CN108535737A - A kind of laser radar apparatus - Google Patents
A kind of laser radar apparatus Download PDFInfo
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- 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
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- laser radar
- radar apparatus
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- 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
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).
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| CN201810589973.1A CN108535737B (en) | 2018-06-08 | 2018-06-08 | Laser radar device |
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|---|---|---|---|
| CN201810589973.1A CN108535737B (en) | 2018-06-08 | 2018-06-08 | Laser radar device |
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| CN108535737B CN108535737B (en) | 2024-03-19 |
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| 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 |
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| 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 |
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| 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 |
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