CN110673111B

CN110673111B - Laser radar

Info

Publication number: CN110673111B
Application number: CN201911084362.2A
Authority: CN
Inventors: 张超; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2019-11-07
Filing date: 2019-11-07
Publication date: 2022-07-08
Anticipated expiration: 2039-11-07
Also published as: CN110673111A

Abstract

The application provides a laser radar, including ray apparatus rotor, wherein, this ray apparatus rotor includes body, transmitting part, receiving part and fin group, wherein: the body is internally provided with an accommodating cavity, and the transmitting part and the receiving part are arranged in the accommodating cavity and fixedly connected with the optical machine body; the fin group is arranged on the outer side surface of the cavity of the accommodating cavity and is fixedly connected with the body. According to the laser radar of this application, can improve the radiating efficiency.

Description

Laser radar

Technical Field

The application relates to the technical field of laser detection, in particular to a laser radar.

Background

This section provides background information related to the present application and does not necessarily constitute prior art.

In the automatic driving technology, an environment perception system is a basic and crucial ring, the safety and intelligence of an automatic driving automobile are guaranteed, and a laser radar in an environment perception sensor has incomparable advantages in the aspects of reliability, detection range, distance measurement precision and the like. The laser radar analyzes the turn-back time of the laser after encountering the target object by transmitting and receiving the laser beam, and calculates the relative distance between the target object and the vehicle.

Various electronic components are arranged inside the laser radar. When the electronic components are in working state, heat will be generated. If the laser radar cannot dissipate heat in time, the performance of the laser radar will be affected by the gathered heat.

Content of application

The embodiment of the application provides a laser radar, including ray apparatus rotor, wherein, ray apparatus rotor includes body, transmitting part, receiving part and fin group, wherein: an accommodating cavity is formed in the body, and the transmitting part and the receiving part are arranged in the accommodating cavity and are fixedly connected with the optical machine body; the fin group is arranged on the outer side surface of the cavity of the accommodating cavity and is fixedly connected with the body.

In some embodiments, a lens assembly is disposed on the body for assembling a transceiver lens; wherein the fin group is disposed on a peripheral side of the lens assembly.

In some embodiments, the optical engine rotor comprises a bottom surface, the fin group comprises inclined fins, and a plane of the inclined fins is not parallel to a plane of the bottom surface.

In some embodiments, an included angle between a plane of the inclined fin and a plane of the bottom surface is related to the rotation speed of the laser radar.

In some embodiments, the rotor includes a bottom surface, and the fin groups include transverse fins, the planes of the transverse fins being parallel to the plane of the bottom surface.

In some embodiments, the body is integrally formed with the fin pack.

In some embodiments, the fin group includes at least one fin subset, wherein the fins in each fin subset are fixedly connected to a corresponding flat plate of the fin subset, and the flat plate is fixedly connected to the body.

In some embodiments, the included angle between the laser radar rotating shaft and the two outermost sides of the fin group is related to the proportion of the receiving cavity occupied by the transmitting part and the receiving part.

In some embodiments, the angle between the lidar shaft and the outermost sides of the fin groups is greater than 90 degrees and less than 300 degrees.

In some embodiments, the fin spacing of the fin groups is greater than or equal to 4 millimeters and less than or equal to 15 millimeters.

Therefore, according to the laser radar provided by the application, the fin group is arranged on the outer side of the accommodating cavity, the optical machine rotor can drive the fin group to rotate, the rotation of the fin group can generate certain disturbance on the air between the optical machine rotor and the radar shell, so that the heat convection coefficient between the air and the solid wall surface (the optical machine rotor and the shell) is increased, and the thermal resistance between the optical machine rotor and the shell is reduced.

Drawings

The foregoing and additional features and characteristics of the present application will be better understood from the following detailed description, taken with reference to the accompanying drawings, which are given by way of example only and which are not necessarily drawn to scale. Like reference numerals are used to indicate like parts in the accompanying drawings, in which:

FIG. 1 is a schematic diagram of a lidar according to the present application;

FIG. 2 is a schematic structural view of a transverse fin according to the present application;

FIG. 3 is a schematic illustration of a fin composition into a subset of fins according to the present application;

FIG. 4 is a schematic cross-sectional view of a rotor of an optical machine in a transverse direction (perpendicular to the axis of rotation);

FIG. 5 is a schematic diagram of the relationship between the fin pack included angle and the heat source temperature;

FIG. 6 is a schematic illustration of the relationship between fin spacing and heat source temperature;

wherein:

1-a body; 2-fin group, 21-first fin subgroup, 22-second fin subgroup, 23-third fin subgroup, 24-first flat plate, 25, second flat plate; 3-a lens assembly; 4-bottom surface; 5-top surface; 6-an emission lens; 7-a receiving lens; 8-a transmitting section; 9-a receiving section.

Detailed Description

Preferred embodiments of the present application will now be described in detail with reference to the accompanying drawings. The following description is merely exemplary in nature and is not intended to limit the present application and its applications or uses.

In the description of the present application, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than those illustrated or described herein.

As shown in fig. 1, an embodiment of the present application provides a lidar including: the optical machine rotor comprises a body 1, a transmitting part 8, a receiving part 9 and a fin group 2.

In this embodiment, the body may have an accommodating chamber formed therein. The transmitting part and the receiving part are arranged in the accommodating cavity and are integrally formed with the body.

In this embodiment, the optomechanical rotor may be any shape, such as a cylinder, a sphere, a pyramid, etc. The center of the body of the optical machine rotor is of a hollow structure, and the rotating shaft of the laser radar is assembled in the hollow structure, and bears the transmitting part in the transmitting cavity and holds the receiving part in the receiving cavity. When the body of ray apparatus rotor rotated under the drive of pivot, transmitting part and receiving part are static for the body, can follow the body and rotate together. Generally, the outer side of the optical machine rotor can be provided with a shell.

In this embodiment, the fin group 2 is disposed on an outer side surface of the cavity of the accommodating cavity, and is fixedly connected to the body 1. It will be appreciated that the receiving cavity may comprise a receiving cavity wall and the fin sets may be provided on the outer surface of the (lateral) receiving cavity wall.

It should be noted that the optical machine rotor is not in contact with the housing of the laser radar, and the heat dissipation between the optical machine rotor and the housing can only depend on air convection; in this case, the thermal resistance between the rotor and the housing of the optical machine may be relatively large.

The laser radar that this application embodiment provided sets up fin group through the outside at the holding chamber, and the ray apparatus rotor can drive fin group rotatory, and fin group's rotation can produce certain disturbance to the air between ray apparatus rotor and the radar shell to increase the heat convection coefficient between air and the solid wall (ray apparatus rotor and shell), reduce the thermal resistance between ray apparatus rotor and the shell.

It should be noted that the fixing connection referred to in this application may be implemented by any suitable means, such as welding, adhesion, screw connection, etc., and is not limited herein.

In this embodiment, the specific position of the fin group on the outer side surface of the cavity is not limited.

In this embodiment, the material of the fin set may be selected according to actual situations, and is not limited herein. As an example, the fin group may be made of a metal material having good thermal conductivity.

In some embodiments, a lens assembly 3 is provided on the body 1; here, the lens assembly may assemble the emission lens 6 and the reception lens 7 on the body 1. A receiving lens may be provided in the receiving part. An emission lens may be disposed in the emission part.

In some embodiments, referring to fig. 1, the fin group 2 may be disposed on a peripheral side of the lens assembly 3 and fixedly connected to the body 1.

It should be noted that, the fin group is arranged on the peripheral side of the lens assembly 3, so that the space between the lens assembly and the body of the optical machine rotor can be fully utilized, each structure of the optical machine rotor provided with the fin group can be reasonably arranged, and the volume of the optical machine rotor is reduced.

In some embodiments, the bare engine rotor may include an inner barrel and an outer barrel with an accommodating cavity formed therebetween. The lens assembly can be arranged on the wall of the outer cylinder. The inner cylinder and the outer cylinder may be cylindrical or irregular.

Alternatively, if the optomechanical rotor is a cylinder, the lens may be disposed on a side surface of the body of the optomechanical rotor, and therefore, the lens assembly may also be disposed on a side surface of the body of the optomechanical rotor, and correspondingly, the fin group may also be disposed on an outer surface of the side surface of the body.

In some embodiments, the optomechanical rotor includes a bottom surface 4. In general, the optomechanical rotor may also comprise a top surface 5. The bottom surface is generally parallel to the top surface.

In some embodiments, the set of fins may be provided as relatively inclined fins. Here, referring to fig. 1, the fin shown in fig. 1 may be understood as an inclined fin. Here, the inclination means: the plane of the inclined fin is not parallel to the plane of the bottom surface. It will be appreciated that the plane in which the inclined fins lie is also said to be non-parallel to the plane in which the top surface lies.

In some embodiments, the inclination angle of the inclined fin may be set according to practical situations, and is not limited herein. The angle of inclination may be the angle between the plane of the inclined fin and the plane of the base.

In some embodiments, an included angle between a plane of the inclined fin and a plane of the bottom surface is related to the rotation speed of the lidar.

Alternatively, the inclination angle may be positively correlated with the radar rotation speed. Therefore, when the rotor of the optical machine rotates, the fin group drives the small cyclone for heat dissipation, and the maximum small cyclone is ensured.

In some embodiments, an included angle between a plane of the inclined fin and a plane of the bottom surface may be set to be about 45 degrees; it is understood that the difference from 45 degrees is within a predetermined threshold, such as ± 15 degrees, and can be considered as 45 degrees.

In some embodiments, the set of fins comprises transverse fins. Here, the plane of the transverse fin is parallel to the plane of the bottom surface. Referring to fig. 2, fig. 2 is a schematic diagram of the lidar with transverse fins. It will be understood that the plane of the transverse fins can also be said to be parallel to the plane of the top surface. It should be noted that the parallelism may be substantially parallel, i.e. if the included angle is smaller than a predetermined included angle threshold, such as ± 10 degrees, it may also be considered parallel.

It should be noted that, the inclined fins may cause greater disturbance to the air relative to the transverse fins, so as to enhance the heat dissipation between the air and the solid wall surface.

In some embodiments, the fin group may include the inclined fin and the transverse fin.

In some embodiments, the number of fins in the fin group may be set according to practical situations, and is not limited herein.

In some embodiments, the body of the optomechanical rotor may be integrally formed with the set of fins. In other words, the fin group can be manufactured together with the body of the optomechanical rotor when the body is manufactured.

It should be noted that, the fin group and the optical machine rotor are integrally formed, so that the time for assembling the fin group can be saved, and the assembling efficiency can be improved.

In some embodiments, the set of fins may include at least one subset of fins. Here, the fins in the fin group are fixedly connected to the flat plates corresponding to the fin group, and the flat plates are fixedly connected to the body.

In some embodiments, the fin groups may be divided into two fin subgroups according to the installation direction. Please refer to fig. 3. In fig. 3, a first fin sub-group 21 and a second fin sub-group 22 are shown. Both ends of the dotted line indicated by reference numeral 21 indicate two fins, and the two fins and the fins between the two fins may be regarded as the first fin sub-group 21. Both ends of the dotted line indicated by reference numeral 22 indicate two fins, and the two fins and the fins between the two fins can be regarded as the second fin sub-group 22. The first fin sub-group 21 may correspond to a first flat plate 24, which may be connected with a vertical-direction face of the body. The second fin subset 22 may correspond to a second flat plate 25, and the second flat plate 25 may be connected to the top surface of the body. In fig. 2, the structure of the first plate 24 is exaggerated to show the position of the first plate 24; in practice, the first plate 24 may not be very thick.

In some embodiments, the above-mentioned fin group may further include a third fin sub-group 23, two ends of a dotted line indicated by reference numeral 23 indicate two fins, and the two fins and the fins between the two fins may be regarded as the third fin sub-group 23. The third fin subgroup may be symmetrical to the first fin subgroup if a separation plane between the emission lens and the reception lens is taken as a symmetrical plane. The third plate corresponding to the third fin subgroup may be symmetrical to the first plate.

The flat plate is fixedly connected with the body; in this way, because the fin sub-group and the flat plate are simple in manufacturing process and the flat plate and the body are convenient to assemble, the mounting difficulty of the fin group can be reduced, and meanwhile, the manufacturing difficulty of the optical machine rotor can be reduced.

In some embodiments, the included angle between the laser radar rotating shaft and the outermost two sides of the fin group is related to the proportion of the accommodating cavity occupied by the transmitting part and the receiving part.

It can be understood that under certain product design requirements, the space proportion occupied by the transmitting part and the receiving part in the accommodating cavity is certain; therefore, the angle between the laser radar rotation axis and the outermost sides of the fin set (i.e. the angle between the outermost sides of the fin set and the axis connecting line) may be limited.

The angle between the lidar axis and the outermost sides of the fin group may be referred to herein as the fin group angle. Here, please refer to fig. 4, which shows the fin group included angle α; fig. 4 may be a schematic cross-sectional view of the rotor of the optical machine in a transverse direction (perpendicular to the rotation axis). The included angle of the fin group can be an included angle alpha formed by a connecting line between a central shaft projection point (circle center) and projection points of the end faces of the two fin groups, the central shaft projection point is a projection point of the central shaft of the rotor on the plane where the bottom face is located, and the projection point of the end face of the fin group is a projection point of the end face of the fin group on the plane where the bottom face is located.

In some embodiments, the size of the included angle of the fin group may be set according to practical situations, and is not limited herein.

Referring to FIG. 5, the relationship between the fin group angle and the heat source temperature is shown. In fig. 5, the abscissa is a fin group angle, which may also be referred to as an angle occupied by a fin, and the unit of the abscissa may be "° (degrees)"; the ordinate is the temperature of a heat source, such as the transmitting end of a lidar, and the unit of the ordinate may be in degrees celsius. It will be appreciated that the rectangular boxes shown in FIG. 5 may facilitate the comparative display of trends. It should be noted that the purpose of fig. 5 is mainly to show the trend of the heat source temperature changing with the included angle of the fin group, and the correlation with the specific value of the ordinate is small, so the ordinate does not mark the specific value.

Here, the heat source may be any given device, and is not limited herein; as an example, the heat source may be a laser, a laser emitting plate on which the laser is located, or the like.

In some embodiments, the above-described included angle (i.e., the fin group included angle) may be greater than 90 degrees and less than 300 degrees. It should be noted that, the included angle of the fin group, which is greater than 90 degrees and less than 300 degrees, can ensure the heat dissipation efficiency, and at the same time, can provide the accommodating cavity space as large as possible for the transmitting portion and the receiving portion.

In some embodiments, the fin spacing of the fin group may be set according to specific situations, and is not limited herein.

Referring to fig. 6, the relationship between fin spacing (which may also be referred to as fin intercept) and heat source temperature is shown. In fig. 6, the abscissa may be the fin intercept, which may be in millimeters; the ordinate is the heat source temperature, and the unit of the ordinate may be "° c (degrees celsius)". It will be appreciated that the rectangular boxes shown in FIG. 6 may facilitate the comparison of display trends. It should be noted that the purpose of fig. 6 is mainly to show the trend of the heat source temperature along with the change of the fin intercept, and the correlation with the specific value of the ordinate is small, so the ordinate does not mark the specific value.

In some embodiments, the fin spacing of the fin groups may be greater than or equal to 4 millimeters and less than or equal to 15 millimeters. The fin pitch of 4 mm or more and 15 mm or less can ensure the heat dissipation efficiency.

In some embodiments, the fin group depth may be a length of the fin in a radial direction of the lidar. Referring to FIG. 4, a definition of fin depth is shown; in fig. 4, the fin extends in a radial direction (a direction passing through the center of the circle) by a length L.

In some embodiments, the fin group depth may be set according to practical situations, and is not limited herein.

In some embodiments, the depth of the fin group may be adaptively selected according to the size of the lidar and the assembly of the transceiver lens, as long as the depth of the fin group is not so large as to protrude from the axial periphery of the entire lidar.

Experiments prove that the highest temperature of the laser radar region can be reduced by more than 8 ℃ compared with the common laser radar (no fin group is arranged on the outer side of the accommodating cavity) when the laser radar is in the same working state; in addition, the average temperature of the laser radar can be reduced by about 10 ℃ compared with that of the common laser radar. Therefore, the laser radar provided by the application can improve the heat dissipation efficiency.

It is obvious that further different embodiments can be devised by combining different embodiments and individual features in different ways or modifying them.

The lidar and the lidar including the same according to preferred embodiments of the present application and the method of operation have been described above in connection with specific embodiments. It will be understood that the above description is intended to be illustrative and not restrictive, and that various changes and modifications may be suggested to one skilled in the art in view of the above description without departing from the scope of the present application. Such variations and modifications are also intended to be included within the scope of the present application.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A lidar comprising: the ray apparatus rotor, wherein, the ray apparatus rotor includes body, transmission portion, receipt portion and fin group, wherein: an accommodating cavity is formed in the body, and the transmitting part and the receiving part are arranged in the accommodating cavity and fixedly connected with the optical machine body;

the fin group is arranged on the outer side surface of the cavity of the accommodating cavity and is fixedly connected with the body;

the body is provided with a lens assembly part used for assembling a transceiver lens, wherein the fin group is arranged on the peripheral side of the lens assembly part;

and the included angle between the laser radar rotating shaft and the two outermost sides of the fin group is larger than 90 degrees and smaller than 300 degrees.

2. The lidar according to claim 1, wherein the opto-mechanical rotor comprises a bottom surface, the set of fins comprising inclined fins, the plane of which is non-parallel to the plane of the bottom surface.

3. The lidar of claim 2, wherein an angle between a plane of the inclined fin and a plane of the bottom surface is related to a rotation speed of the lidar.

4. The lidar according to claim 1, wherein the rotor comprises a bottom surface,

the fin group comprises transverse fins, and the planes of the transverse fins are parallel to the plane of the bottom surface.

5. The lidar of claim 1, wherein the body is integrally formed with the set of fins.

6. The lidar of claim 1, wherein the fin group comprises at least one fin subset, wherein the fins of each fin subset are fixedly connected to a corresponding flat plate of the fin subset, and the flat plate is fixedly connected to the body.

7. The lidar of claim 1, wherein an angle between the lidar shaft and outermost sides of the fin group is related to a proportion of the receiving portion and the transmitting portion occupying the receiving cavity.

8. The lidar of claim 1, wherein a fin spacing of the fin group is greater than or equal to 4 millimeters and less than or equal to 15 millimeters.