CN219799766U

CN219799766U - Laser radar

Info

Publication number: CN219799766U
Application number: CN202320765360.5U
Authority: CN
Inventors: 刘波; 杨昆; 刘吉安; 胡攀攀
Original assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Current assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-10-03
Anticipated expiration: 2033-04-10

Abstract

The embodiment of the utility model provides a laser radar which comprises a bottom shell and a camera module, wherein a laser receiving and transmitting module and a filtering cover are arranged at one end of the bottom shell, the filtering cover is arranged outside the laser receiving and transmitting module, the camera module is arranged on the side wall of the bottom shell, and the camera module is positioned at one end of the bottom shell far away from the filtering cover. In the technical scheme of the utility model, the camera module is directly arranged on the bottom shell of the laser radar, so that the bracket structure of the existing radar integrated machine is omitted, and the problems of complex structure and large volume of the existing radar integrated machine are avoided.

Description

Laser radar

Technical Field

The utility model relates to the technical field of laser detection, in particular to a laser radar.

Background

Detection of obstacles in the driving environment of an unmanned vehicle is one of the key technologies of an environment sensing system of an unmanned vehicle. At present, a sensor installed on an unmanned automobile is generally adopted, two-dimensional images and three-dimensional distance data around the automobile are acquired and analyzed in real time in the driving process, and the data are transmitted to a control system of the unmanned automobile to control the unmanned automobile.

The visual camera and the laser radar are two distance measuring sensing elements which are most commonly used at present, the unmanned automobile runs in an unknown complex environment, the detection information obtained only through the video camera or the laser radar is single, accurate positioning is difficult to carry out, and the fusion of multiple sensors is a necessary development trend of obstacle detection of the unmanned automobile. There is the thunder all-in-one that integrates vision camera and laser radar in the present market, and current thunder all-in-one is mostly through designing the support, installs vision camera and laser radar respectively on the support to realize the integration of vision camera and laser radar, so current thunder all-in-one has the problem that the structure is complicated, the volume is great.

Disclosure of Invention

The embodiment of the utility model provides a laser radar, which aims to solve the problems of complex structure and large volume of the existing radar integrated machine.

The present utility model provides a laser radar including:

the laser transceiver module and the optical filter cover are arranged at one end of the bottom shell, and the optical filter cover is arranged outside the laser transceiver module; the method comprises the steps of,

the camera module is arranged on the shell side wall of the bottom shell and is positioned at one end of the bottom shell away from the filter cover.

In the technical scheme of the utility model, the camera module is directly arranged on the bottom shell of the laser radar, so that the bracket structure of the existing radar integrated machine is omitted, and the problems of complex structure and large volume of the existing radar integrated machine are avoided.

In a specific embodiment, the camera module is disposed in the bottom shell, a mounting hole is formed on a side wall of the bottom shell corresponding to a lens of the camera module, and the lens of the camera module extends into the mounting hole.

In a specific embodiment, a supporting protrusion is protruding towards the camera module on the inner shell surface of the shell side wall of the bottom shell, and the camera module is installed at the supporting protrusion.

In a specific embodiment, a wire passing hole is formed in a side wall, away from the mounting hole, of the bottom shell, corresponding to the camera module, and the wire passing hole is used for supplying power to pass through a cable connected with the camera module.

In a specific embodiment, a light supplementing lamp is disposed on a side wall of the bottom shell corresponding to the camera module.

In a specific embodiment, the light-compensating lamps are disposed on two opposite sides of the camera module.

In a specific embodiment, a mounting groove is formed in the outer shell surface of the shell side wall of the bottom shell, the camera module and the light supplementing lamp are both arranged at the groove bottom wall of the mounting groove, a cover plate is arranged at the notch of the mounting groove in a sealing cover mode, and the cover plate corresponds to the camera module and the light supplementing lamp respectively provided with a first light hole and a second light hole.

In a specific embodiment, the light supplementing lamp is embedded on a shell surface of a shell side wall of the bottom shell, and a wiring hole is formed on the shell side wall of the bottom shell corresponding to the light supplementing lamp.

In a specific embodiment, a rotation driving device is disposed in one end of the bottom shell away from the camera module, and the rotation driving device is in power coupling connection with the laser transceiver module, so as to drive the laser transceiver module to rotate through the rotation driving device, and a lens of the camera module faces away from a rotation axis of the laser transceiver module.

In a specific embodiment, a first accommodating cavity and a second accommodating cavity are formed in the bottom shell at intervals, the first accommodating cavity and the second accommodating cavity are respectively located at one end of the bottom shell, which is close to the laser receiving and transmitting module, and one end of the bottom shell, which is far away from the laser receiving and transmitting module, and the rotary driving device is arranged in the first accommodating cavity.

In a specific embodiment, the camera module is disposed in the second accommodating cavity.

In a specific embodiment, a main control board is disposed in the second accommodating cavity, and the main control board is electrically connected with the rotation driving device and the laser transceiver module.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

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

FIG. 2 is a cross-sectional view of the lidar of FIG. 1;

FIG. 3 is a schematic view of the laser radar of FIG. 1 with a cover plate removed;

FIG. 4 is a schematic view of an internal structure of the camera module in FIG. 1;

reference numerals illustrate: the laser radar device comprises a laser radar 1000, a bottom shell 100, a mounting hole 110, a supporting protrusion 120, a mounting groove 130, a first accommodating cavity 140, a second accommodating cavity 150, a wire passing hole 160, a laser receiving and transmitting module 200, a filter cover 300, a camera module 400, a lens 410, a camera circuit board 420, a light supplementing lamp 500, a light source 510, a circuit board 520, a cover plate 600, a first light transmitting hole 610, a second light transmitting hole 620, a rotary driving device 700 and a main control board 800.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

The utility model provides a laser radar which is a radar integrated machine integrating a laser radar and a vision sensor, can be used for autonomous navigation on vehicles, on boards and ships, and radar monitoring of obstacle avoidance, 3D mobile map building, robots and the like, and is an embodiment of the laser radar provided by the utility model in fig. 1 to 4.

Referring to fig. 1 to 3, in the present embodiment, a lidar 1000 includes a bottom case 100 and a camera module 400.

Referring to fig. 1 and 2, one end of the bottom case 100 is provided with a laser transceiver module 200 and a filter cover 300, and the filter cover 300 is covered outside the laser transceiver module 200.

Specifically, the laser transceiver module 200 and the filter cover 300 are both connected to the same end of the bottom case 100, and the end of the bottom case 100 connected to the filter cover 300 is defined as the upper end of the bottom case 100.

The laser transceiver module 200 can emit a laser beam to the detected object, the laser beam is reflected by the detected object to generate an echo signal, and the laser transceiver module 200 can receive the echo signal. The filter cover 300 is generally in a cylindrical shape with a downward opening, the lower end of the laser transceiver module 200 is connected with the bottom shell 100, and the filter cover 300 is covered outside the upper end of the laser transceiver module 200.

The laser radar 1000 is generally provided with a main control board 800, the main control board 800 is located in the bottom shell 100, the main control board 800 is electrically connected with the laser transceiver module 200, and the main control board 800 can determine relevant information of the detected object, such as a distance, a contour, an azimuth, and the like of the detected object according to the transmitting signal and the echo signal.

Referring to fig. 1, 3 and 4, the camera module 400 is disposed on a side wall of the bottom case 100, and the camera module 400 is located at an end of the bottom case 100 away from the filter cover 300.

Specifically, the camera module 400 is disposed at the lower end of the bottom case 100, and the lens 410 of the camera module 400 may be disposed horizontally and outwards, or the lens 410 of the camera module 400 may be disposed obliquely upwards or downwards with respect to the horizontal direction.

The camera module 400 is disposed on a shell side wall of the bottom shell 100, the camera module 400 may be disposed on an inner shell surface of the shell side wall of the bottom shell 100, and the camera module 400 may also be disposed on an outer shell surface of the shell side wall of the bottom shell 100. Alternatively, referring to fig. 1, 2 and 4, in the present embodiment, the camera module 400 is disposed in the bottom case 100, the side wall of the bottom case 100 corresponding to the lens 410 of the camera module 400 is provided with a mounting hole 110, and the lens 410 of the camera module 400 extends into the mounting hole 110. The camera module 400 is installed in the bottom case 100, which is beneficial to reducing the volume of the laser radar 1000.

The specific style of the camera module 400 may be set according to the actual situation, and optionally, referring to fig. 1, 2 and 4, in this embodiment, the camera module 400 includes a lens 410 and a camera circuit board 420, the camera circuit board 420 is located in the lower end of the bottom shell 100, the lens 410 is disposed on a board surface of the camera circuit board 420 facing the mounting hole 110, and one end of the lens 410 away from the camera circuit board 420 extends into the mounting hole 110.

Optionally, referring to fig. 1, 2 and 4, in this embodiment, a supporting protrusion 120 is protruding towards the camera module 400 on an inner surface of a shell sidewall of the bottom shell 100, and the camera module 400 is mounted at the supporting protrusion 120.

Specifically, the inner surface of the side wall of the bottom case 100 is provided with a supporting protrusion 120 protruding toward the camera circuit board 420, the supporting protrusion 120 is located at one side of the camera circuit board 420 near the lens 410, and the camera circuit board 420 may be fixed to the supporting protrusion 120 by a screw or the like.

For example, referring to fig. 4, in the present embodiment, two supporting protrusions 120 are protruding from two ends of the inner surface of the side wall of the bottom case 100 corresponding to the camera circuit board 420 in the horizontal direction, and two ends of the camera circuit board 420 are fixedly connected to the two supporting protrusions 120 respectively.

The camera module 400 can be used for collecting image data, and the image data collected by the camera module 400 can be transmitted to the outside through a circuit part on the laser radar 1000 such as the main control board 800, or the image data collected by the camera module 400 can be directly transmitted to the outside without passing through the circuit part on the laser radar 1000. Optionally, referring to fig. 1, 2 and 4, in the present embodiment, a wire through hole 160 is formed on a side wall of the bottom case 100 away from the mounting hole 110 corresponding to the camera module 400, and the wire through hole 160 is used for passing a cable (not shown in the drawings) connected to the camera module 400.

Specifically, the camera module 400 is electrically connected to the upper computer through a cable, and the image data collected by the camera module 400 is directly transmitted to the upper computer through the cable. One end of the cable is connected with the camera circuit board 420 of the camera module 400, and the other end of the cable penetrates out of the bottom shell 100 from the wire through hole 160 to be connected with an upper computer.

The via hole 160 is located at a side of the camera circuit board 420 away from the lens 410, and the via hole 160 and the mounting hole 110 are respectively located on two opposite side walls of the bottom case 100 in a horizontal direction.

In the technical scheme of the utility model, the camera module 400 is directly arranged on the bottom shell 100 of the laser radar 1000, so that the bracket structure of the existing radar integrated machine is omitted, and the problems of complex structure and large volume of the existing radar integrated machine are avoided.

The camera module 400 may be a visible light camera or an infrared camera, if the camera module 400 is a visible light camera, the camera module 400 is not easy to interfere with the normal operation of the laser transceiver module 200; if the camera module 400 is an infrared camera, the camera module 400 can work normally even if the light is dark.

Optionally, referring to fig. 1 and 3, in the present embodiment, a light compensating lamp 500 is disposed on a side wall of the bottom case 100 corresponding to the camera module 400.

Specifically, the camera module 400 and the light compensating lamp 500 may be disposed on the same side wall of the bottom case 100, and the orientation of the lens 410 of the camera module 400 and the light compensating lamp 500 may be the same or approximately the same. If the camera module 400 is a visible light camera, the light can be supplemented by the light supplementing lamp 500 under the condition of darker light, so that the camera module 400 can work normally.

The specific number of the light compensating lamps 500 may not be limited, and one or more light compensating lamps 500 may be provided, and optionally, referring to fig. 1, 3 and 4, in this embodiment, the light compensating lamps 500 are provided on two opposite sides of the camera module 400.

Specifically, the lens 410 of the camera module 400 is provided with two light compensating lamps 500 on two sides in the horizontal direction, for example, referring to fig. 1 and 3, the two light compensating lamps 500 are respectively located on two opposite sides of the lens 410 in the horizontal direction.

The light supplement lamp 500 is disposed on the shell sidewall of the bottom shell 100, and the light supplement lamp 500 may be disposed on the inner shell surface of the shell sidewall of the bottom shell 100, or the light supplement lamp 500 may be disposed on the outer shell surface of the shell sidewall of the bottom shell 100. Alternatively, referring to fig. 1, 3 and 4, in the present embodiment, the light compensating lamp 500 is embedded on a housing surface of a housing sidewall of the bottom case 100, and a wiring hole (not shown in the drawings) is formed on the housing sidewall of the bottom case 100 corresponding to the light compensating lamp 500.

Specifically, the light compensating lamp 500 includes a light source 510 and a circuit board 520, wherein the light source 510 is disposed on a board surface of the circuit board 520. The casing surface of the casing side wall of the bottom casing 100 is provided with a caulking groove (not shown in the figure) with shape matching with the circuit board 520, the circuit board 520 is embedded in the caulking groove, the groove bottom wall of the caulking groove is provided with a wiring hole, and a connecting wire on the circuit board 520 passes through the wiring hole and then is connected with the main control board 800, the camera circuit board 420 or an upper computer and the like.

Alternatively, referring to fig. 1 to 3, in the present embodiment, a mounting groove 130 is provided on a housing surface of a housing sidewall of the bottom case 100, the camera module 400 and the light compensating lamp 500 are all disposed at a bottom wall of the mounting groove 130, a cover plate 600 is provided at a notch of the mounting groove 130 in a sealing manner, and the cover plate 600 corresponds to the camera module 400 and the light compensating lamp 500 and is provided with a first light hole 610 and a second light hole 620 respectively.

Specifically, the mounting hole 110 and the caulking groove are both formed at the bottom wall of the mounting groove 130, the shape of the cover plate 600 is generally adapted to the shape of the mounting groove 130, and the cover plate 600 may be fixed to the bottom case 100 by a screw or the like. For example, referring to fig. 1 and 3, in the present embodiment, both ends of the cover 600 in the horizontal direction are fixedly connected to the bottom chassis 100 by screw members.

The laser radar 1000 may be a mechanical laser radar, a semi-solid laser radar, or a solid-state laser radar, or the like, and optionally, referring to fig. 1 and 2, in this embodiment, a rotation driving device 700 is disposed in an end of the bottom shell 100 away from the camera module 400, and the rotation driving device 700 is in power coupling connection with the laser transceiver module 200, so as to drive the laser transceiver module 200 to rotate through the rotation driving device 700, and the lens 410 of the camera module 400 faces away from the rotation axis of the laser transceiver module 200.

Specifically, the laser radar 1000 is a mechanical laser radar, the rotation driving device 700 is disposed at an upper end of the bottom shell 100, the rotation driving device 700 is in power coupling connection with a lower end of the laser transceiver module 200, the main control board 800 is electrically connected with the rotation driving device 700 and the laser transceiver module 200, and the main control board 800 can drive the laser transceiver module 200 to rotate along an up-down axis of 360 ° by controlling the rotation driving device 700. The rotation driving device 700 may be a motor or the like.

Alternatively, referring to fig. 1, 2 and 4, in the present embodiment, a first accommodating cavity 140 and a second accommodating cavity 150 are formed in the bottom shell 100 at intervals, the first accommodating cavity 140 and the second accommodating cavity 150 are respectively located at one end of the bottom shell 100 close to the laser transceiver module 200 and one end far away from the laser transceiver module 200, and the rotation driving device 700 is disposed in the first accommodating cavity 140.

Specifically, a first receiving chamber 140 and a second receiving chamber 150 are formed in the bottom chassis 100 at an up-down interval, the first receiving chamber 140 being located at an upper end of the bottom chassis 100, and the second receiving chamber 150 being located at a lower end of the bottom chassis 100. The rotation driving device 700 is disposed in the first receiving chamber 140, and the main control board 800 may be disposed in the second receiving chamber 150. The first accommodating cavity 140 is generally provided with a wireless power supply device (not shown in the drawings), and the main control board 800 may be electrically connected to the rotation driving device 700 and the laser transceiver module 200 through the wireless power supply device.

Further, referring to fig. 2 and 4, in the present embodiment, the camera module 400 is disposed in the second accommodating cavity 150, so that the camera module 400 is not easy to affect the normal operation of the laser transceiver module 200.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the specification and drawings of the present utility model or direct/indirect application in other related technical fields are included in the scope of the present utility model.

Claims

1. A lidar, comprising:

2. The lidar of claim 1, wherein the camera module is disposed in the bottom case, a mounting hole is formed in a side wall of the bottom case corresponding to a lens of the camera module, and the lens of the camera module extends into the mounting hole.

3. The lidar according to claim 2, wherein a supporting protrusion is provided on an inner surface of the case side wall of the bottom case toward the camera module, and the camera module is mounted at the supporting protrusion.

4. The lidar of claim 2, wherein a wire via is provided on a side wall of the bottom case away from the mounting hole, corresponding to the camera module, and the wire via is used for passing a cable for connecting the camera module.

5. The lidar according to any of claims 1 to 4, wherein a light-compensating lamp is provided on a side wall of the bottom case corresponding to the camera module.

6. The lidar of claim 5, wherein the light supplement lamps are disposed on opposite sides of the camera module.

7. The lidar of claim 5, wherein an installation groove is formed in a shell surface of the shell side wall of the bottom shell, the camera module and the light supplementing lamp are both arranged at a groove bottom wall of the installation groove, a cover plate is arranged at a groove opening of the installation groove in a sealing mode, and the cover plate corresponds to the camera module and the light supplementing lamp and is provided with a first light hole and a second light hole respectively.

8. The lidar of claim 5, wherein the light supplement lamp is embedded in a surface of the shell side wall of the bottom shell, and a wiring hole is formed in the shell side wall of the bottom shell corresponding to the light supplement lamp.

9. The lidar according to any of claims 1 to 4, wherein a rotation driving device is provided in an end of the bottom shell away from the camera module, and the rotation driving device is in power coupling connection with the laser transceiver module, so as to drive the laser transceiver module to rotate through the rotation driving device, and a lens of the camera module faces away from a rotation axis of the laser transceiver module.

10. The lidar of claim 9, wherein a first accommodating cavity and a second accommodating cavity are formed in the bottom shell at intervals, the first accommodating cavity and the second accommodating cavity are respectively located at one end of the bottom shell, which is close to the laser transceiver module, and one end of the bottom shell, which is far away from the laser transceiver module, the rotation driving device is arranged in the first accommodating cavity, and the camera module is arranged in the second accommodating cavity.