WO2022198567A1 - 扫描模组、测距装置以及移动平台 - Google Patents

扫描模组、测距装置以及移动平台 Download PDF

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Publication number
WO2022198567A1
WO2022198567A1 PCT/CN2021/083006 CN2021083006W WO2022198567A1 WO 2022198567 A1 WO2022198567 A1 WO 2022198567A1 CN 2021083006 W CN2021083006 W CN 2021083006W WO 2022198567 A1 WO2022198567 A1 WO 2022198567A1
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WO
WIPO (PCT)
Prior art keywords
scanning module
distance measuring
measuring device
driver
disposed
Prior art date
Application number
PCT/CN2021/083006
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English (en)
French (fr)
Inventor
张泽政
孙鑫
甘熠华
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2021/083006 priority Critical patent/WO2022198567A1/zh
Publication of WO2022198567A1 publication Critical patent/WO2022198567A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the field of heat dissipation technology, and in particular, to a scanning module, a distance measuring device and a mobile platform.
  • the present application provides a scanning module, a distance measuring device and a mobile platform, which can reduce the occurrence of local overheating.
  • a scanning module including: a casing, a first optical assembly, a first driver, and a disturbance structure; the casing is provided with an accommodating cavity; the first optical assembly is rotatably disposed in the accommodating cavity the first driver is used to drive the first optical assembly to rotate; at least part of the perturbation structure is matched with the first driver to be driven to rotate by the first driver and to dissipate heat from the scanning module.
  • the scanning module of the present application directly uses the first driver to drive at least part of the disturbance structure to rotate, and can generate disturbance airflow inside and/or outside the casing to dissipate heat from the casing and avoid local overheating. That is, the scanning module can be actively dissipated to prevent the local temperature of the scanning module from being too high, which affects the detection accuracy of the ranging device, and even causes damage to the ranging device.
  • the disturbance structure is also rotated by the first driver synchronously to generate disturbance airflow, which realizes mechanical synchronous rotation, has a more timely response, can reduce detection elements and simplify control procedures.
  • a distance measuring device including: a scanning module, the scanning module includes a casing, a first optical component, a first driver and a disturbance structure, and the casing is provided with an accommodating cavity , the first optical component is arranged in the accommodating cavity, the first driver is used to drive the first optical component to rotate, and at least part of the perturbation structure cooperates with the first driver to be driven by the first optical component.
  • a driver is driven to rotate and dissipates heat from the distance measuring device; a distance measuring module, the distance measuring module is used to emit a light pulse sequence to the scanning module, and the scanning module is used to change the The light pulse sequence exits after the transmission direction, and the light pulse sequence reflected back by the detection object passes through the scanning module and then enters the ranging module, and the ranging module is used for determining according to the reflected light pulse sequence.
  • the first driver can drive the rotation of the first optical assembly, it simultaneously drives at least part of the disturbing structure to rotate, so that disturbing airflow can be generated inside and/or outside the casing, and the casing can be adjusted Heat dissipation to avoid local overheating of the scanning module, which can ensure the output accuracy of the scanning module after changing the transmission direction of the optical pulse sequence and the accuracy of receiving the reflected optical pulse sequence, which is conducive to ensuring the ranging accuracy of the ranging device .
  • the perturbation structure is also rotated by the first driver synchronously to generate a perturbed airflow, realizes mechanical synchronous rotation, has a more timely response, can reduce the detection elements and simplify the control program, which is beneficial to reduce the detection of the present application. cost of the device.
  • a mobile platform including a body and the above distance measuring device, where the distance measuring device is disposed on the body.
  • the mobile platform of the present application adopts the above-mentioned distance measuring device.
  • the distance measuring device of the present application is used for navigation and obstacle avoidance for a long time, due to the good heat dissipation effect of the distance measuring device of the present application, the automatic navigation performance of the mobile platform is improved. Or the obstacle avoidance performance is more reliable, which can improve the reliability and security of the mobile platform.
  • FIG. 1 is a schematic diagram of a hardware structure of a ranging apparatus shown in an embodiment.
  • FIG. 2 is a schematic diagram of the use of the distance measuring device according to an embodiment.
  • FIG. 3 is a schematic diagram of a scanning beam of the ranging device shown in FIG. 2 .
  • FIG. 4 is a schematic cross-sectional view of the structure of a distance measuring device according to an embodiment.
  • FIG. 5 is a schematic diagram of heat dissipation during operation of the scanning module shown in another embodiment.
  • FIG. 6 is a schematic diagram of heat dissipation during operation of the distance measuring device shown in another embodiment.
  • FIG. 7 is a schematic cross-sectional view of the structure of a scanning module shown in another embodiment.
  • FIG. 8 is a schematic cross-sectional view of the structure of a distance measuring device shown in another embodiment.
  • FIG. 9 is a schematic cross-sectional view of the structure of a scanning module shown in another embodiment.
  • FIG. 10 is a schematic cross-sectional view of the structure of a scanning module shown in another embodiment.
  • FIG. 11 is a schematic cross-sectional view of the structure of a scanning module shown in another embodiment.
  • FIG. 12 is a schematic structural diagram of a mobile platform shown in an embodiment.
  • the scanning module provided by each embodiment of the present application can be applied to a ranging device, and the ranging device can be an electronic device such as a laser radar, a laser ranging device, or the like.
  • the ranging device is used to sense external environmental information, for example, distance information, orientation information, reflection intensity information, speed information and the like of environmental objects.
  • the ranging device can detect the distance from the detected object to the ranging device by measuring the time of light propagation between the ranging device and the detected object, that is, Time-of-Flight (TOF).
  • TOF Time-of-Flight
  • the ranging device can also detect the distance from the detected object to the ranging device through other technologies, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. This does not limit.
  • the ranging apparatus 10 may include a transmitting circuit 11 , a receiving circuit 12 , a sampling circuit 13 and an arithmetic circuit 14 .
  • the transmit circuit 11 may transmit a sequence of optical pulses (eg, a sequence of laser pulses).
  • the receiving circuit 12 can receive the optical pulse sequence reflected by the detected object 20 , and perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 13 after processing the electrical signal.
  • the sampling circuit 13 can sample the electrical signal to obtain the sampling result.
  • the arithmetic circuit 14 may determine the distance between the distance measuring device 10 and the detected object 20 based on the sampling result of the sampling circuit 13 .
  • the distance measuring device 10 may further include a control circuit 15, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 15 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the distance measuring device 10 shown in FIG. 1 includes a transmitting circuit 11 , a receiving circuit 12 , a sampling circuit 13 and an arithmetic circuit 14 for emitting a beam of light for detection
  • the embodiment of the present application does not Limited to this, the number of any one of the transmitting circuit 11, the receiving circuit 12, the sampling circuit 13, and the arithmetic circuit 14 may also be at least two, for emitting at least two beams in the same direction or in different directions respectively; wherein , the at least two beam paths may be emitted at the same time, or may be emitted at different times respectively.
  • the light-emitting chips in the at least two emission circuits 11 are packaged in the same module.
  • each emitting circuit 11 includes one laser emitting chip, and the laser emitting chips in the at least two emitting circuits 11 are packaged together and accommodated in the same packaging space.
  • the ranging device 10 may further include a scanning module 100 for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit 11 .
  • the module including the transmitting circuit 11, the receiving circuit 12, the sampling circuit 13 and the operation circuit 14, or the module including the transmitting circuit 11, the receiving circuit 12, the sampling circuit 13, the operation circuit 14 and the control circuit 15 can be called the measuring circuit 15.
  • the distance module 200, the distance measurement module 200 can be independent of other modules, for example, the scanning module 100.
  • a coaxial optical path may be used in the ranging device 10 , that is, the light beam emitted by the ranging device 10 and the reflected light beam share at least part of the optical path in the ranging device 10 .
  • the distance measuring device 10 may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device 10 and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device 10 .
  • FIG. 2 shows a schematic diagram of an embodiment in which the distance measuring device 10 of the present application adopts a coaxial optical path.
  • the ranging device 10 includes a ranging module 200
  • the ranging module 200 includes a transmitter 210 (which may include the above-mentioned transmitting circuit 11 ), a collimating element 230 , and a detector 220 (which may include the above-mentioned receiving circuit 11 ) circuit 12 , sampling circuit 13 and arithmetic circuit 14 ) and optical path changing element 240 .
  • the ranging module 200 is used for emitting a light beam, receiving the returning light, and converting the returning light into an electrical signal.
  • the transmitter 210 may be used to transmit a sequence of optical pulses. In some embodiments, transmitter 210 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 210 is a narrow bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 230 is disposed on the outgoing light path of the transmitter 210 for collimating the light beam emitted from the transmitter 210 , and collimating the light beam emitted by the transmitter 210 into parallel light and emitting to the scanning module 100 .
  • the collimating element 230 also serves to converge at least a portion of the return light reflected by the probe 20 .
  • the collimating element 230 may be a collimating lens or other elements capable of collimating light beams.
  • the transmitting optical path and the receiving optical path in the ranging device 10 are combined by the optical path changing element 240 before the collimating element 230, so that the transmitting optical path and the receiving optical path can share the same collimating element 230, Makes the light path more compact.
  • the emitter 210 and the detector 220 may use their own collimating elements 230 respectively, and the optical path changing element 240 is arranged on the optical path behind the collimating element 230 .
  • the optical path changing element 240 can use a small-area reflective mirror. to combine the transmit optical path and the receive optical path.
  • the optical path changing element 240 may also use a reflector with a through hole, wherein the through hole is used to transmit the outgoing light of the emitter 210 , and the reflector is used to reflect the return light to the detector 220 . In this way, in the case of using a small reflector, the occlusion of the return light by the support of the small reflector can be reduced.
  • the optical path changing element 240 is offset from the optical axis of the collimating element 230 . In some other implementations, the optical path changing element 240 may also be located on the optical axis of the collimating element 230 .
  • the ranging device 10 further includes a scanning module 100 .
  • the scanning module 100 is placed on the outgoing light path of the ranging module 200.
  • the scanning module 100 is used to change the transmission direction of the collimated light beam emitted by the collimating element 230 and project it to the external environment, and project the return light to the collimated beam. element 230.
  • the returned light is focused on the detector 220 through the collimating element 230 .
  • the scanning module 100 can include at least one optical element for changing the propagation path of the light beam, wherein the optical element can change the propagation path of the light beam by reflecting, refracting, diffracting the light beam, or the like.
  • the scanning module 100 includes a lens, a prism, a galvanometer, a grating, a liquid crystal, an Optical Phased Array, or any combination of the above optical elements.
  • at least part of the optical elements are moving, for example, the at least part of the optical elements are driven to move by a driving module, and the moving optical elements can reflect, refract or diffract the light beam to different directions at different times.
  • the plurality of optical elements of the scanning module 100 may rotate or vibrate around a common axis, and each rotating or vibrating optical element is used to continuously change the propagation direction of the incident light beam. In some embodiments, the plurality of optical elements of the scanning module 100 may rotate at different rotational speeds, or vibrate at different speeds. In other embodiments, at least some of the optical elements of the scanning module 100 may rotate at substantially the same rotational speed. In some embodiments, the plurality of optical elements of the scanning module 100 may also rotate around different axes. In some embodiments, the plurality of optical elements of the scanning module 100 may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which are not limited herein.
  • the scanning module 100 includes a first optical element 110 and a first driver 120 connected to the first optical element 110.
  • the first driver 120 is configured to drive the first optical element 110 to rotate around a rotation axis, so that the first Optical element 110 changes the direction of the collimated beam.
  • the first optical element 110 projects the collimated light beams to different directions.
  • the angle between the direction of the collimated light beam changed by the first optical element 110 and the rotation axis changes with the rotation of the first optical element 110 .
  • the first optical element 110 includes a pair of opposing non-parallel surfaces through which the collimated light beam passes.
  • the first optical element 110 includes a prism with a thickness that varies along at least one radial direction.
  • the first optical element 110 includes a wedge prism to refract the collimated light beam.
  • the scanning module 100 further includes a second optical element 130 , the second optical element 130 rotates around a rotation axis, and the rotation speed of the second optical element 130 may be the same as or different from the rotation speed of the first optical element 110 .
  • the second optical element 130 is used to change the direction of the light beam projected by the first optical element 110 .
  • the second optical element 130 is connected to the second driver 140 , and the second driver 140 drives the second optical element 130 to rotate.
  • the first optical element 110 and the second optical element 130 can be driven by the same or different drivers, so that the rotation speed and/or the rotation of the first optical element 110 and the second optical element 130 are different, so as to project the collimated beam to the external space differently direction, can scan a larger spatial range.
  • the controller 300 controls the first driver 120 and the second driver 140 to drive the first optical element 110 and the second optical element 130, respectively.
  • the rotational speeds of the first optical element 110 and the second optical element 130 may be determined according to the expected scanning area and pattern in practical applications.
  • the first driver 120 or the second driver 140 may include a motor or other driver.
  • the second optical element 130 includes a pair of opposing non-parallel surfaces through which the light beam passes. In some embodiments, the second optical element 130 includes a prism whose thickness varies along at least one radial direction. In some embodiments, the second optical element 130 includes a wedge prism.
  • the scanning module 100 further includes a third optical element (not shown) and a driver for driving the movement of the third optical element.
  • the third optical element includes a pair of opposing non-parallel surfaces through which the light beam passes.
  • the third optical element comprises a prism having a thickness that varies along at least one radial direction.
  • the third optical element includes a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotations.
  • each optical element in the scanning module 100 can project light in different directions, such as the direction 202 and the direction 203 , so as to scan the space around the distance measuring device 10 .
  • FIG. 3 is a schematic diagram of a scanning pattern of the distance measuring device 10 . It can be understood that when the speed of the optical element in the scanning module 100 changes, the scanning pattern also changes accordingly.
  • the scanning module 100 When the light projected by the scanning module 100 hits the detection object 20, a part of the light is reflected by the detection object 20 to the distance measuring device 10 in a direction opposite to the projected light.
  • the returning light 204 reflected by the probe 20 passes through the scanning module 100 and then enters the collimating element 230 .
  • a detector 220 is placed on the same side of the collimating element 230 as the emitter 210, and the detector 220 is used to convert at least part of the return light passing through the collimating element 230 into an electrical signal.
  • each optical element is coated with an anti-reflection coating.
  • the thickness of the anti-reflection film is equal to or close to the wavelength of the light beam emitted by the emitter 210, which can increase the intensity of the transmitted light beam.
  • a filter layer is coated on the surface of an element located on the beam propagation path in the distance measuring device 10, or a filter is provided on the beam propagation path, for at least transmitting the light beam emitted from the emitter 210 where the light beam is located. waveband, and reflect other wavebands to reduce the noise brought to the detector 220 by ambient light.
  • the transmitter 210 may comprise a laser diode through which laser pulses are emitted at the nanosecond scale.
  • the laser pulse receiving time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse to determine the laser pulse receiving time.
  • the distance measuring device 10 can calculate the TOF by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the probe 20 to the distance measuring device 10 .
  • the demand for the distance measuring device 10 is also increasing, and at the same time, it also poses new challenges to the reliability of the distance measuring device 10 to work for a long time. If it is applied to a movable platform to assist the mobile platform to perform obstacle avoidance, automatic navigation and two-dimensional or three-dimensional mapping of the external environment, the distance measuring device 10 will be used for a long time in the whole process, and local overheating will occur if the heat dissipation is not timely. As a result, the detection accuracy of the distance measuring device 10 is affected, and even the distance measuring device 10 is damaged.
  • the present application provides a distance measuring device 10 , which can reduce the occurrence of local overheating, can ensure the detection accuracy of the distance measuring device 10 , and is beneficial to improve the reliability of the distance measuring device 10 .
  • the distance measuring device 10 of the present application is further described below with reference to the specific structural drawings, so as to illustrate that the distance measuring device 10 of the present application can still ensure detection accuracy after working for a long time.
  • FIG. 4 is a schematic structural diagram of the distance measuring device 10 shown in an embodiment.
  • the ranging device 10 includes a ranging module 200 and a scanning module 100.
  • the ranging module 200 is used for transmitting an optical pulse sequence to the scanning module 100, and the scanning module 100 is used for changing the optical pulse sequence.
  • the light pulse sequence reflected by the detection object 20 passes through the scanning module 100 and then enters the ranging module 200.
  • the ranging module 200 is used to determine the relationship between the detection object 20 and the ranging device 10 according to the optical pulse sequence. distance between.
  • the scanning module 100 includes a housing 150, a first optical component 160, a first driver 120, and a disturbance structure 170;
  • the housing 150 is provided with an accommodating cavity 151;
  • the first optical component 160 is rotatably disposed in the accommodating cavity 151;
  • the first driver 120 is used to drive the first optical assembly 160 to rotate; at least part of the perturbation structure 170 is matched with the first driver 120 to be driven to rotate by the first driver 120 and to dissipate heat to the scan module 100 (for example, the first driver 120 and/or housing 150,).
  • the driving power can be simplified, the driving equipment required to realize air cooling and heat dissipation can be reduced, and the volume of the scanning module 100 can be reduced, which is conducive to the miniaturization development of the scanning module 100, and is also conducive to reducing the volume of the ranging device 10. .
  • At least a part of the housing 150 has a light-transmitting function, so as to have a protective effect, and at the same time transmit light to realize the transmission of the emitted light pulse sequence and the reflected light pulse sequence.
  • at least part of the housing 150 is a light-transmitting structure.
  • at least part of the casing 150 is provided with a light-transmitting area 152 (such as a through hole or a through-slot, not shown), and then the light-transmitting member is disposed in the light-transmitting area 152 (not shown). Shows).
  • the scanning module 100 when used in conjunction with the ranging module 200 , that is, when the ranging device 10 of the present application works for a long time, since the first driver 120 can drive the rotation of the first optical assembly 160 , at least Part of the perturbation structure 170 rotates, which can generate perturbed airflow inside and/or outside the distance measuring device 10 to dissipate heat to the distance measuring device 10, for example, the first driver 120 and the housing 150 of the scanning module 100, or the external generation
  • the disturbed airflow can dissipate heat from the outside of the ranging device 10; at the same time, since the scanning module 100 can dissipate heat well, the heat dissipation efficiency of the detector 220 and the transmitter 210 of the ranging module 200 can also be directly or indirectly improved.
  • the local temperature overheating of the distance measuring device 10 can be avoided, which is beneficial to ensure the output accuracy of the scanning module 100 after changing the transmission direction of the optical pulse sequence and the accuracy of the distance measuring module 200 to receive the optical pulse sequence, which is beneficial to ensure the distance measurement.
  • the detection accuracy of the device 10 when the first optical assembly 160 rotates, the perturbation structure 170 is also rotated synchronously by the first driver 120, so that the mechanical synchronous rotation can be realized, and the response is more timely.
  • the use of mechanical synchronous transmission can reduce detection elements and simplify control procedures, which is beneficial to reduce the cost of the distance measuring device 10 of the present application.
  • At least a part of the perturbation structure 170 can be directly or indirectly driven by the first driver 120, so as to simplify the driving power, reduce the driving equipment required to realize air cooling and heat dissipation, and reduce the volume of the scanning module 100, which is beneficial to The scanning module 100 is miniaturized and developed.
  • at least part of the perturbation structure 170 is directly disposed on the output shaft of the first driver 120 , or at least part of the perturbation structure 170 is rotated indirectly by the power generated by the first driver 120 through the first optical assembly or other transmission mechanism 190 .
  • the perturbation structure 170 cooperates with the first driver 120, and the whole perturbation structure 170 may be driven by the first driver 120, or part of the perturbation structure 170 may be driven by the first driver 120, and another part of the perturbation structure may be driven by the first driver 120. 170 is driven by other drivers, and there may be various combinations, which are not specifically limited here.
  • the perturbation structures 170 may be all disposed in the accommodating cavity 151 (that is, inside the housing 150 ), or may be all disposed outside the accommodating cavity 151 (that is, outside the housing 150 ); at the same time, part of the perturbing structures 170 may also be provided Inside the accommodating cavity 151 (ie, inside the housing 150 ), part of the disturbance structure 170 is disposed inside and outside the accommodating cavity (ie, outside the housing 150 ). 4 to 7 , it is further explained that at least part of the perturbation structure 170 is disposed in the accommodating cavity 151 (that is, inside the housing 150 ), so that a perturbed air flow can be generated in the accommodating cavity 151 to at least improve the scanning module 100 cooling efficiency.
  • At least part of the turbulence structure 170 may be used to generate a turbulent airflow to form an internal airflow cycle to achieve heat dissipation.
  • at least part of the perturbation structure 170 is disposed in the accommodating cavity 151 , so as to use the first driver 120 to drive at least part of the perturbation structure 170 to rotate in the accommodating cavity 151 , and generate a perturbed air flow in the accommodating cavity 151 , so as to drive the accommodating cavity 151 to rotate.
  • the internal components dissipate heat to avoid local overheating of the scanning module 100 .
  • the ranging module 200 may include an inner cavity 250 for accommodating the transmitter 210 and the detector 220 , the inner cavity 250 and the The accommodating cavity 151 communicates with each other, and the disturbed air flow generated by at least a part of the perturbation structure 170 disposed in the accommodating cavity 151 can flow into the inner cavity 250 from the accommodating cavity 151, so as to adjust the internal components of the distance measuring device 10 (such as the first driver 120, the transmitter 210, the detector 220) to dissipate heat.
  • the distance measuring device 10 such as the first driver 120, the transmitter 210, the detector 220
  • At least part of the disturbance structure 170 can also be used to generate a disturbed air flow, and the external air can be introduced into the interior of the accommodating cavity 151 through the air intake hole, and the air inside the accommodating cavity 151 can be relatively
  • the high-temperature gas is carried out to the outside of the accommodating cavity 151 through the air outlet hole by the disturbed airflow. Further, through the air flow exchange between the inside and outside, it is beneficial to improve the heat dissipation efficiency of the ranging module 200 .
  • the air inlet hole includes a first air inlet hole 153
  • the air outlet hole includes a first air outlet hole 154 .
  • the first air inlet hole 153 and the first air outlet hole 154 are respectively disposed on the housing 150 . and communicate with the accommodating cavity 151 .
  • the airflow generated by the accommodating cavity 151 can interact with the outside, and the components in the accommodating cavity 151 can be dissipated by using the outside air, so as to improve the heat dissipation efficiency and further avoid
  • the scanning module 100 may be overheated locally.
  • the first air inlet hole 153 and the first air outlet hole 154 are arranged at intervals along the direction of the rotation axis of the first optical assembly 160 . In this way, the turbulent flow caused by the airflow generated by the disturbance structure 170 in the accommodating cavity 151 can be reduced and energy is wasted, which is beneficial to the formation of a directional airflow (ie, a directional airflow) and further improves the heat dissipation effect.
  • the arrangement positions of the first air inlet holes 153 and the first air outlet holes 154 may be other than the above-mentioned contents, for example, they are arranged at intervals in the circumferential direction of the housing 150 .
  • the accommodating cavity 151 includes a heat dissipation channel
  • the heat dissipation channel includes a first heat dissipation channel 155
  • the first air inlet hole 153 communicates with the first air outlet hole 154 through the first heat dissipation channel 155 .
  • the first heat dissipation channel 155 is communicated with the first air inlet hole 153 and the first air outlet hole 154 to speed up the flow between the inner hot air and the outer cold air, thereby improving the heat dissipation efficiency of the scanning module 100 and the outside convection.
  • the airflow generated by the perturbation structure 170 it is convenient to guide the airflow generated by the perturbation structure 170 to flow in a preset direction, which is conducive to accurate heat dissipation. For example, guiding more cooling airflow to dissipate heat from components that are prone to overheating or dissipate heat from heat-sensitive components, further reducing the occurrence of local overheating.
  • At least part of the first driver 120 may be disposed in the first heat dissipation channel 155 . In this way, at least part of the first driver 120 can be dissipated by using the first heat dissipation channel 155 to prevent the first driver 120 from being overheated and affecting the operation accuracy, thereby ensuring the rotation accuracy of the first optical assembly 160 .
  • the specific implementation of the first heat dissipation channel 155 includes, but is not limited to, arranging a flow channel on the housing 150 , forming a flow channel between the inner side wall of the housing 150 and the internal elements, and directly arranging the pipeline in the accommodating cavity 151 to form a flow channel. at least one of etc.
  • the first heat dissipation channel 155 may include a guide flow channel, and the guide flow channel can guide more heat dissipation airflow to guide heat-sensitive components and/or components that are easily overheated.
  • the guide flow channel is formed by the guide tube, which makes the guidance of the heat dissipation airflow more flexible.
  • the arrangement of heat-sensitive elements and/or elements that are easily overheated in the scanning module 100 is more flexible, which is beneficial to reduce the difficulty of designing the internal structure of the scanning module 100 .
  • the scanning module 100 may further include a waterproof breathable film, the waterproof breathable film includes a first waterproof breathable film 156 , and the first waterproof breathable film 156 covers the first air inlet hole 153 and the first waterproof breathable film 156 .
  • An air outlet 154 .
  • the use of the first waterproof and breathable membrane 156 can ensure the heat exchange efficiency and at the same time improve the waterproof performance and/or the dustproof performance of the scanning module 100 .
  • the air inlet hole further includes a second air inlet hole 157
  • the air outlet hole also includes a second air outlet hole 251
  • the second air inlet hole 157 is disposed on the housing 150 and is connected to the housing 150 .
  • the cavity 151 communicates with each other
  • the second air outlet 251 is disposed on the inner cavity 250
  • the inner cavity 250 communicates with the accommodating cavity 151 .
  • the distance measuring device 10 can realize the interaction of internal and external air flow through the second air inlet hole 157 and the second air outlet hole 251, so as to actively monitor the internal components of the distance measuring device 10 (such as the first driver 120, the transmitter 210, the detection 220) for heat dissipation.
  • the second air inlet hole 157 may be provided on the inner cavity 250, and the second air outlet hole 251 may be provided on the housing 150 and communicate with the accommodating cavity 151, while the inner cavity 250 and the The accommodating cavity 151 communicates with each other.
  • the interaction between the distance measuring device 10 and the external air flow can also be realized through the second air inlet hole 157 and the second air outlet hole 251, so as to actively monitor the internal components of the distance measuring device 10 (such as the first driver 120, the transmitter 210, the detector 220) to dissipate heat.
  • the inner cavity 250 thereof may be provided with a second air inlet 157 and a second air outlet 251
  • the scanning module 100 includes a first inlet communicating with the accommodating cavity 151 .
  • the air hole 153 and the first air outlet hole 154 In this way, the accommodating cavity 151 of the scanning module 100 and the inner cavity 250 of the ranging module 200 can also communicate with the second air inlet 157 through the first air outlet hole 154 , so that the distance measuring device 10 can pass through the first air inlet hole 153.
  • the second air outlet 251 realizes the interaction of air flow inside and outside, so as to dissipate heat from the internal elements (eg, the first driver 120, the transmitter 210, and the detector 220) of the ranging device 10.
  • the second air outlet hole 251 is communicated with the first air inlet hole 153
  • the second air inlet hole 157 is used as the air inlet hole of the distance measuring device 10
  • the first air outlet hole 154 is used as the air outlet hole of the distance measuring device 10 .
  • the inner cavity 250 of the ranging module 200 can be provided with the second air inlet 157 and the second air outlet 251, the first air inlet 153, the first air outlet 154, the second air inlet 157, the first air outlet
  • the two air outlet holes 251 may be arranged at intervals along the direction of the rotation axis of the first optical assembly 160 . In this way, the airflow generated by the disturbance structure 170 can be reduced to cause turbulent flow in the flow process in the accommodating cavity 151 and the inner cavity 250 and waste energy, which is conducive to the formation of a directional airflow (ie, a directional airflow), and further improves the heat dissipation effect.
  • the arrangement positions of the first air inlet hole 153 , the first air outlet hole 154 , the second air inlet hole 157 , and the second air outlet hole 251 may have other settings besides the content described above, such as the first A certain angle is set between the extending direction of the connecting line of the air inlet hole 153 , the first air outlet hole 154 , the second air inlet hole 157 , and the second air outlet hole 251 and the direction of the rotation axis of the first optical assembly 160 .
  • the heat dissipation channel includes a second heat dissipation channel 252 , and the second heat dissipation channel 252 is formed by cooperating with the inner cavity 250 through the accommodating cavity 151 , and the second air inlet hole 157 communicates with the second air outlet hole 251 through the second heat dissipation channel 252 .
  • the use of the second air inlet hole 157 and the second air outlet hole 251 enables the air flow generated by the accommodating cavity 151 to interact with the outside, and it is also convenient to guide the disturbed air flow into the inner cavity 250, so that the accommodating cavity 151 can be affected by the external air.
  • the components in the inner cavity 250 are dissipated to improve the heat dissipation efficiency, and further avoid the situation of local overheating, thereby improving the heat dissipation effect of the distance measuring device 10 .
  • At least part of the first driver 120 may be disposed close to the second heat dissipation channel 252 . In this way, at least a part of the first driver 120 can be dissipated by using the second heat dissipation channel 252 to prevent the first driver 120 from being overheated and affecting the operation accuracy, thereby ensuring the rotation accuracy of the second optical assembly.
  • the ranging module 200 includes an emitter 210 and a detector 220 , and at least part of the emitter 210 and/or at least part of the detector 220 may be disposed close to the second heat dissipation channel 252 .
  • at least part of the transmitter 210 and/or the detector 220 can be dissipated by using the second heat dissipation channel 252, so as to prevent the transmitter 210 and/or the detector 220 from overheating and affecting the working accuracy, thereby ensuring the distance measuring device 10 for a long time.
  • the accuracy is improved, and the reliability of the distance measuring device 10 is improved.
  • the second heat dissipation channel 252 may also include a guide channel, and the guide channel can guide more heat dissipation airflow to guide the heat-sensitive components and/or components that are easily overheated.
  • the guide flow channel is formed by the guide tube, which makes the guidance of the heat dissipation airflow more flexible.
  • the arrangement of thermally sensitive elements and/or elements that are easily overheated is more flexible, which is beneficial to reduce the difficulty of designing the internal structure of the distance measuring device 10 .
  • the waterproof and breathable film includes a second waterproof and breathable film 158 , and the second waterproof and breathable film 158 can cover the second air inlet hole 157 and the second air outlet hole 251 .
  • the use of the second waterproof and breathable membrane 158 can improve the waterproof performance and/or the dustproof performance of the distance measuring device 10 while ensuring the heat exchange efficiency.
  • the scanning module 100 shown in FIG. 5 is applied to the ranging device 10 shown in FIG. 6 , and the inner cavity 250 of the ranging module 200 may be provided with a second air intake
  • the first air outlet hole 154 and the second air inlet hole 157 are directly connected, so that the accommodating cavity 151 and the inner cavity 250 are connected to form a cavity.
  • the first waterproof and breathable film 156 disposed at the first air outlet 154 and the second waterproof and breathable film 158 disposed at the second air inlet 157 can be omitted to reduce resistance and improve the flow rate of the air flow in the cavity, thereby increasing the flow rate of the air in the cavity.
  • the heat dissipation efficiency of the distance measuring device 10 can be improved.
  • the first optical component 160 is disposed in the accommodating cavity 151 and forms a heat dissipation space 159 with the inner wall of the housing 150 . At least part of the perturbation structure 170 is disposed in the heat dissipation space 159 . In this way, it is convenient to generate turbulent airflow and reduce structural interference, thereby reducing the generation of turbulent flow, thereby increasing the flow rate of the directional airflow generated by the turbulent structure 170, which is beneficial to improve the heat dissipation effect.
  • the first optical component 160 includes a first optical element 110 , and the first disturbing member 171 is staggered from the first optical element 110 . In this way, the interference to the first optical element 110 can be reduced, so that the optical path can be adjusted using the first optical element 110 .
  • the disturbing structure 170 may include a first disturbing member 171 disposed on the first optical assembly 160 , so that the first disturbing member 171 can rotate with the first optical assembly 160 . In this way, the first disturbing member 171 rotates with the first optical assembly 160 to generate disturbed airflow, which is easy to implement and can reduce costs.
  • the first disturbing member 171 rotates with the first optical assembly 160 and can generate positive pressure airflow, and the first driver 120 is disposed in the airflow direction of the positive pressure airflow.
  • the positive pressure airflow can be used to actively dissipate heat to the first driver 120, so as to improve the heat dissipation efficiency.
  • the positive pressure airflow can be understood as air supply or blowing.
  • the heat dissipation space 159 may include a heat dissipation gap 101 formed by the outer peripheral side of the first optical component 160 and the inner sidewall of the housing 150 being spaced apart. At least part of the first disturbing member 171 is disposed protruding from the first optical component 160 and faces the heat dissipation gap. At least one end of 101. That is, along the length direction of the heat dissipation gap 101 , at least part of the first disturbing member 171 is located at one end thereof and faces the heat dissipation gap 101 , rather than its protruding direction along the length direction of the heat dissipation gap 101 .
  • first disturbing member 171 may also be located between the two ends thereof, which is not specifically limited here.
  • the first optical assembly 160 may further include a mounting member 161 for mounting the first optical element 110, and the mounting member 161 is drivingly connected with the first driver 120; at least part of the first disturbing member 171 protrudes from the mount 161 provided.
  • at least part of the first disturbing member 171 may be disposed on the mounting member 161 (eg, detachably connected) or formed on the mounting member 161 , and rotate with the mounting member 161 .
  • the first disturbing member 171 can be disposed on the mounting member 161 through various structural shapes and connection methods, and the assembly of the two is more flexible.
  • the first disturbing member 171 may be a protruding structure on the mounting member 161 .
  • it may be a blade attached to the attachment 161 .
  • the first optical assembly 160 may include a counterweight 162 and the first optical element 110 that are connected to each other, and at least part of the perturbation structure 170 may be disposed on the counterweight 162 .
  • the counterweight 162 may be made of aluminum material or steel material, so as to achieve light weight and at the same time facilitate the generation of a larger disturbed airflow.
  • the first disturbing member 171 may be disposed on the counterweight member 162 .
  • the width dimension of the cross-section of the counterweight 162 varies along the direction of the axis of rotation of the first optical assembly 160 to form at least part of the perturbation structure 170 .
  • the disturbance structure 170 can be formed by the shape change of the counterweight 162 , so as to reduce the assembly steps of the disturbance structure 170 and improve the assembly efficiency of the scanning module 100 .
  • the width dimension of the cross section of the counterweight 162 is gradually reduced along the direction of the rotation axis of the first optical component 160 to form the disturbance structure 170 .
  • the decreasing direction of the width dimension of the cross section of the counterweight 162 is the same as the flow direction of the disturbed airflow in the distance measuring device 10 .
  • the scanning module 100 further includes a connecting assembly 180 , the connecting assembly 180 and the mounting member 161 are respectively disposed at two ends of the first optical element 110 , and the first optical element 110 is connected to the first optical element 110 through the connecting assembly 180 .
  • the housing 150 is rotatably connected. In this way, the first optical element 110 is connected to the housing 150 in a reliable rotation through the cooperation of the connecting assembly 180 and the mounting member 161 , and is driven to rotate by the mounting member 161 , which is beneficial to improve the rotation accuracy of the first optical element 110 .
  • the connecting assembly 180 includes a connecting member connected with the housing 150 and a first rotating member 181 connected with the first optical assembly 160 , and at least part of the perturbation structure 170 is disposed on the first rotating member 181 .
  • the connecting member and the first rotating member 181 may be connected by a bearing, so as to reduce the friction in the rotating process.
  • the first rotating member 181 may include a rotating shaft.
  • the first disturbing member 171 may be disposed above the mounting member 161 .
  • the mounting member 161 in addition to being disposed on the first rotating member 181 as described above, it may also be disposed above the counterweight member 162 .
  • the first driver 120 , the transmitter 210 , the detector 220 and the like under the mounting member 161 can be dissipated by the first disturbing member 171 , so as to improve the heat dissipation effect of the distance measuring device 10 .
  • the first disturbing member 171 includes at least one first fan blade 102 .
  • using at least one first fan blade 102 to form the first disturbing member 171 can increase the flow rate of the airflow generated by the first disturbing member 171 to generate greater negative pressure suction or positive pressure air supply capability.
  • the first fan blade 102 includes a fan blade structure such as an axial flow fan and a fan blade structure of a turbine.
  • the first disturbing member 171 may not be limited to the fan blade structure, and only needs to be able to generate disturbed airflow, which is not specifically limited here.
  • the distance measuring device 10 may further include a transmission mechanism 190 , the disturbance structure 170 includes a second disturbance member 172 , and the second disturbance member 172 is connected to the transmission mechanism 190 through the transmission mechanism 190 .
  • the first driver 120 is connected. That is, the perturbation structure 170 may include a first perturbation member 171 and a second perturbation member 172 , the first perturbation member 171 may be connected to the first driver 120 via the first optical assembly 160 , and the second perturbation member 172 is directly connected to the transmission mechanism 190 is connected to the first driver 120 .
  • the second disturbing member 172 can be flexibly arranged by using the transmission mechanism 190 to dissipate heat to the heat-sensitive part or the part that is easily overheated.
  • the space of the scanning module 100 can be fully utilized to set the second disturbing member 172, so that the structure of the scanning module 100 is more compact.
  • the second disturbing member 172 may be disposed in the accommodating cavity 151 .
  • the transmission mechanism 190 may include a driving wheel 191 and a driven wheel 192 , the first driver 120 is drivingly connected to the driving wheel 191 , the driving wheel 191 drives the driven wheel 192 to rotate, and the driven wheel 192 drives the second disturbance member 172 in the accommodating cavity 151 . turn.
  • the distance between the second disturbing member 172 and the first driver 120 can be flexibly adjusted by the cooperation of the driving wheel 191 and the driven wheel 192 to reduce interference; meanwhile, the second disturbing member 172 can be flexibly arranged.
  • the driving wheel 191 can drive the driven wheel 192 to take the initiative in various ways, such as driving the driven wheel 192 to rotate by using transmission parts such as belts, chains, crawler belts, gear transmission components, etc.; or, the driving wheel 191 is a driving gear, and the driven wheel 192 is a driven gear that meshes with the driving gear.
  • the transmission mechanism 190 may also include a transmission structure such as a transmission shaft that can indirectly drive the second disturbing member 172 to rotate. At the same time, there are various options for the specific arrangement position of the second disturbing member 172 .
  • the second disturbing member 172 is rotatably disposed at the bottom or top of the accommodating cavity 151 to provide heat dissipation airflow for the entire space of the accommodating cavity 151 and sufficiently dissipate heat to the casing 150 and components disposed in the casing 150 .
  • the second disturbing member 172 may also be disposed outside the accommodating cavity (ie, outside the housing 150 ), so as to actively dissipate heat from the outer wall of the distance measuring device 10 and facilitate maintenance or replacement.
  • the second disturbing member 172 is rotatably disposed on the side wall of the housing 150 and is disposed outside the accommodating cavity 151 .
  • the transmission mechanism 190 may include a second rotating member 193 that is drivingly connected to the first optical assembly 160.
  • the second rotating member 193 is partially disposed outside the accommodating cavity 151 and is drivingly connected to the second disturbing member 172.
  • the second rotating member 193 can be a rotating shaft, and can be connected with the top of the housing 150 through a bearing to reduce rotational friction.
  • the transmission mechanism 190 can also flexibly dispose the second disturbing member 172 outside the casing 150 by means of gear transmission, belt transmission, chain transmission, or the like.
  • the second disturbing member 172 may include at least one second fan blade 103 .
  • the flow rate of the airflow generated by the second disturbance member 172 can be increased, so as to generate a greater negative pressure suction or positive pressure air supply capability.
  • the second fan blade 103 includes a fan blade structure of an axial flow fan and a fan blade structure of a turbine.
  • the second disturbing member 172 may not be limited to the structure of the fan blade, and only needs to be able to generate disturbed airflow, which is not specifically limited here.
  • a transmission mechanism 190 is used to set the at least one second disturbance member 172 outside the casing 150, and another transmission mechanism is used at the same time.
  • 190 sets another second disturbing member 172 in the accommodating cavity 151 .
  • the second disturbing member 172 may also be disposed outside the housing 150 by using the second rotating member 193
  • the first disturbing member 171 may be disposed in the accommodating cavity 151 by using the first optical assembly 160 (as shown in FIG. 9 ).
  • the scanning module 100 further includes at least one second optical component (not marked), and the rotation direction of the at least one second optical component is the same as the rotation direction of the first optical component 160 .
  • the direction of rotation is the same. In this way, by using the combination of the first optical component 160 and the second optical component, more refraction schemes can be formed, so that the collimated beam can be projected to different directions in the external space, so as to achieve scanning in a larger spatial range without Disturbance of the disturbed airflow caused by the difference in the rotation direction of the first optical assembly 160 .
  • the first optical assembly 160 and the second optical assembly may be driven by the same driver, such as the first driver 120, so that the rotational synchronization of the first optical assembly 160 and the second optical assembly can be better achieved.
  • the second optical component includes a second optical element 130, and the second optical element 130 and the first optical element 110 have various combination relationships, including but not limited to those shown in FIG. 9 to FIG. 11 .
  • the scanning module 100 further includes at least one second driver 140 , and the at least one second driver 140 is configured to drive the at least one second optical assembly to rotate.
  • the second driver 140 is used to drive the second optical assembly to rotate
  • the first driver 120 is used to drive the first optical assembly 160 to rotate, so that the rotational speeds of the two can be flexibly controlled.
  • the scanning module 100 further includes at least one second driver 140
  • at least a part of the perturbation structure 170 can also cooperate with the second driver 140 to be driven by the second driver 140 to rotate and perform the scanning operation on the scanning module 100 . heat dissipation.
  • a part of the disturbing structure 170 may also be arranged on the second optical component, thereby forming two disturbed airflow generating parts, and further improving the heat dissipation effect of the scanning module 100 .
  • the first driver 120 may be a motor, and the positional relationship between the first optical assembly 160 and the first driver 120 is not limited to the manner of stacking up and down, that is, in the embodiment shown in FIG. 11 , the first driver 120 includes a stator part and a mover part fixed in the housing 150, and the first optical assembly 160 can be arranged in the first mover part. In this way, the internal space of the first driver 120 can be fully utilized, which is beneficial to the miniaturization development of the scanning module 100 .
  • the first optical element 110 by stacking up and down, it is beneficial for the first optical element 110 to scan horizontally 360 degrees during the rotation process, so as to prevent the first driver 120 from emitting light from the first optical element 110 The occlusion of the direction or the direction of light incidence.
  • the inner space of the first driver 120 can form an optical path, which facilitates the transmission of the optical pulse sequence.
  • the second driver 140 includes a second stator part 141 fixed in the housing 150 and a second mover part 142 that is magnetically matched with the second stator part 141 ; the second optical assembly includes a first Two optical elements 130, the second optical element 130 is disposed in the second mover part.
  • the inner space of the second driver 140 can be fully utilized to realize the rotation of the second optical element 130, which is beneficial to the miniaturization development of the scanning module 100.
  • it is beneficial to directly form an optical path between the second optical element 130 and the first optical element 110 so that the structure of the scanning module 100 is more compact, and thus the volume of the scanning module 100 is reduced.
  • the part of the perturbation structure 170 can also use the transmission structure to transmit the power of the second driver 140 to the part of the perturbation structure 170, so as to realize the rotation of the perturbation structure 170. Generates turbulent airflow.
  • a mobile platform including a main body 30 and the ranging device 10 in any of the above embodiments.
  • the ranging device 10 is disposed on the main body 30 to assist the mobile platform to perform obstacle avoidance movement or Auto navigation.
  • FIG. 12 takes an example that the mobile platform is an unmanned aerial vehicle, and the platform body 30 is the fuselage of the unmanned aerial vehicle.
  • the mobile platform of the present application can use the ranging device 10 of the present application to detect the surrounding environment information of the mobile platform (eg, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target), so that the mobile platform can further Perform operations such as obstacle avoidance and automatic navigation according to the surrounding environment, and perform two-dimensional or three-dimensional mapping of the external environment.
  • the mobile platform needs to be used for a long time, due to the good heat dissipation performance of the distance measuring device 10 of the present application, it is beneficial to ensure the detection accuracy, so that the automatic navigation performance or obstacle avoidance performance of the mobile platform is more reliable, and the safety performance of the mobile platform can be improved.
  • the mobile platform may also include a car, a remote control car, a robot, or a camera.
  • the body 30 is the body of the automobile.
  • the vehicle may be an autonomous driving vehicle or a semi-autonomous driving vehicle, which is not limited herein.
  • the distance measuring device 10 is applied to a remote control car
  • the body 30 is the body of the remote control car.
  • the distance measuring device 10 is applied to a robot
  • the body 30 is the body of the robot.
  • the body 30 is the camera itself.
  • first”, second, etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first”, “second” etc. may expressly or implicitly include at least one of that feature.
  • plural means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

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Abstract

一种扫描模组（100）、测距装置（10）以及移动平台。该扫描模组（100）包括外壳（150）、第一光学组件（160）、第一驱动器（120）以及扰动结构（170）；外壳（150）设有容纳腔（151）；第一光学组件（160）可转动设置于容纳腔（151）内；第一驱动器（120）用于驱动第一光学组件（160）转动；至少部分扰动结构（170）与第一驱动器（120）相配合，以被第一驱动器（120）驱动而转动，并对扫描模组（100）进行散热。测距装置（10）采用了扫描模组（100），能够减少局部过热现象的发生。而将该测距装置（10）应用于移动平台，能够提高可靠性。

Description

扫描模组、测距装置以及移动平台 技术领域
本申请涉及散热技术领域，特别是涉及一种扫描模组、测距装置以及移动平台。
背景技术
随着避障技术及自动导航技术的发展，对测距装置的需求也越来越大，同时也对测距装置的长时间工作的可靠性提出新的挑战。
目前，测距装置工作时，会产生热量，如散热不及时会产生局部过热而影响测距装置的检测精度，甚至造成测距装置损坏。
发明内容
本申请提供一种扫描模组、测距装置以及移动平台，能够减少局部过热现象的发生。
根据本申请实施例的第一方面，提供一种扫描模组，包括：外壳、第一光学组件、第一驱动器以及扰动结构；外壳设有容纳腔；第一光学组件可转动设置于容纳腔内；第一驱动器用于驱动第一光学组件转动；至少部分扰动结构与第一驱动器相配合，以被第一驱动器驱动而转动，并对扫描模组进行散热。
本申请的实施例提供的技术方案可以包括以下有益效果：
本申请的扫描模组直接利用第一驱动器来驱动至少部分扰动结构转动，能够在外壳的内部和/或外部产生扰动气流，对外壳进行散热，避免出现局部温度过热的情况。也即，能够主动对扫描模组进行散热，避免扫描模组出现局部温度过高而影响测距装置检测精度，甚至造成测距装置损坏。同时，在第一光学组件转动时，该扰动结构也同步被第一驱动器转动而产生扰动气流，实现机械式同步转动，响应更及时，且能够减少检测元件以及简化控制程序。
根据本申请实施例的第二方面，提供了一种测距装置包括：扫描模组，所述扫描 模组包括外壳、第一光学组件、第一驱动器和扰动结构，所述外壳设有容纳腔，所述第一光学组件设于所述容纳腔内，所述第一驱动器用于驱动所述第一光学组件转动，至少部分所述扰动结构与所述第一驱动器配合，以被所述第一驱动器驱动而转动，并对所述测距装置进行散热；测距模组，所述测距模组用于向所述扫描模组发射光脉冲序列，所述扫描模组用于改变所述光脉冲序列的传输方向后出射，经探测物反射回的光脉冲序列经过所述扫描模组后入射至所述测距模组，所述测距模组用于根据反射回的光脉冲序列确定所述探测物与所述测距装置之间的距离。
本申请的实施例提供的技术方案可以包括以下有益效果：
在本申请的测距装置长时间工作时，由于第一驱动器能够驱动第一光学组件的转动时，同步驱动至少部分扰动结构转动，能够在外壳的内部和/或外部产生扰动气流，对外壳进行散热，避免扫描模组出现局部温度过热的情况，能够保证扫描模组改变光脉冲序列的传输方向后出射精度以及接收反射回的光脉冲序列的精度，进而有利于保证测距装置的测距精度。同时第一光学组件转动时，该扰动结构也同步被第一驱动器转动而产生扰动气流，实现机械式同步转动，响应更及时，且能够减少检测元件以及简化控制程序，有利于降低本申请的测距装置成本。
根据本申请实施例的第三方面，还提供了一种移动平台，包括本体以及上述的测距装置，测距装置设置于本体。
本申请的实施例提供的技术方案可以包括以下有益效果：
本申请的移动平台采用了上述测距装置，在长时间利用本申请的测距装置进行导航、避障等工作时，由于本申请的测距装置的散热效果好，使得移动平台的自动导航性能或避障性能更加可靠，进而能够提高移动平台的可靠性及安全性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
附图说明构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要 使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为一实施例中所示的测距装置的硬件结构示意图。
图2为一实施例中所示的测距装置的使用示意图。
图3为图2所示的测距装置的扫描光束示意图。
图4为一实施例中所示的测距装置的结构剖视示意图。
图5为另一实施例中所示的扫描模组的运行时的散热示意图。
图6为另一实施例中所示的测距装置的运行时的散热示意图。
图7为另一实施例中所示的扫描模组的结构剖视示意图。
图8为另一实施例中所示的测距装置的结构剖视示意图。
图9为另一实施例中所示的扫描模组的结构剖视示意图。
图10为另一实施例中所示的扫描模组的结构剖视示意图。
图11为另一实施例中所示的扫描模组的结构剖视示意图。
图12为一实施例中所示的移动平台的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请各个实施例提供的扫描模组可以应用于测距装置，该测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施方式中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可 以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。
为了便于理解，以下将结合图1至图3所示的测距装置对测距的工作流程进行举例描述。
如图1所示，测距装置10可以包括发射电路11、接收电路12、采样电路13和运算电路14。
发射电路11可以发射光脉冲序列(例如激光脉冲序列)。接收电路12可以接收经过被探测物20反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路13。采样电路13可以对电信号进行采样，以获取采样结果。运算电路14可以基于采样电路13的采样结果，以确定测距装置10与被探测物20之间的距离。
可选地，该测距装置10还可以包括控制电路15，该控制电路15可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图1示出的测距装置10中包括一个发射电路11、一个接收电路12、一个采样电路13和一个运算电路14，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射电路11、接收电路12、采样电路13、运算电路14中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射电路11中的发光芯片封装在同一个模块中。例如，每个发射电路11包括一个激光发射芯片，该至少两个发射电路11中的激光发射芯片中的封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图1所示的电路，测距装置10还可以包括扫描模组100，用于将发射电路11出射的至少一路激光脉冲序列改变传播方向出射。
其中，可以将包括发射电路11、接收电路12、采样电路13和运算电路14的模块，或者，包括发射电路11、接收电路12、采样电路13、运算电路14和控制电路15的模块称为测距模组200，该测距模组200可以独立于其他模块，例如，扫描模组100。
测距装置10中可以采用同轴光路，也即测距装置10出射的光束和经反射回来的光束在测距装置10内共用至少部分光路。例如，发射电路11出射的至少一路激光 脉冲序列经扫描模组100改变传播方向出射后，经探测物20反射回来的激光脉冲序列经过扫描模组100后入射至接收电路12。或者，测距装置10也可以采用异轴光路，也即测距装置10出射的光束和经反射回来的光束在测距装置10内分别沿不同的光路传输。图2示出了本申请的测距装置10采用同轴光路的一种实施例的示意图。
如图2所示，测距装置10包括测距模组200，测距模组200包括发射器210(可以包括上述的发射电路11)、准直元件230、探测器220(可以包括上述的接收电路12、采样电路13和运算电路14)和光路改变元件240。测距模组200用于发射光束，且接收回光，将回光转换为电信号。其中，发射器210可以用于发射光脉冲序列。在一些实施例中，发射器210可以发射激光脉冲序列。可选的，发射器210发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件230设置于发射器210的出射光路上，用于准直从发射器210发出的光束，将发射器210发出的光束准直为平行光出射至扫描模组100。准直元件230还用于会聚经探测物20反射的回光的至少一部分。该准直元件230可以是准直透镜或者是其他能够准直光束的元件。
在图2所示实施例中，通过光路改变元件240来将测距装置10内的发射光路和接收光路在准直元件230之前合并，使得发射光路和接收光路可以共用同一个准直元件230，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器210和探测器220分别使用各自的准直元件230，将光路改变元件240设置在准直元件230之后的光路上。
在图2所示实施例中，由于发射器210出射的光束的光束孔径较小，测距装置10所接收到的回光的光束孔径较大，所以光路改变元件240可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件240也可以采用带通孔的反射镜，其中该通孔用于透射发射器210的出射光，反射镜用于将回光反射至探测器220。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图2所示实施例中，光路改变元件240偏离了准直元件230的光轴。在其他的一些实现方式中，光路改变元件240也可以位于准直元件230的光轴上。
测距装置10还包括扫描模组100。扫描模组100放置于测距模组200的出射光路上，扫描模组100用于改变经准直元件230出射的准直光束的传输方向并投射至外界环境，并将回光投射至准直元件230。回光经准直元件230汇聚到探测器220上。
在一些实施例中，扫描模组100可以包括至少一个光学元件，用于改变光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模组100包括透镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模组100的多个光学元件可以绕共同的轴旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一些实施例中，扫描模组100的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一些实施例中，扫描模组100的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模组100的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模组100的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一些实施例中，扫描模组100包括第一光学元件110和与第一光学元件110连接的第一驱动器120，第一驱动器120用于驱动第一光学元件110绕转动轴转动，使第一光学元件110改变准直光束的方向。第一光学元件110将准直光束投射至不同的方向。在一些实施例中，准直光束经第一光学元件110改变后的方向与转动轴的夹角随着第一光学元件110的转动而变化。在一些实施例中，第一光学元件110包括相对的非平行的一对表面，准直光束穿过该对表面。在一些实施例中，第一光学元件110包括厚度沿至少一个径向变化的棱镜。在一些实施例中，第一光学元件110包括楔角棱镜，对准直光束进行折射。
在一些实施例中，扫描模组100还包括第二光学元件130，第二光学元件130绕转动轴转动，第二光学元件130的转动速度可以与第一光学元件110的转动速度相同或不同。第二光学元件130用于改变第一光学元件110投射的光束的方向。在一些实施例中，第二光学元件130与第二驱动器140连接，第二驱动器140驱动第二光学元件130转动。第一光学元件110和第二光学元件130可以由相同或不同的驱动器驱动，使第一光学元件110和第二光学元件130的转速和/或转向不同，从而将准直光束投射至外界空间不同的方向，可以扫描较大的空间范围。在一些实施例中，控制器300控制第一驱动器120和第二驱动器140，分别驱动第一光学元件110和第二光学元件130。第一光学元件110和第二光学元件130的转速可以根据实际应用中预期扫描的区域和样式确定。第一驱动器120或第二驱动器140可以包括电机或其他驱动器。
在一些实施例中，第二光学元件130包括相对的非平行的一对表面，光束穿过该对表面。在一些实施例中，第二光学元件130包括厚度沿至少一个径向变化的棱镜。在一些实施例中，第二光学元件130包括楔角棱镜。
一些实施例中，扫描模组100还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一些实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一些实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模组100中的各光学元件旋转可以将光投射至不同的方向，例如方向202和方向203，如此对测距装置10周围的空间进行扫描。如图3所示，图3为测距装置10的一种扫描图案的示意图。可以理解的是，扫描模组100内的光学元件的速度变化时，扫描图案也会随之变化。
当扫描模组100投射出的光打到探测物20时，一部分光被探测物20沿与投射的光相反的方向反射至测距装置10。探测物20反射的回光204经过扫描模组100后入射至准直元件230。
探测器220与发射器210放置于准直元件230的同一侧，探测器220用于将穿过准直元件230的至少部分回光转换为电信号。
一些实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器210发射出的光束的波长相等或接近，能够增加透射光束的强度。
一些实施例中，测距装置10中位于光束传播路径上的一个元件表面上镀有滤光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器210所出射的光束所在波段，反射其他波段，以减少环境光给探测器220带来的噪音。
在一些实施例中，发射器210可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置10可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物20到测距装置10的距离。
然而，随着避障提醒技术及自动导航技术的发展，对测距装置10的需求也越来越大，同时也对测距装置10的长时间工作的可靠性提出新的挑战。如应用于可移动 平台，以辅助移动平台进行避障移动、自动导航和对外部环境进行二维或三维的测绘时，整个过程测距装置10会被长时间使用，如散热不及时产生局部过热而影响测距装置10的检测精度，甚至造成测距装置10损坏。
基于此，本申请提供一种测距装置10，能够减少局部过热现象的发生，能够保证测距装置10的检测精度，有利于提高测距装置10的可靠性。
下面结合具体结构附图，进一步阐述本申请的测距装置10，以说明本申请的测距装置10长时间工作，仍能够保证检测精度。
图4为一实施例中所示的测距装置10的结构示意图。在本实施例中，测距装置10包括测距模组200以及扫描模组100，测距模组200用于向扫描模组100发射光脉冲序列，扫描模组100用于改变光脉冲序列的传输方向后出射，经探测物20反射回的光脉冲序列经过扫描模组100后入射至测距模组200，测距模组200用于根据光脉冲序列确定探测物20与测距装置10之间的距离。
本实施例中，扫描模组100包括外壳150、第一光学组件160、第一驱动器120以及扰动结构170；外壳150设有容纳腔151；第一光学组件160可转动设置于容纳腔151内；第一驱动器120用于驱动第一光学组件160转动；至少部分扰动结构170与第一驱动器120相配合，以被第一驱动器120驱动而转动，并对扫描模组100进行散热(例如第一驱动器120和/或外壳150，)。如此，直接利用第一驱动器120来驱动至少部分扰动结构170转动，能够在外壳150内部和/或外部产生扰动气流，对外壳150进行散热，避免出现局部温度过热的情况。同时，能够简化驱动动力，减少了实现风冷散热所需的驱动设备，减小了扫描模组100的体积，有利于扫描模组100小型化发展，进而也有利于缩小测距装置10的体积。
可选地，至少部分外壳150具有透光功能，以在起到保护作用的同时，可以透光而实现发射的光脉冲序列和反射回的光脉冲序列的传输。具体的，如，如图4所示，至少部分外壳150是透光结构。或者，如图7所示的实施例中，至少部分外壳150设有透光区152(如通孔或通槽等，未示出)，然后再将透光件设置于透光区152(未示出)。
进一步地，在扫描模组100与测距模组200配合使用时，即本申请的测距装置10长时间工作时，由于第一驱动器120能够驱动第一光学组件160的转动时，同步驱动至少部分扰动结构170转动，能够在测距装置10的内部和/或外部产生扰动气流， 对测距装置10进行散热，例如对扫描模组100的第一驱动器120、外壳150，又如利用外部产生的扰动气流对测距装置10外部进行散热；同时，由于扫描模组100的能够很好进行散热，对应也能够直接或间接提高测距模组200的探测器220和发射器210的散热效率。如此，能够避免测距装置10出现局部温度过热的情况，有利于保证扫描模组100改变光脉冲序列的传输方向后出射精度以及测距模组200接收光脉冲序列的精度进而有利于保证测距装置10的检测精度。且在此过程中，由于在第一光学组件160转动时，该扰动结构170也同步被第一驱动器120转动，从而可以实现机械式同步转动，响应更及时。同时，利用机械式同步传动能够减少检测元件以及简化控制程序，有利于降低本申请的测距装置10成本。
可以理解地，至少部分扰动结构170可以直接或间接由第一驱动器120驱动，以简化驱动动力，减少了实现风冷散热所需的驱动设备，且减小了扫描模组100的体积，有利于扫描模组100小型化发展。例如，至少部分扰动结构170直接设置在第一驱动器120的输出轴上，或者，至少部分扰动结构170通过第一光线组件或其他传动机构190间接利用第一驱动器120产生的动力进行转动。
需要说明的是，至少部分扰动结构170与第一驱动器120配合，可以是全部扰动结构170皆由第一驱动器120驱动，也可以是部分扰动结构170由第一驱动器120驱动，而另一部分扰动结构170由其他驱动器的驱动，可以有多种组合，此处不做具体限定。
同时，扰动结构170可以是全部设置于容纳腔151内(也即外壳150内部)，也可以是全部设置于容纳腔151外(也即外壳150外部)；同时，还可以是部分扰动结构170设置于容纳腔151内(也即外壳150内部)，部分扰动结构170设置于容纳内外(也即外壳150外部)。下面结合图4至图7所示，进一步阐述至少部分扰动结构170设置于容纳腔151内(也即外壳150内部)，进而能够在容纳腔151内产生扰动气流，以至少提高扫描模组100的散热效率。
在一些实施例中，可以利用至少部分扰动结构170产生扰动气流，以形成内部的气流循环而实现散热。具体的，至少部分扰动结构170设置于容纳腔151内，以利用第一驱动器120来驱动至少部分扰动结构170在容纳腔151内转动，并在一容纳腔151内产生扰动气流，对容纳腔151内部的元件进行散热，避免扫描模组100出现局部温度过热的情况。或者，如图4所示，在扫描模组100与测距模组200配合使用时，测距模组200可以包括用于容置发射器210和探测器220的内腔250，内腔250与容 纳腔151连通，设置于容纳腔151内的至少部分扰动结构170产生的扰动气流能够从容纳腔151流入内腔250中，以对测距装置10的内部元件(如第一驱动器120、发射器210、探测器220)进行散热。
在一些实施例中，通过设置进气孔及出气孔，也可以利用至少部分扰动结构170产生扰动气流，并通过进气孔将外部气体导入到容纳腔151内部，并将容纳腔151内部的较高温度的气体通过扰动气流经由出气孔带出至容纳腔151的外部。进而通过内外部的气流交换，有利于提高测距模组200的散热效率。
结合图5所示，本实施例中，进气孔包括第一进气孔153，出气孔包括第一出气孔154，第一进气孔153及第一出气孔154分别设置于外壳150上，并与容纳腔151相通。如此，通过利用第一进气孔153及第一出气孔154，使得容纳腔151产生的气流能够与外部进行交互，并利用外部空气对容纳腔151内的元件进行散热，提高散热效率，进一步避免扫描模组100出现局部温度过热的情况。
其中，第一进气孔153与第一出气孔154沿第一光学组件160的转动轴线的方向间隔设置。如此，能减少扰动结构170产生的气流在容纳腔151内流动的过程中造成紊流而浪费能量，有利于形成有方向性的气流(即定向的气流)，进一步提高散热效果。
可以理解的是，第一进气孔153与第一出气孔154的设置位置除了上述说明的内容之外，还可以有其它设置，如在外壳150的周向上间隔布置。
进一步地，如图5所示，容纳腔151包括散热通道，散热通道包括第一散热通道155，第一进气孔153通过第一散热通道155与第一出气孔154连通。如此，利用第一散热通道155与第一进气孔153以及第一出气孔154连通，加快内部热空气与外部冷空气之间的流动，从而提高了扫描模组100与外界对流的散热效率。同时，便于引导扰动结构170产生的气流在预设的方向上进行流动，有利于精准散热。如，引导更多散热气流对容易过热的元件进行散热或者对热敏感的元件进行散热，进一步减少局部过热现象的发生。
其中，在一些实施例中，至少部分第一驱动器120可以设置于第一散热通道155内。如此，利用第一散热通道155能够对至少部分第一驱动器120进行散热，避免第一驱动器120过热而影响运转精度，进而能够保证第一光学组件160的转动精度。
需要说明的是，第一散热通道155的具体实现方式，包括但不限于外壳150上 设置流道、外壳150的内侧壁与内部元件之间形成流道、直接将管道设置于容纳腔151内形成等中的至少一种。
可选地，第一散热通道155可以包括导向流道，利用导向流道能够引导更多的散热气流引导对热敏感元件和/或容易过热的元件。如导向流道通过导流管形成，使得散热气流的引导更加灵活。同时，扫描模组100中的热敏感元件和/或容易过热的元件的设置更加灵活，有利于降低扫描模组100内部结构设计的难度。
进一步地，如图5所示的实施例中，扫描模组100还可以包括防水透气膜，防水透气膜包括第一防水透气膜156，第一防水透气膜156覆盖第一进气孔153和第一出气孔154。如此，利用第一防水透气膜156能够保证热交换效率的同时，提高扫描模组100的防水性能和/或防尘性能。
在另一些实施例中，如图6所示，进气孔还包括第二进气孔157，出气孔还第二出气孔251，且第二进气孔157设置于外壳150上，并与容纳腔151连通，第二出气孔251设置于内腔250上，且内腔250与所述容纳腔151连通。如此，测距装置10可以通过第二进气孔157、第二出气孔251来实现内外部的气流交互，以主动对测距装置10的内部元件(如第一驱动器120、发射器210、探测器220)进行散热。
当然了，在其他实施例中，第二进气孔157可以设置于内腔250上，而第二出气孔251可以设置于外壳150上，并与容纳腔151连通，同时内腔250与所述容纳腔151连通。如此，亦可通过第二进气孔157、第二出气孔251来实现测距装置10与外部的气流交互，以主动对测距装置10的内部元件(如第一驱动器120、发射器210、探测器220)进行散热。
或者，另一些实施例中，在测距模组200中，其内腔250可以设有第二进气孔157、第二出气孔251，扫描模组100包括与容纳腔151连通的第一进气孔153以及第一出气孔154。如此，扫描模组100的容纳腔151与测距模组200的内腔250还可以通过第一出气孔154与第二进气孔157连通，以使得测距装置10可以通过第一进气孔153、第二出气孔251实现内外部的气流交互，以对测距装置10的内部元件(如第一驱动器120、发射器210、探测器220)进行散热。或者，第二出气孔251与第一进气孔153连通，第二进气孔157作为测距装置10的进气孔使用，第一出气孔154作为测距装置10的出气孔使用。
其中，在测距模组200的内腔250可以设有第二进气孔157、第二出气孔251 时，第一进气孔153、第一出气孔154、第二进气孔157、第二出气孔251可以沿第一光学组件160的转动轴线的方向间隔设置。如此，能减少扰动结构170产生的气流在容纳腔151以及内腔250内的流动过程中造成紊流而浪费能量，有利于形成有方向性的气流(即定向的气流)，进一步提高散热效果。
可以理解的是，第一进气孔153、第一出气孔154、第二进气孔157、第二出气孔251的设置位置除了上述说明的内容之外，还可以有其它设置，如第一进气孔153、第一出气孔154、第二进气孔157、第二出气孔251的连线的延伸方向与第一光学组件160的转动轴线的方向之间设有一定的夹角。
进一步地，散热通道包括第二散热通道252，且第二散热通道252通过容纳腔151与内腔250配合形成，第二进气孔157通过第二散热通道252与第二出气孔251连通。如此，利用第二进气孔157及第二出气孔251，使得容纳腔151能产生的气流能够与外部进行交互，也便于将扰动气流引导至内腔250中，能够利用外部空气对容纳腔151以及内腔250内的元件进行散热，提高散热效率，进一步避免出现局部温度过热的情况，进而能够提高测距装置10的散热效果。
其中，在一些实施例中，至少部分第一驱动器120可以靠近第二散热通道252设置。如此，利用第二散热通道252能够对至少部分第一驱动器120进行散热，避免第一驱动器120过热而影响运转精度，进而能够保证第二光学组件的转动精度。
在另一些实施例中，如图6所示，测距模组200包括发射器210与探测器220，至少部分发射器210和/或至少部分探测器220可以靠近第二散热通道252设置。如此，利用第二散热通道252能够对至少部分发射器210和/或探测器220进行散热，避免发射器210和/或探测器220过热而影响工作精度，进而能够长时间保证测距装置10的精度，提高测距装置10的可靠性。
可选地，第二散热通道252亦可包括导向通道，利用导向流道能够引导更多的散热气流引导对热敏感元件和/或容易过热的元件。如导向流道通过导流管形成，使得散热气流的引导更加灵活。同时，热敏感元件和/或容易过热的元件的设置更加灵活，有利于降低测距装置10内部结构设计的难度。
进一步地，如图6所示的实施例中，防水透气膜包括第二防水透气膜158，第二防水透气膜158可以覆盖第二进气孔157和第二出气孔251。如此，利用第二防水透气膜158能够保证热交换效率的同时提高测距装置10的防水性能和/或防尘性能。
需要说明的是，一些实施例中，将图5所示的扫描模组100应用于图6所示的测距装置10，且在测距模组200的内腔250可以设有第二进气孔157、第二出气孔251时，第一出气孔154与第二进气孔157直接连通，使得容纳腔151与内腔250连成一个腔体。此时，第一出气孔154处设置的第一防水透气膜156，以及第二进气孔157设置的第二防水透气膜158可以省略，以减少阻力，提高腔体内的气流的流动速率，进而能够提高测距装置10的散热效率。
在至少部分扰动结构170设置于容纳腔151内时，其具体实现方式可以有多种，下面结合图示进行具体说明。
如图5及图6所示，一些实施例中，第一光学组件160设置于容纳腔151内，并与外壳150的内壁形成散热空间159，至少部分扰动结构170设置于散热空间159内。如此，便于产生扰动气流，减少结构干涉，从而减少紊流的产生，进而能够提高扰动结构170产生定向气流的流量，有利于提高散热效果。
一些实施例中，第一光学组件160包括第一光学元件110，第一扰动件171与第一光学元件110错开设置。如此，能够减少对第一光学元件110的干扰，以利用第一光学元件110进行光学路径的调整。
具体的，如图5及图6所示，扰动结构170可以包括设置于第一光学组件160的第一扰动件171，以使第一扰动件171能够随第一光学组件160转动。如此，通过第一扰动件171随第一光学组件160转动而产生扰动气流，易于实施，能够降低成本。
其中，第一扰动件171随第一光学组件160转动并能够产生正压气流，第一驱动器120设置于正压气流的气流方向上。如此，能够利用正压气流对第一驱动器120进行主动散热，以提高散热效率。需要说明的是，正压气流可以理解为送风或吹风。
其中，散热空间159可以包括通过第一光学组件160的外周侧与外壳150的内侧壁间隔设置形成的散热间隙101，至少部分第一扰动件171凸出第一光学组件160设置，并朝向散热间隙101的至少一端部。即沿散热间隙101的长度方向，至少部分第一扰动件171位于其中一端部，且朝向散热间隙101，而非其凸出方向沿散热间隙101的长度方向。如此，利用散热间隙101，便于将第一扰动件171产生的气流通过散热间隙101进行引导而形成定向气流，减少紊流的产生以提高散热效果。
可以理解的是，至少部分第一扰动件171也可以位于其两个端部之间，此处不作具体限定。
至少部分扰动结构170设于第一光学组件160可以有多种方式。在一种方式中，如图6所示，第一光学组件160还可以包括用于安装第一光学元件110的安装件161，安装件161与第一驱动器120传动连接；至少部分第一扰动件171凸出安装件161设置。其中，至少部分第一扰动件171可以通过设置于安装件161(如可拆卸连接)或形成于安装件161，并随安装件161转动。如此，使得第一扰动件171可以通过多种结构形状和连接方式设置于安装件161上，二者的组装更加灵活。
可选地，第一扰动件171可以为安装件161上的凸起结构。或者，也可以为安装于安装件161的扇叶。
在另一种方式中，如图5及图6所示，第一光学组件160可以包括相互连接的配重件162和第一光学元件110，至少部分扰动结构170可以设置于配重件162。如此，利用配重件162保证第一光学元件110的平稳转动的同时，可以进行散热，以提高扫描模组100的精度。其中，配重件162可以为由铝材质或钢材质制备，以实现轻质化的同时，有利于产生较大的扰动气流。
当然了，一些实施例中，第一扰动件171可以设置于配重件162上。
可选地，配重件162的横截面的宽度尺寸沿第一光学组件160的转动轴线的方向发生变化，以形成至少部分扰动结构170。如此，在第一光学组件160旋转时，能够通过配重件162的形状变化来形成扰动结构170，以减少扰动结构170的装配步骤，提高扫描模组100的组装效率。
如图5及图6所示，一些实施例中，配重件162的横截面的宽度尺寸沿第一光学组件160的转动轴线的方向逐渐缩小，以形成扰动结构170。如此，便于形成楔形状的扰动结构170，以产生定向扰动气流，便于在容纳腔151内形成内外交互的气流，以提高测距装置10的散热效率。其中，配重件162的横截面的宽度尺寸的减小方向与扰动气流在测距装置10内的流动方向相同。
至少部分扰动结构170除设于第一光学组件160外，还可以设于其它结构。如图6所示，一些实施例中，扫描模组100还包括连接组件180，连接组件180与安装件161分别设于第一光学元件110的两端，第一光学元件110通过连接组件180与外壳150转动连接。如此，利用连接组件180与安装件161的配合使得第一光学元件110可靠地转动连接于外壳150上，并通过安装件161带动进行转动，有利于提高第一光学元件110的转动精度。
一示例中，连接组件180包括与外壳150连接的连接件以及与第一光学组件160连接的第一转动件181，至少部分扰动结构170设置于第一转动件181。其中，连接件与第一转动件181之间可以通过轴承连接，以减少转动过程的摩擦。其中，第一转动件181可以包括转轴。
如此，从上述可知，至少部分第一扰动件171可以设置于安装件161的上方。其中，在设置于安装件161的上方时，除了如上所述的设于第一转动件181之外，还可以设置于配重件162的上方。如此，利用第一扰动件171能够对安装件161下方的第一驱动器120、发射器210、探测器220等进行散热，以提高测距装置10的散热效果。
其中，第一扰动件171包括至少一个第一扇叶102。如此，利用至少一个第一扇叶102来形成第一扰动件171，能够提高第一扰动件171产生气流的流量，以产生更大的负压吸力或正压送风能力。具体的，该第一扇叶102包括诸如轴流风机的扇叶结构、涡轮的扇叶结构。当然，第一扰动件171也可以不限于扇叶结构，能够产生扰动气流即可，此处不做具体限定。
在上述实施例的基础上，如图7所示，一些实施例中，测距装置10还可以包括传动机构190，扰动结构170包括第二扰动件172，第二扰动件172通过传动机构190与第一驱动器120连接。也即，扰动结构170可以包括第一扰动件171与第二扰动件172，第一扰动件171可以经由第一光学组件160与第一驱动器120连接，而第二扰动件172则直接经由传动机构190与第一驱动器120连接。如此，利用传动机构190可以灵活设置第二扰动件172，以对热敏感部位或容易过热的部位进行散热。同时，可以充分利用扫描模组100的空间去设置第二扰动件172，使得扫描模组100的结构更加紧凑。
在一种方式中，如图7所示，第二扰动件172可以设置于容纳腔151内。如此，通过将至少部分扰动结构170设于容置腔内，可以利于该至少部分扰动结构170免受不利环境因素的影响，如灰尘、水，而增加该至少部分扰动结构170的使用寿命。具体的，传动机构190可以包括主动轮191及从动轮192，第一驱动器120与主动轮191传动连接，主动轮191带动从动轮192转动，从动轮192带动第二扰动件172在容纳腔151内转动。如此，利用主动轮191与从动轮192的配合，使得第二扰动件172与第一驱动器120之间的间距可以灵活调整，以减少干涉；同时可以灵活设置第二扰动件172。
需要说明的是，主动轮191可以通过多种方式带动从动轮192主动，如利用皮带、链条、履带、齿轮传动组件等传动件带动从动轮192转动；或者，主动轮191为主动齿轮，从动轮192为与主动齿轮相啮合的从动齿轮。当然，在其它实施例中，该传动机构190还可以包括传动轴等能够间接带动第二扰动件172转动的传动结构。同时，第二扰动件172的具体设置位置亦可有多种选择，如，第二扰动件172可转动设置于外壳150内壁上，进而可以将第二扰动件172安装到外壳150上。
其中，第二扰动件172可转动设置于容纳腔151的底部或顶部，以能够为容纳腔151的整个空间提供散热气流，并对外壳150以及设置于外壳150内的元件进行充分散热。
在另一种方式中，第二扰动件172也可以设于容置腔外(也即外壳150外)，以实现对测距装置10的外壁进行主动散热，并便于维修或更换。具体的，如图8所示，第二扰动件172可转动设置于外壳150的侧壁，并设置于容纳腔151外。其中，传动机构190可以包括与第一光学组件160传动连接的第二转动件193，第二转动件193部分设置于容纳腔151外，并与第二扰动件172传动连接，该第二转动件193可以为转轴，且可以通过轴承与外壳150的顶部连接，以减少转动摩擦。
可以理解的是，该传动机构190还可以以齿轮传动、皮带传动、链条传动等方式，将第二扰动件172灵活设置于外壳150的外部。
在上述任一包含有第二扰动件172的实施例的基础上，如图8所示，第二扰动件172可以包括至少一个第二扇叶103。如此，利用至少一个第二扇叶103来形成第二扰动件172，能够提高第二扰动件172产生气流的流量，以产生更大的负压吸力或正压送风能力。其中，该第二扇叶103包括轴流风机的扇叶结构、涡轮的扇叶结构。当然，第二扰动件172也可以不限于扇叶结构，能够产生扰动气流即可，此处不做具体限定。
通过上述可知，可以至少利用以下几种组合同步实现对测距装置10的内部与外部进行散热：利用一传动机构190将至少一第二扰动件172设置外壳150的外部，同时利用另一传动机构190将另一第二扰动件172设置于容纳腔151内。或者，也可以利用第二转动件193将第二扰动件172设置外壳150外部，同时利用第一光学组件160将第一扰动件171设置于容纳腔151内(如图9所示)。
进一步的，如图9至图11所示，一些实施例中，扫描模组100还包括至少一 个第二光学组件(未标注)，至少一个第二光学组件的转动方向与第一光学组件160的转动方向相同。如此，利用第一光学组件160和第二光学组件的组合，可以形成更多的折射方案，从而将准直光束投射至外界空间不同的方向，实现较大的空间范围的扫描，且不会由于与第一光学组件160的转动方向的不同而造成的扰动气流的紊乱。
一些实施例中，第一光学组件160与第二光学组件可以由同一个驱动器驱动，如第一驱动器120，从而可以较好地实现第一光学组件160与第二光学组件的转动同步性。
可选地，第二光学组件包括第二光学元件130，且第二光学元件130与第一光学元件110之间具有多种组合关系，包括但不限于如图9至图11所示。
如图9至图11所示，在另一些实施例中，扫描模组100还包括至少一个第二驱动器140，至少一个第二驱动器140用于驱动至少一个第二光学组件转动。如此，利用第二驱动器140来驱动第二光学组件转动，而利用第一驱动器120来驱动第一光学组件160转动，使得二者的转速可以灵活控制。
可以理解，在扫描模组100还包括至少一个第二驱动器140时，至少部分扰动结构170还可以与第二驱动器140相配合，以被第二驱动器140驱动而转动，并对扫描模组100进行散热。如此，还可以在第二光学组件上设置部分扰动结构170，进而形成两个扰动气流发生部位，进一步提高扫描模组100的散热效果。
需要说明的是，第一驱动器120可以为电机，第一光学组件160与第一驱动器120的位置关系不限于上下叠置的方式，也即，如图11所示的实施例中，第一驱动器120包括固设于外壳150内的定子部件以及动子部件，第一光学组件160可以设置于第一动子部分内。如此，能够充分利用第一驱动器120的内部空间，有利于扫描模组100小型化发展。当然，在一些应用场景中，通过上下叠置的方式，有利于第一光学元件110在转动过程中，实现对水平360度的扫描，以避免第一驱动器120对第一光学元件110的光线出射方向或光线入射方向的遮挡。
可以理解，无论第一光学元件110是否置于第一驱动器120内，在一些实施例中，第一驱动器120的内部空间均可以形成光路通道，便于光脉冲序列的传输。
图11所示的实施例中，第二驱动器140包括固设于外壳150内的第二定子部件141以及与第二定子部件141磁激励配合的第二动子部件142；第二光学组件包括第二光学元件130，第二光学元件130设置于第二动子部分内。如此，能够充分利用 第二驱动器140的内部空间实现第二光学元件130的转动，有利于扫描模组100小型化发展。同时，有利于第二光学元件130与第一光学元件110之间直接形成光学路径，以使扫描模组100的结构更加紧凑，进而有利于缩小扫描模组100的体积。
可以理解的是，如至少部分扰动结构170与第一驱动器120的配合，部分扰动结构170也可以利用传动结构将第二驱动器140的动力传递该部分扰动结构170，以实现扰动结构170的转动而产生扰动气流。
如图12所示的实施例中，提供一种移动平台，包括本体30以及上述任一实施例中的测距装置10，测距装置10设置于本体30，以辅助移动平台进行避障移动或自动导航。图12以移动平台为无人飞行器为例进行说明，该平台本体30为无人飞行器的机身。
本申请的移动平台，可以利用本申请的测距装置10用于探测移动平台的周围环境信息(如，环境目标的距离信息、方位信息、反射强度信息、速度信息等)，以便于移动平台进一步依据周围的环境进行避障、自动导航等操作，和对外部环境进行二维或三维的测绘。当移动平台需要长时间使用时，由于本申请的测距装置10的散热性能好，有利于保证检测精度，使得移动平台的自动导航性能或避障性能更加可靠，进而能够提高移动平台的安全性能。
在某些实施方式中，移动平台还可以包括汽车、遥控车、机器人或相机。当测距装置10应用于汽车时，本体30为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置10应用于遥控车时，本体30为遥控车的车身。当测距装置10应用于机器人时，本体30为机器人的机身。当测距装置10应用于相机时，本体30为相机的本身。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特 征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”、“设置于”、“固设于”或“安设于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
以上对本申请实施例所提供装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (72)

  1. 一种扫描模组，用于测距装置，其特征在于，包括：
    外壳，所述外壳设有容纳腔；
    第一光学组件，设置于所述容纳腔内；
    第一驱动器，用于驱动所述第一光学组件转动；及
    扰动结构，至少部分所述扰动结构与所述第一驱动器相配合，以被所述第一驱动器驱动而转动，并对所述扫描模组进行散热。
  2. 根据权利要求1所述的扫描模组，其特征在于，至少部分所述扰动结构设置于所述容纳腔内。
  3. 根据权利要求2所述的扫描模组，其特征在于，所述外壳还设有与所述容纳腔相通的进气孔以及出气孔。
  4. 根据权利要求3所述的扫描模组，其特征在于，所述进气孔与所述出气孔沿所述第一光学组件的转动轴线的方向间隔设置。
  5. 根据权利要求3所述的扫描模组，其特征在于，所述容纳腔包括散热通道，所述进气孔通过所述散热通道与所述出气孔连通。
  6. 根据权利要求5所述的扫描模组，其特征在于，至少部分所述第一驱动器设置于所述散热通道内。
  7. 根据权利要求3所述的扫描模组，其特征在于，所述扫描模组包括防水透气膜，所述防水透气膜覆盖所述进气孔和所述出气孔。
  8. 根据权利要求1所述的扫描模组，其特征在于，所述第一光学组件与所述外壳的内壁形成散热空间，至少部分所述扰动结构设置于所述散热空间内。
  9. 根据权利要求8所述的扫描模组，其特征在于，所述扰动结构包括设置于所述第一光学组件的第一扰动件，以使所述第一扰动件能够随所述第一光学组件转动。
  10. 根据权利要求9所述的扫描模组，其特征在于，所述第一扰动件随所述第一光学组件转动时能够产生正压气流，所述第一驱动器设置于所述正压气流的气流方向上。
  11. 根据权利要求9所述的扫描模组，其特征在于，所述散热空间包括通过所述第一光学组件的外周侧与所述外壳的内侧壁间隔设置形成的散热间隙，至少部分所述第一扰动件凸出所述第一光学组件设置，且所述第一扰动件的凸出方向朝向所述散热间隙。
  12. 根据权利要求9所述的扫描模组，其特征在于，所述第一光学组件包括第一光学元件，所述第一扰动件与所述第一光学元件错开设置。
  13. 根据权利要求12所述的扫描模组，其特征在于，所述第一光学组件还包括用于安装所述第一光学元件的安装件，所述安装件与所述第一驱动器传动连接；至少部分所述第一扰动件凸出所述安装件设置。
  14. 根据权利要求13所述的扫描模组，其特征在于，至少部分所述第一扰动件设置于所述安装件。
  15. 根据权利要求13所述的扫描模组，其特征在于，至少部分所述第一扰动件设置于所述安装件的上方。
  16. 根据权利要求15所述的扫描模组，其特征在于，所述扫描模组还包括连接组件，所述连接组件与所述安装件分别设于所述第一光学元件的两端，所述第一光学元件通过所述连接组件与所述外壳转动连接。
  17. 根据权利要求16所述的扫描模组，其特征在于，所述连接组件包括第一转动件，至少部分所述扰动结构设置于所述第一转动件。
  18. 根据权利要求9所述的扫描模组，其特征在于，所述第一扰动件包括至少一个第一扇叶。
  19. 根据权利要求1所述的扫描模组，其特征在于，所述第一光学组件包括相互连接的配重件和第一光学元件，至少部分所述扰动结构设置于述配重件。
  20. 根据权利要求19所述的扫描模组，其特征在于，所述配重件的横截面的宽度尺寸沿所述第一光学组件的转动轴线的方向发生变化，以形成至少部分所述扰动结构。
  21. 根据权利要求19所述的扫描模组，其特征在于，所述配重件的横截面的宽度尺寸沿所述第一光学组件的转动轴线的方向逐渐缩小，以形成至少部分所述扰动结构。
  22. 根据权利要求19所述的扫描模组，其特征在于，所述配重件的材质为铝材质或钢材质。
  23. 根据权利要求1所述的扫描模组，其特征在于，所述第一驱动器包括固设于所述外壳内的定子部件以及动子部件；所述第一光学组件设置于所述第一动子部分内。
  24. 根据权利要求1所述的扫描模组，其特征在于，所述第一光学组件与所述第一驱动器上下叠置。
  25. 根据权利要求1至24任一项所述的扫描模组，其特征在于，所述扫描模组还包括传动机构，所述扰动结构包括第二扰动件，所述第二扰动件通过所述传动机构与所述第一驱动器连接。
  26. 根据权利要求25所述的扫描模组，其特征在于，所述第二扰动件设置于所述容纳腔内。
  27. 根据权利要求26所述的扫描模组，其特征在于，所述传动机构包括主动轮及从动轮，所述第一驱动器与所述主动轮传动连接，所述主动轮带动所述从动轮转动，所述从动轮带动所述第二扰动件在所述容纳腔内转动。
  28. 根据权利要求26所述的扫描模组，其特征在于，所述第二扰动件可转动设置于所述外壳内壁上。
  29. 根据权利要求26所述的扫描模组，其特征在于，所述第二扰动件可转动设置于所述容纳腔的底部或顶部。
  30. 根据权利要求25述的扫描模组，其特征在于，所述第二扰动件可转动设置于所述外壳的侧壁，并设置于所述容纳腔外。
  31. 根据权利要求30所述的扫描模组，其特征在于，所述传动机构包括与所述第一光学组件传动连接的第二转动件，所述第二转动件部分设置于所述容纳腔外，并与所述第二扰动件传动连接。
  32. 根据权利要求25所述的扫描模组，其特征在于，所述第二扰动件包括至少一个第二扇叶。
  33. 根据权利要求1至24任一项所述的扫描模组，其特征在于，所述扫描模组还包括至少一个第二光学组件，所述至少一个第二光学组件的转动方向与所述第一光学组件的转动方向相同。
  34. 根据权利要求33所述的扫描模组，其特征在于，所述扫描模组还包括至少一个第二驱动器，所述至少一个第二驱动器用于驱动所述至少一个第二光学组件转动。
  35. 根据权利要求34所述的扫描模组，其特征在于，至少部分扰动结构与所述第二驱动器配合，以被所述第二驱动器驱动而转动，并对所述扫描模组进行散热。
  36. 一种测距装置，其特征在于，包括：
    扫描模组，所述扫描模组包括外壳、第一光学组件、第一驱动器和扰动结构，所述外壳设有容纳腔，所述第一光学组件设于所述容纳腔内，所述第一驱动器用于驱动所述第一光学组件转动，至少部分所述扰动结构与所述第一驱动器配合，以被所述第一驱动器驱动而转动，并对所述测距装置进行散热；
    测距模组，所述测距模组用于向所述扫描模组发射光脉冲序列，所述扫描模组用于改变所述光脉冲序列的传输方向后出射，经探测物反射回的光脉冲序列经过所述扫描模组后入射至所述测距模组，所述测距模组用于根据反射回的光脉冲序列确定所述探测物与所述测距装置之间的距离。
  37. 根据权利要求36所述的测距装置，其特征在于，至少部分所述扰动结构设置 于所述容纳腔内。
  38. 根据权利要求37所述的测距装置，其特征在于，所述测距模组包括容置发射器以及探测器的内腔，所述内腔与所述容纳腔连通。
  39. 根据权利要求38所述的测距装置，其特征在于，所述容纳腔与所述内腔中的一者设有进气孔，另一者设有出气孔。
  40. 根据权利要求39所述的测距装置，其特征在于，所述容纳腔与所述内腔配合形成散热通道，所述进气孔通过所述散热通道与所述出气孔连通。
  41. 根据权利要求40所述的测距装置，其特征在于，所述进气孔与所述出气孔沿所述第一光学组件的转动轴线的方向间隔设置。
  42. 根据权利要求40所述的测距装置，其特征在于，所述至少部分第一驱动器靠近所述散热通道设置；和/或，
    至少部分所述发射器和/或至少部分所述探测器靠近所述散热通道设置。
  43. 根据权利要求39所述的测距装置，其特征在于，所述测距装置包括防水透气膜，所述防水透气膜覆盖所述进气孔和所述出气孔。
  44. 根据权利要求36所述的测距装置，其特征在于，所述第一光学组件与所述外壳的内壁形成散热空间，至少部分所述扰动结构设置于所述散热空间内。
  45. 根据权利要求44所述的测距装置，其特征在于，所述扰动结构包括设置于所述第一光学组件的第一扰动件，以使所述第一扰动件能够随所述第一光学组件转动。
  46. 根据权利要求45所述的测距装置，其特征在于，所述第一扰动件随所述第一光学组件转动时能够产生正压气流，所述第一驱动器设置于所述正压气流的气流方向上。
  47. 根据权利要求45所述的测距装置，其特征在于，所述散热空间包括通过所述第一光学组件的外周侧与所述外壳的内侧壁间隔设置形成的散热间隙，至少部分所述第一扰动件凸出所述第一光学组件设置，且所述第一扰动件的凸出方向朝向所述散热间隙。
  48. 根据权利要求45所述的测距装置，其特征在于，所述第一光学组件包括第一光学元件，所述第一扰动件与所述第一光学元件错开设置。
  49. 根据权利要求48所述的测距装置，其特征在于，所述第一光学组件还包括用于安装所述第一光学元件的安装件，所述安装件与所述第一驱动器传动连接；至少部分所述第一扰动件凸出所述安装件设置。
  50. 根据权利要求49所述的测距装置，其特征在于，至少部分所述第一扰动件设 置于所述安装件。
  51. 根据权利要求49所述的测距装置，其特征在于，至少部分所述第一扰动件设置于所述安装件的上方。
  52. 根据权利要求51所述的测距装置，其特征在于，所述扫描模组还包括连接组件，所述连接组件与所述安装件分别设于所述第一光学元件的两端，所述第一光学元件通过所述连接组件与所述外壳转动连接。
  53. 根据权利要求52所述的测距装置，其特征在于，所述连接组件包括第一转动件，至少部分所述扰动结构设置于所述第一转动件。
  54. 根据权利要求45所述的测距装置，其特征在于，所述第一扰动件包括至少一个第一扇叶。
  55. 根据权利要求36所述的测距装置，其特征在于，所述第一光学组件包括相互连接的配重件和第一光学元件，至少部分所述扰动结构设置于述配重件。
  56. 根据权利要求55所述的测距装置，其特征在于，所述配重件的横截面的宽度尺寸沿所述第一光学组件的转动轴线的方向发生变化，以形成至少部分所述扰动结构。
  57. 根据权利要求55所述的测距装置，其特征在于，所述配重件的横截面的宽度尺寸沿所述第一光学组件的转动轴线的方向逐渐缩小，以形成至少部分所述扰动结构。
  58. 根据权利要求55所述的测距装置，其特征在于，所述配重件的材质为铝材质或钢材质。
  59. 根据权利要求36所述的测距装置，其特征在于，所述第一驱动器包括固设于所述外壳内的定子部件以及动子部件；所述第一光学组件设置于所述第一动子部分内。
  60. 根据权利要求36所述的测距装置，其特征在于，所述第一光学组件与所述第一驱动器上下叠置。
  61. 根据权利要求36至60任一项所述的测距装置，其特征在于，所述扫描模组还包括传动机构，所述扰动结构包括第二扰动件，所述第二扰动件通过所述传动机构与所述第一驱动器连接。
  62. 根据权利要求61所述的测距装置，其特征在于，所述第二扰动件设置于所述容纳腔内。
  63. 根据权利要求62所述的测距装置，其特征在于，所述传动机构包括主动轮及从动轮，所述第一驱动器与所述主动轮传动连接，所述主动轮带动所述从动轮转动，所述从动轮带动所述第二扰动件在所述容纳腔内转动。
  64. 根据权利要求62所述的测距装置，其特征在于，所述第二扰动件可转动设置 于所述外壳内壁上。
  65. 根据权利要求62所述的测距装置，其特征在于，所述第二扰动件可转动设置于所述容纳腔的底部或顶部。
  66. 根据权利要求61述的扫描模组，其特征在于，所述第二扰动件可转动设置于所述外壳的侧壁，并设置于所述容纳腔外。
  67. 根据权利要求66所述的测距装置，其特征在于，所述传动机构包括与所述第一光学组件传动连接的第二转动件，所述第二转动件部分设置于所述容纳腔外，并与所述第二扰动件传动连接。
  68. 根据权利要求66所述的测距装置，其特征在于，所述第二扰动件包括至少一个第二扇叶。
  69. 根据权利要求36至60任一项所述的测距装置，其特征在于，所述扫描模组还包括至少一个第二光学组件，所述至少一个第二光学组件的转动方向与所述第一光学组件的转动方向相同。
  70. 根据权利要求69所述的测距装置，其特征在于，所述扫描模组还包括至少一个第二驱动器，所述至少一个第二驱动器用于驱动所述至少一个第二光学组件转动。
  71. 根据权利要求70所述的测距装置，其特征在于，至少部分扰动结构与所述第二驱动器配合，以被所述第二驱动器驱动而转动，并对所述扫描模组进行散热。
  72. 一种移动平台，其特征在于，包括本体以及权利要求36至71任一项所述的测距装置，所述测距装置设置于本体。
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