CN111077540A - Multiline laser radar device and manufacturing method thereof - Google Patents

Multiline laser radar device and manufacturing method thereof Download PDF

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Publication number
CN111077540A
CN111077540A CN201811221544.5A CN201811221544A CN111077540A CN 111077540 A CN111077540 A CN 111077540A CN 201811221544 A CN201811221544 A CN 201811221544A CN 111077540 A CN111077540 A CN 111077540A
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CN
China
Prior art keywords
assembly
base
multiline lidar
platform
platform assembly
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CN201811221544.5A
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Chinese (zh)
Inventor
李斌
柴晨喜
庞文鹏
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Zhejiang Sunny Optical Intelligent Technology Co Ltd
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Zhejiang Sunny Optical Intelligent Technology Co Ltd
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Priority to CN201811221544.5A priority Critical patent/CN111077540A/en
Publication of CN111077540A publication Critical patent/CN111077540A/en
Pending legal-status Critical Current

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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres

Abstract

The invention discloses a multiline laser radar device and a manufacturing method thereof. The multi-line laser radar device comprises a multi-line laser radar body and a rotating device. The rotating device comprises a base assembly, a platform assembly, a driving mechanism and an optical communication assembly. The stage assembly has an axis of rotation, wherein the multiline lidar body is mounted to the stage assembly. The driving mechanism is disposed between the base assembly and the platform assembly, wherein the driving mechanism has a light channel extending from the rotating assembly to the stationary assembly along the rotation axis. The optical communication assembly is disposed between the base assembly and the platform assembly, and the optical communication assembly corresponds to the optical channel of the driving mechanism. When the driving mechanism drives the platform assembly to drive the multi-line laser radar body to rotate around the rotating axis, the optical communication assembly transmits data between the platform assembly and the base assembly in an optical communication mode.

Description

Multiline laser radar device and manufacturing method thereof
Technical Field
The invention relates to the technical field of laser radars, in particular to a multi-line laser radar device and a manufacturing method thereof.
Background
Unmanned autonomous vehicles need to sense the environment around the vehicle at all times to obtain information about the road, vehicle attitude, and other obstacles to direct and control the steering and speed of the vehicle. The unmanned vehicle generally adopts the multi-line laser radar to detect the surrounding environment of the vehicle, so that the laser radar of the type has a very important role on the unmanned vehicle. As the name implies, the multiline lidar is a scanning system that forms a plurality of beams by the rotation of a motor through the distribution of a plurality of laser transmitters in the vertical direction. Theoretically, the more and denser the wire bundles of the multi-line laser radar are, the more sufficient the description of the surrounding environment is, and the requirement of an algorithm can be reduced.
However, most of the multiline lidar in the market generally adopts a high-performance slip ring to realize transmission of electric energy and signals (data), but the data transmission amount of the high-performance slip ring is limited, and the multiline lidar is generally only suitable for data transmission of about 16 lines, so that the resolution of the multiline lidar in the vertical direction is inevitably low due to the limitation of the high-performance slip ring.
In addition, the slip ring inevitably generates sliding friction during data transmission to generate abrasion and noise, so that the data transmission quality or the electric energy transmission quality of the slip ring is reduced, and the slip ring has to be replaced by a new slip ring due to serious abrasion after being used for a period of time, thereby increasing the use cost of the multi-line laser radar. Moreover, special treatment is required to be performed on the slip ring to ensure the data transmission quality or the power transmission quality of the slip ring, so that the manufacturing cost of the slip ring is greatly increased, which further increases the manufacturing cost and the use cost of the multi-line laser radar.
Disclosure of Invention
An object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, which can increase data transmission capacity of the multiline lidar device to get rid of the limitation of a slip ring on the data transmission capacity.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, which can improve the data transmission quality of the multiline lidar device to avoid the degradation of the detection quality of the multiline lidar device for the surrounding environment due to data loss or damage.
Another object of the present invention is to provide a multiline lidar device and a method of manufacturing the same, which can improve the resolution of the multiline lidar device in the vertical direction.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, the multiline lidar device uses a light communication module to replace a conventional slip ring for data transmission, so as to greatly increase the data transmission amount of the multiline lidar device and avoid the problem of degradation of data transmission quality due to wear of the slip ring.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, the multiline lidar device is capable of performing dual-channel transmission of data using the optical communication module, so as to transmit environmental data collected by a multiline lidar body and transmit various control signal data to the multiline lidar body.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, a driving mechanism of a rotating device of the multiline lidar device has an optical channel, so that when the multiline lidar body is driven by the driving mechanism to rotate, the optical channel can still provide an optical communication channel for the optical communication module, thereby ensuring that the optical communication module can stably transmit data.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein, in an embodiment of the present invention, the optical communication component of the rotating device is not worn during data transmission, which helps to improve the service life of the multiline lidar device and reduce the cost of the multiline lidar device.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, a light guide element is disposed between a transmitting element and a receiving element of the optical communication module, which helps to reduce loss of optical signals of the transmitting element, so as to improve data transmission quality of the optical communication module.
Another objective of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, a rotor of the driving mechanism is correspondingly disposed inside a stator of the driving mechanism, so as to reduce the moment of inertia of the driving mechanism, which helps to improve the overall stability of the multiline lidar device.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, in which, in an embodiment of the present invention, a hollow base of the driving mechanism can ensure a stable positional relationship between the stator and the rotor while forming the optical path.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, the multiline lidar device employs an electrical transmission assembly instead of a conventional slip ring transmission scheme, so as to improve the reliability of electrical power transmission of the multiline lidar device and prolong the service life of the multiline lidar device.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein, in an embodiment of the present invention, an electrical conductor of the driving mechanism is embedded in a hollow cylinder of the driving mechanism, which facilitates simplifying the electrical conducting structure between an output coil of the electrical transmission assembly and a platform assembly, and helps to ensure the safety and stability of electrical energy transmission.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, the multiline lidar device employs a light coding assembly instead of a conventional contact angle measuring device, so as to accurately obtain a rotation angle of the platform assembly, and avoid abrasion caused by rotation, which helps to improve a service life of the multiline lidar device.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein, in an embodiment of the present invention, the top cover assembly and the base assembly of the rotating device isolate the driving mechanism and the multiline lidar body from the external environment, thereby preventing the driving mechanism and the multiline lidar body from being contaminated.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein, in an embodiment of the present invention, a center of gravity of the multiline lidar body can be located at a rotation axis of the platform assembly, so as to ensure that a moment of inertia of the multiline lidar device relative to the rotation axis is uniformly distributed, which is beneficial to improving the stability of the whole lidar device.
Another object of the present invention is to provide a multiline lidar device and a method for manufacturing the same, wherein in an embodiment of the present invention, the multiline lidar device can be adapted and assembled in a modular manner, thereby improving reliability, consistency and mass productivity of the device.
Another object of the present invention is to provide a multiline lidar apparatus and a method of manufacturing the same, in which expensive materials or complicated structures are not required in order to achieve the above objects. The present invention therefore successfully and effectively provides a solution that not only provides a simple multiline lidar apparatus and method of manufacture, but also increases the practicality and reliability of the multiline lidar apparatus and method of manufacture.
To achieve at least one of the above objects and other objects and advantages, the present invention provides a multiline lidar apparatus comprising:
a multiline laser radar body; and
a rotary device, wherein the rotary device comprises:
a base assembly;
a stage assembly, wherein the stage assembly has an axis of rotation, wherein the multiline lidar body is mounted to the stage assembly;
a drive mechanism, wherein the drive mechanism is disposed between the base assembly and the platform assembly, wherein the drive mechanism has a light channel, and wherein the light channel extends from the rotating assembly to the stationary assembly along the axis of rotation; and
an optical communication assembly, wherein the optical communication assembly is disposed between the base assembly and the platform assembly and corresponds to the optical channel of the drive mechanism, wherein the optical communication assembly optically communicates data between the platform assembly and the base assembly when the drive mechanism drives the platform assembly to rotate the multi-wire lidar body about the axis of rotation.
In an embodiment of the invention, the driving mechanism includes a stator, a rotor and a hollow cylinder, wherein a fixed end of the hollow cylinder is fixedly connected to the platform assembly, a free end of the hollow cylinder integrally extends from the fixed end of the hollow cylinder along the rotation axis to form the light channel at the center of the hollow cylinder, the rotor is fixedly disposed at the free end of the hollow cylinder, the stator is correspondingly disposed at the rotor, and the rotor can be driven by the stator to rotate the hollow cylinder around the rotation axis.
In an embodiment of the invention, the driving mechanism further includes a hollow base fixed to the fixing component, wherein the stator is fixed to the hollow base, and the free end of the hollow cylinder is rotatably disposed on the hollow base, so that the rotor and the hollow cylinder are driven to rotate around the rotation axis by the stator.
In an embodiment of the present invention, the hollow base includes an outer frame, an inner frame, and an annular base plate, and has an annular space, wherein the annular base plate is fixed to the fixing assembly, and the outer frame integrally extends from an outer periphery of the annular base plate toward the platform assembly along the rotation axis, and the inner frame integrally extends from an inner periphery of the annular base plate toward the platform assembly along the rotation axis to form the light passage inside the inner frame and the annular space between the outer frame and the inner frame to accommodate the stator and the rotor.
In an embodiment of the invention, the stator is fixedly arranged on the inner frame of the hollow base, and the free end of the hollow cylinder member is connected with the outer frame of the hollow base in a bearing connection manner, so that the rotor is positioned around the stator.
In an embodiment of the invention, the stator is fixedly arranged on the outer frame of the hollow base, and the free end of the hollow cylinder member is connected with the inner frame of the hollow base in a bearing connection manner, so that the stator is positioned around the rotor.
In an embodiment of the invention, the rotor is fixed to the free end of the hollow cylinder in a nested manner.
In one embodiment of the present invention, the optical communication assembly includes a first emitting element and a first receiving element, wherein the first emitting element is disposed on the platform assembly and a emitting path of the first emitting element is within the optical channel of the driving mechanism, wherein the first receiving element is correspondingly disposed on the base assembly and the first receiving element is located in the emitting path of the first emitting element, such that when the platform assembly rotates relative to the base assembly, the first receiving element can receive an optical signal from the first emitting element to transmit data from the platform assembly to the base assembly.
In one embodiment of the present invention, the optical communication assembly includes a first emitting element and a first receiving element, wherein the first emitting element is disposed on the platform assembly and a emitting path of the first emitting element is within the optical channel of the driving mechanism, wherein the first receiving element is correspondingly disposed on the base assembly and the first receiving element is located in the emitting path of the first emitting element, such that when the platform assembly rotates relative to the base assembly, the first receiving element can receive an optical signal from the first emitting element to transmit data from the platform assembly to the base assembly.
In an embodiment of the present invention, the optical communication assembly further includes a second transmitting element and a second receiving element, wherein the second transmitting element is disposed on the base assembly and a transmitting path of the second transmitting element is within the optical channel of the driving mechanism, wherein the second receiving element is correspondingly disposed on the platform assembly and the second receiving element is located in the transmitting path of the second transmitting element, such that when the platform assembly rotates relative to the base assembly, the second receiving element can receive an optical signal from the second transmitting element to transmit data from the base assembly to the platform assembly.
In an embodiment of the present invention, the platform assembly includes a rotating platform and a rotating circuit board disposed on the rotating platform, wherein the rotating platform is fixedly connected to the fixed end of the hollow cylinder, wherein the rotating circuit board is communicably connected to the multiline lidar device, and the rotating circuit board is communicably connected to the first transmitting element and the second receiving element.
In an embodiment of the invention, the rotating circuit board is arranged between the rotating platform and the hollow cylinder, wherein the first emitting element and the second receiving element are communicably fixed to the rotating circuit board.
In one embodiment of the present invention, the platform assembly further comprises a set of support arms, wherein each support arm extends downward from the rotary platform to fixedly connect with the fixed end of the hollow barrel member through the rotary circuit board.
In an embodiment of the present invention, the base assembly includes a base and the fixed wiring board provided to the base, wherein the hollow base of the driving mechanism is fixed to the base, wherein the fixed wiring board is provided between the base and the hollow base, and the second transmitting element and the first receiving element are communicably provided with the fixed wiring board.
In an embodiment of the invention, the hollow base further comprises a set of support legs, wherein each support leg extends downwards from the annular base of the hollow base to pass through the fixed circuit board to be fixedly connected with the base.
In an embodiment of the present invention, the optical communication module further comprises a light guide element, wherein the light guide element is disposed in the optical channel of the driving mechanism, and the light guide element is located in the emission path of the first and second emission elements to guide the optical signal emitted by the first and second emission elements.
In one embodiment of the present invention, the rotating apparatus further comprises an electrical transmission assembly, wherein the electrical transmission assembly comprises an input coil electrically connectable to the base assembly and an output coil electrically connectable to the platform assembly, wherein the input coil and the output coil are coaxially disposed between the base assembly and the platform assembly about the axis of rotation to transmit electrical energy from the base assembly to the platform assembly through the electrical transmission assembly.
In one embodiment of the present invention, the rotating apparatus further comprises an electrical transmission assembly, wherein the electrical transmission assembly comprises an input coil electrically connectable to the base assembly and an output coil electrically connectable to the platform assembly, wherein the input coil and the output coil are coaxially disposed between the base assembly and the platform assembly about the axis of rotation to transmit electrical energy from the base assembly to the platform assembly through the electrical transmission assembly.
In an embodiment of the invention, the input coil is fixed to the environmental substrate of the hollow base of the driving mechanism, and the output coil is fixed to the free end of the hollow cylinder, so that the output coil is located adjacent to the input coil.
In an embodiment of the present invention, the driving mechanism further includes a conductive body, wherein the conductive body is embedded in the hollow cylindrical member, wherein one end of the conductive body is connected to the output coil, and the other end of the conductive body is connected to the rotating circuit board.
In an embodiment of the present invention, the rotary device further includes an optical encoder assembly, wherein the optical encoder assembly includes an optical encoder code wheel and an optical encoder chip communicably connected to the fixed circuit board, wherein the optical encoder code wheel is fixedly mounted on the rotary circuit board of the platform assembly with the rotation axis as an axis, and the optical encoder chip is correspondingly mounted on the hollow base of the driving mechanism, wherein when the rotary circuit board drives the optical encoder code wheel to rotate around the rotation axis, the optical encoder chip scans along the optical encoder code wheel to obtain the rotation angle data of the platform assembly.
In an embodiment of the present invention, the rotary device further includes an optical encoder assembly, wherein the optical encoder assembly includes an optical encoder code wheel and an optical encoder chip communicably connected to the rotary circuit board, wherein the optical encoder code wheel is fixedly mounted on the hollow base of the driving mechanism with the rotation axis as an axis, and the optical encoder chip is correspondingly mounted on the rotary circuit board of the platform assembly, wherein when the rotary circuit board rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code wheel to obtain the rotation angle data of the platform assembly.
In an embodiment of the invention, the rotating device further includes a cover assembly, wherein the cover assembly is correspondingly disposed on the base assembly to form a receiving space between the cover assembly and the base assembly to receive the platform assembly, the driving mechanism and the multiline lidar body.
In an embodiment of the invention, the top cover assembly includes a top cover body and a transparent annular window, wherein the annular window is disposed between the top cover body and the base assembly, and the annular window is provided for locating in a detection path of the multi-line lidar body
In an embodiment of the present invention, the top cap assembly further includes a pair of sealing rings, one of the sealing rings is disposed between the annular window and the top cap body, and the other sealing ring is disposed between the annular window and the base assembly, so as to form the sealed accommodating space between the top cap assembly and the base assembly.
In an embodiment of the present invention, the multiline lidar body includes a transmitting module, an optical assembly and a receiving module, wherein the transmitting module is configured to transmit a set of laser beams along a detection path of the multiline lidar body, the optical assembly is correspondingly configured to the detection path of the transmitting module to process each laser beam from the transmitting module, and the receiving module is configured to receive the laser beams reflected by an environmental object, so that the multiline lidar body obtains environmental data.
In an embodiment of the invention, the multiline lidar body further includes a base plate, wherein the transmitting module, the optical assembly and the receiving module are respectively and correspondingly fixed to the base plate to form the multiline lidar body with an integrated structure, wherein the base plate is fixed to the platform assembly of the rotating device to integrally mount the multiline lidar body to the platform assembly.
In an embodiment of the invention, the rotating device further includes an adjusting mechanism, wherein the adjusting mechanism is correspondingly disposed between the platform assembly and the bottom plate of the multiline lidar body to adjust a detection path of the multiline lidar body.
According to another aspect of the present invention, there is also provided a method of manufacturing a multiline lidar apparatus, including the steps of:
disposing an optical communication assembly between a base assembly and a platform assembly, wherein the optical communication assembly is positioned adjacent to an axis of rotation of the platform assembly;
correspondingly disposing a driving mechanism having a light channel between the base assembly and the platform assembly to drive the platform assembly to rotate about the rotation axis by the driving mechanism, wherein the light channel of the driving mechanism extends along the rotation axis of the platform assembly, and the optical communication assembly corresponds to the light channel of the driving mechanism; and
installing a multi-line lidar body on the platform assembly to transmit data from the multi-line lidar body to the base assembly via the optical communication assembly.
In an embodiment of the present invention, the method for manufacturing a multiline lidar further includes:
correspondingly arranging a top cover component on the base component to form an accommodating space between the top cover component and the base component so as to accommodate the driving mechanism, the platform component and the multi-line laser radar body.
In an embodiment of the present invention, the method for manufacturing a multiline lidar further includes:
disposing an input coil on a hollow base of the drive mechanism about the axis of rotation, wherein the input coil is electrically connectable to the base assembly; and
disposing an output coil about the axis of rotation in a hollow barrel of the drive mechanism, wherein the output coil is electrically connectable to the platform assembly for transferring electrical energy between the base assembly and the platform assembly via the input coil and the output coil.
In an embodiment of the present invention, the method for manufacturing a multiline lidar further includes:
a hollow base coaxially provided with an optical encoder code wheel with the rotation axis as a shaft; and
correspondingly, an optical encoder chip is arranged on the platform assembly, wherein when the platform assembly rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code disc so as to obtain the rotation angle of the platform assembly.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 is a perspective view of a multiline lidar apparatus according to a preferred embodiment of the present invention.
Fig. 2 is a schematic cross-sectional view of the multiline lidar apparatus according to the above-described preferred embodiment of the invention.
Fig. 3 is an enlarged view of a driving mechanism of the multiline lidar apparatus according to the above preferred embodiment of the present invention.
Fig. 4 is a partially enlarged schematic view of a top cover assembly of the multiline lidar apparatus according to the above preferred embodiment of the invention.
FIG. 5 is a partially enlarged view of an optical encoder assembly of the multiline lidar apparatus according to the above preferred embodiment of the invention.
Fig. 6 is a perspective view of a multiline lidar body of the multiline lidar apparatus according to the preferred embodiment of the invention.
Figure 7 is a schematic cross-sectional view of the multiline lidar body of the multiline lidar apparatus according to the above-described preferred embodiment of the invention.
Fig. 8A and 8B show a first variant of the multiline lidar device according to the above preferred embodiment of the invention.
Fig. 9 shows a second variant of the multiline lidar means according to the above preferred embodiment of the invention.
FIG. 10 is a flow chart illustrating a method for manufacturing a multiline lidar apparatus according to the above preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
In the present invention, the terms "a" and "an" in the claims and the description should be understood as meaning "one or more", that is, one element may be one in number in one embodiment, and the element may be more than one in number in another embodiment. The terms "a" and "an" should not be construed as limiting the number unless the number of such elements is explicitly recited as one in the present disclosure, but rather the terms "a" and "an" should not be construed as being limited to only one of the number.
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Referring to fig. 1-7 of the drawings, a multiline lidar apparatus and method of manufacture in accordance with a preferred embodiment of the present invention is illustrated. In the preferred embodiment of the present invention, as shown in fig. 1 and 2, the multiline lidar device 1 includes a rotating device 10 and a multiline lidar body 20, wherein the rotating device 10 includes a base assembly 11, a platform assembly 12, a driving mechanism 13, and an optical communication assembly 14. The platform assembly 12 has an axis of rotation 120 and the multiline lidar body 20 is mounted to the platform assembly 12. The driving mechanism 13 is coaxially disposed between the base assembly 11 and the platform assembly 12 about the rotation axis 120, wherein the driving mechanism 13 has a light channel 130, and the light channel 130 extends from the platform assembly 12 to the base assembly 11 along the rotation axis 120, so as to drive the platform assembly 12 and the multiline lidar body 20 to rotate around the rotation axis 120 through the driving mechanism 13. The optical communication module 14 is correspondingly disposed between the base module 11 and the platform module 12, and the optical communication module 14 corresponds to the optical channel 130 of the driving mechanism 13, so as to transmit data between the base module 11 and the platform module 12 through the optical communication module 14.
Specifically, as shown in fig. 2 and 3, the optical communication assembly 14 includes a first transmitting element 141 communicatively coupled to the platform assembly 12 and a first receiving element 142 communicatively coupled to the base assembly 11, wherein the first emitting element 141 is disposed on the platform assembly 12, and an emitting path of the first emitting element 141 is within the light channel 130 of the driving mechanism 13, wherein the first receiving element 142 is correspondingly disposed on the base assembly 11, and the first receiving element 142 is located in the transmitting path of the first transmitting element 141, wherein when the first emitting element 141 emits an optical signal to transmit data, the first receiving element 142 will receive the optical signal to obtain the data, thereby enabling contactless transfer of the data from the platform assembly 12 to the base assembly 11.
It should be noted that, since the optical signal emitted by the first emitting element 141 is received by the first receiving element 142 through the optical channel 130 to complete data transmission when the platform assembly 12 is driven by the driving mechanism 13 to rotate around the rotation axis 120, so that the first emitting element 141 and the first receiving element 142 transmit data between the base assembly 11 and the platform assembly 12 in a non-contact transmission manner, the first emitting element 141 and the first receiving element 142 are not worn by mutual contact, so as to ensure that the optical communication assembly 14 can transmit data without wear for a long time, thereby prolonging the service life of the multiline lidar device 1. It is understood that the multiline lidar device 1 according to the preferred embodiment of the present invention uses the optical communication component 14 to transmit data instead of a conventional slip ring, which not only greatly increases the data transmission amount to eliminate the limitation of the conventional slip ring on the data transmission amount, but also increases the reliability of the data transmission.
Illustratively, when the multiline lidar body 20 probes the surrounding environment to obtain the environmental data, the multiline lidar body 20 transmits the environmental data to the platform assembly 12 through a data line, then the first transmitting element 141 radiates the environmental data from the platform assembly 12 to the first receiving element 142 in the form of a light signal, the first receiving element 143 receives the light signal to obtain the environmental data, and transmits the obtained environmental data to the base assembly 11, so that the environmental data from the multiline lidar body 20 is transmitted from the rotated platform assembly 12 to the base assembly 11 through the optical communication assembly 14 in an optical communication manner. It should be understood that the environment data may include various information such as obstacle distance information, speed information, self attitude information, and the like acquired by the multiline lidar body 20, and the present invention is not limited thereto.
It is noted that the first emitting element 141 can be, but is not limited to be, implemented as a laser emitter, and the first receiving element 142 can be, but is not limited to be, implemented as a receiver, so that various data (such as the environmental data, etc.) can be transmitted between the first emitting element 141 and the first receiving element 142 by laser. Here, since the first transmitting element 141 and the first receiving element 142 of the optical communication module 14 can only transmit data from the platform module 12 to the base module 11, the optical communication module 14 can realize single channel data transmission between the base module 11 and the platform module 12.
In order to achieve dual channel data transmission (i.e., full duplex or half duplex communication) between the base assembly 11 and the platform assembly 12 via the optical communication assembly 14, that is, data can be transmitted from the platform assembly 12 to the base assembly 11 and from the base assembly 11 to the platform assembly 12 via the optical communication assembly 14 (e.g., control signal data can be transmitted from the base assembly 11 to the platform assembly 12 and then from the platform assembly 12 to the multiline lidar body 20 to control the opening and closing and operation of the multiline lidar body 20).
Thus, in the preferred embodiment of the present invention, as shown in FIGS. 2 and 3, the optical communication assembly 14 further includes a second transmitting element 143 communicatively coupled to the base assembly 11 and a second receiving element 144 communicatively coupled to the platform assembly 12, wherein the second emitting element 143 is disposed on the base assembly 11, and an emitting path of the second emitting element 143 is within the light channel 130 of the driving mechanism 13, wherein the second receiving element 144 is correspondingly disposed on the platform assembly 12, and the second receiving element 144 is located in the transmitting path of the second transmitting element 143, wherein when the second transmitting element 143 transmits an optical signal to transmit data, the second receiving element 144 will receive the optical signal to obtain the data, thereby enabling contactless transfer of the data from the base assembly 11 to the platform assembly 12.
Illustratively, when it is desired to turn on the multiline lidar body 20 to detect the surrounding environment, the second transmitting element 143 transmits control signal data from the base assembly 11 to the second receiving element 144 in the form of a light signal; then, the second receiving element 144 receives the optical signal to obtain the control signal data, and transmits the obtained control signal data to the platform assembly 12; finally, the platform assembly 12 transmits the control signal data to the multi-line lidar body 20 via a data line to turn on the multi-line lidar body 20 to begin detecting the surrounding environment. It is understood that the second emitting element 143 may be, but is not limited to be, implemented as a laser emitter, and the second receiving element 144 may be, but is not limited to be, implemented as a receiver, so that various data (such as the control signal data, etc.) are transmitted between the second emitting element 143 and the second receiving element 144 through laser.
Specifically, as shown in fig. 2, the base assembly 11 includes a base 111 and a fixed circuit board 112 mounted on the base 111, wherein the fixed circuit board 112 of the base assembly 11 is communicably connected to the second transmitting element 143 and the first receiving element 142 provided on the base assembly 11. Accordingly, as shown in fig. 2, the platform assembly 12 includes a rotating platform 121 and a rotating circuit board 122 mounted to the rotating platform 121, wherein the rotating circuit board 122 is communicably connected to the first transmitting element 141 and the second receiving element 144 provided to the platform assembly 12, and the rotating circuit board 122 is communicably connected to the multi-line lidar body 20 mounted to the rotating platform 121.
Therefore, after the multi-line lidar body 20 collects the environmental data, the multi-line lidar body 20 first transmits the environmental data to the rotating circuit board 122 to be transmitted to the first transmitting element 141 via the rotating circuit board 122, then the first transmitting element 141 transmits the environmental data to the first receiving element 142 in an optical communication manner, and finally transmits the environmental data to the fixed circuit board 112 of the base assembly 11 to be stored or utilized. In addition, when the multi-line lidar body 20 needs to be controlled to open or close or work, the fixed circuit board 112 can also generate control signal data based on a control command, and transmit the control signal data to the second transmitting element 143; the second transmitting element 143 then transmits the control signal data in optical communication to the rotating circuit board 122 of the platform assembly 12; and finally, the control signal data is transmitted to the multi-line laser radar body 20 through the rotating circuit board 122 so as to control the opening and closing or working of the multi-line laser radar body 20.
Illustratively, as shown in fig. 3, the fixed circuit board 112 of the base assembly 11 is disposed between the driving mechanism 13 and the base 111, and the second transmitting element 143 and the first receiving element 142 are directly mounted to the fixed circuit board 112 so as to directly communicably connect the second transmitting element 143 and the first receiving element 142 with the fixed circuit board 112. Accordingly, the rotary circuit board 122 of the platform assembly 12 is disposed between the rotary platform 121 and the driving mechanism 13, and the first transmitting element 141 and the second receiving element 144 are directly mounted to the rotary circuit board 122 so as to communicatively connect the first transmitting element 141 and the second receiving element 144 directly with the rotary circuit board 112.
It is worth mentioning that the first emitting element 141 of the optical communication module 14 is arranged to be located adjacent to the rotation axis 120, wherein the first receiving element 142 is also arranged to be located adjacent to the rotation axis 120. Thus, when the platform assembly 12 rotates about the rotation axis 120 and the base assembly 11 is stationary relative to the rotation axis 120, the first emitter element 141 will rotate about the rotation axis 120 with the platform assembly 12, but the first emitter element 141 will always be located adjacent to the rotation axis 120. Therefore, the optical signal emitted by the first emitting element 141 is diffused, so that the first receiving element 142 can be always in the emitting path of the first emitting element 141 to continuously receive the optical signal from the first emitting element 141, and thus the first emitting element 141 and the first receiving element 142 can continuously perform data transmission during the rotation of the platform assembly 12.
Accordingly, the second transmitting element 143 of the optical communication assembly 14 is arranged to be located adjacent to the rotation axis 120, wherein the second receiving element 144 is also arranged to be located adjacent to the rotation axis 120. Thus, when the platform assembly 12 rotates about the rotation axis 120 and the base assembly 11 is stationary relative to the rotation axis 120, the second receiving member 144 always lies adjacent to the rotation axis 120, although the second receiving member 144 will rotate about the rotation axis 120 with the platform assembly 12. Therefore, the light signal emitted by the second emitting element 143 is diffused, so that the second receiving element 144 can be always in the emitting path of the second emitting element 143 to continuously receive the light signal from the second emitting element 143, and thus the second emitting element 143 and the second receiving element 144 can continuously perform data transmission during the rotation of the platform assembly 12.
It can be understood that, since the light channel 130 of the driving mechanism 13 of the rotating device 10 of the multiline lidar device 1 extends from the platform assembly 12 to the base assembly 11 along the rotation axis 120, and the transmission paths of the first transmitting element 141 and the second transmitting element 143 are both located in the light channel 130, the light signal transmitted through the first transmitting element 141 (or the second transmitting element 143) can be received by the first receiving element 142 (or the second receiving element 144) through the light channel 130 without being blocked by the driving mechanism 13, so as to avoid the driving mechanism 13 from affecting the normal data transmission between the base assembly 11 and the platform assembly 12.
Preferably, as shown in fig. 2 and 3, the optical communication assembly 14 further includes a light guide element 145, wherein the light guide element 145 is disposed on the light channel 130 of the driving mechanism 13, and the light guide element 145 is located in the emission path of the first and second emission elements 141, 143, so as to guide the light signals emitted from the first and second emission elements 141, 143 to the corresponding first and second receiving elements 142, 144 through the light guide element 145. In this way, the multiline lidar device 1 can reduce the loss caused by the propagation of the optical signal in the air, so as to improve the data transmission quality of the optical communication module 14.
For example, the light guide member 145 may be implemented with, but not limited to, a waveguide pillar, wherein a gap is reserved between the waveguide pillar and the rotating circuit board 122 of the platform assembly 12, so as to prevent the waveguide pillar from interfering with the rotation of the rotating circuit board 122, and also to prevent the waveguide pillar from being worn due to contacting the rotating circuit board 122, which helps to improve the service life of the light guide member 145. Of course, in some other embodiments of the present invention, the light guide element 145 may also be implemented as a fiber bundle, etc., and will not be described herein.
According to the preferred embodiment of the present invention, as shown in fig. 2, the driving mechanism 13 of the rotating device 10 includes a stator 131, a rotor 132 and a hollow cylindrical member 133, wherein the hollow cylinder 133 is disposed between the base assembly 11 and the platform assembly 12 with the rotation axis 120 as an axis to form the light passage 130 at the center of the hollow cylinder 133, wherein the stator 131 is provided to the base assembly 11, and the platform assembly 12 is fixedly provided to the hollow cylinder 133, wherein the rotor 132 is fixedly installed at the hollow cylindrical member 133, and the rotor 132 is correspondingly positioned at an inner side of the stator 131, to drive the rotor 132 to rotate about the rotation axis 120 via the stator 131, and the hollow cylinder 133 and the platform assembly 12 are carried by the rotor 132 to rotate about the rotation axis 120. Thus, when the driving mechanism 13 drives the platform assembly 12 to rotate, the emitting paths of the first and second emitting elements 141, 142 can be always located in the light channel 130, and the first and second receiving elements 143, 144 are always located in the corresponding emitting paths, respectively, so as to continuously perform data transmission.
It should be understood that, since the rotor 132 is located inside the stator 131, so that the distance between the rotor 131 and the rotation axis 120 is small, the moment of inertia of the rotor 132 with respect to the rotation axis 120 is small, which contributes to enhancing the stability of the multiline lidar device 1.
Further, as shown in fig. 2 and fig. 3, the driving mechanism 13 further includes a hollow base 134, wherein the hollow base 134 is fixed to the base assembly 11 with the rotation axis 120 as an axis, and the stator 131 is coaxially fixed to the hollow base 134, wherein the hollow cylinder 133 is coaxially and rotatably disposed on the hollow base 134 to ensure that the positional relationship between the rotor 132 and the stator 131 is kept stable, so that the rotor 132 can be stably driven by the stator 131 to drive the hollow cylinder 133 to stably rotate around the rotation axis 120.
Specifically, as shown in fig. 3, the hollow base 134 includes an annular base plate 1341, an outer frame 1342, and an inner frame 1343, and has an annular space 1344 accommodating the stator 131 and the rotor 132. The annular base plate 1341 is coaxially fixed to the base assembly 11 with the rotation axis 120 as an axis, the outer frame 1342 integrally extends upward from an outer periphery of the annular base plate 1341 along the rotation axis 120, and the inner frame 1343 integrally extends upward from an inner periphery of the annular base plate 1341 along the rotation axis 120 to form the light passage 130 inside the inner frame 1343 of the hollow base 134 and form the annular space 1344 between the inner frame 1343 and the outer frame 1342.
More specifically, the stator 131 is fixedly disposed inside the outer frame 1342 of the hollow base 134, wherein the inner frame 1343 of the hollow base 134 protrudes into the hollow cylinder 133, and the inner frame 1343 is connected with the hollow cylinder 133 in a bearing connection manner, so as to stably hold the rotor 132 fixedly disposed on the hollow cylinder 133 between the stator 131 and the hollow cylinder 133, so as to stably drive the rotor 131 together with the hollow cylinder 133 to rotate about the rotation axis 120 through the stator 131.
In other words, as shown in fig. 3, the hollow cylindrical member 133 includes a fixed end 1331 and a free end 1332 integrally extended from the fixed end 1331, wherein the fixed end 1331 of the hollow barrel 133 is fixedly coupled with the platform assembly 12, wherein the free end 1332 of the hollow barrel 133 is inserted into the annular space 1344 of the hollow base 134, and the free end 1332 of the hollow barrel 133 is connected with the inner frame 1342 of the hollow base 134 in a bearing connection, wherein the rotor 132 is fixedly secured to the free end 1332 of the hollow cylindrical member 133, so as to stably hold the rotor 132 between the stator 131 and the hollow cylindrical member 133, and ensures that the gap between the stator 131 and the rotor 132 is kept constant, helping the stator 131 to stably drive the rotor 131 together with the hollow cylindrical member 133 to rotate about the rotation axis 120.
Preferably, the rotor 132 is fixed to the free end 1332 of the hollow cylindrical member 133 in a nesting manner, which not only can firmly fix the rotor 132 to the hollow cylindrical member 133, but also helps to reduce the distance between the rotor 132 and the rotation axis 120, so as to reduce the transverse dimension of the driving mechanism 13, and facilitate the multiline lidar device 1 to meet the demand of miniaturization and development trend.
More preferably, as shown in fig. 3, the hollow base 134 of the driving mechanism 13 further includes a set of support legs 1345, wherein each support leg 1345 extends downward from the annular base 1341 of the hollow base 134 and is fixedly connected to the base 111 of the base assembly 11 through the fixing circuit board 112, so as to firmly fix the driving mechanism 13 to the base 111 of the base assembly 11. In this way, since each of the support legs 1345 passes through the fixed board 112 to support the annular substrate 1341 of the hollow base 134 above the fixed board 112 by each of the support legs 1345, the support legs 1345 can also prevent the fixed board 112 from being damaged by the pressing of the driving mechanism 13.
Accordingly, as shown in fig. 2 and 3, the platform assembly 12 further includes a set of supporting arms 123, wherein each supporting arm 123 extends downward from the rotating platform 121 and is fixedly connected to the fixed end 1331 of the hollow cylindrical member 133 of the driving mechanism 13 through the rotating circuit board 122, so as to firmly fix the rotating platform 121 to the hollow cylindrical member 133. In this way, since each of the support arms 123 passes through the rotary circuit board 122 to support the rotary platform 121 above the rotary circuit board 122 by each of the support arms 123, the support arms 123 can also prevent the rotary circuit board 122 from being damaged by the pressing of the rotary platform 121.
It is worth mentioning that in order to provide electrical power to the multi-line lidar body 20, conventional rotating platforms typically employ slip rings for power transmission. However, the slip rings transmit electric energy by means of direct contact, and when the conventional rotating platform rotates, the slip rings inevitably generate sliding friction, which not only generates noise in the process of transmitting electric energy, but also causes wear of the slip rings due to sliding friction, which causes the wear of the slip rings, which leads to the wear of the slip rings, and thus the service life of the slip rings is greatly shortened, and in addition, the slip rings are not in good contact, which leads to the unexpected power failure of the multi-line lidar body 20, and thus the multi-line lidar body cannot normally operate.
Therefore, in order to solve the above-mentioned problem, as shown in fig. 2, the multiline lidar device 1 according to the preferred embodiment of the present invention further includes an electrical transmission assembly 15, wherein the electrical transmission assembly 15 includes an input coil 151 electrically connected to the fixed circuit board 112 and an output coil 152 electrically connected to the rotating circuit board 122, wherein the input coil 151 is disposed on the hollow base 134 of the driving mechanism 13 with the rotation axis 120 as an axis, and the output coil 152 is disposed on the hollow cylindrical member 133 of the driving mechanism 13 with the rotation axis 120 as an axis, so that when the hollow cylindrical member 133 rotates relative to the hollow base 134, the input coil 151 and the output coil 152 can transmit electrical energy in a wireless transmission manner, so that the electrical energy from the fixed circuit board 112 is first transmitted to the rotating circuit board 122 stably through the electrical transmission assembly 15, and then the electric energy is transmitted to the multi-line lidar body 20 through the rotating circuit board 122. It should be understood that, since the fixed circuit board 112 of the base assembly 11 does not rotate, the fixed circuit board 112 can be directly electrically connected to an external power source through a power cord, so as to transmit electric power to the multiline lidar device 1 and the multiline lidar body 20 through the fixed circuit board 112.
Specifically, as shown in fig. 3, the input coil 151 is fixedly disposed on the annular substrate 1341 of the hollow base 134, and the output coil 152 is fixedly disposed on the free end 1332 of the hollow cylindrical member 133. In this way, the input coil 151 and the output coil 152 are both located in the annular space 1344 of the hollow base 134, and the output coil 152 is located adjacent to the input coil 151, which helps to improve the efficiency of power transmission between the input coil 151 and the output coil 152 to reduce power transmission loss.
Preferably, as shown in fig. 3, the driving mechanism 13 further includes a conductive body 135 embedded in the hollow cylindrical member 133, wherein one end of the conductive body 135 is connected to the output coil 152, and the other end of the conductive body 135 is connected to the rotating circuit board 122, so as to conduct the output coil 152 and the rotating circuit board 122 through the conductive body 135. In this way, not only is the structure for power transmission between the output coil 152 and the rotating circuit board 122 of the platform assembly 12 simplified, but also the safety and stability of power transmission are ensured.
Generally, when the driving mechanism 13 of the multiline lidar device 1 drives the multiline lidar body 20 to rotate so as to sense or detect the surrounding environment through the multiline lidar body 20, it is also required to know from which direction of the multiline lidar device 1 the environmental data collected by the multiline lidar body 20 comes, so as to analyze and process the environmental data. Therefore, in the preferred embodiment of the present invention, as shown in fig. 2, the multiline lidar device 1 further includes an optical encoder assembly 16, wherein the optical encoder assembly 16 is disposed between the platform assembly 12 and the base assembly 11 to measure the rotation angle of the platform assembly 12 relative to the base assembly 11, and further determine the probing direction of the multiline lidar body 20 mounted to the platform assembly 12 to determine that the environmental data collected by the multiline lidar body 20 is from a specific direction.
Illustratively, as shown in fig. 5, the optical encoder assembly 16 includes an optical encoder disc 161 and an optical encoder chip 162, wherein the optical encoder disc 161 is of a ring structure and is coaxially disposed on the hollow base 134 of the driving mechanism 13 with the rotation axis 120 as an axis, wherein the optical encoder chip 162 is correspondingly mounted on the rotation circuit board 122 of the platform assembly 12, and when the rotation circuit board 122 rotates around the rotation axis 120, the optical encoder chip 162 is driven to scan 360 degrees along the optical encoder disc 161 to obtain the rotation angle data of the platform assembly 12. Further, the optical encoder chip 162 is communicably connected with the transmitting element 141 mounted to the rotating wiring board 122 to optically signal the rotation angle data from the optical encoder chip 162 together with the environmental data to the first receiving element 142 mounted to the fixed wiring board 112 through the first transmitting element 141.
Preferably, as shown in fig. 5, the optical encoder code wheel 161 is fixedly arranged on the top of the outer frame 1342 of the hollow base 134, so as to shorten the distance between the optical encoder code wheel 161 and the optical encoder chip 162 as much as possible, which helps to improve the scanning accuracy of the optical encoder chip 162, and obtain accurate rotation angle data. In addition, the optical encoder code wheel 161 is fixedly arranged on the top of the outer frame 1342 of the hollow base 134, so that other components of the multi-line lidar device 1 can be prevented from blocking or interfering with the normal scanning of the optical encoder chip 162, and the anti-interference capability of the optical encoder assembly 16 can be improved.
Of course, in some other embodiments of the present invention, the optical encoder code wheel 161 may also be fixed on top of the inner frame 1343 of the hollow base 134, may also be fixed on the outer side of the outer frame 1342 of the hollow base 134, or may also be fixed on the base assembly 11. In other words, the optical encoder code wheel 161 may be disposed at any suitable position, and it is only necessary to ensure that the optical encoder chip 162 corresponds to the optical encoder code wheel 161, so that when the platform assembly 12 rotates, the optical encoder chip 162 scans 360 degrees along the optical encoder code wheel 161, which is not described in detail herein.
According to the preferred embodiment of the present invention, as shown in fig. 2, the rotating device 10 of the multiline lidar device 1 further includes a cover assembly 17, wherein the cover assembly 17 is correspondingly disposed on the base assembly 11 to form a receiving space 100 between the cover assembly 17 and the base assembly 11 for receiving the platform assembly 12, the driving mechanism 13 and the multiline lidar body 20 mounted on the platform assembly 12, so as to protect the multiline lidar body 20 and prevent foreign objects from affecting the rotation of the platform assembly 12 and the multiline lidar body 20.
Specifically, as shown in fig. 2, the top cover assembly 17 includes a top cover 171 and a light-transmitting annular window 172, wherein the annular window 172 is disposed between the top cover 171 and the base assembly 11, and the annular window 172 is located in a detection path of the multiline lidar body 20, so that the multiline lidar body 20 can sense or detect the surrounding environment of the multiline lidar device 1 through the annular window 172. It is understood that the annular window 172 is made of a transparent material, such as glass, transparent plastic, transparent polymer material, etc., so as to isolate the accommodating space 100 from the external environment through the top cover assembly 17 and the base assembly 11, and at the same time, to allow light to pass through the annular window 172 to be received by the multiline lidar body 20, so as to ensure that the multiline lidar body 20 normally detects the surrounding environment of the multiline lidar device 1.
Preferably, as shown in fig. 2, the top cover assembly 17 further includes a pair of sealing rings 173, one of the sealing rings 173 is disposed at the junction of the annular window 172 and the top cover body 171, and the other sealing ring 174 is disposed at the junction of the annular window 172 and the base assembly 11 to seal the platform assembly 12, the driving mechanism 13 and the multiline lidar body 20 to the accommodating space 100, so that the accommodating space 100 is implemented as a sealed space to effectively prevent dust or water from entering the accommodating space 100 to protect the driving mechanism 13 and the multiline lidar body 20.
More preferably, as shown in fig. 4, the annular window 172 of the cap assembly 17 includes an annular window 1721 and a first annular tab 1722, wherein the first annular tab 1722 integrally protrudes inward along an upper edge of the annular window 1721 to protrude into a first annular groove 1710 of the top cap body 171 of the cap assembly 17, such that the annular window 172 is connected to the top cap body 171 in a snap-fit manner.
Accordingly, the annular window 172 further includes a second annular collet 1722, wherein the second annular collet 1722 integrally protrudes inward along a lower edge of the annular window 1721 to be inserted into a second annular groove 110 of the base assembly 11, so that the annular window 172 is connected to the base assembly 11 in a snap-fit manner to prevent the annular window 172 from being loosened with respect to the top cover body 171 or the base assembly 11.
Of course, in some other embodiments of the present invention, the annular window 172 may be detachably connected to the top cover 171 and the base assembly 11, such as by screwing, bonding, flange connection, etc., so that when the multi-line lidar body 20 is repaired or replaced, the accommodating space 100 can be opened by only detaching the annular window 172 without detaching the top cover 171 or the base assembly 11, which helps to save the repair and maintenance cost.
It is worth mentioning that, since the rotating platform 121 of the platform assembly 12 is directly fixed on the top of the hollow cylinder 133 of the driving mechanism 13, that is, the rotating platform 121 is not provided with any solid shaft at the position of the rotating axis 120, the rotating platform 121 can provide a complete installation plane to integrally install the multi-line lidar body 20 on the rotating platform 121, which not only helps to reduce the overall size of the multi-line lidar body 20 to meet the demand of miniaturization development trend, but also facilitates to separately adjust the optical path of the multi-line lidar body 20, which helps to improve the assembly efficiency of the multi-line lidar device 1. It should be appreciated that the conventional rotary platform can only disassemble the multiline lidar body 20 for installation around its central axis due to the central axis occupying its central area, which not only greatly increases the difficulty of assembly, but also increases the difficulty of adjusting the optical path of the multiline lidar body 20.
Furthermore, since the rotation axis 120 of the platform assembly 12 passes through the rotation platform 121, and the multiline lidar body 20 can be mounted to the rotation platform 121 with the rotation axis 120 as an axis, the multiline lidar body 20 can be precisely mounted such that the center of gravity of the multiline lidar body 20 is located at the rotation axis 120, so that the moment of inertia of the multiline lidar body 20 is minimized. Therefore, when the rotating platform 121 drives the multi-line lidar body 20 to rotate around the rotating axis 120, the centrifugal force applied to the multi-line lidar body 20 is very small, so as to prevent the multi-line lidar body 20 from being damaged due to the excessive centrifugal force, which is beneficial to prolonging the service life of the multi-line lidar body 20.
In this way, when the multiline lidar body 20 is mounted, it is not necessary to consider the type or weight of the multiline lidar body 20, but only to ensure that the center of gravity of the multiline lidar body 20 is located at the rotational axis 120, so that the multiline lidar device 1 can accommodate various types or weights of multiline lidar bodies 20. It should be understood that, for a conventional rotary platform, although the multiline lidar body 20 can be eccentrically mounted to the conventional rotary platform, the conventional rotary platform on which the multiline lidar body 20 is mounted needs to be dynamically balanced and checked and calibrated, and therefore the conventional rotary platform can only accommodate multiline lidar bodies of a specific size and weight, that is, once the multiline lidar body 20 of a different size or different weight is replaced, the dynamic balance of the conventional rotary platform is severely damaged, resulting in the conventional rotary platform not working properly.
According to the preferred embodiment of the present invention, as shown in fig. 6 and 7, the multiline lidar body 20 of the multiline lidar device 1 includes a transmitting module 21, an optical assembly 22 and a receiving module 23, wherein the transmitting module 21 is configured to transmit a set of laser beams along a detection path of the multiline lidar body 20, the optical assembly 22 is correspondingly configured in the detection path of the transmitting module 21 to process each laser beam from the transmitting module 21, and the receiving module 23 is configured to receive the laser beam reflected by an environmental object, so that the multiline lidar body 20 obtains the environmental data, and then transmits the environmental data to the fixed line 112 of the base assembly 11 through the optical communication assembly 14 of the rotating device 10.
It should be noted that, since the optical communication component 14 of the rotating apparatus 10 greatly increases the data transmission amount between the platform component 12 and the base component 11, the transmitting module 21 of the multiline lidar body 20 can include more laser transmitters to transmit more laser beams, so as to increase the distribution density of the laser beams in the vertical direction, and thus more fully describe the surrounding environment, so as to improve the resolution of the multiline lidar apparatus 1 in the vertical direction. In addition, the emission angle of each laser emitter can be set to adjust the distribution condition of the laser beams, so that the environment in a certain area can be detected in a targeted mode, and the pertinence and the accuracy of the environment data can be improved.
Illustratively, the laser beams emitted by the emitting module 21 are distributed in a vertical direction with a dense middle and two sparse ends, so as to intensively detect the target within 1.7 m of the road surface height through the multi-line lidar body 20, so that the obtained environmental data has more guidance value.
Furthermore, all the laser transmitters in the transmission module 21 are integrated together to form the transmission module 21 having a modular structure; and all the photon receivers in the receiving module 23 are integrated together to form the receiving module 23 having a modular structure; in addition, the components in the optical assembly 22 are also integrated together to form the optical assembly 22 with a modular structure, so that when the optical path of the multiline lidar body 20 is adjusted, only the relative positions among the transmitting module 21, the receiving module 23 and the optical assembly 22 need to be correspondingly adjusted, which facilitates the simplification of the optical path adjustment of the multiline lidar body 20. Therefore, the reliability, consistency, and mass productivity of the multi-line lidar body 20 can be significantly improved by the modular commissioning and assembly.
Further, as shown in fig. 6, the multiline lidar body 20 further includes a base plate 24, wherein the transmitting module 21, the optical assembly 22 and the receiving module 23 are respectively and correspondingly fixed to the base plate 24 to form the multiline lidar body 20 with an integrated structure, wherein the base plate 24 is fixed to the rotating platform 121 of the platform assembly 12 of the rotating device 10, so that the multiline lidar body 20 is integrally mounted on the rotating platform 121, which not only helps to simplify the assembly difficulty of the multiline lidar device 1, but also enables the multiline lidar body 20 to be individually adjusted before the multiline lidar body 20 is mounted on the rotating platform 121.
It is worth mentioning that since the multiline lidar device 1 is generally disposed on a roof or other location above a road surface, and an unmanned vehicle needs to acquire various information of the road surface, the detection path of the multiline lidar body 20 of the multiline lidar device 1 generally needs to be inclined downward. Therefore, to achieve this effect, as shown in fig. 2, the rotating device 10 of the multiline lidar device 1 further includes an adjustment mechanism 18, wherein the adjustment mechanism 18 is correspondingly disposed between the platform assembly 12 and the base plate 24 of the multiline lidar body 20 to adjust the detection path of the multiline lidar body 20.
Illustratively, as shown in fig. 2, the adjusting mechanism 18 may be, but is not limited to, implemented as an inclined pad 18 fixed to the rotating platform 121, wherein a thin side of the inclined pad faces the probing direction of the multi-line lidar body 20, and a thick side of the inclined pad faces the opposite direction of the probing direction of the multi-line lidar body 20, so as to achieve the effect of inclining the probing path of the multi-line lidar body 20 downwards. Of course, the tilt pad 18 may also extend integrally upward from the rotating platform 121, such that the tilt pad 18 and the rotating platform 121 have an integral structure. Furthermore, in some other embodiments of the present invention, the adjusting mechanism 18 may also be implemented as a component capable of adjusting the detection path of the multiline lidar body 20, such as an adjustable screw, a support frame, a telescopic bracket, and the like, which is not described in detail herein.
Fig. 8A and 8B show a first variant embodiment of the multiline lidar device 1 according to the preferred embodiment of the invention, wherein the stator 131 of the driving mechanism 13 is fixed outside the inner frame 1343 of the hollow base 134, and the rotor 132 is fixed at the free end 1332 of the hollow cylinder 133, wherein the free end 1332 of the hollow cylinder 133 is inserted into the annular space 1344 of the hollow base 134, and the free end 1332 of the hollow cylinder 133 is connected with the outer frame 1342 of the hollow base 134 in a bearing connection manner, so as to stably hold the rotor 132 between the hollow cylinder 133 and the stator 131, so that the stator 131 can stably drive the rotor 132 to rotate the hollow cylinder 133 around the rotation axis 120.
It will be appreciated that although the rotor 132 is located outside the stator 131, which results in the rotor 132 having a larger inertia momentum relative to the rotation axis 120, the hollow cylinder 133 further increases the transverse dimension of the hollow cylinder 133 due to the location outside the rotor 132, so that the connection between the hollow cylinder 133 and the platform assembly 12 is away from the rotation axis 120, thereby providing a more stable supporting force for the platform assembly 12 through the hollow cylinder 133, which helps to improve the balance capability of the platform assembly 12.
Fig. 9 shows a second variant of the multiline lidar device 1 according to the preferred embodiment of the present invention, wherein the optical encoder code wheel 161 of the optical encoder assembly 16 is fixed to the rotary circuit board 122 of the platform assembly 12 about the rotation axis 120, and the optical encoder chip 162 of the optical encoder assembly 16 is correspondingly disposed on the top of the outer frame 1342 of the hollow base 134 of the driving mechanism 13, wherein when the platform assembly 12 rotates about the rotation axis 120, the optical encoder code wheel 161 is driven to rotate about the rotation axis 120, so that the optical encoder chip 162 scans 360 degrees along the optical encoder code wheel 161 to obtain the rotation angle data of the platform assembly 12. The optical encoder chip 162 is communicably connected to the fixed circuit board 112 of the base assembly 11 to directly transmit the rotation angle data obtained by the optical encoder chip 162 to the fixed circuit board 112 without transmission through the optical communication assembly 14, so as to reduce the data transmission burden of the optical communication assembly 14.
Of course, in some other variant embodiments of the present invention, the optical encoder chip 162 may also be fixed on the top of the inner frame 1343 of the hollow base 134, may also be fixed on the outer side of the outer frame 1342 of the hollow base 134, or may also be fixed on the fixed circuit board 112 of the base assembly 11. In other words, the optical encoder chip 162 may be disposed at any suitable position, and it is only necessary to ensure that the optical encoder chip 162 corresponds to the optical encoder code wheel 161, so that when the platform assembly 12 rotates, the optical encoder chip 162 can scan 360 degrees along the optical encoder chip 162, which is not described in detail herein.
According to another aspect of the invention, the invention further provides a method for manufacturing the multiline lidar device 1. Specifically, as shown in fig. 10, the method for manufacturing the multiline lidar device 1 includes the steps of:
s310: disposing an optical communication assembly 14 between a base assembly 11 and a platform assembly 12, wherein the optical communication assembly 14 is positioned adjacent to a rotational axis 120 of the platform assembly 12;
s320: correspondingly disposing a driving mechanism 13 having a light channel 130 between the base assembly 11 and the platform assembly 12 to drive the platform assembly 12 to rotate around the rotation axis 120 by the driving mechanism 13, wherein the light channel 130 of the driving mechanism 13 extends along the rotation axis 120 of the platform assembly 12, and wherein the optical communication assembly 14 corresponds to the light channel 130 of the driving mechanism 13; and
s330: a multiline lidar body 20 is mounted to the platform assembly 12 for transmission of data acquired by the multiline lidar body 20 to the base assembly 11 via the optical communication assembly 14.
Further, as shown in fig. 10, the method for manufacturing the multiline lidar device 1 further includes the steps of:
s340: a cover assembly 17 is correspondingly disposed on the base assembly 11 to form a receiving space 100 between the cover assembly 17 and the base assembly 11 for receiving the driving mechanism 13, the platform assembly 12 and the multiline lidar body 20.
In an embodiment, the method for manufacturing the multiline lidar device 1 further includes the steps of:
disposing an input coil 151 about the axis of rotation 120 in a hollow base 134 of the drive mechanism 13, wherein the input coil 151 is electrically connected to the base assembly 11; and
an output coil 152 is disposed about the axis of rotation 120 in a hollow barrel 133 of the drive mechanism 13, wherein the output coil 152 is electrically connectable to the platform assembly 12 to transmit electrical energy between the base assembly 11 and the platform assembly 12 via the input coil 151 and the output coil 152.
In an embodiment, the method for manufacturing the multiline lidar device 1 further includes the steps of:
disposing an optical encoder code wheel 161 coaxially with the rotation axis 120 on a hollow base 134 of the drive mechanism 13; and
an optical encoder chip 162 is correspondingly disposed on the platform assembly 12, wherein when the platform assembly 12 rotates around the rotation axis 120, the optical encoder chip 162 is driven to scan along the optical encoder code wheel 161 to obtain the rotation angle of the platform assembly 12.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims (32)

1. A multiline lidar apparatus comprising:
a multiline laser radar body; and
a rotary device, wherein the rotary device comprises:
a base assembly;
a stage assembly, wherein the stage assembly has an axis of rotation, wherein the multiline lidar body is mounted to the stage assembly;
a drive mechanism, wherein the drive mechanism is disposed between the base assembly and the platform assembly, wherein the drive mechanism has a light channel, and wherein the light channel extends from the rotating assembly to the stationary assembly along the axis of rotation; and
an optical communication assembly, wherein the optical communication assembly is disposed between the base assembly and the platform assembly and corresponds to the optical channel of the drive mechanism, wherein the optical communication assembly optically communicates data between the platform assembly and the base assembly when the drive mechanism drives the platform assembly to rotate the multi-wire lidar body about the axis of rotation.
2. The multiline lidar device of claim 1, wherein the driving mechanism includes a stator, a rotor and a hollow cylinder, wherein a fixed end of the hollow cylinder is fixedly connected to the platform assembly, a free end of the hollow cylinder integrally extends from the fixed end of the hollow cylinder along the rotational axis to form the optical channel at a center of the hollow cylinder, wherein the rotor is fixedly disposed at the free end of the hollow cylinder, and the stator is correspondingly disposed to the rotor, wherein the rotor is capable of being driven by the stator to rotate the hollow cylinder about the rotational axis.
3. The multiline lidar device of claim 2 wherein the drive mechanism further comprises a hollow base secured to the stationary assembly, wherein the stator is secured to the hollow base, and wherein the free end of the hollow barrel is rotatably disposed in the hollow base to drive the rotor together with the hollow barrel about the axis of rotation via the stator.
4. The multiline lidar device of claim 3 wherein the hollow base includes an outer frame, an inner frame and an annular base plate, and has an annular space, wherein the annular base plate is fixedly attached to the fixing assembly, and the outer frame integrally extends along the rotation axis from an outer peripheral edge of the annular base plate toward the platform assembly, and the inner frame integrally extends along the rotation axis from an inner peripheral edge of the annular base plate toward the platform assembly to form the optical passage inside the inner frame and the annular space between the outer frame and the inner frame to accommodate the stator and the rotor.
5. Multiline lidar device of claim 4, wherein the stator is fixedly attached to the inner frame of the hollow base, the free end of the hollow barrel being connected in a bearing connection with the outer frame of the hollow base such that the rotor is located around the stator.
6. Multiline lidar device of claim 5, wherein the stator is fixedly attached to the outer frame of the hollow base, the free end of the hollow barrel being connected in a bearing connection with the inner frame of the hollow base such that the stator is located around the rotor.
7. Multiline lidar device according to claim 5 or 6, wherein the rotor is secured in a nested manner to the free end of the hollow cylinder.
8. The multiline lidar device of any of claims 1-6 wherein the optical communication assembly includes a first transmitting element and a first receiving element, wherein the first transmitting element is disposed on the platform assembly and a transmit path of the first transmitting element is within the optical channel of the drive mechanism, wherein the first receiving element is correspondingly disposed on the base assembly and the first receiving element is located in the transmit path of the first transmitting element such that the first receiving element is capable of receiving optical signals from the first transmitting element to transmit data from the platform assembly to the base assembly when the platform assembly is rotated relative to the base assembly.
9. The multiline lidar device of claim 7 wherein the optical communication assembly includes a first transmitting element and a first receiving element, wherein the first transmitting element is disposed to the platform assembly and a transmit path of the first transmitting element is within the optical channel of the drive mechanism, wherein the first receiving element is correspondingly disposed to the base assembly and the first receiving element is located in the transmit path of the first transmitting element such that the first receiving element is capable of receiving optical signals from the first transmitting element to transmit data from the platform assembly to the base assembly when the platform assembly is rotated relative to the base assembly.
10. The multiline lidar device of claim 9 wherein the optical communication assembly further comprises a second transmitting element and a second receiving element, wherein the second transmitting element is disposed to the base assembly and has a transmit path within the optical channel of the drive mechanism, wherein the second receiving element is correspondingly disposed to the platform assembly and is positioned in the transmit path of the second transmitting element such that the second receiving element is capable of receiving optical signals from the second transmitting element to transmit data from the base assembly to the platform assembly when the platform assembly is rotated relative to the base assembly.
11. The multiline lidar device of claim 10, wherein the platform assembly includes a rotating platform and a rotating circuit board disposed on the rotating platform, wherein the rotating platform is fixedly attached to the fixed end of the hollow barrel, wherein the rotating circuit board is communicatively coupled to the multiline lidar device, and wherein the rotating circuit board is communicatively coupled to the first transmit element and the second receive element.
12. The multiline lidar device of claim 11 wherein the rotating circuitry is disposed between the rotating platform and the hollow barrel, wherein the first and second transmitting elements are communicably secured to the rotating circuitry.
13. The multiline lidar apparatus of claim 12 wherein the platform assembly further comprises a set of support arms, wherein each support arm extends downwardly from the rotary platform to fixedly connect with the fixed end of the hollow barrel through the rotary circuit board.
14. The multiline lidar device of claim 13 wherein the base assembly includes a base and the fixed wiring board disposed to the base, wherein the hollow base of the drive mechanism is fixedly disposed to the base, wherein the fixed wiring board is disposed between the base and the hollow base, and wherein the second transmitting element and the first receiving element are communicatively disposed to the fixed wiring board.
15. The multiline lidar apparatus of claim 14 wherein the hollow base further comprises a set of support legs, wherein each support leg extends downwardly from the annular base of the hollow base to fixedly connect with the base through the stationary wiring board.
16. The multiline lidar device of claim 15 wherein the optical communication assembly further comprises a light guide element, wherein the light guide element is disposed in the optical channel of the drive mechanism and is positioned in the transmit path of the first and second transmit elements to conduct optical signals transmitted by the first and second transmit elements.
17. The multiline lidar device of any of claims 1-6 wherein the rotating device further comprises an electrical transmission assembly, wherein the electrical transmission assembly comprises an input coil electrically connectable to the base assembly and an output coil electrically connectable to the platform assembly, wherein the input coil and the output coil are coaxially disposed between the base assembly and the platform assembly about the axis of rotation for transmitting electrical energy from the base assembly to the platform assembly through the electrical transmission assembly.
18. The multiline lidar device of claim 15, wherein the rotating device further comprises an electrical transmission assembly, wherein the electrical transmission assembly includes an input coil electrically connectable to the base assembly and an output coil electrically connectable to the platform assembly, wherein the input coil and the output coil are coaxially disposed between the base assembly and the platform assembly about the axis of rotation for transmitting electrical energy from the base assembly to the platform assembly through the electrical transmission assembly.
19. The multiline lidar device of claim 18 wherein the input coil is secured to the environmental substrate of the hollow base of the drive mechanism and the output coil is secured to the free end of the hollow barrel such that the output coil is positioned adjacent the input coil.
20. The multiline lidar device of claim 19 wherein the drive mechanism further comprises an electrical conductor, wherein the electrical conductor is embedded within the hollow barrel, wherein one end of the electrical conductor is connected to the output coil and the other end of the electrical conductor is connected to the rotating circuit board.
21. The multiline lidar device of claim 20 wherein the rotary device further comprises an optical encoder assembly, wherein the optical encoder assembly includes an optical encoder disc and an optical encoder chip communicatively coupled to the fixed circuit board, wherein the optical encoder disc is fixed to the rotary circuit board of the platform assembly about the axis of rotation, and the optical encoder chip is correspondingly disposed on the hollow base of the drive mechanism, wherein the optical encoder chip scans along the optical encoder disc as the rotary circuit board rotates the optical encoder disc about the axis of rotation to obtain the rotation angle data of the platform assembly.
22. The multiline lidar device of claim 20 wherein the rotary device further comprises an optical encoder assembly, wherein the optical encoder assembly includes an optical encoder disc and an optical encoder chip communicatively coupled to the rotary circuit board, wherein the optical encoder disc is secured to the hollow base of the drive mechanism about the axis of rotation, and the optical encoder chip is correspondingly disposed on the rotary circuit board of the platform assembly, wherein the optical encoder chip is driven to scan along the optical encoder disc as the rotary circuit board rotates about the axis of rotation to obtain the rotation angle data of the platform assembly.
23. The multiline lidar device of any of claims 1-6, wherein the rotation device further comprises a cover assembly, wherein the cover assembly is correspondingly disposed to the base assembly to form a receiving space therebetween to receive the platform assembly, the drive mechanism, and the multiline lidar body.
24. The multiline lidar device of claim 23 wherein the cap assembly includes a cap body and a light transmissive annular window, wherein the annular window is disposed between the cap body and the base assembly and the annular window is configured to be in a detection path of the multiline lidar body.
25. The multiline lidar device of claim 24, wherein the cap assembly further includes a pair of seal rings, one of the seal rings being disposed between the annular window and the cap body and the other of the seal rings being disposed between the annular window and the base assembly to form the sealed receiving space between the cap assembly and the base assembly.
26. The multiline lidar device of any of claims 1-6, wherein the multiline lidar body includes a transmit module configured to transmit a set of laser beams along a detection path of the multiline lidar body, an optical assembly correspondingly disposed in the detection path of the transmit module to process each of the laser beams from the transmit module, and a receive module configured to receive the laser beams reflected back by environmental objects to cause the multiline lidar body to obtain environmental data.
27. The multiline lidar device of claim 26, wherein the multiline lidar body further includes a base plate, wherein the transmitter module, the optical assembly, and the receiver module are respectively secured to the base plate to form the multiline lidar body as a unitary structure, and wherein the base plate is secured to the platform assembly of the rotating device to mount the multiline lidar body to the platform assembly in ground.
28. The line-passing lidar device of claim 27, wherein the rotation device further comprises an adjustment mechanism, wherein the adjustment mechanism is disposed between the platform assembly and the base plate of the multiline lidar body, respectively, to adjust a detection path of the multiline lidar body.
29. A method of manufacturing a multiline lidar device, comprising the steps of:
disposing an optical communication assembly between a base assembly and a platform assembly, wherein the optical communication assembly is positioned adjacent to an axis of rotation of the platform assembly;
correspondingly disposing a driving mechanism having a light channel between the base assembly and the platform assembly to drive the platform assembly to rotate about the rotation axis by the driving mechanism, wherein the light channel of the driving mechanism extends along the rotation axis of the platform assembly, and the optical communication assembly corresponds to the light channel of the driving mechanism; and
installing a multi-line lidar body on the platform assembly to transmit data from the multi-line lidar body to the base assembly via the optical communication assembly.
30. The method of fabricating a multiline lidar device of claim 29, further comprising the steps of:
correspondingly arranging a top cover component on the base component to form an accommodating space between the top cover component and the base component so as to accommodate the driving mechanism, the platform component and the multi-line laser radar body.
31. The method of fabricating a multiline lidar device of claim 29, further comprising the steps of:
disposing an input coil on a hollow base of the drive mechanism about the axis of rotation, wherein the input coil is electrically connectable to the base assembly; and
disposing an output coil about the axis of rotation in a hollow barrel of the drive mechanism, wherein the output coil is electrically connectable to the platform assembly for transferring electrical energy between the base assembly and the platform assembly via the input coil and the output coil.
32. Method of manufacturing a multiline lidar device according to claim 29 or 31, further comprising the steps of:
a hollow base coaxially provided with an optical encoder code wheel with the rotation axis as a shaft; and
correspondingly, an optical encoder chip is arranged on the platform assembly, wherein when the platform assembly rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code disc so as to obtain the rotation angle of the platform assembly.
CN201811221544.5A 2018-10-19 2018-10-19 Multiline laser radar device and manufacturing method thereof Pending CN111077540A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811221544.5A CN111077540A (en) 2018-10-19 2018-10-19 Multiline laser radar device and manufacturing method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811221544.5A CN111077540A (en) 2018-10-19 2018-10-19 Multiline laser radar device and manufacturing method thereof

Publications (1)

Publication Number Publication Date
CN111077540A true CN111077540A (en) 2020-04-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811221544.5A Pending CN111077540A (en) 2018-10-19 2018-10-19 Multiline laser radar device and manufacturing method thereof

Country Status (1)

Country Link
CN (1) CN111077540A (en)

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