissipation control circuit is specifically configured to: control the duty ratio of the fan to change linearly between the first duty ratio and the second duty ratio to control the heat dissipation module The heat dissipation rate is between the first rate and the second rate; the duty ratio of the fan is controlled to be zero to control the heat dissipation module to be turned off.

In one example, the temperature-to-be-controlled device is installed in a receiving cavity in the housing, wherein the heat dissipation module is used to dissipate heat to the housing. The shell may include a metal shell or the like having a good thermal conductivity.

The control strategy of the heat dissipation module of the fan, for example, will be described below with reference to FIGS. 13 and 14.

First, as shown in Figure 13, the lidar performs temperature comparison after power-on. If the current ambient temperature of the device to be controlled is measured to be less than or equal to temperature a, the fan stops, otherwise the fan is adjusted as shown in Figure 14. The speed strategy adjusts the duty cycle of the fan, and then realizes the adjustment control of the rotation speed; specific adjustment methods include but are not limited to the linear speed regulation shown in FIG. 14.

The speed regulation strategy shown in Figure 14 includes the following strategies:

When detecting that the current ambient temperature T of the device to be controlled (such as the transmitter) is greater than temperature a and less than temperature b, the duty cycle of the fan remains X unchanged;

When the current ambient temperature T is greater than or equal to temperature b and less than temperature c, the duty cycle of the fan is linearly adjusted between X and 100%;

When the current ambient temperature T is greater than or equal to the temperature c, the fan duty cycle maintains the fan speed setting maximum duty cycle Y;

Among them, the temperature hysteresis area between temperature a and temperature d:

When the current ambient temperature T is less than d, the duty cycle of the fan is 0, and the fan is controlled to stop;

When the current ambient temperature T gradually increases from less than the temperature d to between the temperature d and the temperature a, the duty ratio of the fan in this interval is 0, and the fan stops;

When the current ambient temperature T continues to rise to greater than or equal to the temperature a, the fan duty cycle is adjusted to X, and work begins;

When the current ambient temperature T decreases from greater than or equal to the temperature a to the interval not less than the temperature d, the fan duty ratio remains X unchanged, and the fan works;

When the current ambient temperature T continues to decrease to less than temperature b, the fan duty cycle is adjusted to 0, and the fan stops working.

In summary, the temperature control scheme of the distance measuring device of the present invention is more reasonable, and the heat of the temperature-controlled devices (such as the transmitter and receiver) is quickly transferred to the housing of the distance measuring device through a low thermal resistance transmission path such as a thermally conductive medium. Then control the heat dissipation module of the fan to work to dissipate heat to the housing of the distance measuring device, and start heating through the heating circuit when the ambient temperature is too low to heat the temperature control device. The target temperature is controlled below the ambient temperature when high temperature is achieved, and the target temperature is controlled above the ambient temperature when low temperature, which effectively reduces the temperature range of the transmitter, controls the wavelength variation range, and reduces the design of the receiving filter Bandwidth reduces noise, improves signal-to-noise ratio, and increases range. Moreover, the life of the transmitter is improved, and the temperature is accurately controlled, and the stability of the distance measuring device is improved.

In one embodiment, the distance measuring device of the embodiment of the present invention can be applied to a mobile platform, and the distance measuring device can 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. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, a boat, and a camera. When the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. 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. When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car. When the distance measuring device is applied to a robot, the platform body is a robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.

Although example embodiments have been described herein with reference to the drawings, it should be understood that the above example embodiments are merely exemplary, and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.

The specification provided here explains a lot of specific details. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.

Similarly, it should be understood that in order to streamline the invention and help understand one or more of the various inventive aspects, in describing the exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure , Or in its description. However, the method of the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Rather, as reflected in the corresponding claims, its invention lies in that the corresponding technical problems can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following a specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

Those skilled in the art will understand that apart from mutually exclusive features, any combination of all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all of the methods or devices disclosed in this specification can be used in any combination. Processes or units are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose.

In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments is meant to be within the scope of the present invention And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

The various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof. Those skilled in the art should understand that, in practice, a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs between parentheses should not be constructed as limitations on the claims. The invention can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names.

Claims

A distance measuring device, characterized in that the distance measuring device includes a transmitting module, a receiving module and a temperature control system,

The transmitting module is used to emit light pulses;

The receiving module is configured to receive at least part of the optical pulse reflected back by the object, and determine the distance of the object relative to the distance measuring device according to the received at least part of the optical pulse;

The temperature control system includes:

A heating circuit and/or a heat dissipation module, the heating circuit is used to heat the temperature control device, and the heat dissipation module is used to dissipate heat to the temperature control device;

The control module is configured to control the heating circuit and/or the heat dissipation module to operate or shut down based on the comparison result of the current ambient temperature and the target temperature of the temperature-controlling device.
The distance measuring device according to claim 1, wherein the control module comprises:

A processor, configured to obtain the ambient temperature of the temperature-controlled device, and compare the current ambient temperature with the target temperature to generate a control signal;

A heating control circuit and/or a heat dissipation control circuit, the heating control circuit is used to obtain the control signal, and the heating circuit is controlled to operate or shut down according to the control signal, and the heat dissipation control circuit is used to obtain the control signal , Control the heat dissipation module to run or shut down according to the control signal.
The distance measuring device according to claim 2, wherein the target temperature includes a first target temperature and a second target temperature, wherein the first target temperature is less than the second target temperature, and the processor Specifically used for:

Obtain the current ambient temperature of the temperature-controlled device, compare the current ambient temperature with the target temperature, and if the current ambient temperature is less than the first target temperature, generate a first control signal for controlling The heating circuit operates or controls the heat dissipation module to be turned off. If the current ambient temperature is greater than the second target temperature, a second control signal is generated for controlling the heating circuit to turn off or the heat dissipation module to operate.
The distance measuring device according to claim 2, wherein the heating control circuit includes a first switch circuit, a control terminal of the first switch circuit is connected to the control signal, and the control signal is used to control the On-off time of the first switch circuit.
The distance measuring device according to claim 4, wherein the control signal includes a PWM signal, and the on-off time of the first switching circuit is controlled by a duty ratio of the PWM signal to control the heating circuit Operating time or off time.
The distance measuring device according to claim 4, wherein the input terminal of the first switching circuit is electrically connected to the output terminal of the heating circuit, and the output terminal of the first switching circuit is grounded;

And/or, the input end of the heating circuit is electrically connected to the power supply voltage.
The distance measuring device according to claim 4, wherein the first switching circuit includes a first MOS tube, the control signal is connected to a control terminal of the first MOS tube, and the source of the first MOS tube One of the terminal and the drain terminal serves as an input terminal of the first switching circuit, and the other serves as an output terminal of the first switching circuit.
The distance measuring device according to claim 4, wherein the heating control circuit further includes a first filter circuit for filtering the control signal input to the first switch circuit.
8. The distance measuring device according to claim 8, wherein the input terminal of the first filter circuit is electrically connected to the control signal, and the output terminal of the first filter circuit is grounded.
The distance measuring device according to claim 9, wherein the first filter circuit includes a resistor and a capacitor arranged in parallel.
The distance measuring device according to claim 4, characterized in that the distance measuring device further comprises a switching power supply for converting the control signal into a DC voltage, so that the heating circuit continuously generates heat.
The distance measuring device according to claim 11, wherein the switching power supply comprises:

A second switching circuit for controlling the charging and discharging of the energy storage circuit of the switching power supply;

An energy storage circuit for storing electrical energy when the second switching circuit is on and discharging when the second switching circuit is off;

The output filter circuit is used for charging when the second switching circuit is turned on and discharging when the second switching circuit is turned off.
The distance measuring device according to claim 12, wherein:

The input terminal of the second switch circuit is electrically connected to the power supply voltage, and the output terminal of the second switch circuit is electrically connected to the input terminal of the energy storage circuit; and

The output terminal of the energy storage circuit is electrically connected to the input terminal of the output filter circuit, and the output terminal of the output filter circuit is grounded.
The distance measuring device according to claim 12, wherein the second switching circuit includes a second MOS tube, wherein one end of the source and drain terminals of the second MOS tube is electrically connected to a power supply voltage, and One end is electrically connected to the input end of the energy storage circuit.
The distance measuring device according to claim 14, wherein the first switching circuit includes one of an NMOS transistor and a PMOS transistor, and/or, the second MOS transistor includes a PMOS transistor.
The distance measuring device according to claim 12, wherein the switching power supply further comprises:

A freewheeling circuit, the freewheeling circuit is turned on when the second switching circuit is turned off, and is used for a freewheeling function to provide a discharge circuit of the energy storage circuit.
The distance measuring device according to claim 16, wherein one end of the freewheeling circuit is electrically connected to the input end of the energy storage circuit, and the other end is grounded.
16. The distance measuring device according to claim 16, wherein the freewheeling circuit includes a diode, wherein the cathode of the diode is electrically connected to the input end of the energy storage circuit, and the anode of the diode is grounded.
The distance measuring device according to claim 12, wherein the temperature control system further comprises a voltage divider circuit, and the voltage divider node of the voltage divider circuit is electrically connected to the control terminal of the second switch circuit for controlling The second switch circuit is turned on or off.
The distance measuring device of claim 19, wherein the output terminal of the voltage dividing circuit is electrically connected to the input terminal of the heating control circuit, and the input terminal of the voltage dividing circuit is electrically connected to the power supply voltage.
The distance measuring device of claim 20, wherein the voltage dividing circuit includes at least two resistors connected in series.
The distance measuring device according to claim 12, wherein the switching power supply includes a BUCK switching power supply, wherein the energy storage circuit includes an inductor, and/or, the output filter circuit includes a capacitor.
The distance measuring device according to any one of claims 8 to 22, wherein the temperature control system further comprises:

The second filter circuit is used to filter the voltage output by the power supply voltage.
The distance measuring device according to claim 23, wherein the temperature control system further comprises:

The input terminal of the second filter circuit is electrically connected to the power supply voltage, and the output terminal of the second filter circuit is grounded.
The distance measuring device of claim 10, wherein the first filter circuit includes at least one capacitor.
The distance measuring device according to any one of claims 8 to 22, wherein the heating circuit includes at least one heating resistor.
The distance measuring device according to any one of claims 8 to 22, wherein the heating circuit includes at least two heating resistors arranged in parallel.
The distance measuring device according to claim 1, wherein the distance measuring device further comprises:

A circuit board, the temperature-controlling device is arranged on the circuit board;

A heat conduction layer, the heat conduction layer is disposed below the temperature-controlling device, and is used to conduct the heat generated by the heating resistor to the temperature-controlling device.
The distance measuring device according to claim 28, wherein at least one thermal island is provided on the thermal conductive layer, and the thermal island is used to isolate the thermal conductive layers on opposite sides of the thermal island.
The distance measuring device according to claim 28, wherein a plurality of the thermal islands are arranged in a ring shape at intervals along the circumference of the device to be controlled.
The distance measuring device according to claim 28, wherein the ring shape includes a circular ring shape or a polygonal ring shape.
The distance measuring device according to claim 28, wherein each of the thermal islands has a long shape.
The distance measuring device according to any one of claims 28 to 32, wherein the thermal island is an opening penetrating the thermal conductive layer.
The distance measuring device according to any one of claims 28 to 32, wherein the material of the thermally conductive layer includes a ground layer.
The distance measuring device according to claim 1, wherein the target temperature includes a first target temperature and a second target temperature, the second target temperature is greater than the first target temperature, and the heat dissipation control circuit is specific Used for:

When the current ambient temperature is lower than the first target temperature, controlling the heat dissipation module to be turned off;

When the current ambient temperature is greater than or equal to the second target temperature, the heat dissipation module is controlled to operate.
The distance measuring device according to claim 35, wherein the target temperature further includes a third target temperature and a fourth target temperature, wherein the third target temperature is greater than the second target temperature, and the first The fourth target temperature is greater than the third target temperature, and the heat dissipation control circuit is also specifically used to:

If the current ambient temperature is between the second target temperature and the third target temperature, the heat dissipation rate of the heat dissipation module is controlled to be maintained at the first rate.
The distance measuring device according to claim 36, wherein the heat dissipation control circuit is further specifically used for:

If the current ambient temperature is greater than or equal to the third target temperature and less than the fourth target temperature, controlling the heat dissipation rate of the heat dissipation module to be between the first rate and the second rate, wherein the first The second rate is greater than the first rate; and

If the current ambient temperature is greater than or equal to the fourth target temperature, control the heat dissipation rate of the heat dissipation module to be maintained at the second rate.
The distance measuring device according to claim 36, wherein the heat dissipation control circuit is further specifically used for:

When the current ambient temperature is gradually increased from less than the first target temperature to between the first target temperature and the second target temperature, controlling the heat dissipation module to be turned off;

When the current ambient temperature continues to increase to be greater than or equal to the second target temperature, the heat dissipation module is controlled to operate.
The distance measuring device according to claim 38, wherein the heat dissipation control circuit is further specifically used for:

When the current ambient temperature decreases from greater than or equal to the second target temperature to between the first target temperature and the second target temperature, controlling the heat dissipation rate of the heat dissipation module to be maintained at the first rate;

When the current ambient temperature drops below the first target temperature, the heat dissipation module is controlled to be turned off.
The distance measuring device according to claim 37, wherein the heat dissipation module includes a fan, and the heat dissipation control circuit is further specifically used for:

By controlling the duty ratio of the fan to control the rotational speed of the fan, the heat dissipation rate of the heat dissipation module is controlled, where the greater the duty ratio, the greater the heat dissipation rate of the heat dissipation module.
The distance measuring device of claim 40, wherein the duty cycle includes a first duty cycle and a second duty cycle, the second duty cycle is greater than the first duty cycle, wherein , The heat dissipation control circuit is specifically used for:

Controlling the fan to operate at the first duty ratio to control the heat dissipation rate of the heat dissipation module to be maintained at the first rate;

Controlling the fan to operate at the second duty cycle to control the heat dissipation rate of the heat dissipation module to be maintained at the second rate; and

Controlling the duty ratio of the fan to vary between the first duty ratio and the second duty ratio to control the heat dissipation rate of the heat dissipation module to be between the first rate and the second rate between.
The distance measuring device according to claim 41, wherein the heat dissipation control circuit is specifically used for:

Controlling the duty ratio of the fan to change linearly between the first duty ratio and the second duty ratio to control the heat dissipation rate of the heat dissipation module between the first rate and the second rate between.
The distance measuring device according to claim 35, wherein the heat dissipation module includes a fan, and the heat dissipation control circuit is further specifically used for:

The duty ratio of the fan is controlled to be zero to control the heat dissipation module to be turned off.
The distance measuring device according to claim 35, wherein the temperature-controlling device is installed in a receiving cavity in the housing, wherein the heat dissipation module is used to dissipate heat to the housing.
The distance measuring device according to any one of claims 1, 35 to 44, wherein the heat dissipation module includes a fan.
The distance measuring device according to any one of claims 1 to 22 and 35 to 44, wherein the temperature control system further comprises:

A temperature detection circuit is used to detect the current ambient temperature of the temperature-controlled device.
The distance measuring device according to claim 1, wherein the distance measuring device further comprises:

At least one heat-conducting medium, the heat-conducting medium includes a heat dissipation portion, and at least a part of the surface of the heat dissipation portion is attached to at least a part of the heat dissipation surface of the temperature-controlling device, and is used to extract heat from the temperature-controlling device.
The distance measuring device according to claim 47, wherein the distance measuring device includes at least two of the thermally conductive media, wherein at least a part of the surface of the heat dissipation portion of each of the thermally conductive media conforms to different ones The temperature-to-be-controlled device is used to separately extract the heat of the corresponding temperature-to-be-controlled device.
The distance measuring device according to claim 47, wherein the temperature-controlling device is installed in a housing cavity of the housing, and two opposite surfaces of the heat-dissipating portion of the heat-conducting medium respectively at least partially fit the The heat dissipation surface of the temperature control device and part of the surface of the housing.
The distance measuring device according to claim 47, wherein the thermally conductive medium further includes an installation portion, wherein the installation portion is used to install the thermally conductive medium on the housing.
The distance measuring device according to claim 50, wherein the mounting portion and the heat dissipation portion are connected to each other at a predetermined angle, and/or the mounting portion and the heat dissipation portion are integrally formed.
The distance measuring device of claim 51, wherein the predetermined angle is substantially 90°.
The distance measuring device of claim 50, wherein the distance measuring device further comprises at least one connecting member and at least one waist hole provided on the mounting portion, the connecting member passes through the waist hole The heat-conducting medium is installed on the housing, and the housing is located in the accommodating cavity of the housing.
The distance measuring device according to claim 53, wherein

The length of the waist hole is greater than the radial length of the connecting member to adjust the position of the conductive medium along the length of the waist hole before the connecting member is fastened; and/or,

The radial length of the connecting member is smaller than the width of the waist hole to adjust the position of the conductive medium along the width direction of the waist hole before the connecting member is fastened.
The distance measuring device according to claim 53, wherein the length extension direction of the waist hole is perpendicular to the heat dissipation surface of the temperature-controlling device, so that the heat dissipation portion is adjusted to fit the Temperature control device.
The distance measuring device according to claim 53, wherein a gasket is further provided between an end of the connecting member facing away from the housing and the waist hole.
The distance-measuring device according to claim 53, wherein the thickness of the area where the waist hole is provided in the mounting portion is smaller than the thickness of other areas of the heat-conducting medium.
The distance measuring device according to any one of claims 53 to 57, wherein the connecting member includes at least one of a screw and a bolt.
The distance-measuring device according to claim 47, wherein the heat dissipation portion includes a first surface and a second surface disposed oppositely, and the first surface of the heat dissipation portion adjacent to the temperature-controlled device A bump is also provided, and at least a part of the surface of the bump opposed to the first surface conforms to the heat dissipation surface of the temperature-controlling device.
The distance-measuring device according to claim 59, wherein the size of the surface of the bump that fits the temperature-controlled device is smaller than the size of the first surface of the heat dissipation portion.
The distance-measuring device according to claim 59, wherein the first surface and the second surface of the heat dissipation portion are opposite but not parallel surfaces.
The distance measuring device according to claim 59, wherein the temperature control system includes at least two of the thermally conductive media, and wherein the heat dissipation portion of the thermally conductive media is part of the at least two of the thermally conductive media The bump is provided on the top.
The distance measuring device according to claim 62, wherein the distance measuring device includes a first temperature-controlling device and a second temperature-controlling device, wherein the temperature control system includes a first heat-conducting medium and a second A thermally conductive medium, the convex portion is provided on the heat dissipation portion of the first thermally conductive medium, and the convex portion on the first thermally conductive medium is attached to at least a part of the heat dissipation surface of the first temperature-controlling device, the first The heat dissipation portions of the two heat-conducting media are attached to at least part of the heat dissipation surface of the second temperature-controlling device.
The distance measuring device according to claim 63, wherein the first temperature-controlled device includes a transmitter, and/or the second temperature-controlled device includes a detector.
The distance measuring device according to any one of claims 59 to 64, wherein the material of the heat-conducting medium includes a metal, wherein the metal includes copper.
The distance measuring device according to claim 1, wherein the distance measuring device comprises a laser radar.
A mobile platform, characterized in that the mobile platform includes:

The distance measuring device according to any one of claims 1 to 66; and

A platform body, the distance measuring device is installed on the platform body.
The mobile platform of claim 67, wherein the mobile platform includes a drone, a robot, a car, or a boat.