CN118131205A - Laser radar, automatic driving system and mobile equipment - Google Patents

Abstract

The embodiment of the application discloses a laser radar, an automatic driving system and movable equipment, which comprise a shell, a light-transmitting plate, a laser emitting module and a laser receiving module, wherein the shell is provided with a containing cavity and a first opening communicated with the containing cavity, and is provided with a first ring surface which is enclosed to form the first opening; the light-transmitting plate covers the first opening and is provided with a second ring surface corresponding to the first ring surface, and the first ring surface is welded with the second ring surface in a whole circle; the laser transmitting module and the laser receiving module are positioned in the accommodating cavity. According to the embodiment of the application, the first ring surface and the second ring surface are welded and connected in whole circle, compared with the mode of glue, a silica gel ring or foam, the effect of isolating water vapor can be achieved on the basis of meeting IP protection standards such as dust prevention, water prevention and the like, the problem that external water vapor slowly permeates into the laser radar can be better solved, the phenomenon of inner condensation of a transmitting lens, a receiving lens and a light-transmitting plate is avoided, and the normal leading signal of the laser radar and the improvement of the quality of point cloud are ensured.

Description

Laser radar, automatic driving system and mobile equipment

Technical Field

The application relates to the technical field of laser detection, in particular to a laser radar, an automatic driving system and movable equipment.

Background

The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle is that the laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after proper processing, the related information of the target, such as the parameters of the distance, the azimuth, the height, the speed, the gesture, the shape and the like of the target, can be obtained.

The laser radar comprises an optical system, a main control part and a shell part, wherein the optical system is realized through a corresponding laser receiving and transmitting sensor and a corresponding receiving and transmitting lens, the outside of the receiving and transmitting lens is protected by a window component made of glass or PC material, the window component is arranged on the shell, sealing and vapor exchange are generally realized by adopting a silica gel ring, sealing glue, a waterproof and breathable valve and the like between the window component of the existing laser radar and the shell, the laser radar belongs to a semi-sealing structure, the general IP protection can only be ensured, but the inside of the radar can not be completely isolated from vapor, the sealing stability of the glue, the silica gel ring and the like is poor, the situation of glue cracking, interface failure, falling off and other sealing failure can not be prevented, the loss or abnormality of laser radar output point cloud can be caused, and the ranging capability is reduced.

Disclosure of Invention

The embodiment of the application provides a laser radar, an automatic driving system and movable equipment, which are used for solving the problems that in the related art, the laser radar adopts a silica gel ring, sealing glue, a waterproof ventilation valve and the like to realize sealing and water vapor exchange, belongs to a semi-sealing structure, cannot completely isolate water vapor from entering the radar, and can cause missing or abnormal output point cloud of the laser radar and reduce ranging capability.

In a first aspect, an embodiment of the present application provides a lidar, including:

The shell is provided with a containing cavity and a first opening communicated with the containing cavity, and the shell is provided with a first annular surface which surrounds and forms the first opening;

the light-transmitting plate covers the first opening and is provided with a second annular surface corresponding to the first annular surface, and the first annular surface is in full circle welding connection with the second annular surface;

The laser emission module is positioned in the accommodating cavity, the laser emission module is used for emitting detection light, the light-transmitting plate is positioned at the downstream of the laser emission module along the transmission path of the detection light, so that the detection light can pass through the light-transmitting plate to reach a target object in a target area and is reflected by the target object to form return light;

The laser receiving module is located in the accommodating cavity, along the transmission path of the echo light, and the light-transmitting plate is located at the upstream of the laser receiving module, so that the echo light can pass through the light-transmitting plate to reach the laser receiving module in the accommodating cavity.

In a second aspect, an embodiment of the present application provides an autopilot system including the above-described lidar.

In a third aspect, an embodiment of the present application provides a mobile device, including the above-mentioned lidar; or, including the automated driving system described above.

Compared with the sealing modes of a silica gel ring, sealing glue, a waterproof ventilation valve and the like between a shell and a light-transmitting plate in the related art, the laser radar, an automatic driving system and movable equipment can further achieve the effect of isolating water vapor on the basis of meeting IP protection standards such as dust prevention, water prevention and the like, can better solve the problem that external water vapor slowly permeates into the laser radar, avoid the phenomenon of condensation in a transmitting lens, a receiving lens and the light-transmitting plate, ensure the normal leading signal and the improvement of the quality of point cloud of the laser radar, reduce the water vapor and external impurities from entering the laser radar, and can also ensure that the laser radar can exert normal performance under various complicated climatic conditions and have longer service life.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic cross-sectional view of a lidar according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an explosion structure of a lidar according to an embodiment of the present application;

FIG. 3 is an enlarged schematic view of the structure at M in FIG. 1;

FIG. 4 is an enlarged schematic view of the structure at N in FIG. 1;

FIG. 5 is an enlarged schematic view of the structure at P in FIG. 1;

FIG. 6 is a schematic diagram of an explosion structure of a lidar according to an embodiment of the present application at another view angle;

FIG. 7 is a schematic view of an autopilot system according to one embodiment of the present application;

fig. 8 is a schematic structural diagram of a mobile device according to an embodiment of the present application.

Reference numerals illustrate: 1. a removable device; 10. an autopilot system; 100. a laser radar; 110. a laser emitting module; 111. a light emitting assembly; 112. a transmitting lens; 1121. a transmitting lens barrel; 1122. a first retainer ring; 120. a laser receiving module; 121. a light receiving assembly; 122. receiving a lens; 1221. a receiving barrel; 1222. the second check ring; 130. a housing; 131. a receiving chamber; 1311. a first chamber; 1312. a second chamber; 1313. a firing chamber; 1314. a receiving chamber; 1315. a first sealed cavity; 1316. a second sealed cavity; 132. a first opening; 133. a first annulus; 134. a first sink; 1341. a first bottom surface; 1342. a first inner peripheral surface; 135. a first shell; 1351. a connecting column; 136. a second case; 1361. a main body; 1362. a cover plate; 1363. a second opening; 1364. a connecting groove; 1365. a third annulus; 1366. a fourth annulus; 1367. a second sink; 1368. a second bottom surface; 1369. a third end face; 137. a first bracket; 1371. a first support portion; 1372. a first carrying part; 138. a second bracket; 1381. a second supporting part; 1382. a second carrying part; 139. a mounting hole; 140. a light-transmitting plate; 141. a second annulus; 142. a first end face; 143. a second end face; 144. a first outer peripheral surface; 150. an electrical connector; 151. a mounting plate; 152. an electrical connection member; 160. a partition plate; 170. a main control board; a. an emission optical axis; b. an optical axis is received.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.

When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application as detailed in the accompanying claims.

Referring to fig. 1, a lidar 100 is provided in an embodiment of the present application. The lidar 100 may be a solid-state lidar or the like, and is not limited thereto.

The laser radar 100 comprises a laser emission module 110 and a laser receiving module 120, wherein the laser emission module 110 is used for emitting detection light to a target object in a detection area, the laser receiving module 120 is used for receiving echo light reflected by the target object, outputting corresponding electric signals through comparison of the echo light and local oscillation light, then properly processing the electric signals by a signal processing unit to form a point cloud image, and obtaining parameters such as distance, azimuth, height, speed, gesture and shape of the target object through processing the point cloud image, thereby realizing a laser detection function, and further being applicable to navigation avoidance, obstacle recognition, ranging, speed measurement, automatic driving and other scenes of products such as automobiles, robots, logistics vehicles, inspection vehicles and the like.

According to practical requirements, the laser radar 100 is not only used in the technical field of laser detection, but also can be used in other application fields, such as the technical fields of part diameter detection, surface roughness detection, strain detection, displacement detection, vibration detection, speed detection, distance detection, acceleration detection, shape detection of objects, and the like.

Specifically, referring to fig. 1 and 2, the laser radar 100 includes a laser emitting module 110, a laser receiving module 120, a housing 130, and a light-transmitting plate 140.

The laser emitting module 110 includes a light emitting component 111 and an emission lens 112, where the light emitting component 111 includes an emission plate and an emitter mounted on the emission plate, and the emitter is used to emit detection light to a target object in a detection area, and the emitter may use a Vertical-Cavity Surface-emitting laser (VCSEL) or an edge-emitting laser (EDGE EMITTING LASER or EEL) or an LD light source, and the specific laser type used by the emitter is not limited. Along the transmission path of the probe light, an emission lens 112 is located downstream of the emitter, the emission lens 112 being configured to transmit the probe light to a target object within the target area. The emission lens 112 may include an emission lens barrel 1121 and one or more emission lenses mounted in the emission lens barrel 1121.

The laser receiving module 120 includes a light receiving component 121 and a receiving lens 122, where the light receiving component 121 includes a receiving board and a receiver installed on the receiving board, the receiver is configured to receive the echo light reflected by the target object in the detection area, and the receiver may use a silicon photomultiplier (Silicon photomultiplier, siPM for short), an avalanche photodiode (AVALANCHE PHOTO DIODE, APD for short), a single photon avalanche photodiode (Single Photon Avalanche Diode, SPAD for short), and the like, where the specific detector type adopted by the receiver is not limited. Along the transmission path of the return light, the receiving lens 122 is located upstream of the receiver, and the receiving lens 122 is used to transmit the probe light to the receiver. The receiving lens 122 may include a receiving lens barrel 1221 and one or more receiving lenses mounted in the receiving lens barrel 1221. The receiving optical axis b of the receiving lens 122 and the transmitting optical axis a of the transmitting lens 112 may intersect or be parallel, which is not limited.

The housing 130 is formed with a receiving cavity 131 and a first opening 132 communicated with the receiving cavity 131, the laser emitting module 110 and the laser receiving module 120 are both positioned in the receiving cavity 131, the first opening 132 is covered by the transparent plate 140, and the transparent plate 140 is positioned at the downstream of the laser emitting module 110 along the transmission path of the detection light, so that the detection light can pass through the transparent plate 140 to reach a target object in the target area; along the transmission path of the return light, the light-transmitting plate 140 is located upstream of the laser receiving module 120, so that the return light can pass through the light-transmitting plate 140 to reach the laser receiving module 120 within the accommodation chamber 131.

In the embodiment of the present application, referring to fig. 3, fig. 3 is an enlarged schematic diagram of the M-position structure in fig. 1, the housing 130 has a first ring surface 133 enclosing to form a first opening 132, the light-transmitting plate 140 has a second ring surface 141 corresponding to the first ring surface 133, the first ring surface 133 and the second ring surface 141 are welded and connected in a whole circle, the butt joint strength between the two welded components is higher than that of the sealing glue, meanwhile, the situation that the glue fails and falls off between different interfaces is avoided, the reliability is good, and an absolute airtight state can be achieved on the basis of meeting IP protection standards such as dust prevention and water prevention, so as to achieve the effect of isolating water vapor, solve the problem that external water vapor slowly permeates into the laser radar 100 better, avoid the phenomenon that the transmitting lens 112, the receiving lens 122 and the light-transmitting plate 140 generate inner condensation, ensure the normal leading signal of the laser radar 100 and the improvement of the quality of point cloud, and reduce the water vapor and external impurities entering the laser radar 100, and ensure that the laser radar 100 can exert normal performance and have longer service life under various complex weather conditions.

The implementation of the whole circle welding connection between the first ring surface 133 and the second ring surface 141 may be that a welding layer formed by welding between the first ring surface 133 and the second ring surface 141 covers the whole first ring surface 133 and/or the whole second ring surface 141, so that an absolute airtight state is formed between the first ring surface 133 and the second ring surface 141.

Since the light-transmitting plate 140 can pass light, after the light-transmitting plate 140 and the housing 130 are welded, the formation of the welded layer formed between the light-transmitting plate 140 and the housing 130 can be observed from the light-transmitting plate 140 by a dedicated wavelength camera, and the welding quality can be monitored.

Optionally, the housing 130 is formed with a first countersink 134 at the first opening 132 for placing the light-transmitting plate 140, the first countersink 134 has a first bottom surface 1341 and a first inner peripheral surface 1342 connected to the first bottom surface 1341, the light-transmitting plate 140 has a first end surface 142, a second end surface 143 and a first outer peripheral surface 144 connected between the first end surface 142 and the second end surface 143, along the transmission path of the probe light, the first end surface 142 is located downstream of the laser emitting module 110 and the first end surface 142 is located upstream of the second end surface 143, the first end surface 142 abuts against the first bottom surface 1341, at least part of the first inner peripheral surface 1342 is configured as the first annular surface 133, and at least part of the first outer peripheral surface 144 is configured as the second annular surface 141. The first countersink 134 not only increases the connection area between the housing 130 and the light-transmitting plate 140, and improves the connection reliability between the two, but also has a pre-positioning effect, so as to facilitate the development of welding work between the housing 130 and the light-transmitting plate 140.

It should be noted that, instead of providing the first countersink 134 at the first opening 132, the casing 130 may be directly welded to the open end surface of the casing 130 on the side where the first opening 132 is located, at least part of the open end surface of the casing 130 is configured as the first annular surface 133, and part of the first end surface 142 of the light-transmitting plate 140 is configured as the second annular surface 141. The specific structure of the connection between the light-transmitting plate 140 and the housing 130 is not limited in the embodiment of the present application.

The transparent plate 140 is made of transparent material, so that the transparent plate 140 can transmit light signals with specific wavelength, and the laser radar 100 can emit detection light and receive back wave light; for example, the light-transmitting plate 140 may be a light-transmitting plastic member. The housing 130 may be made of a light-tight material to avoid the influence of external stray light on the detection performance of the laser radar 100; for example, the casing 130 may be a plastic member, a metal member, or the like, which is not limited thereto. When the plastic part is selected for the light-transmitting plate 140 and the plastic part is selected for the housing 130, the two plastic materials are mutually fused when the light-transmitting plate 140 and the housing 130 are welded, the butt joint strength is far higher than that of glue connection, meanwhile, the situations that the glue fails and falls off between different interfaces are avoided, the butt joint strength is high, the reliability is good, and the absolute airtight state of the joint of the housing 130 and the light-transmitting plate 140 can be realized.

It should be noted that, the housing 130 may be a plastic member as a whole, or may be a plastic member only partially connected to the light-transmitting plate 140, which is not limited thereto. When the plastic part is integrally selected for the housing 130, the laser radar 100 may further include a shielding structure for covering the light emitting component 111 and the light receiving component 121, where the shielding structure is located in the accommodating cavity 131, so as to avoid the influence of external electromagnetic radiation on the laser radar 100, and avoid the interference generated during the operation of the laser radar 100 from propagating to the outside. Meanwhile, the shielding structure may be grounded through the wire harness in the electrical connector 150. When only the plastic part is selected as the part of the housing 130 connected to the light-transmitting plate 140, the rest of the housing 130 may be metal parts, so that electromagnetic interference between the laser radar 100 and the outside can be avoided by directly passing through the metal parts of the housing 130.

Specifically, in the case where only a part of the casing 130 is selected from plastic parts and the rest is selected from metal parts, referring to fig. 1 again, the casing 130 includes a first casing 135 and a second casing 136, the first casing 135 is connected with the second casing 136, a receiving cavity 131 is formed by enclosing the first casing 135 and the second casing 136, a first opening 132 is formed on a side of the first casing 135 facing away from the second casing 136, the first casing 135 has a first annular surface 133, the first casing 135 and the light-transmitting plate 140 are both plastic parts, and the second casing 136 is a metal part. The shell 130 is split into the first shell 135 and the second shell 136, and plastic parts are selected for the first shell 135 and the light-transmitting plate 140, so that the connection reliability between the first shell 135 and the light-transmitting plate 140 can be improved, the air tightness of the connection part between the shell 130 and the light-transmitting plate 140 can be improved, and the like; while the second shell 136 is made of a metal, the electromagnetic shielding performance of the laser radar 100 can be ensured.

Further, the second shell 136 includes a main body 1361 and a cover plate 1362, the main body 1361 and the cover plate 1362 are metal pieces, the main body 1361 is connected to one side of the first shell 135 facing away from the first opening 132, the main body 1361 and the first shell 135 enclose each other to form the accommodating cavity 131, the main body 1361 and the first shell 135 are integrally formed, the main body 1361 facing away from the first shell 135 forms a second opening 1363, the cover plate 1362 covers the second opening 1363, and the cover plate 1362 is connected to the main body 1361. The main body 1361 is a metal piece, the first shell 135 is a plastic piece, and the main body 1361 and the first shell 135 are designed into an integrated structure, so that the connection reliability and the air tightness between the two can be ensured compared with the connection of the two by adopting welding, gluing and other modes. The second case 136 is split into the main body 1361 including the metal member and the cover plate 1362 including the metal member, which facilitates assembly of internal components such as the laser emitting module 110, the laser receiving module 120, and the like inside the laser radar 100.

The body 1361 and the first shell 135 may be formed into an integrally molded structure by an injection molding process such as insert molding, nano-injection molding, etc., which is not limited thereto. Specifically, the specific steps of forming the body 1361 and the first shell 135 into an integrally formed structure through an injection molding process may be: the main body 1361 is first processed, and then the main body 1361 is placed in a mold as an insert, and a molding cavity for molding the first shell 135 is formed together with the mold, and a plastic material is added to the molding cavity to mold the main body 1361 and the first shell 135 integrally connected. Of course, the first shell 135 may be machined first, then the first shell 135 may be placed in a mold as an insert, and a molding cavity for molding the body 1361 may be formed together with the mold, and the body 1361 and the first shell 135 integrally connected together may be molded by adding a metal material to the molding cavity.

Further, when the main body 1361 and the first shell 135 are formed into an integral structure by injection molding, in order to enhance the connection strength and sealing performance between the first shell 135 of the plastic part and the main body 1361 of the metal part, referring to fig. 4, fig. 4 is an enlarged schematic diagram of the structure of N in fig. 1, one of the main body 1361 and the first shell 135 may be provided with a connection post 1351, and the other may be provided with a connection groove 1364, where the connection post 1351 is disposed in the connection groove 1364, so as to increase the contact area between the main body 1361 and the first shell 135, so that the contact path is longer when the two are welded and fused, the molding quality is better, and the air tightness is better.

The outer surface of the connecting post 1351 may be provided with a structure such as a raised pattern and a raised/lowered surface to further enlarge the connection area between the main body 1361 and the first shell 135, and to form a tight fastening structure between the main body 1361 and the first shell 135 after molding, thereby increasing the connection strength therebetween. Wherein, the abutting surface of the main body 1361 and the first shell 135 can also be designed to increase the connecting area between the two by adopting wave-shaped structure and the like; for example, a groove having a wave-shaped cross section is first formed in the body 1361, and then liquid plastic is injected into the wave-shaped groove to enhance the connection tightness between the body 1361 of the metal piece and the first shell 135 of the plastic piece.

The connection between the body 1361 and the cover plate 1362 may be a welded connection or the like to improve connection reliability and air tightness therebetween. The welding connection between the body 1361 and the cover plate 1362 and the welding connection between the housing 130 and the light-transmitting plate 140 may be substantially the same. Specifically, with reference to fig. 5, fig. 5 is an enlarged schematic view of the structure at P in fig. 1, the main body 1361 has a third annulus 1365 enclosing a second opening 1363, the cover plate 1362 has a fourth annulus 1366 corresponding to the third annulus 1365, and the third annulus 1365 is welded with the fourth annulus 1366 in a full circle.

The implementation of the whole circle welding connection between the third annulus 1365 and the fourth annulus 1366 may be that the welding layer formed by welding between the third annulus 1365 and the fourth annulus 1366 covers the whole third annulus 1365 and/or the whole fourth annulus 1366, so that an absolute airtight state is formed between the third annulus 1365 and the fourth annulus 1366.

Optionally, the main body 1361 is formed with a second countersink 1367 at the second opening 1363 for placing a cover plate 1362, the second countersink 1367 has a second bottom surface 1368 and a second inner peripheral surface connected to the second bottom surface 1368, the cover plate 1362 has a third end surface 1369, a fourth end surface and a second outer peripheral surface connected between the third end surface and the fourth end surface, the third end surface 1369 is located in the accommodating cavity 131, the fourth end surface is located outside the accommodating cavity 131, the third end surface 1369 abuts against the second bottom surface 1368, at least part of the second inner peripheral surface is formed as a third annular surface 1365, and at least part of the second outer peripheral surface is formed as a fourth annular surface 1366. Wherein, the setting of second heavy groove 1367 not only can increase the area of connection between main part 1361 and apron 1362, promotes the connection reliability between the two, can also play the pre-positioning effect simultaneously, is convenient for the development of weldment work between main part 1361 and the apron 1362.

It should be noted that, instead of providing the second countersink 1367 in the second opening 1363, the main body 1361 may be directly welded to the opening end surface of the main body 1361 on the side where the second opening 1363 is located, at least part of the opening end surface of the main body 1361 is configured as a third annulus 1365, and part of the third end surface of the cover plate 1362 is configured as a fourth annulus 1366. The specific structure of the junction of the cover plate 1362 and the body 1361 is not limited in the embodiment of the present application.

More than one protruding rib can be arranged on the cover plate 1362 to enlarge the heat dissipation area of the cover plate 1362, which is beneficial to heat dissipation. The ribs may be formed by partial structures of the cover plate 1362 protruding into the receiving space 131 and/or protruding away from the receiving space 131.

It should be noted that, referring to fig. 1, the housing 130 includes a first shell 135 and a second shell 136, and the accommodating cavity 131 formed by the housing 130 may generally include a first cavity 1311 formed by enclosing the first shell 135 and a second cavity 1312 formed by enclosing the second shell 136, the first cavity 1311 is communicated with the second cavity 1312, the first cavity 1311 is closer to the light-transmitting plate 140 than the second cavity 1312, the emission lens 112 of the laser emission module 110 and the receiving lens 122 of the laser receiving module 120 are both located in the first cavity 1311, and the light emitting component 111 of the laser emission module 110 and the light receiving component 121 of the laser receiving module 120 are both located in the second cavity 1312.

Further, in order to avoid crosstalk between the probe light and the echo light, a partition 160 is disposed in the first cavity 1311, the partition 160 splits the first cavity 1311 into an emission cavity 1313 and a receiving cavity 1314, the emission cavity 1313 and the receiving cavity 1314 are both communicated with the second cavity 1312, the emission cavity 1313 is used for installing the emission lens 112, the receiving cavity 1314 is used for installing the receiving lens 122, and the emission cavity 1313 and the receiving cavity 1314 are separated by the partition 160.

The partition 160 may abut against the light-transmitting plate 140, so as to support the light-transmitting plate 140 and enhance the pressure-resistant capability of the light-transmitting plate 140.

Optionally, a first bracket 137 is disposed in the emission cavity 1313, the first bracket 137 is disposed around the emission optical axis a of the emission lens 112 on the periphery of the emission lens barrel 1121 and connected to the emission lens barrel 1121, and the other end of the first bracket 137 extends in a direction away from the emission optical axis a and is connected to the first shell 135 or the second shell 136. The first bracket 137 is provided to facilitate the mounting and securing of the emission lens 112 within the emission cavity 1313.

Further, the first support 137 splits the emission cavity 1313 into a first sealed cavity 1315 between the first support 137 and the light-transmitting plate 140, and the light-emitting side of the emission lens 112 is located in the first sealed cavity 1315. Compared with the second cavity 1312 and the rest of the emission cavity 1313 except the first cavity 1315, the first cavity 1315 is relatively independent, so that external water vapor, water vapor in the second cavity 1312 and water vapor in the rest of the emission cavity 1313 except the first cavity 1315 can be prevented from entering the first cavity 1315, condensation phenomenon on the light emitting side of the emission lens 112 and the inner side of the light-transmitting plate 140 is reduced, and normal preamble signals of the laser radar 100 are ensured.

In order to ensure the sealing performance of the first sealing cavity 1315, a sealing connection may be adopted between the first bracket 137 and the emission lens barrel 1121, and a sealing connection may be adopted between the first bracket 137 and the first case 135 or the second case 136; and one side of the partition 160 abutting against the light-transmitting plate 140 is in sealing connection with the light-transmitting plate 140. The sealing connection between the first bracket 137 and the emission lens barrel 1121 may be a full-circle glue joint, a full-circle welding, a full-circle glue joint, or a welded connection, which is not limited thereto.

In an alternative embodiment, the connection structure for sealing connection between the first bracket 137 and the emission barrel 1121 includes a full-circle welding structure formed by performing full-circle welding between the first bracket 137 and the emission barrel 1121. In another alternative embodiment, the connection structure for sealing connection between the first bracket 137 and the emission barrel 1121 includes a full-turn adhesive structure formed by full-turn adhesive bonding between the first bracket 137 and the emission barrel 1121. In a preferred embodiment, the connection structure for sealing connection between the first bracket 137 and the emission barrel 1121 includes a full-circle adhesive structure formed by full-circle adhesive bonding between the first bracket 137 and the emission barrel 1121 and a plurality of spot welding structures formed by spot welding at a plurality of spaced points around the full-circle adhesive structure.

Specifically, the connection mode of the whole circle of glue joint and spot welding between the first bracket 137 and the emission lens cone 1121 may be that the whole circle of glue joint between the first bracket 137 and the emission lens cone 1121 is first performed, then the welding connection between the first bracket 137 and the emission lens cone 1121 is implemented at a plurality of points, the fixation between the first bracket and the emission lens cone is reinforced, the welding is used as reinforcement, and the laser welding equipment is not required to be integrated into the light modulation equipment. The sealing connection between the first support 137 and the first shell 135 or the second shell 136 may be that the first support 137 and the first shell 135 are integrally formed, or that the first support 137 and the second shell 136 are integrally formed; in the embodiment of the application, the first support 137 and the main body 1361 in the second shell 136 are integrally formed, and the first support 137 is a metal piece.

Specifically, the connection structure of the sealing connection between the partition 160 and the light-transmitting plate 140 may be a welded structure formed by welding between the partition 160 and the light-transmitting plate 140, or may be a glued structure formed by gluing between the partition 160 and the light-transmitting plate 140.

Specifically, the first bracket 137 may include a first supporting portion 1371 disposed around the emission optical axis a and a first bearing portion 1372 disposed around the emission optical axis a, one end of the first supporting portion 1371 is connected to the second shell 136, the other end of the first supporting portion 1371 extends toward a direction close to the light-transmitting plate 140 and is connected to one end of the first bearing portion 1372, the other end of the first bearing portion 1372 extends toward a direction close to the emission optical axis a and forms a first mounting opening, the emission lens 112 is inserted into the first mounting opening, and a first retainer ring 1122 mounted on the first bearing portion 1372 is disposed on the emission lens barrel 1121.

The sealing connection between the first bracket 137 and the emission barrel 1121 may be, but not limited to, a sealing connection between the first bearing portion 1372 of the first bracket 137 and the first collar 1122 of the emission barrel 1121.

Optionally, the first bracket 137 and the emission lens cone 1121 may be made of the same material, so as to improve the butt strength and sealing performance when they are welded. For example, the first bracket 137 and the emission lens barrel 1121 may be metal members, plastic members, or the like, which is not limited thereto. Specifically, the first support 137 and the emission lens cone 1121 may be made of Al6061-T6, and the solder used for welding the first support 137 and the emission lens cone 1121 may be made of aluminum alloy, soldering tin, or the like.

Optionally, a second bracket 138 is disposed in the receiving cavity 1314, the second bracket 138 is disposed around the receiving optical axis b of the receiving lens 122 at the periphery of the receiving lens barrel 1221 and connected to the receiving lens barrel 1221, and the other end of the second bracket 138 extends in a direction away from the receiving optical axis b and is connected to the first shell 135 or the second shell 136. The provision of the second bracket 138 facilitates the mounting and securing of the receiving lens 122 within the receiving cavity 1314.

Further, the second bracket 138 splits the receiving chamber 1314 to include a second sealed chamber 1316 between the second bracket 138 and the light-transmissive plate 140. Compared with the rest of the second cavity 1312 and the receiving cavity 1314 except the second cavity 1316, the second cavity 1316 is relatively independent, so that external water vapor, water vapor in the second cavity 1312 and water vapor in the rest of the receiving cavity 1314 except the second cavity 1316 can be prevented from entering the second cavity 1316, condensation phenomenon on the light incident side of the receiving lens 122 and the inner side of the light transmitting plate 140 can be reduced, and the point cloud quality of the laser radar 100 can be improved.

To ensure the sealing performance of the second sealing chamber 1316, a sealing connection may be adopted between the second holder 138 and the receiving barrel 1221, and a sealing connection may be adopted between the second holder 138 and the first casing 135 or the second casing 136. The sealing connection between the second bracket 138 and the receiving lens barrel 1221 may be a full-circle gluing, a full-circle welding, or a full-circle gluing and welding connection, which is not limited.

In an alternative embodiment, the connection structure for making a sealing connection between the second bracket 138 and the receiving barrel 1221 includes a full-circle welding structure formed by performing a full-circle welding between the second bracket 138 and the receiving barrel 1221. In another alternative embodiment, the connection structure for sealing connection between the second bracket 138 and the receiving barrel 1221 includes a full-turn adhesive structure formed by full-turn adhesive bonding between the second bracket 138 and the receiving barrel 1221. In a preferred embodiment, the connection structure for sealing connection between the second bracket 138 and the receiving barrel 1221 includes a full-circle adhesive structure formed by performing full-circle adhesive bonding between the second bracket 138 and the receiving barrel 1221 and a plurality of spot welding structures formed by performing spot welding at a plurality of spaced points around the full-circle adhesive structure.

Compared to the related art, after the transmitting lens 112 and the receiving lens 122 are optically adjusted, the transmitting lens barrel 1121 is fixed on the first bracket 137 and the receiving lens barrel 1221 is fixed on the second bracket 138 by glue or screws, which has the following problems: (1) The glue is polymerized by high polymer, and has fine creep after long-term use under the environment of double 85 high temperature and high humidity or the environment of 120 ℃ high temperature, and finally the optical performance is gradually reduced or lost; (2) The glue is adopted for fixation, generally the fastest curing glue and UV glue are used, the curing time of 20-30 seconds is also required, and the mass production can seriously slow the production progress; the disadvantage of screw fixation is adopted; (3) Screw fixation is unreliable, vibration or drop produces deflection, will not recover, and requires readjustment.

The laser radar provided by the application fixedly connects the transmitting lens cone 1121 of the transmitting lens 112 after light modulation with the first bracket 137 in a welding mode, and fixedly connects the receiving lens cone 1221 of the receiving lens 122 with the first bracket 137 in a welding mode, and has the following beneficial effects: (1) better stability and reliability; (2) The welding speed is high, the welding can be completed in 1-2 seconds, and the occupied time of the light adjusting machine can be shortened; (3) Compared with dispensing, the welding shortens the process, dispensing requires two steps of dispensing and UV curing, and laser welding can be completed in one step.

Specifically, the whole circle of bonding and welding connection manner between the second bracket 138 and the receiving lens barrel 1221 may be that the whole circle of bonding is performed between the second bracket 138 and the receiving lens barrel 1221, and then the bonding connection between the two is realized at a plurality of points, so as to strengthen the fixation between the two, and the bonding is used as reinforcement, so that the laser welding equipment is not required to be integrated into the light modulation equipment.

The sealing connection between the second support 138 and the first shell 135 or the second shell 136 may be that the second support 138 and the first shell 135 are integrally formed, or that the second support 138 and the second shell 136 are integrally formed; in the embodiment of the present application, the second support 138 and the main body 1361 of the second shell 136 are integrally formed, and the second support 138 is a metal piece.

Specifically, the second support 138 may include a second supporting portion 1381 disposed around the receiving optical axis b and a second bearing portion 1382 disposed around the receiving optical axis b, one end of the second supporting portion 1381 is connected to the second shell 136, the other end of the second supporting portion 1381 extends toward the direction close to the light-transmitting plate 140 and is connected to one end of the second bearing portion 1382, the other end of the second bearing portion 1382 extends toward the direction close to the receiving optical axis b and forms a second mounting opening, the receiving lens 122 is inserted into the second mounting opening and a second retainer ring 1222 is disposed on the receiving lens barrel 1221 and is mounted on the second bearing portion 1382.

The sealing connection between the second bracket 138 and the receiving lens barrel 1221 may be, but not limited to, a sealing connection between the second bearing portion 1382 of the second bracket 138 and the second collar 1222 of the receiving lens barrel 1221.

Optionally, the second bracket 138 and the receiving lens barrel 1221 may be made of the same material, so as to improve the butt strength and sealing performance when the two are welded. For example, the second bracket 138 and the receiving lens barrel 1221 may be metal members, plastic members, or the like, which is not limited thereto. Specifically, the second support 138 and the receiving lens barrel 1221 may be made of Al6061-T6, and the solder used for welding the second support 138 and the receiving lens barrel 1221 may be made of aluminum alloy, solder, or the like.

Optionally, the first bracket 137 and the second bracket 138 may be connected to each other to improve the connection strength of the first bracket 137 and the second bracket 138, and improve the mounting stability of the transmitting lens 112 and the receiving lens 122.

Preferably, the first bracket 137 and the second bracket 138 are integrally formed, and the integrally formed bracket is a metal piece; the emission lens cone 1121 and the receiving lens cone 1221 are made of metal pieces, and the emission lens cone 1121 and the receiving lens cone 1221 are connected with the integrally formed bracket structure in a welding mode; the second shell 136 is made of a metal piece, and the second shell 136 and an integrally formed support structure form an electromagnetic shielding structure in the second cavity 1312, so that the influence of external electromagnetic radiation on the laser radar 100 is avoided, meanwhile, the interference generated during the operation of the laser radar 100 is prevented from being transmitted to the outside, and the electromagnetic shielding performance of the laser radar 100 is ensured.

It should be noted that, the laser radar 100 may include one laser emitting module 110 and one laser receiving module 120, or the laser radar 100 may include one laser emitting module 110 and two or more laser receiving modules 120, or the laser radar 100 may include two or more laser emitting modules 110 and one laser receiving module 120, which is not limited. The number of emission cavities 1313 may be equal to the number of laser emission modules 110, and each emission cavity 1313 is used for setting an emission lens 112 of a laser emission module 110; the number of receiving cavities 1314 may be equal to the number of laser receiving modules 120, and each receiving cavity 1314 is used to house a receiving lens 122 of a laser receiving module 120.

Alternatively, the emitting board of the light emitting component 111 in the laser emitting module 110 and the receiving board of the light receiving component 121 in the laser receiving module 120 may be mounted on the same substrate, or may be mounted on different substrates, which is not limited thereto.

Preferably, the light receiving assembly 121 in the laser light receiving module 120 does not include a receiving plate; the receiver in the laser receiving module 120 is integrated on the substrate; the emitting board of the light emitting component 111 in the laser emitting module 110 is mounted on a substrate integrated with the receiver, and is disposed on a common substrate with the receiver. The lidar 100 may further include a main control board 170, the main control board 170 may be mounted in the second cavity 1312, and the main control board 170 may be electrically connected to both the transmitting board and the receiving board.

Lidar 100 may further include an interposer (not shown) that may be mounted to second cavity 1312, which may be electrically connected to main control board 170, and main control board 170 may be disposed closer to cover plate 1362 than the interposer. The adapter plate can be provided with electronic components and the like, so that the electronic components can be arranged in a scattered manner, and heat dissipation is facilitated.

Referring to fig. 6, the lidar 100 may further include an electrical connector 150, and the electrical connector 150 may be used for signal interaction between the lidar 100 and the outside. Specifically, the electrical connector 150 may include a mounting plate 151 and an electrical connector mounted on the mounting plate 151, the housing 130 may be provided with a mounting hole 139, the mounting plate 151 may cover the mounting hole 139, and the mounting plate 151 is connected with the housing 130.

Further, the connection between the mounting plate 151 and the housing 130 may be a welded connection or the like to improve connection reliability and air tightness therebetween. The welding connection manner between the mounting plate 151 and the housing 130, and the welding connection manner between the housing 130 and the light-transmitting plate 140 may be substantially the same, which will not be described herein.

Specifically, the body 1361 of the housing 130 may be provided with mounting holes 139 so that the electrical connector 150 may be used to connect with the body 1361. The mounting plate 151 in the electrical connector 150 may be a metal piece, so that the main body 1361 and the mounting plate 151 are both metal pieces, and can be better fused during welding, and the electrical connector has high butt strength, good reliability and good air tightness.

The metal member may be an aluminum alloy, a magnesium alloy, a copper alloy, or the like, which is not limited thereto. The welding connection may be laser welding, ultrasonic welding, etc., which is not limited thereto; in particular, the laser welding may again be a blanking weld, a filler weld, a hybrid weld, a friction stir weld, or the like.

It should be noted that, in order to facilitate the smooth development of the welding work, a reserved gap may be provided between two parts welded to each other, where the reserved gap may facilitate filling of solder in the welding process, and the reserved gap facilitates the mutual fusion of materials of the two parts. For example, referring to fig. 3 to 5, a clearance is provided between the first annular surface 133 and the second annular surface 141, a clearance is provided between the third annular surface 1365 and the fourth annular surface 1366, a clearance is provided between the main body 1361 of the housing 130 and the mounting plate 151 of the electrical connector 150, and so on.

Optionally, at least one of the two parts welded to each other may be provided with a chamfer to enable guiding of the movement trajectory during welding. For example, referring to fig. 4 and 5, at least one of the third annulus 1365 and the fourth annulus 1366 is provided with a chamfer, at least one of the body 1361 of the housing 130 and the mounting plate 151 of the electrical connector 150 is provided with a chamfer, etc. The chamfer may be a rounded corner, a right angle, or the like, and is not limited thereto.

The laser radar 100 of the embodiment of the application is suitable for automatic production, has simple control process parameters, simplifies the assembly process, greatly improves the production efficiency, effectively reduces the material cost and the variety, and reduces the product cost.

Referring to fig. 7, an embodiment of the present application further provides an autopilot system 10, wherein the autopilot system 10 includes the laser radar 100 described above. The autopilot system 10 comprises the above-described lidar 100, which can be applied in a mobile device 1 of an automobile, a drone, a robot or the like.

Referring to fig. 8, the embodiment of the present application further provides a mobile device 1, where the mobile device 1 includes the laser radar 100 described above; alternatively, the mobile device 1 comprises the autopilot system 10 described above. The mobile device 1 may be an automobile, a drone, a robot, or the like, which optionally includes the laser radar 100 or the autopilot system 10.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The foregoing disclosure is illustrative of the present application and is not to be construed as limiting the scope of the application, which is defined by the appended claims.

Claims (12)

1. A lidar, comprising:

The shell is provided with a containing cavity and a first opening communicated with the containing cavity, and the shell is provided with a first annular surface which surrounds and forms the first opening;

the light-transmitting plate covers the first opening and is provided with a second annular surface corresponding to the first annular surface, and the first annular surface is in full circle welding connection with the second annular surface;

The laser emission module is positioned in the accommodating cavity, the laser emission module is used for emitting detection light, the light-transmitting plate is positioned at the downstream of the laser emission module along the transmission path of the detection light, so that the detection light can pass through the light-transmitting plate to reach a target object in a target area and is reflected by the target object to form return light;

The laser receiving module is located in the accommodating cavity, along the transmission path of the echo light, and the light-transmitting plate is located at the upstream of the laser receiving module, so that the echo light can pass through the light-transmitting plate to reach the laser receiving module in the accommodating cavity.

2. The lidar according to claim 1, wherein the housing is formed with a first countersink at the first opening, the first countersink has a first bottom surface and a first inner peripheral surface connected to the first bottom surface, the light-transmitting plate is located in the first countersink, the light-transmitting plate has a first end surface, a second end surface and a first outer peripheral surface connected between the first end surface and the second end surface, along the transmission path of the probe light, the first end surface is located downstream of the laser emitting module and the first end surface is located upstream of the second end surface, the first end surface abuts against the first bottom surface, at least part of the first inner peripheral surface is configured as the first torus, and at least part of the first outer peripheral surface is configured as the second torus.

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

A first shell;

The second shell is connected with the first shell, the second shell and the first shell enclose to form the accommodating cavity, one side of the first shell, which is away from the second shell, forms the first opening, the first shell is provided with the first ring surface, the first shell and the light-transmitting plate are both plastic parts, and the second shell is a metal part.

4. The lidar of claim 3, wherein the second shell comprises:

The main body is connected to one side, away from the first opening, of the first shell, the accommodating cavity is formed by enclosing the main body and the first shell, the main body and the first shell are of an integrated structure, and a second opening is formed in one side, away from the first shell, of the main body;

And the cover plate covers the second opening and is in sealing connection with the main body.

5. The lidar of claim 4, wherein the body has a third annulus surrounding the second opening, and the cover plate has a fourth annulus corresponding to the third annulus, and the third annulus is welded to the fourth annulus for a full turn to achieve a sealed connection of the cover plate to the body.

6. The lidar of claim 3, wherein the receiving cavity comprises a first cavity defined by the first enclosure and a second cavity defined by the second enclosure, the lidar further comprising:

The laser receiving module comprises a receiving lens positioned in the receiving cavity and a light receiving component positioned in the second cavity, and is positioned on the downstream of the receiving lens along the transmission path of the echo light. The partition board is abutted against the light-transmitting plate.

7. The lidar of claim 6, wherein the laser radar is configured to,

The laser radar further comprises a first support, the first support is located in the emission cavity, the first support is arranged on the periphery of the emission lens around the emission light axis of the emission lens, the first support splits the emission cavity into a first sealing cavity located between the first support and the light-transmitting plate, and the light emitting side of the emission lens is located in the first sealing cavity; and/or

The laser radar further comprises a second support, the second support is located in the receiving cavity, the second support is arranged on the periphery of the receiving lens around the receiving light shaft of the receiving lens, the second support is used for splitting the receiving cavity into a second sealing cavity located between the second support and the light-transmitting plate, and the light emergent side of the receiving lens is located in the second sealing cavity.

8. The lidar according to claim 7, wherein if the lidar comprises the first bracket, the first bracket comprises a first supporting portion that is disposed around the emission optical axis and a first bearing portion that is disposed around the emission optical axis, one end of the first supporting portion is connected to the second shell, the other end of the first supporting portion extends in a direction close to the light-transmitting plate and is connected to one end of the first bearing portion, the other end of the first bearing portion extends in a direction close to the emission optical axis and forms a first mounting opening, the emission lens is inserted into the first mounting opening, a first retainer ring is disposed on the emission lens, the first retainer ring is mounted on the first bearing portion, and the first retainer ring is in sealing connection with the first bearing portion; and/or

If the laser radar includes the second support, the second support includes around the second supporting part that the optical axis set up and ring establish the second carrier part that the optical axis set up is received in the ring, the one end of second supporting part is connected the second shell, the other end of second supporting part is towards being close to the direction extension of light-passing board and connect the one end of second carrier part, the other end of second carrier part is towards being close to the direction extension of optical axis is received and is formed the second installing port, the receiving lens inserts and locates the second installing port, be equipped with the second retaining ring on the receiving lens, the second retaining ring is taken in on the second carrier part, the second retaining ring with second carrier part sealing connection.

9. The lidar of claim 8, wherein the lidar comprises the first bracket; the connecting structure for performing sealing connection between the first retainer ring and the first bearing part comprises a whole circle of adhesive joint structure formed by performing whole circle of adhesive joint between the first retainer ring and the first bearing part and a plurality of spot welding structures formed by performing spot welding on a plurality of points on the periphery of the whole circle of adhesive joint structure; and/or the number of the groups of groups,

The laser radar comprises the second bracket; the connecting structure for sealing connection between the second retainer ring and the second bearing part comprises a whole circle of adhesive bonding structure formed by carrying out whole circle of adhesive bonding between the second retainer ring and the second bearing part and a plurality of spot welding structures formed by carrying out spot welding on a plurality of points on the periphery of the whole circle of adhesive bonding structure.

10. The lidar of claim 2, further comprising:

the electric connector comprises a mounting plate and an electric connecting piece arranged on the mounting plate, a mounting hole is formed in the second shell, the mounting plate covers the mounting hole, the whole circle of welding connection is formed at the junction between the mounting plate and the second shell, and the mounting plate is a metal piece.

11. An autopilot system comprising the lidar of any one of claims 1 to 10.

12. A mobile device comprising the lidar of any of claims 1 to 10; or, comprising the autopilot system of claim 11.