CN115704883A

CN115704883A - Laser radar

Info

Publication number: CN115704883A
Application number: CN202110936846.6A
Authority: CN
Inventors: 刘豪; 田尚; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2023-02-17

Abstract

An embodiment of the present invention provides a laser radar, where the laser radar includes: a transceiver module; the shell is provided with an installation cavity matched with the shape of the transceiver module; the transceiving module is fixedly connected with the shell, and the transceiving module abuts against the inner wall of the mounting cavity in the direction of an optical axis of the transceiving module; through leaning on the mode on the installation cavity inner wall has shortened the shell with distance between the transceiver module, can be quick right the heat that transceiver module produced dispels the heat. The laser radar provided by the embodiment of the invention can improve the heat dissipation effect, thereby improving the working efficiency of the laser radar and prolonging the service life of laser radar components.

Description

Laser radar

Technical Field

The embodiment of the invention relates to the technical field of object detection, in particular to a laser radar.

Background

The laser radar is an important sensor for sensing surrounding information, and when the surrounding environment is detected, in one mode, a laser array of the laser radar can be used for emitting a detection light beam to detect a target object, the detection light beam is reflected by the target object to generate an echo light beam, and the echo light beam is received by a detector array of the laser radar and is processed to obtain the surrounding environment information.

Because laser radar's laser instrument array, detector array and corresponding driver chip and read out that the chip area is great, arrange densely, in the course of the work, can produce a large amount of heats, in order to realize the heat dissipation, can set up the heat-conducting piece on the chip surface, with heat conduction to shell, and then dispel the heat through the shell.

However, the above heat dissipation method makes the internal structure of the laser radar very complicated, the conduction efficiency of the heat conducting member is low, and the heat dissipation effect is not good, so that the parts of the laser radar bear thermal stress, and the service life is affected.

Therefore, how to improve the heat dissipation effect of the laser radar becomes a technical problem which needs to be solved urgently.

Disclosure of Invention

The technical problem solved by the embodiment of the invention is to improve the heat dissipation effect of the laser radar.

To solve the above problem, an embodiment of the present invention provides a laser radar, including:

a transceiver module;

the shell is provided with a mounting cavity matched with the shape of the transceiver module;

the transceiving module is fixedly connected with the shell, and the transceiving module abuts against the inner wall of the mounting cavity in the optical axis direction of the transceiving module.

Optionally, the housing comprises:

the shell body is fixedly connected with the transceiving module, is provided with the mounting cavity and comprises a mounting surface vertical to the direction of the optical axis, and the transceiving module is abutted against the mounting surface.

Optionally, the housing further comprises:

the shell heat dissipation teeth are arranged on the outer side face of the shell body.

Optionally, the mounting surface includes a transmitting mounting surface and a receiving mounting surface, the transceiver module includes a lens barrel, and a transmitting plate and a receiving plate both fixed to the lens barrel, the receiving plate is located between the lens barrel and the receiving mounting surface, and the transmitting plate is located between the lens barrel and the transmitting mounting surface.

Optionally, the transceiver module includes at least 2 transmitting lenses, and the number of the transmitting plates is adapted to the number of the transmitting lenses.

Optionally, the transmitting lens includes two transmitting lenses and two transmitting plates corresponding to the transmitting lenses one to one, and the two transmitting lenses are disposed on two sides of the receiving lens of the transceiver module.

Optionally, the lens barrel is provided with a transmitting cavity and a receiving cavity, the transmitting lens of the transceiver module is mounted in the transmitting cavity, and the receiving lens of the transceiver module is mounted in the receiving cavity.

Optionally, the housing heat dissipation teeth are disposed in a space formed by the outer wall of the emission cavity and the outer wall of the receiving cavity.

Optionally, a mounting position of the transmitting lens in the transmitting cavity is adjustable, and/or a mounting position of the receiving lens in the receiving cavity is adjustable.

Optionally, the emission lens comprises an emission optical component and an emission lens mounting piece, an inner wall of the emission lens mounting piece is used for mounting the emission optical component, and an outer wall of the emission lens mounting piece is mounted in the emission cavity;

and/or the receiving lens comprises a receiving optical assembly and a receiving lens mounting piece, the inner wall of the receiving lens mounting piece is used for mounting the receiving optical assembly, and the outer wall of the receiving lens mounting piece is mounted in the receiving cavity.

Optionally, the emission lens mounting part has an annular structure, an outer annular surface of the emission lens mounting part is provided with a first thread, an inner annular surface of the emission cavity is provided with a second thread, and the first thread and the second thread are matched with each other;

and/or the receiving lens mounting part is of an annular structure, the outer annular surface is provided with third threads, the inner annular surface of the receiving cavity is provided with fourth threads, and the third threads and the fourth threads are matched with each other.

Optionally, the emission lens includes at least two lens fixing rings, which are fixedly connected to two ends of the emission lens mounting member, and fix the emission optical assembly in the emission lens mounting member;

and/or, receiving the camera lens and including two at least lens fixed rings, fixed connection in receiving camera lens installed part both ends, will receive optical assembly and fix in the receiving camera lens installed part.

Optionally, the emission lens further includes a lens spacer ring, which is sleeved in the emission lens and disposed between adjacent lenses of the emission optical assembly;

and/or the receiving lens further comprises a lens spacing ring which is sleeved in the receiving lens and arranged between the adjacent lenses of the receiving optical assembly.

Optionally, the lidar further comprises:

the mainboard is fixed on the shell and is positioned on the opposite side of the transceiver module;

and the rear cover is fixed on the shell, so that the mainboard is accommodated between the rear cover and the shell.

Optionally, the rear cover further comprises:

and the rear cover radiating teeth are arranged on the rear cover.

Optionally, the transmitting board and the receiving board of the transceiver module are electrically connected to the main board through a flexible element, and the housing is provided with a wiring hole for accommodating the flexible element.

Compared with the prior art, the technical scheme of the embodiment of the invention has the following advantages:

the laser radar provided by the embodiment of the invention comprises a transceiving module and a shell, wherein the shell is provided with a mounting cavity matched with the shape of the transceiving module; the receiving and dispatching module is fixedly connected with the mounting cavity of the shell, the receiving and dispatching module abuts against the inner wall of the mounting cavity in the optical axis direction of the receiving and dispatching module, and when the receiving and dispatching module generates heat, the heat can be directly transmitted to the shell and then transmitted to the external space, so that heat dissipation is realized. In this way, according to the laser radar provided by the embodiment of the invention, the installation cavity arranged on the housing is adapted to the shape of the transceiver module, and the transceiver module abuts against the installation cavity in the direction of the optical axis of the transceiver module, so that the heat transfer distance between the transceiver module and the housing can be shortened, rapid heat dissipation can be realized, the heat dissipation effect of the laser radar can be improved, the temperature stability of the transceiver module can be further favorably maintained, and the working stability can be improved; in addition, the thermal stress born by the parts of the laser radar can be reduced, the risk of thermal deformation is reduced, and the service life of the laser radar is further prolonged.

In an alternative scheme, according to the laser radar provided by the embodiment of the invention, the rear cover fixedly connected with the shell is arranged, and the rear cover heat dissipation teeth are arranged on the outer side of the rear cover, so that a main board of the laser radar can be arranged between the shell and the rear cover, the main board can be quickly cooled, the rear cover heat dissipation teeth can assist in heat dissipation, the heat dissipation speed of the rear cover is further increased, and the effect of quickly cooling is achieved.

In an alternative scheme, in the laser radar provided by the embodiment of the present invention, the lens barrel is provided with a transmitting cavity and a receiving cavity, the transmitting lens of the transceiver module is mounted in the transmitting cavity, and the receiving lens of the transceiver module is mounted in the receiving cavity.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a lidar according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a housing of a lidar according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a rear cover of a lidar according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of another structure of a lidar according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a transmitting lens of a lidar according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a receiving lens of a laser radar according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a heat dissipation tooth of a housing according to an embodiment of the present invention.

Detailed Description

As known from the background art, the laser radar has poor heat dissipation effect.

In order to improve the heat dissipation effect of the laser radar, an embodiment of the present invention provides a laser radar, including:

a transceiver module;

the shell is provided with a mounting cavity matched with the shape of the transceiving module;

the receiving and dispatching module is fixedly connected with the shell, and the receiving and dispatching module abuts against the inner wall of the mounting cavity in the direction of the optical axis of the receiving and dispatching module.

In this way, according to the laser radar provided by the embodiment of the invention, the mounting cavity which is matched with the shape of the transceiver module is arranged on the housing, so that the transceiver module abuts against the mounting cavity of the housing in the direction of the optical axis of the transceiver module, the heat transfer distance between the transceiver module and the housing is shortened, when the radar works, a chip and an area array which are included in the transceiver module can generate heat, and the heat can be quickly and directly transferred out through the mounting cavity of the housing by shortening the heat transfer distance between the transceiver module and the housing, so that the rapid heat dissipation is realized, the working environment of a radar component is optimized, the temperature stability of the transceiver module is favorably kept, and the working stability is improved; in addition, the thermal stress born by the parts of the laser radar is reduced, the risk of thermal deformation is reduced, and the service life of the radar working parts is further prolonged.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the indication of the direction or the positional relationship referred to in the present specification is based on the direction or the positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and it is not intended to indicate or imply that the indicated device must have a specific direction, be configured in a specific direction, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a lidar according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a housing of the lidar according to the embodiment of the present invention.

As shown in fig. 1 and fig. 2, the laser radar according to the embodiment of the present invention includes a transceiver module 1 and a housing 2, where the housing 2 has a mounting cavity 211 adapted to an external shape of the transceiver module 1, and the transceiver module 1 is fixedly connected to the housing 2, and the transceiver module 1 abuts against an inner wall of the mounting cavity 211 of the housing 2 in a direction along an optical axis of the transceiver module 1.

It is easy to understand that the shape of the mounting cavity 211 is adapted to the shape of the transceiver module 1, which means that the shape of the mounting cavity 211 is the same as that of the transceiver module 1, and the transceiver module 1 can be mounted in the mounting cavity 211 without excessive space waste, and may include that the gap between the transceiver module 1 and the inner wall of the mounting cavity 211 in each direction is small; the above-mentioned that the transceiver module 1 abuts against the inner wall of the mounting cavity 211 in the direction along the optical axis of the transceiver module 1 means that at least one part of the transceiver module 1 abuts against the inner wall of the mounting cavity 211 in the direction indicated by the arrow a in fig. 1, including that each part abuts against the inner wall of the mounting cavity 211, and the abutting includes that there is substantially no gap between the two parts and also includes that only part of the two parts are in direct contact, as long as it is ensured that the heat of the transceiver module 1 is transmitted to the housing 2 in time.

Through on the direction of send-receive module assembly 1's optical axis, make send-receive module assembly 1 support and lean on this kind of mode on the inner wall of installation cavity 211 for send-receive module assembly 1 and shell 2 the distance apart is drawn close, can with send-receive module assembly 1 with thermal resistance between the shell 2 reduces to minimum, thereby can improve the slow problem of radiating rate that the overlength interval arouses among the traditional mounting means, like this, when laser radar during operation, the large amount of heat that send-receive module assembly 1 produced just can be quick transmits the external world through shell 2, and high-efficient heat dissipation has guaranteed the operational environment of send-receive module assembly 1's each part simultaneously, protects send-receive module assembly 1's each part, prolongs the life of each part.

The housing 2 and the transceiver module 1 are fixedly connected, specifically, the housing 2 may be provided with a fixed connection hole 24, the transceiver module 1 is provided with a connection hole (not shown) at a corresponding position, and then the housing 2 and the transceiver module 1 are assembled and fixed by a connection member. The number of the connection holes 24 may be set as required, and in order to ensure the stability of the transceiver module 1 and the housing 2, the number may be set to an even number greater than or equal to 2, such as: 4, 6, 8 and the like, so that the shell 2 and the transceiver module 1 are symmetrically fixed, and the stability is kept.

Therefore, in the laser radar provided by the embodiment of the invention, the installation cavity 211 arranged on the housing 2 is adapted to the shape of the transceiver module 1, and the transceiver module 1 abuts against the installation cavity 211 in the direction of the optical axis of the transceiver module 1, so that the heat transfer distance between the transceiver module 1 and the housing 2 can be shortened, the rapid heat dissipation is realized, the heat dissipation effect of the laser radar is improved, the temperature stability of the transceiver module 1 is further favorably kept, and the working stability is improved; in addition, the thermal stress born by the parts of the laser radar can be reduced, the risk of thermal deformation is reduced, and the service life of the laser radar is further prolonged.

In a specific embodiment, as shown in fig. 2, the housing 2 may include a housing body 21, the housing body 21 opens the mounting cavity 211, the mounting cavity 211 includes a mounting surface 2111 perpendicular to the optical axis direction, and the transceiver module 1 abuts against the mounting surface 2111.

The mounting cavity 211 is open to the housing body 21 and includes a mounting surface 2111, and it is understood that the mounting surface 2111 refers to a plane of the structure of the housing body 21.

As a specific embodiment, the mounting surface 2111 is perpendicular to the optical axis direction, which on one hand facilitates the mounting of the transceiver module 1, and on the other hand enables the transceiver module 1 to be abutted against the inner wall of the mounting cavity 211 along the optical axis direction in the largest area, so that the main heat generating component of the transceiver module 1 is in contact with the inner wall of the mounting cavity 211, thereby further improving the heat dissipation effect and ensuring that each component of the transceiver module 1 can normally and stably work.

With reference to fig. 2, in an embodiment, the housing 2 may further include housing heat dissipation teeth 22, wherein the housing heat dissipation teeth 22 are disposed on an outer side surface of the housing body 21.

Certainly, the shape of the heat dissipation teeth of the housing is not limited, and may be concave heat dissipation teeth (as shown in fig. 2), convex heat dissipation teeth, or other forms of heat dissipation teeth.

In one embodiment, the housing heat sink teeth 22 are disposed parallel to the mounting surface 2111.

The add-on of the heat dissipation teeth 22 of the housing can further increase the heat dissipation area of the housing body 21 on the basis of the short-distance quick heat dissipation of the mounting cavity 211, and can improve the heat dissipation effect of the transceiver module 1 by the mounting cavity 211.

Because laser radar during operation, except that receiving and dispatching module 1 can produce the heat, laser radar's mainboard also can produce a large amount of heats, and this also can cause laser radar internal environment temperature's rising, for the radiating effect to laser radar improves, still need handle the heat of mainboard, for this reason, please continue to refer to fig. 1.

As shown in fig. 1, the lidar according to the embodiment of the present invention further includes a main board 4 and a rear cover 3, where the main board 4 is fixed on the housing 2 and located at an opposite side of the transceiver module 1, and the rear cover 3 is fixed on the housing 2, so that the main board 4 is accommodated between the rear cover 3 and the housing 2.

It should be noted that the main board 4 is located at the opposite side of the transceiver module 1, which means that the main board 4 and the transceiver module 1 are located at two sides of the inner wall of the installation cavity 211 against which the transceiver module 1 abuts respectively in the direction along the optical axis of the transceiver module.

Like this, mainboard 4 and send receiving module 1 are arranged in two spaces respectively, and the heat of mainboard 4 can utilize shell 2 and back shroud 3 to transmit simultaneously to can increase mainboard 4 and send receiving module 1's cooling surface, further improve the radiating effect.

Of course, in order to improve the heat dissipation effect, the materials of the housing 2 and the rear cover 3 may be metals with good heat conduction effects or other materials with good heat conduction effects.

Further, in order to further increase the heat dissipation speed of the heat generated by the motherboard 4 of the laser radar, please refer to fig. 3, and fig. 3 is a schematic structural diagram of a rear cover of the laser radar according to an embodiment of the present invention.

As shown in fig. 3, in an embodiment, a back cover heat dissipation tooth 31 may be further disposed on the back cover 3 of the lidar provided in the embodiment of the present invention.

Of course, the rear cover heat dissipation teeth 31 are provided on the side of the outer surface of the rear cover 3 facing the laser radar, and the specific form of the rear cover heat dissipation teeth 31 may also be selected as needed.

Rear cover heat dissipation tooth 31 can be when not taking the inside space of laying mainboard 4 of laser radar, supplementary rear cover 3 is accelerated right mainboard 4's heat dissipation, thereby can prolong mainboard 4's working life.

When the laser radar is specifically arranged, in one embodiment, the external rear cover heat dissipation teeth 31 can be arranged to be in a sawtooth shape, the cross section of the external rear cover heat dissipation teeth is square, and in other embodiments, the external rear cover heat dissipation teeth can also be arranged to be in a sawtooth shape, the cross section of the sawtooth shape is triangular or other shapes, so that the overall weight of the laser radar can be reduced while the laser radar can rapidly dissipate heat.

According to the laser radar provided by the embodiment of the invention, the rear cover 3 fixedly connected with the shell 2 is arranged, and the rear cover heat dissipation teeth 31 are arranged on the outer side of the rear cover 3, so that the mainboard 4 of the laser radar can be arranged between the shell 2 and the rear cover 1, the quick heat dissipation of the mainboard 4 can be realized, the rear cover heat dissipation teeth 31 can assist in heat dissipation, the heat dissipation speed of the rear cover 3 is further accelerated, and the effect of quick heat dissipation is achieved.

In the working process of the laser radar, an electrical signal needs to be transmitted between the motherboard 4 and the transceiver module 1, for this reason, the transceiver module 1 and the motherboard 4 can be electrically connected through a flexible element, and since the transceiver module 1 and the motherboard 4 are respectively disposed on two sides of the mounting surface 2111, in order to facilitate the electrical connection of the flexible element, the housing 2 may be provided with a wiring hole 23 for accommodating the flexible element, please refer to fig. 2.

As shown in fig. 2, in an embodiment, the wiring hole 23 may be opened at the bottom of the housing body 21, and a flexible element is electrically connected to connect the transceiver module 1 and the motherboard 4 through the wiring hole 23. Of course, in other embodiments, the wiring holes 23 may be opened at other positions.

Specifically, the number of the wiring holes 23 may be set as required, such as: 2, 3, etc., when the transceiver module 1 of the lidar includes a plurality of chips or circuit boards, a plurality of wiring holes 23 may be provided to facilitate electrical connection of each chip or circuit board to the motherboard 4.

In another embodiment, please refer to fig. 1 and fig. 2.

As shown in fig. 1 and 2, the mounting surface 2111 may include a transmitting mounting surface 2111A and a receiving mounting surface 2111B, the transceiver module 1 includes a lens barrel 11, and a transmitting plate 12 and a receiving plate 13 both fixed to the lens barrel 11, the receiving plate 13 is located between the lens barrel 11 and the receiving mounting surface 2111B, and the transmitting plate 12 is located between the lens barrel 11 and the transmitting mounting surface 2111A.

In one embodiment, the emission plate includes a laser chip and a driving chip that drives the laser to emit light; the receiving board comprises a photoelectric detector chip and a detection chip for receiving, processing and transmitting an electric signal output by the photoelectric detector.

The transmitting plate 12 and the receiving plate 13 are main components for generating heat when the lidar operates, so that the distance between the main heat generating component and the housing 2 can be shortened by directly abutting the transmitting plate 12 and the receiving plate 13 against the transmitting mounting surface 2111A and the receiving mounting surface 2111B, and the heat conduction speed can be increased, and the transmitting plate 12 and the receiving plate 13 are respectively abutted against the transmitting mounting surface 2111A and the receiving mounting surface 2111B, so that the transmitting plate 12 and the receiving plate 13 can dissipate heat at a higher speed, and the heat dissipation efficiency of the transmitting plate 12 and the receiving plate 13 can be ensured.

In order to improve the detection effect of the laser radar, in an embodiment, the transceiver module 1 may include at least 2 transmitting lenses 14, and the transmitting plates 12 correspond to the transmitting lenses 14 one by one.

Thus, the plurality of emission plates 12 and emission lens 14 according to the present invention can generate a larger detection beam than an emission plate of the same size, so that an area array of the plurality of emission plates 12 can cover a larger detection range. On the other hand, for a certain detection range, for setting a single transmitting plate and a transmitting lens, the size of each transmitting plate 12 can be properly reduced by setting a plurality of transmitting plates 12 and transmitting lenses 14, the quality of the probe beam irradiated by each transmitting plate 12 through the transmitting lens 14 is better, and the energy of the probe beam is more uniformly distributed in the detection range, so that the detection uniformity can be improved, and the detection quality of the laser radar is improved.

Specifically, referring to fig. 1, fig. 4 is a schematic structural diagram of a laser radar according to an embodiment of the present invention. In one embodiment, the number of the transmitting lenses 14 may be 2, and the transmitting lenses 14 include two transmitting plates 12 corresponding to the transmitting lenses 14 one to one, and the two transmitting lenses 14 are disposed on two sides of the receiving lens 15 of the transceiver module 1.

Through setting up two expelling plates 12 and transmitting lens 14 to set up two transmitting lens 14 in receiving lens 15's both sides, can be so that transmitting lens 14's setting is more reasonable, with less subassembly, acquire great detection range as far as possible, can also avoid causing the increase of laser radar size because set up transmitting lens excessively.

In a specific embodiment, in order to reduce the processing difficulty of the lens barrel, an embodiment of the invention further provides a laser radar, please refer to fig. 4.

As shown in the figure, the lens barrel 11 of the lidar provided by the embodiment of the present invention is provided with a transmitting cavity 111 and a receiving cavity 112, the transmitting lens 14 of the transceiver module 1 is installed in the transmitting cavity 111, and the receiving lens 15 of the transceiver module is installed in the receiving cavity 112.

In this way, the transmitting lens 14 and the receiving lens 15 are separately arranged from the lens barrel 11, and the transmitting cavity 111 and the receiving cavity 112 can be formed only on the lens barrel 11, so that the installation positions of the optical devices of the transmitting lens 14 and the receiving lens 15 on the lens barrel 11 are not needed, and only the lens barrel 11, the transmitting lens 14 and the receiving lens 15 need to be manufactured separately, so that the processing difficulty and the rejection rate of each component can be reduced, the processing yield of each component is improved, the processing efficiency is improved, and the processing cost is reduced.

In order to further reduce the processing difficulty, an embodiment of the present invention further provides a laser radar, as shown in fig. 5 and fig. 6, fig. 5 is a schematic structural diagram of a transmitting lens of the laser radar provided in the embodiment of the present invention, and fig. 6 is a schematic structural diagram of a receiving lens of the laser radar provided in the embodiment of the present invention.

As shown in fig. 5 and 6, the emission lens 14 includes an emission optical component 141 and an emission lens mount 142, an inner wall of the emission lens mount 142 is used to mount the emission optical component 141, an outer wall of the emission lens mount 142 is mounted in the emission cavity 111, and/or,

the receiving lens 15 includes a receiving lens optical assembly 151 and a receiving lens mount 152, an inner wall of the receiving lens mount 152 is used to mount the receiving optical assembly 151, and an outer wall of the receiving lens mount 152 is mounted in the receiving cavity 112.

The transmitting lens mount 142 or the receiving lens mount 152 is arranged so that the transmitting optical assembly 141 can be mounted on the transmitting lens mount 142, the receiving optical assembly 151 can be mounted on the receiving lens mount 152, and the connection of the lens (including the transmitting lens 14 and the receiving lens 15) to the lens barrel 11 only involves the connection of both the transmitting lens mount 142 and the receiving lens mount 152 to the lens barrel 11, so that the mounting difficulty of the lens can be reduced while the mounting of the optical assembly can be ensured.

Of course, in order to improve the reasonableness of the space arrangement while ensuring the heat dissipation effect, please refer to fig. 1 and fig. 7, fig. 7 is a schematic structural diagram of the housing heat dissipation teeth provided in the embodiment of the present invention, and in a specific embodiment, the housing heat dissipation teeth 22 of the lidar provided in the embodiment of the present invention may be arranged in the space formed by the outer wall of the transmitting cavity 111 and the outer wall of the receiving cavity 112.

It should be noted that, the space formed by the outer wall of the transmitting cavity 111 and the outer wall of the receiving cavity 112 refers to a concave space defined by the outer wall of the transmitting cavity 111, the outer wall of the receiving cavity 112, the housing body 21, and the rear cover 3. The area enclosed by the dotted line in fig. 7 is the space formed by the outer wall of the transmitting cavity 111 and the outer wall of the receiving cavity 112.

When the lidar includes a transmitting cavity 111 and a receiving cavity 112, as shown in fig. 7, the housing heat dissipation teeth 22 may be disposed on a side of the receiving cavity 112 facing the transmitting cavity 111. In one embodiment, the housing heat dissipation teeth 22 may be disposed in a space formed by the outer wall of the transmission cavity 111 and the outer wall of the receiving cavity 112, as shown by the area indicated by the dotted line in fig. 7; in another specific embodiment, when the lidar includes 2 transmitting cavities 111, the 2 transmitting cavities 111 may be respectively and symmetrically disposed at two sides of the receiving cavity 112, and referring to fig. 7 and fig. 1, the housing heat dissipation teeth 22 may be disposed at two sides of the receiving cavity 112, that is, the housing heat dissipation teeth 22 are disposed in a space formed by an outer wall of each of the transmitting cavities 111 and an outer wall of the receiving cavity 112.

Like this at the mode of setting up, the rational utilization the exterior space of shell 2 can further assist transmit chamber 111 with receive chamber 112 and carry out radiating basis, can also reduce lidar's whole volume is favorable to realizing lidar's miniaturization.

In one embodiment, the lidar of the present invention is a solid state radar, i.e., does not contain mechanically rotating components within the lidar. Specifically, the emission plate comprises an area array laser chip and a driving chip, wherein the driving chip comprises a plurality of driving circuits for driving the laser to emit laser; the receiving board comprises an area array photoelectric detector chip and a detection chip, and the detection chip is used for receiving the electric signal output by the photoelectric detector, processing and transmitting the electric signal.

In order to ensure the beam quality, the transmitting plate 12 needs to be mounted on the focal plane of the transmitting lens 14, and the receiving plate 13 needs to be mounted on the focal plane of the receiving lens 15 in the optical axis direction; on the other hand, in order to ensure an accurate detection angle, the transmitting plate 12 needs to be disposed at a specific relative position of the optical axis of the transmitting lens 14 and the receiving plate 13 needs to be disposed at a specific relative position of the optical axis of the receiving lens 15 in the plane direction perpendicular to the optical axis, which requires adjustment of the transmitting plate and the receiving plate in three directions. Especially for the solid-state radar, the laser chip and the photoelectric detector chip are both area arrays, the size of the chip is large, the number of the lasers and the photoelectric detectors is large, the size of each laser and each photoelectric detector is small, the requirement on the adjustment precision is higher, and the adjustment difficulty of the solid-state radar is further improved.

In order to reduce the difficulty of adjustment, in one embodiment, the position of the transmitting lens 14 in the transmitting cavity 111 and/or the position of the receiving lens 15 in the receiving cavity 112 may be adjustable along the optical axis.

Through the installation mode that the positions of the transmitting lens 14 and the receiving lens 15 are adjustable in the optical axis direction, the positions of the transmitting lens 14 and the receiving lens 15 can be adjusted to replace the installation and adjustment of the transmitting plate and the receiving plate in the optical axis direction, and the corresponding transmitting plate and the corresponding receiving plate only need to be installed and adjusted in a two-dimensional mode on a plane perpendicular to the optical axis. Therefore, the installation mode greatly reduces the installation and debugging difficulty, and further accelerates the installation and debugging efficiency.

In order to facilitate the installation and adjustment of the transmitting lens 14 and the receiving lens 15, in one embodiment, please refer to fig. 5 to 6 in conjunction with fig. 4, the transmitting lens mounting piece 142 may have a ring structure, and the outer ring surface 1421 is provided with a first thread 14211, the inner ring surface 1112 of the transmitting cavity is provided with a second thread 11121, and the first thread 14211 and the second thread 11121 are matched with each other; and/or the presence of a gas in the gas,

the receiving lens mount 152 has a ring-shaped structure, and the outer ring surface 1521 is provided with a third thread 15211, and the inner ring surface 1122 of the receiving cavity is provided with a fourth thread 11221, and the third thread 15211 and the fourth thread 11221 are matched with each other.

The arrangement of the first and

second screw threads

14211 and 11121, and the third and

fourth screw threads

15211 and 11221, allows the mounting position of the transmitting/receiving lens mount and the transmitting/receiving chamber in the optical axis direction to be adjusted, and the screw-coupling manner allows focusing to be easily performed.

Specifically, the mounting manner of the screw thread screwing can realize the focusing of the emission lens 14 relative to the emission plate 12 in the X direction, so that the emission plate 12 can be directly attached to the emission lens mounting part 142, and thus, during focusing, only a two-dimensional adjusting bracket is needed to be adopted to adjust the position of the emission plate 12 on a plane (i.e., the Y/Z direction in a three-dimensional coordinate) perpendicular to the X direction, and the three-dimensional adjusting can be realized by combining the focusing of the emission lens 14 in the X direction through the screw thread. By adopting the technical scheme of the invention, the assembly and debugging difficulty is reduced, the complexity of the assembly and debugging support and the assembly and debugging operation is obviously reduced, and the assembly and debugging efficiency is further accelerated.

Likewise, focusing of the receiving lens 15 in the X direction relative to the receiving plate 13 can be achieved, so that the receiving plate 13 can also abut directly against the receiving lens mount.

In order to facilitate assembly of the transmitting lens 14 or the receiving lens 15, in a specific embodiment, please refer to fig. 5 and 6, in the lidar provided in the embodiment of the present invention, the transmitting lens 14 includes at least two lens fixing rings 143, which are fixedly connected to two ends of the transmitting lens mounting part 142, and fix the transmitting optical assembly 141 in the transmitting lens mounting part 142; and/or the presence of a gas in the gas,

the receiving lens 15 includes at least two lens fixing rings 153 fixedly coupled to both ends of the receiving lens mount 152 to fix the receiving optical assembly 151 in the receiving lens mount 152.

In this way, when assembling the transmitting lens 14, the optical devices (for example, lenses) located in the middle of the transmitting lens mounting part 142 are first mounted, only some lenses constituting the transmitting optical assembly 141 are shown in fig. 5, the number of lenses is not limited, and the lenses are sequentially mounted to both ends so as to satisfy the operation requirements of the laser radar, and until the optical devices located at the ends are mounted, the transmitting lens mounting part 141 is connected to the lens fixing ring 143, and all the optical devices located in the transmitting lens mounting part 141 are fixed, thereby completing the assembling of the transmitting lens 14.

The assembly process of the receiving lens 15 is the same as that of the transmitting lens 14, and will not be described in detail here.

In one embodiment, as shown in fig. 5, the lens fixing ring 143 of the emission lens 14 may have a ring structure, an inner ring surface is fixed on the outermost lens of the emission optical assembly 141, an outer ring surface may be threaded, and an inner ring surface of the emission lens mounting element 142 is threaded to match with the outer ring surface, so as to fix the emission optical assembly 141 in the emission lens mounting element 142 by screwing. Alternatively, the inner ring surface of the lens fixing ring 143 is threaded, the outer ring surface of the emission lens mounting element 142 is threaded, and the emission optical element 141 is fixed in the emission lens mounting element 142 by screwing.

Of course, the connection may be made by other means, such as screwing the lens fixing ring 143 on the emission lens mounting element 142, or providing a mutually matching snap groove or buckle on the lens fixing ring 143 and the emission lens mounting element 142, respectively, and fixing by buckling.

In another embodiment, as shown in fig. 6, the lens fixing ring 153 of the receiving lens 15 may be a ring structure, an inner ring surface of the lens fixing ring is fixed on the outermost lens of the receiving optical assembly 151, an outer ring surface of the lens fixing ring may be threaded, and an inner ring surface of the receiving lens mounting piece 152 is threaded to match with the inner ring surface of the receiving lens mounting piece 152, so that the receiving optical assembly 151 is fixed in the receiving lens mounting piece 152 by screwing. Alternatively, the inner annular surface of the lens fixing ring 153 is threaded, and the specific arrangement manner is the same as that of the above-mentioned transmitting lens fixing ring, which is not described herein again.

The lens fixing rings are arranged, so that optical components, namely all lenses of the lens, can be assembled and fixed in the mounting part, all lenses are gradually fixed to form the lens of the laser radar, meanwhile, the lens fixing rings can be used for compensating the processing error of the mounting part, the processing difficulty requirement of each part is reduced, and further the production cost can be reduced; the whole optical assembly only needs to place and screw the lenses and the fixing rings in sequence, and the assembling process is simple, and an adhesive curing step is not needed, so that the assembling time can be greatly shortened, and the production efficiency is improved.

In one embodiment, the emission lens 14 may further include a lens spacer ring 144, which is sleeved in the emission lens 14 and disposed between adjacent lenses of the emission optical assembly 141; and/or the presence of a gas in the gas,

the receiving lens 15 further includes a lens spacer ring 154, which is sleeved in the receiving lens 15 and disposed between adjacent lenses of the receiving optical assembly 151.

With continued reference to fig. 5, the lens spacing ring 144 fixes the relative position between two non-abutting lenses inside the emission optical assembly 141, and one end of the lens fixing ring 144 abuts against one of the two lenses and the other end abuts against the other lens, so as to fix the relative position between the two non-abutting lenses.

With continued reference to fig. 6, the lens spacing ring 154 fixes the relative position between two non-abutting lenses inside the receiving optical assembly 151, and the lens fixing ring 154 abuts against one of the two lenses at one end and the other end to fix the relative position between the two non-abutting lenses.

The lens spacing ring only needs to meet the distance requirement between adjacent lenses, and each lens is kept fixed through the mechanical pressure action among the lens fixing ring screwed on the mounting part, the inner lens spacing ring and the lens at the outermost side. The fixing and assembling mode can improve the assembling efficiency of the transmitting lens and the receiving lens on the basis of combining the lens fixing ring.

Although the embodiments of the present invention have been disclosed, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A lidar, comprising:

a transceiver module;

2. The lidar of claim 1, wherein the housing comprises:

3. The lidar of claim 2, wherein the housing further comprises:

4. The lidar of claim 3, wherein the mounting surface comprises a transmitting mounting surface and a receiving mounting surface, and wherein the transceiver module comprises a lens barrel, and a transmitting plate and a receiving plate both secured to the lens barrel, the receiving plate being positioned between the lens barrel and the receiving mounting surface, the transmitting plate being positioned between the lens barrel and the transmitting mounting surface.

5. The lidar of claim 4, wherein the transceiver module comprises at least 2 transmit lenses, and wherein the number of transmit lenses is adapted to the number of transmit plates.

6. The lidar of claim 5, wherein the transmitting lens comprises two transmitting lenses and two transmitting plates in one-to-one correspondence with the transmitting lenses, the two transmitting lenses being disposed on both sides of a receiving lens of the transceiver module.

7. The lidar of claim 4, wherein the barrel defines a transmit chamber and a receive chamber, wherein the transmit lens of the transceiver module is mounted to the transmit chamber and the receive lens of the transceiver module is mounted to the receive chamber.

8. The lidar of claim 7, wherein the housing heat sink teeth are disposed in a space defined by an outer wall of the transmit chamber and an outer wall of the receive chamber.

9. Lidar according to claim 7, wherein a mounting position of the transmitting lens in the transmitting cavity is adjustable, and/or a mounting position of the receiving lens in the receiving cavity is adjustable.

10. The lidar of claim 8, wherein the transmitting lens comprises a transmitting optical assembly and a transmitting lens mount, an inner wall of the transmitting lens mount being for mounting the transmitting optical assembly, an outer wall of the transmitting lens mount being mounted in the transmitting cavity;

11. The lidar of claim 10, wherein the transmit lens mount has an annular configuration with an outer annular surface provided with a first thread and an inner annular surface of the transmit chamber provided with a second thread, the first and second threads mating with each other;

12. The lidar of claim 8, wherein the transmitting lens includes at least two lens retaining rings fixedly coupled at opposite ends of the transmitting lens mount to retain the transmitting optical assembly within the transmitting lens mount;

and/or, receiving the camera lens and including two at least lens fixed rings, fixed connection be in receiving camera lens installed part both ends, will receive optical assembly to fix in the receiving camera lens installed part.

13. The lidar of claim 8, wherein the transmit lens further comprises a lens spacer ring nested within the transmit lens and disposed between adjacent lenses of the transmit optical assembly;

and/or the receiving lens further comprises a lens spacing ring which is sleeved in the receiving lens and is arranged between the adjacent lenses of the receiving optical assembly.

14. The lidar of claim 1, further comprising:

the mainboard is fixed on the shell and is positioned on the opposite side of the transceiving module;

15. The lidar of claim 14, further comprising:

and the rear cover radiating teeth are arranged on the rear cover.

16. The lidar of claim 14, wherein the transmitter board and the receiver board of the transceiver module are electrically connected to the main board via a flexible member, and the housing is provided with a wiring hole for receiving the flexible member.