CN220568937U - Laser radar - Google Patents

Abstract

A lidar, comprising: a base housing; a main shaft; a first main board; a second main board; a communication assembly, the communication assembly comprising: the first communication module and the second communication module; at least 1 of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is positioned between the first communication module and the second communication module, the surface of the shielding cover intersecting with the axial direction of the spindle is provided with a light transmission area, and the light signal is transmitted through the light transmission area. At least 1 of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is positioned between the first communication module and the second communication module, the surface of the shielding cover intersecting with the axial direction of the main shaft is provided with a light transmission area, and the light signal is transmitted through the light transmission area. The shielding cover can effectively realize electromagnetic shielding to inhibit radiation interference, so that the laser radar can simultaneously realize wireless communication and radiation interference inhibition.

Description

Laser radar

Technical Field

The present disclosure relates to laser detection, and more particularly to a lidar.

Background

The laser radar is a commonly used ranging sensor, has the characteristics of long detection distance, high resolution, small environmental interference and the like, and is widely applied to the fields of intelligent robots, unmanned aerial vehicles and the like. In recent years, the development of automatic driving technology is rapid, and a laser radar is indispensable as a core sensor for distance perception.

With the development of intelligent and automatic driving technology of automobiles, a laser radar becomes a main sensor for automatic driving. The laser radar uses a wireless communication technology, and has the technical advantages of reducing wiring, reducing maintenance difficulty and the like. However, the wireless communication has a higher working frequency, and the higher working frequency can generate larger electromagnetic radiation, and the laser radar is used for vehicles, so that the RE (radiated interference, radiated Emission) test in the EMC test needs to be ensured not to exceed the standard, and the laser radar meets the requirements of the vehicle regulations.

Therefore, how to suppress the radiation interference generated by the wireless communication without affecting the wireless communication function is a problem to be solved in the laser radar adopting the wireless communication, especially in the vehicle-mounted laser radar.

Disclosure of Invention

The problem addressed by the present disclosure is how to wirelessly communicate the radiated interference generated while not affecting the wireless communication function.

To solve the above problems, the present disclosure provides a lidar comprising:

a base housing; the main shaft is fixedly arranged relative to the base shell; a first main plate which rotates around the main shaft; the second main board is fixedly arranged relative to the base shell, and is positioned between the first main board and the bottom of the base shell along the axial direction of the main shaft; a communication assembly located between the first main board and the second main board along an axial direction of the main shaft; the communication assembly includes: the first communication module is fixedly arranged relative to the first main board, the second communication module is fixedly arranged relative to the main shaft, and the first communication module and the second communication module realize signal transmission through optical signals; at least 1 of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is positioned between the first communication module and the second communication module, the surface of the shielding cover intersecting with the axial direction of the main shaft is provided with a light transmission area, and the light signal is transmitted through the light transmission area.

Optionally, the first communication module includes: at least 1 light emitting element, the second communication module comprising: a receiving element corresponding to a light emitting element of the first communication module; the light transmission area and the receiving element of the second communication module are sequentially positioned on the light path of the light signal emitted by the light emitting element of the first communication module.

Optionally, the second communication module includes: at least 1 light emitting element, the first communication module comprising: a receiving element corresponding to a light emitting element of the second communication module; the light transmission area and the receiving element of the first communication module are sequentially positioned on the light path of the light signal emitted by the light emitting element of the second communication module.

Optionally, the number of the light-transmitting areas is equal to the number of the light-emitting elements, and the light-transmitting areas are in one-to-one correspondence with the light-emitting elements.

Optionally, the light-transmitting area is matched with the light-emitting surface of the corresponding light-emitting element.

Optionally, the shape of the light-transmitting region matches the shape of the light-emitting surface of the corresponding light-emitting element.

Optionally, a light spot formed on the shielding cover by the optical signal generated by the light emitting element is located in a range of the light transmission area corresponding to the light emitting element.

Optionally, the light-transmitting region has a plurality of light-transmitting holes extending through the thickness of the shield and a supplement positioned between adjacent light-transmitting holes.

Optionally, the supplements are cross-linked to each other.

Optionally, the shielding case further has an enclosed region surrounding the light-transmitting region, and the supplement is connected to the shielding case of the enclosed region.

Optionally, the supplement is integrally formed with the enclosure of the enclosure.

Optionally, the communication component has an operating frequency; the maximum size of the maximum light transmission hole is less than or equal to 1/20 of the wavelength of the electromagnetic wave corresponding to the working frequency.

Optionally, at least the first communication module is provided with the shielding case.

Optionally, the shielding case is fixedly connected with the first motherboard or the second motherboard.

Optionally, the shielding case is electrically connected to the first motherboard or the second motherboard.

Optionally, the shielding cover is a hollow shell, one end of the hollow shell is a semi-sealing structure provided with a bottom surface along the axial direction of the main shaft, and the light transmission area is positioned on the bottom surface; the end face of the hollow shell with the open structure is connected with the first main board or the second main board; the hollow housing has an interior space adapted to receive a light emitting element.

Optionally, the communication component is an axle center communication component, and the communication component and the shielding cover are both positioned in the axle of the main shaft; the communication assembly is an axial side communication assembly, the communication assembly surrounds the main shaft, the shielding cover is in an annular column shape, and the main shaft penetrates through the annular central through hole.

Optionally, the communication assembly is a shaft-side communication assembly, and in at least 1 of the first communication module and the second communication module, a plurality of light emitting elements are disposed around the main shaft along a circumference of the main shaft.

Optionally, the material of the shielding case is conductive material.

Optionally, the laser radar is a vehicle-mounted laser radar.

Compared with the prior art, the technical scheme of the present disclosure has the following advantages:

in the technical scheme of the disclosure, at least 1 of the first communication modules and the second communication modules is provided with a shielding cover, the shielding cover is located between the first communication modules and the second communication modules, the surface of the shielding cover intersecting with the axial direction of the spindle is provided with a light transmission area, and the light signals are transmitted through the light transmission area. The optical signal is transmitted through the light transmission area of the shielding cover so as to realize wireless communication between the first communication module and the second communication module, and the shielding cover can effectively realize electromagnetic shielding so as to inhibit RE interference, so that the laser radar can simultaneously consider wireless communication and RE interference inhibition.

Drawings

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

FIG. 2 is a schematic perspective view of a radome in the lidar embodiment of FIG. 1;

FIG. 3 is a schematic top view of the radome in the lidar embodiment of FIG. 2;

FIG. 4 is a schematic cross-sectional view of another embodiment of a lidar of the present disclosure;

FIG. 5 is an enlarged schematic view of the structure within the dashed box 209 in the lidar embodiment of FIG. 4;

FIG. 6 is a schematic top view of radome 232 in the lidar embodiment of FIG. 5;

FIG. 7 is a schematic perspective view of the radome 231 in the lidar embodiment of FIG. 5;

FIG. 8 is a schematic perspective view of the radome 231 in the lidar embodiment of FIG. 5;

fig. 9 is a schematic perspective view of a shielding case in another embodiment of the lidar of the present disclosure.

Detailed Description

As known from the background art, the prior art laser radar using wireless communication technology needs to suppress the radiation interference problem.

To solve the technical problem, the present disclosure provides a lidar comprising: a base housing; the main shaft is fixedly arranged relative to the base shell; a first main plate which rotates around the main shaft; the second main board is fixedly arranged relative to the base shell, and is positioned between the first main board and the bottom of the base shell along the axial direction of the main shaft; a communication assembly located between the first main board and the second main board along an axial direction of the main shaft; the communication assembly includes: the first communication module is fixedly arranged relative to the first main board, the second communication module is fixedly arranged relative to the main shaft, and the first communication module and the second communication module realize signal transmission through optical signals; at least 1 of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is positioned between the first communication module and the second communication module, the surface of the shielding cover intersecting with the axial direction of the main shaft is provided with a light transmission area, and the light signal is transmitted through the light transmission area.

In the technical scheme of the disclosure, the optical signal is transmitted through the light transmission area of the shielding cover, so that wireless communication between the first communication module and the second communication module is realized, and the shielding cover can effectively realize electromagnetic shielding to inhibit RE interference, so that the laser radar can simultaneously consider wireless communication and RE interference inhibition.

In order that the above-recited objects, features and advantages of the present disclosure will become more readily apparent, a more particular description of embodiments of the disclosure will be rendered by reference to the appended drawings.

Referring to fig. 1, a schematic cross-sectional structure of an embodiment of the lidar of the present disclosure is shown.

The laser radar includes: a base housing 101; a main shaft 102, wherein the main shaft 102 is fixedly arranged relative to the base housing 101; a first main plate 111, the first main plate 111 rotating around the spindle 102; a second main plate 112, the second main plate 112 being fixedly disposed with respect to the base housing 101, the second main plate 112 being located between the first main plate 111 and the bottom of the base housing 101 in the axial direction of the spindle 102; a communication assembly located between the first main board 111 and the second main board 112 in the axial direction of the main shaft 102; the communication assembly includes: a first communication module 121, where the first communication module 121 is fixedly disposed relative to the first main board 111, and a second communication module 122, where the second communication module 122 is fixedly disposed relative to the main shaft 102, and the first communication module 121 and the second communication module 122 implement signal transmission through optical signals; at least 1 of the first communication module 121 and the second communication module 122 is provided with a shielding cover 130, and the shielding cover 130 is located between the first communication module 121 and the second communication module 122.

Referring to fig. 2 in combination, fig. 2 is a schematic perspective view of a shield in the lidar embodiment shown in fig. 1.

The surface of the shield 130 intersecting the axial direction of the spindle 102 has a light-transmitting region through which the optical signal is transmitted. The optical signal is transmitted through the light-transmitting area of the shielding cover 130, so as to realize wireless communication between the first communication module and the second communication module, and the shielding cover can effectively realize electromagnetic shielding to inhibit RE interference, so that the laser radar can simultaneously consider wireless communication and RE interference inhibition.

Specific technical schemes of embodiments of the lidar of the present disclosure are described in detail below with reference to the accompanying drawings.

The laser radar includes: the base housing 101, the spindle 102 fixedly provided with respect to the base housing 101, the first main plate 111 rotatable about the spindle 102 with respect to the base housing 101, and the second main plate 112 fixedly provided with respect to the base housing 101.

In some embodiments of the disclosure, the laser radar is a vehicle-mounted laser radar, that is, the laser radar is a vehicle-standard laser radar, and each technical standard of the laser radar is a vehicle-standard laser radar, so that the vehicle use standard needs to be met. The base shell 101 is fixedly connected with a vehicle and is used for realizing the installation of the laser radar on the vehicle.

In some embodiments, as shown in fig. 1, the base housing 102 has a bottom shell (not shown) and a sidewall (not shown) connected to an edge of the bottom shell, where the sidewall encloses a space above a surface of the bottom shell to accommodate a portion of the element structure of the lidar.

The main shaft 102 is located in a space surrounded by the side walls, and the main shaft 102 is perpendicular to the bottom shell, that is, the circumference of the main shaft 102 is perpendicular to the surface of the bottom shell.

The second main board 112 and the first main board 111 are sequentially disposed above the bottom shell of the base housing 101 along the axial direction of the main shaft 102, and are respectively located at two ends of the main shaft 102. Specifically, the second main board 112 and the first main board 111 are parallel to each other and are perpendicular to the axial direction of the spindle 102.

In some embodiments of the present disclosure, the spindle 102 is a hollow structure; the first main plate 111 and the second main plate 112 each span the main shaft 102 of the hollow structure, i.e., in the radial direction of the main shaft 102, and the first main plate 111 and the second main plate 112 each extend from one side to the other side of the main shaft 102.

In the communication assembly, a first communication module 121 is fixed on a surface of the first main board 111 facing the second main board 112, and a second communication module 122 is fixed on a surface of the second main board 112 facing the first main board 111. The first communication module 121 and the second communication module 122 implement signal transmission through optical signals, that is, the communication component is a wireless communication component.

In specific embodiments, the first communication module 121 includes: at least 1 light emitting element, the second communication module 122 includes: a receiving element corresponding to the light emitting element of the first communication module 121.

The receiving element of the second communication module 122 is located on the optical path of the optical signal generated by the light emitting element of the corresponding first communication module 121, and the receiving element of the second communication module 122 receives the optical signal generated by the light emitting element of the corresponding first communication module 121, so as to implement the transmission of the signal from the first communication module 121 to the second communication module 122.

In some embodiments, the second communication module 122 includes: at least 1 light emitting element, the first communication module 121 includes: a receiving element corresponding to the light emitting element of the second communication module 122.

The receiving element of the first communication module 121 is located on the optical path of the optical signal generated by the light emitting element of the corresponding second communication module 122, and the receiving element of the first communication module 121 receives the optical signal generated by the light emitting element of the corresponding second communication module 122, so as to implement the transmission of the signal from the second communication module 122 to the first communication module 121.

In some embodiments, as shown in fig. 1, the communication component is an axial communication component, at least a portion of the communication component is located in the shaft of the spindle 102, and communication between the first main board and the second main board is achieved through an in-shaft space. Specifically, the light emitting element and the receiving element of the first communication module are both located in the projection range of the main shaft 102 on the surface of the first main board 111; and/or the light emitting element and the receiving element of the second communication module are both located in the projection range of the main shaft 102 on the surface of the second main board 112; the optical signals between the first communication module and the second communication module are transmitted in the inner space of the hollow spindle 102. It should be understood that a part of the communication assembly may be located off-axis, for example, the light emitting element and the receiving element of the first communication module are both located in the projection range of the main shaft 102 on the surface of the first main board 111, and the light emitting element and the receiving element of the second communication module are both located in an outer space surrounding the main shaft 102; alternatively, the light emitting element and the receiving element of the first communication module are located in an outer space surrounding the main shaft 102, and the light emitting element and the receiving element of the second communication module are located in a projection range of the main shaft 102 on the surface of the first main board 111.

The shield 130 is used for EMC shielding (Electromagnetic Compatibility, EMC) to suppress RE interference (Radiated emission, RE).

In some embodiments of the present disclosure, at least the first communication module 121 is provided with the shielding case 130. Some lidar embodiments as shown in fig. 1 have 1 of the shielding cases 130, where the shielding cases 130 are arranged around the first communication module 121, i.e. the first communication module 121 is located in the shielding cases 130.

In other embodiments of the disclosure, the lidar has 2 shielding cases, and the 2 shielding cases are respectively covered on the peripheries of the first communication module 121 and the second communication module 122, that is, the first communication module 121 and the second communication module 122 are respectively located in the 2 shielding cases.

The laser radar is a vehicle-standard laser radar, in the communication assembly, the wireless communication between the first communication module 121 and the second communication module 122 also needs to meet the vehicle standard requirement, that is, in the EMC test, the RE test of the wireless communication between the first communication module 121 and the second communication module 122 meets the vehicle standard requirement.

In some embodiments of the present disclosure, the material of the shielding can 130 is a conductive material to achieve its EMC shielding function. Specifically, the material of the shielding case 130 may be copper, aluminum, iron, stainless steel, etc.

In some embodiments of the present disclosure, the shielding case 130 is fixedly connected to the first main board 111 or the second main board 112. In some embodiments, as shown in fig. 1, the lidar has 1 shielding case 130 covering the periphery of the first communication module 121, where the shielding case 130 is fixedly connected to the first motherboard 111.

In other embodiments of the disclosure, the lidar has 2 shielding cases respectively covering the peripheries of the first communication module and the second communication module, and the shielding case covering the periphery of the first communication module is fixedly connected with the first motherboard; and a shielding cover covered on the periphery of the second communication module is fixedly connected with the second main board.

In some embodiments of the present disclosure, the shielding case 130 is electrically connected to the first motherboard 111 or the second motherboard 112. In some embodiments, as shown in fig. 1, the lidar has 1 shielding case 130 covering the periphery of the first communication module 121, and the shielding case 130 is electrically connected to the first motherboard 111.

In other embodiments of the disclosure, the lidar has 2 shielding cases respectively covering the shielding cases at the periphery of the first communication module and the second communication module, and the shielding case covering the periphery of the first communication module is electrically connected with the first motherboard; and a shielding cover covered on the periphery of the second communication module is electrically connected with the second main board.

As shown in fig. 2 and 3, the shielding cover 130 is a hollow shell, and one end of the hollow shell is a semi-sealing structure with a bottom surface along the axial direction of the main shaft 102; the opposite end of the hollow shell and the semi-sealing structure provided with the bottom surface is an open structure without the bottom surface, and the end surface of the hollow shell with the open structure is connected with the first main board 111 or the second main board 112; the hollow housing has an interior space adapted to receive a light emitting element.

In some embodiments, particularly as shown in fig. 1, the shielding case 130 is a cylindrical hollow shell, and the axial direction of the spindle 102 is parallel to the generatrix of the cylindrical shielding case 130. In addition, in the hollow shell, one end of the open structure also has an extension 139. From the end of the cylindrical hollow housing, the extension 139 extends away from the center of the bottom surface. The shielding case 130 is fixedly connected and electrically connected to the first main board 111 or the second main board 112 through the extension 139.

The light-transmitting region of the shield 130 is configured to enable transmission of an optical signal from the shield 130. In some embodiments, as shown in fig. 1-3, the light-transmitting region is located on the bottom surface to form a semi-enclosed structure, thereby enabling transmission of the optical signal from the bottom surface.

In some specific embodiments, the receiving element of the second communication module 122 and the light emitting element of the corresponding first communication module transmit information via optical signals, and the light transmitting area is located in an optical path between the receiving element of the second communication module 122 and the light emitting element of the corresponding first communication module.

In some specific embodiments, the receiving element of the first communication module and the light emitting element of the corresponding second communication module 122 transmit information via optical signals, and the light transmission area is located in an optical path between the receiving element of the first communication module and the light emitting element of the corresponding second communication module 122.

In some embodiments of the present disclosure, the number of the light-transmitting areas is equal to the number of the light-emitting elements, and the light-transmitting areas are in one-to-one correspondence with the light-emitting elements. In particular, as shown in some embodiments of fig. 1 to fig. 3, the first communication module 121 and the second communication module 122 respectively include 1 light emitting element, and respectively form a light source for downlink communication and uplink communication, as shown in fig. 2 and fig. 3, the shielding cover 130 has 2 light transmitting areas, which are respectively a light transmitting area 1311 and a light transmitting area 1312,2, and the light transmitting areas respectively correspond to the light emitting elements of the first communication module 121 and the light emitting elements of the second communication module 122. Specifically, the light-transmitting region 1311 corresponds to the light-emitting element of the first communication module 121, and the light-transmitting region 1312 corresponds to the light-emitting element of the second communication module 122.

In some embodiments of the present disclosure, the light-transmitting region is matched with the light-emitting surface of the corresponding light-emitting element. Specifically, the light-transmitting region 1311 corresponds to the light-emitting element of the first communication module 121, so that the light-transmitting region 1311 matches the light-emitting surface of the light-emitting element in the first communication module 121; the light-transmitting area 1312 corresponds to a light-emitting element of the second communication module 122, and the light-transmitting area 1312 is matched with a light-emitting surface of the light-emitting element in the second communication module 122.

The light-transmitting area is matched with the light-emitting surface of the corresponding light-emitting element, namely, the shape and the area of the light-transmitting area are matched with the shape and the area of the light-emitting surface of the corresponding light-emitting element.

In specific embodiments, the shape of the light-transmitting region matches the shape of the light-emitting surface of the corresponding light-emitting element. For example, in some embodiments, the light-transmitting region has the same shape as the light-emitting surface of the corresponding light-emitting element.

Specifically, the light emitting surface of the light emitting element in the first communication module 121 is circular, and the shape (outline) of the light transmitting area 1311 corresponding to the light emitting element in the first communication module 121 is also circular; the light emitting surface of the light emitting element in the second communication module 122 is square, and the shape (outline) of the light transmitting region 1312 corresponding to the light emitting element in the second communication module 122 is also square.

In some embodiments, the shape of the light-transmitting area is matched with the area of the light-emitting surface of the corresponding light-emitting element, which means that the area of the light-transmitting area should enable the light signal generated by the corresponding light-emitting element to achieve transmission as much as possible. For example, in some embodiments, the light signal generated by the light emitting element forms a light spot on the shielding cover 130 within a range of the light transmission area corresponding to the light emitting element.

As shown in fig. 1 to 3, the area of the light-transmitting area 1311 needs to meet the requirement that the light spot formed on the bottom surface by the light signal generated by the light-emitting element in the first communication module 121 is located within the range of the light-transmitting area 1311; the area of the light-transmitting region 1312 needs to meet the requirement that the light spots formed on the bottom surface by the light signals generated by the light-emitting elements in the second communication module 122 are located within the range of the light-transmitting region 1312.

Specifically, in some embodiments shown in fig. 2 and fig. 3, the diameter of the light-transmitting area 1311 may be d1++0.5, where D is the diameter of the light-emitting surface of the light-emitting element in the first communication module 121, so that the area of the light-transmitting area 1312 needs to meet the requirement that the light-emitting area 1312 of the light-emitting element in the second communication module 122 is within the range of the light-transmitting area 1312, based on the distance between the bottom surface of the shielding case 130 and the light-emitting elements in the first communication module 121 and the second communication module 122. In some embodiments, the diameter D1 of the light transmissive region 1311 is about 3.2mm and the long side D2 of the light transmissive region 1322 is about 2mm.

In some embodiments, as shown in fig. 1-3, the light-transmitting region of the shield 130 has a plurality of light-transmitting holes 131k extending through the thickness of the shield 130 and a supplement 131b located between adjacent light-transmitting holes 131 k.

The light hole 131k can realize transmission of optical signals, so as to meet the communication function requirement of wireless communication between the first communication module 121 and the second communication module 122.

In some embodiments of the present disclosure, the communication component has an operating frequency; the maximum size of the maximum light hole 131k is less than or equal to 1/20 of the electromagnetic wave wavelength lambda corresponding to the working frequency, so as to ensure the shielding function. And as the distance between the shield and the light emitting element decreases, the size of each light transmitting hole 131k in the light transmitting region decreases.

Based on the communication frequency of the light emitting element in the first communication module 121 sending the optical signal to the receiving element in the second communication module 122, the maximum opening size of the light transmitting hole 131k in the light transmitting area 1311 is 1.2 more than or equal to d1 more than or equal to 1.0, and the unit mm; for example, d1 may be 1.2mm, 1.1mm, 1mm, etc.; based on the communication frequency of the light emitting element in the second communication module 122 sending the optical signal to the receiving element in the first communication module 121, the maximum opening size of the light transmitting hole 131k in the light transmitting area 1312 is 1.2 more than or equal to d2 more than or equal to 1.0, and the unit mm; for example, d2 may be 1.2mm, 1.1mm, 1mm, etc.

The supplement member 131b is configured to improve electromagnetic shielding performance of the light-transmitting area, so as to meet electromagnetic shielding functional requirements of wireless communication between the first communication module 121 and the second communication module 122.

Furthermore, as shown in fig. 1 to 3, the bottom surface side has a semi-closed structure, that is, the shielding case 130 further has a closed region 132 surrounding the light-transmitting region, and the supplementary member 131b is connected to the closed region 132. The material of the supplement member 131b is a conductive material, and the supplement member 131b can effectively improve the electromagnetic shielding performance of the light-transmitting area, so as to ensure the shielding effect of the shielding case.

Specifically, the supplementary member 131b is integrally formed with the shielding case 130 of the closed region 132. As shown in fig. 2 and 3, the supplementary members 131b are cross-connected with each other. Specifically, the light-transmitting area has a plurality of supplement members 131b therein, and the plurality of supplement members 131b are cross-connected to each other to form a shape like a well or a field.

It should be noted that, in some embodiments shown in fig. 1 to 3, the communication components are axial communication components, and the communication components are all located in the shaft of the main shaft 102. In other embodiments of the present disclosure, the communication component may also be a shaft-side communication component. When the communication assembly is an axial communication assembly, the light emitting elements and the receiving elements in the first communication module and the second communication module are distributed along the circumference of the main shaft and around the main shaft, and the arrangement mode of the shielding cover adapted to the communication assembly is described below.

Referring to fig. 4 to 6, structural schematic diagrams of another embodiment of the lidar of the present disclosure are shown. Fig. 4 is a schematic cross-sectional structure of the lidar embodiment, and fig. 5 is an enlarged schematic structural view of the structure in the dashed box 209 in the lidar embodiment shown in fig. 4.

As with the previous embodiments, the present disclosure is not repeated here. The difference from the previous embodiments is that in some of the embodiments shown in fig. 4-5, the communication assembly is a shaft-side communication assembly, which is disposed about the spindle.

As shown in fig. 4, the lidar includes a base housing 201 and a spindle 202 fixedly disposed with the base housing 201. The main shaft 202 is a solid shaft, and the main shaft 202 is perpendicular to a bottom shell (not labeled in the drawing) of the base housing 201. It should be noted that in other embodiments of the present disclosure, the main shaft may not be solid, i.e., the main shaft is a hollow shaft. The specific structure of the spindle is not limited in this disclosure.

In some embodiments, the spindle 202 is disposed vertically, and at least 1 of the first main plate 211 and the second main plate 212 is disposed around the spindle. The first main plate 211 rotates around the main shaft 202, and the second main plate 212 is fixedly disposed with respect to the base housing 201. In the axial direction of the spindle 202, the second spindle 212 is located between the first spindle 211 and the bottom of the base housing 201.

In some embodiments, the first main board 211 and the second main board 212 are sleeved on the main shaft 202, and the first main board 211 and the second main board 212 both encircle the main shaft; as shown in fig. 4 and fig. 5, through holes (not labeled in the drawing) penetrating through the thickness are respectively disposed on the first main board 211 and the second main board 212, and the spindle 202 penetrates through the through holes of the first main board 211 and the second main board 212.

As mentioned above, in some embodiments shown in fig. 4 to 5, the communication assembly is a shaft-side communication assembly, so that at least 1 light emitting element of at least 1 of the first communication module (not labeled in the drawing) and the second communication module (not labeled in the drawing) is disposed around the main shaft 202 along the circumferential direction of the main shaft 202. For example, 3 light emitting elements 212a (as shown in fig. 6) in the second communication module. It can be seen that 3 light emitting elements 212a in the second communication module are arranged around the main shaft 202 along the circumferential direction of the main shaft 202. The number of light emitting elements may also be 1, 2, 4, 5 or even more.

At least 1 of the first communication module and the second communication module is provided with a shielding cover. In some embodiments shown in fig. 4 and 5, the lidar has 2 shielding cases, namely, shielding case 231 and shielding case 232,2, which are respectively arranged on the periphery of the first communication module and the second communication module.

Specifically, the shielding cover 231 is covered on the periphery of the first communication module, that is, the first communication module is located in the shielding cover 231, and the shielding cover 231 is fixedly connected and electrically connected with the first main board 211; the shielding cover 232 is covered on the periphery of the second communication module, that is, the second communication module is located in the shielding cover 232, and the shielding cover 232 is fixedly connected and electrically connected with the second motherboard 212.

As shown in fig. 6, the shielding cover 232 has a plurality of light-transmitting areas thereon, and the light-transmitting areas respectively correspond to the light-emitting element and the receiving element. Specifically, the light-transmitting area 232a corresponds to the light-emitting element 212a of the second communication module, exposing the light-emitting element 212a of the second communication module, and the light-transmitting area 232b corresponds to the receiving element 212b of the second communication module, exposing the receiving element 212b of the second communication module.

In some embodiments, as shown in fig. 5-6, 2 shields of the lidar are each sleeved on the main shaft 202. Along the axial direction of the spindle 202, the shield 231 and the shield 232 are disposed in sequence along the direction in which the first main plate 211 points toward the second main plate 212.

In some embodiments of the present disclosure, the communication component is a shaft-side communication component, the communication component is disposed around the main shaft, and the shielding cover is sleeved on the main shaft 202, so that the shielding cover is in a circular column shape, and the main shaft 202 penetrates through the circular central through hole.

Referring to fig. 7 and 8 in combination, a schematic perspective view of the shield 231 in the lidar embodiment of fig. 4 and 5 is shown.

The shield 231 is a hollow housing, and one end of the hollow housing is a semi-sealing structure provided with a bottom surface 231d along the axial direction of the main shaft 202 (as shown in fig. 4 and 5), and the opposite end of the hollow housing and the semi-sealing structure provided with the bottom surface 231d is an open structure without a bottom surface.

The shielding cover 231 is in a ring shape, that is, the bottom 231d of one side of the semi-closed structure is in a ring shape, and the center through hole 207 is formed in the ring-shaped bottom 231d to be sleeved with the spindle 202. The shield 231 has 2 sidewalls, an inner sidewall and an outer sidewall, respectively. The inner side wall is positioned inside the outer side wall and connected with the inner side edge of the bottom surface 231 d; the outer sidewall surrounds the inner sidewall periphery and is connected to the outer edge of the bottom surface 231 d.

As shown in fig. 7 and 8, the shielding case 231 has a plurality of light-transmitting areas, which are located on the bottom surface 231d and distributed around the central through hole 207 in the circumferential direction of the main shaft 202. The number of light-transmitting areas matches the number of light-emitting elements, and in the examples of fig. 7 and 8, the number of light-emitting elements of the first communication module and the number of light-emitting elements of the second communication module are 4 in total, and the number of light-transmitting areas is 4. It is understood that if the number of light emitting elements is 1, the number of light transmitting regions is 1; if the number of light emitting elements is 2, the number of light transmitting areas is 2.

In the laser radar-based communication module, the light emitting elements of the first communication module and the light emitting elements of the second communication module are exemplified by 2 kinds of light transmitting areas on the bottom surface 231d, namely, a circular light transmitting area 2311 and a rounded square light transmitting area 2312. The light-transmitting area is matched with the light-emitting surface of the corresponding light-emitting element, namely, the shape and the area of the light-transmitting area are matched with the shape and the area of the light-emitting surface of the corresponding light-emitting element. In other embodiments, the light-transmitting region may also be pentagonal, hexagonal, etc.

It should be further noted that, in some specific embodiments shown in fig. 4 and fig. 5, the operating frequency of the first communication module is higher, and the electromagnetic shielding requirement is higher, so that the light-transmitting area of the shielding case 231 has light-transmitting holes and supplements, where the supplements of the light-transmitting area 2311 are cross-connected with each other to form a cross shape; the complements of the light-transmissive regions 2312 are cross-connected to each other to form a chevron shape.

In the foregoing embodiment, the supplement member of the light-transmitting area forms a cross shape or a field shape, so that the light-transmitting hole of the light-transmitting area has a square shape or a rectangle shape. However, in other embodiments of the present disclosure, as in the embodiment shown in fig. 9, the light holes may be circular, and in other embodiments, the light holes may be hexagonal, pentagonal, triangular, etc. The light transmitting holes of the above-described shape may also be applied to the embodiments shown in fig. 1 to 3.

In summary, at least 1 of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is located between the first communication module and the second communication module, a light transmission area is formed on a surface, intersecting with the axial direction of the spindle, of the shielding cover, and the light signal is transmitted through the light transmission area. The optical signal is transmitted through the light transmission area of the shielding cover so as to realize wireless communication between the first communication module and the second communication module, and the shielding cover can effectively realize electromagnetic shielding so as to inhibit RE interference, so that the laser radar can simultaneously consider wireless communication and RE interference inhibition.

Although the present disclosure is described above, the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and the scope of the disclosure should be assessed accordingly to that of the appended claims.

Claims (20)

1. A lidar, comprising:

a base housing;

the main shaft is fixedly arranged relative to the base shell;

a first main plate which rotates around the main shaft;

the second main board is fixedly arranged relative to the base shell, and is positioned between the first main board and the bottom of the base shell along the axial direction of the main shaft;

a communication assembly located between the first main board and the second main board along an axial direction of the main shaft;

the communication assembly includes:

a first communication module fixedly arranged relative to the first main board,

the second communication module is fixedly arranged relative to the main shaft, and the first communication module and the second communication module realize signal transmission through optical signals;

at least 1 of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is positioned between the first communication module and the second communication module, the surface of the shielding cover intersecting with the axial direction of the main shaft is provided with a light transmission area, and the light signal is transmitted through the light transmission area.

2. The lidar of claim 1, wherein the first communication module comprises: at least 1 light emitting element, the second communication module comprising: a receiving element corresponding to a light emitting element of the first communication module;

the light transmission area and the receiving element of the second communication module are sequentially positioned on the light path of the light signal emitted by the light emitting element of the first communication module.

3. The lidar of claim 1, wherein the second communication module comprises: at least 1 light emitting element, the first communication module comprising: a receiving element corresponding to a light emitting element of the second communication module;

the light transmission area and the receiving element of the first communication module are sequentially positioned on the light path of the light signal emitted by the light emitting element of the second communication module.

4. A lidar according to claim 2 or 3, wherein the number of light-transmitting areas is equal to the number of light-emitting elements, and the light-transmitting areas are in one-to-one correspondence with the light-emitting elements.

5. The lidar of claim 4, wherein the light-transmissive region is matched to a light-emitting surface of the corresponding light-emitting element.

6. The lidar of claim 5, wherein the light-transmissive region has a shape that matches a shape of a light-emitting surface of the corresponding light-emitting element.

7. The lidar of claim 4, wherein the light spot formed on the shield by the light signal generated by the light emitting element is located in a range of a light transmission region corresponding to the light emitting element.

8. The lidar of claim 1, wherein the light-transmissive region has a plurality of light-transmissive holes through a thickness of the shield and a supplement positioned between adjacent light-transmissive holes.

9. The lidar of claim 8, wherein the supplements are cross-linked to each other.

10. The lidar of claim 8, wherein the shield further has an enclosed region surrounding the light-transmissive region, and wherein the supplement is coupled to the shield of the enclosed region.

11. The lidar of claim 10, wherein the supplement is of unitary construction with the enclosure of the enclosure.

12. The lidar of claim 8, wherein the communication component has an operating frequency; the maximum size of the maximum light transmission hole is less than or equal to 1/20 of the wavelength of the electromagnetic wave corresponding to the working frequency.

13. The lidar of claim 1, wherein at least the first communication module has the shield disposed thereon.

14. The lidar of claim 1, wherein the shield is fixedly connected to the first motherboard or the second motherboard.

15. The lidar of claim 1, wherein the shield is electrically connected to the first motherboard or the second motherboard.

16. The lidar according to claim 1, 14 or 15, wherein the shield is a hollow housing, one end of the hollow housing is a semi-sealed structure provided with a bottom surface along the axial direction of the main shaft, and the light-transmitting region is located on the bottom surface;

the end face of the hollow shell with the open structure is connected with the first main board or the second main board;

the hollow housing has an interior space adapted to receive a light emitting element.

17. The lidar of claim 1, wherein the communication component is a hub communication component, and wherein the communication component and the shield are both positioned within an axis of the main shaft;

the communication assembly is an axial side communication assembly, the communication assembly surrounds the main shaft, the shielding cover is in an annular column shape, and the main shaft penetrates through the annular central through hole.

18. The lidar of claim 17, wherein the communication assembly is a shaft-side communication assembly, and wherein a plurality of light-emitting elements are disposed around the main shaft along a circumference of the main shaft in at least 1 of the first communication module and the second communication module.

19. The lidar of claim 1, wherein the material of the shield is a conductive material.

20. The lidar of claim 1, wherein the lidar is an in-vehicle lidar.