Distance measuring device, damping device and movable platform

Abstract

The embodiment of the utility model provides a distance measuring device, a damping device and a movable platform. The embodiment of the utility model provides a novel layout of the laser radar and the millimeter-wave radar, the laser radar and the one or more millimeter-wave radars are arranged on the same shell, and the one or more millimeter-wave radars are lower than the plane formed by the bottom of the light emitting cover of the laser radar. It is ensured that the laser radar and the millimeter wave radar do not interfere with each other spatially; the detection range of the laser radar and the detection range of at least part of one or more millimeter-wave radars are overlapped, detection of the laser radar and the millimeter-wave radars is not affected, the respective advantages of the laser radar and the millimeter-wave radars can be brought into full play, the detection capacity of the laser radar and the detection capacity of the millimeter-wave radars supplement each other, and the structure of the distance measuring device can be more compact. Besides, according to the design that the edge of the inertial measurement unit is sleeved with the elastic damping part, the structure is simple, disassembly and assembly are convenient, and meanwhile the occupied space of the damping device can be well reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensors, in particular to a ranging device, a damping device and a movable platform. BACKGROUND

[0002] A movable platform is a device or system capable of moving autonomously or remotely controlled in different environments. The movable platform can be a drone, an unmanned vehicle, an intelligent robot, etc. The movable platform usually has autonomous navigation capability and can perceive the environment through sensors and make decisions.

[0003] With the development of technology, the intelligent degree of the movable platform is getting higher and higher, and the types and quantities of sensors installed thereon are getting more and more. To ensure the compactness and lightness of the movable platform, especially the drone, the layout and mounting structure of various sensors need to be considered. For example, in addition to the visual sensor, the movable platform is also provided with a laser radar and a millimeter wave radar. In the prior art, the laser radar and the millimeter wave radar are usually arranged as two independent components, which is not conducive to the compact design of the movable platform. For another example, the inertial measurement unit on the movable platform needs to be designed with a damping device, and the structure of some existing damping devices occupies a large space, which is also not conducive to the compactness of the movable platform. CONTENT OF THE INVENTION

[0004] The present application provides a ranging device, a damping device and a movable platform, which are helpful to the compactness of the movable platform.

[0005] In an embodiment of the present application, a ranging device is provided. The ranging device comprises:

[0006] a housing;

[0007] a laser radar, at least part of the laser radar is arranged on the top of the housing, the at least part of the laser radar comprises a light exit cover of the laser radar, and the light exit cover is capable of allowing the outgoing laser of the laser radar to pass through;

[0008] one or more millimeter wave radars, the one or more millimeter wave radars are lower than a plane formed by the bottom of the light exit cover, and the one or more millimeter wave radars are arranged in the housing;

[0009] wherein the detection range of the laser radar and at least part of the one or more millimeter wave radars overlap.

[0010] Optionally, the laser radar and the one or more millimeter wave radars are integrally arranged.

[0011] Optionally, the millimeter wave radar comprises a first millimeter wave radar, the top of the shell comprises a first area and a second area, the first area and the second area are arranged separately, wherein the laser radar is arranged in the first area, and the first millimeter wave radar is arranged in the second area, and the first millimeter wave radar can be used to detect the upward area of the second area.

[0012] Optionally, the millimeter wave radar comprises a second millimeter wave radar, the second millimeter wave radar is arranged on the first side of the shell, the first side is different from the top of the shell, and the transmitting circuit board of the second millimeter wave radar is inclined to the top of the shell.

[0013] Optionally, the millimeter wave radar further comprises a third millimeter wave radar, the third millimeter wave radar is arranged on the second side of the shell, the second side is different from the top of the shell and the first side, and in the direction of the roll axis of the ranging device, the end of the transmitting circuit board of the third millimeter wave radar away from the second millimeter wave radar is closer to the roll axis than the end of the transmitting circuit board of the third millimeter wave radar close to the second millimeter wave radar.

[0014] Optionally, the millimeter wave radar further comprises a fourth millimeter wave radar, and the transmitting circuit board of the fourth millimeter wave radar is symmetrically arranged with the transmitting circuit board of the third millimeter wave radar relative to the roll axis.

[0015] Optionally, the laser radar can be carried on a movable platform, and when the movable platform is in a state of position invariability, the detection angle of the laser radar in the horizontal direction is 360°.

[0016] Optionally, the ranging device has a heat dissipation air duct, the heat dissipation air duct comprises an air outlet and one or more air inlets; the air inlets comprise at least one of the following: a first air inlet located below the second millimeter wave radar, a second air inlet located on both sides of the second millimeter wave radar, and a third air inlet.

[0017] Optionally, the ranging device further comprises a fan; and the fan is arranged on the side of the air outlet.

[0018] In another embodiment of the present application, a damping device is provided, which can be used for damping of an inertial measurement unit. The damping device comprises:

[0019] one or more elastic damping members, the elastic damping member comprises a top and a bottom, the top of the elastic damping member is sleeved on the top of the inertial measurement unit, and the bottom of the elastic damping member is sleeved on the bottom of the inertial measurement unit;

[0020] The elastic damping member is arranged at the edge of the inertial measurement unit, and is connected with the inertial measurement unit and a support.

[0021] Optionally, the elastic damping member is provided with a matching member, which is capable of cooperating with a limiting structure to limit the movement or rotation of the inertial measurement unit, wherein the limiting structure is arranged on the support.

[0022] Optionally, the matching member comprises a protrusion arranged on the elastic damping member, which is capable of cooperating with the limiting structure.

[0023] Optionally, one of the top of the elastic damping member and the top of the inertial measurement unit is provided with a first hole, and the other is provided with a first column, which cooperates with the first hole to enable the top of the elastic damping member to be sleeved on the top of the inertial measurement unit; and / or

[0024] One of the bottom of the elastic damping member and the bottom of the inertial measurement unit is provided with a second hole, and the other is provided with a second column, which cooperates with the second hole to enable the top of the elastic damping member to be sleeved on the bottom of the inertial measurement unit.

[0025] Optionally, the support comprises a bottom wall and a cover plate of a containing bin, which is capable of containing the damping device and the inertial measurement unit.

[0026] In another embodiment of the present application, a movable platform is provided. The movable platform comprises the ranging device provided in the above-mentioned embodiments; and / or comprises the damping device provided in the above-mentioned embodiments.

[0027] Optionally, the movable platform comprises:

[0028] a main body comprising a mounting seat capable of mounting the ranging device, and the ranging device is detachably mounted on the mounting seat.

[0029] The technical scheme provided by some embodiments of the present application provides a novel layout of a laser radar and a millimeter wave radar, the laser radar and one or more millimeter wave radars are arranged on the same shell, the one or more millimeter wave radars are all lower than the plane formed by the bottom of the light exit cover of the laser radar, so that the laser radar and the millimeter wave radar are ensured not to interfere with each other in space; the detection ranges of the laser radar and at least part of the one or more millimeter wave radars overlap, which does not affect the detection of the laser radar and the millimeter wave radar, and can fully exert the respective advantages of the two radars, so that the detection capabilities of the laser radar and the millimeter wave radar complement each other, and the structure of the ranging device is more compact. Correspondingly, the movable platform provided with the ranging device is more compact in structure.

[0030] Some embodiments of the present application also provide a shock absorption device of an inertial measurement unit, which comprises one or more elastic shock absorption members. The elastic shock absorption members are arranged at the edges of the inertial measurement unit, and the top of the elastic shock absorption members is sleeved on the top of the inertial measurement unit, and the bottom of the elastic shock absorption members is sleeved on the bottom of the inertial measurement unit. The elastic shock absorption members are connected with the inertial measurement unit and a support for supporting the inertial measurement unit. It can be seen that the design of sleeving the elastic shock absorption members at the edges of the inertial measurement unit provided by the present embodiment is simple in structure, convenient to disassemble and assemble, and can better reduce the space occupation of the shock absorption device. Compared with some existing shock absorption schemes, the shock absorption device provided by the present embodiment occupies less space. Correspondingly, the movable platform provided with the shock absorption device is more easy to realize compact structure. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0032] Figure 1 The position layout schematic diagram of the laser radar and the millimeter wave radar in the ranging device provided by an embodiment of the present application is shown;

[0033] Figure 2 The schematic diagram shown in Figure 1 The projection view corresponding to the schematic diagram shown in

[0034] Figure 3 The top view schematic diagram corresponding to the schematic diagram shown in Figure 2

[0035] Figure 4 The schematic diagram showing that the detection range of the laser radar overlaps with that of one of the millimeter wave radars is shown;

[0036] Figure 5 The overlapping form of the detection range of the laser radar and that of one of the millimeter wave radars 3 is schematically shown in the form of a half-section laser radar detection range;

[0037] Figure 6 The appearance schematic diagram of the ranging device in which the laser radar and one or more millimeter wave radars are integrated is shown;

[0038] Figure 7 The top view corresponding to the appearance structure schematic diagram shown in Figure 6

[0039] Figure 8 ​​​Figure 6 An internal cross-sectional view of the ranging device is shown;

[0040] Figure 9 A schematic diagram of a heat dissipation air duct on the ranging device is shown;

[0041] Figure 10 For Figure 9 A projection view corresponding to the schematic diagram shown;

[0042] Figure 11 A schematic diagram of one product form of a movable platform installed with the ranging device is shown;

[0043] Figure 12 A schematic diagram of a damping device provided by an embodiment of the present application is shown;

[0044] Figure 13 For Figure 12 A projection view corresponding to the schematic diagram shown;

[0045] Figure 14 An exploded schematic diagram of an inertial measurement unit provided with the damping device installed in a support is shown;

[0046] Figure 15 A schematic diagram of a cover plate structure is shown;

[0047] Figure 16 A schematic diagram of an elastic damping member is shown. DETAILED DESCRIPTION

[0048] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for ease of description, only the relevant parts of the drawings are shown, but not all the structures.

[0049] In the description of the present application, unless specifically defined and limited otherwise, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In the present application, unless specifically defined and limited otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the embodiments, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, and is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0050] An embodiment of the present application provides a ranging device. Referring to Figures 1 to 6 The ranging device includes a housing 1, a laser radar 2 and one or more millimeter wave radars 3. As Figure 6 As shown, at least part of the laser radar 2 is arranged at the top of the housing 1, and at least part of the laser radar 2 includes a light exit cover 21 of the laser radar 2, which can be used for the laser radar 2 to pass through the exit laser. Referring to Figure 2 As shown, the one or more millimeter wave radars 3 are lower than the plane A (the plane corresponding to the dashed line in the figure) formed by the bottom of the light exit cover 21, and the one or more millimeter wave radars 3 are arranged in the housing 1. As Figure 4 And Figure 5 As shown, the detection range of the laser radar 2 and at least part of the one or more millimeter wave radars 3 overlaps. Figure 4 The detection range of the laser radar 2 is schematically shown by a dashed line above the light exit cover 21 in Figure 5The detection range of the laser radar 2 and the detection range of one of the millimeter wave radars 3 are shown in a semi-cutaway manner. It should be understood that the laser radar 2 includes a light-emitting cover 21, a laser emitting plate, a laser receiving plate, and other parts. In this embodiment, the bottom of the light-emitting cover 21 is arranged to be higher than the millimeter wave radar 3. The laser emitting plate, the laser receiving plate, and other parts of the laser radar 2 are not limited in this embodiment.

[0051] In this embodiment, when the ranging device includes multiple millimeter wave radars, the detection range of the laser radar overlaps with the detection range of one, part, or all of the millimeter wave radars. When the ranging device includes only one millimeter wave radar, the detection range of the laser radar overlaps with the detection range of the one millimeter wave radar.

[0052] Figure 4 and Figure 5 Only the detection range of the laser radar and one of the millimeter wave radars is shown. In fact, the detection range of the laser radar also overlaps with the detection range of the other millimeter wave radars. The detection range of the laser radar changes with the distance, and the farther the distance, the larger the detection range. Similarly, the detection range of the millimeter wave radar changes with the distance, and the farther the distance, the larger the detection range. Thus, the detection range of the laser radar overlaps with the detection range of the millimeter wave radar at a certain distance.

[0053] The laser radar has the advantages of high resolution and good performance in night scenes, but has the disadvantages of poor performance in cloudy, foggy, and backlight scenes, and poor detection ability for power lines. The millimeter wave radar has the advantage of maintaining good detection ability in night, cloudy, foggy, and backlight scenes, but has the disadvantage of lower resolution compared to the laser radar. The scheme provided in this embodiment combines the millimeter wave radar and the laser radar to take advantage of both. The millimeter wave radar and the laser radar do not interfere with each other in space, and although the detection range of the laser radar overlaps with the detection range of at least one or more millimeter wave radars, it does not affect the detection of the laser radar and the millimeter wave radar. The detection ability of the laser radar and the millimeter wave radar is complementary, and the structure of the ranging device is more compact. Accordingly, the movable platform installed with the ranging device is compact in structure, and can significantly improve the obstacle avoidance performance of the movable platform in different harsh scenes.

[0054] In some implementable manners, the laser radar 2 and the one or more millimeter wave radars 3 can be integrated. The integrated arrangement can be an integrated arrangement or arranged in a specific area. Referring to Figure 6 , Figure 7 and Figure 8In the embodiment shown, the laser radar 2 and the one or more millimeter wave radars 3 are integrated into an integrated device, i.e., the ranging device is an integrated whole of the laser radar and the one or more millimeter wave radars. The ranging device can be installed as an independent component on a movable platform, such as Figure 11 The laser radar and the millimeter wave radar are integrated, which facilitates disassembly and maintenance, and is also conducive to the compactness of the movable platform (such as a drone). For example, the laser radar and the millimeter wave radar can share a heat dissipation structure, which maximizes the reduction of the overall size while achieving heat dissipation of the two sensors. The content related to the shared heat dissipation structure will be described in detail below.

[0055] Referring to the examples shown in Figure 1 , Figure 2 and Figure 6 , the one or more millimeter wave radars 3 include a first millimeter wave radar 31. The first millimeter wave radar 31 can be referred to as an upward-looking millimeter wave radar. The top of the housing 1 includes a first region and a second region. The first region and the second region are arranged separately. The laser radar 2 is arranged in the first region, and the first millimeter wave radar 31 is arranged in the second region, and the first millimeter wave radar 31 can be used to detect the upward-looking region of the second region.

[0056] In specific implementation, the transmitting circuit board of the first millimeter wave radar 31 is located at the back side of the laser radar 2 and is arranged horizontally. Of course, the transmitting circuit board of the first millimeter wave radar 31 can also be arranged obliquely, for example, the end of the transmitting circuit board of the first millimeter wave radar 31 away from the laser radar 2 is lower than the end of the transmitting circuit board of the first millimeter wave radar 31 close to the laser radar 2.

[0057] Further, continuing to refer to the examples shown in Figure 1 , Figure 2 and Figure 6 , the one or more millimeter wave radars 3 include a second millimeter wave radar 32. The second millimeter wave radar 32 is arranged on the first side of the housing 1, and the first side is different from the top of the housing. The transmitting circuit board of the second millimeter wave radar 32 is inclined toward the top of the housing 1.

[0058] In specific implementation, the angle β at which the transmitting circuit board of the second millimeter wave radar 32 is inclined toward the top of the housing 1 can be 10°-45°. Referring to the viewing angle shown in Figure 2 , the second millimeter wave radar 32 can be referred to as a front millimeter wave radar. The front millimeter wave radar is inclined, which is intended to reduce the interference caused by the reflection of the millimeter wave signal by one or more components (such as the upper shell of the movable platform) on the movable platform to the detection of the millimeter wave radar.

[0059] The ranging device provided in the embodiment includes a third millimeter wave radar in the one or more millimeter wave radars. Referring toFigure 1 , Figure 2 and Figure 3 As shown, the third millimeter-wave radar 33 is disposed on the second side of the housing 1, which differs from the top and first side of the housing 1. In the direction of the roll axis of the ranging device, the end of the transmitting circuit board of the third millimeter-wave radar 33 furthest from the second millimeter-wave radar 32 is closer to the roll axis B than the end of the transmitting circuit board of the third millimeter-wave radar 33 closer to the second millimeter-wave radar 32. (As shown...) Figure 3 In the projection diagram shown from the indicated perspective, the distance d between the end of the transmitting circuit board of the third millimeter-wave radar 33 furthest from the second millimeter-wave radar 32 and the roll axis B, and the distance D between the end of the transmitting circuit board of the third millimeter-wave radar 33 closest to the second millimeter-wave radar 32 and the roll axis B, where d <D。

[0060] See Figure 3 In the example shown, the angle between the transmitter plate of the third millimeter-wave radar 33 and the roll axis B can be 3° to 15°. The purpose of tilting the third millimeter-wave radar 33 is to reduce the obstruction of the millimeter-wave radar's detection range by one or more components on the movable platform (such as the arm of the movable platform).

[0061] See Figure 3 In the example shown, the third millimeter-wave radar 33 could be Figure 3 The image shows either the left-looking or right-looking millimeter-wave radar. Additionally, the roll axis B of the ranging device refers to an imaginary line passing through the center of gravity of the ranging device and across its front end. In the context of mobile platforms, such as drones or aircraft, the roll axis, or longitudinal axis, is an imaginary line passing through the center of gravity of the drone or aircraft, across its nose, and parallel to its heading.

[0062] Furthermore, the ranging device provided in this application embodiment further includes a fourth millimeter-wave radar 34 among one or more millimeter-wave radars. The transmitting circuit board of the fourth millimeter-wave radar 34 is symmetrically arranged with respect to the rolling axis B as the transmitting circuit board of the third millimeter-wave radar 33.

[0063] like Figure 3 From the perspective shown, if the third millimeter-wave radar 33 is a right-looking millimeter-wave radar, then the fourth millimeter-wave radar 34 is a left-looking millimeter-wave radar. Of course, it can also be the other way around, and this embodiment does not specifically limit it. The third millimeter-wave radar 33 and the fourth millimeter-wave radar 34 are both located behind the lidar and are arranged on both sides of the lidar. The third millimeter-wave radar 33 and the fourth millimeter-wave radar 34 are located below the first millimeter-wave radar 31.

[0064] The ranging device provided in this embodiment can be mounted on a mobile platform. When the mobile platform remains in a fixed position, the lidar has a detection angle of 360° in the horizontal direction. Taking an aircraft as an example, "fixed position" includes the state where the lidar is activated but the aircraft has not taken off, or the state where the aircraft is hovering in the air.

[0065] Combination Figure 1 , Figure 4 and Figure 11 In the example shown, millimeter-wave radars 3 are arranged in the front, left, right, and top directions of the mobile platform (i.e., the aircraft), and lidar 2 is arranged in the middle of the multiple millimeter-wave radars 3. The detection angle (or field of view, FOV) of lidar 2 is conical (e.g., ...). Figure 4 Above multiple millimeter-wave radars, the detection angle of lidar 2 is 360°. Below, in front, to the left, to the right, and above, the area is covered by millimeter-wave radars.

[0066] Figure 6 and Figure 7 An exemplary embodiment of the external structure of a ranging device integrating a lidar and one or more millimeter-wave radars is shown. As mentioned above, the integrated lidar and millimeter-wave radar configuration can reduce the overall size and thus improve the overall structural compactness by sharing a heat dissipation structure. Figure 6 , Figure 8 and Figure 9 The example shown has a cooling duct. The cooling duct includes an air outlet 12 and one or more air inlets 11. The air inlets 11 include at least one of the following: a first air inlet 111 located below the second millimeter-wave radar 32, a second air inlet 112 located on both sides of the second millimeter-wave radar 32, and a third air inlet. Figure 6 Only the second air inlet 112 located on one side of the second millimeter-wave radar 32 is shown; the third air inlet on the other side of the second millimeter-wave radar 32 is not shown. In a specific implementation, the third air inlet can be symmetrically arranged with the second air inlet 112 and have the same structure. The air outlet is located on the rear side of the ranging device, opposite to the position of the first millimeter-wave radar 31.

[0067] In specific implementation, such as Figure 8 As shown, the ranging device can be equipped with a fan 4, which is located on the side of the air outlet 12. The fan 4 generates airflow that enters from the air inlet 11 and exits from the air outlet 12. Alternatively, the ranging device can be equipped without a fan; the movable platform carrying the ranging device can then allow airflow through the air inlet 11 into the cooling duct and out of the air outlet 12 during movement, thus achieving a cooling effect. With a fan, the cooling airflow generated by the fan is larger, resulting in better cooling performance.

[0068] See Figure 9 andFigure 10 As shown, the transmitting circuit boards of the millimeter-wave radar 3 in each direction all have heat dissipation features on the back side of the transmitting circuit board. The heat dissipation features on the back side of multiple millimeter-wave radar 3 transmitting circuit boards form a heat dissipation channel, which can maximize the utilization of space to achieve heat dissipation for both the lidar and millimeter-wave radar. That is, the solution provided in this application embodiment achieves heat dissipation for both lidar and millimeter-wave radar while occupying as little space as possible. The heat dissipation channel is designed based on the maximum envelope formed by the transmitting circuit boards of each millimeter-wave radar 3, without occupying additional space.

[0069] Specifically, such as Figure 9 and Figure 10 As shown, the housing 1 includes a base, on which a first mounting seat is provided. A lidar 2 can be mounted on the first mounting seat 13. A second mounting seat 14 is provided on a second region of the top surface of the housing 1. A first millimeter-wave radar 31 can be mounted on the second mounting seat 14. A third mounting seat 15 is provided on a first side of the housing 1. A second millimeter-wave radar 32 can be mounted on the third mounting seat 15. A fourth mounting seat 16 is provided on a second side of the housing 1. A third millimeter-wave radar 33 can be mounted on the fourth mounting seat 16. A fifth mounting seat 17 is provided on a third side of the housing 1 opposite to the second side. A fourth millimeter-wave radar 34 can be mounted on the fifth mounting seat 17.

[0070] The first mounting base 13, the second mounting base 14, the third mounting base 15, the fourth mounting base 16, and the fifth mounting base 17 are each equipped with multiple heat sinks 18. The multiple heat sinks 18 are spaced apart so that airflow can carry away the heat generated by the lidar and millimeter-wave radar during operation.

[0071] In summary, the ranging device provided in this application embodiment has one or more millimeter-wave radars located below the plane formed by the bottom of the laser radar's emitter cover. While there may be overlap in the detection ranges of some millimeter-wave radars and the laser radar, this does not affect the collaborative operation of the millimeter-wave radar and the laser radar. The millimeter-wave radar can maintain good detection capabilities in specific scenarios such as nighttime, fog, backlight, tree branches, and power line obstacles, thus compensating for the generally lower detection capabilities of the laser radar in these specific scenarios. In scenarios other than those specific scenarios, the laser radar has better detection capabilities, and detection by the laser radar can be the primary method.

[0072] Furthermore, this application embodiment integrates the lidar and millimeter-wave radar into a compact design, resulting in a smaller and simpler overall size, which is beneficial for improving the structural compactness of the mobile platform. Additionally, the ranging device provided in this application embodiment can be used as an independent accessory, allowing the mobile platform supplier to flexibly select and install the ranging device according to market demands.

[0073] Another embodiment of this application provides a vibration damping device. This vibration damping device is used for damping the vibration of the inertial measurement unit 6. See also... Figure 12 and Figure 13 The example shown includes a damping device comprising one or more elastic damping elements 5. Each elastic damping element 5 includes a top and a bottom. The top of the elastic damping element 5 is fitted onto the top of the inertial measurement unit 6, and the bottom of the elastic damping element 5 is fitted onto the bottom of the inertial measurement unit 6.

[0074] The elastic damping element 5 is located at the edge of the inertial measurement unit 6. The elastic damping element 5 connects the inertial measurement unit 6 and the support element 7. The support element 7 can be used to support the inertial measurement unit 6.

[0075] The design of fitting an elastic damping element around the edge of the inertial measurement unit provided in this embodiment is simple in structure, easy to assemble and disassemble, and can also effectively reduce the space occupied by the damping device. Compared with some existing damping solutions, the damping device provided in this embodiment occupies less space and has a regular shape that is easy to lay out within a mobile platform, which is beneficial to improving the structural compactness of the mobile platform.

[0076] Further, see Figure 12 and Figure 14 In the example shown, the elastic damper 5 is provided with a mating member 51. The mating member 51 can cooperate with the limiting structure 721 to limit the movement or rotation of the inertial measurement unit 6, wherein the limiting structure 721 is provided on the support member 7.

[0077] In a specific, feasible solution, such as Figure 12 As shown, the mating part 51 includes a protrusion disposed on the elastic damping member 5, which can mate with the limiting structure 721. The protrusion can be made of an elastic or rigid material.

[0078] More specifically, the elastic damping member 5 is provided with multiple protrusions extending in different directions; some of these protrusions cooperate with the limiting structure 721 to limit the inertial measurement unit 6 within the accommodating space of the support member 7. The inertial measurement unit 6 makes elastic contact with the inner wall of the accommodating space of the support member 7 through the multiple protrusions extending in different directions.

[0079] The plurality of elastic protrusions extending in different directions may include, but are not limited to:

[0080] The elastic damping component 5 has multiple upward-extending top protrusions arranged in a polygonal shape with multiple corners;

[0081] The elastic damping element 5 has multiple downwardly extending bottom protrusions arranged in a polygonal pattern at multiple corners; and

[0082] A side protrusion extending in multiple different lateral directions is provided on at least one of the top, bottom, and middle portions of the elastic damping member 5.

[0083] Among them, the elastic damping element 5 has a connecting part 52 in the middle that connects the top and bottom, as shown in the figure. Figure 16 As shown.

[0084] In a more specific embodiment, Figure 16 In the example shown, the elastic damper 5 has three upward-extending top protrusions 511, 512, and 513 on its top. These three top protrusions 511, 512, and 513 are distributed at the three vertices of a triangle. Similarly, the elastic damper 5 has three upward-extending bottom protrusions (…). Figure 16 (Not shown in the image). Near the top of the connecting portion 52 of the elastic damper 5, or at the top of the elastic damper 5, are two side protrusions 514 and 515, each facing a different lateral direction. Near the bottom of the connecting portion 52 of the elastic damper 5, or at the bottom of the elastic damper 5, are two side protrusions 516 and 517, each facing a different lateral direction.

[0085] See Figure 12 As shown, one of the tops of the elastic damper 5 and the top of the inertial measurement unit 6 is provided with a first hole 8, and the other is provided with a first post 9. The first post 9 mates with the first hole 8 so that the top of the elastic damper 5 is fitted onto the top of the inertial measurement unit 6; and / or

[0086] One of the bottoms of the elastic damper 5 and the bottom of the inertial measurement unit 6 is provided with a second hole, and the other is provided with a second column. The second column mates with the second hole so that the top of the elastic damper is fitted onto the bottom of the inertial measurement unit.

[0087] Furthermore, such as Figure 14 In the example shown, the support 7 includes a bottom wall 71 and a cover 72 for accommodating a storage compartment, which can be used to accommodate a shock-absorbing device and an inertial measurement unit 6.

[0088] See Figure 14 In the example shown, the inertial measurement unit 6 employs four elastic damping elements 5, which are respectively fitted onto the four corners of the inertial measurement unit 6. Each elastic damping element 5 has a protrusion on its top and side, which respectively engages with the bottom wall 71 of the accommodating chamber and the cover plate 72. Due to the small contact area of ​​the protrusions, they achieve a relatively good damping effect.

[0089] In addition, to prevent the inertial measurement unit 6 from rotating, a limiting structure 721 is designed on both the cover plate 72 and the bottom wall 71 of the accommodating chamber. The limiting structure 721 cooperates with the recessed position formed by multiple protrusions on the elastic damping member to prevent the inertial measurement unit 6 from rotating inside the accommodating chamber.

[0090] As can be seen, the shock absorption device provided in this embodiment has one or more elastic shock absorbers sleeved on the edge of the inertial measurement unit along the height direction of the inertial measurement unit, which is convenient for assembly and disassembly. The protrusions on the elastic shock absorbers not only have a shock absorption function, but also a limiting function. Compared with some existing shock absorption solutions, the shock absorption device provided in this embodiment occupies less space, which is beneficial to the structural compactness of mobile platforms (such as drones).

[0091] See Figure 11 As shown, another embodiment of this application provides a mobile platform. Figure 11 An example of a mobile platform being an aircraft is shown. This mobile platform may include the ranging device provided in the above embodiments; and / or include the shock absorption device provided in the above embodiments. One or more elastic damping elements in the shock absorption device may be mounted on the edge of the inertial measurement unit of the mobile platform.

[0092] Furthermore, the mobile platform includes a main body 10. If the mobile platform is an aircraft, then the main body is the aircraft's fuselage. If the mobile platform is a vehicle, then the main body is the vehicle body, and so on. The main body 10 includes a mounting base for mounting the ranging device 20, which is detachably mounted on the mounting base.

[0093] For details on the specific structure of the ranging device and the shock absorption device, please refer to the description above; they will not be repeated here.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A ranging device, characterized in that, include: case; A lidar, at least a portion of which is disposed on the top of the housing, the at least a portion of which includes a light-emitting cover for the lidar to allow the emitted laser light from the lidar to pass through; One or more millimeter-wave radars, wherein the one or more millimeter-wave radars are below the plane formed by the bottom of the light-emitting radome, and wherein the one or more millimeter-wave radars are disposed in the housing; The detection ranges of the lidar and at least some of the millimeter-wave radars overlap.

2. The ranging device according to claim 1, characterized in that, The lidar and the one or more millimeter-wave radars are integrated into a single unit.

3. The ranging device according to claim 1, characterized in that, The millimeter-wave radar includes a first millimeter-wave radar. The top of the housing includes a first region and a second region, which are separated. The lidar is disposed in the first region, and the first millimeter-wave radar is disposed in the second region. The first millimeter-wave radar is capable of detecting the area facing upwards from the second region.

4. The ranging device according to claim 1, characterized in that, The millimeter-wave radar includes a second millimeter-wave radar, which is disposed on a first side of the housing. The first side is different from the top of the housing, and the transmitting circuit board of the second millimeter-wave radar is inclined toward the top of the housing.

5. The ranging device according to claim 4, characterized in that, The millimeter-wave radar also includes a third millimeter-wave radar, which is disposed on a second side of the housing. The second side is different from the top of the housing and the first side. In the direction of the roll axis of the ranging device, the end of the transmitting circuit board of the third millimeter-wave radar that is away from the second millimeter-wave radar is closer to the roll axis than the end of the transmitting circuit board of the third millimeter-wave radar that is closer to the second millimeter-wave radar.

6. The ranging device according to claim 5, characterized in that, The millimeter-wave radar also includes a fourth millimeter-wave radar, the transmitting circuit board of which is symmetrically arranged with respect to the roll axis as the transmitting circuit board of the third millimeter-wave radar.

7. The ranging device according to claim 1, characterized in that, The lidar can be mounted on a mobile platform. When the mobile platform is in a fixed position, the lidar has a detection angle of 360° in the horizontal direction.

8. The ranging device according to claim 1, characterized in that, The ranging device has a heat dissipation duct, which includes an air outlet and one or more air inlets. The air inlet includes at least one of the following: a first air inlet located below the second millimeter-wave radar, a second air inlet located on both sides of the second millimeter-wave radar, and a third air inlet.

9. The ranging device according to claim 8, characterized in that, It also includes a fan; the fan is located on the air outlet side.

10. A shock absorption device, characterized in that, Vibration damping for inertial measurement units includes: One or more elastic damping elements, each elastic damping element having a top and a bottom, the top of the elastic damping element being sleeved on the top of the inertial measurement unit, and the bottom of the elastic damping element being sleeved on the bottom of the inertial measurement unit; The elastic damping element is located at the edge of the inertial measurement unit, and the elastic damping element connects the inertial measurement unit and the support element. The support element can be used to support the inertial measurement unit.

11. The shock absorption device according to claim 10, characterized in that, The elastic damping component is provided with a mating component, which can cooperate with the limiting structure to restrict the movement or rotation of the inertial measurement unit, wherein the limiting structure is disposed on the support component.

12. The shock absorption device according to claim 11, characterized in that, The mating component includes a protrusion disposed on the elastic damping component, the protrusion being able to mate with the limiting structure.

13. The shock absorption device according to claim 10, characterized in that, One of the tops of the elastic damping member and the top of the inertial measurement unit has a first hole, and the other has a first post. The first post mates with the first hole so that the top of the elastic damping member is fitted onto the top of the inertial measurement unit; and / or One of the bottoms of the elastic damping member and the bottom of the inertial measurement unit is provided with a second hole, and the other is provided with a second column. The second column cooperates with the second hole so that the top of the elastic damping member is fitted onto the bottom of the inertial measurement unit.

14. The shock absorption device according to claim 10, characterized in that, The support includes the bottom wall and cover of the accommodating chamber, which can be used to accommodate the shock absorption device and the inertial measurement unit.

15. A mobile platform, characterized in that, The device includes a ranging device according to any one of claims 1 to 9; and / or a shock-absorbing device including an inertial measurement unit according to any one of claims 10 to 14.

16. The mobile platform according to claim 15, characterized in that, The mobile platform includes: The main body includes a mounting base for mounting the ranging device, which is detachably mounted on the mounting base.

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