CN114174855A

CN114174855A - Laser radar and intelligent induction equipment

Info

Publication number: CN114174855A
Application number: CN202080051966.1A
Authority: CN
Inventors: 叶高山
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2019-08-07
Filing date: 2020-08-06
Publication date: 2022-03-11
Also published as: CN110231608A

Abstract

The utility model provides a laser radar (100) and intelligent response equipment, laser radar includes radar body (10), laser emitter board (20) and laser receiver board (30) and counter weight structure. The laser emitting plate (20) and the laser receiving plate (30) are respectively arranged on the radar body (10). The laser emitting plate (20) is used for emitting emergent laser towards a detection target; the laser receiving plate (30) is used for receiving the reflected laser reflected by the detection target and converting an optical signal into an electric signal, so that the position, the three-dimensional image, the speed and the like of the detection target are analyzed. The radar body (10) is connected with the power device, and the power device drives the whole radar body (10) and the laser emitting plate (20) and the laser receiving plate (30) which are positioned on the radar body (10) to rotate, so that the laser radar (100) can detect the range of 360 degrees around. According to the invention, the counterweight structure is arranged on the radar body (10), so that the radar body (10) can be more stable in rotation, the precision of the radar is effectively ensured, and the service life of the radar is prolonged.

Description

Laser radar and intelligent induction equipment

Technical Field

The embodiment of the invention relates to the technical field of laser radars, in particular to a laser radar and intelligent sensing equipment.

Background

The laser radar is a radar system that detects a characteristic quantity such as a position and a velocity of a target by emitting a laser beam. The mechanical laser radar drives the laser emitting component and the laser receiving component of the laser radar to rotate, so that the detection range of the laser radar is larger.

In the process of implementing the invention, the inventor of the invention finds that: at present, because laser radar's electron device and optical device are more, and the light path cooperation of centre is comparatively complicated, and the weight of each part is inconsistent simultaneously, so at laser radar carry out the rotation scanning in-process, the focus that can appear the laser radar body deviates from its central point and puts, leads to the device wearing and tearing, and this will cause the influence to laser radar's life-span and detection precision. Meanwhile, because the number of internal devices of the laser radar is large, the heat insulation between the internal devices and the crosstalk of light also become important factors influencing the performance of the laser radar.

Disclosure of Invention

The embodiment of the invention aims to provide a laser radar and intelligent induction equipment, so that the counterweight of a radar body of the laser radar is more reasonable, and the radar body is more stable in rotation, thereby effectively ensuring the precision of the radar and prolonging the service life of the radar.

The embodiment of the invention provides a laser radar, which comprises a radar body (100) and a radar base (200);

a middle shaft (201) is arranged on the radar base (200), and the radar body (100) is sleeved on the middle shaft (201);

the radar body (100) comprises a bottom plate (110) and a first counterweight groove (111), the first counterweight groove (111) is arranged on the edge of the bottom plate (110) and forms a circular ring shape around the bottom plate (110), the first counterweight groove (111) comprises a lower edge (1112), at least one first fixing hole (115) is formed in the lower edge (1112), the first fixing hole (115) enables a first counterweight (113) to be adjusted along the circumferential direction of the bottom plate (110) and towards the axis direction of the center shaft (201), and the first counterweight (113) is fixed at any position of the first fixing hole (115); the radar body (100) is rotatable relative to the radar base (200).

Another embodiment of the invention provides a laser radar, which comprises a radar body (100) and a radar base (200);

the radar body (100) comprises a bottom plate (110) and a first counterweight plate (120), the first counterweight plate (120) is arranged at the bottom of the bottom plate (110), a second counterweight groove (121) is formed in the edge of the bottom plate (110), the second counterweight groove (121) is circular around the bottom plate (110), the counterweight plate (120) comprises a second counterweight edge (124), at least one third fixing hole (122) is formed in the second counterweight edge (124), the second counterweight block (123) is adjusted by the third fixing hole (122) along the circumferential direction of the bottom plate (110) and towards the axis direction of the center shaft (201), and the second counterweight block (123) is fixed at any position of the third fixing hole (122);

the radar body (100) is rotatable relative to the radar base (200).

Another embodiment of the present invention provides a lidar comprising a radar body (10), the radar body (10) comprising: the device comprises an axis connecting part (11), a bottom plate (12), a lens frame (13), a connecting vertical plate (14), a counterweight (15), a laser emitting plate (20) and a laser receiving plate (30);

the axis connecting part (11) is positioned in the center of the bottom plate (12) and is vertically connected with the bottom plate (12), one side of the axis connecting part (11) is provided with a lens frame (13), the other side of the axis connecting part is provided with a connecting vertical plate (14), and the central positions of the connecting vertical plate (14) and the lens frame (13) are positioned on the same plane and are vertically connected to the bottom plate (12);

the connecting vertical plate (14) is located between the laser emitting plate (20) and the laser receiving plate (30) and used for isolating the laser emitting plate (20) from the laser receiving plate (30), one end of the connecting vertical plate (14) is connected with the axis connecting part (11), and the other end of the connecting vertical plate (14) fixes the counterweight (15) at a position, opposite to the lens frame (13), of the edge of the bottom plate (12); the lens frame (13) is arranged on the bottom plate (12).

Another embodiment of the present invention provides an intelligent sensing device, including the lidar of any one of the above embodiments.

This embodiment is through rationally being provided with the counterweight, can balance radar body focus effectively, and is more stable when making radar body rotatory to effectively guarantee the precision of radar, and prolong the life of radar.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to be construed as limiting the embodiments, and in which:

FIG. 1 is a schematic diagram of a lidar in accordance with an embodiment of the present invention;

FIG. 2 is an exploded view of a lidar in accordance with an embodiment of the present invention;

fig. 3 is a schematic diagram of a radar body in a laser radar according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a counterweight and a second secondary counterweight in a lidar constructed according to embodiments of the present invention;

FIG. 5 is a schematic diagram of another lidar embodiment of the present invention;

FIG. 6 is a schematic diagram of another lidar architecture provided by an embodiment of the invention;

FIG. 7 is a schematic diagram of another lidar architecture provided by an embodiment of the invention;

FIG. 8A is a view of a first embodiment of a mounting hole in accordance with the present invention;

FIG. 8B is a view of a second embodiment of a mounting hole in accordance with the present invention;

FIG. 8C is a view of a third mounting hole configuration provided in accordance with an embodiment of the present invention;

FIG. 8D is a view of a fourth mounting hole in accordance with the practice of the present invention;

FIG. 8E is a schematic view of a fifth fixing hole provided in the practice of the present invention;

FIG. 8F is a view of a sixth hole configuration provided in accordance with the practice of the present invention;

fig. 9 is a schematic structural view of a weight plate provided in an embodiment of the present invention;

FIG. 10 is a schematic diagram of another lidar architecture provided by an embodiment of the invention;

FIG. 11 is an assembly drawing of another lidar assembly provided in accordance with embodiments of the present invention;

FIG. 12 is a schematic diagram of another lidar architecture provided by an embodiment of the invention;

FIG. 13A is a schematic diagram of a first mounting hole of another lidar constructed in accordance with an embodiment of the present invention;

FIG. 13B is a schematic diagram of a second mounting hole of another lidar constructed in accordance with an embodiment of the present invention;

FIG. 13C is a schematic view of a third mounting hole in another alternative lidar constructed in accordance with teachings of the present invention;

FIG. 13D is a schematic diagram of a fourth mounting hole in another alternative lidar constructed in accordance with teachings of the present disclosure;

FIG. 13E is a schematic diagram of a fifth mounting hole of another lidar constructed in accordance with an embodiment of the present invention;

FIG. 13F is a schematic view of a sixth mounting hole of another lidar constructed in accordance with an embodiment of the present invention;

fig. 14 is a schematic structural diagram of another lidar according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

Referring to fig. 1, a laser radar 100 according to an embodiment of the present invention includes a radar body 10, a laser emitting plate 20, and a laser receiving plate 30. The laser emitting plate 20 and the laser receiving plate 30 are respectively disposed on the radar body 10. The laser emitting plate 20 is used for emitting outgoing laser towards a detection target; the laser receiving board 30 is used for receiving the reflected laser light reflected by the detection target and converting the optical signal into an electrical signal, thereby analyzing the position, three-dimensional image, speed, and the like of the detection target. And the radar body 10 is connected with a power device, and the power device drives the whole radar body 10 and the laser transmitting plate 20 and the laser receiving plate 30 which are positioned on the radar body 10 to rotate, so that the detection range of the laser radar 100 is wider, and the range of 360 degrees around can be detected.

Referring to fig. 2, the radar body 10 includes a shaft center connecting portion 11 and a base 12. It can be understood that the base 12 of the radar body may also be referred to as a bottom plate of the radar body, that is, a supporting plate structure at the bottom of the radar body for bearing the laser emitting plate, the laser receiving plate, the lens holder, and other structures, and the following embodiments are not repeated. The base 12 is connected with the laser emitting plate 20 and the laser receiving plate 30, optionally, the axle center connecting portion 11 and the base 12 are integrally formed, or the axle center connecting portion 11 and the base 12 are fixedly connected, and the axle center connecting portion 11 is located at the center of the base 12 and is perpendicular to the base 12. The shaft center connecting part 11 is cylindrical, a fixing hole 111 communicated with the base 12 is formed in one end, connected with the base 12, of the shaft center connecting part, and the fixing hole 111 is used for connecting an extending shaft of the power device. Specifically, the protruding shaft extends into the fixing hole 111 from a side of the base 12 away from the axis connecting portion 11, and is in interference fit with the fixing hole 111. Compared with other connection modes such as threaded connection and the like, the connection mode does not generate bending and torsional stress on the extension shaft, has no influence on the rotation precision of the extension shaft, and simultaneously improves the concentricity of the shaft center connection part 11 and the extension shaft through interference fit, thereby ensuring the dynamic balance of the radar body 10 during rotation. When the power device is started, the extension shaft starts to rotate and drives the shaft center connecting part 11 to rotate, so that the base 12, the laser emitting plate 20 and the laser receiving plate 30 are driven to rotate together, and the laser radar 100 integrally rotates. It can be understood that the base 12 is disc-shaped, and the axial center connecting portion 11 and the base 12 are integrally formed, so that the concentricity can be improved, radial runout of the base 12 during rotation can be avoided, and the stability of the base 12 during rotation can be further improved.

It can be understood that: the connection mode of the axis connecting part 11 and the base 12 and the shape of the axis connecting part 11 and the base 12 are not limited to the above-described mode and shape, and may be other modes and shapes, and are not described herein again.

In addition, the radar body 10 further includes a lens frame 13, a connecting vertical plate 14, and a weight 15. The lens frame 13 and the connecting vertical plate 14 are respectively connected to the base 12, the lens frame 13 and the connecting vertical plate 14 are respectively located at two sides of the axis connecting portion 11, and the connecting vertical plate 14 is located on the same plane of symmetry axes of the lens frame 13 for transmitting and receiving lenses. The connecting vertical plate 14 may be integrally formed with the axis connecting portion 11 and the base 12, and optionally, the connecting vertical plate 14 may also be fixedly connected with the axis connecting portion 11 and the base 12. The other side of the connecting upright plate 14 relative to the axis connecting portion 11 is connected to a weight 15, so that the weight 15 is fixed on the edge of the base 12 at a position opposite to the lens frame 13. The lens holder 13 is used for mounting a transmitting lens and a receiving lens of the laser radar 100. In order to ensure the dynamic balance when the radar body 10 rotates, in the embodiment of the invention, the counterweight 15 is arranged at the position, opposite to the lens frame 13, on the radar body 10, so that the radar body 10 is balanced front and back, the center of gravity of the radar body 10 can fall on the shaft center connecting part 11, and the counterweight 15 is fixed at the position, opposite to the lens frame, of the edge of the base through the connecting vertical plate 14. In addition, the laser emitting plate 20 and the laser receiving plate 30 are respectively disposed on both sides of the connecting vertical plate 14. It is understood that when the weight of the laser transmitter panel 20 side and the weight of the laser receiver panel 30 side are equal, the weight line of the weight member 15 is located at the junction of the weight member 15 and the connecting vertical plate 14, and when the weight of the laser transmitter panel 20 side and the weight of the laser receiver panel 30 side are unequal, the weight member 15 is connected to the connecting vertical plate 14, and the weight line of the weight member 15 is biased to the lighter side. By the arrangement mode, left-right balance and front-back balance of the radar body can be further guaranteed, and the radar body 10 is enabled to rotate more stably. Meanwhile, the vertical connecting plate 14 is arranged between the laser emitting plate 20 and the laser receiving plate 30, so that the laser emitting plate 20 and the laser receiving plate 30 can be well isolated, heat dissipation and isolation can be effectively carried out, crosstalk of light is prevented, and the laser emitting plate 20 and the laser receiving plate can be mutually independent and cannot be mutually influenced.

It should be understood that the connection manner of the connecting upright plate 14 and the axle center connecting portion 11 and the base 12 is not limited to the above-described manner, and other manners are also possible, for example, the connecting upright plate 14 is only integrally formed/welded with the axle center connecting portion 11, or the connecting upright plate 14 is only integrally formed/welded with the base 12, or the connecting upright plate 14 may also be fixedly connected with the axle center connecting portion 11 and the base 12, and the like, wherein the fixed connection manner may be, for example, a fastening manner, a clamping manner, and the like.

With regard to the lens frame 13 described above, with continued reference to fig. 2, the lens frame 13 is provided with an accommodating hole 131 and a cross member 132. The receiving hole 131 is used for receiving a transmitting lens and a receiving lens of the laser radar 100, and the beam 132 is used for reinforcing the lens frame 13, so that the lens frame 13 is more stable.

In some embodiments, the weight of the weight 15 is limited, and the weight of the lens may not be well balanced, so that the dynamic balance of the radar body 10 can be achieved by reducing the weight of the lens frame 13 on the radar body 10. Specifically, the weight reduction effect can be achieved by providing the first weight reduction groove 1321 on the cross beam 132 of the lens frame 13 to remove part of the material of the cross beam 132. However, if the cross member 132 is too thin, it may easily bend or break. Therefore, a plurality of first reinforcing ribs 1322 are additionally arranged in the first weight-reducing slots 1321 to ensure the strength of the cross beam 132.

Further, the purpose of reducing the weight of the side of the radar body 10 where the lens frame 13 is arranged can be achieved by removing part of the material of the bottom of the base 12 away from the position of the lens frame 13. Specifically, as shown in fig. 3, a second weight-reducing groove 121 may be disposed at a position of the bottom of the base 12 away from the lens holder 13, so as to achieve the effect of reducing weight. Similarly, in order to ensure the strength of the base 12, a plurality of second reinforcing ribs 1211 are additionally arranged in the second lightening groove 121.

The first weight-reducing slots 1321 may be uniformly distributed on the cross beam 132 at intervals, as shown in fig. 2, a gap between two first weight-reducing slots 1321 arranged in the transverse direction and the first weight-reducing slots 1321 arranged in the longitudinal direction forms a T-shaped first reinforcing rib 1322 to stabilize the cross beam 132. It is understood that the first weight-reducing slots 1321 may have the same or different shapes and sizes, and preferably, in this embodiment, the first weight-reducing slots 1321 may have an oval shape with the same size and shape, which is more beneficial to symmetrical processing and may facilitate the processing. In addition, in the present embodiment, the second lightening grooves 121 are grooves with different depths. Due to the uneven thickness of the base 12, it is possible to provide deeper second lightening grooves 121 at locations where the base 12 is thicker and shallower second lightening grooves 121 at locations where the base 12 is thinner. It is understood that the size and depth of the second weight-reducing grooves 121 may be the same or different, and are not described herein. In general, in order to make the weight on both sides of the lens the same, it is preferable that the weight-reducing grooves are distributed in the same manner at positions on both sides of the axis of the two lenses. That is, the first weight-reducing groove 1321 and the second weight-reducing groove 121 are formed in the same size and shape at positions symmetrical to each other on both sides of the lens axis. The first weight-reducing grooves 1321 and the second weight-reducing grooves 121 are uniformly arranged in a regular manner, for example, in a row or column manner, so that the uniform arrangement facilitates symmetrical processing and the processing is more convenient. Meanwhile, the shapes of the first lightening slots 1321 and the second lightening slots 121 can be adjusted according to needs, and preferably, the embodiment of the invention adopts an elliptical structure, so that symmetrical machining can be facilitated.

It is understood that the overall weight of the rotating body can be reduced and power consumption can be reduced by providing the first weight-reducing grooves 1321 and the second weight-reducing grooves 121. Further, in some embodiments, with continued reference to fig. 2 and 3, the radar body 10 also includes at least one first secondary counterweight 16. The first secondary weight 16 may be bonded or clamped in the first weight-reducing groove 1321 or the second weight-reducing groove 121, or the first secondary weight 16 may be bonded or clamped in the first weight-reducing groove 1321 and the second weight-reducing groove 121, so as to balance the front and rear of the radar body 10. Preferably, the shape of the first secondary weight 16 is adapted to the first weight-reducing slot 1321 and the second weight-reducing slot 121, and may adopt various shapes, for example, the first secondary weight 16 may be selected to be any one of an oval shape, a rectangular shape, a wedge shape, etc. adapted to the shape of the first weight-reducing slot 1321 and the second weight-reducing slot 121. According to the embodiment of the invention, by adding the first secondary counterweight 16, the weight of one side of the radar body 10, which is provided with the lens frame 13, can be adjusted under the condition that the weight of the counterweight 15 is fixed, so that the flexibility of the overall dynamic balance adjustment of the radar body 10 is improved, and the practicability is higher. Meanwhile, the weight difference caused by the need for symmetrical machining of the first weight-reducing slot 1321 and the second weight-reducing slot 121 can also be adjusted by the first secondary weight 16, thereby simplifying the machining process.

With respect to the connecting upright plate 14 and the weight member 15, with continued reference to fig. 2, the connecting upright plate 14 is provided with a positioning boss 141, and the weight member 15 is provided with a positioning hole 151. In the process of fixedly connecting the vertical plate 14 and the weight member 15, the positioning hole 151 of the weight member 15 may be first inserted into the positioning boss 141, so as to achieve the primary positioning of the weight member 15. At this time, the mounting hole 153 of the counterweight 15 is aligned with the threaded hole of the connecting vertical plate 14, and then the screw passes through the mounting hole 153 and is screwed into the threaded hole, so that the fixing of the connecting vertical plate 14 and the counterweight 15 can be completed. The installation process of the connecting vertical plate 14 and the counterweight 15 can be simplified by additionally arranging the positioning boss 141 and the positioning hole 151, the process of aligning threaded holes is saved, and the assembly time is saved. In addition, the surface of the side of the counterweight 15, which is away from the connecting vertical plate 14, is an arc-shaped structure and is adapted to the disc structure of the base 12, so that the appearance of the laser radar 100 is more attractive.

It can be understood that: the manner of attaching the riser 14 and the weight member 15 and the surface shape of the weight member 15 are not limited to the above-described manner and shape, but may be other manners and shapes. For example, the riser 14 and the weight 15 may be connected by, for example, a snap fit connection or an adhesive connection. Wherein, the shape of weight spare can be other shapes etc. that carry out the complex with the base, and this is no longer repeated here.

In other embodiments, as shown in fig. 4, the radar body 10 further includes at least one second secondary weight 17, the weight 15 has the same number of connecting holes 152 as the second secondary weight 17, and each second secondary weight 17 has a through hole 171 for connection. The connection of the second secondary weight member 17 and the weight member 15 may be achieved by passing a screw through the connection hole 152 and the through hole 171 and then tightening both ends of the screw with a bolt. Through addding secondary counterweight 17, can progressively increase secondary counterweight 17 on counterweight 15 when counterweight 15's weight is not enough, progressively promote counterweight 15's weight, realize that counterweight 15's weight is adjustable, increased counterweight 15's practicality.

It can be understood that: the connection of the second secondary weight 17 and the weight 15 is not limited to the above-described manner, but may be in other manners, such as gluing or gluing in combination with other fastening manners.

Unlike the prior art, the radar body 10 in the embodiment of the present invention includes an axis connecting portion 11, a base 12, a lens frame 13, a connecting upright plate 14, and a weight 15. The axis connecting portion 11 is used to connect a driving device to drive the entire laser radar 100 to rotate. One side of the axis connecting part 11 is provided with a lens frame 13, the lens frame 13 is used for installing a transmitting lens and a receiving lens of the laser radar 100, and the transmitting lens and the receiving lens are heavy, so that the gravity center of the radar body 10 deviates from the central position, and the dynamic balance of the radar body 10 during rotation is influenced. Therefore, the embodiment of the invention is provided with the weight member 15 at the other side opposite to the lens frame 13 through the connecting vertical plate 14, and the weight member 15 is arranged at the position of the edge of the base opposite to the lens frame and is also arranged between the laser emitting plate 20 and the laser receiving plate 30. By additionally arranging the connecting vertical plate 14 and the weight member 15, the radar body 10 can be effectively balanced, so that the radar body 10 is more stable in rotation, and the laser emitting plate 20 and the laser receiving plate 30 can be better isolated, thereby preventing mutual influence between the two. In addition, the first secondary counterweight 16 and the second secondary counterweight 17 are additionally arranged in the embodiment of the invention, so that the weight of the side, provided with the lens frame 13, of the radar body 10 and the weight of the counterweight 15 can be adjusted, and the counterweight scheme provided by the embodiment of the invention has stronger practicability.

Furthermore, as shown in fig. 5, in another optional embodiment of the present invention, the radar body further includes a first counterweight groove, the first counterweight groove is disposed at an edge of the base 12 (the base 12 of the radar body may also be referred to as a bottom plate of the radar body, that is, a supporting plate structure at the bottom of the radar body for bearing the laser emitting plate, the laser receiving plate, the lens holder, and the like, which will not be described in the following embodiments), and surrounds the periphery of the base 12 to form a circular ring shape, the first counterweight groove includes a lower edge, the lower edge is provided with at least one first fixing hole, and the first fixing hole enables a first counterweight block to be adjusted along a circumferential direction of the bottom plate and toward an axial center direction of the center shaft, and fixes the first counterweight block at any position of the first fixing hole. It can be understood that, by providing the weight-balancing groove on the bottom plate, on the one hand, when the weight-balancing adjustment is not performed through the bottom plate, the weight of the rotating body can be reduced; on the other hand, when carrying out the counter weight through the bottom plate when adjusting, the arbitrary direction and the position of rotator bottom plate that can be convenient set up the balancing weight and realize laser radar's dynamic balance's regulation. Simultaneously through setting up the balancing weight at the bottom plate, can also reduce the focus when the radar body is rotatory, can reduce because the offset that the focus skew brought, increase the life of equipment.

As shown in fig. 8A, 8B, 8C, 8D, 8E, and 8F, the first fixing holes may be disposed relatively tightly around the base 12, and the shape of the first fixing holes may be varied.

Preferably, the first fixing hole is formed in an oblong shape toward the axis of the radar body 10, as shown in fig. 8C, so that when the counterweight block is fixed on the counterweight plate, the position of the counterweight block can be finely adjusted conveniently, for example: can move towards the position of axle center, adjust the distance of balancing weight distance radar body axle center, can be under the condition that does not increase the counter weight like this, more convenient realization is to the centrobaric regulation of radar body.

Optionally, the fixing hole may be provided with a circular ring shape along the circumferential direction of the bottom plate, as shown in fig. 3A and 3B, 4 long circular ring shapes are provided in fig. 8A along the circumferential direction of the weight plate, so that the weight block can move along the circumferential direction of the bottom plate, and the adjustment of the center of gravity can be realized without detaching the weight block during each adjustment. Of course, as shown in fig. 8B, 2 long rings may be provided, so that the space between the fixing holes is eliminated to the maximum extent, the weight block can be fixed at any position, and the convenience of adjustment is also increased.

Optionally, as shown in fig. 8D, the fixing hole may be arranged around the axis of the bottom plate for two circles, so that the adjusting range of the balancing weight may be increased, and the convenience of dynamic balance adjustment may be increased.

Optionally, as shown in fig. 8E or 8F, the fixing holes may be formed in a T shape or a cross shape, so that the fixing block may be conveniently moved back and forth and left and right, that is, the position of the fixing block may be finely adjusted in multiple directions, thereby increasing convenience in adjusting the dynamic balance. It will be appreciated that in some possible embodiments, the fixing hole may be provided in a dry shape, a rich shape, or other forms that can be fine-tuned in multiple directions at the same time, so as to further increase the convenience of dynamic balance adjustment.

It is understood that the shape of the specific fixing hole may also be other forms, which are not limited herein, and all purposes are to better fix the fixing block and to better fine-tune the position of the fixing block. Meanwhile, the arrangement mode and the density of the fixing holes can be adjusted according to needs, and the fixing holes can be uniformly distributed and the distribution density can also be adjusted according to needs. In the above embodiment, the fixing hole is arranged in the counterweight groove, and the counterweight block can conveniently slide in the fixing hole along the circumferential direction of the bottom plate and towards the axis center direction of the center shaft, so that the position of the first counterweight block can be conveniently adjusted, the first counterweight block can move along the circumferential direction and can also move towards the axis center direction, the adjustment of dynamic balance is very convenient, and the effect of the adjustment of dynamic balance is more obvious due to the fact that the first counterweight block can be adjusted towards the axis center.

Optionally, in another embodiment of the present invention, as shown in fig. 9, the radar body further includes a first weight plate (120), the first weight plate (120) is disposed at the bottom of the base 12, a second weight slot is formed at an edge of the base 12, the second weight slot is circular around the base 12, the weight plate (120) includes a second weight edge (124), at least one third fixing hole (122) is disposed on the second weight edge (124), the third fixing hole (122) enables a second weight block (123) to be adjusted along a circumferential direction of the bottom plate (110) and toward an axial direction of the central shaft (201), and the second weight block (123) is fixed at any position of the third fixing hole (122).

Preferably, the first weight plate (120) is hollow and includes an external thread (125), and the first weight plate (120) is fixed to the internal thread on the base 12 through the external thread (125).

Optionally, the radar body has a top cover, and the first weight plate 120 may also form a weight groove around the top cover, so as to fix the weight block at any position around the top plate of the laser radar.

In the embodiment of the invention, the first counterweight plate 120 is arranged at the bottom of the base 12 of the radar body 10 to form the counterweight groove, so that the counterweight block can be conveniently configured at any direction and position of the bottom plate and/or the top plate to adjust the dynamic balance of the laser radar, the omnibearing weight adjustment of the bottom plate and/or the top plate of the radar body is realized, and the better effect of adjusting the dynamic balance of the laser radar is achieved.

The first weight plate 120 and the bottom plate are fixed in various manners, preferably, they are fixed in a threaded manner, as shown in fig. 10, a cavity 118 is formed at the bottom of the bottom plate 110, an internal thread 119 is formed in the cavity, and an external thread 125 is formed on the first weight plate 120, and they are fixed in the internal thread and the external thread. Preferably, the bottom of the bottom plate 110 is provided with a cavity, so that the weight of the bottom plate 110 can be reduced. It will be appreciated that the base plate 110 and the first weight plate 120 may be secured in other ways, such as: the fixing is carried out by adopting a screw, gluing or clamping way.

It can be understood that, in some alternative embodiments, the first weight plate may include a relief hole, and the first weight plate is sleeved on the rotating shaft through the relief hole and fixed to the bottom plate bottom through a screw.

Further, as shown in fig. 12, the lidar may further include a second weight plate 130, where the second weight plate 130 includes an internal thread, an external thread, and a weight edge, the second weight plate 130 is fixed to the internal thread of the first weight plate through the external thread, and the weight edge is used to fix the second weight.

By the counterweight plate and the laser radar provided by the embodiment of the invention, the counterweight plate can be conveniently installed on the bottom plate of the laser radar body, the counterweight block is installed as required, and the dynamic balance is adjusted at each angle of the edge of the bottom plate. Meanwhile, according to the embodiment of the invention, a plurality of weight plates can be conveniently installed as required, the weight plates are combined through threads and can be mutually matched, a plurality of balancing weights can be configured in the same direction, and the dynamic balance adjusting force is increased.

Further, based on the laser radar 100, an embodiment of the present invention provides an intelligent sensing device including the laser radar 100 in the above embodiment, where the intelligent sensing device may be an automobile, an unmanned aerial vehicle, a robot, or other devices related to intelligent sensing and detection using the laser radar 100.

Referring to fig. 6, an embodiment of the present invention provides a laser radar, including a radar body 100 and a radar base 200, wherein a center shaft 201 is disposed on the radar base 200, and the radar body 100 is sleeved on the center shaft 201; the radar body 100 comprises a bottom plate 110 and a first counterweight groove 111, the first counterweight groove 111 is arranged at the edge of the bottom plate 110, the first counterweight groove 111 surrounds the periphery of the bottom plate and is annular, and the first counterweight groove 111 is sunken towards the axis direction of the center shaft 201 and is used for accommodating a first counterweight 113, and the radar body 100 can rotate relative to the radar base 200. In the embodiment of the present invention, the bottom edge of the bottom plate 110 is contracted toward the axis of the central shaft 201 to form the first counterweight groove 111, and the first counterweight groove 111 is an L-shaped structure and passes through the first counterweight groove 111 of the L-shaped structure. Through set up first counter weight groove 111 around bottom plate 110 bottom edge, can fix the balancing weight at will the optional position at bottom plate 110 as required, made things convenient for laser radar dynamic balance's regulation, simultaneously, owing to place first balancing weight 113 in first counter weight groove 111, can not make the balancing weight salient outside radar body 100, make radar body 100 for when radar base 200 is rotatory, the shell of radar can not touched to the balancing weight.

It can be understood that the counterweight groove is arranged on the bottom plate of the radar body, the counterweight groove can be arranged in the circumferential direction of the bottom plate of the radar body, and the counterweight block can be conveniently arranged in any direction and position to realize the dynamic balance adjustment of the laser radar. Simultaneously through setting up the balancing weight at the bottom plate, can also reduce the focus when the radar body is rotatory, can reduce because the offset that the focus skew brought, increase the life of equipment.

It is understood that, in some embodiments, the radar body may further include a top cover, the first counterweight groove 111 may be disposed on the top cover of the radar body 100, and a first counterweight groove is disposed around the top cover, and the first counterweight may be fixed in the first counterweight groove by screws, and it is understood that the first counterweight may be fixed in the counterweight groove by gluing, clamping, or the like.

It can be understood that, in some embodiments, the bottom plate and the top plate of the radar body can be provided with the counterweight grooves at the same time, so that the fixed positions and the fixed number of the first counterweight blocks can be flexibly adjusted, and the dynamic balance effect of the laser radar can be better adjusted.

In the embodiment of the invention, the counterweight block can be conveniently configured at any direction and position of the bottom plate and/or the top plate to adjust the dynamic balance of the laser radar, so that the omnibearing weight adjustment of the bottom plate and/or the top plate of the radar body is realized, and a better effect of adjusting the dynamic balance of the laser radar is achieved.

Another lidar according to another embodiment of the present invention is further provided, as shown in fig. 7, in this embodiment, the first counterweight groove 111 includes an upper edge 1111 and a lower edge 1112, the upper edge 1111 and the lower edge 1112 together form a U-shaped first counterweight groove 111, the lower edge 1112 is an edge on a side away from the bottom plate 110, the U-shaped first counterweight groove 111 surrounds the bottom plate 110 for a circle to form a circular ring, at least one first fixing hole 115 is disposed on the lower edge 1112, and the first counterweight 113 is disposed in the counterweight groove through the first fixing hole 115. In this way, the first balancing weight 113 is conveniently fixed, and the first fixing hole 115 is arranged at any position around the bottom plate 110, so that the convenience of dynamic balance adjustment of the laser radar is improved.

Of course, when fixing the first balancing weight 113, a circle of second fixing holes 112 may be disposed inside the L-shaped first balancing weight groove 111, and the first balancing weight 113 may be fixed on the inner wall of the first balancing weight groove 111 by a screw connection method. It can be understood that the first balancing weight can also be fixed in the first balancing weight groove by gluing, clamping and the like.

Optionally, the first weight member can slide relative to the first fixing hole 115, and the first fixing hole 115 can enable the first weight member 113 to be adjusted along the circumferential direction of the bottom plate 110 and/or the axial direction of the center shaft 201, and can fix the first weight member 113 at any position of a plurality of first fixing holes 115. As shown in fig. 8A, 8B, 8C, 8D, 8E and 8F, the first fixing holes 115 may be disposed on the periphery of the bottom plate in a relatively close manner, and the shape thereof may be various.

Preferably, the first fixing hole 115 is disposed to be oblong toward the axial center of the radar body 100, as shown in fig. 8C, so that when the weight block is fixed to the weight plate, the position of the weight block can be easily adjusted finely, for example: can move towards the position of axle center, adjust the distance of balancing weight distance radar body axle center, can be under the condition that does not increase the counter weight like this, more convenient realization is to the centrobaric regulation of radar body.

Optionally, the fixing hole may be provided with a circular ring shape along the circumferential direction of the base plate, as shown in fig. 8A and 8B, the circular ring shape of fig. 8A is provided with 4 long circular rings along the circumferential direction of the weight plate, so that the weight block can move along the circumferential direction of the base plate, and the adjustment of the center of gravity can be realized without detaching the weight block during each adjustment. Of course, as shown in fig. 8B, 2 long rings may be provided, so that the space between the fixing holes is eliminated to the maximum extent, the weight block can be fixed at any position, and the convenience of adjustment is also increased.

Another embodiment of the present invention provides a weight plate 120, which includes a fixing edge, a weight edge, and a fixing hole, and the weight plate is fixed to the lidar via the fixing edge, and the weight edge can be fixed to a bottom plate of the lidar body to form a weight slot together with the bottom plate of the lidar body, so as to fix a weight. Specifically, in the embodiment of the present invention, a thread manner and a bottom plate fixing of a laser radar are preferably adopted, and a counterweight plate is provided, as shown in fig. 9, the counterweight plate is hollow, so as to form a receiving space 127, and includes an internal thread 126, an external thread 125, a counterweight edge 124 and a third fixing hole 122, the counterweight plate is fixed to the bottom plate of the laser radar through the external thread 125, is fixed to other counterweight plates through the internal thread 126, and is fixed to a counterweight block through the third fixing hole 122, the counterweight block is made to slide along the circumferential direction of the bottom plate and towards the axial center direction of the center shaft through the third fixing hole 122, and is fixed to any position of the third fixing hole 122. The weight plates are standard parts, and can be directly fixed with each other.

In some alternative embodiments, on the basis of the lidar provided in fig. 6 and 7, the weight plate shown in fig. 4 may be fixed to the bottom of the base plate 110 to form a plurality of weight slots, and a plurality of fixing blocks may be fixed in the same direction. The specific fixing mode can be a threaded connection mode, a screw connection mode, an adhesive mode or a clamping connection mode, and the specific fixing mode is not limited uniquely.

Through increasing the weight plate structure on the basis of the structure in original bottom counter weight groove, can realize carrying out multilayer dynamic balance adjustment in same position, increase dynamic balance adjustment's convenience.

In fig. 10 and fig. 11, another embodiment of the present invention provides a laser radar, wherein a center shaft 201 is disposed on the radar base 200, and the radar body 100 is sleeved on the center shaft 201;

the radar body 100 comprises a bottom plate 110 and a first counterweight plate 120, wherein the first counterweight plate 120 is arranged at the bottom of the bottom plate 110, a second counterweight groove 121 is formed in the edge of the bottom plate, the second counterweight groove 121 surrounds the bottom plate 110 in a circular ring shape, and the second counterweight groove 121 is used for receiving a second counterweight 123;

the radar body 100 is rotatable with respect to the radar base 200.

Optionally, the laser radar 100 has a top cover, and the first weight plate 120 may also form a weight groove around the top cover, so as to fix the weight block at any position around the top plate of the laser radar.

According to the embodiment of the invention, the first counterweight plate 120 is arranged at the bottom of the bottom plate 110 of the radar body 100 to form the counterweight groove, so that the counterweight block can be conveniently configured at any direction and position of the bottom plate and/or the top plate to adjust the dynamic balance of the laser radar, the omnibearing weight adjustment of the bottom plate and/or the top plate of the radar body is realized, and a better effect of adjusting the dynamic balance of the laser radar is achieved.

The first weight plate 120 and the bottom plate 110 are fixed in various manners, preferably, they are fixed in a threaded manner, as shown in fig. 5, a cavity 118 is formed at the bottom of the bottom plate 110, an internal thread 119 is formed in the cavity, and an external thread 125 is formed on the first weight plate 120, and they are fixed in the internal thread and the external thread. Preferably, the bottom of the bottom plate 110 is provided with a cavity, so that the weight of the bottom plate 110 can be reduced. It will be appreciated that the base plate 110 and the first weight plate 120 may be secured in other ways, such as: the fixing is carried out by adopting a screw, gluing or clamping way.

It is understood that, in some alternative embodiments, the first weight plate 120 may include an offset hole, and the first weight plate 120 is sleeved on the rotating shaft through the offset hole and fixed to the bottom of the bottom plate 110 through a screw.

Further, as shown in fig. 11 and 12, the lidar may further include a second weight plate 130, where the second weight plate 130 includes an internal thread 126, an external thread 125, and a weight edge 124, the second weight plate 130 is fixed to the internal thread 126 of the first weight plate 120 through the external thread 125, and the weight edge 124 is used for fixing the second weight 123.

It is understood that, in some alternative embodiments, the second weight plate 130 may also include an offset hole, and the second weight plate 130 is sleeved on the rotating shaft through the offset hole and fixed to the lower portion of the first centering plate 120 by a screw.

Another embodiment of the present invention provides another fixing hole structure, in the above embodiments, at least one third fixing hole is provided on the counterweight edge for fixing the counterweight, and preferably, as shown in fig. 13A, 13B, 13C, 13D, 13E and 13F, the fixing hole can be provided on the periphery of the bottom plate in a relatively close manner, and the shape thereof can be various.

Preferably, the fixing hole may be configured to be a long circle toward the axis of the radar body 100, as shown in fig. 13C, so that when the weight block is fixed to the weight plate, the position of the weight block can be conveniently finely adjusted, for example: can move towards the position of axle center, adjust the distance of balancing weight distance radar body axle center, can be under the condition that does not increase the counter weight like this, more convenient realization is to the centrobaric regulation of radar body.

Optionally, the fixing hole may be provided with a circular ring shape along the circumferential direction of the bottom plate, as shown in fig. 13A and 13B, the circular ring shape of 4 long circular rings is provided in fig. 13A along the circumferential direction of the weight plate, so that the weight block can move along the circumferential direction of the bottom plate, and the adjustment of the center of gravity can be realized without detaching the weight block during each adjustment. Of course, as shown in fig. 13B, 2 long rings may be provided, so that the space between the fixing holes is eliminated to the maximum extent, the weight block can be fixed at any position, and the convenience of adjustment is also increased.

Optionally, as shown in fig. 13D, the fixing hole may be arranged around the axis of the bottom plate for two circles, so that the adjusting range of the balancing weight may be increased, and the convenience of dynamic balance adjustment may be increased.

Optionally, as shown in fig. 13E or 13F, the fixing holes may be formed in a T shape or a cross shape, so that the fixing block may be conveniently moved back and forth and left and right, that is, the position of the fixing block may be finely adjusted in multiple directions, thereby increasing convenience in adjusting the dynamic balance. It will be appreciated that in some possible embodiments, the fixing hole may be provided in a dry shape, a rich shape, or other forms that can be fine-tuned in multiple directions at the same time, so as to further increase the convenience of dynamic balance adjustment.

It is understood that the shape of the specific fixing hole may also be other forms, which are not limited herein, and all purposes are to better fix the fixing block and to better fine-tune the position of the fixing block. Meanwhile, the arrangement mode and the density of the fixing holes can be adjusted according to needs, and the fixing holes can be uniformly distributed and the distribution density can also be adjusted according to needs.

Of course, in practical use, since the laser emitting and incident lenses included in the radar body 100 are relatively heavy, on the basis of the laser radar embodiments in the above-mentioned embodiments of fig. 6, 7, 9, 11 and 12, it is also possible to perform special setting in a certain direction, and the embodiment of the present invention performs dynamic balance adjustment by combining weight reduction and weight balancing, as shown in fig. 14, the radar body includes a lens holder 140, and since the lens holder 140 is provided with lenses, the weight is often heavy, a beam is provided on the lens holder 140, a first weight reduction groove is provided on the beam, and at the same time, a second weight reduction groove is provided on the bottom plate 110 on one side of the lens holder, a first reinforcing rib is provided in the first weight reduction groove, and a second reinforcing rib is provided in the second weight reduction groove. Meanwhile, on the side far away from the lens support 140, a movable side wall 160 is arranged at the edge of the bottom plate, a long circular hole is formed in the movable side wall, the long circular hole is used for fixing a balancing weight, and the balancing weight can be adjusted and fixed in position in the long circular hole. Optionally, the movable sidewall 160 may be fixed to the radar body by the connecting vertical plate 150. It can be understood that, in the embodiment of the present invention, the balancing weight is disposed on the movable wall, and the balancing weight is disposed in the oblong hole on the movable arm, and the balancing weight can be freely adjusted in position, so as to achieve balance with the weight of the laser lens side. Meanwhile, in the laser radar, the weight of the laser emitting plate 170 and the weight of the laser receiving plate 180 are also higher, and therefore, the laser emitting plate 170 and the laser receiving plate 180 are respectively disposed at two sides of the connecting vertical plate 150 to achieve weight balance. Through this kind of mode, through set up the full angle adjustment back that the counter weight groove realized the focus in radar body bottom, combine the pertinence adjustment of certain dimension again, realization laser radar's that can be better focus is adjusted.

In summary, the laser radar provided by the embodiment of the invention realizes the adjustment of the gravity center of the laser radar in all directions by arranging the counterweight groove at the bottom of the radar body, thereby greatly facilitating the use of the laser radar and greatly prolonging the service life of the radar.

Furthermore, based on the laser radar, an embodiment of the present invention provides an intelligent sensing device including the laser radar in the above-described embodiment, where the intelligent sensing device may be an automobile, an unmanned aerial vehicle, a robot, or other devices related to intelligent sensing and detection using the laser radar.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. 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 this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Claims

The laser radar is characterized by comprising a radar body and a radar base;

a center shaft is arranged on the radar base, and the radar body is sleeved on the center shaft;

the radar body comprises a bottom plate and a first counterweight groove, the first counterweight groove is arranged on the edge of the bottom plate and is in a ring shape around the periphery of the bottom plate, the first counterweight groove comprises a lower edge, at least one first fixing hole is formed in the lower edge, the first fixing hole enables the first counterweight block to be adjusted along the circumferential direction of the bottom plate and towards the axis center direction of the center shaft, and the first counterweight block is fixed at any position of the first fixing hole;

the radar body is rotatable relative to the radar base.
The lidar of claim 1, wherein the first attachment hole is oblong in a direction toward an axial center of the center shaft, and the first weight member is slidable relative to the first attachment hole.
The lidar of claim 1, wherein the first fixing hole is formed in a circular ring shape along a circumferential direction of the base plate, and the first weight member is slidable relative to the first fixing hole.
The lidar of claim 1, wherein the first mounting hole is T-shaped or cross-shaped, and wherein the first weight is slidable relative to the first mounting hole.
Lidar of claim 2, 3 or 4, wherein said first attachment aperture is disposed at least one turn around said base plate edge.
The lidar of claim 5, wherein the radar body further comprises a lens holder and a movable sidewall disposed on an opposite side from the lens holder;

at least one long round hole is formed in the movable side wall, the long round hole enables the balancing weight to slide up and down or left and right along the movable side wall, and the balancing weight is fixed at any position of the long round hole.
The laser radar is characterized by comprising a radar body and a radar base;

a center shaft is arranged on the radar base, and the radar body is sleeved on the center shaft;

the radar body comprises a bottom plate and a first counterweight plate, the first counterweight plate is arranged at the bottom of the bottom plate, a second counterweight groove is formed in the edge of the bottom plate, the second counterweight groove surrounds the periphery of the bottom plate to form a circular ring shape, the counterweight plate comprises a second counterweight edge, at least one third fixing hole is formed in the second counterweight edge, and the third fixing hole enables a second counterweight block to be adjusted along the circumferential direction of the bottom plate and towards the axis center direction of the center shaft and fixes the second counterweight block at any position of the third fixing hole;

the radar body is rotatable relative to the radar base.
The lidar of claim 7, wherein the first weight plate is hollow and includes internal and external threads, and wherein the first weight plate is secured to the base plate via the external threads.
The lidar of claim 8, further comprising a second weight plate secured to the first weight plate by an external thread.
The lidar of claim 7, wherein the third mounting hole is T-shaped or cross-shaped, and wherein the second weight is slidable relative to the third mounting hole.
A lidar, comprising a radar body, the radar body comprising: the device comprises an axis connecting part, a base, a lens frame, a connecting vertical plate, a counterweight, a laser emitting plate and a laser receiving plate;

the axis connecting part is positioned in the center of the base and is vertically connected with the base, a lens frame is arranged on one side of the axis connecting part, a connecting vertical plate is arranged on the other side of the axis connecting part, and the connecting vertical plate and the central position of the lens frame are positioned on the same plane and are vertically connected to the base;

the connecting vertical plate is positioned between the laser emitting plate and the laser receiving plate and used for isolating the laser emitting plate from the laser receiving plate, one end of the connecting vertical plate is connected with the axle center connecting part, and the other end of the connecting vertical plate fixes the weight piece at the position, opposite to the lens frame, of the edge of the base;

the lens frame is arranged on the base.
The lidar of claim 11, wherein the lens holder is provided with a beam, the beam being provided with a first weight-reducing slot.
The lidar of claim 11, wherein the lens holder defines an aperture for receiving a transmitting lens and a receiving lens of the lidar; the connecting vertical plate is arranged on the same plane with the middle position of the transmitting lens and the receiving lens.
The lidar of claim 12, wherein a second weight-reduction slot is provided in a position of the base bottom facing away from the lens holder.
The lidar of claim 14, wherein a first rib is disposed in the first weight-reducing slot and a second rib is disposed in the second weight-reducing slot.
The lidar of claim 11, wherein a side surface of the weight member is an arcuate structure adapted to a structure of the base.
The lidar of claim 11, wherein the connecting vertical plate is provided with a positioning boss, the weight member is provided with a positioning hole, and the positioning boss is clamped with the positioning hole.
Lidar according to claim 14, wherein the radar body further comprises at least one first secondary weight, the first secondary weight being arranged in the first weight-reducing slot and/or the second weight-reducing slot.
Lidar according to any of claims 11 to 18, wherein the radar body further comprises at least one second secondary weight member, wherein the weight member is provided with the same number of connection ports as the second secondary weight member, and wherein the second secondary weight member is connected to the weight member via the connection ports.
The lidar of claim 11, wherein the radar body further comprises a first weight groove, the first weight groove is disposed at an edge of the base and is in a ring shape around the bottom plate, the first weight groove comprises a lower edge, at least one first fixing hole is disposed on the lower edge, and the first fixing hole enables a first weight block to be adjusted along a circumferential direction of the base and towards an axial center direction of the center shaft, and fixes the first weight block at any position of the first fixing hole.
The lidar of claim 11, wherein the radar body further comprises a first weight plate disposed at a bottom of the base, a second weight groove is formed at an edge of the base, the second weight groove surrounds the base in a circular shape, the weight plate comprises a second weight edge, at least one third fixing hole is disposed on the second weight edge, and the third fixing hole enables a second weight block to be adjusted along a circumferential direction of the base and towards an axial center direction of the center shaft, and fixes the second weight block at any position of the third fixing hole.
The lidar of claim 21, wherein the first weight plate is hollow and comprises an external thread, and the first weight plate is fixed with the base through the external thread.
An intelligent sensing apparatus, comprising a lidar according to any of claims 1 to 22.