CN214097789U

CN214097789U - Laser radar

Info

Publication number: CN214097789U
Application number: CN202023213533.8U
Authority: CN
Inventors: 刘贯领; 赵忠尧
Original assignee: Ruichi Zhiguang Suzhou Technology Co Ltd
Current assignee: Ruichi Zhiguang Suzhou Technology Co Ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-08-31
Anticipated expiration: 2030-12-28

Abstract

The utility model discloses a laser radar. According to the utility model discloses a laser radar of an embodiment includes: a light blocking housing; the light-transmitting shell is positioned at the upper part of the light-blocking shell and is provided with a light-transmitting area through which laser can be transmitted; a protective cover which is positioned inside the light-blocking shell and the light-transmitting shell and is provided with a convex part protruding outwards or inwards from the protective cover; the coded disc is fixed in the lower surface of bulge, can be used for measuring the safety cover is for the rotation angle of light blocking shell, the safety cover the bulge form the position and be less than the height in the region of printing opacity casing.

Description

Laser radar

Technical Field

The utility model relates to a laser radar especially relates to a laser radar of rotation type.

Background

In the field of autonomous driving, autonomous vehicles may detect surrounding objects by means of a device such as a laser radar (LIDAR). The lidar may obtain related information such as a distance, a speed, and the like about the surrounding object by emitting a laser beam to the surrounding three-dimensional space as a detection signal, and causing the laser beam to be reflected as an echo signal and return after being irradiated to the object in the surrounding space, and comparing the received echo signal with the emitted detection signal.

The laser radar as described above comprises a transmitting module and a receiving module. The emitting module generates and emits laser beams, and the laser beams which are irradiated on surrounding objects and reflected back are received by the receiving module. Since the speed of light is known, the distance of surrounding objects relative to the lidar can be measured by the propagation time of the laser.

The laser radar includes a rotary type laser radar capable of emitting laser light to a 360 ° range. In a rotating lidar, the transmit and receive modules need to rotate relative to the base of the lidar. Therefore, it is necessary to measure the rotation angle of the transmitting module and the receiving module with respect to the base.

SUMMERY OF THE UTILITY MODEL

The utility model provides a can reduce the laser radar of outside light to the influence of code wheel.

According to the utility model discloses a laser radar of an embodiment includes: a light blocking housing; the light-transmitting shell is positioned at the upper part of the light-blocking shell and is provided with a light-transmitting area through which laser can pass; a protective cover which is positioned inside the light-blocking shell and the light-transmitting shell and is provided with a convex part protruding outwards or inwards from the protective cover; and the coded disc is fixed at the lower part of the bulge part and can be used for measuring the rotation angle of the protective cover relative to the light blocking shell, and the forming position of the bulge part of the protective cover is lower than the height of the light transmission area of the light transmission shell.

The lidar may further include: a transmitting module capable of emitting laser light; and a receiving module capable of receiving laser light reflected outside the lidar after being emitted from the transmitting module, wherein the transmitting module and the receiving module are located at an upper portion of the protective cover and rotate together with the protective cover.

A portion of the protective cover may be located within a height range of the light-transmitting region of the light-transmitting housing.

The projection portion may project outward from the protective cover, and the projection portion further includes a sub-projection portion formed downward on an outer side of the code wheel.

The protective cover may not contact the light blocking housing and the light transmitting housing in a direction perpendicular to the rotation axis.

The protective cover may be formed in a shape that covers at least a part of the laser radar.

The protective cover may be formed in a shape with an open lower portion.

According to the utility model discloses a laser radar of another embodiment includes: a light blocking housing; the light-transmitting shell is positioned at the upper part of the light-blocking shell and is provided with a light-transmitting area through which laser can pass; a protective cover which is positioned inside the light-blocking shell and the light-transmitting shell and is provided with a convex part protruding outwards or inwards from the protective cover; and the light source is fixed at the lower part of the bulge part and can be used for measuring the rotation angle of the protective cover relative to the light blocking shell, and the forming position of the bulge part of the protective cover is lower than the height of the light transmission area of the light transmission shell.

A code wheel that can be used to measure the rotation angle of the protective cover with respect to the light blocking housing may be provided on the substrate below the protruding portion.

According to the utility model discloses a laser radar of another embodiment includes: a light blocking housing; the light-transmitting shell is positioned at the upper part of the light-blocking shell and is provided with a light-transmitting area through which laser can pass; a protective cover which is positioned inside the light-blocking shell and the light-transmitting shell and is provided with a convex part protruding outwards or inwards from the protective cover; and the photoelectric sensor is fixed at the lower part of the bulge part and can be used for measuring the rotation angle of the protective cover relative to the light blocking shell, and the forming position of the bulge part of the protective cover is lower than the height of the light transmission area of the light transmission shell.

According to the utility model discloses an embodiment, can prevent to follow the outside and incide laser radar's light to shine the code wheel to can prevent to shine the code wheel from the laser that emission module sent. Further, a protective cover capable of protecting the internal structure of the laser radar and reducing the influence of the outside light on the code wheel can be formed.

The effects of the present invention are not limited to the above-described effects, and those skilled in the art can derive the effects not described above from the following description.

Drawings

Fig. 1 is a schematic diagram illustrating a laser radar having a code wheel according to an embodiment of the present invention.

Fig. 2 is a schematic diagram showing a laser radar having a code wheel according to another embodiment of the present invention.

Fig. 3 is a schematic diagram illustrating a laser radar having a code wheel according to yet another embodiment of the present invention.

Fig. 4 is a diagram showing a code wheel according to an embodiment of the present invention.

Fig. 5 is a schematic diagram illustrating a laser radar having a code wheel according to yet another embodiment of the present invention.

Description of the symbols

10: the transmitting module 20: receiving module

100: protective cover 200: code wheel

300: light-transmitting housing 400: light-blocking shell

110: projection 111: sub-convex part

Detailed Description

The technical solution of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the following disclosure of the present invention is directed to only some embodiments, but not all embodiments. All other embodiments obtained by a person skilled in the art without any inventive step based on the following embodiments belong to the protection scope of the present invention.

Also, in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the drawings, and are only for convenience of description of the simplified description of the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Hereinafter, the laser radar having the code wheel according to the present invention will be described in detail with reference to fig. 1 to 5.

Fig. 1 is a schematic diagram illustrating a laser radar having a code wheel according to an embodiment of the present invention. Fig. 1 shows a cross-sectional view of a laser radar with a code wheel according to an embodiment of the present invention.

As shown in fig. 1, a laser radar having a code wheel according to an embodiment of the present invention may include a transmitting module 10, a receiving module 20, a protective cover 100, a code wheel 200, a light-transmitting case 300, and a light-blocking case 400. Other components of the laser radar, not shown, such as a rotation driving structure, a power transmission structure, a signal transmission structure, and the like, are omitted in fig. 1.

Among them, the light-transmitting case 300 and the light-blocking case 400 may be outermost cases of the laser radar, and the light-transmitting case 300 and the light-blocking case 400 may constitute a hermetic case of the laser radar to protect the inside of the light-transmitting case 300 and the light-blocking case 400 from the external environment.

The light-transmissive case 300 may be formed using a material through which laser light can pass. Therefore, the laser light emitted from the inside of the housing can be emitted to the outside through the light-transmitting housing 300. The laser light transmitted through the light-transmitting case 300 may be reflected outside the laser radar and may be incident on the inside of the light-transmitting case 300. Thus, the laser radar can calculate the separation distance of an object outside the laser radar with respect to the laser radar using the time difference between the received laser light and the transmitted laser light.

Alternatively, the light-transmissive housing 300 may not be light-transmissive over all areas. The top of the light-transmissive case 300 may be formed using a material that is not transmissive to light. A part of the side portion of the light-transmitting case 300 may be formed of a light-transmitting material so that laser light emitted from the emission module 10 described later can be transmitted therethrough. In this case, a region of the light-transmitting case 300 through which the laser beam can pass may be referred to as a light-transmitting region.

The light blocking housing 400 may be located at a lower portion of the light transmissive housing 300. The light blocking housing 400 may be formed using a material that is not transparent to light. Therefore, laser light or external stray light does not enter the interior of the lidar through the light blocking housing 400.

As shown in fig. 1, the light blocking housing 400 is located at a lower portion, and the light transmissive housing 300 is formed at an upper portion of the light blocking housing 400, so that a sealed space capable of protecting the interior of the laser radar may be formed by the light transmissive housing 300 and the light blocking housing 400. Wherein the light blocking housing 400 and the light transmitting housing 300 may be formed in an axisymmetrical shape with a longitudinal centerline of fig. 1 as an axis.

The transmitting module 10 and the receiving module 20 of the lidar may be formed at a height corresponding to the light-transmitting area of the light-transmitting housing 300 rather than the light-blocking housing 400. Therefore, the laser light can be emitted from the emitting module 10 through the light-transmissive housing 300, and the receiving module 20 can receive the laser light returned from the outside through the light-transmissive housing 300. Wherein, the transmitting module 10 may transmit laser light to the outside, and the receiving module 20 may receive laser light reflected outside of the lidar.

The protective cover 100 may be formed in a cover shape having an open lower portion, and may cover at least a portion of the laser radar. The protective cover 100 may be formed inside a case formed by the light-transmitting case 300 and the light-blocking case 400. The protective cover 100 may be provided with the transmitting module 10 and the receiving module 20 at an upper portion thereof, or may have another structure (e.g., a rotation driving structure, a power transmission structure, a signal transmission structure, etc.) for accommodating the laser radar therein. As shown in fig. 1, the protective cover 100 extends in a height direction from a height corresponding to the light transmitting region of the light transmitting housing 300 to a height corresponding to the light blocking housing 400. That is, a portion of the protective cover 100 may be located within a height range of the light-transmitting region of the light-transmitting housing. Therefore, the transmission module 10 and the reception module 20 may be disposed on the protection cover 100.

The protective cover 100, the transmission module 10 and the reception module 20 may rotate with respect to the light-transmissive housing 300 and the light-blocking housing 400. The rotation may be a horizontal rotation of 360 degrees centered on the longitudinal central axis of fig. 1. The rotation can be performed by a rotation driving mechanism and a power transmission mechanism, which are not shown. The rotation driving structure and the power transmission structure may be located inside the protection cover 100, that is, the protection cover 100 may cover (protect) the interior of the laser radar, such as the rotation driving structure and the power transmission structure. When rotated, the protective cover 100, the transmit module 10 and the receive module 20 may rotate together while remaining stationary relative to each other. Accordingly, the rotation angles of the transmitter module 10 and the receiver module 20 may be the same as the rotation angle of the protective cover 100, so that the rotation angles of the transmitter module 10 and the receiver module 20 may be measured by measuring the rotation angle of the protective cover 100.

In order to measure the angle of the lidar rotation in real time, an optical-electrical encoder may be employed to perform the angle measurement to determine the orientation of the transmitting module 10 and the receiving module 20. The photoelectric encoder may include a light source (e.g., a light emitting diode), a code wheel, and a photoelectric sensor that can be used to measure the rotation angle of the protective cover 100 with respect to the light blocking housing 400. Wherein the code disc typically has a uniform arrangement of small holes. The light beam emitted by the light source passes through the small hole on the code disc or is reflected on the code disc, so that the light beam irradiates the photoelectric sensor to generate an electric pulse signal. The rotational speed and the current angle of the encoder disk can be determined from the pulse signals of the photoelectric sensor.

In an embodiment of the present invention, the code wheel may be disposed at the bottom of the protection cover 100. Specifically, as shown in fig. 1, the code wheel 200 may be disposed at the bottom of the protective cover 100, and may be formed in a disk shape as shown in fig. 4.

Further, in an embodiment according to the present invention, a protrusion 110 (shown in fig. 1 or 2) protruding outward or inward from the protective cover 100 may be formed at the bottom of the protective cover 100. The code wheel 200 according to an embodiment of the present invention may be disposed on the lower surface of the protrusion 110.

Also, the protrusion 110 may be formed at a position lower than the light transmission region of the light-transmitting housing 300. Therefore, laser light or stray light entering the laser radar through the light-transmissive housing 300 is blocked by the protective cover 100 or the projecting portion 110 without being irradiated or reflected to the code wheel 200. Therefore, the angle detection using the code wheel according to an embodiment of the present invention can be made not to be affected by the external light of the laser radar.

If the code wheel 200 is directly formed on the lower surface of the protective cover 100 without forming the protrusion 110 as described above, there may be the following problems: the external light of the laser radar is more likely to be reflected between the light-transmitting housing 300 and the protective cover 100 to be irradiated to the code wheel 200, and thus may affect the confirmation by the rotational angle of the code wheel 200. Further, since the brightness of light emitted from the light source of the photoelectric encoder is generally not high, the above-mentioned light from the outside of the laser radar may have a large influence on the detection of the rotation angle. Further, the laser light emitted from the emitter module 10 may also be irradiated to the code wheel 200.

In this regard, in an embodiment of the present invention, the code wheel 200 is disposed on the lower surface of the protrusion 110 of the protective cover 100 at a height lower than the light-transmitting region of the light-transmitting housing 300, so that it is possible to prevent external light from irradiating the code wheel and affecting the performance of the code wheel.

Fig. 1 shows a case where the protrusion 110 of the protection cover 100 is formed on the outer side of the bottom of the protection cover 100. However, the present invention is not limited thereto, and as shown in fig. 2, the protrusion 110 may be formed inside the bottom of the protection cover 100. Preferably, the projection 110 of the shield case 100 may be formed outside the bottom of the shield case 100, and thus the diameter of the code wheel 200 may be increased to improve the angle detection accuracy by the code wheel 200.

Further, the protective cover 100 and the protrusion 110 are preferably not in contact with the light blocking housing 400 and the light transmitting housing 300. That is, the protective cover 100 may not contact the light blocking housing 400 and the light transmitting housing 300 in a direction perpendicular to the rotation axis. Therefore, when the protective cover 100 rotates, the protective cover does not collide with the light blocking housing 400 and the light transmitting housing 300 to affect the rotation.

Further, although fig. 1 and 2 show a case where the protrusion 110 of the protection cover 100 is formed at the bottom of the protection cover 100. However, the present invention is not limited thereto, and as shown in fig. 3, the protrusion 110 may be formed near the lower portion of the protection cover 100 instead of the bottommost portion. At this time, the protrusion 110 should be formed at a position lower than the light-transmitting region of the light-transmitting housing 300, and therefore, the protrusion 110 may also function to prevent external light from being irradiated to the code wheel 200.

As shown in fig. 2, the light source and the photosensor of the optical-electrical encoder according to an embodiment of the present invention may be located below the code wheel 200. Also, the light source and the photosensor may be integrated into one module to measure the rotation angle using light reflected at the code wheel 200. Although the present invention has been described in the case where the light source and the photoelectric sensor of the photoelectric encoder are located below the code wheel 200, the photoelectric sensor may be located above the code wheel 200 to detect light emitted from the light source and passing through the code wheel 200.

Also, the light source of the photoelectric encoder, the photoelectric sensor, and the substrate on which the light source and the photoelectric sensor are disposed may be fixed with respect to the light blocking housing 400. So that the rotation angles of the protective cover 100 and the code wheel 200, which are rotated, can be measured.

Fig. 5 is a schematic diagram illustrating a laser radar according to another embodiment of the present invention. As shown in fig. 5, when the protrusion 110 protrudes outward from the protective cover, a sub-protrusion 111 protruding downward may be further formed on the outer side of the protrusion 110 or the outer side of the code wheel 200 below the protrusion 110. The sub protrusion 111 may be formed to have the same height as the code wheel 200 or to have a height higher than the code wheel 200 to further prevent external light from being incident to the code wheel 200.

Hereinafter, the overall configuration of the laser radar according to an embodiment of the present invention will be described.

According to the utility model discloses a laser radar of an embodiment can include fixed subassembly and rotating assembly. Also, the rotating assembly may rotate about a longitudinal axis (i.e., the centerline of fig. 1) with respect to the stationary assembly. The rotating assembly may be rotated by means of a motor, not shown. The motor may be located inside the protective cover 100. Also, the rotating assembly may be rotatably fixed relative to the stationary assembly by bearings, not shown.

In fig. 1, the light-transmitting housing 300, the light-blocking housing 400, and the light source and the photosensor of the photoelectric encoder may belong to a fixed assembly. The transmitting module 10, the receiving module 20, the protective cover 100 and the code wheel 200 may belong to a rotating component. The protective cover 100 and the code wheel 200 may be concentrically arranged for rotational stability. The rotation angle of the lidar can be measured without being affected by external laser light by the structure as described above.

In the above description, the case where the code wheel is formed on the lower portion of the projecting portion has been described, but it is also possible to interchange the positions of the code wheel and the light source or the photosensor so that the photosensor or the light source is located on the lower portion of the projecting portion, and to dispose the code wheel on the substrate below the projecting portion. In this case, the projecting portion may prevent stray light from entering the code wheel.

The embodiments described above with respect to the apparatus and method are merely illustrative, where separate units described may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. may be located in one location, or may be distributed over a plurality of network units. The technical scheme of the utility model can be realized by selecting some or all modules according to the actual needs.

Claims

1. A lidar, comprising:

a light blocking housing;

the light-transmitting shell is positioned at the upper part of the light-blocking shell and is provided with a light-transmitting area through which laser can pass;

a protective cover which is positioned inside the light-blocking shell and the light-transmitting shell and is provided with a convex part protruding outwards or inwards from the protective cover;

a code wheel fixed to a lower portion of the protrusion portion and capable of measuring a rotation angle of the protective cover with respect to the light blocking housing,

the formation position of the convex portion of the protective cover is lower than the height of the light transmission region of the light transmission housing.

2. The lidar of claim 1, further comprising:

a transmitting module capable of emitting laser light;

a receiving module capable of receiving the laser light reflected outside the laser radar after being emitted from the emitting module,

wherein the transmitting module and the receiving module are located at an upper portion of the protective cover and rotate together with the protective cover.

3. The lidar of claim 1, further comprising:

a portion of the protective cover is located within a height range of a light transmitting region of the light transmitting housing.

4. Lidar according to claim 1,

the projecting portion projects outward from the protective cover, and the projecting portion further includes a sub-projecting portion formed downward on the outer side of the code wheel.

5. Lidar according to claim 1,

the protective cover is not in contact with the light blocking shell and the light transmitting shell in the direction perpendicular to the rotating shaft.

6. Lidar according to claim 1,

the protective cover is formed in a shape configured to cover at least a part of the laser radar.

7. Lidar according to claim 1,

the protective cover is formed in a shape with an open lower part.

8. A lidar, comprising:

a light blocking housing;

a light source fixed to a lower portion of the protrusion portion and capable of measuring a rotation angle of the protective cover with respect to the light blocking housing,

9. Lidar according to claim 8,

a code wheel that can be used to measure the rotation angle of the protective cover relative to the light blocking housing is provided on the base plate below the projecting portion.

10. A lidar, comprising:

a light blocking housing;

a photoelectric sensor fixed to a lower portion of the protrusion portion and capable of measuring a rotation angle of the protective cover with respect to the light blocking housing,