CN218445968U - 360-degree scanning single-line laser radar structure - Google Patents

Abstract

The utility model belongs to the technical field of single line laser radar structure, in particular to a 360-degree scanning single line laser radar structure, which comprises a laser, a lens component, a rotary reflector, a shading cylinder, a receiver, an optical outer cover, a rotary motor, a power supply line, a motor mounting seat and other parts; the power supply line extends from the lower part of the shading cylinder to the upper part of the shading cylinder and supplies power to the rotating motor; the power supply line comprises an outer cladding layer and a wire core; the wire core is flat and arranged in the outer covering layer, and the thickness direction of the wire core is vertical to the horizontal light column; the outer cladding layer is made of transparent materials which can penetrate through the horizontal light column and the echo signals. Transparent surrounding layer has reduced sheltering from of power supply line laser, and the sinle silk adopts the flat structure of stromatolite design, echo signal that produces when can effectual reduction laser scanning sinle silk to make laser can pass the power supply line and carry out radar scanning to the target, thereby make the single line laser radar who takes the power supply line obtain 360 scanning range.

Description

360-degree scanning single-line laser radar structure

Technical Field

The utility model belongs to the technical field of the single line laser radar structure, concretely relates to 360 scanning single line laser radar structure.

Background

The laser radar is a radar system for detecting a characteristic quantity such as a position, a velocity, and the like of an object by emitting a laser beam. The laser radar is used as an effective distance measuring means, has the advantages of high measuring speed, high accuracy of acquired data, strong real-time performance and the like, can adapt to environments with complex weather, such as illumination, rain, snow and the like, and is widely applied to various fields. In addition, the laser radar and the common microwave radar also have the characteristic of high resolution, and the angular resolution is usually not lower than 0.1mard, namely two targets which are 0.3 m away from each other at a distance of 3 kilometers can be resolved (which is impossible for the microwave radar at any time), and a plurality of targets can be tracked simultaneously; the distance resolution can reach 0.1 meter; the speed resolution can reach within 10 m/s. The high range and velocity resolution means that range-doppler imaging techniques can be used to obtain sharp images of the target. Meanwhile, because the laser is transmitted linearly, has good directivity and very narrow light beam and can be received only on the transmission path, the enemy is very difficult to intercept, the caliber of a transmitting system (a transmitting telescope) of the laser radar is very small, the receivable area is narrow, and the probability that the intentionally transmitted laser interference signal enters a receiver is extremely low; in addition, different from the situation that the microwave radar is easily influenced by electromagnetic waves widely existing in the nature, the number of signal sources which can interfere the laser radar in the nature is small, so that the laser radar has strong capability of resisting active interference and is suitable for working in increasingly complex and violent information warfare environments.

Because of the many advantages that laser radar exists, laser radar's application is also very much, and laser radar can divide into single line laser radar and multi-thread laser radar according to the pencil, and single line laser radar is the laser radar that present cost is the lowest, and is with low costs, also means the most approximate volume production, therefore single line laser radar's often application also is better. The working principle of the single-beam laser is that the emitter rotates at a constant speed in the laser radar, the laser is emitted once when the emitter rotates for a small angle, and a frame of complete data is generated after the emitter rotates for a certain angle. Because of the excellent characteristics of the laser radar in ranging, the laser radar plays an indispensable role in the perception link in the field of intelligent motion; and because of the cost, the single-line laser radar is selected more when the distance is measured.

At present, in some existing internal structures of the single line laser radar, a rotation mechanism is often located above a scanning laser, so that a power supply line is required to extend from the lower part of the laser to the upper part of the laser, so as to realize power supply to the rotation mechanism, when the laser irradiates on the power supply line, an echo signal is generated and is sensed by a receiver, so when the scanning structure scans in an area where the power supply line is located, a scanned target is the power supply line but not a distant target, and meanwhile, due to the fact, a scanning angle range of the scanning structure of the laser radar is about 280 degrees, and 360-degree scanning cannot be realized.

For the problem, a mode adopted by part of the single-line laser radars is a mode of controlling the rotation of a rotating machine by utilizing a wireless transmission mode, so that the problem of scanning angle limitation caused by a scanning structure with a power supply line is solved, but the mode has the defects that the whole ranging module needs to be placed on a rotating part, so that the load of the rotating machine is increased, and the integral scanning speed is reduced; meanwhile, due to the fact that a wireless power supply technology and a wireless signal transmission technology are needed, the complexity and the production cost of the whole technology are greatly increased, and the applicable scene and the mass production process of the single-line laser radar are severely limited; for this reason, it is necessary to design a single line laser radar that is simple in structure and capable of 360 ° scanning.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the partial scanning range of the existing single-line laser radar is blocked by a power supply line, the scheme provides a 360-degree scanning single-line laser radar structure.

The utility model discloses the technical scheme who adopts does:

a 360 ° scanning single line lidar structure comprising:

a laser capable of emitting laser light upward;

the lens assembly is arranged above the laser and can change the laser into a collimated light beam which is parallel and vertically upward;

the rotary reflector is arranged above the lens component and can reflect the collimated light beam into a parallel horizontal light beam, and the rotary reflector can rotate for 360 degrees under the control of a rotary motor;

the shading cylinder is arranged below the rotary reflecting mirror and can synchronously rotate with the rotary reflecting mirror; the light shading cylinder is provided with a light inlet and a light outlet, the light inlet is opposite to the collimation light column, and the horizontal light column is emitted from the light outlet of the light shading cylinder;

the receiver is arranged below the laser and used for receiving an echo signal of the laser; the echo signal passes through the shading cylinder and is focused on the receiver by the lens component;

and a power supply line extending from the lower side of the shade cylinder to the upper side of the shade cylinder and supplying power to the rotary motor; the power supply line comprises an outer cladding layer and a wire core; the wire core is flat and arranged in the outer covering layer, and the thickness direction of the wire core is vertical to the horizontal light column; the outer cladding layer is made of transparent materials which can transmit the horizontal light beam and the echo signal.

This single line laser radar structure is when the scanning, because the power supply line adopts permeable laser's surrounding layer, therefore, when the light-emitting window aims at the power supply line, the surrounding layer only can produce less laser echo signal, simultaneously again because the sinle silk adopts flat structure, this sinle silk is in the regional projection of the produced laser facula of horizontal light column or shelter from less, the sinle silk also only produces less laser echo signal, therefore, when the direction at single line laser radar structure scanning power supply line place, laser and the produced echo signal of target can pass the power supply line and transmit to receiver department, thereby guarantee the scanning to the target, and then reach 360 scanning's effect, and avoided the sheltering from of power supply line to laser scanning.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the cable core comprises two flat conductive layers and an insulating interlayer arranged between the two flat conductive layers. The two conducting layers in the structure can be a first conducting layer and a second conducting layer respectively, the two conducting layers can adopt copper foils, the thickness of the insulating interlayer is also lower and is equivalent to that of the copper foils, so that the thickness of the wire core is lower, and echo signals generated when laser irradiates the wire core are reduced; meanwhile, when the horizontal light pillar is obliquely opposite to the wire core, the width of the wire core determines the projection width of the wire core on a laser spot generated by the horizontal light pillar, so that the width of the wire core is reduced as much as possible on the basis of ensuring that the conducting layer meets the requirement of power supply current transmission. Meanwhile, the double-circuit arrangement is realized by arranging the conducting layers on two sides of the insulating interlayer.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: a plurality of wire cores are arranged in an outer cladding layer of the power supply line at intervals; the cores are parallel to each other. If the required power supply line of rotating electrical machines is greater than 2, then need a plurality of sinle silks to supply power, and adopt a plurality of sinle silks interval parallel arrangement's mode, the produced echo signal of reduction sinle silks that can be more effective.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: when the light shading cylinder rotates to the power supply line, the distance between the light outlet of the light shading cylinder and the power supply line is less than 1mm. When the distance between the power supply line and the light outlet is low, diffuse reflection generated when laser irradiates on the power supply line is mostly absorbed by the inner wall of the shading cylinder, and even if a small amount of diffuse reflection is received by the receiver as echo signals, screening can be carried out according to the characteristics of the echo signals, so that screening of the echo signals generated by the target is effectively guaranteed.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the inner diameter of the light outlet is less than or equal to 9mm; the width of the power supply line is less than or equal to 2.7mm. When the distance of the light outlet is smaller, the focusing performance of the laser is higher, so that an echo signal is generated from a position which is close to one point on a target, and the interference is effectively reduced. Although the echo signal generated by the power supply line is small, if the echo signal generated by the target is small, the detection result is also affected, the ratio of the echo signals generated by the power supply line and the target is a more critical element, and it is clear that the larger the ratio of the echo signal generated by the target to the echo signal generated by the power supply line is, the better the ratio is; at present, the product developed by the technology adopts a light outlet with an inner diameter of 9mm and a power supply line with a width of 2.7mm, and can meet the requirement.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the shading cylinder is L-shaped, and the reflecting surface of the rotary reflector is arranged at the corner of the shading cylinder.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the single-line laser radar structure also comprises an optical outer cover; the optical outer cover is in an inverted barrel shape and is provided with an arc-shaped inner wall; the side face of the power supply line, which is far away from the shading cylinder, is in a convex arc shape so as to be attached to the inner wall of the optical outer cover. This optics dustcoat is because the needs of mould processing often designed for conical structure, in order to laminate the inner wall of power supply line and optics dustcoat in this scheme, avoids the air gap that exists between the two or accumulational dust to influence the scanning, is the convex arc form with a side design of power supply line to match in the concave arc form of optics dustcoat inner wall, also improved the stability of power supply line position simultaneously.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the interior top of optics dustcoat is provided with the motor mount pad, and the rotating electrical machines is installed on this motor mount pad, and the dorsal part of rotatory speculum is connected fixedly to the pivot of rotating electrical machines.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the lens component comprises a collimating lens, a light-transmitting cylinder and a light-collecting lens; the light collecting mirror is conical, and a hole for installing the light transmitting cylinder is formed in the middle of the light collecting mirror; the light-transmitting cylinder is tubular, and the collimating mirror is arranged in the light-transmitting cylinder.

As an alternative or complementary design to the above 360 ° scanning single line lidar structure: the laser emitted by the laser is refracted into a collimated light column by the collimating mirror; the echo signal returned from the light inlet of the light shading tube is refracted by the collimating lens, the light transmitting tube and the light receiving lens in sequence and is received by the receiver.

The utility model has the advantages that:

1. according to the scheme, the outer cladding layer of the power supply line is made of transparent materials, so that laser shielding of the power supply line is reduced, meanwhile, due to the fact that the line core is of a flat structure in a laminated design, echo signals generated when the line core is scanned by laser can be effectively reduced, laser can penetrate through the power supply line to conduct radar scanning on a target, and therefore a single-line laser radar with the power supply line can obtain a scanning range of 360 degrees;

2. according to the scheme, by designing the width size of the power supply line and the size of the light outlet of the shading cylinder, the larger the proportion value of an echo signal generated by a target to an echo signal generated by the power supply line is, the better the proportion value is, and meanwhile, in order to meet the requirement of 360-degree scanning, the light outlet with the inner diameter of 9mm and the power supply line with the width of 2.7mm can be adopted;

3. in the scheme, the distance between the light outlet of the light shading cylinder and the power supply line is designed to be less than 1mm, so that the laser irradiates the power supply line to generate diffuse reflection, and most of the diffuse reflection is absorbed by the inner wall of the light shading cylinder, and even if a small amount of diffuse reflection is received by the receiver as an echo signal, the realization screening can be conveniently realized, and the effective scanning of a target is ensured.

Drawings

In order to clearly illustrate the embodiment of the present invention or the technical solutions in the prior art, the drawings used in the embodiment or the prior art description will be briefly introduced below.

FIG. 1 is an exploded view of a single line lidar structure;

FIG. 2 is a cross-sectional block diagram of a single line laser radar structure;

fig. 3 is a view of the installation position of the power supply line;

FIG. 4 is a cross-sectional structural view of the power supply line;

fig. 5 is a perspective view of a single line lidar structure.

In the figure: 1-an optics housing; 2-a motor mounting seat; 3-a rotating electrical machine; 4-a rotating mirror; 5-shading cylinder; 6-a collimating mirror; 7-a light-transmitting cylinder; 8-a light collecting mirror; 9-a laser; 10-a receiver; 11-a supply line; 111-an outer cladding; 112-a wire core; 1121 — first conductive layer; 1122-insulating barrier layer; 1123-a second conductive layer; 12-ring sleeve.

Detailed Description

The technical solutions in the embodiments will be described clearly and completely with reference to the accompanying drawings, and the described embodiments are only a part of the embodiments, but not all embodiments, and all other embodiments obtained by those skilled in the art without creative efforts will belong to the protection scope of the present solution based on the embodiments in the present solution.

At present, in some internal structures of the single line laser radar, a rotation mechanism is often located above a scanning laser, so that a power supply line 11 is required to extend from below the laser to above the laser, so as to supply power to the rotation mechanism, when the laser irradiates on the power supply line 11, an echo signal is generated and is sensed by a receiver 10, at this time, the receiver 10 will mistake the scanning line as a scanning target, so when the scanning structure scans in an area where the power supply line 11 is located, the scanned target is the power supply line 11 and is not a distant target, and due to this, the scanning angle range of the scanning structure of the laser radar is about 280 °, and 360 ° scanning cannot be achieved.

In order to solve the problem, a mode adopted by a part of single-line laser radars is a mode of controlling the rotation of a rotating machine in a wireless transmission mode, so that the problem of scanning angle limitation caused by a scanning structure with a power supply line 11 is solved, but the mode has the defect that the whole ranging module needs to be placed on a rotating part, so that the load of the rotating motor 3 is increased, and the integral scanning rate is reduced; meanwhile, due to the fact that a wireless power supply technology and a wireless signal transmission technology are needed, complexity and production cost of the whole technology are greatly increased, and application scenes and mass production processes of the single-line laser radar are severely limited.

Example 1

In order to avoid the laser beam being blocked by the power supply line 11 and to reduce the echo signal generated by the power supply line 11, a power supply line 11 that is transparent to laser light is provided in the present embodiment, as shown in fig. 3 and 4.

The power supply line 11 extends from below the light outlet of the singlet lidar to above the light outlet when in use; the power supply line 11 comprises a power supply line 11 which comprises an outer cladding layer 111 and a wire core 112; the core 112 is flat and disposed in the outer cladding 111, the thickness direction of the core 112 is perpendicular to the horizontal light beam, the horizontal light beam is generated by laser and emitted from the light outlet, and when the core 112 has a plurality of cores, the cores 112 are parallel to each other. If the required power supply line 11 way of rotating electrical machines 3 is greater than 2, then need a plurality of sinle silks 112 to supply power, every sinle silk 112 can provide two ways of power supplies, and adopts the mode of a plurality of sinle silks 112 interval parallel arrangement, can more effective reduction sinle silk 112 produced echo signal.

The outer cladding 111 is transparent and can transmit the horizontal light beam and the echo signal thereof generated by the laser. The material of the outer cladding 111 may be selected according to the transmittance of the laser beam, and it should be noted that the transparency of the outer cladding 111 in this embodiment means high transmittance of the laser beam, not transparency to natural light.

The core 112 includes two flat conductive layers and an insulating spacer 1122 disposed therebetween. The two conductive layers in the structure may be a first conductive layer 1121 and a second conductive layer 1123, both of the two conductive layers may adopt copper foils, and the insulating interlayer 1122 has a lower thickness, which is equal to the thickness of the copper foils, so that the thickness of the core 112 is lower, and an echo signal generated by laser irradiation on the core 112 is reduced. When the horizontal light column is opposite to the wire core 112, the total thickness of the wire core 112 is the shielding range of the laser spot generated by the wire core 112 in the horizontal light column, and is also the area where the wire core 112 generates the echo signal, because the echo signal needs to be reduced, the lower the total thickness of the wire core 112 is, the better. In addition, when the horizontal light beam is diagonally opposite to the core 112, the width of the core 112 is also converted into the thickness direction, so the width of the core 112 will determine the projection width of the laser spot generated by the horizontal light beam. Therefore, the width and thickness of the wire core 112 should be reduced as much as possible while ensuring that the conductive layer meets the requirements of the power supply current.

In this embodiment, the total thickness of the core 112 is effectively reduced by a dual-path power supply manner for the core 112, and meanwhile, a dual-path arrangement is realized by arranging conductive layers on two sides of the insulating interlayer 1122, so that the shielding of the core 112 on the laser and the generated echo signal are effectively reduced.

Furthermore, when the single line laser radar adopts the optical cover 1 as a protective cover, the power supply line 11 is often required to be attached to the inner wall of the optical cover 1, and when the optical cover 1 is in an inverted barrel shape, the optical cover 1 has an arc-shaped inner wall; the side of the power supply line 11 away from the shading cylinder 5 is in a convex arc shape so as to be attached to the inner wall of the optical outer cover 1. This optics dustcoat 1 is often designed for conical structure because the needs of mould processing, in order to laminate power supply line 11 and the inner wall of optics dustcoat 1, avoids the air gap that exists between the two or accumulational dust to influence the scanning of laser, designs a side of power supply line 11 for convex arc shape to match in the concave arc shape of optics dustcoat 1 inner wall, also guaranteed the stability of power supply line 11 mounted position simultaneously.

Example 2

In order to realize 360 ° scanning of the single line laser radar, the present embodiment designs a 360 ° scanning single line laser radar structure, as shown in fig. 1 to 5.

The single line laser radar structure of the embodiment comprises a laser 9, a lens assembly, a rotary reflector 4, a shading cylinder 5, a receiver 10, an optical housing 1, a rotary motor 3, a power supply line 11, a motor mounting seat 2 and the like.

The optical housing 1 is in an inverted barrel shape and has an arc-shaped inner wall, so that the requirement of die processing is met. The side of the power supply line 11 away from the shading cylinder 5 is in a convex arc shape so as to be attached to the inner wall of the optical outer cover 1. In order to laminate power supply line 11 and optics dustcoat 1's inner wall in this scheme, avoid the air gap that exists between the two or accumulational dust to influence the scanning, design power supply line 11's a side for convex arc shape to match in the concave arc shape of optics dustcoat 1 inner wall, also improved the stability of power supply line 11 position simultaneously.

The laser 9 is capable of emitting laser light upward; the laser 9 is a commercially available laser generator, and belongs to the prior art, and is not described herein.

The lens assembly is used for changing the laser into a collimated light column which is parallel and vertically upward; the lens assembly may further have a function of echo signal refraction, that is, focusing an echo signal of the laser light, so that the echo signal can be focused on the receiver 10 to be received by the receiver 10, and any one of the above two functions in the market may be regarded as the lens assembly according to the present embodiment. In order to realize the collimation of laser and the focusing of echo signals, the embodiment designs a specific lens assembly, which includes a collimating lens 6, a light-transmitting cylinder 7, a light-receiving lens 8, and other components; the light-receiving mirror 8 is conical, and a hole for installing the light-transmitting cylinder 7 is formed in the middle of the light-receiving mirror 8; the light-transmitting cylinder 7 is tubular, and the collimating lens 6 is arranged in the light-transmitting cylinder 7.

The lens component is arranged above the laser 9 when in use, and laser emitted by the laser 9 is refracted into a collimated light beam by the collimating lens 6; the echo signal returned from the light inlet of the light shielding tube 5 is refracted by the collimating lens 6, the light transmitting tube 7 and the light receiving lens 8 in sequence and is received by the receiver 10.

The rotating mirror 4 is arranged above the lens assembly and can reflect the collimated light beam into a parallel horizontal light beam, and the rotating mirror 4 can rotate 360 degrees under the control of the rotating motor 3.

The shading cylinder 5 is arranged below the rotary reflecting mirror 4 and can synchronously rotate with the rotary reflecting mirror; the light-shielding cylinder 5 is provided with a light inlet and a light outlet, the light inlet is opposite to the collimating light column, and the horizontal light column is emitted from the light outlet of the light-shielding cylinder 5. The shading cylinder 5 is L-shaped, and the reflecting surface of the rotary reflector 4 is arranged at the corner of the shading cylinder 5. A ring sleeve 12 is sleeved outside the light outlet of the shading cylinder 5.

The receiver 10 is arranged below the laser 9 and used for receiving an echo signal of the laser; the echo signal passes through the light shielding cylinder 5 and is focused by the lens assembly onto the receiver 10.

The inner top of the optical outer cover 1 is provided with a motor mounting base 2, a rotating motor 3 is mounted on the motor mounting base 2, and the back side of a rotating reflector 4 is fixedly connected to a rotating shaft of the rotating motor 3.

The main function of the power supply line 11 is to supply power to the rotating electrical machine 3, and since the rotating electrical machine 3 is located above the light-shielding cylinder 5, when the power supply line 11 is installed, the power supply line extends from the lower side of the light-shielding cylinder 5 to the upper side of the light-shielding cylinder 5, and the arrangement mode can affect the scanning of the single-line laser radar, that is, when the power supply line 11 is in the scanning area of the laser radar, the receiver 10 can easily scan the power supply line 11 instead of scanning the actual target, and thus, the effect of realizing 360-degree scanning of the single-line laser radar is limited.

Therefore, the present embodiment adopts a new structure of the power supply line 11, the structure of the power supply line 11 includes an outer cladding 111 and a core 112; the wire core 112 is flat and arranged in the outer cladding 111, and the thickness direction of the wire core 112 is perpendicular to the horizontal light column; the outer cladding 111 is made of a transparent material that can transmit the horizontal light beam and the echo signal. When the light outlet is aligned to the power supply line 11, the outer cladding 111 only generates a small number of laser echo signals, and meanwhile, because the line core 112 adopts a flat structure, the projection or shielding of the line core 112 in a laser spot area generated by a horizontal light column is small, and the line core 112 also only generates a small number of laser echo signals, therefore, when the single-line laser radar structure scans the direction of the power supply line 11, the echo signals generated by laser and a target can pass through the power supply line 11 and are transmitted to the receiver 10, and further, the 360-degree scanning effect is achieved.

The core 112 includes two flat conductive layers and an insulating spacer 1122 disposed therebetween, the two conductive layers and the insulating spacer 1122 forming a stacked structure. The two conductive layers in the structure may be the first conductive layer 1121 and the second conductive layer 1123, both of the two conductive layers may adopt copper foils, and the insulating interlayer 1122 has a lower thickness, which is equivalent to the copper foil, so that the thickness of the core 112 is lower, and the echo signal generated by the laser irradiated on the core 112 is reduced; meanwhile, when the horizontal light beam is obliquely opposite to the wire core 112, the width of the wire core 112 will determine the projection width of the wire core on the laser spot generated by the horizontal light beam, so that the width of the wire core 112 should be reduced as much as possible on the basis of ensuring that the conductive layer meets the requirement of power supply current transmission.

When the light-shielding cylinder 5 rotates to the power supply line 11, the distance d1 between the light outlet of the light-shielding cylinder 5 and the power supply line 11 is less than 1mm. The inner diameter d2 of the light outlet is less than or equal to 9mm; the width d3 of the power supply line 11 is 2.7mm or less. When the distance between the power supply line 11 and the light outlet is relatively low, the diffuse reflection generated by the laser irradiating the power supply line 11 will be mostly absorbed by the inner wall of the light shielding cylinder 5, and even if a small amount of diffuse reflection is received as echo signals by the receiver 10, the echo signals can be screened according to the characteristics of the echo signals, so that the screening of the echo signals generated by the target is effectively ensured. It is clear that the larger the ratio of the echo signal generated by the target to the echo signal generated by the power supply line 11, the better, and the product developed by the technology adopts the light outlet with the inner diameter of 9mm and the power supply line 11 with the width of 2.7mm, which can meet the requirement.

The above examples are merely for clearly illustrating the examples and are not intended to limit the embodiments; this need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications of this technology may be resorted to while remaining within the scope of the technology.

Claims (10)

1. The utility model provides a 360 scan single line laser radar structure which characterized in that: the method comprises the following steps:

a laser (9) capable of emitting laser light upward;

the lens assembly is arranged above the laser (9) and can change laser into a collimated light beam which is parallel and vertically upward;

the rotary reflector (4) is arranged above the lens component and can reflect the collimated light beam into a parallel horizontal light beam, and the rotary reflector (4) can rotate for 360 degrees under the control of the rotary motor (3);

a shading cylinder (5) which is arranged below the rotary reflector (4) and can synchronously rotate with the rotary reflector; the light shading cylinder (5) is provided with a light inlet and a light outlet, the light inlet is opposite to the collimating light column, and the horizontal light column is emitted from the light outlet of the light shading cylinder (5);

a receiver (10) which is disposed below the laser (9) and receives an echo signal of the laser; the echo signal passes through a shading cylinder (5) and is focused on the receiver (10) by a lens assembly;

and a power supply line (11) extending from the lower part of the shading cylinder (5) to the upper part of the shading cylinder (5) and supplying power to the rotating motor (3); the supply line (11) comprises an outer cladding (111) and a core (112); the wire core (112) is flat and arranged in the outer cladding (111), and the thickness direction of the wire core (112) is vertical to the horizontal light beam; the outer cladding layer (111) is made of transparent materials which can transmit horizontal light beams and echo signals.

2. The 360 ° scanning singlet laser radar structure of claim 1, wherein: the core (112) includes two flat conductive layers and an insulating spacer layer (1122) disposed therebetween.

3. The 360 ° scanning singlet laser radar structure of claim 2, wherein: a plurality of wire cores (112) are arranged in an outer cladding (111) of the power supply line (11) at intervals; the individual cores (112) are parallel to each other.

4. The 360 ° scanning single line lidar structure of claim 1, wherein: when the light-shading cylinder (5) rotates to the power supply line (11), the distance between the light outlet of the light-shading cylinder (5) and the power supply line (11) is less than 1mm.

5. The 360 ° scanning singlet lidar structure of claim 4, wherein: the inner diameter of the light outlet is less than or equal to 9mm; the width of the power supply line (11) is less than or equal to 2.7mm.

6. The 360 ° scanning single line lidar structure of claim 1, wherein: the light shading cylinder (5) is L-shaped, and the reflecting surface of the rotary reflector (4) is arranged at the corner of the light shading cylinder (5).

7. The 360 ° scanning single line lidar structure of claim 1, wherein: the single-line laser radar structure also comprises an optical outer cover (1); the optical outer cover (1) is in an inverted barrel shape and is provided with an arc-shaped inner wall; the side surface of the power supply line (11) far away from the shading cylinder (5) is in a convex arc shape so as to be attached to the inner wall of the optical outer cover (1).

8. The 360 ° scanning singlet laser radar structure of claim 7, wherein: the optical housing is characterized in that a motor mounting seat (2) is arranged at the inner top of the optical housing (1), a rotating motor (3) is mounted on the motor mounting seat (2), and the back side of a rotating reflector (4) is connected and fixed to a rotating shaft of the rotating motor (3).

9. The 360 ° scanning singlet laser radar structure of claim 1, wherein: the lens assembly comprises a collimating lens (6), a light-transmitting cylinder (7) and a light-collecting lens (8); the light-receiving mirror (8) is conical, and a hole for installing the light-transmitting cylinder (7) is formed in the middle of the light-receiving mirror (8); the light-transmitting cylinder (7) is tubular, and the collimating lens (6) is arranged in the light-transmitting cylinder (7).

10. The 360 ° scanning single line lidar structure of claim 9, wherein: the laser emitted by the laser (9) is refracted into a collimated light column by the collimating mirror (6); echo signals returned from the light inlet of the light shading cylinder (5) are refracted by the collimating lens (6), the light transmitting cylinder (7) and the light receiving lens (8) in sequence and received by the receiver (10).

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