# US 2021/0333393 A1 · Scanning module, distance measuring device and mobile platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333393 A1 - Document ID: US20210333393A1 - Status: Published application - Kind: A1 - Application number: 17/371,700 - Filed: 2021-07-09 - Published: 2021-10-28 - Earliest claimed: 2019-01-09 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Hao WANG; Huai HUANG - Web page: https://patentgrep.com/patent/US20210333393A1 ## CPC - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 7/4817: {relating to scanning} - G01S 7/484: Transmitters - G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) - G02B 26/0891: {forming an optical wedge} - G02B 26/108: {having one or more prisms as scanning elements} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## Abstract A distance measuring device includes a scanning module including a rotor assembly, the rotor assembly including a rotor, the rotor including a receiving cavity and an optical element disposed in the receiving cavity, the optical element rotating synchronously with the rotor assembly, the optical element including a first end and a second end, the first end and the second end being respectively positioned at two ends in a radial direction of the optical element, a thickness of the first end being greater than a thickness of the second end, a notch being formed on a side of the first end of the rotor or/and the optical element; and a distance measuring module configured to emit a laser pulse to the scanning module. ## Claims ### Claim 1 A distance measuring device, comprising: a scanning module including a rotor assembly, the rotor assembly including a rotor, the rotor including a receiving cavity and an optical element disposed in the receiving cavity, the optical element rotating synchronously with the rotor assembly, the optical element including a first end and a second end, the first end and the second end being respectively positioned at two ends in a radial direction of the optical element, a thickness of the first end being greater than a thickness of the second end, a notch being formed on a side of the first end of the rotor or/and the optical element; and a distance measuring module, the distance measuring module being configured to emit a laser pulse to the scanning module, the scanning module being configured to change a transmission direction of the laser pulse and emit the laser pulse, the laser pulse reflected by an object to be detected passing through the scanning module and entering the distance measuring module, the distance measuring module being configured to determine a distance between the object to be detected and the distance measuring device based on the reflected laser pulse. ### Claim 2 A distance measuring device, comprising: a scanning module including: a first rotor assembly, the first rotor assembly including a first rotor, the first rotor including a first receiving cavity; a first optical element mounted in the first receiving cavity, the first optical element including a first end and a second end, the first end of the first optical element and the second end of the first optical element being respectively positioned at two ends in a radial direction of the first optical element, a thickness of the first end of the first optical element being greater than a thickness of the second end of the first optical element, a notch being formed on a side of the first rotor or/and the first optical element positioned at the first end of the first optical element; a second rotor assembly, the second rotor assembly including a second rotor and a boss, the second rotor including a second receiving cavity, the boss being disposed on an inner wall of the second rotor and positioned in the second receiving cavity; and a second optical element mounted in the second receiving cavity, the second optical element including a first end and a second end, the first end of the second optical element and the second end of the second optical element being respectively positioned at two ends in a radial direction of the second optical element, a thickness of the first end of the second optical element being greater than a thickness of the second end of the second optical element, the second end of the second optical element being opposite to the boss and positioned on the same side of a second rotation axis of the second rotor; and a distance measuring module, the distance measuring module being configured to emit a laser pulse to the scanning module, the scanning module being configured to change a transmission direction of the laser pulse and emit the laser pulse, the laser pulse reflected by an object to be detected passing through the scanning module and entering the distance measuring module, the distance measuring module being configured to determine a distance between the object to be detected and the distance measuring device based on the reflected laser pulse. ### Claim 3 (depends on 2) The distance measuring device of claim 2, wherein: a gap is formed between the second end of the second optical element and the inner wall of the second rotor, and the boss extends into the gap. ### Claim 4 (depends on 2) The distance measuring device of claim 2, wherein: the second optical element is spaced apart from the boss. ### Claim 5 (depends on 2) The distance measuring device of claim 2, wherein: a surface of the boss facing the second optical element is a flat surface, and a surface of the boss attached to the inner wall of the second rotor is a curved surface. ### Claim 6 (depends on 2) The distance measuring device of claim 2, wherein: the boss rotates synchronously with the second optical element, and a torque relative to the second rotation axis when the boss and the second end of the second optical element rotate synchronously is equal to a torque relative to the second rotation axis when the first end of the second optical element rotates. ### Claim 7 (depends on 2) The distance measuring device of claim 2, wherein: the boss and the second rotor are integrally formed; or the boss and the second rotor are formed separately, the boss being fixed on the inner wall of the second rotor. ### Claim 8 (depends on 2) The distance measuring device of claim 2, wherein: a density of the boss is greater than a density of the second rotor and/or the second optical element. ### Claim 9 (depends on 2) The distance measuring device of claim 2, wherein: the second optical element is formed with a first surface inclined with respect to the second rotation axis and a second surface opposite to the first surface of the second optical element, the second surface of the second optical element being perpendicular to the second rotation axis. ### Claim 10 (depends on 2) The distance measuring device of claim 2, wherein: a projection range of the boss on the second rotation axis covers a projection range of the second optical element on the second rotation axis. ### Claim 11 (depends on 2) The distance measuring device of claim 2, wherein: the scanning module includes a plurality of the second rotor assemblies, a plurality of the second stator assemblies, and a plurality of the second optical elements, each of the second optical elements being mounted on a corresponding second rotor assembly, each of the second stator assemblies being used to drive a corresponding second rotor assembly to drive the second optical element to rotate. ### Claim 12 (depends on 11) The distance measuring device of claim 11, wherein: numbers of the second rotor assembly and the second rotor assembly are both two, and a difference between apertures of the two second optical elements is less than or equal to 70% of the respective apertures. ### Claim 13 (depends on 12) The distance measuring device of claim 12, wherein: the apertures of the two second optical elements are the same. ### Claim 14 (depends on 11) The distance measuring device of claim 11, wherein: the plurality of second rotor assemblies are configured to rotate relative to the corresponding second stator assemblies at different rotation speed and/or rotation directions. ### Claim 15 (depends on 2) The distance measuring device of claim 2, further comprising: a second stator assembly, the inner wall of the second rotor being a ring structure or a part of the ring structure, and a second positioning assembly positioned outside the inner wall of the second rotor, the second positioning assembly being used to restrict the second rotor assembly from rotating around a fixed second rotation axis, the second positioning assembly including an annular second bearing surrounding an outer side of the inner wall of the second rotor; and/or, the second stator assembly including a ring-shaped winding surrounding the outer side of the inner wall of the second rotor. ### Claim 16 (depends on 15) The distance measuring device of claim 15, wherein: the second stator assembly and the second positioning assembly surround the inner wall of the second rotor side by side. ### Claim 17 (depends on 15) The distance measuring device of claim 15, further comprising: a scanning housing, the second stator assembly, the second rotor assembly, and the second positioning assembly being received in the scanning housing, wherein the second positioning assembly includes a second inner annular structure fixed to the outer side of the inner wall of the second rotor, a second outer annular structure fixed to the scanning housing, and a second rolling element positioned between the second inner annular structure and the second outer annular structure, the second rolling element being used for a rolling connection with the second outer annular structure and the second inner annular structure respectively. ### Claim 18 (depends on 2) The distance measuring device of claim 2, wherein: the notch includes a chamfer disposed on an edge of the first end of the first optical element; and/or, the notch includes an inner groove formed on an inner surface of a first rotor side wall, the inner groove being close to the side of the first end of the first optical element; and/or, the notch includes an outer groove formed on an outer surface of the first rotor side wall, the outer groove being close to the side of the first end of the first optical element; and/or, the notch includes a groove formed in the middle of the first rotor side wall, the groove being close to the side of the first end of the first optical element; and/or, a rib is formed on the outer surface of the first rotor side wall extending radially outward, the rib being disposed around the first rotor side wall, and the notch including an opening disposed on the rib. ### Claim 19 (depends on 2) The distance measuring device of claim 2, wherein: the notch includes a corner disposed at the edge of the first end of the first optical element, and the corner is opposite to an inner wall of the first rotor. ### Claim 20 (depends on 2) The distance measuring device of claim 2, wherein: the first rotor further includes a protrusion, the protrusion being disposed on the inner surface of the first rotor side wall, the first end of the first optical element being mounted on the protrusion. ### Claim 21 (depends on 2) The distance measuring device of claim 2, wherein: the first optical element is formed with a first surface inclined with respect to the first rotation axis and a second surface opposite to the first surface of the first optical element, the second surface of the first optical element being perpendicular to the first rotation axis.