CN108535737A - A kind of laser radar apparatus - Google Patents

A kind of laser radar apparatus Download PDF

Info

Publication number
CN108535737A
CN108535737A CN201810589973.1A CN201810589973A CN108535737A CN 108535737 A CN108535737 A CN 108535737A CN 201810589973 A CN201810589973 A CN 201810589973A CN 108535737 A CN108535737 A CN 108535737A
Authority
CN
China
Prior art keywords
speculum
plate
laser
laser radar
radar apparatus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810589973.1A
Other languages
Chinese (zh)
Other versions
CN108535737B (en
Inventor
王瑞
向少卿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hesai Photonics Technology Co Ltd
Original Assignee
Hesai Photonics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hesai Photonics Technology Co Ltd filed Critical Hesai Photonics Technology Co Ltd
Priority to CN201810589973.1A priority Critical patent/CN108535737B/en
Publication of CN108535737A publication Critical patent/CN108535737A/en
Application granted granted Critical
Publication of CN108535737B publication Critical patent/CN108535737B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4817Constructional features, e.g. arrangements of optical elements relating to scanning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present invention relates to technical field of laser detection, disclose a kind of laser radar apparatus, including rotor, it is provided with launching pod in rotor and receives cabin, optical lens component is installed on the side wall of rotor, optical lens component includes the light emitting lens and optical receiver lens being connected to respectively with launching pod and reception cabin, and emitting module and the first relaying mirror assembly are provided in launching pod, receives in cabin and is provided with the second relaying mirror assembly and receiving unit.The launching pod of laser radar apparatus of the present invention and the concrete structure for receiving emitter and reception device in cabin adaptation nacelle, and the arrangement volume of laser can be reduced.

Description

A kind of laser radar apparatus
Technical field
The present invention relates to technical field of laser detection, disclose a kind of laser radar apparatus.
Background technology
As an important ring for intelligent vehicle environment sensing hardware system, laser radar (LIDAR) undertakes in automatic Pilot Curb detection, obstacle recognition and positioning in real time and vital tasks such as (SLAM) of drawing.
LIDAR system includes laser transmitting system and a reception system.Laser emission system is generated and transmitted by light arteries and veins Punching, beats on object and reflects, finally received by receiver.It is anti-from being emitted to that receiver accurately measures light pulse The propagation time being emitted back towards.Because light pulse is with light velocity propagation, before receiver always receives before next pulse is sent out One pulse being reflected back toward.It is known in view of the light velocity, the propagation time can be converted into the measurement adjusted the distance.Laser radar Target location (distance and angle), motion state (speed, vibration and posture) and shape can be accurately measured, detection, is differentiated at identification With tracking target.Due to having many advantages, such as that measuring speed is fast, precision is high remote with ranging, laser radar has obtained extensively on intelligent vehicle General application.
The mobile lidar installation weight applied at present is heavier, also, in the prior art, when needing multi beam light, Laser radar is laser of arranging on the different height of diversing lens image planes nothing but to realize the raising of line number.Difference in height Smaller, then line number is more, and line angular resolution is higher.Columns is more, and production resetting difficulty is big, and technique is more complicated, and produces effect Rate is lower;Low space utilization in system is especially squeezed at focal plane position, and calorific value is again big, heat be difficult be exported, and other Local device is few, and fever is also few.The arrangement of laser is related to the layout of entire laser beam emitting device, conventional use of semiconductor Laser pulse LED lighting area is small-sized, but is actually swashed due to the influence of chip package and driving circuit size Spacing between light device can not become very close.It is therefore desirable to propose a kind of new laser beam emitting device layout, it is difficult to reduce adjustment The diminution of the heat dissipation and overall dimensions of laser is considered while spending.
Invention content
The technical problem to be solved by the present invention is to the launching pod of laser radar apparatus in the prior art and receive cabin distribution The concrete structure of emitter and reception device in nacelle can not be adapted to, and untight ask is arranged in laser in the prior art Topic.
In order to solve the above technical problems, the invention discloses a kind of laser radar apparatus, specifically, described device includes turning Son is provided with launching pod in the rotor and receives cabin, optical lens component is equipped on the side wall of the rotor,
The optical lens component includes light emitting lens and optical receiver lens, and the light emitting lens connect with the launching pod Logical, the optical receiver lens are connected to the reception cabin,
Emitting module and the first relaying mirror assembly are provided in the launching pod, the emitting module is used for emission detection Light, the detection light that the first relaying mirror assembly is used to emit to emitting module described in the light emitting reflection from lens;
The second relaying mirror assembly and receiving unit are provided in the reception cabin, the second relaying mirror assembly is for reflecting The reflected light received through the optical receiver lens, the receiving unit is for receiving after the second relaying mirror assembly reflection Reflected light.
Further, it is isolated by partition board between the launching pod and reception cabin.
Further, the emitting module includes radiating circuit board mount, Laser emission board mount, at least one transmitting electricity Road plate and at least one Laser emission plate, at least one radiating circuit plate are arranged on the radiating circuit board mount, At least one Laser emission plate is arranged on the Laser emission board mount, the radiating circuit board mount and Laser emission Setting is spaced between board mount.
Further, the Laser emission board mount includes bottom plate and side plate, and the bottom plate is connect with the side plate, described There are multiple broach arranged side by side on side plate, card slot is formed between the two neighboring broach, the Laser emission plate is inserted It is connected in the card slot.
Preferably, being both provided at least one laser on each Laser emission plate.
Preferably, being connected by electrical connector between the radiating circuit plate and Laser emission plate, adjacent transmission electricity It is connected by electrical connector between the plate of road.
Further, the receiving unit includes receiving circuit board mount and at least one circuit board for receiving, it is described at least One circuit board for receiving is arranged on the receiving circuit board mount, and at least one detection is both provided on each circuit board for receiving Device.
Preferably, at least one detector is arranged on the same circuit board for receiving.
Preferably, being connected by electrical connector between two neighboring circuit board for receiving.
Further, the first relaying mirror assembly includes the first speculum and the second speculum, first speculum It is oppositely arranged with the second speculum, the second relaying mirror assembly includes third speculum and the 4th speculum, and the third is anti- It penetrates mirror and the 4th speculum is oppositely arranged.
Further, be disposed opposite to each other between second speculum and the 4th speculum, second speculum with It is formed with angle between 4th speculum.
Further, described device further include every mating plate and every light frame, it is described to be arranged in the light emitting lens every mating plate Between optical receiver lens, and it is described every mating plate one end be arranged between the second speculum and the 4th speculum, it is described every mating plate The other end be fitted in it is described every on light frame.
Further, the rotor further includes bottom plate and upper plane, described to be arranged on the bottom plate every light frame one end, institute It is concordant with the upper plane or stretch out the upper plane to state the other end every light frame.
Using above-mentioned technical proposal, laser radar apparatus of the present invention has the advantages that:
1) in the present invention, launching pod and reception cabin asymmetric distribution can adapt to the tool in emitting module and receiving unit Body structure and specific volume;
2) Laser emission plate and transmitting electricity are installed using Laser emission board mount and radiating circuit holder respectively in the present invention Road plate so that the space of laser radar launching pod is more flexible, and the volume of Laser emission plate can reduce, and reduces system dimension And weight, it is easy to implement low cost and the miniaturization of laser radar;
3) it is connected using electrical connector between Laser emission plate and radiating circuit plate in the present invention, is convenient for the dress of emitting module It adjusts, connects also by electrical connector between adjacent transmission circuit board, connected also by electrical connector between adjacent reception circuit board, Position relationship between its circuit board is adjustable, and convenient for assembly.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings Attached drawing.
Fig. 1 is the internal structure schematic diagram of laser radar apparatus of the present invention;
Fig. 2 is the index path of laser radar apparatus of the present invention;
Fig. 3 is the structural schematic diagram of emitting module of the present invention;
Fig. 4 is the structural schematic diagram of this bright receiving unit;
Fig. 5 is the rotor structure schematic diagram of laser radar apparatus of the present invention;
Fig. 6 is the vertical view of Fig. 5;
Fig. 7 is the sectional view of Fig. 5;
Fig. 8 is the part-structure schematic diagram of the another angle of laser radar apparatus of the present invention;
Fig. 9 is the part-structure schematic diagram of the another angle of laser radar apparatus of the present invention;
Figure 10 is the part-structure schematic diagram of the another angle of laser radar apparatus of the present invention;
Figure 11 is the part-structure schematic diagram of the another angle of laser radar apparatus of the present invention;
Figure 12 is the part-structure schematic diagram of the another angle of laser radar apparatus of the present invention;
Figure 13 is the part-structure schematic diagram of the another angle of laser radar apparatus of the present invention;
Figure 14 is distribution schematic diagram of the recessed portion of the present invention on the bottom plate of rotor;
Figure 15 is the structural schematic diagram on the chassis of laser radar of the present invention;
Figure 16 is the schematic cross-sectional view of laser radar pedestal of the present invention;
In figure, 1- rotors, 11- outer barrels, the first mounting planes of 111-, 112- third mounting planes, the upper planes of 113-, The first counter weight constructions of 1131-, 114- removable walls, the first clump weights of 1141-, 1142- curved portions, 1143- diversion divisions, 115- are fixed Wall, 12- inner cylinders, the second mounting planes of 121-, the 4th mounting planes of 122-, 123- binding faces, 13- launching pods, 131- transmitting groups Part, 1311- radiating circuit board mounts, 1312- radiating circuit plates, 1313- Laser emission board mounts, 1314- Laser emission plates, The relaying mirror assemblies of 132- first, the first speculums of 1321-, the second speculums of 1322-, 14- receptions cabin, 141- receiving units, 1411- receiving circuit board mounts, 1412- circuit board for receiving, 142- second relay mirror assembly, 1421- third speculums, 1422- 4th speculum, 15- stiffeners, 16- partition boards, the second counter weight constructions of 161-, 17- bottom plates, 171- weight loss grooves, the chassis 2-, 21- Two clump weights, 3- pedestals, 31- drying chambers, 32- axis, 33- driving devices, 34- first bearings, 35- second bearings, 4- light are saturating Mirror assembly, 41- light emitting lens, 42- optical receiver lens, 43- is every mating plate, and 44- is every light frame, 5- honeycombs, 51- grooves, 52- Dowel, 6- conductive components, 7- through-holes, 71- gasket seals, 8- fixed blocks, 81- bonding jumpers, 9- escape groove, 10- cover plate assemblies, The first cover boards of 101-, the second cover boards of 102-, 103- receive hatchway cover, 20 broach, 201- card slots.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects It encloses.
" one embodiment " or " embodiment " referred to herein refers to that may be included at least one realization method of the present invention A particular feature, structure, or characteristic.In the description of the present invention, it is to be understood that, term "upper", "top", "bottom", etc. instructions Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation, Therefore it is not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot understand To indicate or implying relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ", The feature of " second " can be expressed or what is implied includes one or more this feature.Moreover, term " first ", " second " Etc. being for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that use in this way Data can be interchanged in the appropriate case, so that the embodiment of the present invention described herein can be in addition to illustrating or retouching herein Sequence other than those of stating is implemented.
Embodiment:
In order to solve the above technical problems, the invention discloses a kind of laser radar apparatus, it is described to swash refering to fig. 1 to Figure 16 Optical radar device includes rotor 1, and the rotor 1 includes outer barrel 11 and inner cylinder 12, and it is saturating to be equipped with light on the barrel of the outer barrel 11 Mirror assembly 4, the both sides of the optical lens component 4 are distributed with counter weight construction 5, the counter weight construction 5 include the first counter weight construction and Second counter weight construction, first counter weight construction and the second counter weight construction include multiple grooves 51, preferably, described more The structure of a groove 51 may be the same or different.As a preferred embodiment, in the present embodiment, matched with forming first For multiple grooves 51 of weight structure:First counter weight construction includes 12 grooves 51, is specifically included in the outer barrel 11 4 rectangular recess that straight line is arranged on barrel vertical direction and 8 wedge-shaped impressions for being symmetricly set on the rectangular recess both sides, The rectangular recess is that depth is identical, and the wedge-shaped impression is on the direction of the close rectangular recess, diameter of the depth along rotor 1 To inwardly gradually intensification, specifically, the depth of the rectangular recess and the gradual change depth of the wedge-shaped impression are according to practical feelings Condition is set.Further, it is formed with dowel 52 between each adjacent two groove 51, plays the role of reinforcing rib, improved The integral strength of rotor 1, also, by the way that the counter weight construction being made of multiple grooves 51 is arranged in the both sides of optical lens component 4 5, the surface area of the outer barrel barrel of rotor 1 is increased, the radiating efficiency of rotor 1, while the setting of groove 51 is improved, reduces The overall weight of rotor 1 makes 1 lightweight of rotor develop, effectively reduces energy consumption of the rotor 1 in rotary course, and into one Step, the whole machine balancing of different weight material adjustment rotors 1 can be flexibly filled in groove 51, and it is whole to improve rotor 1 The flexibility of body balanced adjustment.
It is understood that the both sides that counter weight construction 5 described above is symmetrically distributed in the mounting structure 4 are only one Excellent alternative, and be not limited thereof, counter weight construction can be arranged to any position in rotor as needed.
Further, accommodating cavity is formed between the outer barrel 11 and inner cylinder 12, and partition board 16, institute are provided in the accommodating cavity It states 16 one side of partition board to connect with the outer barrel 11, the another side of the partition board 16 is connect with the inner cylinder 12, and the partition board 16 will The accommodating cavity is divided into launching pod 13 and receives cabin 14, and the launching pod 13 and the volume for receiving cabin 14 differ, or transmitting Cabin 13 and reception cabin 14 are in asymmetric branch on rotor.Specifically, the inner cylinder 12 includes inner cylinder inner wall and inner tank theca, institute It includes outer tube inner wall and outer drum outer wall to state outer barrel 11, and the accommodating cavity is formed between the outer tube inner wall and inner tank theca, and The outer tube inner wall and inner tank theca form the inner wall of the accommodating cavity.The inner tank theca and outer tube inner wall, which have been respectively formed on, to be kept away Allow slot 9, it is to be understood that the number of the escape groove 9 can be set according to setting or with the position of build-up member, to rise To the effect for avoiding build-up member Assembly Interference.Specifically, in the present embodiment, the number of escape groove 9 and position preferentially with The rigging position of build-up member is set, specifically, being provided with the first mounting plane 111 and third peace on the inner wall of the outer barrel 11 Plane 112 is filled, the second mounting plane 121, the 4th mounting plane 122 and binding face 123 are provided on the outer wall of the inner cylinder 12, Wherein, first mounting plane, 11 and second mounting plane 121 is arranged in the launching pod 13, the third mounting plane 112 and the 4th mounting plane 122 be arranged in the receptions cabin 14, the binding face 123 across the launching pod 13 and reception Cabin 14, first mounting plane, 111 and second mounting plane 121 are oppositely arranged, second mounting plane 121 and described the It is connected by binding face 123 between four 122 planes of installation, 112 and the 4th mounting plane 122 of the third mounting plane is set relatively It sets.Further, first mounting plane 111, the second mounting plane 121, third mounting plane 112 and the 4th mounting plane 122 both sides are both provided with escape groove 9.
Further, it is provided with emitting module 131 and first in the launching pod 13 and relays mirror assembly 132, the transmitting Component 131 is used for emission detection light, and the emitting module 131 includes radiating circuit board mount 1311, at least one radiating circuit Plate 1312, Laser emission board mount 1313 and at least one Laser emission plate 1314, the Laser emission board mount 1313 and institute The setting of the interval of radiating circuit board mount 1311 is stated, the radiating circuit plate 1312 is installed on the radiating circuit board mount 1311 On, the Laser emission plate 1314 is installed on the Laser emission board mount 1313, is arranged on the Laser emission plate 1314 There is at least one laser, is connected by the electrical connector between the radiating circuit plate 1312 and the Laser emission plate 1314 It connects, is connected also by electrical connector between multiple radiating circuit plates 1312, specifically, the laser is used for emission detection light, Preferably, the electrical connector is flexible electrical connection.
Further, the Laser emission board mount 1313 includes bottom plate and side plate, and the bottom plate is connect with the side plate, There are multiple broach 20 arranged side by side on the side plate, card slot 201 is formed between the two neighboring broach 20, it is described to swash Light emitting plate 1314 is plugged in the card slot 201, preferably, being both provided at least one on each Laser emission plate 1314 A laser.After the Laser emission plate 1314 is plugged on the card slot 201 between the broach 20, by the Laser emission plate 1314 link together with the side plate.
Further, the first relaying mirror assembly 132 includes the first speculum 1321 and the second speculum 1322, is used for The detection light that laser described in secondary reflection emits.It is put down specifically, first speculum 1321 is fitted in first installation On face 111, second speculum 1322 is fitted on second mounting plane 121, first mounting plane 111 and The escape groove 9 of two mounting planes, 121 both sides provides evacuation for the installation of first speculum, 1321 and second speculum 1322 Space avoids the first speculum 1321 and the while facilitating first speculum, 1321 and second speculum 1322 to install Two-mirror 1322 and the barrel of mounting plane both sides interfere.
The optical lens component 4 includes light emitting lens 41 and optical receiver lens 42, light emitting lens 41 and described Optical receiver lens 42 are symmetrical arranged.The light emitting lens 41 are connected to the launching pod 13, the optical receiver lens 42 and institute It states and receives the connection of cabin 14, preferably, before being with the one end of light emitting lens 41 and optical receiver lens 42 towards accommodating cavity It holds (i.e. the front end of optical lens component 4), one end opposite with front end is rear end (i.e. the rear end of optical lens component 4).
Further, it is provided with the second relaying mirror assembly 142 and receiving unit 141 in the reception cabin 14, described second It includes third speculum 1421 and the 4th speculum 1422 to relay mirror assembly 142, is used for secondary reflection from the optical receiver lens The reflected light back reflection passed through in 41 is to receiving unit 141.Specifically, the third speculum 1421 is fitted in the third peace It fills in plane 112, the 4th speculum 1422 is fitted on the 4th mounting plane 122, the third mounting plane 112 It is provided for the installation of 1421 and the 4th speculum 1422 of the third speculum with the escape groove 9 of 122 both sides of the 4th mounting plane Avoiding space avoids the third speculum while facilitating 1421 and the 4th speculum 1422 of the third speculum to install 1421 and the 4th the barrels of speculum 1422 and mounting plane both sides interfere.
Further, the receiving unit 141 includes receiving circuit board mount 1411 and at least one circuit board for receiving 1412, the circuit board for receiving 1412 is arranged on the receiving circuit board mount 1411, is provided on circuit board for receiving 1412 At least one detector, the detector is used to receive relays the detection light after mirror assembly 142 reflects by described second.
Further, the receiving unit 141 further includes protective shell and optical filter, and the detector is set to the reception The one side of circuit board 1412, the protective shell covers at the detector and the protective shell is installed on the circuit board for receiving On 1412.The optical filter fitting is installed on one side of the protective shell far from the detector.
Preferably, in the present embodiment, the number of the circuit board for receiving 1412 is multiple, each circuit board for receiving The number that multiple detectors are respectively provided on 1412 is multiple, and the detector is preferably APD detectors.Multiple reception electricity Parallel interval is arranged road plate 1412 successively, and detector is arranged in the survey face of the circuit board for receiving 1412.As a preferred side Case, in the present embodiment, multiple APD detectors constitute APD array detector.Preferably, the APD array detector is APD planar array detectors, the face snow shower avalanche photo diode arranged by NXN form, using the avalanche effect of photodiode by light Signal is converted to electric signal, wherein M >=2, N >=2.Such as 4 × 4,4 × 8,8 × 8 etc., specifically, the NXN arrangements depend on swashing The laser arrangement of optical radar.
The material of the protective shell is metal.
Further, the APD array detector be APD planar array detectors be only a preferred embodiment, it is other can be real In the scheme applied, the APD array detector may be APD linear array detectors, is made of n avalanche photodide, profit Electric signal, wherein n >=1 are converted optical signals to the avalanche effect of photodiode.Such as Isosorbide-5-Nitrae, 16,32 etc., it is specifically, described N depends on the laser arrangement of laser radar.
Further, the number of circuit board for receiving 1412 described above is only a preferred embodiment, is not carried out to it Limitation, in other enforceable schemes, the number of the circuit board for receiving 1412 may be 1, detector be integrated in this 1 On a circuit board for receiving 1412, and the number of detector and distribution are also only a preferred embodiments, are not limited.
Further, the laser radar apparatus further include every mating plate 43 and every light frame 44, it is described every mating plate 43 for point Every the light emitting lens 41 and optical receiver lens 42, the front end that the optical lens component 4 is stretched out every one end of mating plate 43, It is arranged between the second speculum 1322 and the 4th speculum 1422, the other end every mating plate 43 stretches out the optical lens group The rear end of part 4 is simultaneously fitted in described every on light frame 44.
It is understood that it is described every mating plate 43 mainly to separate the light emitting lens 41 and optical receiver lens 42 for mesh , shape can be but be not limited to rectangular shape, rule T type shape or irregular T-type shape.Preferably, institute State every mating plate 43 thickness be 2mm~5mm, its own gravity can be born when installing, avoid because gravity cause every mating plate 43 send out Raw bending and cause to be bonded between light emitting lens 41 and optical receiver lens 42 not close, avoid causing light leakage.
The height of the part that 4 front end of optical lens component is stretched out every mating plate 43 is identical as the height of speculum.
Further, the rotor 1 further includes bottom plate 17 and upper plane 113, described to be arranged described every 44 one end of light frame On the bottom plate 17 of rotor 1, the other end every light frame 44 is flushed with the upper plane 113 of the rotor 1, or stretches out described turn The upper plane 113 of son 1.It is described every light frame 44 be preferably T-type structure.It is described every mating plate 43 and after every light frame 44, installation is complete, The height every light frame 44 further obstructs veiling glare higher than described every mating plate 43, and light is inhibited to interfere.
The bottom plate 17 is used to seal the gap between 11 bottom of 12 bottom of the inner cylinder and outer barrel.The radiating circuit plate Holder 13111, Laser emission board mount 1313 and receiving circuit board mount 141 are arranged on the bottom plate 17, described Position on bottom plate 17 can transfer as needed.
Further, second speculum 1322 is fitted on second mounting plane 121, the 4th speculum After 1422 are fitted on the 4th mounting plane 122, second speculum 1322 extends second mounting plane 121 Part be resisted against described every the side of mating plate 43, the 4th speculum 1422 extends the part of the 4th mounting plane 122 It is resisted against described every the other side of mating plate 43, the extension of the extension and the 4th speculum 1422 of second speculum 1322 Triangle accommodating space is formed between part.
Further, it is additionally provided with fixed block 8 in the accommodating cavity, preferably, in the present embodiment, the fixation Block 8 is triangular structure, and the fixed block 8 includes upper surface, lower surface, first side and second side, on shown upper surface It is fixedly installed bonding jumper 81, the lower surface is resisted against on second speculum, 1322 and the 4th speculum 1422, described First side is bonded with the binding face 123, and the second side is bonded with the inner wall of the outer barrel 11, the bonding jumper 81 1 End is overlapped on 12 on the inner cylinder, and the other end of the bonding jumper 81 is overlapped on the outer barrel 11.By the way that fixed block 8 is arranged, The reflection cabin 13 and reception cabin 14 are separated, are preferably preferably triangular structure, the Structure adaptation by the fixed block 8 The triangle accommodating space formed between the second speculum 1322 and the 4th speculum 1422 it is triangular shaped, and by institute The fixed block for stating triangular form structure is arranged in the top of second speculum, 1322 and the 4th speculum 1422, can fill hair The spacing for penetrating mirror and 1 top of the rotor, avoids detection light and the interference received between light from improving detection accuracy.
Specifically, referring to Fig.2, light path principle is as follows:Laser emission detection light, the detection light are sent to the first reflection Mirror 1321 is reflected to the second speculum 1322 by first speculum 1321, and then, second speculum 1322 should Light reflection is detected to light emitting lens 41, detection light is irradiated to after passing through the light emitting lens 41 on object to be detected, to be detected Object is reflected to 42 reflected light of optical receiver lens, which passes through after the optical receiver lens 42 to the On three speculums 1421, it is reflected to the 4th speculum 1422 through third speculum 1421, through the 4th speculum 1,422 2 times after By reflected light back to the detector on optical receiving circuit plate 1412 after reflection.
Further, to improve precision, increase generally all appropriate emits laser harness, this results in emitting module 131 Occupied space is greater than receiving unit 131 and wants the space occupied, in the prior art, symmetrical launching pod 13 and connects It receives cabin 14 to frequently can lead to when requiring multi-emitting laser beam, receiving the space in cabin 14 can cause part to waste, alternatively, adapting to When receiving the occupied space in cabin 14, the quantity of transmitting laser harness is difficult to meet, and therefore, it is difficult to realize to emitting module and reception The preferable satisfaction of component difference occupied space is set by above-mentioned by the launching pod 13 and reception 14 asymmetric setting of cabin It is calculated as asymmetric distribution structure, the volume of emitting module 131 and receiving unit 141 can be fully adapted to, both meet transmitting laser The requirement of harness avoids receiving the waste in space in cabin 141 again.Also, it is further, using 1313 He of Laser emission board mount Radiating circuit holder 1311 installs Laser emission plate 1314 and radiating circuit plate 1312 respectively so that laser radar apparatus launching pod 13 space is more flexible, and the volume of Laser emission plate 1314 can reduce, and reduces system dimension and weight, is easy to implement sharp The low cost of optical radar device and miniaturization.
It is connected using flexible electrical connection between Laser emission plate 1314 and radiating circuit plate 1312, is convenient for emitting module 131 adjustment, it is convenient for assembly.Meanwhile being connected also by flexible electrical connection between multiple radiating circuit plates 1312, it is convenient Adjustment between radiating circuit plate 1312.
Further, the rotor 1 further includes cover plate assembly 10, and the cover plate assembly 10 includes transmitting hatchway cover and reception Hatchway cover 103, the launching pod cover plate lid are located at the top of the launching pod 13, and the lid of reception hatchway cover 103 is located at described Receive the top in cabin 14.Preferably, the transmitting hatchway cover includes the first cover board 101 and the second cover board 102, described first Cover board 101 is arranged above the emitting module 131, and second cover board 102 is arranged in the first relaying mirror assembly 132 Top.
Further, in this embodiment, as a preferred embodiment, stiffener 15, institute are additionally provided in the accommodating cavity It states 15 one end of stiffener to connect with the outer barrel 11, the other end of the stiffener 15 is connect with the inner cylinder 12, the reinforcement Angle is arranged between item 15 and partition board 16, preferably, angle value between the stiffener 15 and partition board 16 be 120 °~ 150°.By the way that stiffener 15 is arranged, be conducive to the intensity for improving rotor 1, the especially intensity of launching pod 13, specifically, described Stiffener 5 separates the emitting module 131 and the first relaying mirror assembly 132 in its both sides.
Further, first cover board 101, the second cover board 102 and receive hatchway cover 103 on the escape groove 9 Corresponding position protrusion is provided with baffle arrangement.It is provided at the top of the inner wall of the accommodating cavity and is used to support first cover board 101, the step of the second cover board 102 and reception hatchway cover 103, the depth of the step and first cover board 101, the second cover board 102 and receive hatchway cover 103 thickness match.
It is provided on the transmitting hatchway cover for across conductive component 6, powering for the radiating circuit plate 1312 logical Hole 7, preferably, on the second cover board 102 that the through-hole 7 is arranged above the emitting module 131, it is logical labeled as first Hole is provided on the reception hatchway cover 103 for across conductive component 6, the through-hole powered for the circuit board for receiving 1412 7, it is labeled as the second through-hole.The conductive component 6 is preferably flexible electrical connection, is realized for electric installation (not shown) and transmitting Circuit board 1312 and for being electrically connected between electric installation and circuit board for receiving 1412, by for soft between electric installation and circuit board Property connection realize for the flexible of one or several positions in electric installation, radiating circuit plate 1312 and circuit board for receiving 1412 Property adjustment.Further, it is both provided with gasket seal 71 on the first through hole and the second through-hole, realizes first through hole and second The sealing of through-hole, the shaking of conductive component 6, improves the stability of circuit transmission when rotor 1 being avoided to rotate.Refering to fig. 14, it is described Bottom plate 17 includes upper plane and lower plane, and recessed portion 171 is provided in the upper plane, preferably, including the first recess Portion 1711, the second recessed portion 1712 and third recessed portion 1713, first recessed portion, 1711 and second recessed portion 1712 are all provided with It sets on the bottom plate of 13 bottom of the launching pod, and the setting of first recessed portion, 1711 and second recessed portion 1712 adds described The both sides of strong item 15, the third recessed portion 1713 are arranged on the bottom plate for receiving 14 bottom of cabin, the radiating circuit plate Holder 1311, Laser emission board mount 1313 and receiving circuit board mount 1411 are arranged in the recessed portion 171.It is described Multiple recessed portions 171 are also equipped on the lower plane of bottom plate 17, preferably, including and first recessed portion 1711, 1713 one-to-one 4th recessed portion of two recessed portions 1712 and third recessed portion, the 5th recessed portion and the 6th recessed portion.Pass through Recessed portion 171, which is arranged, can mitigate the overall weight of rotor 1, and 1 lightweight of rotor is made to develop, and reduce energy consumption when rotor 1 rotates.
It is understood that the setting number of recessed portion 171 in the first plane and the second plane of the bottom plate 17 and Setting position is only a preferred embodiment, and is not limited thereof, and specific position and number can be set as needed. The barrel of the outer barrel 11 is divided into removable wall 114 and fixation wall 115, the removable wall by the stiffener 15 and partition board 16 It is detachably connected between 114 and the fixation wall 115.Preferably, between the removable wall 114 and the fixation wall 115 Clamping.Specifically, the fixation wall 115 is an excellent arc type structure, including the first open end and the second open end, described first Open end and the second open end are both provided with notch, and the removable wall 114 is the fixation wall 115 with the excellent arc type structure The bad arc type structure of cooperation, including the first connecting pin and second connection end, first connecting pin and second connection end are blocked respectively It is connected in the notch.
It is understood that unlimited between the removable wall 114 and the fixation wall 115 and clamping, can also pass through spiral shell Line connects, or riveting.Above-mentioned clamping is only a preferred embodiment, and is not limited thereof.
The barrel of outer barrel 11 is divided into removable wall 114 and fixation wall 115 by stiffener 15 and partition board 16, improves rotor While 1 integral molded plastic technique, facilitate the installation of emitting module 131.
The removable wall 114 is copper product or albronze material or the preferable material of other heat dissipation effects, the fixation Wall 115 is aluminum material.
Further, the removable wall 114 include curved portion 1142 and diversion division 1143, the curved portion 1142 with it is described It is smoothly connected between diversion division 1143, the diversion division 1143 is non-uniform wall thickness, and the curved portion 1142 is uniform wall thickness.
As a preferred embodiment, the minimum wall thickness (MINI W.) of the diversion division 1143 is more than the wall thickness of the curved portion 1142.Institute It is streamlined structure to state diversion division 1143, can reduce resistance when rotor 1 rotates.And by the removable wall 114 be set as copper, The materials such as albronze can accelerate generated heat spreader when radiating circuit plate 1312 works, the setting of fixation wall 115 is existed Aluminum material can mitigate the weight of rotor 1.
Further, at least one first clump weight 1141 is provided on the removable wall 114.
As a preferred embodiment, in the present embodiment, 1 the first clump weight 1141 is provided on the removable wall 114, First clump weight 1141 is arranged in the junction of the diversion division 1143 and curved portion 1142 of the removable wall 114, and described First clump weight 1141 is arranged close to the top of the removable wall 114.
First clump weight 1141 is capitate structure, including front-end and back-end, and the thickness of the front end is less than rear end Thickness, the front end are arranged close to the diversion division 1143, and the rear end is arranged close to the curved portion 1142.Described first matches It is threadedly coupled between pouring weight 1141 and the removable wall 114.
Further, refering to Fig. 7, Figure 15 and Figure 16, the laser radar further includes chassis 2, the chassis 2 with described turn Son 1 is connected and is rotated with the rotor 1, at least one second clump weight 21 is provided on the chassis 2, described second matches Pouring weight 21 is contained in the recessed portion on the lower plane of the bottom plate 17 of the rotor 1.
As a preferred embodiment, in the present embodiment, second clump weight 21 is 1, second clump weight 21 It is arranged in the lower section of the light receiving piece of the optical module.
Adjustment that rotor 1 balances is realized by the way that the first clump weight 1141 and the second clump weight 21 is arranged.
Further, the laser radar further includes rotor base 3, axis 32, institute are provided in the rotor base 3 It states rotor 1 to be set on the axis 32, and the rotor 1 is rotated around the axis 32, be additionally provided in the rotor base 3 Dryness storehouse for placing drier.The driving device for driving the rotor 1 to rotate is additionally provided in the rotor base 3 33, preferably, the driving device 33 is motor, including rotor and motor stator, the motor stator fixation is set It sets on axis 32, the rotor is connect with the rotor 1 and the rotor inner surface and motor stator outer surface Relatively.
Further, be provided between the inner cylinder of the rotor 1 of the axis 32 and the laser radar first bearing 34 with Second bearing 35, to the rotation of supporting rotor 1.Specifically, the first bearing 34 is set to the rotor of the laser radar It between pedestal 3 and the inner cylinder of the rotor 1, is connect with the axis 32, the second bearing 35 is set to the interior of the rotor 1 The top of cylinder, connect with the axis 32.In the present embodiment, rotation base is provided for the rotation of rotor 1 by driving device 33 Plinth, and by the rotation of 35 common support rotary component of first bearing 34 and second bearing, reduce rubbing in 1 motion process of rotor Coefficient is wiped, and makes rotor 1 that can ensure its rotating accuracy with held stationary in rotation, overcomes and uses single shaft in the prior art The rotation of support rotary component is held, causes scanning rotating speed low, the problem of stability of rotation difference so that laser ranging reaches best effect Fruit, while sweep speed can be improved, improve the working efficiency of laser radar.Further, the upper plane of the rotor 1 Multiple first counter weight constructions 1131 are provided on 113.
As a preferred embodiment, first counter weight construction 1131 include multiple counterweight tanks and it is multiple match repeated hole, it is described Multiple counterweight tank interval settings, the multiple both sides that the counterweight tank is symmetricly set on repeated hole.
As a preferred embodiment, the counterweight tank includes the first counterweight tank and the second counterweight tank, first counterweight tank It is arranged with the second counterweight tank interval, first counterweight tank is identical with the second counterweight groove shape, differs in size.Preferably, In the present embodiment, first counterweight tank and the second counterweight tank are waist type structure, first counterweight tank and the second counterweight The groove depth of slot is identical.The center line of first counterweight tank and the second counterweight tank overlaps, the waist type structure of first counterweight tank Arc radius be twice of arc radius of waist type structure of second counterweight tank.
Preferably, first counterweight tank is 3, second counterweight tank is 3, and the first counterweight tank and second is matched Baking soda interval is arranged.
The repeated hole of matching is two, is symmetricly set on the both sides of the counterweight tank.
Further, the second counter weight construction 161 is provided on the partition board 16, second counter weight construction 161 is close to institute State the barrel setting of outer barrel 11.
As a preferred embodiment, second counter weight construction 161 is borehole structure.
By the way that the first counter weight construction 1131 and the second counter weight construction 161 is arranged, while realizing 1 loss of weight of rotor, realizes and turn The adjustment of 1 balance of son, meanwhile, it can increase in the first counter weight construction 1131 and the second counter weight construction 161 being made of slot or hole Add weight material, further realizes the adjustment of the balance of rotor 1.
Number, shape and the arrangement position of first counter weight construction, 1131 and second counter weight construction 161 be only among the above It is a preferred embodiment, not to being defined, in other alternative embodiments, first counter weight construction 1131 Can be counterweight slot structure, which can be identical rectangular configuration or be different rectangular configuration, or Person is the combination of waist type structure and rectangular configuration, and concrete shape can be set according to the requirement of technique and counterweight, similarly, institute The rectangular configuration or waist type structure that the second counter weight construction 161 can also be mutually isostructural rectangular configuration or different structure are stated, Its concrete structure can be set according to technological requirement and counterweight requirements.
Further, the laser radar further includes wireless power transmission device (not shown), the wireless power transmission device Including emission element and receiving part, the emission element is fixed on the top of the rotor, and the receiving part is arranged in institute It states on rotor, is rotated with the rotor.The wireless power transmission device is powered for circuit board.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.

Claims (13)

1. a kind of laser radar apparatus, which is characterized in that described device includes rotor (1), and transmitting is provided in the rotor (1) Cabin (13) and cabin (14) are received, optical lens component (4) are installed on the side wall of the rotor (1),
The optical lens component (4) includes light emitting lens (41) and optical receiver lens (42), the light emitting lens ((41)) It being connected to the launching pod (13), the optical receiver lens (42) are connected to the reception cabin (14),
Emitting module (131) and the first relaying mirror assembly (132), the emitting module are provided in the launching pod (13) (131) it is used for emission detection light, the first relaying mirror assembly (132) to be used to reflect the hair to the light emitting lens (41) Penetrate the detection light of component (131) transmitting;
The second relaying mirror assembly (142) and receiving unit (141), the second relaying microscope group are provided in the reception cabin (14) Part (142) is for reflecting the reflected light received through the optical receiver lens (42), and the receiving unit (141) is for receiving through institute State the reflected light after the reflection of the second relaying mirror assembly (142).
2. laser radar apparatus according to claim 1, which is characterized in that the launching pod (13) and receive cabin (14) it Between pass through partition board (16) be isolated.
3. laser radar apparatus according to claim 1, which is characterized in that the emitting module (131) includes transmitting electricity Road board mount (1311), Laser emission board mount (1313), at least one radiating circuit plate (1312) and at least one laser Expelling plate (1314),
At least one radiating circuit plate (1312) is arranged on the radiating circuit board mount (1311), described at least one Laser emission plate (1314) is arranged on the Laser emission board mount (1313), the radiating circuit board mount (1311) and sharp Setting is spaced between light emitting board mount (1313).
4. laser radar apparatus according to claim 3, which is characterized in that the Laser emission board mount (1313) includes Bottom plate and side plate,
The bottom plate is connect with the side plate, has multiple broach (20) arranged side by side on the side plate, two neighboring described Card slot (201) is formed between broach (20), the Laser emission plate (1314) is plugged in the card slot (201).
5. laser radar apparatus according to claim 3 or 4, which is characterized in that on each Laser emission plate (1314) It is provided at least one laser.
6. laser radar apparatus according to claim 3, which is characterized in that the radiating circuit plate (1312) and laser hair It penetrates between plate (1314) and is connected by electrical connector, adjacent transmission circuit board is connected between (1311) by electrical connector.
7. laser radar apparatus according to claim 1, which is characterized in that the receiving unit (141) includes receiving electricity Road board mount (1411) and at least one circuit board for receiving (1412),
At least one circuit board for receiving (1412) is arranged on the receiving circuit board mount (1411), each receiving circuit Plate is both provided at least one detector on (1412).
8. laser radar apparatus according to claim 7, which is characterized in that at least one detector is arranged same On a circuit board for receiving (1412).
9. laser radar apparatus according to claim 7 or 8, which is characterized in that it is characterized in that, two neighboring reception is electric Road plate is connected between (1412) by electrical connector.
10. laser radar apparatus according to claim 1, which is characterized in that described first, which relays mirror assembly (132), includes First speculum (1321) and the second speculum (1322), first speculum (1321) and the second speculum (1322) are opposite Setting,
The second relaying mirror assembly (142) includes third speculum (1421) and the 4th speculum (1422), and the third is anti- It penetrates mirror (1421) and the 4th speculum (1422) is oppositely arranged.
11. laser radar apparatus according to claim 10, which is characterized in that second speculum (1322) with it is described It is disposed opposite to each other between 4th speculum (1422), shape between second speculum (1322) and the 4th speculum (1422) At there is angle.
12. laser radar apparatus according to claim 1, which is characterized in that the laser radar apparatus further includes every light Piece (43) and every light frame (44),
It is described to be arranged between the light emitting lens (41) and optical receiver lens (42) every mating plate (43) and described every mating plate (43) one end is arranged between the second speculum (1322) and the 4th speculum (1422), and the other end every mating plate (43) pastes It closes described every on light frame (44).
13. laser radar apparatus according to claim 12, which is characterized in that the rotor (1) further includes bottom plate (17) With upper plane (113), it is described every light frame (44) one end be arranged on the bottom plate (17), the other end every light frame (44) with The upper plane (113) is concordant or stretches out the upper plane (113).
CN201810589973.1A 2018-06-08 2018-06-08 Laser radar device Active CN108535737B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810589973.1A CN108535737B (en) 2018-06-08 2018-06-08 Laser radar device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810589973.1A CN108535737B (en) 2018-06-08 2018-06-08 Laser radar device

Publications (2)

Publication Number Publication Date
CN108535737A true CN108535737A (en) 2018-09-14
CN108535737B CN108535737B (en) 2024-03-19

Family

ID=63469697

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810589973.1A Active CN108535737B (en) 2018-06-08 2018-06-08 Laser radar device

Country Status (1)

Country Link
CN (1) CN108535737B (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109343028A (en) * 2018-11-22 2019-02-15 北醒(北京)光子科技有限公司 A kind of Compact Laser Radar
CN109946679A (en) * 2019-04-15 2019-06-28 森思泰克河北科技有限公司 Laser radar rotor
CN110109127A (en) * 2019-04-02 2019-08-09 中山大学 A kind of device and method increasing laser radar point cloud consistency
CN110333498A (en) * 2018-09-18 2019-10-15 深圳市速腾聚创科技有限公司 A kind of multi-line laser radar system
CN110716192A (en) * 2019-11-07 2020-01-21 上海禾赛光电科技有限公司 Laser radar and assembly method applied to laser radar
CN110824488A (en) * 2019-07-25 2020-02-21 杭州巨星科技股份有限公司 Micro-motion state three-dimensional sensor and system based on MEMS intelligent 3D sensing technology
CN110940995A (en) * 2019-11-08 2020-03-31 复旦大学 Sensing device and method for space-based space
WO2020062114A1 (en) * 2018-09-28 2020-04-02 深圳市大疆创新科技有限公司 Distance measurement apparatus, distance detection device and mobile platform
CN111263897A (en) * 2018-09-30 2020-06-09 深圳市大疆创新科技有限公司 Distance detecting device
CN113534100A (en) * 2021-07-19 2021-10-22 宁波傲视智绘光电科技有限公司 Scanning mirror assembly and laser radar

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5706140A (en) * 1993-09-06 1998-01-06 Kansei Corp. Optical distance measuring equipment
CN1307241A (en) * 2000-01-28 2001-08-08 三菱电机株式会社 Monitor for monitoring round of vehicle
CN101162830A (en) * 2006-10-11 2008-04-16 日本捷科泰亚株式会社 Semiconductor laser module
US20120242162A1 (en) * 2011-03-22 2012-09-27 Weisgame Multimedia Co., Ltd. Contactless power transmission structure of laser distance measuring device
JP2014145671A (en) * 2013-01-29 2014-08-14 Sanyo Electric Co Ltd Laser radar
CN105785383A (en) * 2016-05-19 2016-07-20 上海思岚科技有限公司 Laser scanning distance measuring device
CN106291575A (en) * 2016-10-25 2017-01-04 深圳市镭神智能系统有限公司 A kind of multi-line laser radar range-measurement system and method
CN206773188U (en) * 2017-06-19 2017-12-19 上海禾赛光电科技有限公司 Multi-line laser radar based on array laser device and detector
CN208239615U (en) * 2018-06-08 2018-12-14 上海禾赛光电科技有限公司 A kind of laser radar apparatus

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5706140A (en) * 1993-09-06 1998-01-06 Kansei Corp. Optical distance measuring equipment
CN1307241A (en) * 2000-01-28 2001-08-08 三菱电机株式会社 Monitor for monitoring round of vehicle
CN101162830A (en) * 2006-10-11 2008-04-16 日本捷科泰亚株式会社 Semiconductor laser module
US20120242162A1 (en) * 2011-03-22 2012-09-27 Weisgame Multimedia Co., Ltd. Contactless power transmission structure of laser distance measuring device
JP2014145671A (en) * 2013-01-29 2014-08-14 Sanyo Electric Co Ltd Laser radar
CN105785383A (en) * 2016-05-19 2016-07-20 上海思岚科技有限公司 Laser scanning distance measuring device
CN106291575A (en) * 2016-10-25 2017-01-04 深圳市镭神智能系统有限公司 A kind of multi-line laser radar range-measurement system and method
CN206773188U (en) * 2017-06-19 2017-12-19 上海禾赛光电科技有限公司 Multi-line laser radar based on array laser device and detector
CN208239615U (en) * 2018-06-08 2018-12-14 上海禾赛光电科技有限公司 A kind of laser radar apparatus

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110333498A (en) * 2018-09-18 2019-10-15 深圳市速腾聚创科技有限公司 A kind of multi-line laser radar system
WO2020062114A1 (en) * 2018-09-28 2020-04-02 深圳市大疆创新科技有限公司 Distance measurement apparatus, distance detection device and mobile platform
CN111263897B (en) * 2018-09-30 2023-04-14 深圳市大疆创新科技有限公司 Distance detecting device
CN111263897A (en) * 2018-09-30 2020-06-09 深圳市大疆创新科技有限公司 Distance detecting device
CN109343028A (en) * 2018-11-22 2019-02-15 北醒(北京)光子科技有限公司 A kind of Compact Laser Radar
CN110109127A (en) * 2019-04-02 2019-08-09 中山大学 A kind of device and method increasing laser radar point cloud consistency
CN109946679A (en) * 2019-04-15 2019-06-28 森思泰克河北科技有限公司 Laser radar rotor
CN109946679B (en) * 2019-04-15 2024-04-26 森思泰克河北科技有限公司 Laser radar rotor
CN110824488A (en) * 2019-07-25 2020-02-21 杭州巨星科技股份有限公司 Micro-motion state three-dimensional sensor and system based on MEMS intelligent 3D sensing technology
CN110716192A (en) * 2019-11-07 2020-01-21 上海禾赛光电科技有限公司 Laser radar and assembly method applied to laser radar
CN110940995A (en) * 2019-11-08 2020-03-31 复旦大学 Sensing device and method for space-based space
CN110940995B (en) * 2019-11-08 2020-09-01 复旦大学 Sensing device and method for space-based space
CN113534100A (en) * 2021-07-19 2021-10-22 宁波傲视智绘光电科技有限公司 Scanning mirror assembly and laser radar
CN113534100B (en) * 2021-07-19 2024-08-23 宁波傲视智绘光电科技有限公司 Scanning mirror assembly and laser radar

Also Published As

Publication number Publication date
CN108535737B (en) 2024-03-19

Similar Documents

Publication Publication Date Title
CN108535737A (en) A kind of laser radar apparatus
CN208239615U (en) A kind of laser radar apparatus
CN108828558A (en) A kind of laser radar
CN208314210U (en) laser radar system
CN108828557A (en) A kind of laser radar
CN108594206A (en) Light delivery module, laser emitting module, laser radar system and vehicle
CN208421227U (en) A kind of laser radar
CN108267751A (en) Integrated multi-line laser radar
CN109613515A (en) A kind of laser radar system
CN109901186A (en) Miniature laser illuminator suitable for unmanned aerial vehicle platform
CN108872965A (en) A kind of laser radar
CN113075680B (en) Laser radar and method for manufacturing laser radar
CN109975783A (en) Laser radar
CN114152933A (en) Light emitting module, light detection module, laser radar and ranging method thereof
CN220271559U (en) Laser radar and mobile device
CN216646804U (en) Light emitting module, light detection module and laser radar
CN108732574A (en) A kind of multi-line laser radar light source and multi-line laser radar
CN208314188U (en) A kind of laser radar rotating device
WO2022000846A1 (en) Radar assembly and mobile platform having same
CN208239617U (en) A kind of laser radar
CN113167884A (en) Radar assembly and movable platform with same
CN208705476U (en) A kind of laser radar
CN216748070U (en) Light path structure and laser radar
CN213715462U (en) Laser radar scanning device based on hollow motor
CN118011360A (en) Laser radar

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821

Applicant after: Shanghai Hesai Technology Co.,Ltd.

Address before: Room j385, building 6, 1288 Yecheng Road, Jiading District, Shanghai

Applicant before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd.

CB02 Change of applicant information
CB02 Change of applicant information

Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821

Applicant after: Shanghai Hesai Technology Co.,Ltd.

Address before: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821

Applicant before: Shanghai Hesai Technology Co.,Ltd.

GR01 Patent grant
GR01 Patent grant