A ranging device (100) and a mobile platform. The ranging device (100) comprising an emitter (203), a collimating element (204), a detector (205) and a converging element (2041), and further comprising a first pre-shaping element (2032) and/or a second pre-shaping element (2052), the first pre-shaping element (2032) being disposed on an emitting optical path between the collimating element (204) and an emergent light surface of the emitter (203), and the second pre-shaping element (2052) being disposed on a receiving optical path between the converging element (2041) and a photosensitive surface of the detector (205); an effective aperture of the collimating element (204) being greater than an effective aperture of the first pre-shaping element (2032), and an effective aperture of the converging element (2041) being greater than an effective aperture of the second pre-shaping element (2052). The ranging device (100) can obtain excellent optical functionality with a large-aperture lens at relatively low cost, and can reduce aberration in an optical system, thereby helping improve functionality of the ranging device (100).
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