WO2022141347A1

WO2022141347A1 - Laser measurement device and movable platform

Info

Publication number: WO2022141347A1
Application number: PCT/CN2020/141966
Authority: WO
Inventors: 张泽政; 王栗; 黄淮; 刘祥
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2022-07-07
Also published as: CN114930184A

Abstract

A laser measurement device (100) and a movable platform (1000). The laser measurement device (100) comprises a housing (10) provided with a first cavity (101) and a second cavity (102), a blocking structure (20), and a first light source unit (31) and a light receiving module (50) which are located in the first cavity (101), and a second light source unit (32) and a light shape changing element (41) which are located in the second cavity (102). The housing (10) and the blocking structure (20) block the propagation of at least some of the light rays between two chambers.

Description

激光测量装置及可移动平台Laser measuring device and movable platform

技术领域technical field

本申请涉及激光测距领域，特别涉及一种激光测量装置及可移动平台。The present application relates to the field of laser ranging, and in particular, to a laser measuring device and a movable platform.

背景技术Background technique

激光测量装置，例如激光雷达，采用的是飞行时间技术来进行测距。具体地，激光测量装置通过向探测物发射脉冲激光，并根据计算发射脉冲激光与接收被探测物反射回的脉冲激光之间的时间差来测量激光测量装置与探测物之间的距离。然而，在使用激光测量装置测量近处的探测物时，被探测物反射的脉冲信号容易与被激光测量装置内部结构反射的脉冲信号产生重叠，导致难以准确测量近处探测物，导致测量盲区。Laser measurement devices, such as lidar, use time-of-flight technology for ranging. Specifically, the laser measuring device measures the distance between the laser measuring device and the probe by emitting pulsed laser light to the probe and calculating the time difference between transmitting the pulsed laser and receiving the pulsed laser reflected back by the probe. However, when a laser measuring device is used to measure a near probe, the pulse signal reflected by the probe easily overlaps with the pulse signal reflected by the internal structure of the laser measuring device, which makes it difficult to accurately measure the near probe, resulting in a measurement blind spot.

发明内容SUMMARY OF THE INVENTION

本申请的实施方式提供了一种激光测量装置及可移动平台。Embodiments of the present application provide a laser measurement device and a movable platform.

本申请实施方式提供一种激光测量装置。所述激光测量装置包括壳体、阻隔结构、第一光源单元、第二光源单元、光型改变元件及光接收模组。所述壳体设有第一腔与第二腔，所述阻隔结构设于所述壳体内，所述阻隔结构用于阻挡至少部分光线在所述第一腔与所述第二腔之间传播。所述第一光源单元位于所述第一腔内，所述第一光源单元用于发射第一激光脉冲。所述第二光源单元位于所述第二腔内，所述第二光源单元用于发射第二激光脉冲。所述光型改变元件位于所述第二腔内，所述光型改变元件位于所述第二光源单元的光路上，用于将来自所述第二光源单元的所述第二激光脉冲进行扩散。所述光接收模组位于所述第一腔内，所述光接收模组能够接收经探测物反射的所述第一激光脉冲或所述第二激光脉冲。Embodiments of the present application provide a laser measurement device. The laser measuring device includes a casing, a blocking structure, a first light source unit, a second light source unit, a light type changing element and a light receiving module. The casing is provided with a first cavity and a second cavity, and the blocking structure is arranged in the casing, and the blocking structure is used to block at least part of the light from propagating between the first cavity and the second cavity . The first light source unit is located in the first cavity, and the first light source unit is used for emitting a first laser pulse. The second light source unit is located in the second cavity, and the second light source unit is used for emitting a second laser pulse. The light pattern changing element is located in the second cavity, the light pattern changing element is located on the optical path of the second light source unit, and is used for diffusing the second laser pulse from the second light source unit . The light receiving module is located in the first cavity, and the light receiving module can receive the first laser pulse or the second laser pulse reflected by the detection object.

本申请实施方式还提供一种激光测量装置。所述激光测量装置包括壳体、阻隔结构、第一光源单元、第二光源单元及探测器。所述壳体设有第一腔与第二腔，所述阻隔结构设于所述壳体内，所述阻隔结构用于阻挡至少部分光线在所述第一腔与所述第二腔之间传播。所述第一光源单元位于所述第一腔内，所述第一光源单元用于发射第一激光脉冲。所述第二光源单元位于所述第二腔内，所述第二光源单元用于发射第二激光脉冲。所述探测器位于所述第一腔内，所述探测器能够接收经探测物反射的经相同光学元件传输回的所述第一激光脉冲或所述第二激光脉冲。Embodiments of the present application also provide a laser measurement device. The laser measuring device includes a casing, a blocking structure, a first light source unit, a second light source unit and a detector. The casing is provided with a first cavity and a second cavity, and the blocking structure is arranged in the casing, and the blocking structure is used to block at least part of the light from propagating between the first cavity and the second cavity . The first light source unit is located in the first cavity, and the first light source unit is used for emitting a first laser pulse. The second light source unit is located in the second cavity, and the second light source unit is used for emitting a second laser pulse. The detector is located in the first cavity, and the detector is capable of receiving the first laser pulse or the second laser pulse reflected by the probe and transmitted back through the same optical element.

本申请实施方式还提供一种可移动平台。所述移动平台包括可移动平台本体及上述任意一项实施例所述的激光测量装置。所述激光测量装置安装于所述可移动平台本体。The embodiments of the present application also provide a movable platform. The mobile platform includes a movable platform body and the laser measuring device described in any one of the above embodiments. The laser measuring device is mounted on the movable platform body.

本申请实施例中的激光测量装置及可移动平台，通过将第二光源单元与光接收模组设置在不同的腔室内，并且阻隔结构能够阻挡至少部分光线在两个腔室之间传播，如此使得发射第二激光脉冲的路径与接收第二激光脉冲的路径不一致，从而采用第二光源单元与光接收模组配合测量距离时，能够避免被探测物反射的脉冲信号与被激光测量装置内部结构反射的脉冲信号产生重叠，有利于提高激光测量装置测量近处探测物时测量的精确度，避免测量盲区的产生。进一步的，通过设置两个光源单元，可以配合实现对不同距离的探测物的探测，有利于提高探测的距离范围。For the laser measuring device and the movable platform in the embodiments of the present application, the second light source unit and the light receiving module are arranged in different chambers, and the blocking structure can block at least part of the light from propagating between the two chambers, so that The path of transmitting the second laser pulse is inconsistent with the path of receiving the second laser pulse, so that when the second light source unit and the light receiving module are used to measure the distance, the pulse signal reflected by the detected object and the internal structure of the laser measuring device can be avoided. The reflected pulse signals overlap, which is beneficial to improve the measurement accuracy of the laser measuring device when measuring the nearby detection object, and avoid the generation of measurement blind spots. Further, by arranging two light source units, the detection of detection objects at different distances can be realized in cooperation, which is beneficial to improve the detection distance range.

本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。Additional aspects and advantages of embodiments of the present application will be set forth, in part, in the following description, and in part will be apparent from the following description, or learned by practice of embodiments of the present application.

附图说明Description of drawings

本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

图1是本申请实施方式的一种激光测量装置的结构示意图；1 is a schematic structural diagram of a laser measuring device according to an embodiment of the present application;

图2是本申请实施方式的又一种激光测量装置的结构示意图；2 is a schematic structural diagram of another laser measuring device according to an embodiment of the present application;

图3是本申请实施方式的一种激光测量装置的光路示意图；3 is a schematic diagram of an optical path of a laser measuring device according to an embodiment of the present application;

图4是本申请实施方式的又一种激光测量装置的光路示意图；4 is a schematic diagram of an optical path of another laser measuring device according to an embodiment of the present application;

图5是本申请实施方式的又一种激光测量装置的光路示意图；5 is a schematic diagram of an optical path of another laser measuring device according to an embodiment of the present application;

图6是本申请实施方式的又一种激光测量装置的结构示意图；6 is a schematic structural diagram of another laser measuring device according to an embodiment of the present application;

图7是本申请实施方式的一种可移动平台的结构示意图。FIG. 7 is a schematic structural diagram of a movable platform according to an embodiment of the present application.

具体实施方式Detailed ways

以下结合附图对本申请的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。The embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions throughout the drawings.

另外，下面结合附图描述的本申请的实施方式是示例性的，仅用于解释本申请的实施方式，而不能理解为对本申请的限制。In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary, only used to explain the embodiments of the present application, and should not be construed as limitations on the present application.

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。In this application, unless otherwise expressly stated and defined, 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. Also, 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.

请参阅图1，本申请实施例提供一种激光测量装置100。激光测量装置100包括壳体10、阻隔结构20、第一光源单元31、第二光源单元32、光型改变元件42及光接收模组50。壳体10设有第一腔101与第二腔102，阻隔结构20设于壳体10内，阻隔结构20用于阻挡至少部分光线在第一腔101与第二腔102之间传播。第一光源单元31位于第一腔101内，第一光源单元31用于发射第一激光脉冲。第二光源单元32位于第二腔102内，第二光源单元32用于发射第二激光脉冲。光型改变元件42位于第二腔102内，光型改变元件42位于第二光源单元32的光路上，用于将来自第二光源单元32的第二激光脉冲进行扩散。光接收模组50位于第一腔101内，光接收模组50能够接收经探测物反射的第一激光脉冲或第二激光脉冲。Referring to FIG. 1 , an embodiment of the present application provides a laser measurement device 100 . The laser measuring device 100 includes a housing 10, a blocking structure 20, a first light source unit 31, a second light source unit 32, a light pattern changing element 42, and a light receiving module 50. The casing 10 is provided with a first cavity 101 and a second cavity 102 , and a blocking structure 20 is provided in the casing 10 , and the blocking structure 20 is used to block at least part of the light from propagating between the first cavity 101 and the second cavity 102 . The first light source unit 31 is located in the first cavity 101, and the first light source unit 31 is used for emitting the first laser pulse. The second light source unit 32 is located in the second cavity 102, and the second light source unit 32 is used for emitting the second laser pulse. The light pattern changing element 42 is located in the second cavity 102 , and the light pattern changing element 42 is located on the optical path of the second light source unit 32 for diffusing the second laser pulse from the second light source unit 32 . The light receiving module 50 is located in the first cavity 101 , and the light receiving module 50 can receive the first laser pulse or the second laser pulse reflected by the detected object.

请参阅图1，本申请实施例还提供一种激光测量装置100。激光测量装置100包括壳体10、阻隔结构20、第一光源单元31、第二光源单元32及探测器51。壳体10设有第一腔101与第二腔102，阻隔结构20设于壳体10内，阻隔结构20用于阻挡至少部分光线在第一腔101与第二腔102之间传播。第一光源单元31位于第一腔101内，第一光源单元31用于发射第一激光脉冲。第二光源单元32位于第二腔102内，第二光源单元32用于发射第二激光脉冲。探测器51位于第一腔101内，探测器51能够接收经探测物反射的经相同光学元件61传输回的第一激光脉冲或第二激光脉冲。Referring to FIG. 1 , an embodiment of the present application further provides a laser measurement device 100 . The laser measuring device 100 includes a casing 10 , a blocking structure 20 , a first light source unit 31 , a second light source unit 32 and a detector 51 . The casing 10 is provided with a first cavity 101 and a second cavity 102 , and a blocking structure 20 is provided in the casing 10 , and the blocking structure 20 is used to block at least part of the light from propagating between the first cavity 101 and the second cavity 102 . The first light source unit 31 is located in the first cavity 101, and the first light source unit 31 is used for emitting the first laser pulse. The second light source unit 32 is located in the second cavity 102, and the second light source unit 32 is used for emitting the second laser pulse. The detector 51 is located in the first cavity 101 , and the detector 51 can receive the first laser pulse or the second laser pulse reflected by the probe and transmitted back through the same optical element 61 .

现有的激光测量装置，例如激光雷达，采用的是飞行时间技术来进行测距。具体地，激光测量装置通过向探测物发射脉冲激光，并根据计算发射脉冲激光与接收被探测物反射回的脉冲激光之间的时间差来测量激光测量装置与探测物之间的距离。然而，在使用激光测量装置测量近处的探测物时，被探测物反射的脉冲信号容易与被激光测量装置内部结构反射的脉冲信号产生重叠，导致难以准确测量近处探测物，导致测量盲区。Existing laser measurement devices, such as lidar, use time-of-flight technology for ranging. Specifically, the laser measuring device measures the distance between the laser measuring device and the probe by emitting pulsed laser light to the probe and calculating the time difference between transmitting the pulsed laser and receiving the pulsed laser reflected back by the probe. However, when a laser measuring device is used to measure a near probe, the pulse signal reflected by the probe easily overlaps with the pulse signal reflected by the internal structure of the laser measuring device, which makes it difficult to accurately measure the near probe, resulting in a measurement blind spot.

本申请实施例中的激光测量装置100通过将第二光源单元32与光接收模组50中的探测器51设置在不同的腔室内，并且阻隔结构20能够阻挡至少部分光线在两个腔室之间传播，如此使得发射第二激光脉冲的路径与接收第二激光脉冲的路径不一致，从而采用第二光源单元32与光接收模组50配合测量距离时，能够避免被探测物反射的脉冲信号与被激光测量装置100内部结构反射的脉冲信号产生重叠，有利于提高激光测量装置100测量近处探测物时测量的精确度，避免测量盲区的产生。进一步的，通过设置两个光源单元，可以配合实现对不同距离的探测物的探测，有利于提高探测的距离范围。In the laser measuring device 100 in the embodiment of the present application, the second light source unit 32 and the detector 51 in the light receiving module 50 are arranged in different chambers, and the blocking structure 20 can block at least part of the light between the two chambers. so that the path of transmitting the second laser pulse is inconsistent with the path of receiving the second laser pulse, so that when the second light source unit 32 and the light receiving module 50 are used to measure the distance, the pulse signal reflected by the detected object can be prevented from being correlated with The pulse signals reflected by the internal structure of the laser measuring device 100 are overlapped, which is beneficial to improve the measurement accuracy of the laser measuring device 100 when measuring the nearby detection object, and avoid the occurrence of measurement blind spots. Further, by arranging two light source units, the detection of detection objects at different distances can be realized in cooperation, which is beneficial to improve the detection distance range.

下面结合附图做进一步说明。Further description will be given below in conjunction with the accompanying drawings.

请参阅图1，激光测量装置100包括壳体10、阻隔结构20、第一光源单元31、第二光源单元32、光型改变元件42及光接收模组50。阻隔结构20、第一光源单元31、第二光源单元32、光型改变元件42及光接收模组50均设置在壳体10内。Referring to FIG. 1 , the laser measuring device 100 includes a casing 10 , a blocking structure 20 , a first light source unit 31 , a second light source unit 32 , a light pattern changing element 42 and a light receiving module 50 . The blocking structure 20 , the first light source unit 31 , the second light source unit 32 , the light pattern changing element 42 and the light receiving module 50 are all disposed in the casing 10 .

具体地，请继续参阅图1，壳体10包括第一腔101及第二腔102。第一光源单元31及光接收模组50均位于壳体10的第一腔101内，第二光源单元32及光型改变元件42均位于壳体10的第二腔102内。需要说明的是，壳体10的周壁均由透光材料制成，如此设置在壳体10内的光源发射的激光脉冲能够穿过壳体10的周壁到达外界，外界的激光脉冲也能够穿过壳体10的周壁到达壳体10内部的光接收模组50。Specifically, please continue to refer to FIG. 1 , the housing 10 includes a first cavity 101 and a second cavity 102 . The first light source unit 31 and the light receiving module 50 are located in the first cavity 101 of the casing 10 , and the second light source unit 32 and the light type changing element 42 are located in the second cavity 102 of the casing 10 . It should be noted that the peripheral wall of the casing 10 is made of light-transmitting materials, so that the laser pulse emitted by the light source disposed in the casing 10 can pass through the peripheral wall of the casing 10 to the outside, and the external laser pulse can also pass through The peripheral wall of the casing 10 reaches the light receiving module 50 inside the casing 10 .

在一些实施例中，壳体10为一体结构；当然，在一些实施例中，壳体10也可以是分体结构。示例地，请参阅图1，壳体10包括分体的第一壳11及第二壳12，第一壳11具有开放侧111，第二壳12具有开放侧121。In some embodiments, the housing 10 is an integral structure; of course, in some embodiments, the housing 10 may also be a separate structure. For example, referring to FIG. 1 , the casing 10 includes a first casing 11 and a second casing 12 which are separated. The first casing 11 has an open side 111 and the second casing 12 has an open side 121 .

请参阅图1，阻隔结构20设于壳体10内，阻隔结构20用于阻挡至少部分光线在第一腔101与第二腔102之间传播。具体地，在一个例子中，请结合图2，阻隔结构20包括设置在壳体10内侧并位于第一腔101及第二腔102之间的阻隔板21，阻隔板21阻挡第一腔101内的至少部分光线进入第二腔102，及阻挡第二腔102内的至少部分光线进入第二腔102。如此能够避免第一光源单元31发射的第一激光脉冲射入第二腔102内，误将第二腔102内元器件反射回的第一激光脉冲当作外界探测物反射回的激光脉冲；同时避免第二光源单元32发射的第二激光脉冲射入第一腔101内，误将第一腔101内元器件反射回的第二激光脉冲当作外界探测物反射回的激光脉冲，从而提高激光测量装置100的测量精确度。Please refer to FIG. 1 , the blocking structure 20 is disposed in the casing 10 , and the blocking structure 20 is used to block at least part of the light from propagating between the first cavity 101 and the second cavity 102 . Specifically, in an example, referring to FIG. 2 , the blocking structure 20 includes a blocking plate 21 disposed inside the casing 10 and located between the first cavity 101 and the second cavity 102 , and the blocking plate 21 blocks the interior of the first cavity 101 . At least part of the light in the second cavity 102 enters the second cavity 102 , and at least part of the light in the second cavity 102 is blocked from entering the second cavity 102 . In this way, the first laser pulse emitted by the first light source unit 31 can be prevented from being injected into the second cavity 102, and the first laser pulse reflected back by the components in the second cavity 102 can be mistakenly regarded as the laser pulse reflected back by the external detection object; The second laser pulse emitted by the second light source unit 32 is prevented from being injected into the first cavity 101, and the second laser pulse reflected back by the components in the first cavity 101 is mistakenly regarded as the laser pulse reflected back by the external detection object, so as to improve the laser efficiency. The measurement accuracy of the measurement device 100 .

请参阅图1，第一光源单元31位于壳体10的第一腔101内，第一光源单元31用于发射第一激光脉冲。在一些实施例中，第一光源单元31发射的第一激光脉冲包括单线激光脉冲。具体地，如图1所示，第一光源单元31包括单个第一子光源311，第一子光源311用于发射单线激光脉冲。由于第一激光脉冲为单线激光脉冲，如此能够降低激光测量装置100的成本、及降低用于后续处理接收到的激光脉冲的***的硬件难度。在一些实施例中，第一光源单元32发射的第一激光脉冲包括多线激光脉冲。具体地，第一光源单元31包括多个第一子光源311，多个第一子光源311共同用于发射多线激光脉冲。由于第一激光脉冲为多线激光脉冲，如此能够提高测量装置100的测量精确度。Referring to FIG. 1 , the first light source unit 31 is located in the first cavity 101 of the housing 10 , and the first light source unit 31 is used for emitting first laser pulses. In some embodiments, the first laser pulses emitted by the first light source unit 31 include single-line laser pulses. Specifically, as shown in FIG. 1 , the first light source unit 31 includes a single first sub-light source 311 , and the first sub-light source 311 is used for emitting a single-line laser pulse. Since the first laser pulse is a single-line laser pulse, the cost of the laser measuring device 100 can be reduced, and the hardware difficulty of the system for subsequent processing of the received laser pulse can be reduced. In some embodiments, the first laser pulses emitted by the first light source unit 32 comprise multi-line laser pulses. Specifically, the first light source unit 31 includes a plurality of first sub-light sources 311, and the plurality of first sub-light sources 311 are jointly used for emitting multi-line laser pulses. Since the first laser pulse is a multi-line laser pulse, the measurement accuracy of the measurement device 100 can be improved in this way.

请参阅图1，第二光源单元32位于壳体10的第二腔102内，第二光源单元32用于发射第二激光脉冲。需要说明的是，在一些实施例中，第一光源单元31与第二光源单元32分时工作，如此能够避免第一光源单元31发射的第二激光脉冲与第二光源单元32发射的第二激光脉冲相互干扰。Referring to FIG. 1 , the second light source unit 32 is located in the second cavity 102 of the housing 10 , and the second light source unit 32 is used for emitting second laser pulses. It should be noted that, in some embodiments, the first light source unit 31 and the second light source unit 32 work in a time-sharing manner, so that the second laser pulse emitted by the first light source unit 31 and the second laser pulse emitted by the second light source unit 32 can be avoided. The laser pulses interfere with each other.

在一些实施例中，第二光源单元32发射的第二激光脉冲包括单线激光脉冲。具体地，如图1所示，第二光源单元32包括单个第二子光源321，第二子光源321用于发射单线激光脉冲。由于第二激光脉冲为单线激光脉冲，如此能够降低激光测量装置100的成本、及降低用于后续处理接收到的激光脉冲的***的硬件难度。在一些实施例中，第一光源单元32发射的第二激光脉冲包括多线激光脉冲。具体地，第二光源单元32包括多个第二子光源321，多个第二子光源321共同用于发射多线激光脉冲。由于第二激光脉冲为多线激光脉冲，如此能够提高测量装置100的测量精确度。In some embodiments, the second laser pulses emitted by the second light source unit 32 comprise single-line laser pulses. Specifically, as shown in FIG. 1 , the second light source unit 32 includes a single second sub-light source 321, and the second sub-light source 321 is used for emitting a single-line laser pulse. Since the second laser pulse is a single-line laser pulse, the cost of the laser measuring device 100 can be reduced, and the hardware difficulty of the system for subsequent processing of the received laser pulse can be reduced. In some embodiments, the second laser pulses emitted by the first light source unit 32 comprise multi-line laser pulses. Specifically, the second light source unit 32 includes a plurality of second sub-light sources 321, and the plurality of second sub-light sources 321 are jointly used for emitting multi-line laser pulses. Since the second laser pulse is a multi-line laser pulse, the measurement accuracy of the measurement device 100 can be improved in this way.

其中，第一光源单元31对应的探测距离范围不同于第二光源单元32对应的探测距离范围，例如，第一光源单元31对应的探测距离范围可以涵盖第二光源单元32对应的探测距离范围。如此，第一光源单元31用于远处物体探测，第二光源单元32用于近处物体探测。The detection distance range corresponding to the first light source unit 31 is different from the detection distance range corresponding to the second light source unit 32 . In this way, the first light source unit 31 is used for distant object detection, and the second light source unit 32 is used for near object detection.

进一步的，在第一光源单元31与第二光源单元32分时发射时，若两者共用光接收模组50时，也可以分时接收两者对应的探测物反射回的激光脉冲，以避免相互间的干扰，并分别对远处和近处物体进行测量。Further, when the first light source unit 31 and the second light source unit 32 transmit in a time-sharing manner, if the two share the light receiving module 50, they can also receive the laser pulses reflected back by their corresponding probes in a time-sharing manner to avoid interfere with each other, and measure distant and near objects separately.

请继续参阅图1、图3至图5，在一些实施例中，激光测量装置100还可包括扫描单元60，扫描单元60位于第一腔101内，并且扫描单元60位于第一光源单元31的光路上，用于将来自第一光源单元31的第一激光脉冲改变至不同传输方向并出射。具体地，扫描单元60包括至少一个光学元件61，光学元件61中的至少部分能够转动，以在不同时刻将第一激光脉冲反射、折射或衍射至不同方向。如此，能够扩大第一光源单元31发射的第一激光脉冲出射的范围，及扩大接收经过探测物反射的第一激光脉冲和第二激光脉冲入射的范围，从而扩大激光测量装置100的测量范围。需要说明是的，光学元件61的数量可以是1个、2个、3个或者更多，能够转动的光学元件61的数量也可以是1个、2个、3个或者更多，甚至扫描单元60中的所有光学元件61均可以转动，在此不作限制。另外，光学元件61包括但不限于透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵中的至少一种。Please continue to refer to FIG. 1 , FIG. 3 to FIG. 5 , in some embodiments, the laser measurement device 100 may further include a scanning unit 60 , the scanning unit 60 is located in the first cavity 101 , and the scanning unit 60 is located in the first light source unit 31 . On the optical path, the first laser pulses from the first light source unit 31 are changed to different transmission directions and emitted. Specifically, the scanning unit 60 includes at least one optical element 61, and at least part of the optical element 61 can be rotated to reflect, refract or diffract the first laser pulse to different directions at different times. In this way, the output range of the first laser pulse emitted by the first light source unit 31 can be expanded, and the range of receiving the first laser pulse and the second laser pulse reflected by the probe can be expanded, thereby expanding the measurement range of the laser measuring device 100 . It should be noted that the number of optical elements 61 can be 1, 2, 3 or more, and the number of rotatable optical elements 61 can also be 1, 2, 3 or more, and even scanning units All optical elements 61 in 60 can be rotated, which is not limited here. In addition, the optical element 61 includes, but is not limited to, at least one of lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, and optical phased arrays.

请继续参阅图1，在一些实施例中，激光测量装置100还可包括至少一个第一驱动器71，第一驱动器71与光学元件61连接，用于驱动连接的光学元件61转动。具体地，第一驱动器71包括第一定子711及第一转子712。第一转子712能够转动地安装在第一定子711上，光学元件61安装于第一转子712，当第一转子712转动时能够带动与其连接的光学元件61转动，以在不同时刻将第一激光脉冲反射、折射或衍射至不同方向，从而扩大第一光源单元31发射的第一激光脉冲出射的范围。需要说明的是，在一些实施例中，光学元件61安装在第一转子712内，如此有利于第一转子712更好的带动光学元件61平稳的转动。此外，激光测量装置100中第一驱动器71的数量可以与光学元件61的数量相同，第一驱动器71的数量也可以小于光学元件61的数量，在此不作限制。Please continue to refer to FIG. 1 , in some embodiments, the laser measuring device 100 may further include at least one first driver 71 , the first driver 71 is connected with the optical element 61 and used for driving the connected optical element 61 to rotate. Specifically, the first driver 71 includes a first stator 711 and a first rotor 712 . The first rotor 712 is rotatably mounted on the first stator 711, and the optical element 61 is mounted on the first rotor 712. When the first rotor 712 rotates, it can drive the optical element 61 connected to it to rotate, so as to rotate the first rotor 712 at different times. The laser pulses are reflected, refracted or diffracted to different directions, so as to expand the emission range of the first laser pulses emitted by the first light source unit 31 . It should be noted that, in some embodiments, the optical element 61 is installed in the first rotor 712, so that the first rotor 712 can better drive the optical element 61 to rotate smoothly. In addition, the number of the first drivers 71 in the laser measuring device 100 may be the same as the number of the optical elements 61 , and the number of the first drivers 71 may also be smaller than the number of the optical elements 61 , which is not limited herein.

请参阅图1，在一些实施例中，激光测量装置100还可包括第一反射单元81，第一反射单元81位于第一腔101内，第一反射单元81位于扫描单元60的光路上。第一反射单元81能够转动，用于反射经过第一反射单元81的第一激光脉冲及第二激光脉冲。示例地，第一激光脉冲穿过扫描单元60入射至第一反射单元81后，再由第一反射单元81反射至壳体10外；或者，经过探测物反射的第一激光脉冲入射至第一反射单元81后，再由第一反射单元81反射至光接收模组50；再或者，经过探测物反射的第二激光脉冲入射至第一反射单元81后，再由第一反射单元81反射至光接收模组50。由于第一反射单元81能够转动，如此可以使第一激光脉冲沿环绕激光测量装置100周壁方向向壳体10外发射，同时也能够使在激光测量装置100四周且经过探测物反射的第一激光脉冲及第二激光脉冲由第一反射单元31反射进光接收模组50内，即，使得激光测量装置100能够测量其周壁各个方向的探测物到激光测量装置100的距离。需要说明的是，第一反射单元81包括平面反射镜或反射棱镜，在此不作限制。Referring to FIG. 1 , in some embodiments, the laser measurement device 100 may further include a first reflection unit 81 , the first reflection unit 81 is located in the first cavity 101 , and the first reflection unit 81 is located on the optical path of the scanning unit 60 . The first reflection unit 81 can be rotated for reflecting the first laser pulse and the second laser pulse passing through the first reflection unit 81 . For example, after the first laser pulse passes through the scanning unit 60 and is incident on the first reflection unit 81, it is then reflected by the first reflection unit 81 to the outside of the housing 10; or, the first laser pulse reflected by the probe is incident on the first After the reflection unit 81, it is reflected by the first reflection unit 81 to the light receiving module 50; or, after the second laser pulse reflected by the detection object is incident on the first reflection unit 81, it is then reflected by the first reflection unit 81 to the light receiving module 50. Light receiving module 50 . Since the first reflection unit 81 can be rotated, the first laser pulse can be emitted to the outside of the casing 10 in the direction surrounding the peripheral wall of the laser measuring device 100 , and at the same time, the first laser pulses around the laser measuring device 100 and reflected by the probe can be emitted. The pulses and the second laser pulses are reflected by the first reflection unit 31 into the light receiving module 50 , that is, the laser measuring device 100 can measure the distances from the probes in all directions of the peripheral wall to the laser measuring device 100 . It should be noted that the first reflection unit 81 includes a flat reflection mirror or a reflection prism, which is not limited herein.

请继续参阅图1，在一些实施例中，第一反射单元81包括反射棱镜。具体地，第一反射单元81包括第一反射棱镜811及第一配重件812。第一反射棱镜811包括第一反射面8111，第一反射面8111用于反射经过第一反射单元81的激光脉冲。在一些实施例中，第一反射面8111上镀有高反射膜，如此有利于提高第一反射单元81反射激光脉冲的反射效率。Please continue to refer to FIG. 1 , in some embodiments, the first reflection unit 81 includes a reflection prism. Specifically, the first reflection unit 81 includes a first reflection prism 811 and a first counterweight 812 . The first reflecting prism 811 includes a first reflecting surface 8111 , and the first reflecting surface 8111 is used for reflecting the laser pulses passing through the first reflecting unit 81 . In some embodiments, the first reflection surface 8111 is coated with a high reflection film, which is beneficial to improve the reflection efficiency of the laser pulse reflected by the first reflection unit 81 .

第一配重件812用于在第一反射单元81的转动过程中平衡第一反射单元81。示例地，第一配重件812包括第一结合面8121，第一结合面8121与第一反射面8111结合，以使第一配重件812与第一反射棱镜811连接。例如，第一结合面8121与第一反射面8111胶合，以连接第一配重件812及第一反射棱镜811。The first counterweight 812 is used to balance the first reflection unit 81 during the rotation of the first reflection unit 81 . For example, the first weight member 812 includes a first joint surface 8121 , and the first joint surface 8121 is combined with the first reflection surface 8111 , so that the first weight member 812 is connected with the first reflection prism 811 . For example, the first bonding surface 8121 is glued with the first reflecting surface 8111 to connect the first weight member 812 and the first reflecting prism 811 .

在一些实施例中，第一配重件812与第一反射棱镜811结合以使第一反射单元81呈轴对称结构，第一反射单元81的转动轴与第一反射单元81的对称轴一致，如此能够使第一反射单元81平稳转动。例如，请参阅图1，第一配重件812的密度与第一反射棱镜811的密度相同，第一配重件812与第一反射棱镜811结合以使第一反射单元81呈轴对称结构，且第一反射单元81能够绕其对称轴转动，具体的，第一配重件812与第一反射棱镜811可以分别为三角体。当然，在第一配重件812的密度与第一反射棱镜811的密度不相同时，第一反射单元81也可以不是轴对称结构，在此不作限制，只需要满足第一反射单元81转动轴四周各个方向上的质量均相等，即可实现第一反射单元81平稳转动。In some embodiments, the first counterweight 812 is combined with the first reflection prism 811 to make the first reflection unit 81 an axisymmetric structure, and the rotation axis of the first reflection unit 81 is consistent with the symmetry axis of the first reflection unit 81 , In this way, the first reflection unit 81 can be rotated smoothly. For example, referring to FIG. 1 , the density of the first counterweight 812 is the same as that of the first reflection prism 811 , and the first counterweight 812 is combined with the first reflection prism 811 to make the first reflection unit 81 an axisymmetric structure, In addition, the first reflection unit 81 can rotate around its symmetry axis. Specifically, the first counterweight 812 and the first reflection prism 811 can be respectively triangular bodies. Of course, when the density of the first counterweight 812 is different from the density of the first reflection prism 811, the first reflection unit 81 may not have an axis-symmetric structure, which is not limited here, and only needs to satisfy the rotational axis of the first reflection unit 81. If the masses in all directions are equal, the first reflection unit 81 can be rotated smoothly.

可以理解，在实际应用中，在第一配重件812的密度与第一反射棱镜811的密度不相同，但形状与尺寸基本一致时，第一配重件812还可以设有配重物，如胶状物，以平衡第二反射棱镜811。It can be understood that, in practical applications, when the density of the first counterweight 812 is different from that of the first reflecting prism 811, but the shape and size are basically the same, the first counterweight 812 may also be provided with a counterweight, Such as gel, to balance the second reflecting prism 811 .

请参阅图3至图5，激光测量装置100还可包括准直元件41，准直元件41设置在第一光源单元31的出光光路上，用于准直从第一光源单元31发出的激光光束，即，对第一光源单元31发出的激光脉冲准直，并将来自第一光源单元31的激光脉冲准直后投射至扫描单元60。准直元件41位于第一光源单元31与扫描单元60之间。准直元件41还用于会聚经探测物反射、并经过扫描单元60传输回的第一激光脉冲或第二激光脉冲的至少一部分至探测器51。准直元件41可以是准直透镜或者是其他能够准直光束的元件。在一个实施例中，准直元件41上镀有增透膜，能够增加透射激光脉冲的强度。Please refer to FIG. 3 to FIG. 5 , the laser measuring device 100 may further include a collimating element 41 , and the collimating element 41 is disposed on the light exit light path of the first light source unit 31 for collimating the laser beam emitted from the first light source unit 31 That is, the laser pulses emitted by the first light source unit 31 are collimated, and the laser pulses from the first light source unit 31 are collimated and projected to the scanning unit 60 . The collimating element 41 is located between the first light source unit 31 and the scanning unit 60 . The collimating element 41 is also used to converge at least a part of the first laser pulse or the second laser pulse reflected by the probe and transmitted back through the scanning unit 60 to the detector 51. The collimating element 41 may be a collimating lens or other elements capable of collimating light beams. In one embodiment, the collimating element 41 is coated with an anti-reflection coating, which can increase the intensity of the transmitted laser pulse.

请参阅图1，光接收模组50位于壳体10的第一腔101内，光接收模组50能够接收经探测物发射的第一激光脉冲或第二激光脉冲。由于第二光源单元32发射的第二激光脉冲由壳体10的第二腔102射出至探测物，经过探测物后第二激光脉冲进入壳体10的第一腔101并入射至光接收模组50，并且阻隔结构20能够阻挡至少部分光线在第一腔101与第二腔102之间传播，如此使得发射第二激光脉冲的路径与接收第二激光脉冲的路径不一致，从而采用第二光源单元32与光接收模组50配合测量距离时，能够避免被探测物反射的脉冲信号与被激光测量装置100内部结构反射的脉冲信号产生重叠，有利于提高激光测量装置100测量近处探测物时测量的精确度，避免测量盲区的产生。Please refer to FIG. 1 , the light receiving module 50 is located in the first cavity 101 of the casing 10 , and the light receiving module 50 can receive the first laser pulse or the second laser pulse emitted by the detected object. Since the second laser pulse emitted by the second light source unit 32 is emitted from the second cavity 102 of the housing 10 to the detection object, after passing through the detection object, the second laser pulse enters the first cavity 101 of the housing 10 and is incident on the light receiving module 50, and the blocking structure 20 can block at least part of the light from propagating between the first cavity 101 and the second cavity 102, so that the path for transmitting the second laser pulse is inconsistent with the path for receiving the second laser pulse, so that the second light source unit is used 32 When measuring the distance in cooperation with the light receiving module 50, the pulse signal reflected by the detected object can be prevented from overlapping with the pulse signal reflected by the internal structure of the laser measuring device 100, which is beneficial to improve the measurement when the laser measuring device 100 measures the nearby detected object. Accuracy to avoid measurement blind spots.

请参阅图2，在一些实施例中，光接收模组50可包括两个探测器51，两个探测器51分别用于接收探测物反射的第一激光脉冲及经探测物反射的第二激光脉冲。具体地，光接收模组50包括两个探测器51，其中一个探测器51用于接收第一探测物反射的第一激光脉冲，另一个探测器51用于接收第二探测物反射的第二激光脉冲。由于光接收模组50设置两个探测器51分别接收探测物反射的第一激光脉冲及探测物反射的第二激光脉冲，相较于采用一个探测器51接收探测物反射的第一激光脉冲及探测物反射的第二激光脉冲，设置两个探测器51无需将由不同方位发射的激光脉冲调整至经反射后能回到相同位置，从而降低激光测量装置100的设计难度。需要说明的是，第一探测物与第二探测物可以是不同时刻的同一探测物，也可以是不同的探测物，下文中所提及的第一探测物与第二探测物也是如此，不再赘述。Referring to FIG. 2 , in some embodiments, the light receiving module 50 may include two detectors 51 , and the two detectors 51 are respectively configured to receive the first laser pulse reflected by the detected object and the second laser light reflected by the detected object pulse. Specifically, the light receiving module 50 includes two detectors 51, wherein one detector 51 is used for receiving the first laser pulse reflected by the first detection object, and the other detector 51 is used for receiving the second laser pulse reflected by the second detection object. laser pulse. Since the light receiving module 50 is provided with two detectors 51 to respectively receive the first laser pulse reflected by the detected object and the second laser pulse reflected by the detected object, compared with using one detector 51 to receive the first laser pulse reflected by the detected object and For the second laser pulse reflected by the probe, two detectors 51 do not need to adjust the laser pulses emitted from different directions to return to the same position after being reflected, thereby reducing the design difficulty of the laser measuring device 100 . It should be noted that the first probe and the second probe may be the same probe at different times, or they may be different probes. The same is true for the first probe and the second probe mentioned below. Repeat.

可以理解，在光接收模组50包括两个探测器时，第一光源单元31与第二光源单元32也可以不进行分时发射，但需要避免由激光测量100内部结构发射回的第一激光脉冲对用于接收由探测物反射的第二激光脉冲的探测器的干扰。It can be understood that when the light receiving module 50 includes two detectors, the first light source unit 31 and the second light source unit 32 may not perform time-division emission, but it is necessary to avoid the first laser light emitted by the internal structure of the laser measurement 100. The interference of the pulses to the detector for receiving the second laser pulse reflected by the probe.

请参阅图1，在一些实施例中，光接收模组50包括一个探测器51，探测器51用于接收探测物反射的第一激光脉冲或第二激光脉冲。具体地，光接收模组50包括一个探测器51，探测器51用于接收第一探测物反射的第一激光脉冲，或接收第二探测物发射的第二激光脉冲。由于光接收模组50仅设置一个探测器51接收探测物反射的第一激光脉冲或第二激光脉冲，相较于设置两个探测器51分别接收第一激光脉冲及第二激光脉冲，能够减小激光测量装置100的尺寸及质量，同时降低成本。Referring to FIG. 1 , in some embodiments, the light receiving module 50 includes a detector 51 , and the detector 51 is configured to receive the first laser pulse or the second laser pulse reflected by the detected object. Specifically, the light receiving module 50 includes a detector 51, and the detector 51 is configured to receive the first laser pulse reflected by the first probe, or receive the second laser pulse emitted by the second probe. Since only one detector 51 is provided in the light receiving module 50 to receive the first laser pulse or the second laser pulse reflected by the detected object, compared with setting two detectors 51 to receive the first laser pulse and the second laser pulse respectively, it is possible to reduce the Small size and quality of laser measuring device 100 while reducing cost.

示例地，当光接收模组50仅包括一个探测器51时，即一个探测器51分时接收第一激光脉冲及第二激光脉冲，在一些实施例中，如图3所示，第一光源单元31的发光光轴与探测器51的收光光轴平行。此时，第一光源单元31发出的第一激光脉冲经过准直元件41准直后进入扫描单元60，扫描单元60将第一激光脉冲改变至不同传输方向并出射至第一反射单元81，第一反射单元81反射激光脉冲至壳体10外部的探测物，经探测物反射的第一激光脉冲进入第一腔101后经过第一反射单元81反射并依次经过扫描单元60和准直元件41后直接入射至探测器51。如此，通过共用光接收模组50，可以采用同一套主控对信号进行处理，降低***的复杂程度，使***结构紧凑、成本低。For example, when the light receiving module 50 includes only one detector 51 , that is, one detector 51 receives the first laser pulse and the second laser pulse at different times, in some embodiments, as shown in FIG. 3 , the first light source The light-emitting optical axis of the unit 31 is parallel to the light-receiving optical axis of the detector 51 . At this time, the first laser pulses emitted by the first light source unit 31 are collimated by the collimating element 41 and then enter the scanning unit 60. The scanning unit 60 changes the first laser pulses to different transmission directions and emits them to the first reflecting unit 81. A reflection unit 81 reflects the laser pulse to the detection object outside the housing 10 . The first laser pulse reflected by the detection object enters the first cavity 101 and is reflected by the first reflection unit 81 and passes through the scanning unit 60 and the collimating element 41 in sequence. directly incident on the detector 51 . In this way, by sharing the light receiving module 50, the same set of master control can be used to process the signal, thereby reducing the complexity of the system, making the system compact in structure and low in cost.

请参阅图4所示，在一些实施例中，第一光源单元31的发光光轴与探测器51的收光光轴呈夹角，此时，激光测量装置100还可包括光路改变元件90。光路改变元件90设置在第一光源单元31的出光光路上，用于将第一光源单元31的出光光路和探测器51的收光光路合并。具体地，光路改变元件90位于准直元件41的与扫描单元60相背的一侧。光路改变元件90可以为反射镜或半反半透镜。在一个例子中，光路改变元件90为小反射镜，能够将第一光源单元31发出的激光光束的光路方向改变90度或其他角度。探测器51与第一光源单元31放置于准直元件41的同一侧。一个示例中，探测器51与准直元件41正对。可以理解，扫描单元60可以将光脉冲序列在不同时刻改变至不同传输方向出射，经探测物反射回的光脉冲经过扫描单元60后可入射至探测器51，而探测器51可用于将穿过准直元件41的第一激光脉冲或第二激光脉冲至少部分回光转换为电信号，电信号具体可以为电脉冲，探测器51还可基于电脉冲确定探测物与激光测量装置100之间的距离。激光测量装置100工作时，第一光源单元31发出激光脉冲，该激光脉冲经光路改变元件90后被准直元件41准直，准直后的激光脉冲被扫描单元60改变传输方向后出射至第一反射单元80，再由第一反射单元80反射出壳体10外并投射到探测物上，经探测物反射回的第一激光脉冲或第二激光脉冲经过第一反射单元80反射至扫描单元60后，至少一部分的回光被准直元件41会聚到探测器51上。探测器51将穿过准直元件41的至少部分回光转换为电信号脉冲以测量距离。Referring to FIG. 4 , in some embodiments, the light-emitting optical axis of the first light source unit 31 and the light-receiving optical axis of the detector 51 form an included angle. In this case, the laser measuring device 100 may further include an optical path changing element 90 . The light path changing element 90 is disposed on the light output light path of the first light source unit 31 , and is used for combining the light output light path of the first light source unit 31 and the light receiving light path of the detector 51 . Specifically, the optical path changing element 90 is located on the side of the collimating element 41 opposite to the scanning unit 60 . The optical path changing element 90 may be a mirror or a half mirror. In one example, the optical path changing element 90 is a small reflecting mirror, which can change the optical path direction of the laser beam emitted by the first light source unit 31 by 90 degrees or other angles. The detector 51 is placed on the same side of the collimating element 41 as the first light source unit 31 . In one example, the detector 51 is directly opposite the collimating element 41 . It can be understood that the scanning unit 60 can change the light pulse sequence to different transmission directions at different times, and the light pulses reflected by the detected object can be incident on the detector 51 after passing through the scanning unit 60, and the detector 51 can be used to At least part of the first laser pulse or the second laser pulse of the collimating element 41 is converted back into an electrical signal, and the electrical signal may be an electrical pulse. The detector 51 can also determine the distance between the detected object and the laser measuring device 100 based on the electrical pulse. distance. When the laser measuring device 100 is in operation, the first light source unit 31 emits a laser pulse, the laser pulse is collimated by the collimating element 41 after passing through the optical path changing element 90, and the collimated laser pulse is changed by the scanning unit 60 and then exits to the first light source. A reflection unit 80 is reflected by the first reflection unit 80 out of the casing 10 and projected onto the detection object, and the first laser pulse or second laser pulse reflected by the detection object is reflected by the first reflection unit 80 to the scanning unit After 60 , at least a portion of the returned light is condensed onto the detector 51 by the collimating element 41 . The detector 51 converts at least part of the return light passing through the collimating element 41 into electrical signal pulses to measure the distance.

请参阅图5所示，在一些实施例中，第一光源单元31的发光光轴与探测器51的收光光轴呈夹角，激光测量装置100还可包括光路改变元件90。光路改变元件90设置在第一光源单元31的出光光路上并位于准直元件41与第一光源单元31之间，用于透过第一光源单元31发出的第一激光脉冲至准直元件41、及反射至少一部分的来自准直元件41的第一激光脉冲或第二激光脉冲至探测器51。具体地，光路改变元件90为大反射镜，该大反射镜包括反射面91，且该大反射镜的中间位置开设有通光孔。探测器51与第一光源单元31仍旧放置于准直元件41的同一侧，第一光源单元31与准直元件41正对，探测器51与反射面91相对，光路改变元件90位于第一光源单元31与准直元件41之间。激光测量模组100工作时，第一光源单元31发出第一激光脉冲，第一激光脉冲从光路改变元件90的通光孔穿过后被准直元件41准直，准直后的第一激光脉冲被扫描单元60改变传输方向后出射至第一反射单元80，再由第一反射单元80反射出壳体10外并投射到探测物上，经探测物反射回的第一激光脉冲或第二激光脉冲经过第一反射单元80反射至扫描单元60后，至少一部分的回光被准直元件41会聚到光路改变元件90的反射面91上，反射面91将该至少一部分的回光反射至探测器51上，探测器51将该被反射的至少部分回光转换为电信号脉冲，激光测量模组100通过该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，激光测量模组100可以利用脉冲接收时间信息和脉冲发出时间信息计算飞行时间，从而确定探测物到激光测量模组100的距离。本实施方式中，光路改变元件90的尺寸较大，能够覆盖第一光源单元31的整个视场范围，回光被光路改变元件90直接反射至探测器51，避免了光路改变元件90本身对回光光路的遮挡，增加了探测器51能够探测到回光的强度，提高了测距精度。Referring to FIG. 5 , in some embodiments, the light-emitting optical axis of the first light source unit 31 and the light-receiving optical axis of the detector 51 form an included angle, and the laser measurement device 100 may further include an optical path changing element 90 . The light path changing element 90 is disposed on the light exit light path of the first light source unit 31 and between the collimating element 41 and the first light source unit 31 , and is used for transmitting the first laser pulses emitted by the first light source unit 31 to the collimating element 41 , and reflect at least a portion of the first laser pulse or the second laser pulse from the collimating element 41 to the detector 51 . Specifically, the optical path changing element 90 is a large reflecting mirror, the large reflecting mirror includes a reflecting surface 91, and a light-passing hole is opened in the middle position of the large reflecting mirror. The detector 51 and the first light source unit 31 are still placed on the same side of the collimating element 41 , the first light source unit 31 is facing the collimating element 41 , the detector 51 is facing the reflective surface 91 , and the optical path changing element 90 is located at the first light source between the unit 31 and the collimation element 41 . When the laser measurement module 100 is working, the first light source unit 31 emits a first laser pulse, and the first laser pulse passes through the light-passing hole of the optical path changing element 90 and is collimated by the collimating element 41, and the collimated first laser pulse After the scanning unit 60 changes the transmission direction, it is emitted to the first reflection unit 80, and then reflected by the first reflection unit 80 out of the housing 10 and projected onto the detection object, the first laser pulse or the second laser reflected back by the detection object After the pulse is reflected by the first reflecting unit 80 to the scanning unit 60, at least a part of the returning light is collected by the collimating element 41 onto the reflecting surface 91 of the optical path changing element 90, and the reflecting surface 91 reflects the at least a part of the returning light to the detector. 51, the detector 51 converts at least part of the reflected back light into an electrical signal pulse, and the laser measurement module 100 determines the laser pulse receiving time by the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the laser measurement module 100 can use the pulse receiving time information and the pulse sending time information to calculate the flight time, so as to determine the distance from the probe to the laser measurement module 100 . In this embodiment, the size of the light path changing element 90 is relatively large, which can cover the entire field of view of the first light source unit 31 , and the returning light is directly reflected by the light path changing element 90 to the detector 51 , avoiding the return of the light path changing element 90 itself. The shielding of the optical path increases the intensity of the returning light that can be detected by the detector 51 and improves the ranging accuracy.

请参阅图1，光型改变元件42包括但不限于光学扩散片及凹透镜中的至少一个，在此不做限制。具体地，光型改变元件42位于第二腔102内，并且光型改变元件42位于第二光源单元32的光路上。光型改变元件42用于将来自第二光源单元32的第二激光脉冲进行扩散，诸如扩散为圆形、方形、环形等形状，如此能够扩大激光测量模组100的测量精度。Please refer to FIG. 1 , the light type changing element 42 includes but is not limited to at least one of an optical diffuser and a concave lens, which is not limited herein. Specifically, the light type changing element 42 is located in the second cavity 102 , and the light type changing element 42 is located on the optical path of the second light source unit 32 . The light pattern changing element 42 is used for diffusing the second laser pulse from the second light source unit 32 , such as diffusing into a circle, a square, a ring, etc., so that the measurement accuracy of the laser measurement module 100 can be enlarged.

进一步的，第二光源单元32用于近距离的探测物的探测，第一光源单元31用于远距离的探测物的探测。其中，实现较远的测距时，需要发射的激光脉冲的方向性比较好，就需要发射准直，接收聚焦，则需要额外的扫描单元60；而实现较近的测距时，上述针对发射与接收的要求相对较低，则可以不需要额外的扫描单元60。因此，在第二光源单元32的光路上设置光型改变元件42，相较于在第二光源单元32的光路上设置扫描单元60来对第二激光脉冲进行扩散，能够降低激光测量模组100的复杂度，及减少激光测量模组100的制作成本。Further, the second light source unit 32 is used for detecting a short-range probe, and the first light source unit 31 is used for detecting a long-distance probe. Among them, when the distance measurement is realized, the directionality of the laser pulse to be transmitted is relatively good, and the emission collimation needs to be transmitted, and the receiving focus needs an additional scanning unit 60; With relatively low requirements for reception, the additional scanning unit 60 may not be required. Therefore, disposing the light pattern changing element 42 on the optical path of the second light source unit 32 can reduce the laser measurement module 100 compared to disposing the scanning unit 60 on the optical path of the second light source unit 32 to diffuse the second laser pulses. complexity, and reduce the manufacturing cost of the laser measurement module 100.

请继续参阅图1，在一些实施例中，激光测量装置100还可包括能够转动的第二反射单元82，第二反射单元82位于第二腔102内，光型改变元件42位于第二光源单元32与第二反射单元82之间，第二反射单元82用于将经光改型元件42扩散的第二激光脉冲反射至第二腔102外。示例地，第二激光脉冲穿过光改型元件42入射至第二反射单元82后，再由第二反射单元82反射至壳体10外，由于第二反射单元82能够转动，如此可以使第二激光脉冲沿环绕激光测量装置100周壁方向向壳体10外发射，即，使得激光测量装置100能够测量其周壁各个方向的探测物到激光测量装置100的距离。需要说明的是，第二反射单元82包括平面反射镜或反射棱镜，在此不作限制。Please continue to refer to FIG. 1 , in some embodiments, the laser measurement device 100 may further include a second rotatable reflection unit 82 , the second reflection unit 82 is located in the second cavity 102 , and the light pattern changing element 42 is located in the second light source unit 32 and the second reflection unit 82 , the second reflection unit 82 is used to reflect the second laser pulse diffused by the light modification element 42 to the outside of the second cavity 102 . For example, after the second laser pulse passes through the light modification element 42 and is incident on the second reflection unit 82, the second reflection unit 82 is then reflected to the outside of the housing 10. Since the second reflection unit 82 can rotate, it can make the second reflection unit 82 rotate. The two laser pulses are emitted out of the casing 10 along the direction surrounding the peripheral wall of the laser measuring device 100 , that is, the laser measuring device 100 can measure the distances from the probes in all directions of the peripheral wall to the laser measuring device 100 . It should be noted that the second reflection unit 82 includes a flat reflection mirror or a reflection prism, which is not limited herein.

请继续参阅图1，在一些实施例中，第二反射单元82包括反射棱镜。具体地，第二反射单元82包括第二反射棱镜821及第二配重件822。第二反射棱镜821包括第二反射面8211，第二反射面8211用于反射经过第二反射单元82的激光脉冲。在一些实施例中，第二反射面8211上镀有高反射膜，如此有利于提高第二反射单元82反射激光脉冲的反射效率。Please continue to refer to FIG. 1 , in some embodiments, the second reflecting unit 82 includes a reflecting prism. Specifically, the second reflection unit 82 includes a second reflection prism 821 and a second counterweight 822. The second reflection prism 821 includes a second reflection surface 8211 for reflecting the laser pulse passing through the second reflection unit 82 . In some embodiments, the second reflection surface 8211 is coated with a high reflection film, which is beneficial to improve the reflection efficiency of the laser pulse reflected by the second reflection unit 82 .

第二配重件822用于在第二反射单元82的转动过程中平衡第二反射单元82。示例地，第二配重件822包括第二结合面8221，第二结合面8221与第二反射面8211结合，以使第二配重件822与第二反射棱镜821连接。例如，第二结合面8221与第二反射面8211胶合，以连接第二配重件822及第二反射棱镜821。The second counterweight 822 is used to balance the second reflection unit 82 during the rotation of the second reflection unit 82 . For example, the second weight member 822 includes a second joint surface 8221 , and the second joint surface 8221 is combined with the second reflection surface 8211 , so that the second weight member 822 is connected with the second reflection prism 821 . For example, the second bonding surface 8221 is glued with the second reflecting surface 8211 to connect the second weight member 822 and the second reflecting prism 821 .

在一些实施例中，第二配重件822与第二反射棱镜821结合以使第二反射单元82呈轴对称结构，第二反射单元82的转动轴与第二反射单元82的对称轴一致，如此能够使第二反射单元82平稳转动。例如，请参阅图1，第二配重件822的密度与第二反射棱镜821的密度相同，第二配重件822与第二反射棱镜821结合以使第二反射单元82呈轴对称结构，且第二反射单元82能够绕其对称轴转动，具体的，第二配重件822与第二反射棱镜821可以分别为三角体。当然，在第二配重件822的密度与第二反射棱镜821的密度不相同时，第二反射单元82也可以不是轴对称结构，在此不作限制，只需要满足第二反射单元82转动轴四周各个方向上的质量均相等，即可实现第二反射单元82平稳转动。In some embodiments, the second counterweight 822 is combined with the second reflection prism 821 to make the second reflection unit 82 an axisymmetric structure, and the rotation axis of the second reflection unit 82 is consistent with the symmetry axis of the second reflection unit 82 , In this way, the second reflection unit 82 can be rotated smoothly. For example, referring to FIG. 1 , the density of the second counterweight 822 is the same as that of the second reflection prism 821 , and the second counterweight 822 is combined with the second reflection prism 821 to make the second reflection unit 82 an axisymmetric structure, In addition, the second reflection unit 82 can rotate around its symmetry axis. Specifically, the second counterweight 822 and the second reflection prism 821 can be respectively triangular bodies. Of course, when the density of the second weight member 822 is not the same as the density of the second reflection prism 821, the second reflection unit 82 may not have an axis-symmetric structure, which is not limited here, and only needs to satisfy the rotational axis of the second reflection unit 82. If the masses in all directions are equal, the second reflection unit 82 can be rotated smoothly.

可以理解，在实际应用中，在第二配重件822的密度与第二反射棱镜821的密度不相同，但形状与尺寸基本一致时，第二配重件822还可以设有配重物，如胶状物，以平衡第二反射棱镜821。It can be understood that, in practical applications, when the density of the second counterweight 822 is different from that of the second reflecting prism 821, but the shape and size are basically the same, the second counterweight 822 may also be provided with a counterweight, Such as a gel to balance the second reflecting prism 821 .

在一些实施例中，当激光测量模组100同时包括第一反射单元81及第二反射单元82时，第一反射单元81和第二反射单元82可同步转动。此时，第一反射单元81与第二反射单元的转速与相位均相同。如此，在同一时刻，光接收模组50接收第二激光脉冲的场景区域与第二光源单元32发射第二激光脉冲能够投射的场景区域至少部分重叠，从而第二光源单元32无需发射较大功率的第二激光脉冲，也能够有经过探测物反射回的第二激光脉冲经过第一反射单元81入射至光接收模组50。也即是说，第一反射单元81和第二反射单元82同步转动，在第二光源单元32同等的发射功率下，能够提高光能利用率。In some embodiments, when the laser measurement module 100 includes both the first reflection unit 81 and the second reflection unit 82 , the first reflection unit 81 and the second reflection unit 82 can rotate synchronously. At this time, the rotational speed and phase of the first reflection unit 81 and the second reflection unit are the same. In this way, at the same time, the scene area where the light receiving module 50 receives the second laser pulse and the scene area where the second laser pulse can be projected by the second light source unit 32 at least partially overlap, so that the second light source unit 32 does not need to emit a large power The second laser pulse, the second laser pulse reflected by the detection object can also be incident to the light receiving module 50 through the first reflection unit 81 . That is to say, the first reflection unit 81 and the second reflection unit 82 rotate synchronously, and under the same emission power of the second light source unit 32, the utilization rate of light energy can be improved.

具体地，请参阅图1，激光测量装置100还可包括第二驱动器72，第二驱动器72与第一反射单元81及第二反射单元82连接，用于驱动第一反射单元81及第二反射单元82同步转动。Specifically, referring to FIG. 1 , the laser measuring device 100 may further include a second driver 72 , the second driver 72 is connected to the first reflection unit 81 and the second reflection unit 82 for driving the first reflection unit 81 and the second reflection unit 82 Unit 82 rotates synchronously.

在一些实施例中，如图2所示，第二驱动器72的数量为两个，两个第二驱动器72分别位于第一腔101和第二腔102内，并分别与第一反射单元81及第二反射单元82连接。示例地，每个第二驱动器72均包括第二定子721及第二转子722。第二转子722能够转动地安装在第二定子721上，第一反射单元81或第二反射单元82安装于第二转子722，第二转子722能够带动安装在其上的第一反射单元81或第二反射单元82转动。例如，激光测量模组100包括两个第二驱动器72，其中一个第二驱动器72设置在第一腔101内，并且第一反射单元81与其内的第二转子722连接，该第二驱动器72能够带动第一反射单元81转动；另一个第二驱动器72设置在第二腔102内，并且第二反射单元82与其内的第二转子722连接，该第二驱动器72能够带动第二反射单元82转动。此时，两个第二驱动器72可以通过设计控制算法实现同步转动，从而带动第一反射单元81及第二反射单元82同步转动。In some embodiments, as shown in FIG. 2 , the number of the second drivers 72 is two, and the two second drivers 72 are located in the first cavity 101 and the second cavity 102 respectively, and are respectively connected with the first reflection unit 81 and the second cavity 102 . The second reflection unit 82 is connected. For example, each of the second drivers 72 includes a second stator 721 and a second rotor 722 . The second rotor 722 is rotatably mounted on the second stator 721, the first reflection unit 81 or the second reflection unit 82 is mounted on the second rotor 722, and the second rotor 722 can drive the first reflection unit 81 or The second reflection unit 82 rotates. For example, the laser measurement module 100 includes two second drivers 72 , wherein one second driver 72 is arranged in the first cavity 101 , and the first reflection unit 81 is connected with the second rotor 722 therein, and the second driver 72 can Drive the first reflection unit 81 to rotate; another second driver 72 is arranged in the second cavity 102, and the second reflection unit 82 is connected with the second rotor 722 in it, and the second driver 72 can drive the second reflection unit 82 to rotate . At this time, the two second drivers 72 can realize synchronous rotation by designing a control algorithm, thereby driving the first reflecting unit 81 and the second reflecting unit 82 to rotate synchronously.

在一些实施例中，如图1所示，第二驱动器72的数量为一个，第二驱动器72与第一反射单元81及第二反射单元82均连接。由于通过一个第二驱动器72与第一反射单元81及第二反射单元82均连接，无需对控制算法做设计，便能够保证第一反射单元81及第二反射单元82同步转动，同时相较于设置两个第二驱动器72分别与第一反射单元81及第二反射单元82连接，能够降低激光测量装置100结构的复杂度、尺寸以及制作成本。In some embodiments, as shown in FIG. 1 , the number of the second driver 72 is one, and the second driver 72 is connected to both the first reflection unit 81 and the second reflection unit 82 . Since a second driver 72 is connected to both the first reflection unit 81 and the second reflection unit 82, it is not necessary to design a control algorithm, so that the first reflection unit 81 and the second reflection unit 82 can be guaranteed to rotate synchronously. Providing two second drivers 72 respectively connected to the first reflection unit 81 and the second reflection unit 82 can reduce the structural complexity, size and manufacturing cost of the laser measuring device 100 .

在一个例子中，第二驱动器72设置在第一腔101与第二腔102之间，并作为阻隔结构20阻挡第一腔101内的至少部分光线进入第二腔102及阻挡第二腔102内的至少部分光线进入第一腔101。由于将第一反射单元81及第二反射单元82均连接的第二驱动器72作为阻隔结构20，能够保证第一反射单元81及第二反射单元82同步转动，同时无需设置其他阻隔结构20也能够阻挡至少部分光线在第一腔101与第二腔102之间传播，从而在提高激光测量装置100测量精确度的同时，能够有效降低激光测量装置100结构的复杂度，还能减小激光测量装置100的高度(沿第一发光单元31的发光方向)。In one example, the second driver 72 is disposed between the first cavity 101 and the second cavity 102 , and serves as the blocking structure 20 to block at least part of the light in the first cavity 101 from entering the second cavity 102 and blocking the second cavity 102 At least part of the light enters the first cavity 101 . Since the second driver 72 connected to both the first reflection unit 81 and the second reflection unit 82 is used as the blocking structure 20 , the first reflection unit 81 and the second reflection unit 82 can be guaranteed to rotate synchronously, and there is no need to provide other blocking structures 20 . At least part of the light is blocked from propagating between the first cavity 101 and the second cavity 102, so that while improving the measurement accuracy of the laser measuring device 100, the structural complexity of the laser measuring device 100 can be effectively reduced, and the laser measuring device can also be reduced. The height of 100 (along the light-emitting direction of the first light-emitting unit 31).

具体地，第二驱动器72可包括第二定子721、第二转子722及轴承723。第二转子722至少部分穿设在轴承723内，第二定子721套设在轴承723外，以此将第二转子722能够转动地安装在第二定子721上。第一反射单元81及第二反射单元82分别安装在第二转子722的两端，第二转子722转动能够带动第一反射单元81及第二反射单元82同步转动。例如，第二定子721收容在第一腔101内，第二转子722能够转动地安装在第二定子721上。第二转子722包括转子盖7221及转轴7222，转轴7222包括端部72221。转子盖7221收容在第一腔101内，第一反射单元81设于转子盖7221，即第一反射单元81与转子盖7221连接。转子盖7221与转轴7222远离端部72221的一侧固定连接，转轴7222的端部7221从第二腔102露出，并且第二反射单元82设于转轴7222的端部72221，即第二反射单元82与端部72221连接。如此第二驱动器72的第二转子722与第一反射单元81及第二反射单元82均连接，从而当第二转子722转动时，第二转子722能够带动第一反射单元81及第二反射单元82同步转动。需要说明的是，在一些实施例中，转子盖7221与转轴7222远离端部72221的一侧采用点胶的方式固定连接，如此有利于使转子盖7221与转轴7222连接的更加紧密，避免在第二转子72转动过程中，转子盖7221与转轴7222脱落，从而延长激光测量装置100的使用寿命。Specifically, the second driver 72 may include a second stator 721 , a second rotor 722 and a bearing 723 . The second rotor 722 is at least partially passed through the bearing 723 , and the second stator 721 is sleeved outside the bearing 723 , so that the second rotor 722 is rotatably mounted on the second stator 721 . The first reflection unit 81 and the second reflection unit 82 are respectively installed on both ends of the second rotor 722 , and the rotation of the second rotor 722 can drive the first reflection unit 81 and the second reflection unit 82 to rotate synchronously. For example, the second stator 721 is accommodated in the first cavity 101 , and the second rotor 722 is rotatably mounted on the second stator 721 . The second rotor 722 includes a rotor cover 7221 and a rotating shaft 7222 , and the rotating shaft 7222 includes an end portion 72221 . The rotor cover 7221 is accommodated in the first cavity 101 , and the first reflection unit 81 is provided in the rotor cover 7221 , that is, the first reflection unit 81 is connected to the rotor cover 7221 . The rotor cover 7221 is fixedly connected to the side of the rotating shaft 7222 away from the end 72221 , the end 7221 of the rotating shaft 7222 is exposed from the second cavity 102 , and the second reflecting unit 82 is provided at the end 72221 of the rotating shaft 7222 , namely the second reflecting unit 82 Connect to end 72221. In this way, the second rotor 722 of the second driver 72 is connected to both the first reflection unit 81 and the second reflection unit 82, so that when the second rotor 722 rotates, the second rotor 722 can drive the first reflection unit 81 and the second reflection unit 82 synchronous rotation. It should be noted that, in some embodiments, the rotor cover 7221 and the side of the rotating shaft 7222 away from the end 72221 are fixedly connected by dispensing glue, which is beneficial to make the connection between the rotor cover 7221 and the rotating shaft 7222 more tightly, and avoids in the first During the rotation of the two rotors 72 , the rotor cover 7221 and the rotating shaft 7222 fall off, thereby prolonging the service life of the laser measuring device 100 .

当然，在一些实施例中，第二定子721也可以收容在第二腔102内，第二转子722的转子盖7221收容在第二腔102内与第二反射单元82连接，转轴7222的端部72221从第一腔101露出与第一反射单元81连接。Of course, in some embodiments, the second stator 721 can also be accommodated in the second cavity 102, the rotor cover 7221 of the second rotor 722 is accommodated in the second cavity 102 and connected to the second reflection unit 82, and the end of the rotating shaft 7222 The 72221 is exposed from the first cavity 101 and connected to the first reflection unit 81 .

请参阅图1，在一些实施例中，第二驱动器72还可包括端盖724及轴承座725。具体地，端盖724设置与壳体10的内侧壁101，端盖724用于分隔壳体10的腔体以形成第一腔101及第二腔102。如此能够进一步阻挡光线在第一腔101与第二腔102之间传播。Referring to FIG. 1 , in some embodiments, the second driver 72 may further include an end cover 724 and a bearing seat 725 . Specifically, the end cap 724 is disposed with the inner side wall 101 of the housing 10 , and the end cap 724 is used to separate the cavity of the housing 10 to form the first cavity 101 and the second cavity 102 . In this way, the propagation of light between the first cavity 101 and the second cavity 102 can be further blocked.

在一些实施例中，当壳体10包括分体的第一壳11及第二壳12时，端盖724设置在第一壳11的开放侧111，第二壳12的开放侧121安装于端盖724远离第一壳11的一侧。也即是说，端盖724设置在第一壳11的开放侧111与第二壳12的开放侧121之间。In some embodiments, when the housing 10 includes the first shell 11 and the second shell 12 that are separated, the end cover 724 is disposed on the open side 111 of the first shell 11 , and the open side 121 of the second shell 12 is mounted on the end The cover 724 is away from the side of the first case 11 . That is, the end cap 724 is disposed between the open side 111 of the first case 11 and the open side 121 of the second case 12 .

端盖724包括相对的第一侧7241及第二侧7242，其中第一侧7241相较于第二侧7242更靠近第一腔101。轴承座725安装在端盖724上，第二转子722通过轴承723安装在轴承座725，并自端盖724的第一侧7241穿设至端盖724的第二侧7242，即第二转子722自第一腔101穿设至第二腔102。The end cap 724 includes an opposite first side 7241 and a second side 7242 , wherein the first side 7241 is closer to the first cavity 101 than the second side 7242 . The bearing seat 725 is mounted on the end cover 724 , the second rotor 722 is mounted on the bearing seat 725 through the bearing 723 , and penetrates from the first side 7241 of the end cover 724 to the second side 7242 of the end cover 724 , that is, the second rotor 722 Pass through from the first cavity 101 to the second cavity 102 .

请参阅图1，在一些实施例中，端盖724的第一侧7241设有开口7243，轴承座725设置在第一侧7241的开口7243，如此能够缩小激光测量装置100的纵向尺寸。当然，在一些实施例中，端盖724的第二侧7242设有开口7244(如图6所示)，轴承座725设置在第二侧7242的开口7244，也能够缩小激光测量装置100的纵向尺寸，在此不作限制。Referring to FIG. 1 , in some embodiments, the first side 7241 of the end cover 724 is provided with an opening 7243 , and the bearing seat 725 is provided at the opening 7243 of the first side 7241 , so that the longitudinal dimension of the laser measuring device 100 can be reduced. Of course, in some embodiments, the second side 7242 of the end cover 724 is provided with an opening 7244 (as shown in FIG. 6 ), and the bearing seat 725 is provided at the opening 7244 of the second side 7242 , which can also reduce the longitudinal direction of the laser measuring device 100 The size is not limited here.

请参阅图6，在一些实施例中，端盖724的第一侧7241设有第一开口7243，并且第二侧7242设有第二开口7244，第一开口7241与第二开口7242连通。具体地，第二转子722的至少部分收容在第一开口7241内。第一开口7241与第二开口7242之间形成有承载台726，轴承座725承载在承载台726上，并且轴承座726的收容在第二开口7244内。如此能够进一步缩小激光测量装置100的纵向尺寸。Referring to FIG. 6 , in some embodiments, the first side 7241 of the end cap 724 is provided with a first opening 7243 , and the second side 7242 is provided with a second opening 7244 , and the first opening 7241 communicates with the second opening 7242 . Specifically, at least part of the second rotor 722 is accommodated in the first opening 7241 . A bearing platform 726 is formed between the first opening 7241 and the second opening 7242 , the bearing seat 725 is supported on the bearing platform 726 , and the bearing seat 726 is accommodated in the second opening 7244 . In this way, the longitudinal dimension of the laser measuring device 100 can be further reduced.

在一些实施例中，在第一光源单元31开启时，若根据光接收模组50的探测器51检测到探测物与激光测量装置100之间的距离位于预定距离范围内时，即表示探测物在激光测量装置100的近处，此时激光测量装置100将第一光源单元31关闭，并将第二光源单元32开启，即，此时激光测量装置100通过第二光源单元32测量激光测量装置100的近距离物体。一方面，由于第二光源单元32发射的第二激光脉冲由壳体10的第二腔102射出至探测物，经过探测物后第二激光脉冲由壳体10的第一腔101入射至光接收模组50，并且阻隔结构20能够阻挡至少部分光线在第一腔101与第二腔102之间传播，如此使得发射第二激光脉冲的路径与接收第二激光脉冲的路径不一致，从而采用第二光源单元32及光接收模组50配合，以测量激光测量装置100近处的探测物到激光测量装置100之间的距离时，能够避免被探测物反射的脉冲信号与被激光测量装置100内部结构反射的脉冲信号产生重叠，从而提高激光测量模组100测量近处探测物的精确度；另一方面，由于第一光源单元31发射的第一激光脉冲通过扫描单元40及第一反射单元81后出射至壳体10外部，如此采用第一光源单元31及光接收模组50配合，以测量激光测量装置100较远处的探测物到激光测量装置100之间的距离时，能够扩大激光测量装置100的测量范围及精确度。In some embodiments, when the first light source unit 31 is turned on, if the detector 51 of the light receiving module 50 detects that the distance between the detected object and the laser measuring device 100 is within a predetermined distance range, it means the detected object In the vicinity of the laser measuring device 100, at this time, the laser measuring device 100 turns off the first light source unit 31 and turns on the second light source unit 32, that is, at this time, the laser measuring device 100 measures the laser measuring device through the second light source unit 32 100 close objects. On the one hand, since the second laser pulse emitted by the second light source unit 32 is emitted from the second cavity 102 of the housing 10 to the probe, the second laser pulse is incident to the light receiving object from the first cavity 101 of the housing 10 after passing through the probe. The module 50, and the blocking structure 20 can block at least part of the light from propagating between the first cavity 101 and the second cavity 102, so that the path for transmitting the second laser pulse is inconsistent with the path for receiving the second laser pulse, so that the second laser pulse is used. When the light source unit 32 and the light receiving module 50 cooperate to measure the distance between the detected object near the laser measuring device 100 and the laser measuring device 100, the pulse signal reflected by the detected object and the internal structure of the laser measuring device 100 can be avoided. The reflected pulse signals are overlapped, thereby improving the accuracy of the laser measurement module 100 in measuring the near detection object; It is emitted to the outside of the housing 10, so that the first light source unit 31 and the light receiving module 50 are used together to measure the distance between the detected object farther away from the laser measuring device 100 and the laser measuring device 100, so that the laser measuring device can be enlarged. 100 measurement range and accuracy.

需要说明的是，当检测到探测物与激光测量装置100之间的距离位于预定距离范围内时，即表示若此时采用第一光源单元31发射的第一激光脉冲，被探测物反射的第一激光脉冲可能会与被激光测量装置100内部结构反射的脉冲信号产生重叠；当检测到探测物与激光测量装置100之间的距离不在预定距离范围内时，即表示若此时采用第一光源单元31发射的第一激光脉冲，被探测物反射的第一激光脉冲不会与被激光测量装置100内部结构反射的脉冲信号产生重叠。预定距离范围可以是激光测量装置100在出厂前，由厂商预先设定的。具体地，激光测量装置100的制造商在经过大量的实验，以确定当探测物在某一范围内时，被探测物反射的第一激光脉冲会与被激光测量装置100内部结构反射的脉冲信号产生重叠，则将该范围设置为预定距离范围。当然，在一些实施例中，也可以是根据用户需求自行设定的，在此不作限制。It should be noted that when it is detected that the distance between the detected object and the laser measuring device 100 is within the predetermined distance range, it means that if the first laser pulse emitted by the first light source unit 31 is used at this time, the first laser pulse reflected by the detected object will A laser pulse may overlap with the pulse signal reflected by the internal structure of the laser measuring device 100; when it is detected that the distance between the probe and the laser measuring device 100 is not within the predetermined distance range, it means that if the first light source is used at this time The first laser pulse emitted by the unit 31 and the first laser pulse reflected by the detected object will not overlap with the pulse signal reflected by the internal structure of the laser measuring device 100 . The predetermined distance range may be preset by the manufacturer before the laser measuring device 100 leaves the factory. Specifically, the manufacturer of the laser measuring device 100 has undergone a large number of experiments to determine that when the probe is within a certain range, the first laser pulse reflected by the probe will be different from the pulse signal reflected by the internal structure of the laser measuring device 100 If overlap occurs, the range is set as a predetermined distance range. Of course, in some embodiments, it can also be set according to user requirements, which is not limited here.

请参阅图7，本申请实施例还提供一种可移动平台1000。可移动平台1000包括可移动平台本体200及上述任意一项实施例所述的激光测量装置100，激光测量装置100安装于可移动平台本体1000。可移动平台1000可以是无人飞行器、无人车、无人船、机器人、装甲战车等。一个可移动平台1000可以配置有一个或多个激光测量模组100。激光测量模组100可以用于探测可移动平台1000周围的环境，以便于可移动平台1000进一步依据周围的环境进行避障、轨迹选择等操作，激光测量模组100可以设置在可移动平台1000的前部或上部，本申请对此不作限制。Referring to FIG. 7 , an embodiment of the present application further provides a movable platform 1000 . The movable platform 1000 includes the movable platform body 200 and the laser measurement device 100 described in any one of the above embodiments. The laser measurement device 100 is installed on the movable platform body 1000 . The movable platform 1000 may be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a robot, an armored combat vehicle, or the like. A movable platform 1000 may be configured with one or more laser measurement modules 100 . The laser measurement module 100 can be used to detect the environment around the movable platform 1000, so that the movable platform 1000 can further perform operations such as obstacle avoidance and trajectory selection according to the surrounding environment. The front part or the upper part is not limited in this application.

本申请实施例中的可移动平台1000中的激光测量装置100，通过将第二光源单元32与光接收模组50设置在不同的腔室内，并且阻隔结构20能够阻挡至少部分光线在两个腔室之间传播，如此使得发射第二激光脉冲的路径与接收第二激光脉冲的路径不一致，从而采用第二光源单元32与光接收模组50配合测量距离时，能够避免被探测物反射的脉冲信号与被激光测量装置100内部结构反射的脉冲信号产生重叠，有利于提高激光测量装置100测量近处探测物时测量的精确度，避免测量盲区的产生。进一步的，通过设置两个光源单元，可以配合实现对不同距离的探测物的探测，有利于提高探测的距离范围。In the laser measurement device 100 in the movable platform 1000 in the embodiment of the present application, the second light source unit 32 and the light receiving module 50 are arranged in different cavities, and the blocking structure 20 can block at least part of the light from the two cavities. Therefore, the path of transmitting the second laser pulse is inconsistent with the path of receiving the second laser pulse, so that when the second light source unit 32 and the light receiving module 50 are used to measure the distance, the pulse reflected by the detected object can be avoided. The signal overlaps with the pulse signal reflected by the internal structure of the laser measuring device 100 , which is beneficial to improve the measurement accuracy of the laser measuring device 100 when measuring the nearby detection object, and avoid the occurrence of measurement blind spots. Further, by arranging two light source units, the detection of detection objects at different distances can be realized in cooperation, which is beneficial to improve the detection distance range.

在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, reference to the terms "some embodiments", "one embodiment", "some embodiments", "example", "specific example", or "some examples" or the like is meant to be combined with the description of the embodiment A particular feature, structure, material or characteristic described by an example or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

此外，术语“第一”、“第二”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”的特征可以明示或者隐含地包括至少一个所述特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features delimited with "first", "second" may expressly or implicitly include at least one of said features. In the description of the present application, "plurality" means at least two, such as two, three, unless expressly and specifically defined otherwise.

尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Variations, modifications, substitutions, and alterations are made to the embodiments, and the scope of the present application is defined by the claims and their equivalents.

Claims

一种激光测量装置，其特征在于，包括：A laser measuring device, characterized in that it includes:

壳体，所述壳体设有第一腔与第二腔；a casing, the casing is provided with a first cavity and a second cavity;

设于所述壳体内的阻隔结构，所述阻隔结构用于阻挡至少部分光线在所述第一腔与所述第二腔之间传播；a blocking structure arranged in the casing, the blocking structure is used to block at least part of the light from propagating between the first cavity and the second cavity;

位于所述第一腔内的第一光源单元，所述第一光源单元用于发射第一激光脉冲；a first light source unit located in the first cavity, the first light source unit is used for emitting a first laser pulse;

位于所述第二腔内的第二光源单元，所述第二光源单元用于发射第二激光脉冲；a second light source unit located in the second cavity, the second light source unit is used for emitting a second laser pulse;

位于所述第二腔内的光型改变元件，所述光型改变元件位于所述第二光源单元的光路上，用于将来自所述第二光源单元的所述第二激光脉冲进行扩散；及a light pattern changing element located in the second cavity, the light pattern changing element being located on the optical path of the second light source unit, and used for diffusing the second laser pulse from the second light source unit; and

位于所述第一腔内的光接收模组，所述光接收模组能够接收经探测物反射的所述第一激光脉冲或所述第二激光脉冲。A light receiving module located in the first cavity, the light receiving module can receive the first laser pulse or the second laser pulse reflected by the detection object.
根据权利要求1所述的激光测量装置，其特征在于，所述第一光源单元与所述第二光源单元分时工作。The laser measuring device according to claim 1, wherein the first light source unit and the second light source unit work in a time-sharing manner.
根据权利要求1所述的激光测量装置，其特征在于，所述第一激光脉冲包括单线激光脉冲或多线激光脉冲；和/或，所述第二激光脉冲包括单线激光脉冲或多线激光脉冲。The laser measurement device according to claim 1, wherein the first laser pulse comprises a single-line laser pulse or a multi-line laser pulse; and/or the second laser pulse comprises a single-line laser pulse or a multi-line laser pulse .
根据权利要求1所述的激光测量装置，其特征在于，所述第一光源单元包括单个第一子光源，所述第一子光源用于发射单线激光脉冲；或所述第一光源单元包括多个第一子光源，多个所述第一子光源共同用于发射多线激光脉冲。The laser measuring device according to claim 1, wherein the first light source unit includes a single first sub-light source, and the first sub-light source is used for emitting a single-line laser pulse; or the first light source unit includes multiple There are a plurality of first sub-light sources, and a plurality of the first sub-light sources are jointly used for emitting multi-line laser pulses.
根据权利要求1所述的激光测量装置，其特征在于，所述第二光源单元包括单个第二子光源，所述第二子光源用于发射单线激光脉冲；或所述第二光源单元包括多个第二子光源，多个所述第二子光源共同用于发射多线激光脉冲。The laser measuring device according to claim 1, wherein the second light source unit comprises a single second sub-light source, the second sub-light source is used for emitting a single-line laser pulse; or the second light source unit comprises multiple a plurality of second sub-light sources, and a plurality of the second sub-light sources are jointly used for emitting multi-line laser pulses.
根据权利要求1所述的激光测量装置，其特征在于，所述激光测量装置还包括位于所述第一腔内的扫描单元，所述扫描单元位于所述第一光源单元的光路上，用于将来自所述第一光源单元的第一激光脉冲改变至不同传输方向并出射。The laser measurement device according to claim 1, wherein the laser measurement device further comprises a scanning unit located in the first cavity, the scanning unit is located on the optical path of the first light source unit, and is used for The first laser pulses from the first light source unit are changed to different transmission directions and emitted.
根据权利要求6所述的激光测量装置，其特征在于，所述扫描单元包括至少一个光学元件，所述光学元件中的至少部分能够转动，以在不同时刻将所述第一激光脉冲反射、折射或衍射至不同的方向。The laser measuring device according to claim 6, wherein the scanning unit comprises at least one optical element, and at least part of the optical element can be rotated to reflect and refract the first laser pulse at different times or diffracted into different directions.
根据权利要求7所述的激光测量装置，其特征在于，所述激光测量装置还包括至少一个第一驱动器，所述第一驱动器与所述光学元件连接，用于驱动连接的所述光学元件转动。The laser measuring device according to claim 7, wherein the laser measuring device further comprises at least one first driver, the first driver is connected with the optical element, and is used for driving the connected optical element to rotate .
根据权利要求8所述的激光测量装置，其特征在于，所述第一驱动器包括：The laser measuring device according to claim 8, wherein the first driver comprises:

第一定子；及the first stator; and

第一转子，所述第一转子能够转动地安装在所述第一定子上，所述光学元件安装于所述第一转子，所述第一转子转动能够带动所述光学元件转动。The first rotor is rotatably mounted on the first stator, the optical element is mounted on the first rotor, and the rotation of the first rotor can drive the optical element to rotate.
根据权利要求6所述的激光测量装置，其特征在于，所述激光测量装置还包括位于所述第一腔内的第一反射单元，所述第一反射单元位于所述扫描单元的光路上，所述第一反射单元能够转动，用于反射经过所述第一反射单元的所述第一激光脉冲或所述第二激光脉冲。The laser measurement device according to claim 6, wherein the laser measurement device further comprises a first reflection unit located in the first cavity, and the first reflection unit is located on an optical path of the scanning unit, The first reflection unit is rotatable for reflecting the first laser pulse or the second laser pulse passing through the first reflection unit.
根据权利要求10所述的激光测量装置，其特征在于，所述第一反射单元包括平面反射镜或反射棱镜。The laser measuring device according to claim 10, wherein the first reflection unit comprises a plane reflection mirror or a reflection prism.
根据权利要求10所述的激光测量装置，其特征在于，所述第一反射单元包括具有第一反射面的第一反射棱镜及第一配重件，所述第一反射面用于反射经过所述第一反射单元的激光脉冲，所述第一配重件用于在所述第一反射单元的转动过程中平衡所述第一反射单元。The laser measuring device according to claim 10, wherein the first reflection unit comprises a first reflection prism having a first reflection surface and a first counterweight, and the first reflection surface is used for reflecting the laser pulse of the first reflection unit, and the first counterweight is used to balance the first reflection unit during the rotation process of the first reflection unit.
根据权利要求12所述的激光测量装置，其特征在于，所述第一配重件与所述第一反射棱镜结合以使所述第一反射单元呈轴对称结构，所述第一反射单元的转动轴与所述第一反射单元的对称轴一致。The laser measuring device according to claim 12, wherein the first counterweight is combined with the first reflecting prism to make the first reflecting unit an axisymmetric structure, and the first reflecting unit has an axis-symmetric structure. The rotation axis is consistent with the symmetry axis of the first reflection unit.
根据权利要求12所述的激光测量装置，其特征在于，所述第一配重件包括第一结合面，所述第一结合面与所述第一反射面胶合。The laser measuring device according to claim 12, wherein the first counterweight includes a first joint surface, and the first joint surface is glued with the first reflection surface.
根据权利要求12所述的激光测量装置，其特征在于，所述第一反射面上镀有高反射膜。The laser measuring device according to claim 12, wherein the first reflection surface is coated with a high reflection film.
根据权利要求1所述的激光测量装置，其特征在于，所述激光测量装置还包括准直元件，所述准直元件用于准直所述第一激光脉冲、及汇聚所述第一激光脉冲或所述第二激光脉冲。The laser measurement device according to claim 1, wherein the laser measurement device further comprises a collimation element, the collimation element is used for collimating the first laser pulse and converging the first laser pulse or the second laser pulse.
根据权利要求1所述的激光测量装置，其特征在于，所述光接收模组包括两个探测器，两个所述探测器分别用于接收经探测物反射的所述第一激光脉冲及经探测物反射的所述第二激光脉冲。The laser measuring device according to claim 1, wherein the light receiving module comprises two detectors, and the two detectors are respectively used for receiving the first laser pulse and the laser pulse reflected by the detected object. The second laser pulse reflected by the probe is detected.
根据权利要求1所述的激光测量装置，其特征在于，所述光接收模组包括一个探测器，所述探测器用于接收经探测物反射的所述第一激光脉冲或所述第二激光脉冲。The laser measuring device according to claim 1, wherein the light receiving module comprises a detector, and the detector is configured to receive the first laser pulse or the second laser pulse reflected by the detected object .
根据权利要求18所述的激光测量装置，其特征在于，所述第一光源单元的发光光轴与所述探测器的收光光轴平行；或The laser measuring device according to claim 18, wherein the light-emitting optical axis of the first light source unit is parallel to the light-receiving optical axis of the detector; or

所述第一光源单元的发光光轴与所述探测器的收光光轴呈夹角，所述激光测量装置还包括光路改变元件，所述光路改变元件设置在所述第一光源单元的出光光路上，用于将所述第一光源单元的出光光路和所述探测器的收光光路合并；或The light-emitting optical axis of the first light source unit forms an included angle with the light-receiving optical axis of the detector, and the laser measuring device further includes an optical path changing element, and the optical path changing element is arranged on the light exit of the first light source unit. The light path is used to combine the light-emitting light path of the first light source unit and the light-receiving light path of the detector; or

所述第一光源单元的发光光轴与所述探测器的收光光轴呈夹角，所述第一光学模组还包括光路改变元件，所述光路改变元件设置在所述第一光源单元的出光光路上并位于准直元件与所述第一光源单元之间，用于透过所述第一光源单元发出的所述第一激光脉冲至所述准直元件、及反射至少一部分的来自所述准直元件的所述第一激光脉冲或所述第二激光脉冲至所述探测器。The light-emitting optical axis of the first light source unit forms an angle with the light-receiving optical axis of the detector, and the first optical module further includes an optical path changing element, and the optical path changing element is arranged on the first light source unit. It is located between the collimating element and the first light source unit on the light exit light path, and is used to transmit the first laser pulse emitted by the first light source unit to the collimating element and reflect at least a part of the The first laser pulse or the second laser pulse of the collimating element to the detector.
根据权利要求1所述的激光测量装置，其特征在于，所述光型改变元件包括光学扩散片及凹透镜中的至少一个。The laser measuring device according to claim 1, wherein the light type changing element comprises at least one of an optical diffuser and a concave lens.
根据权利要求1所述的激光测量装置，其特征在于，所述激光测量装置还包括位于所述第二腔内能够转动的第二反射单元，所述光型改变元件位于所述第二光源单元与所述第二反射单元之间，所述第二反射单元用于将经所述光改型元件扩散的所述第二激光脉冲反射至所述第二腔外。The laser measuring device according to claim 1, characterized in that, the laser measuring device further comprises a second reflection unit located in the second cavity and rotatable, and the light pattern changing element is located in the second light source unit Between the second reflection unit and the second reflection unit, the second reflection unit is used for reflecting the second laser pulse diffused by the light modification element to the outside of the second cavity.
根据权利要求21所述的激光测量装置，其特征在于，所述第二反射单元包括平面反射镜或反射棱镜。The laser measuring device according to claim 21, wherein the second reflecting unit comprises a plane reflecting mirror or a reflecting prism.
根据权利要求21所述的激光测量装置，其特征在于，所述第二反射单元包括具有第二反射面的第二反射棱镜及第二配重件，所述第二反射面用于反射经过所述第二反射单元的所述第二激光脉冲，所述第二配重件用于在所述第二反射单元的转动过程中平衡所述第二反射单元。The laser measuring device according to claim 21, wherein the second reflecting unit comprises a second reflecting prism having a second reflecting surface and a second counterweight, and the second reflecting surface is used for reflecting The second laser pulse of the second reflection unit, and the second counterweight is used to balance the second reflection unit during the rotation of the second reflection unit.
根据权利要求23所述的激光测量装置，其特征在于，所述第二配重件与所述第二反射棱镜结合以使所述第二反射单元呈轴对称结构，所述第二反射单元的转动轴与所述第二反射单元的对称轴一致。The laser measuring device according to claim 23, wherein the second counterweight is combined with the second reflecting prism to make the second reflecting unit an axisymmetric structure, and the second reflecting unit has an axis-symmetric structure. The axis of rotation is consistent with the axis of symmetry of the second reflection unit.
根据权利要求23所述的激光测量装置，其特征在于，所述第二配重件包括第二结合面，所述第二结合面与所述第二反射面胶合。The laser measuring device according to claim 23, wherein the second weight member comprises a second joint surface, and the second joint surface is glued with the second reflection surface.
根据权利要求23所述的激光测量装置，其特征在于，所述第二反射面上镀有高反射膜。The laser measuring device according to claim 23, wherein the second reflecting surface is coated with a high-reflection film.
根据权利要求1所述的激光测量装置，其特征在于，所述激光测量装置包括第一反射单元与所述第二反射单元，所述第一反射单元与所述第二反射单元同步转动。The laser measurement device according to claim 1, wherein the laser measurement device comprises a first reflection unit and the second reflection unit, and the first reflection unit and the second reflection unit rotate synchronously.
根据权利要求27所述的激光测量装置，其特征在于，所述第一反射单元与所述第二反射单元的转速与相位均相同。The laser measuring device according to claim 27, wherein the rotation speed and phase of the first reflection unit and the second reflection unit are the same.
根据权利要求27所述的激光测量装置，其特征在于，所述激光测量装置还包括第二驱动器，所述第二驱动器与所述第一反射单元及第二反射单元连接，用于驱动所述第一反射单元及第二反射单元同步转动。The laser measurement device according to claim 27, wherein the laser measurement device further comprises a second driver, the second driver is connected to the first reflection unit and the second reflection unit, and is used for driving the The first reflection unit and the second reflection unit rotate synchronously.
根据权利要求29所述的激光测量装置，其特征在于，所述第二驱动器的数量为两个，两个所述第二驱动器分别位于所述第一腔和所述第二腔内，并与所述第一反射单元及所述第二反射单元分别连接。The laser measurement device according to claim 29, wherein the number of the second drivers is two, and the two second drivers are respectively located in the first cavity and the second cavity, and are connected with The first reflection unit and the second reflection unit are respectively connected.
根据权利要求30所述的激光测量装置，其特征在于，所述阻隔结构包括设置在所述壳体内侧的阻隔板，所述阻隔板阻挡所述第一腔内的至少部分光线进入所述第二腔及阻挡所述第二腔内的至少部分光线进入所述第二腔。The laser measuring device according to claim 30, wherein the blocking structure comprises a blocking plate arranged inside the casing, the blocking plate blocks at least part of the light in the first cavity from entering the second cavity Two cavities and blocking at least part of the light in the second cavity from entering the second cavity.
根据权利要求30所述的激光测量装置，其特征在于，每个所述第二驱动器包括：The laser measurement device of claim 30, wherein each of the second drivers comprises:

第二定子；及the second stator; and

第二转子，所述第二转子能够转动地安装在所述第二定子上，所述第一反射单元或所述第二反射单元安装于所述第二转子，所述第二转子转动能够带动所述第一反射单元或所述第二反射单元转动。The second rotor, the second rotor is rotatably mounted on the second stator, the first reflection unit or the second reflection unit is mounted on the second rotor, and the rotation of the second rotor can drive The first reflection unit or the second reflection unit rotates.
根据权利要求29所述的激光测量装置，其特征在于，所述第二驱动器的数量为一个，所述第二驱动器与所述第一反射单元及所述第二反射单元均连接。The laser measuring device according to claim 29, wherein the number of the second driver is one, and the second driver is connected to both the first reflection unit and the second reflection unit.
根据权利要求33所述的激光测量装置，其特征在于，所述第二驱动器设置在所述第一腔与所述第二腔之间，并作为所述阻隔结构阻挡所述第一腔内的至少部分光线进入所述第二腔及阻挡所述第二腔内的至少部分光线进入所述第一腔。The laser measurement device according to claim 33, wherein the second driver is disposed between the first cavity and the second cavity, and acts as the blocking structure to block the flow in the first cavity. At least part of the light entering the second cavity and blocking at least part of the light in the second cavity entering the first cavity.
根据权利要求33所述的激光测量装置，其特征在于，所述第二驱动器包括：The laser measuring device according to claim 33, wherein the second driver comprises:

第二定子；及the second stator; and

第二转子，所述第二转子能够转动地安装于所述第二定子，所述第一反射单元及所述第二反射单元分别安装在所述第二转子的两端，所述第二转子转动能够带动所述第一反射单元及所述第二反射单元同步转动。A second rotor, the second rotor is rotatably mounted on the second stator, the first reflection unit and the second reflection unit are respectively mounted on both ends of the second rotor, the second rotor The rotation can drive the first reflection unit and the second reflection unit to rotate synchronously.
根据权利要求35所述的激光测量装置，其特征在于，所述第二转子包括转子盖及与所述转子盖固定连接的转轴，所述第一反射单元设于所述转子盖，所述第二光学反射单元设于所述转轴的端部。The laser measuring device according to claim 35, wherein the second rotor comprises a rotor cover and a rotating shaft fixedly connected with the rotor cover, the first reflection unit is provided on the rotor cover, and the first reflection unit is provided on the rotor cover. Two optical reflection units are arranged at the end of the rotating shaft.
根据权利要求35所述的激光测量装置，其特征在于，所述第二驱动器还包括：The laser measuring device according to claim 35, wherein the second driver further comprises:

端盖，所述端盖用于分隔所述壳体的腔体以形成所述第一腔与所述第二腔；及an end cap for separating the cavity of the housing to form the first cavity and the second cavity; and

轴承座，所述轴承座安装在所述端盖上，所述第二转子通过轴承安装在所述轴承座并自所述端盖的第一侧穿设至所述端盖相对的第二侧。a bearing seat, the bearing seat is mounted on the end cover, the second rotor is mounted on the bearing seat through a bearing and penetrates from the first side of the end cover to the opposite second side of the end cover .
根据权利要求37所述的激光测量装置，其特征在于，所述端盖的第一侧或第二侧设有开口，所述轴承座设置在所述第一侧的开口或所述第二侧的开口。The laser measuring device according to claim 37, wherein an opening is provided on the first side or the second side of the end cover, and the bearing seat is provided on the opening on the first side or the second side opening.
根据权利要求37所述的激光测量装置，其特征在于，所述端盖的第一侧设有第一开口，所述端盖的第二侧设有第二开口，所述第一开口与所述第二开口连通，所述第一开口与所述第二开口之间形成有承载台，所述第二转子的至少部分收容在所述第一开口内，所述轴承座承载在所述承载台上，所述轴承座的收容在所述第二开口内。The laser measuring device according to claim 37, wherein a first opening is provided on a first side of the end cap, a second opening is provided on a second side of the end cap, and the first opening is connected to the end cap. The second opening is in communication, a bearing platform is formed between the first opening and the second opening, at least part of the second rotor is accommodated in the first opening, and the bearing seat is carried on the bearing On the stage, the bearing seat is accommodated in the second opening.
根据权利要求37所述的激光测量装置，其特征在于，所述壳体为一体结构，所述端盖设置于所述壳体的内侧壁。The laser measuring device according to claim 37, wherein the casing is an integral structure, and the end cover is arranged on the inner side wall of the casing.
根据权利要求37所述的激光测量装置，其特征在于，所述壳体包括分体的第一壳和第二壳，所述第一壳具有开放侧，所述第二壳具有开放侧，所述端盖设置在所述第一壳的开放侧，所述第二壳的开放侧安装于所述端盖。The laser measuring device according to claim 37, wherein the casing comprises a first casing and a second casing which are separated, the first casing has an open side, the second casing has an open side, and the The end cap is disposed on the open side of the first shell, and the open side of the second shell is mounted on the end cap.
根据权利要求1所述的激光测量装置，其特征在于，所述壳体的周壁由透光材料制成。The laser measuring device according to claim 1, wherein the peripheral wall of the casing is made of light-transmitting material.
根据权利要求1所述的激光测量装置，其特征在于，在所述第一光源单元开启时，若根据所述光接收模组的探测器检测到的探测物与所述激光测量装置之间的距离位于预定距离范围内时，则所述第一光源单元关闭，所述第二光源单元开启。The laser measuring device according to claim 1, wherein when the first light source unit is turned on, if the detection object detected by the detector of the light receiving module and the laser measuring device When the distance is within a predetermined distance range, the first light source unit is turned off, and the second light source unit is turned on.
一种激光测量装置，其特征在于，包括：A laser measuring device, characterized in that it includes:

壳体，所述壳体设有第一腔与第二腔；a casing, the casing is provided with a first cavity and a second cavity;

设于所述壳体内的阻隔结构，所述阻隔结构用于阻挡至少部分光线在所述第一腔与所述第二腔之间传播；a blocking structure arranged in the casing, the blocking structure is used to block at least part of the light from propagating between the first cavity and the second cavity;

位于所述第一腔内的第一光源单元，所述第一光源单元用于发射第一激光脉冲；a first light source unit located in the first cavity, the first light source unit is used for emitting a first laser pulse;

位于所述第二腔内的第二光源单元，所述第二光源单元用于发射第二激光脉冲；及a second light source unit located in the second cavity, the second light source unit for emitting a second laser pulse; and

位于所述第一腔内的探测器，所述探测器能够接收经探测物反射的经相同光学元件传输回的所述第一激光脉冲或所述第二激光脉冲。A detector located in the first cavity, the detector capable of receiving the first laser pulse or the second laser pulse reflected by the probe and transmitted back through the same optical element.
一种可移动平台，其特征在于，包括：A movable platform is characterized in that, comprising:

可移动平台本体；及the movable platform body; and

权利要求1-44任意一项所述的激光测量装置，所述激光测量装置安装于所述可移动平台本体。The laser measuring device according to any one of claims 1-44, wherein the laser measuring device is mounted on the movable platform body.
根据权利要求45所述的可移动平台，其特征在于，所述可移动平台本体包括无人机、无人车、无人船、机器人中的至少一种。The movable platform according to claim 45, wherein the movable platform body comprises at least one of an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, and a robot.