CN108535737B

CN108535737B - Laser radar device

Info

Publication number: CN108535737B
Application number: CN201810589973.1A
Authority: CN
Inventors: 王瑞; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2018-06-08
Filing date: 2018-06-08
Publication date: 2024-03-19
Anticipated expiration: 2038-06-08
Also published as: CN108535737A

Abstract

The invention relates to the technical field of laser detection and discloses a laser radar device, which comprises a rotor, wherein a transmitting cabin and a receiving cabin are arranged in the rotor, an optical lens component is arranged on the side wall of the rotor, the optical lens component comprises an optical transmitting lens and an optical receiving lens which are respectively communicated with the transmitting cabin and the receiving cabin, a transmitting component and a first relay lens component are arranged in the transmitting cabin, and a second relay lens component and a receiving component are arranged in the receiving cabin. The transmitting cabin and the receiving cabin of the laser radar device are suitable for the specific structures of the transmitting device and the receiving device in the cabin body, and the arrangement volume of a laser can be reduced.

Description

Laser radar device

Technical Field

The invention relates to the technical field of laser detection and discloses a laser radar device.

Background

As an important ring of intelligent vehicle environment sensing hardware systems, laser radar (LIDAR) plays important roles of road edge detection, obstacle recognition, real-time positioning and mapping (SLAM) and the like in automatic driving.

The LIDAR system includes a laser transmitter system and a receiver system. The laser emission system generates and emits pulses of light that impinge on the object and are reflected back to be received by the receiver. The receiver accurately measures the propagation time of the light pulse from the emission to the reflection back. Because the light pulse propagates at the speed of light, the receiver always receives the previous reflected pulse before the next pulse is sent out. In view of the fact that the speed of light is known, the travel time can be converted into a measure of distance. The laser radar can accurately measure the position (distance and angle), motion state (speed, vibration and gesture) and shape of a target, and detect, identify, distinguish and track the target. The laser radar is widely applied to intelligent vehicles due to the advantages of high measurement speed, high precision, long distance measurement and the like.

The currently applied vehicle-mounted lidar devices are heavy in weight, and in the prior art, when multiple beams of light are required, in order to achieve the improvement of the line number, the lidar does not have lasers arranged at different heights of the image plane of the transmitting lens. The smaller the height difference, the greater the number of lines and the higher the line angle resolution. The more the number of columns is, the more difficult the production and adjustment is, the more complex the process is, and the lower the production efficiency is; the space utilization rate in the system is low, the focal plane position is particularly extruded, the heating value is large, the heat is difficult to be led out, and devices in other places are few, so that the heating is also few. The arrangement of the lasers involves the layout of the whole laser emitting device, and the conventionally used semiconductor laser pulse diode has a small light emitting area size, but in practice the pitch between the lasers cannot become dense due to the influence of the chip package and the size of the driving circuit. Therefore, it is necessary to propose a new layout of the laser emitting device, which reduces the difficulty of assembling and tuning while considering the heat dissipation and the reduction of the overall size of the laser.

Disclosure of Invention

The invention aims to solve the technical problems that the distribution of a transmitting cabin and a receiving cabin of a laser radar device in the prior art cannot adapt to the specific structure of the transmitting device and the receiving device in the cabin body and the laser device is not tightly arranged in the prior art.

In order to solve the technical problems, the invention discloses a laser radar device, in particular to a laser radar device which comprises a rotor, wherein a transmitting cabin and a receiving cabin are arranged in the rotor, an optical lens component is arranged on the side wall of the rotor,

the optical lens assembly comprises an optical emission lens and an optical receiving lens, the optical emission lens is communicated with the emission cabin, the optical receiving lens is communicated with the receiving cabin,

the emission cabin is internally provided with an emission component and a first relay lens component, the emission component is used for emitting detection light, and the first relay lens component is used for reflecting the detection light emitted by the emission component to the light emission lens;

the receiving cabin is internally provided with a second relay lens assembly and a receiving assembly, the second relay lens assembly is used for reflecting the reflected light received by the light receiving lens, and the receiving assembly is used for receiving the reflected light reflected by the second relay lens assembly.

Further, the transmitting cabin and the receiving cabin are isolated by a partition plate.

Further, the emission component comprises an emission circuit board support, a laser emission board support, at least one emission circuit board and at least one laser emission board, wherein the at least one emission circuit board is arranged on the emission circuit board support, the at least one laser emission board is arranged on the laser emission board support, and the emission circuit board support and the laser emission board support are arranged at intervals.

Further, the laser emission board support includes bottom plate and curb plate, the bottom plate with the curb plate is connected, have a plurality of broachs that set up side by side on the curb plate, adjacent two be formed with the draw-in groove between the broach, the laser emission board peg graft in the draw-in groove.

Preferably, at least one laser is provided on each laser emitting plate.

Preferably, the emitting circuit boards and the laser emitting boards are connected through electric connectors, and adjacent emitting circuit boards are connected through electric connectors.

Further, the receiving assembly comprises a receiving circuit board bracket and at least one receiving circuit board, wherein the at least one receiving circuit board is arranged on the receiving circuit board bracket, and each receiving circuit board is provided with at least one detector.

Preferably, the at least one detector is arranged on the same receiving circuit board.

Preferably, two adjacent receiving circuit boards are connected by an electrical connector.

Further, the first relay lens assembly comprises a first reflecting mirror and a second reflecting mirror, the first reflecting mirror and the second reflecting mirror are oppositely arranged, the second relay lens assembly comprises a third reflecting mirror and a fourth reflecting mirror, and the third reflecting mirror and the fourth reflecting mirror are oppositely arranged.

Further, the second reflecting mirror and the fourth reflecting mirror are arranged opposite to each other, and an included angle is formed between the second reflecting mirror and the fourth reflecting mirror.

Further, the device further comprises a light blocking piece and a light blocking frame, wherein the light blocking piece is arranged between the light emitting lens and the light receiving lens, one end of the light blocking piece is arranged between the second reflecting mirror and the fourth reflecting mirror, and the other end of the light blocking piece is attached to the light blocking frame.

Further, the rotor further comprises a bottom plate and an upper plane, one end of the light isolation frame is arranged on the bottom plate, and the other end of the light isolation frame is flush with the upper plane or extends out of the upper plane.

By adopting the technical scheme, the laser radar device has the following beneficial effects:

1) In the invention, the transmitting cabin and the receiving cabin are asymmetrically distributed and can be suitable for the specific structure and specific volume of the transmitting assembly and the receiving assembly;

2) According to the invention, the laser transmitting board bracket and the transmitting circuit bracket are adopted to respectively mount the laser transmitting board and the transmitting circuit board, so that the space of the laser radar transmitting cabin is more flexible, the volume of the laser transmitting board can be reduced, the size and the weight of the system are reduced, and the low cost and the miniaturization of the laser radar are convenient to realize;

3) In the invention, the laser emission board is connected with the emission circuit board by adopting the electric connecting piece, so that the assembly and adjustment of the emission component are convenient, the adjacent emission circuit boards are also connected by the electric connecting piece, the adjacent receiving circuit boards are also connected by the electric connecting piece, the position relationship between the circuit boards is adjustable, and the assembly is convenient.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of the internal structure of a lidar device according to the present invention;

fig. 2 is an optical path diagram of a lidar device according to the present invention;

FIG. 3 is a schematic view of the structure of the transmitting assembly according to the present invention;

FIG. 4 is a schematic view of a receiving assembly according to the present invention;

fig. 5 is a schematic view of a rotor structure of a lidar device according to the present invention;

FIG. 6 is a top view of FIG. 5;

FIG. 7 is a cross-sectional view of FIG. 5;

FIG. 8 is a schematic view of a part of a laser radar device according to another aspect of the present invention;

FIG. 9 is a schematic view of a part of a laser radar device according to another aspect of the present invention;

FIG. 10 is a schematic view of a part of a laser radar device according to another aspect of the present invention;

FIG. 11 is a schematic view of a part of a laser radar device according to another aspect of the present invention;

FIG. 12 is a schematic view of a part of a laser radar device according to another aspect of the present invention;

FIG. 13 is a schematic view of a part of a laser radar device according to another aspect of the present invention;

FIG. 14 is a schematic view of the distribution of recesses on the bottom plate of the rotor according to the present invention;

FIG. 15 is a schematic view of the structure of a chassis of the lidar of the present invention;

FIG. 16 is a schematic cross-sectional view of a lidar base according to the present invention;

in the figure, 1-rotor, 11-outer cylinder, 111-first mounting plane, 112-third mounting plane, 113-upper plane, 1131-first counterweight structure, 114-movable wall, 1141-first counterweight, 1142-arc-shaped portion, 1143-guide portion, 115-fixed wall, 12-inner cylinder, 121-second mounting plane, 122-fourth mounting plane, 123-bonding plane, 13-emission cabin, 131-emission component, 1311-emission circuit board support, 1312-emission circuit board, 1313-laser emission board support, 1314-laser emission board, 132-first relay mirror component, 1321-first mirror, 1322-second mirror, 14-receiving cabin, 141-receiving component, 1411-receiving circuit board holder, 1412-receiving circuit board, 142-second relay lens assembly, 1421-third reflector, 1422-fourth reflector, 15-reinforcing bar, 16-spacer, 161-second counterweight structure, 17-base plate, 171-weight reduction groove, 2-chassis, 21-second counterweight, 3-base, 31-drying chamber, 32-central shaft, 33-driving device, 34-first bearing, 35-second bearing, 4-optical lens assembly, 41-optical emission lens, 42-optical receiving lens, 43-spacer, 44-spacer, 5-honeycomb structure, 51-groove, 52-connecting rib, 6-conductive member, 7-through hole, 71-sealing gasket, 8-fixing block, 81-overlap bar, 9-avoidance grooves, 10-cover plate assemblies, 101-first cover plates, 102-second cover plates, 103-receiving cabin cover plates, 20 comb teeth and 201-clamping grooves.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may include one or more of the feature, either explicitly or implicitly. Moreover, the terms "first," "second," and the like, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.

Examples:

in order to solve the above technical problems, the present invention discloses a laser radar device, referring to fig. 1 to 16, the laser radar device includes a rotor 1, the rotor 1 includes an outer cylinder 11 and an inner cylinder 12, an optical lens assembly 4 is installed on the wall of the outer cylinder 11, two sides of the optical lens assembly 4 are distributed with a counterweight structure 5, the counterweight structure 5 includes a first counterweight structure and a second counterweight structure, the first counterweight structure and the second counterweight structure each include a plurality of grooves 51, and as a preferred option, the structures of the plurality of grooves 51 may be the same or different. As a preferred embodiment, in this embodiment, a plurality of grooves 51 constituting the first weight structure are taken as an example: the first counterweight structure comprises 12 grooves 51, and specifically comprises 4 rectangular grooves and 8 wedge grooves, wherein the 4 rectangular grooves are linearly arranged in the vertical direction of the cylinder wall of the outer cylinder 11, the 8 wedge grooves are symmetrically arranged on two sides of the rectangular grooves, the rectangular grooves are identical in depth, the wedge grooves are gradually deepened along the radial direction of the rotor 1 in the direction close to the rectangular grooves, and specifically, the depth of the rectangular grooves and the gradual depth of the wedge grooves are set according to practical conditions. Further, be formed with the connecting rib 52 between every adjacent two recess 51, play the effect of strengthening rib, the bulk strength of rotor 1 has been improved, and, through set up the counter weight structure 5 that comprises a plurality of recesses 51 in the both sides of optical lens assembly 4, the surface area of the urceolus section of thick bamboo wall of rotor 1 has been increased, the radiating efficiency of rotor 1 has been improved, the setting of recess 51 has reduced the bulk weight of rotor 1 simultaneously, make rotor 1 lightweight develop, effectively reduced rotor 1 in the energy consumption of rotatory in-process, and further, the bulk balance of rotor 1 is adjusted to the different counter weight material of packing into in recess 51 that can be nimble, the flexibility of rotor 1 bulk balance adjustment has been improved.

It will be appreciated that the symmetrical distribution of the counterweight structures 5 on both sides of the mounting structure 4 is just an excellent solution, and is not limited thereto, and the counterweight structures may be disposed at any position of the rotor as required.

Further, a containing cavity is formed between the outer cylinder 11 and the inner cylinder 12, a partition plate 16 is arranged in the containing cavity, one side of the partition plate 16 is connected with the outer cylinder 11, the other side of the partition plate 16 is connected with the inner cylinder 12, the partition plate 16 divides the containing cavity into a transmitting cabin 13 and a receiving cabin 14, the volumes of the transmitting cabin 13 and the receiving cabin 14 are different, or the transmitting cabin 13 and the receiving cabin 14 are in asymmetric sections on a rotor. Specifically, the inner cylinder 12 includes an inner cylinder inner wall and an inner cylinder outer wall, the outer cylinder 11 includes an outer cylinder inner wall and an outer cylinder outer wall, the accommodating cavity is formed between the outer cylinder inner wall and the inner cylinder outer wall, and the inner cylinder inner wall and the inner cylinder outer wall form an inner wall of the accommodating cavity. The avoidance grooves 9 are formed on the outer wall of the inner cylinder and the inner wall of the outer cylinder, and it is understood that the number of the avoidance grooves 9 can be set according to the setting or the position of the assembly part so as to play a role in avoiding the assembly interference of the assembly part. Specifically, in this embodiment, the number and the positions of the avoidance grooves 9 are set according to the assembly positions of the assembly parts, specifically, a first mounting plane 111 and a third mounting plane 112 are provided on the inner wall of the outer cylinder 11, a second mounting plane 121, a fourth mounting plane 122 and a bonding plane 123 are provided on the outer wall of the inner cylinder 12, wherein the first mounting plane 11 and the second mounting plane 121 are disposed in the emission cabin 13, the third mounting plane 112 and the fourth mounting plane 122 are disposed in the receiving cabin 14, the bonding plane 123 spans across the emission cabin 13 and the receiving cabin 14, the first mounting plane 111 and the second mounting plane 121 are disposed opposite to each other, the second mounting plane 121 and the fourth mounting plane 122 are connected through the bonding plane 123, and the third mounting plane 112 and the fourth mounting plane 122 are disposed opposite to each other. Further, the avoidance grooves 9 are disposed on two sides of the first mounting plane 111, the second mounting plane 121, the third mounting plane 112 and the fourth mounting plane 122.

Further, the emission module 131 and the first relay lens module 132 are disposed in the emission cabin 13, the emission module 131 is configured to emit probe light, the emission module 131 includes an emission circuit board support 1311, at least one emission circuit board 1312, a laser emission board support 1313 and at least one laser emission board 1314, the laser emission board support 1313 and the emission circuit board support 1311 are disposed at intervals, the emission circuit board 1312 is mounted on the emission circuit board support 1311, the laser emission board 1314 is mounted on the laser emission board support 1313, at least one laser is disposed on the laser emission board 1314, the emission circuit board 1312 and the laser emission board 1314 are connected through the electrical connection, and the plurality of emission circuit boards 1312 are also connected through the electrical connection, in particular, the laser is configured to emit probe light, and as a preferred, the electrical connection is a flexible electrical connection.

Further, the laser emitting board support 1313 includes a bottom board and a side board, the bottom board is connected with the side board, the side board is provided with a plurality of parallel comb teeth 20, a clamping groove 201 is formed between two adjacent comb teeth 20, the laser emitting boards 1314 are inserted into the clamping groove 201, and preferably, each laser emitting board 1314 is provided with at least one laser. After the laser emitting plate 1314 is inserted into the clamping groove 201 between the comb teeth 20, the laser emitting plate 1314 is connected with the side plate.

Further, the first relay lens assembly 132 includes a first mirror 1321 and a second mirror 1322 for secondarily reflecting the probe light emitted from the laser. Specifically, the first mirror 1321 is attached to the first mounting plane 111, the second mirror 1322 is attached to the second mounting plane 121, and the avoiding grooves 9 on two sides of the first mounting plane 111 and the second mounting plane 121 provide avoiding spaces for mounting the first mirror 1321 and the second mirror 1322, so that the first mirror 1321 and the second mirror 1322 are prevented from interfering with the cylinder walls on two sides of the mounting plane while being mounted.

The light lens assembly 4 includes a light emitting lens 41 and a light receiving lens 42, and the light emitting lens 41 and the light receiving lens 42 are symmetrically disposed. The light emitting lens 41 communicates with the emitting chamber 13, and the light receiving lens 42 communicates with the receiving chamber 14, and preferably, one end of the light emitting lens 41 and the light receiving lens 42 facing the accommodating chamber is a front end (i.e., a front end of the light lens assembly 4), and the other end opposite to the front end is a rear end (i.e., a rear end of the light lens assembly 4).

Further, a second relay lens assembly 142 and a receiving assembly 141 are disposed in the receiving chamber 14, and the second relay lens assembly 142 includes a third reflector 1421 and a fourth reflector 1422, and is configured to secondarily reflect the reflected light passing through the light receiving lens 41 and then reflect the reflected light to the receiving assembly 141. Specifically, the third mirror 1421 is attached to the third mounting plane 112, the fourth mirror 1422 is attached to the fourth mounting plane 122, and the avoiding grooves 9 on two sides of the third mounting plane 112 and the fourth mounting plane 122 provide avoiding spaces for the installation of the third mirror 1421 and the fourth mirror 1422, so that the third mirror 1421 and the fourth mirror 1422 are installed while avoiding interference between the third mirror 1421 and the fourth mirror 1422 and the walls of the two sides of the mounting plane.

Further, the receiving assembly 141 includes a receiving circuit board support 1411 and at least one receiving circuit board 1412, the receiving circuit board 1412 is disposed on the receiving circuit board support 1411, and at least one detector is disposed on the receiving circuit board 1412, and the detector is configured to receive the detected light reflected by the second relay lens assembly 142.

Further, the receiving assembly 141 further includes a protective case and an optical filter, the detector is disposed on a side surface of the receiving circuit board 1412, the protective case is covered on the detector, and the protective case is mounted on the receiving circuit board 1412. The optical filter is mounted on one side surface, far away from the detector, of the protective shell in a fitting mode.

Preferably, in this embodiment, the number of the receiving circuit boards 1412 is plural, and the number of the plurality of the detectors is plural, and the detectors are preferably APD detectors, which are disposed on each receiving circuit board 1412. The receiving circuit boards 1412 are sequentially arranged in parallel at intervals, and the detector is arranged on the measuring surface of the receiving circuit boards 1412. As a preferred aspect, in this embodiment, the plurality of APD detectors comprises an APD array detector. Preferably, the APD array detector is an APD area array detector and consists of N-distributed area array avalanche photodiodes, and the avalanche effect of the photodiodes is utilized to convert optical signals into electric signals, wherein M is more than or equal to 2, and N is more than or equal to 2. Such as 4 x 4,4 x 8,8 x 8, etc., in particular, the NXN arrangement depends on the laser arrangement of the lidar.

The material of protective housing is the metal.

Furthermore, the APD array detector is only one preferred scheme, and in other implementation schemes, the APD array detector can also be an APD linear array detector, which consists of n avalanche photodiodes, and converts optical signals into electric signals by utilizing the avalanche effect of the photodiodes, wherein n is more than or equal to 1. Such as 1,4, 16, 32, etc., in particular, said n depends on the laser arrangement of the lidar.

Further, the number of the receiving circuit boards 1412 is only one preferred embodiment, and is not limited thereto, in other embodiments, the number of the receiving circuit boards 1412 may be 1, the detectors are integrated on the 1 receiving circuit boards 1412, and the number and distribution of the detectors are also only one preferred embodiment, and are not limited thereto.

Further, the lidar device further includes a light blocking sheet 43 and a light blocking frame 44, the light blocking sheet 43 is used for separating the light emitting lens 41 and the light receiving lens 42, one end of the light blocking sheet 43 extends out of the front end of the light lens assembly 4 and is disposed between the second reflecting mirror 1322 and the fourth reflecting mirror 1422, and the other end of the light blocking sheet 43 extends out of the rear end of the light lens assembly 4 and is attached to the light blocking frame 44.

It is understood that the light blocking sheet 43 is mainly for the purpose of separating the light emitting lens 41 and the light receiving lens 42, and its shape may be, but is not limited to, a rectangular shape, a regular T-shape, or an irregular T-shape. Preferably, the thickness of the light blocking sheet 43 is 2mm to 5mm, so that the light blocking sheet 43 can bear self gravity during installation, and the light leakage is avoided because the light blocking sheet 43 is bent due to gravity and the light emitting lens 41 and the light receiving lens 42 are not tightly attached.

The height of the portion of the light blocking sheet 43 protruding from the front end of the optical lens assembly 4 is the same as the height of the reflecting mirror.

Further, the rotor 1 further includes a bottom plate 17 and an upper plane 113, one end of the light-shielding frame 44 is disposed on the bottom plate 17 of the rotor 1, and the other end of the light-shielding frame 44 is flush with the upper plane 113 of the rotor 1 or extends out of the upper plane 113 of the rotor 1. The light blocking frame 44 is preferably of a T-shaped configuration. After the light-shielding sheet 43 and the light-shielding frame 44 are mounted, the light-shielding frame 44 is higher than the light-shielding sheet 43, so that stray light is further blocked, and mutual interference of light is suppressed.

The bottom plate 17 is used for sealing a gap between the bottom of the inner cylinder 12 and the bottom of the outer cylinder 11. The transmitting board support 13111, the laser transmitting board support 1313 and the receiving board support 141 are all provided on the base plate 17, and the positions on the base plate 17 can be adjusted as needed.

Further, the second mirror 1322 is attached to the second mounting plane 121, after the fourth mirror 1422 is attached to the fourth mounting plane 122, a portion of the second mirror 1322 extending out of the second mounting plane 121 abuts against one side of the light blocking sheet 43, a portion of the fourth mirror 1422 extending out of the fourth mounting plane 122 abuts against the other side of the light blocking sheet 43, and a triangular accommodating space is formed between an extending portion of the second mirror 1322 and an extending portion of the fourth mirror 1422.

Further, the accommodating cavity is further provided with a fixing block 8, and in this embodiment, the fixing block 8 is preferably of a triangular structure, the fixing block 8 includes an upper surface, a lower surface, a first side surface and a second side surface, a lap joint strip 81 is fixedly disposed on the upper surface, the lower surface abuts against the second reflecting mirror 1322 and the fourth reflecting mirror 1422, the first side surface is attached to the attaching surface 123, the second side surface is attached to the inner wall of the outer cylinder 11, one end of the lap joint strip 81 is overlapped on the inner cylinder 12, and the other end of the lap joint strip 81 is overlapped on the outer cylinder 11. By providing the fixing block 8, the reflecting cabin 13 and the receiving cabin 14 are separated, and the fixing block 8 is preferably in a triangular structure, which is adapted to the triangular shape of the triangular accommodating space formed between the second reflecting mirror 1322 and the fourth reflecting mirror 1422, and the fixing block with the triangular structure is disposed above the second reflecting mirror 1322 and the fourth reflecting mirror 1422, so that the space between the reflecting mirror and the top of the rotor 1 can be filled, interference between the detection light and the receiving light is avoided, and the detection precision is improved.

Specifically, referring to fig. 2, the optical path principle is as follows: the laser emits detection light, the detection light is sent to the first mirror 1321, reflected by the first mirror 1321 to the second mirror 1322, then the second mirror 1322 reflects the detection light to the light emitting lens 41, the detection light passes through the light emitting lens 41 and irradiates on an object to be detected, the object to be detected reflects light to the light receiving lens 42, the reflected light reflected by the object to be detected passes through the light receiving lens 42 and then reflects on the third mirror 1421, reflects on the fourth mirror 1422 via the third mirror 1421, and then reflects on the light receiving circuit board 1412 to the detector after secondary reflection via the fourth mirror 1422.

Further, in order to improve the precision, the space occupied by the emitting component 131 is generally larger than the space occupied by the receiving component 131, and in the prior art, the symmetrically distributed emitting cabin 13 and receiving cabin 14 often cause partial waste of the space of the receiving cabin 14 when the emitting laser beam is required to be emitted, or the number of the emitting laser beams is difficult to satisfy when the space occupied by the receiving cabin 14 is adapted, so that the better satisfaction of different occupied spaces of the emitting component and the receiving component is difficult to realize, and the volumes of the emitting component 131 and the receiving component 141 can be fully adapted to not only satisfy the requirement of the emitting laser beam but also avoid the waste of the space in the receiving cabin 141 by asymmetrically arranging the emitting cabin 13 and the receiving cabin 14. And, further, adopt laser emission board support 1313 and emission circuit support 1311 to install laser emission board 1314 and emission circuit board 1312 respectively for laser radar device launches the space in cabin 13 more nimble, and laser emission board 1314's volume can reduce, reduces system size and weight, is convenient for realize laser radar device's low cost and miniaturization.

The laser emission board 1314 is connected with the emission circuit board 1312 by adopting a flexible electric connector, so that the emission component 131 is convenient to assemble and tune, and the assembly is convenient. Meanwhile, a plurality of the transmitting circuit boards 1312 are also connected through flexible electric connectors, so that the transmitting circuit boards 1312 can be conveniently assembled and adjusted.

Further, the rotor 1 further comprises a cover plate assembly 10, the cover plate assembly 10 comprises a transmitting deck plate and a receiving deck plate 103, the transmitting deck plate is arranged above the transmitting deck 13, and the receiving deck plate 103 is arranged above the receiving deck 14. Preferably, the emission deck includes a first cover plate 101 and a second cover plate 102, the first cover plate 101 is disposed above the emission assembly 131, and the second cover plate 102 is disposed above the first relay lens assembly 132.

Further, in this embodiment, as a preferable solution, a reinforcing strip 15 is further disposed in the accommodating cavity, one end of the reinforcing strip 15 is connected to the outer cylinder 11, the other end of the reinforcing strip 15 is connected to the inner cylinder 12, an angle between the reinforcing strip 15 and the partition 16 is set, and preferably, an angle value between the reinforcing strip 15 and the partition 16 is 120 ° to 150 °. By providing the stiffening strip 15, it is advantageous to increase the strength of the rotor 1, in particular of the nacelle 13, in particular the stiffening strip 5 separating the nacelle assembly 131 and the first relay lens assembly 132 on both sides thereof.

Further, baffle structures are arranged on the first cover plate 101, the second cover plate 102 and the receiving cabin cover plate 103 in a protruding mode at positions corresponding to the avoiding grooves 9. The top of the inner wall of the accommodating cavity is provided with steps for supporting the first cover plate 101, the second cover plate 102 and the receiving hatch plate 103, and the depth of the steps is matched with the thicknesses of the first cover plate 101, the second cover plate 102 and the receiving hatch plate 103.

The transmitting deck plate is provided with a through hole 7 for passing through the conductive member 6 to supply power to the transmitting circuit board 1312, and preferably, the through hole 7 is provided on the second deck plate 102 above the transmitting assembly 131, denoted as a first through hole, and the receiving deck plate 103 is provided with a through hole 7 for passing through the conductive member 6 to supply power to the receiving circuit board 1412, denoted as a second through hole. The conductive member 6 is preferably a flexible electrical connector, and enables electrical connection between a power supply device (not shown in the figure) and the transmitting circuit board 1312 and between the power supply device and the receiving circuit board 1412, and enables flexible adjustment of the position of one or more of the power supply device, the transmitting circuit board 1312, and the receiving circuit board 1412 by the flexible connection between the power supply device and the circuit board. Further, the sealing gaskets 71 are arranged on the first through hole and the second through hole, so that the sealing of the first through hole and the second through hole is realized, the shaking of the conductive part 6 during the rotation of the rotor 1 is avoided, and the stability of circuit transmission is improved. Referring to fig. 14, the bottom plate 17 includes an upper plane and a lower plane, on which a recess 171 is disposed, preferably includes a first recess 1711, a second recess 1712 and a third recess 1713, the first recess 1711 and the second recess 1712 are disposed on the bottom plate of the bottom of the emission chamber 13, the first recess 1711 and the second recess 1712 are disposed on two sides of the reinforcing strip 15, the third recess 1713 is disposed on the bottom plate of the bottom of the receiving chamber 14, and the emission circuit board support 1311, the laser emission board support 1313 and the receiving circuit board support 1411 are disposed in the recess 171. The bottom plate 17 is also provided with a plurality of concave portions 171 on a lower plane, and preferably includes fourth, fifth and sixth concave portions corresponding to the first, second and third concave portions 1711, 1712 and 1713 one to one. By providing the recess 171, the overall weight of the rotor 1 can be reduced, the rotor 1 can be reduced in weight, and the energy consumption during rotation of the rotor 1 can be reduced.

It should be understood that the number and positions of the recesses 171 on the first and second planes of the bottom plate 17 are only one preferred embodiment, and the specific positions and numbers can be set as required. The reinforcing strips 15 and the partition plates 16 divide the wall of the outer cylinder 11 into a movable wall 114 and a fixed wall 115, and the movable wall 114 is detachably connected with the fixed wall 115. Preferably, the movable wall 114 is engaged with the fixed wall 115. Specifically, the fixed wall 115 is a major arc structure, including a first open end and a second open end, the first open end and the second open end are both provided with a clamping groove structure, the movable wall 114 is a minor arc structure matched with the fixed wall 115 of the major arc structure, including a first connection end and a second connection end, and the first connection end and the second connection end are respectively clamped in the clamping groove structure.

It will be appreciated that the movable wall 114 and the fixed wall 115 are not limited to being engaged with each other, and may be screwed or riveted. The above-mentioned clamping is only a preferred embodiment, and is not limited thereto.

The wall of the outer cylinder 11 is divided into the movable wall 114 and the fixed wall 115 by the reinforcing strips 15 and the partition plate 16, so that the integral injection molding process of the rotor 1 is improved, and the installation of the transmitting assembly 131 is facilitated.

The movable wall 114 is made of copper material, copper-aluminum alloy material or other materials with good heat dissipation effect, and the fixed wall 115 is made of aluminum material.

Further, the movable wall 114 includes an arc portion 1142 and a flow guiding portion 1143, the arc portion 1142 is smoothly connected with the flow guiding portion 1143, the flow guiding portion 1143 has a non-uniform wall thickness, and the arc portion 1142 has a uniform wall thickness.

As a preferred aspect, the minimum wall thickness of the flow guiding portion 1143 is greater than the wall thickness of the arc portion 1142. The flow guiding portion 1143 has a streamline structure, so that the resistance of the rotor 1 during rotation can be reduced. And the movable wall 114 is made of copper, copper-aluminum alloy and other materials, so that heat dissipation generated during operation of the transmitting circuit board 1312 can be quickened, and the fixed wall 115 is made of aluminum materials, so that the weight of the rotor 1 can be reduced.

Further, at least one first weight 1141 is disposed on the movable wall 114.

As a preferred solution, in this embodiment, 1 first balancing weight 1141 is disposed on the movable wall 114, the first balancing weight 1141 is disposed at a connection portion between the flow guiding portion 1143 and the arc portion 1142 of the movable wall 114, and the first balancing weight 1141 is disposed near the top of the movable wall 114.

The first balancing weight 1141 is of a hammer structure, and comprises a front end and a rear end, the thickness of the front end is smaller than that of the rear end, the front end is close to the flow guiding portion 1143, and the rear end is close to the arc-shaped portion 1142. The first weight 1141 is threadedly coupled to the movable wall 114.

Further, referring to fig. 7, 15 and 16, the lidar further includes a chassis 2, where the chassis 2 is connected to the rotor 1 and rotates together with the rotor 1, and at least one second balancing weight 21 is disposed on the chassis 2, and the second balancing weight 21 is accommodated in a recess on a lower plane of the bottom plate 17 of the rotor 1.

As a preferred embodiment, in this embodiment, the number of the second counterweights 21 is 1, and the second counterweights 21 are disposed below the light receiving member of the optical assembly.

The first balancing weight 1141 and the second balancing weight 21 are provided to realize balance adjustment of the rotor 1.

Further, the laser radar further comprises a rotor base 3, a center shaft 32 is arranged on the rotor base 3, the rotor 1 is sleeved on the center shaft 32, the rotor 1 rotates around the center shaft 32, and a drying bin for placing drying agent is further arranged on the rotor base 3. The rotor base 3 is further provided with a driving device 33 for driving the rotor 1 to rotate, and preferably, the driving device 33 is a motor, and comprises a motor rotor and a motor stator, the motor stator is fixedly arranged on the center shaft 32, the motor rotor is connected with the rotor 1, and the inner surface of the motor rotor is opposite to the outer surface of the motor stator.

Further, a first bearing 34 and a second bearing 35 are disposed between the central shaft 32 and the inner cylinder of the rotor 1 of the lidar for supporting the rotation of the rotor 1. Specifically, the first bearing 34 is disposed between the rotor base 3 of the lidar and the inner cylinder of the rotor 1, and is connected to the central shaft 32, and the second bearing 35 is disposed at the top of the inner cylinder of the rotor 1, and is connected to the central shaft 32. In this embodiment, the driving device 33 provides a rotation base for the rotation of the rotor 1, and the first bearing 34 and the second bearing 35 support the rotation of the rotating component together, so that the friction coefficient of the rotor 1 in the motion process is reduced, the rotor 1 can keep stable during rotation, the rotation precision is ensured, the problems of low scanning rotation speed and poor rotation stability caused by adopting a single bearing to support the rotation component in the prior art are overcome, the best effect of laser ranging is achieved, the scanning speed is improved, and the working efficiency of the laser radar is improved. Further, a plurality of first weight structures 1131 are disposed on the upper plane 113 of the rotor 1.

As a preferred aspect, the first weight structure 1131 includes a plurality of weight slots and a plurality of weight ports, where the weight slots are spaced apart, and the weight ports are symmetrically disposed on two sides of the weight slots.

As a preferable scheme, the weight slots comprise a first weight slot and a second weight slot, the first weight slot and the second weight slot are arranged at intervals, and the first weight slot and the second weight slot are identical in shape and different in size. Preferably, in this embodiment, the first weight groove and the second weight groove are both in a waist-shaped structure, and the groove depths of the first weight groove and the second weight groove are the same. The center lines of the first weight balancing groove and the second weight balancing groove are overlapped, and the arc radius of the waist-shaped structure of the first weight balancing groove is twice of that of the waist-shaped structure of the second weight balancing groove.

Preferably, the number of the first weight slots is 3, the number of the second weight slots is 3, and the first weight slots and the second weight slots are arranged at intervals.

The number of the weight ports is two, and the weight ports are symmetrically arranged on two sides of the weight port.

Further, a second weight structure 161 is disposed on the partition 16, and the second weight structure 161 is disposed near the wall of the outer cylinder 11.

As a preferable mode, the second weight structure 161 is a round hole structure.

By providing the first weight structure 1131 and the second weight structure 161, the weight of the rotor 1 is reduced, the balance of the rotor 1 is adjusted, and meanwhile, weight materials can be added in the first weight structure 1131 and the second weight structure 161 which are formed by grooves or holes, so that the balance of the rotor 1 is further adjusted.

The number, shape and arrangement position of the first weight structure 1131 and the second weight structure 161 are just a preferred embodiment, and are not limited to the above, in other alternative embodiments, the first weight structure 1131 may be a weight groove structure, the weight groove structures may be the same rectangular structure or different rectangular structures, or a combination of a waist-shaped structure and a rectangular structure, the specific shape of which may be set according to the process and the requirement of the weight, and similarly, the second weight structure 161 may be a rectangular structure of the same structure or a rectangular structure of a different structure or a waist-shaped structure, and the specific structure of which may be set according to the process requirement and the requirement of the weight.

Further, the laser radar further comprises a wireless power transmission device (not shown in the figure), the wireless power transmission device comprises a transmitting part and a receiving part, the transmitting part is fixed above the rotor, and the receiving part is arranged on the rotor and rotates along with the rotor. The wireless power transmission device supplies power for the circuit board.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. The laser radar device is characterized by comprising a rotor (1), wherein a transmitting cabin (13) and a receiving cabin (14) are arranged in the rotor (1), the transmitting cabin (13) and the receiving cabin (14) are asymmetrically distributed, the rotor (1) further comprises a bottom plate (17), an optical lens component (4) is arranged on the side wall of the rotor (1),

the optical lens assembly (4) comprises an optical emission lens (41) and an optical receiving lens (42), the optical emission lens (41) is communicated with the emission cabin (13), the optical receiving lens (42) is communicated with the receiving cabin (14),

an emission component (131) and a first relay lens component (132) are arranged in the emission cabin (13), the emission component (131) is used for emitting detection light, and the first relay lens component (132) is used for reflecting the detection light emitted by the emission component (131) to the light emission lens (41);

the emission assembly (131) comprises an emission circuit board support (1311), a laser emission board support (1313), at least one emission circuit board (1312) and at least one laser emission board (1314), wherein the at least one emission circuit board (1312) is arranged on the emission circuit board support (1311), the at least one laser emission board (1314) is arranged on the laser emission board support (1313), the emission circuit board support (1311) and the laser emission board support (1313) are arranged on the bottom plate (17), and the emission circuit board support (1311) and the laser emission board support (1313) are arranged at intervals;

the receiving cabin (14) is internally provided with a second relay lens assembly (142) and a receiving assembly (141), the second relay lens assembly (142) is used for reflecting the reflected light received by the light receiving lens (42), and the receiving assembly (141) is used for receiving the reflected light reflected by the second relay lens assembly (142).

2. Lidar device according to claim 1, characterized in that the transmitting compartment (13) and the receiving compartment (14) are separated by a partition (16).

3. The lidar device according to claim 1, wherein the laser emitting plate holder (1313) comprises a bottom plate and a side plate,

the bottom plate with the curb plate is connected, have a plurality of broachs (20) that set up side by side on the curb plate, adjacent two be formed with draw-in groove (201) between broach (20), laser emission board (1314) peg graft in draw-in groove (201).

4. A lidar device according to claim 1 or 3, characterized in that at least one laser is arranged on each laser light emitting plate (1314).

5. The lidar device according to claim 1, wherein the transmitting circuit board (1312) and the laser transmitting board (1314) are connected by an electrical connection, and adjacent transmitting circuit boards (1312) are connected by an electrical connection.

6. The lidar device according to claim 1, wherein the receiving assembly (141) comprises a receiving circuit board holder (1411) and at least one receiving circuit board (1412),

the at least one receiving circuit board (1412) is arranged on the receiving circuit board support (1411), and at least one detector is arranged on each receiving circuit board (1412).

7. The lidar device according to claim 6, wherein the at least one detector is arranged on the same receiving circuit board (1412).

8. The lidar device according to claim 6 or 7, wherein adjacent two receiving circuit boards (1412) are connected by an electrical connection.

9. The lidar device according to claim 1, wherein the first relay mirror assembly (132) comprises a first mirror (1321) and a second mirror (1322), the first mirror (1321) and the second mirror (1322) being arranged opposite each other,

the second relay lens assembly (142) comprises a third reflector (1421) and a fourth reflector (1422), wherein the third reflector (1421) and the fourth reflector (1422) are oppositely arranged.

10. The lidar device according to claim 9, wherein the second mirror (1322) and the fourth mirror (1422) are arranged opposite to each other, and an angle is formed between the second mirror (1322) and the fourth mirror (1422).

11. The lidar device according to claim 1, further comprising a light shielding sheet (43) and a light shielding frame (44),

the light blocking sheet (43) is arranged between the light emitting lens (41) and the light receiving lens (42), one end of the light blocking sheet (43) is arranged between the second reflecting mirror (1322) and the fourth reflecting mirror (1422), and the other end of the light blocking sheet (43) is attached to the light blocking frame (44).

12. Lidar device according to claim 11, characterized in that the rotor (1) further comprises an upper plane (113), that the light-shielding frame (44) is provided at one end on the base plate (17), that the other end of the light-shielding frame (44) is flush with the upper plane (113) or protrudes out of the upper plane (113).