CN113156398A

CN113156398A - Shell frame integrated structure and laser radar with same

Info

Publication number: CN113156398A
Application number: CN202110208658.1A
Authority: CN
Inventors: 张珂殊
Original assignee: Surestar Suzhou Laser Technology Co ltd; Beijing Surestar Technology Co ltd
Current assignee: Surestar Suzhou Laser Technology Co ltd; Beijing Surestar Technology Co ltd
Priority date: 2020-12-31
Filing date: 2021-02-24
Publication date: 2021-07-23

Abstract

The invention discloses a shell-frame integrated structure and a laser radar with the same, wherein at least two laser radar sub-modules are arranged in the shell-frame integrated structure, and the shell-frame integrated structure comprises: a housing; the inner cavity of this shell is equipped with location bearing structure, and this location bearing structure does laser radar submodule piece provides the installation location benchmark, this location bearing structure with laser radar submodule piece mechanical fit and injecing spatial structure position relation between the laser radar submodule piece to make this shell as laser radar's positioning frame. By the structure of the invention, the frame and the shell are integrated, and the shell plays a role in protecting and positioning the frame. All lidar sub-modules are positioned directly rooted to the housing such that the rigidity of the housing is enhanced.

Description

Shell frame integrated structure and laser radar with same

Technical Field

The invention relates to the structural design of a laser radar, in particular to a shell and frame integrated structure and a laser radar with the structure.

Background

Existing lidar products typically include at least one lidar sub-module that includes a circuit board card, a scanning mirror, a lidar module, and the like. All the lidar sub-modules are usually required to be arranged on a frame for integrated assembly, and finally the frame after integrated assembly is arranged in a shell of the lidar. That is, all the components inside the lidar are completely and tightly fixed to the frame, and the frame is fixedly connected with the shell of the lidar.

However, this method has the disadvantages of requiring an additional intermediate step of assembling the frame, requiring a large number of assembling steps, and requiring a complicated assembling process. The assembled frame and the shell need to be fixed by screws, so that the matching surface between the frame and the shell is less, and the connection rigidity between the frame and the shell is low. And if the frame moves inside the lidar, all the lidar sub-modules attached to the frame lose position references, resulting in a high risk of accuracy deviation. The required parts are many, and not only the frame needs to be additionally configured, but also an additional fixed connecting part is needed, so that the whole weight of the equipment is increased, the volume is increased, and the equipment is not suitable for application environments of aircrafts, vehicles and the like.

Disclosure of Invention

The invention solves the technical problem that the structure is simplified, and the independent arrangement of a frame is avoided, so that the laser radar with the shell-frame integrated structure is realized.

The invention discloses a shell-frame integrated structure applied to a laser radar, at least two laser radar sub-modules are arranged in the shell-frame integrated structure, and the shell-frame integrated structure comprises:

a housing;

the inner cavity of this shell is equipped with location bearing structure, and this location bearing structure does laser radar submodule piece provides the installation location benchmark, this location bearing structure with laser radar submodule piece mechanical fit and injecing spatial structure position relation between the laser radar submodule piece to make this shell as laser radar's positioning frame.

The positioning support structure is integrally formed.

The positioning support structure is located on the top, side and/or bottom surface of the housing.

The laser radar sub-module is provided with at least one positioning and matching unit, the positioning and supporting structure is provided with at least one limiting unit, and the positioning and matching unit is installed in a matching mode with the limiting unit.

A plurality of this location cooperation units and this location bearing structure's same spacing unit fixed connection, perhaps, a this location cooperation unit and this location bearing structure's a spacing unit fixed connection.

The limiting unit and the positioning matching unit are respectively one of a slide rail and a bump; or

The limiting unit and the positioning matching unit are respectively one of an elastic piece and a groove; or

The limiting unit and the positioning matching unit are respectively one of a slide rail and a roller.

The convex block is in a step shape, or is L-shaped or T-shaped.

The projection has an arcuate surface.

The limiting unit extends along the Z-axis direction of the laser radar to limit the movement of the laser radar sub-module in the gravity direction.

The invention also discloses a laser radar with the shell-frame integrated structure, which comprises:

a housing;

at least two laser radar sub-modules mounted inside the housing;

the inner cavity of the shell is provided with a positioning support structure, the positioning support structure provides an installation positioning reference for the laser radar sub-modules, and the positioning support structure is mechanically matched with the laser radar sub-modules and limits the spatial structure position relation between the laser radar sub-modules.

The lidar sub-module includes:

one of the laser emitting module, the laser signal receiving module, the optical machine scanning module and the circuit board card or the combination of at least two of the laser emitting module, the laser signal receiving module, the optical machine scanning module and the circuit board card.

By the structure of the invention, the frame and the shell are integrated, and the shell plays a role in protecting and positioning the frame. All lidar sub-modules are positioned directly rooted to the housing such that the rigidity of the housing is enhanced. Compared with the technical scheme of independently arranging the frame, the submodule provided by the invention has the advantages of large matching contact surface with the shell, high precision, convenience in assembly, compact and reliable internal structure, impact resistance, no need of fixedly connecting the frame with the shell again, and saving of a large number of parts. And the shell of the laser radar is not required to be connected with a separate frame, so that the sealing performance is better. The spatial position and attitude relationship between the plurality of lidar sub-modules may be fixed directly by the positioning support structure 20.

Drawings

FIG. 1A is a schematic diagram of a lidar having a housing-frame integrated structure in accordance with the present invention;

fig. 1B and 2 are schematic diagrams showing an integrated structure of a housing frame applied to a lidar according to the present invention, and cross-sectional views along line AA' in fig. 1.

Fig. 3 is a schematic cross-sectional view of the lidar having a housing-frame integrated structure of the present invention taken along line AA' in fig. 1.

Fig. 4 is a schematic cross-sectional view of the lidar according to an embodiment of the present invention, taken along line AA' in fig. 1.

Fig. 5 is a schematic cross-sectional view of a lidar according to another embodiment of the present invention, taken along line AA' in fig. 1.

Fig. 6 is a schematic cross-sectional view of a lidar according to still another embodiment of the present invention taken along line AA' in fig. 1.

Detailed Description

The following describes an implementation process of the technical solution of the present invention with reference to specific embodiments, which are not intended to limit the present invention.

In order to simplify the structure, avoid independently arranging a frame and ensure the positioning, installation and protection of sub-modules in the laser radar, the invention discloses a shell-frame integrated frame structure applied to the laser radar, which combines the functions of the frame and the shell into a whole. According to the invention, through functional transformation of the inner cavity of the shell, the laser radar sub-module can be positioned and installed by directly utilizing the shell, the internal structure of the laser radar is ensured to be stable and compact, a simple and efficient positioning frame is provided, a simple and rapid installation mode can be realized, and meanwhile, the rigidity of the shell is also improved.

Fig. 1A is a schematic structural diagram of a lidar having a housing-frame integrated structure according to the present invention, and fig. 1B and 2 are schematic structural diagrams of a housing-frame integrated structure applied to a lidar according to the present invention, which are cross-sectional views along line AA' in fig. 1.

The laser radar 100 includes:

a housing 10;

at least one lidar sub-module 30 mounted inside the housing;

the inner cavity of the housing is provided with a positioning support structure 20 which provides a mounting and positioning reference for the lidar sub-module. The positioning and fixing connection of the lidar sub-module relative to the housing can be realized through the positioning support structure 20. The positioning support structure is integrally formed. The housing is integrally formed. The housing may be formed integrally with at least four side surfaces, that is, may be formed integrally with four side surfaces, or may be formed integrally with a bottom surface.

The positioning support structure is mechanically matched with the laser radar submodule.

The spatial structural position relationship between the lidar sub-modules is also defined by the positioning support structure 20. The spatial position and attitude relationship between the plurality of lidar sub-modules may be fixed directly by the positioning support structure 20.

The invention omits a separately arranged frame, and directly utilizes the inner cavity structure of the shell 10 as the positioning frame of all parts in the laser radar, and the invention changes the convex-concave shape of the inner cavity surface to form the positioning support structure 20 by adaptively modifying the inner cavity surface of the shell 10, so that each laser radar sub-module 30 can be directly and fixedly connected to the positioning support structure 20, and the shell 10 is used as the space positioning reference of all sub-modules, thereby improving the stability.

The lidar sub-module includes: one of the active optical module, the optical machine scanning module, the circuit board card and the laser transceiver module, or the combination of at least two of the active optical module, the optical machine scanning module, the circuit board card and the laser transceiver module. The inside part of lidar can be assembled as required into a plurality of lidar sub-modules, or the inside part of lidar is direct as the lidar sub-module, and each lidar sub-module is fixed connection to this location bearing structure 20 respectively.

The optical-mechanical scanning module can adopt various scanning forms, such as a rotating mirror scanning module, a prism scanning module and an MEMS scanning module.

As shown in fig. 3, in the present invention, the lidar sub-module has at least one positioning and matching unit 31 located on the adjacent contact surface of the lidar sub-module facing the inner cavity of the housing, and the positioning and matching unit 31 may be a bump or an elastic member or a roller. The elastic element can adopt a spring element or a rubber block. The positioning support structure 20 is provided with a limiting unit 21 at a position corresponding to the positioning matching unit 31, and the limiting unit 21 can be a groove or a slide rail. The positioning and matching unit 31 is located in the limiting unit 21, so that the positioning and matching unit 31 is matched with the positioning and supporting structure 20, and the sub-modules are positioned relative to the housing.

The shell is usually opened on at least one side in the installation state, when the positioning matching unit 31 adopts an elastic piece, the limiting unit 21 can adopt a groove, and the laser radar sub-module can slide to the position of the groove when the elastic piece is in the compression state, so that the elastic piece just is positioned in the groove, and the extension state is recovered to realize positioning. When the positioning matching unit 31 is a bump or a roller, the limiting unit 21 may be a slide rail, and the lidar sub-module may slide in the slide rail through the bump and slide to a positioning point in the slide rail to achieve positioning. When the positioning and matching unit 31 employs a roller, at least one elastic clamping member may be further disposed in the sliding rail to trigger the elastic clamping member when the roller slides to the positioning point, and the roller is locked by the elastic clamping member, so that the roller is fixed at the positioning point without moving. The resilient clamp may be a locating formation of the prior art. Therefore, the positioning structure realizes the positioning connection of the submodule relative to the shell in three axial directions.

To prevent movement of the detent engagement unit 31 in the Z direction, the lidar further includes a detent bar 40, as shown in fig. 4, the detent bar 40 being fixedly connected to the housing, the detent bar also being fixedly connected to the lidar sub-module 30. The positioning strip 40 may be fixedly connected to the housing and the lidar sub-module 30 by positioning pins 41.

Alternatively, the lidar sub-module is secured to the housing directly by the locating pin.

As shown in fig. 4, the length of the position limiting unit 21 in the X direction matches the position matching unit 31, thereby preventing the position matching unit 31 from moving greatly in the X direction, and the depth of the position limiting unit 21 in the Y direction matches the position matching unit 31, thereby preventing the position matching unit 31 from moving greatly in the Y direction. The limiting unit can also extend along the height direction of the laser radar, and the laser radar sub-modules are limited to move in the Z direction under the action of gravity.

Through the above manner, the laser radar sub-module 30 and the housing 10 are fixedly connected in six dimensions of the XYZ axis.

In an embodiment, as shown in fig. 4, a plurality of the positioning and fitting units 31 are fixedly connected to the same limiting unit 21 of the positioning and supporting structure 20, so as to increase the fitting contact area between the positioning and fitting units 31 and the limiting unit 21 and improve the rigidity.

The positioning support structure 20 may be located on the top, side, and/or bottom surfaces of the internal cavity of the housing to position the lidar sub-module from different orientations.

In another embodiment, the position-limiting unit 21 can be a bump or a roller, and the positioning-matching unit 31 can be a slide rail, as shown in fig. 5. The projection or the roller can be embedded into the slide rail, and the projection can be I-shaped, L-shaped or T-shaped. As shown in fig. 4, the lower left positioning and matching unit 31 is an inverted T-shape, which can also be regarded as two L-shapes arranged back to back, and the lower right positioning and matching unit 31 is an I-shape in fig. 4. Alternatively, the position limiting unit 21 may be an elastic member, and the position fitting unit 31 may be a groove.

Fig. 6 is a schematic cross-sectional view of a lidar according to still another embodiment of the present invention, taken along line AA' in fig. 1.

The positioning and matching unit 31 is a projection, and the projection is in a step shape. In order to make the sliding of the projection in the slideway smoother, the projection may have an arcuate surface. The slideway is provided with an arc surface matched with the shape of the lug.

This slide extends along the Z direction for laser radar when the top cap is opened, the laser radar submodule piece can be downward with the help of the action of gravity in the installation, produces the one-step effect that targets in place of installation location.

By the structure of the invention, the frame and the shell are integrated, and the shell plays a role in protecting and positioning the frame. All lidar sub-modules are positioned directly rooted to the housing such that the rigidity of the housing is enhanced. Compared with the technical scheme of independently arranging the frame, the submodule provided by the invention has the advantages of large matching contact surface with the shell, high precision, convenience in assembly, compact and reliable internal structure, impact resistance, no need of fixedly connecting the frame with the shell again, and saving of a large number of parts. And the shell of the laser radar is not required to be connected with a separate frame, so that the sealing performance is better. The spatial position and attitude relationship between the plurality of lidar sub-modules may be fixed directly by the positioning support structure 20. So that the housing acts as a positioning frame for the lidar.

The above-mentioned embodiments are only exemplary for implementing the present invention, and are not intended to limit the scope of the present invention, and various obvious modifications and equivalents may be made by those skilled in the art within the scope of the present invention, which is defined by the claims appended hereto.

Claims

1. The utility model provides a be applied to laser radar's shell frame integral structure, two at least laser radar submodule pieces are installed in this shell frame integral structure's inside, its characterized in that, shell frame integral structure includes:

a housing;

2. The case-frame integrated structure for lidar of claim 1, wherein the positioning support structure is located at a top surface, a side surface and/or a bottom surface of the case.

3. The case-frame integrated structure for lidar of claim 1, wherein the lidar sub-module has at least one positioning and engaging unit, and the positioning and supporting structure has at least one position-limiting unit, and the positioning and engaging unit is engaged with the position-limiting unit.

4. The case-frame integrated structure for lidar of claim 3, wherein a plurality of the positioning engagement units are fixedly connected to a same position-limiting unit of the positioning support structure, or one positioning engagement unit is fixedly connected to a position-limiting unit of the positioning support structure.

5. The integrated housing-frame structure of claim 3, wherein the position-limiting unit and the positioning-matching unit are respectively one of a slide rail and a protrusion; or

6. The integrated housing-frame structure according to claim 5, wherein the protrusion is formed in a step shape, or in an L shape or a T shape.

7. The unified structure of casing frame for lidar according to claim 5, wherein the protrusion has an arc-shaped surface.

8. The case-frame assembly structure for lidar of claim 5, wherein the position-limiting unit extends along the Z-axis of the lidar to limit the movement of the lidar sub-module in the direction of gravity.

9. A lidar having a case-frame integrated structure according to any one of claims 1 to 8, wherein the lidar comprises:

a housing;

at least two laser radar sub-modules mounted inside the housing;

10. The lidar of claim 9, wherein the lidar sub-module comprises: