WO2020215577A1 - 激光雷达及其探测装置 - Google Patents

激光雷达及其探测装置 Download PDF

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Publication number
WO2020215577A1
WO2020215577A1 PCT/CN2019/103853 CN2019103853W WO2020215577A1 WO 2020215577 A1 WO2020215577 A1 WO 2020215577A1 CN 2019103853 W CN2019103853 W CN 2019103853W WO 2020215577 A1 WO2020215577 A1 WO 2020215577A1
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WO
WIPO (PCT)
Prior art keywords
signal
receiving
lidar
support
emitting
Prior art date
Application number
PCT/CN2019/103853
Other languages
English (en)
French (fr)
Inventor
陈杰
穆永吉
丁林森
向少卿
Original Assignee
上海禾赛光电科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910344752.2A external-priority patent/CN109991617B/zh
Priority claimed from CN201910731061.8A external-priority patent/CN110376597B/zh
Application filed by 上海禾赛光电科技有限公司 filed Critical 上海禾赛光电科技有限公司
Priority to EP19926538.0A priority Critical patent/EP3919937A4/en
Priority to CN201980085840.3A priority patent/CN113348382A/zh
Publication of WO2020215577A1 publication Critical patent/WO2020215577A1/zh
Priority to US17/404,840 priority patent/US20210382147A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Definitions

  • This application relates to the field of distance measurement, in particular to a laser radar.
  • LiDAR LiDAR is a general term for laser active detection sensor equipment. Its working principle is roughly as follows: The transmitter of the lidar emits a laser beam. After encountering an object, the laser beam is diffusely reflected and returned to the laser receiver. The radar module is based on The time interval between sending and receiving the laser beam is multiplied by the speed of light and divided by two to calculate the distance between the transmitter and the object.
  • the existing lidar mainly adopts the structure design of the through shaft in the structure of the main shaft.
  • the so-called through shaft refers to the structure of the main shaft extending from the top of the lidar to the bottom, and from the bottom to the top
  • the main shaft occupies the space inside the lidar, which makes the design of the ranging component or the radar rotor above the lidar more difficult.
  • the cost of this through shaft design is relatively high, the mechanical structure is complex, and the shaft system design is not tight.
  • the current multi-line lidar is a one-to-one transceiver channel.
  • a 32-line radar requires 32 pairs of transmitting light sources and receiving channels.
  • the rotating scanning lidar has a growing vertical (vertical) field of view, and the trend of scanning line beams is growing. This development trend requires more and more channels of lidar. Increasing number of channels may increase the cost of lidar, tighten the internal space, increase the volume, and increase the difficulty of spatial arrangement of the transmitter.
  • the existing lidar mainly adopts the structure design of the through-shaft in the structure of the main shaft system.
  • the main shaft extends from the top to the bottom of the lidar. Therefore, when designing the detection device, it is necessary to use a transmitting mirror to deflect the light path. Avoiding the main shaft, the structure design of the detection device is more complicated.
  • the multi-line lidar is a one-to-one transceiver channel, that is, each emitting light source has a photoelectric sensor element corresponding to it. When in use, each pair of emitting light source and photoelectric sensor element needs to be aligned manually Optical path adjustment, which may increase the difficulty of using lidar and reduce the use efficiency.
  • the early lidar was a single-line lidar, that is, there was only one laser and detector, and its scanning target range was limited, which easily caused the lack of detection targets.
  • multi-line lidar has increasingly become the focus of research and commercial use.
  • the existing multi-line lidar often has the problems of high cost and excessive energy consumption.
  • the purpose of this application is to provide a lidar, which can reduce the space occupied by the main shaft running through the entire radar from top to bottom, and facilitate and simplify the configuration of the components on the radar rotor above the main shaft.
  • an embodiment of the present application discloses a lidar, which includes a main shaft, a radar rotor, an upper bin plate, a top cover and a base;
  • the upper chamber plate is fixedly arranged with respect to the radar rotor, and the upper chamber plate is relatively closer to the base and farther away from the top cover in the axial direction of the lidar;
  • the main shaft is arranged perpendicular to the base and located between the upper bin plate and the base.
  • the lidar further includes a rotating support and a driving motor
  • the rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for sleeved on the main shaft, and the second part is a disk surface structure perpendicular to the first part and is suitable for Is coupled to the radar rotor, the second part includes at least three rotating sub-supports, the first end of each rotating sub-support is coupled to the first part, and the second part of each rotating sub-support The end is coupled to the edge of the disc surface of the second part, and the driving motor is adapted to drive the radar rotor to rotate through the rotating bracket.
  • a support flange is further provided at the coupling position between the second end of each rotating sub-bracket and the edge of the disc surface, and the projection direction of the support flange is away from the base, and
  • the radar rotor is adapted to be coupled with the rotating bracket through the supporting flange.
  • the lidar further includes a lower warehouse board, which is located between the upper warehouse board and the base and is arranged around the main shaft.
  • the lidar further includes a wireless power supply component located between the upper and lower warehouse boards, and the wireless power supply component includes a wireless transmitting coil, a wireless receiving coil, a transmitting circuit board, and a receiving circuit board;
  • the wireless transmitting coil, wireless receiving coil, transmitting circuit board and receiving circuit board are all arranged around the main shaft;
  • the wireless transmitting coil and the transmitting circuit board are fixedly arranged relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixedly arranged relative to the radar rotor;
  • the wireless transmitting coil is electrically connected with the transmitting circuit board, and the wireless receiving coil is electrically connected with the transmitting circuit board.
  • the lidar further includes a drive motor, the drive motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature , The magnet is coupled with the transmitting circuit board.
  • the lidar further includes a drive motor, the drive motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature ,
  • the transmitting circuit board is electrically connected with the armature to supply power to the armature.
  • the drive motor is a DC motor.
  • the lidar further includes an angle measurement component, the angle measurement component is arranged around the main shaft and is farther away from the main shaft than the wireless power supply component.
  • the lidar further includes a cable interface, and the cable interface is used to connect the lidar with an external device relative to the lidar.
  • the non-penetrating spindle structure is adopted.
  • a flat platform is formed, which reduces the penetration of the spindle from top to bottom.
  • the space occupied by the radar facilitates and simplifies the installation of the structure of the ranging component, etc., arranged above or below the main shaft.
  • the support flange on the rotating bracket improves the stability of the rotation of the radar rotor above the main shaft and reduces the impact of rotation on the life of the whole machine and the quality of radar imaging.
  • the main shaft can provide better support for the rotating bracket and improve the stability of the radar.
  • the existing lidar mostly uses a more complicated disk motor to drive the radar rotor, while the present application uses a DC motor to drive the radar rotor.
  • the DC motor has the characteristics of simple structure and low cost, so the cost and complexity of the lidar can be reduced.
  • Arranging an angle measurement component such as a code disc on the outermost shell close to the lidar can improve the accuracy of the measurement angle, thereby improving the measurement accuracy of the lidar.
  • the drive motor uses a magnet as the rotor and the armature as the stator.
  • the magnet does not need to be powered.
  • the armature is electrically connected to the transmitter circuit board, and the armature is powered through the lower compartment plate, reducing the power supply pressure of the wireless power supply component.
  • the purpose of this application is also to provide a lidar and its detection device.
  • the extending directions of the transmitting support and the receiving support in the lidar are parallel to each other, that is, they are arranged relatively symmetrically, and the positions of the components on the optical path are relatively fixed.
  • the structure is simple, so the alignment of the optical path can be reduced or avoided.
  • a laser radar detection device which includes a lens barrel, a beam emitting device, a emitting lens assembly, a receiving lens assembly, and a photoelectric processing device;
  • the lens barrel includes a transmitting support and a receiving support, and the extending directions of the transmitting support and the receiving support are parallel to each other;
  • the transmitting lens assembly is located inside the transmitting support and on the optical path of the detection beam emitted by the beam transmitting device; the receiving lens assembly is located inside the receiving support and is located in the photoelectric processing device receiving Of the echo beam on the light path.
  • the transmitting support and the receiving support can be integrated, that is, two supports obtained by separating a lens barrel by a light barrier, or two independent supports.
  • the side walls of the support are Light insulation material.
  • the transmitting and receiving lens components By arranging the transmitting and receiving lens components in a lens barrel whose extending directions are parallel to each other, the emergence direction of the probe beam and the incident direction of the echo beam can be made approximately parallel, without the need to deflect the beam, and the structure of each optical device is relatively simple to reduce Or avoid the alignment of the optical path.
  • the light beam emitting device includes an emitting circuit board, the emitting circuit board is located outside the emitting support and arranged at the rear end of the emitting support, wherein the emitting support The rear end of the transmitting support is opposite to the end of the probe beam emitting the detection beam;
  • the photoelectric processing device includes a receiving circuit board, and the receiving circuit board is located outside the receiving support and arranged on the The rear end of the receiving support, wherein the rear end of the receiving support is the other end opposite to the end of the receiving support receiving the echo beam.
  • the transmitting magnetic isolation member is arranged at the rear end of the transmitting circuit board and used for shielding the electromagnetic signal emitted by the transmitting circuit board; the receiving magnetic isolation member is arranged on the rear end of the receiving circuit board and is used for shielding the receiving circuit The electromagnetic signal from the board.
  • the transmitting magnetic isolation member and the receiving magnetic isolation member may be two separate parts, or may be integrated, which is not limited here, and can block the electromagnetic crosstalk between the transmitting circuit board and the receiving circuit board and reduce the noise of the circuit.
  • the front end surface of the transmitting support has a transmitting hole, and the probe beam is adapted to be emitted from the transmitting support through the transmitting hole;
  • the front end surface of the receiving support has a receiving Hole, and the echo beam is adapted to enter the receiving support through the receiving hole;
  • the lens barrel further includes a transmitting light shield and a receiving light shield, the transmitting light shield is located at the front end of the transmitting support
  • the outer side of the end surface of the transmitting support body is perpendicular to the end surface of the front end of the transmitting support body, and the receiving light shielding plate is located outside the end surface of the front end of the receiving support body and perpendicular to the end surface of the front end of the receiving support body.
  • the transmitting light shield and the receiving light shield can respectively isolate the detection beam emitted by the transmitting hole and the echo beam received by the receiving hole, and try to avoid the mutual interference between the detection beam emitted by the transmitting hole and the echo beam received by the receiving hole, and reduce points. Noise points in cloud chart.
  • a laser radar which includes a detection device, a main shaft, an upper bin plate, a top cover, and a base;
  • the upper bin plate is fixedly arranged relative to the detection device and located below the support platform of the detection device, and the upper bin plate is relatively closer to the base in the axial direction of the detection device and farther away from the base.
  • the main shaft is arranged perpendicular to the base and is located between the upper bin plate and the base;
  • the detection device can rotate 360° around the main axis to realize scanning in the horizontal direction.
  • the lidar adopts a non-penetrating spindle structure.
  • the detection device disclosed in various aspects of the present application can be installed on a flat platform, which is convenient to use. This design facilitates independent maintenance and independent upgrade of the detection device and the devices in the flat platform.
  • Figure 1 shows a schematic cross-sectional view of a lidar according to some embodiments of the present application
  • Fig. 2 shows a schematic structural diagram of a flat platform of a lidar according to some embodiments of the present application
  • Fig. 3 shows a schematic cross-sectional view of a flattened lidar platform according to some embodiments of the present application
  • Fig. 3A shows a schematic diagram of a code disk according to some embodiments of the present application
  • Fig. 3B shows uplink communication and downlink communication Schematic diagram of
  • Figure 4 shows a schematic structural diagram of a rotating support according to some embodiments of the present application.
  • Fig. 5 shows a schematic structural diagram of the main shaft according to some embodiments of the present application.
  • Fig. 6 shows a schematic structural diagram of a detection device of a lidar according to some embodiments of the present application
  • Figure 7 shows an exploded view of the detection device according to some embodiments of the present application.
  • Fig. 7A shows a cross-sectional view of the launch support according to some embodiments of the present application
  • Figure 7B shows a cross-sectional view of the receiving support according to some embodiments of the present application.
  • Fig. 8 shows a schematic diagram of a beam emitting device and a photoelectric processing device according to some embodiments of the present application.
  • Fig. 9 shows a schematic cross-sectional view of a flattened lidar platform according to some embodiments of the present application.
  • Fig. 10 shows a schematic cross-sectional view of a lidar according to some embodiments of the present application
  • Fig. 11 shows a schematic structural diagram of a communication component in the main shaft according to some embodiments of the present application.
  • Fig. 12 shows an exploded view of the laser radar detection device according to the third aspect of the present application.
  • FIG. 12A shows an exploded schematic diagram of a transmitting lens assembly, a receiving lens assembly, a beam emitting device, and a beam receiving device;
  • Figure 13 schematically shows a schematic diagram of a transmitting lens assembly and a receiving lens assembly
  • Figure 14A shows a schematic diagram of the emitting lens assembly disposed in a groove inside the emitting support
  • FIG. 14B shows a schematic diagram of the receiving lens assembly disposed in the groove of the receiving support
  • Figure 15 shows a schematic diagram of the optical path for detection by lidar
  • Figure 16 shows the light path changes of the light beams emitted from a group of emitting light sources in the emitting light path after passing through the emitting lens assembly
  • Figure 17 schematically shows the field of view formed by four groups of emitting light sources
  • Figure 18 shows the scan line distribution of the field of view formed by four groups of emitting light sources
  • Figure 19 shows a laser radar detection device according to an embodiment of the present application
  • 20 is a schematic diagram of a driving circuit for a signal transmitter of a laser radar in the prior art
  • 21 is a schematic diagram of a structure of a laser radar transmitting circuit provided by an embodiment of the application.
  • 22 is a schematic diagram of another structure of a laser radar transmitting circuit provided by an embodiment of the application.
  • FIG. 23 is a schematic diagram of another structure of a laser radar transmitting circuit provided by an embodiment of the application.
  • FIG. 24 is a schematic diagram of a structure of a lidar provided by an embodiment of the application.
  • Fig. 25 is a schematic flowchart of a laser radar-based ranging method provided by an embodiment of the application.
  • FIG. 26 is a schematic structural diagram of a signal receiver used for lidar in the prior art.
  • FIG. 27 is a schematic structural diagram of a receiving circuit of a lidar provided by an embodiment of the application.
  • FIG. 28 is a schematic diagram of another structure of a receiving circuit of a lidar provided by an embodiment of the application.
  • FIG. 29 is a schematic flowchart of a laser radar ranging method provided by an embodiment of the application.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present disclosure, “plurality” means two or more than two, unless specifically defined otherwise.
  • the terms “installed”, “connected”, and “connected” should be interpreted broadly, for example, they may be fixed or detachable. Connected or integrally connected: it can be mechanical connection, electrical connection or mutual communication; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • Connected or integrally connected it can be mechanical connection, electrical connection or mutual communication; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • the first feature is "on” or “under” the second feature, which may include the first and second features in direct contact, or the first and second features. Features are not in direct contact but through other features between them.
  • the "above”, “above”, and “above” the first feature on the second feature includes the first feature directly above and diagonally above the second feature, or simply means that the first feature is higher in level than the second feature.
  • the “below”, “below” and “below” of the first feature of the second feature include the first feature directly above and obliquely above the second feature, or only that the level of the first feature is smaller than the second feature.
  • Illustrative embodiments of the present application include, but are not limited to, a type of lidar.
  • a laser radar is disclosed.
  • Fig. 1 is a schematic cross-sectional structure diagram of the lidar
  • Figs. 2 and 3 respectively show a schematic structural diagram and a cross-sectional schematic diagram of the flat platform of the lidar.
  • the main shaft 2 of the lidar is located in the lower half of the entire radar, instead of axially penetrating the entire lidar, thereby reducing the space occupied by the main shaft running through the entire radar from top to bottom, which is convenient and simplified
  • the structure of the distance measuring component above the main shaft is set.
  • the lidar may include a base 1, a main shaft 2, a housing 16, a radar rotor (detection device) 17, a rotating bracket 3, a top cover 15, an upper bin plate 7, and a lower bin
  • the board 8 the bearing 6, the wireless power supply component, the DC motor, the communication component (not shown), the code wheel 13 and the cable interface 14.
  • the main shaft 2 is located in the space formed by the upper warehouse board 7 and the base 1 and is perpendicular to the base 1. It can be seen from the specific structures of the rotating support 3 and the main shaft 2 shown in Figs.
  • the main shaft 1 may not pass through the lower silo plate 8, but is located on the lower silo plate 8, that is, the lower silo plate 8 is provided at the lower end of the main shaft base 1A.
  • the first part 3A of the rotating support 3 is perpendicular to the second part 3B of the disc surface structure, and the first part 3A is sleeved on the main shaft 2.
  • the second part 3B is coupled to the radar rotor 17, and, in an exemplary embodiment, the second part 3B includes three rotating sub-supports 3c, the first end of each rotating sub-support 3c is coupled to the first part 3A, each The second end of the rotating sub-support 3c is coupled to the edge of the disc surface of the second part 3B.
  • a supporting flange 3d is also provided at the coupling between the second end of each rotating sub-support 3c and the edge of the disc surface.
  • the convex direction of the supporting flange 3d is away from the base 1, and the radar rotor 17 can pass through the supporting flange 3d.
  • the through hole is coupled with the rotating bracket 3, thereby improving the stability of the rotation of the radar rotor 17 above the main shaft 2 and reducing the influence of rotation on the life of the whole machine and the imaging quality of the radar.
  • the number of rotating sub-supports can be not only three, but also any number greater than three, and the number of supporting flanges can also be any number greater than three.
  • the rotating support can also adopt other structures suitable for sleeves on the main shaft and receiving the radar rotor, which is not limited here.
  • the upper warehouse plate 7 is arranged on the part closer to the base in the axial direction of the lidar, and is located above the disc surface of the rotating support 3, and the upper warehouse plate 7 is fixedly arranged relative to the radar rotor 17, that is, the upper warehouse plate 7 can rotate with the support 3 rotation, mainly used to process various signals output from the components on the radar rotor 17 and transmitted to the components on the radar rotor 17.
  • the upper warehouse board 7 may also have other functions, or may have other names, and is not limited to this.
  • the lower bin board 8 is mainly used to process various signals received from the components on the radar rotor 17 and to be sent to the components on the radar rotor 17.
  • the lower warehouse board 8 may also have other functions or have other names, and is not limited thereto. It should be noted that since the specific internal structure of the radar rotor 17 is irrelevant to the implementation of the solution to be embodied in this embodiment, as long as the radar rotor 17 can rotate and can complete the distance detection, the internal structure of the radar rotor 17 is not shown.
  • the communication component may include a first communication module and a second communication module.
  • the first communication module is fixedly arranged relative to the radar rotor 17 and electrically connected to the upper warehouse board 7, and the second communication module is fixedly arranged relative to the main shaft 2 and It is electrically connected to the lower compartment board 8.
  • the wireless power supply component may be located between the upper warehouse board 7 and the lower warehouse board 8, and may specifically include a wireless transmitting coil 12, a wireless receiving coil 11, a transmitting circuit board 10 and a receiving circuit board 9.
  • the coil 12, the wireless receiving coil 11, the transmitting circuit board 10 and the receiving circuit board 9 are all arranged around the main shaft 2.
  • the wireless transmitting coil 12 and the transmitting circuit board 10 are fixedly arranged relative to the main shaft 2, and the wireless receiving coil 11 and the receiving circuit board 9 are opposite to
  • the radar rotor 17 is fixedly arranged, and the wireless transmitting coil 12 and the wireless receiving coil 11 move relative to each other, and are used to supply power to the driving motor and various components on the radar rotor 17, such as a measuring device that is arranged in the radar rotor 17 and fixed relative to the radar rotor 17 Distance components.
  • the driving motor is arranged around the main shaft 2 and drives the radar rotor 17 sheathed on the rotating support 3 to rotate relative to the main shaft 2 or the base 1 by driving the rotating support 3 to rotate.
  • the driving motor here can be a DC motor, and the DC motor includes a magnet 5 and an armature 4, and the magnet 5 and the armature 4 arranged around the main shaft 2 can be interchanged in terms of their functional roles as the stator and rotor.
  • the magnet 5 can be a rotor
  • the armature 4 can be a stator.
  • the magnet 5 is sleeved on the outer side of the armature 4, and is farther away from the main shaft 2.
  • the magnet 5 does not need power supply
  • the lower compartment plate 8 and the armature 4 are electrically connected to the armature 4 in a wired connection to supply power to the armature 4, which can reduce The power supply pressure of the wireless power supply component.
  • the magnet 5 and the armature 4 of the DC motor can also be configured with other functional roles.
  • the magnet 5 is used as the motor stator to be coupled to the transmitter circuit board 10, and the armature 4 is used as the motor rotor.
  • the drive motor in the present application may also adopt other types of drive motors, and is not limited to a DC motor.
  • Existing lidars mostly use disc motors, and the disc motors have a complicated structure.
  • the lidar of the present application uses a DC motor.
  • the DC motor has the characteristics of simple structure and low cost, so the complexity of the lidar can be reduced.
  • the code wheel 13 can be used as the angle measurement component.
  • the code wheel 13 is arranged around the main shaft 2 and is farther away from the main shaft 2 than the wireless power supply component, that is, the code wheel 13 is arranged in the circumferential direction farthest from the main shaft 2 , Close to the peripheral wall of the housing of the base 1.
  • Fig. 3A shows a code wheel 13 according to an embodiment of the present invention.
  • the code wheel 13 is roughly in the shape of a ring and can be arranged around the main shaft 2.
  • the code disc 13 can rotate synchronously with the upper chamber plate 7 and the radar rotor 17.
  • the photoelectric component (not shown) can identify or determine the radar rotor, for example, through a gap on the code disc 13 or an encoding mark.
  • the rotation angle of 17 is used for angular orientation of the radar rotor 17 to determine the angle at which the lidar scans in the horizontal direction.
  • the cable interface 14 is used to connect the lidar with other electronic devices, such as other lidars or electronic equipment, so that the current signal inside the lidar can be transmitted to the outside of the current lidar, and the cable interface 14 can be waterproof , Can prevent the influence of lidar on signal transmission when water enters, so as to improve the waterproof ability of radar.
  • the working process of the above-mentioned lidar is as follows:
  • the second communication module sends the ranging instruction information sent by the lower warehouse board 8 to the first communication module, for example, in the form of optical signals, that is, so-called uplink optical signal transmission or uplink communication.
  • the first communication module passes through the upper warehouse board. 7 Send the ranging command information to the ranging component arranged inside the radar rotor 17, and the ranging component will start the ranging task after receiving the ranging command information;
  • the ranging result information generated by the ranging component performing the ranging task is processed by the upper warehouse board 7 and then sent to the second communication module through the first communication module, for example, in the form of optical signals, which is the so-called downlink optical signal transmission or downlink Communication: After receiving the ranging result information through the second communication module control component, the lower warehouse board performs relevant analysis and processing on it.
  • uplink communication and downlink communication use different wavelengths for communication.
  • the transmission data volume of the downlink communication is larger and the speed will be faster.
  • a laser of about 904 nm can be used as an optical communication transmitting unit for downlink communication
  • a red LED light can be used as an optical communication transmitting unit for uplink communication.
  • FIG. 3B shows a schematic diagram of uplink communication and downlink communication, where the arrow downward indicates downlink communication; the arrow upward indicates uplink communication. As shown in FIG.
  • a first optical communication transmitting unit L1 such as a laser with a wavelength of about 904 nm
  • a first optical communication receiving unit R1 is provided on the lower warehouse board 8, which can The wavelength of the received or processed optical signal corresponds to the first optical communication transmitting unit L1;
  • a second optical communication transmitting unit L2, such as a red LED is arranged on the upper warehouse board 8 on the lower warehouse board 8.
  • There is a second optical communication receiving unit R2 and the wavelength of the optical signal that can be received or processed corresponds to the second optical communication transmitting unit L2.
  • the first communication module includes a first optical communication transmitting unit L1 and a second optical communication receiving unit R2, and the second communication module includes a second optical communication transmitting unit L2 and a first optical communication receiving unit R1.
  • the first communication module and the second communication module are both arranged inside the main shaft 2 to save space.
  • the first communication module and the second communication module may each include an optical communication transmitting unit and one Optical communication receiving unit, so the structure of the communication part is relatively simple.
  • the different wavelengths used for upper and lower communication can also reduce interference and improve communication efficiency.
  • the upstream and downstream communication modules are all set at the axis position. Specifically, whether on the upper warehouse board or the lower warehouse board, the first communication module and the second communication module are both arranged at Relatively close to the center of the circumferential cross section of the main shaft 2.
  • the communication device itself is not large in size, and the center position of the circumferential cross-section is enough to be placed, so the space can be effectively used.
  • the wireless transmitting coil 12 and the wireless receiving coil 11 rotate relatively, and the wireless power supply component can supply power to the ranging component arranged in the radar rotor 17 so that the ranging component performs the ranging task.
  • the rotation angle of the radar that is, the horizontal scanning angle of the radar
  • Embodiment 1 A lidar, including a main shaft, a radar rotor, an upper warehouse plate, a top cover and a base;
  • the upper chamber plate is fixedly arranged with respect to the radar rotor, and the upper chamber plate is relatively closer to the base and farther away from the top cover in the axial direction of the lidar;
  • the main shaft is arranged perpendicular to the base and located between the upper bin plate and the base.
  • Embodiment 2 The lidar according to embodiment 1, further comprising a rotating support and a driving motor;
  • the rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for sleeved on the main shaft, and the second part is a disk surface structure perpendicular to the first part and is suitable for Is coupled to the radar rotor, the second part includes at least three rotating sub-supports, the first end of each rotating sub-support is coupled to the first part, and the second part of each rotating sub-support The end is coupled to the edge of the disc surface of the second part, and the driving motor is adapted to drive the radar rotor to rotate through the rotating bracket.
  • Embodiment 3 According to the laser radar of embodiment 2, a supporting flange is further provided at the coupling position between the second end of each rotating sub-support and the edge of the disc surface. The protrusion direction is away from the base, and the radar rotor is adapted to be coupled with the rotating bracket through the supporting flange.
  • Embodiment 4 The lidar according to embodiment 1 or 2, further comprising a lower warehouse board, the lower warehouse board is located between the upper warehouse board and the base and arranged around the main shaft.
  • Embodiment 5 The lidar according to Embodiment 4, further comprising a wireless power supply component located between the upper and lower warehouse boards, the wireless power supply component including a wireless transmitting coil, a wireless receiving coil, and a transmitting circuit board And receiving circuit board;
  • the wireless transmitting coil, wireless receiving coil, transmitting circuit board and receiving circuit board are all arranged around the main shaft;
  • the wireless transmitting coil and the transmitting circuit board are fixedly arranged relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixedly arranged relative to the radar rotor;
  • the wireless transmitting coil is electrically connected with the transmitting circuit board, and the wireless receiving coil is electrically connected with the receiving circuit board.
  • Embodiment 6 The laser radar according to any one of Embodiments 2 to 5, further comprising a driving motor, the driving motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and The magnet is farther away from the main shaft than the armature, and the magnet is coupled with the transmitting circuit board.
  • the driving motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and The magnet is farther away from the main shaft than the armature, and the magnet is coupled with the transmitting circuit board.
  • Embodiment 7 The lidar according to any one of embodiments 2 to 5, the lidar further includes a drive motor, the drive motor includes a magnet and an armature, the magnet and the armature both surround the main shaft And the magnet is farther away from the main shaft than the armature, and the transmitting circuit board is electrically connected with the armature to supply power to the armature.
  • Embodiment 8 According to the laser radar of any one of Embodiments 2 to 7, the driving motor is a DC motor.
  • Embodiment 9 The lidar according to any one of Embodiments 5 to 8, further comprising an angle measuring component, the angle measuring component is arranged around the main shaft, and relative to the wireless power supply component and the main shaft The distance is farther.
  • Embodiment 10 The lidar according to any one of Embodiments 1 to 9, further comprising a cable interface, the cable interface being used to connect the lidar with an external device opposite to the lidar.
  • Illustrative embodiments of the second aspect of the present application include but are not limited to a laser radar detection device and its laser radar.
  • a laser radar is disclosed.
  • the cross-sectional structure of the lidar is shown in Figure 1, and Figures 6 and 7 show the schematic structural diagram and exploded view of the detection device of the lidar.
  • Figure 2 shows the schematic structural diagram of the flat platform of the lidar.
  • 9 shows a schematic cross-sectional view of the flat platform of the lidar.
  • the main shaft 2 of the lidar is located in the lower half of the entire radar, instead of axially penetrating the entire lidar, thereby reducing the space occupied by the main shaft running through the entire radar from top to bottom, which is convenient and simplified
  • the structure of the detection device above the spindle is set up.
  • the lidar may include a base 1, a main shaft 2, a rotating bracket 3, a support platform 18, a detection device (radar rotor) 17, a top Cover 15, housing 16, upper warehouse board 7, lower warehouse board 8, bearing 6, wireless power supply components (11 and 12), DC motor, communication component 19, code plate 13, and cable interface 14.
  • a detection device radar rotor
  • a top Cover 15, housing 16, upper warehouse board 7, lower warehouse board 8, bearing 6, wireless power supply components (11 and 12), DC motor, communication component 19, code plate 13, and cable interface 14.
  • the main shaft 2 penetrates between the upper warehouse plate 7 and the base 1 and is perpendicular to the base 1.
  • the main shaft 2 has a hollow structure, and the communication component 19 is provided in the main shaft 2.
  • the detection device 17 is located in the space formed by the upper bin plate 7, the top cover 15 and the housing 16. Driven by a DC motor, in an embodiment of the present invention, the upper chamber plate 7, the detection device 17, and the housing 16 can rotate 360 degrees around the main shaft 2 together to realize the horizontal scanning of the lidar.
  • the upper chamber plate 7 and the detection device 17 can also be rotated inside the housing 16 to realize the horizontal scanning of the lidar.
  • the horizontal direction refers to the direction perpendicular to the main axis 2.
  • the detection device 17 includes: a support platform 18 located above the upper chamber plate 7, and a lens barrel located above the support platform 18 and fixedly arranged relative to the support platform 18, a beam emitting device 703, and a transmitting lens Components, receiving lens assembly, photoelectric processing device 704, light barrier 711, transmitting magnetic barrier 705, and receiving magnetic barrier 706.
  • the lens barrel includes a transmitting support 701 and a receiving support 702 separated by a light shielding plate 711, wherein the extending directions of the transmitting support 701 and the receiving support 702 are parallel to each other, and the transmitting support 701 and the receiving support 702 are opposite to the light shielding plate. 711 symmetrical setting.
  • the transmitting support 701 and the receiving support 702 may also be an integrated structure, as long as they can be used to install and fix the transmitting lens assembly and the receiving lens assembly. It is understandable that the top cover 15 and the housing 16 may be arranged separately or integrally, and in order to facilitate the emission of the emitted beam and the reception of the echo beam, at least a part of the housing 16 is transparent.
  • the end surface of the front end of the emission support 701 has an emission hole 707 and an emission shading plate 709, and the top of the emission support 701 is provided with a stepped structure 713.
  • the stepped structure 713 can be used to reduce the weight of the launch support 701.
  • the inner wall of the emitting support 701 has a groove 712 for installing the emitting lens assembly.
  • the emitting lens assembly may include optical devices such as a collimator and a converging lens.
  • a beam emitting device 703 is provided outside the rear end of the emitting support 701, and the beam emitting device 703 includes a emitting circuit board 703A and m ⁇ n emitting light sources 703B.
  • the m ⁇ n emitting light sources 703B are alternately arranged on the emitting circuit board 703A in the vertical direction, as shown in FIG. 8, for example, there are 4 ⁇ 16 emitting light sources 703B, and each 16 emitting light sources 703B are vertically arranged in a row. At least one of m n is a natural number greater than 1.
  • the emitting light shielding plate 709 is perpendicular to the front end surface of the emitting support 701 and is perpendicular to the emitting hole 707. They are all located on one side of the light barrier 711, which can prevent the probe beam from exiting the transmitting hole 707 and entering the receiving hole 708 after being reflected by the housing 16, avoiding interference with the echo beam received by the receiving hole 708, and reducing the point cloud image obtained by scanning. Noise points.
  • the front end surface of the receiving support 702 has a receiving hole 708 and a receiving shading plate 710, and the top of the receiving support 702 is provided with a stepped structure 714.
  • the stepped structure 714 can To reduce the weight of the receiving support 702.
  • the inner wall of the receiving support 702 has a groove 712*, and the groove 712* is installed with a receiving lens assembly.
  • the receiving lens assembly may include optical devices such as a convergent lens.
  • a photoelectric processing device 704 is provided outside the rear end of the receiving support 702.
  • the photoelectric processing device 704 includes a receiving circuit board 704A and a plurality of photoelectric sensor elements 704B.
  • i ⁇ j photoelectric sensor elements 704B are arranged on the receiving circuit board 704A, and at least one of i and j is a natural number greater than one.
  • the photoelectric sensor element 704B and the light-emitting light source 703B may not have a one-to-one correspondence. For example, it may be a one-to-many relationship or a many-to-one relationship.
  • the echo beam When in use, the echo beam is incident on the receiving support 702 through the receiving hole 708, and is converged by the receiving lens assembly and incident on the photoelectric sensor element 704B on the receiving circuit board 704A.
  • the receiving light shielding plate 710 is located at the front end of the receiving support 702
  • the receiving light shielding plate 710 and the receiving hole 708 are both located on one side of the light shielding plate 711, which can prevent the probe beam emitted from the transmitting hole 707 from entering the receiving hole 708 after being reflected by the housing 16, and avoiding the receiving hole 708
  • the received echo beam causes interference and reduces noise points in the point cloud obtained by scanning.
  • each optical device in the receiving lens assembly and the transmitting lens assembly is fixed in position inside the receiving support 702 and the transmitting support 701, and the positions of the receiving circuit board 704A and the transmitting circuit board 703A can be It is accurately determined (that is, located at the rear end of the receiving support 702 and the transmitting support 701), which can reduce the installation and adjustment of the whole machine to a certain extent.
  • the photoelectric sensor element 704B and the emitting light source 703B can be arranged in a one-to-one correspondence, or the number can be different, which is not limited herein.
  • one of the photoelectric sensor element 704B and the emission light source 703B can be fixedly arranged, and the other can be set to be adjustable.
  • the multiple emitting light sources 703B can emit light beams sequentially or simultaneously during operation.
  • the positions of the transmitting circuit board 703A and the receiving circuit board 704A can be accurately determined at the rear end of the transmitting support 701 and the receiving support 702, respectively, thereby reducing the installation and adjustment of the whole machine.
  • the transmitting magnetic isolation member 705 is arranged on one side surface of the transmitting circuit board 703A, which is opposite to the rear end of the transmitting support body 701.
  • the transmitting magnetic isolation member 705 is used to shield the electromagnetic signal generated by the transmitting circuit board 703A;
  • the receiving magnetic isolation member 706 It is arranged on a side surface of the receiving circuit board 704A, which is opposite to the rear end of the receiving support body 702, and is used for shielding the electromagnetic signal generated by the receiving circuit board 704A.
  • the main shaft 2 may not be provided to pass through the lower silo plate 8, but is located on the lower silo plate 8, that is, the lower silo plate 8 is provided at the lower end of the main shaft base 1A. .
  • the first part 3A of the rotating support is perpendicular to the second part 3B of the disc surface structure, and the first part 3A is sleeved on the main shaft 2.
  • the second part 3B is coupled to the housing 16, and, in an exemplary embodiment, the second part 3B includes three rotating sub-supports 3c, the first end of each rotating sub-support 3c is coupled to the first part 3A, each rotating The second end of the sub-bracket 3c is coupled to the edge of the disc surface of the second part 3B.
  • a supporting flange 3d is also provided at the coupling position between the second end of each rotating sub-bracket 3c and the edge of the disc surface.
  • the projection direction of the supporting flange 3d is away from the base 1, and the upper compartment plate 7 can pass through the supporting flange 3d.
  • the upper through hole is coupled with the rotating bracket 3, thereby improving the stability of the partial rotation of the detection device 17 and reducing the influence of rotation on the life of the whole machine and the imaging quality of the radar.
  • the number of rotating sub-supports can be not only three, but also any number greater than three, and the number of supporting flanges can also be any number greater than three.
  • the rotating bracket can also adopt other structures that are suitable for being sleeved on the main shaft and receiving the upper warehouse plate 7, which is not limited here.
  • the upper warehouse plate 7 is arranged on the part closer to the base in the axial direction of the lidar, and is located above the disc surface of the rotating bracket 3, and the upper warehouse plate 7 is fixedly arranged relative to the rotating bracket 3, that is, the upper warehouse board 7 can follow the rotating bracket 3
  • Rotation is mainly used to process various signals output from and transmitted to various devices on the detection device 17. It can be understood that the upper warehouse board 7 may also have other functions, or may have other names, and is not limited to this.
  • the lower bin board 8 is mainly used to process various signals received from each device on the detection device 17 and to be sent to each device on the detection device 17. It can be understood that the lower warehouse board 8 may also have other functions or have other names, and is not limited thereto.
  • the communication component 19 may include a light emitting element 19A and a photoelectric sensor element 19D constituting the first communication module, and a light emitting element 19C and a photo sensor element 19B constituting the second communication module.
  • the light emitting element 19A and the photoelectric sensor element 19D of the first communication module are fixedly arranged relative to the rotating bracket 3 and electrically connected to the upper warehouse board 7, and the light emitting element 19C and the photoelectric sensor element 19B of the second communication module are relative to the spindle 2Fixed setting and electrically connected with the lower compartment board 8.
  • the wavelength of the light beam emitted by the light emitting element 19A is different from the wavelength of the light beam emitted by the light emitting element 19C.
  • the light emitting element 19C emits a light beam with a wavelength of ⁇ 1
  • the light emitting element 19C and the photoelectric sensor element 19D can adopt a wavelength of
  • the light beam of ⁇ 1 is used for uplink communication, that is, some command information of the lower warehouse board 8 is transmitted to the upper warehouse board 7.
  • the light emitting element 19A emits a light beam with a wavelength of ⁇ 2, and the light emitting element 19A and the photoelectric sensor element 19B can adopt a wavelength of ⁇ 2.
  • the light beam is used for downlink communication, that is, some information detected by the detection device 17 is transmitted to the lower warehouse board 8 through the upper warehouse board 7. Since the lidar has the main shaft 2 under the detection device, more devices are provided in the flat platform, and the communication assembly 19 is set in the hollow main shaft 2, which can effectively save space in the flat platform and facilitate the platform Placement of other devices.
  • the number of light emitting elements may be set in the second communication module, which is greater than the number of light emitting elements set on the first communication module.
  • the light emitting element may be any device capable of emitting light, including but not limited to laser diodes, light emitting diodes, organic light emitting diodes, laser transmitters, and the like.
  • the photoelectric sensor element refers to any sensor capable of mutual conversion of photoelectric information, including but not limited to photocells, photomultiplier tubes, photoresistors, photodiodes, phototransistors, photocells, avalanche diodes, etc.
  • the wireless power supply component may be located between the upper warehouse board 7 and the lower warehouse board 8, and may specifically include a wireless transmitting coil 12, a wireless receiving coil 11, a transmitting circuit board 10 and a receiving circuit board 9.
  • the coil 12, the wireless receiving coil 11, the transmitting circuit board 10 and the receiving circuit board 9 are all arranged around the main shaft 2.
  • the wireless transmitting coil 12 and the transmitting circuit board 10 are fixedly arranged relative to the main shaft 2, and the wireless receiving coil 11 and the receiving circuit board 9 are opposite to
  • the rotating bracket 3 is fixedly arranged, and the wireless transmitting coil 12 and the wireless receiving coil 11 move relative to each other, and are used to supply power to the driving motor and the detection device 17.
  • the driving motor is arranged around the main shaft 2, and drives the housing 16, the detection device 17, and the upper compartment plate 7 covered on the rotating support 3 to rotate relative to the main shaft 2 or the base 1 by driving the rotating support 3 to rotate.
  • the driving motor can be a DC motor, and the DC motor includes a magnet 5 and an armature 4, both of which are arranged around the main shaft 2.
  • the magnet 5 is arranged around the main shaft 2 and is fixedly connected to the rotating support 3.
  • the armature 4 is also arranged around the main shaft 2.
  • the armature 4 is formed by winding a coil on a silicon steel sheet, so the cross section of the armature 4 is similar to a cross Type, there is a certain gap between the armature 4 and the magnet 5.
  • an armature fixing ring 41 is arranged around the main shaft 2 and is respectively connected with the armature 4 and the wireless power supply launching board 10 to fix the armature 4 to the wireless power supply launching board 10.
  • the functions of the magnet 5 and the armature 4 as the stator and rotor are interchangeable.
  • the magnet 5 can be set as the rotor and the armature 4 as the stator.
  • the magnet 5 is sleeved on the outer side of the armature 4, and is farther away from the main shaft 2. Since the magnet 5 does not need power supply, the lower compartment plate 8 and the armature 4 are electrically connected to the armature 4 in a wired connection to supply power to the armature 4, which can reduce The power supply pressure of the wireless power supply component.
  • the magnet 5 and the armature 4 of the DC motor can also be configured with other functional roles.
  • the magnet 5 is used as the motor stator to be coupled to the transmitter circuit board 10, and the armature 4 is used as the motor rotor.
  • the drive motor in the present application may also adopt other types of drive motors, and is not limited to a DC motor.
  • Existing lidars mostly use disc motors, which have a complicated structure.
  • the lidar of the present application uses a DC motor.
  • the DC motor has the characteristics of simple structure and low cost, so the complexity of the lidar can be reduced.
  • the code disc 13 can be used as the angle measurement component, the code disc 13 is arranged around the main shaft 2 and is farther away from the main shaft 2 than the wireless power supply component, that is, the code disc 13 is arranged at the farthest distance from the main shaft 2.
  • the peripheral wall of the housing close to the base 1.
  • the cable interface 14 is used to connect the lidar with other electronic devices, such as other lidars or electronic equipment, so that the current signal inside the lidar can be transmitted to the outside of the current lidar, and the cable interface 14 can be waterproof , Can prevent the influence of lidar on signal transmission when water enters, so as to improve the waterproof ability of radar.
  • the light emitting element 19C sends the detection instruction information issued by the lower warehouse board 8 to the photoelectric sensor element 19D in the form of an optical signal, that is, the so-called uplink optical signal transmission or uplink communication.
  • the photoelectric sensor element 19D performs photoelectric conversion on the detection instruction information
  • the detection instruction information is sent to the detection device 17 through the upper warehouse board 7, and the detection device 17 starts the detection task after receiving the detection instruction information; specifically, the transmitting circuit board 703A controls multiple emission light sources after receiving the detection instruction information 703B emits the detection beam to the space to be measured, and the photoelectric sensor element 704B on the receiving circuit board 704A receives the echo beam incident from the receiving hole 708 and performs photoelectric conversion to generate detection result information.
  • the detection result information is processed by the upper warehouse board 7 and sent to the photoelectric sensor element 19B in the form of optical signal through the light emitting element 19A, which is the so-called downstream optical signal transmission.
  • the photoelectric sensor element 19B photoelectrically converts the detection result information and sends it To the lower warehouse board, the lower warehouse board sends the received detection result information to the control component, so that the control component can analyze and process the detection result information.
  • uplink communication and downlink communication use different wavelengths for communication.
  • the transmission data volume of the downlink communication is larger and the speed will be faster.
  • a laser of about 904 nm can be used as an optical communication transmitting unit for downlink communication
  • a red LED light can be used as an optical communication transmitting unit for uplink communication.
  • the specific structures of the uplink communication and the downlink communication are similar to those shown in FIG. 3B and will not be repeated here.
  • the wireless transmitting coil 12 and the wireless receiving coil 11 rotate relatively, and the wireless power supply component can supply power to the detection device 17 so that the detection device 17 performs detection tasks.
  • the rotation angle of the radar is measured during the operation of the lidar.
  • the existing laser radar's through-spindle setup requires that the transmitting and receiving light paths need to be equipped with mirrors to avoid the spindle, but the non-penetrating spindle structure of the present application forms a flat platform at the position below the laser radar, and there is no problem of light path blocking caused by the spindle , No need for a mirror to deflect the light path, that is, the transmitting and receiving light paths can be basically arranged in parallel.
  • the two sets of mirrors can be eliminated, and the multi-line number lidar can achieve no one-to-one correspondence between the transmission and reception of each beam Complicated installation and adjustment process, thereby reducing or no optical installation.
  • Embodiment 1 may include a laser radar detection device, including a lens barrel, a beam emitting device, a emitting lens assembly, a receiving lens assembly, and a photoelectric processing device;
  • the lens barrel includes a transmitting support and a receiving support, and the extending directions of the transmitting support and the receiving support are parallel to each other;
  • the emitting lens assembly is located inside the emitting support and is located on the optical path of the probe beam emitted by the beam emitting device;
  • the receiving lens assembly is located inside the receiving support and on the optical path of the echo beam received by the photoelectric processing device.
  • Embodiment 2 may include the detection device of the lidar described in embodiment 1, and the detection device further includes a light barrier that is disposed between the transmitting support and the receiving support and is parallel to the transmitting support Body and receiving the direction of extension of the support body.
  • Embodiment 3 may include the detection device for lidar described in embodiment 1 or 2, wherein the beam emitting device includes a emitting circuit board, and the emitting circuit board is located outside the emitting support and is arranged on the emitting The rear end of the support, wherein the rear end of the emission support is the other end opposite to the end of the emission support that emits the probe beam;
  • the photoelectric processing device includes a receiving circuit board, the receiving circuit board is located outside the receiving support and arranged at the rear end of the receiving support, wherein the rear end of the receiving support is connected to the receiving support One end of the support body receiving the echo beam is opposite to the other end.
  • Embodiment 4 may include the laser radar detection device described in any one of embodiments 1 to 3, and the detection device further includes:
  • the transmitting magnetic isolation member is arranged at the rear end of the transmitting circuit board and used for shielding the electromagnetic signals generated by the transmitting circuit board;
  • the receiving magnetic isolation member is arranged at the rear end of the receiving circuit board and used for shielding the electromagnetic signal generated by the receiving circuit board.
  • Embodiment 5 may include the laser radar detection device described in any one of embodiments 1 to 4, wherein the beam emitting device further includes a emitting light source, and the photoelectric processing device further includes a photoelectric sensor element, wherein:
  • m ⁇ n emitting light sources are arranged on the emitting circuit board.
  • i ⁇ j photoelectric sensor elements are arranged on the receiving circuit board
  • m, n, i, and j are natural numbers greater than 1.
  • Embodiment 6 may include the lidar detection device of any one of embodiments 1 to 5, wherein the front end surface of the emitting support has an emitting hole, and the detection beam is adapted to pass from the emitting hole through the emitting hole.
  • the transmitting support is emitted; the front end surface of the receiving support has a receiving hole, and the echo beam is adapted to enter the receiving support through the receiving hole; and
  • the lens barrel further includes a transmitting light shielding plate and a receiving light shielding plate, the transmitting light shielding plate is located outside the end surface of the front end of the transmitting support body and perpendicular to the end surface of the front end of the transmitting support body, and the receiving light shielding plate is located in the The outer side of the end surface of the front end of the receiving support body is perpendicular to the end surface of the front end of the receiving support body.
  • Embodiment 7 may include the detection device for lidar described in any one of embodiments 1 to 6, wherein at least one groove is provided on the inner wall of the emitting support for fixing the emitting lens assembly;
  • At least one groove is provided on the inner wall of the receiving support body for fixing the receiving lens assembly.
  • Embodiment 8 may include the detection device of the lidar described in embodiment 1, and the detection device further includes a supporting platform.
  • the lens barrel, the beam emitting device, the emitting lens assembly, the receiving lens assembly, and the photoelectric processing device are located on the supporting platform. And fixedly arranged relative to the supporting platform.
  • Embodiment 9 may include a laser radar, which includes: the detection device as described in embodiment 8, a main shaft, an upper bin plate, a top cover, and a base;
  • the upper bin plate is fixedly arranged relative to the detection device and located below the support platform of the detection device, and the upper bin plate is relatively closer to the base in the axial direction of the detection device and farther away from the base.
  • the main shaft is arranged perpendicular to the base and is located between the upper bin plate and the base;
  • the detection device can rotate 360° in a horizontal direction relative to the main shaft.
  • Embodiment 10 may include the laser radar described in embodiment 9, and the laser radar further includes a rotating support and a driving motor;
  • the rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for sleeved on the main shaft, and the second part is a disk surface structure perpendicular to the first part and is suitable for Supporting the supporting platform, the second part includes at least three rotating sub-supports, a first end of each of the rotating sub-supports is coupled to the first part, and a second end of each of the rotating sub-supports is coupled Connected to the edge of the disc surface of the second part, the driving motor is adapted to drive the supporting platform to rotate through the rotating bracket.
  • Embodiment 11 may include the lidar described in embodiment 9 or 10, and further include a housing, which is located above the base and is connected to the periphery of the support platform of the detection device.
  • Embodiment 12 may include the lidar described in embodiment 10, and the lidar may further include a communication component;
  • the main shaft is arranged in a hollow structure, and the communication component is arranged inside the main shaft.
  • Embodiment 13 may include the lidar described in embodiment 12, wherein the communication component includes a first communication module and a second communication module, the first communication module and the detection device are relatively fixed, and the second communication The module is relatively fixed to the base;
  • the first communication module includes at least one light emitting element
  • the second communication module includes at least one photoelectric sensor element
  • the at least one photoelectric sensor element of the second communication module is located in the first communication module. At least one light emitting element emits the light beam in the light path.
  • Embodiment 14 may include the lidar of embodiment 13, wherein the second communication module further includes at least one light emitting element, the first communication module further includes at least one photoelectric sensor element, and the first communication module The at least one photoelectric sensor element of the module is located on the optical path of the light beam emitted by the at least one light emitting element of the second communication module.
  • Embodiment 15 may include the lidar of embodiment 14, wherein the wavelength of the light beam emitted by the at least one light emitting element of the first communication module is equal to that of the light beam emitted by the at least one light emitting element of the second communication module. The wavelength of the light beam is different.
  • Illustrative embodiments of the third aspect of the present application include but are not limited to a laser radar detection device and its laser radar.
  • the third aspect of the present application is mainly based on the above-mentioned second aspect. Therefore, the following description will focus on the differences from the second aspect, and the similarities or similarities will not be repeated.
  • FIG. 12 shows a laser radar detection device (radar rotor) 17 according to the third aspect of the present application, which is, for example, arranged in the housing 16 shown in FIG. 1.
  • FIG. 12 is similar to the structure shown in FIG. 7, and additionally shows the transmitting lens assembly 715 and the receiving lens assembly 716. They are described in detail below.
  • the transmitting support body 701 and the receiving support body 702 are basically symmetrical structures, and the two are arranged on the supporting platform 18.
  • the supporting platform 18 is, for example, approximately circular. Therefore, the junction of the transmitting support 701 and the receiving support 702 (for example, the position of the light shielding plate 711) can be approximately located on a diameter of the supporting platform 18, so as to minimize The weight of the detection device 17 is evenly distributed on the support platform 18 to minimize possible imbalance during high-speed rotation.
  • the emission lens assembly 715 includes, for example, a plurality of lenses, which are arranged in a groove 712 inside the emission support 701 (as shown in FIG. 7B).
  • the emitting lens assembly 715 may include, for example, optical devices such as a collimator and a converging lens.
  • the rear end of the emitting support 701 is provided with a beam emitting device 703.
  • the probe beam emitted by the beam emitting device 703 is modulated and shaped by the emitting lens group 715, and then emitted to the space to be measured through the emitting hole 707.
  • the receiving lens assembly 716 may include, for example, a plurality of lenses, which are arranged in the groove 712* of the receiving support 702 (as shown in FIG. 7A).
  • the receiving lens assembly 716 includes, for example, optical devices such as a condenser lens.
  • the echo beam is incident on the receiving support 702 through the receiving hole 708, converged by the receiving lens assembly 716, and then incident on the photo sensor element 704B on the receiving circuit board 704A.
  • FIG. 12A shows an exploded schematic diagram of the emitting lens assembly 715, the receiving lens assembly 716, the beam emitting device 703, and the beam receiving device 704.
  • FIG. 13 schematically shows a schematic diagram of the transmitting lens assembly 715 and the receiving lens assembly 716.
  • 14A shows a schematic diagram of the transmitting lens assembly 715 arranged in the groove 712 inside the transmitting support 701
  • FIG. 14B shows a schematic diagram of the receiving lens assembly 716 arranged in the groove 712* of the receiving support 702.
  • the emitting lens assembly 715 includes two plano-convex lenses (preferably plano-convex lenses of the same specification, namely lenses 715c and 715d), a symmetrical double-convex lens (that is, lens 715b), and a diaphragm (The side close to the emitting hole 707, that is, the lens 715a); the receiving lens assembly 716 includes a lens 716a, a lens 716b, and a lens 716c, and a filter (that is, a filter 716d) on the side away from the receiving hole 708, Used to filter out stray light.
  • plano-convex lenses preferably plano-convex lenses of the same specification, namely lenses 715c and 715d
  • a symmetrical double-convex lens that is, lens 715b
  • a diaphragm The side close to the emitting hole 707, that is, the lens 715a
  • the receiving lens assembly 716 includes a lens 716a, a lens 7
  • the transmitting lens assembly 715 is a telecentric lens group, wherein the lens 715d is arranged close to the beam emitting device 703, and can receive the laser beam from the beam emitting device 703, and after deflection,
  • the light beam is incident on other lens components, for example, a collimating lens, which is configured to collimate and emit the deflected laser beam.
  • the lens 716d closest to the beam receiving device 704 in the receiving lens assembly 716 and the lens 715d closest to the beam emitting device 703 in the emitting lens assembly 715 are located on the support platform. In the middle, the two are roughly on the same plane, and the connecting line between the two or the overall center of gravity passes through the center of the supporting platform 18. Generally, the size and weight of the lens 716d and the lens 715d are relatively large. Therefore, arranging them in the middle of the supporting platform is beneficial to reduce the moment of inertia of the detection device 17 when rotating at a high speed.
  • the stepped structure 713 provided on the outer end of the transmitting support 701 and the stepped structure 714 provided on the outer end of the receiving support 702 can reduce the weight of the transmitting support 701 and the receiving support 702 At the same time, since the stepped structure is located at the outer end, the moment of inertia of the detecting device 17 during high-speed rotation can also be reduced.
  • the beam emitting device 703 includes four groups of emitting light sources 703B, each of which has 16 emitting light sources 703B, for example, arranged in a vertical direction; the beam receiving device 704 also includes four groups of photoelectric sensor elements 704B, Each group of 16 photoelectric sensor elements 704B are preferably arranged in a row in the vertical direction.
  • FIG. 15 shows a schematic diagram of the optical path of the lidar for detection, in which the transmitting lens assembly and the receiving lens assembly are omitted for clarity.
  • OB represents the object to be detected.
  • the square on the object OB to be detected represents the light spot generated by the light beam from the emission light source 703B on the object OB to be detected
  • Diffuse reflection part of the light beam is reflected back to the photo sensor element 704B.
  • the outgoing light beam 190at is incident on the object to be detected OB to generate a light spot a, and a diffusely reflected part of the light beam 190ar is received by one of the receiving units of the photoelectric sensor element 704B.
  • the emitted light beam 190bt is incident on the object to be detected OB to generate a light spot b, which generates a diffusely reflected part of the light beam 190br, which is received by another receiving unit of the photoelectric sensor element 704B.
  • the signal generated by the photoelectric sensor element 704B undergoes signal processing such as amplification and filtering, and then undergoes further processing to obtain the parameters such as the distance and orientation of the object OB to be detected.
  • the quantity correspondence between the transmitting and receiving units in this application can be multiple, such as one-to-one correspondence, one transmitting unit corresponding to multiple receiving units, or multiple transmitting units corresponding to one receiving unit.
  • the relative positions of the transmitting and receiving units that correspond to each other are basically the same.
  • the transmitting unit that emits the light beam 190at is located at the relatively bottom of the column formed by the entire transmitting light source 703B
  • the receiving unit that receives the light beam 190ar is basically located in the entire photoelectric sensor.
  • the transmitting unit that emits the light beam 190bt is located at the relatively top position of the column formed by the entire transmitting light source 703B
  • the receiving unit that receives the light beam 190br is basically located at the relatively top position of the column formed by the entire photoelectric sensor element 704B.
  • FIG. 16 shows the light path changes of the light beams emitted from a group of emission light sources 703B after passing through the emission lens assembly in the emission light path.
  • FIG. 17 schematically shows the field of view formed by four groups of emitting light sources 703B. Yellow, red, green, and blue in FIG. 17 correspond to the emitted light of the four groups of emission light sources 703B, respectively, and the purple emitted light in FIG. 16 corresponds to the red emitted light on the right in FIG. 17.
  • the longitudinal field of view of the laser radar detection device 17 is about 106°.
  • the angular resolution is the smallest, 1.5°, and at the edge of the field of view, the angular resolution is the largest, 2.3° ,
  • the average angular resolution of the full field of view is about 1.7°, and the scan line distribution is shown in Figure 18.
  • FIG. 19 shows a detection device 17 of a lidar according to an embodiment of the present application.
  • an optical fiber 717 is provided in front of the emission hole 707 to scatter a part of the emitted light energy or light beam to provide a supplementary solution for near-field detection of blind spots. Therefore, the background noise of the detector is not increased.
  • the optical fiber 717 can be arranged at a relatively outer position of the center of the exit hole 707, which can prevent excessive outgoing beams from being scattered by the optical fiber 717. This method of near-field detection blind zone compensation is particularly advantageous when the photoelectric sensor element 704B adopts a SiPM detector.
  • the lower limit of the power response of the SiPM detector is very low, and it is usually necessary to avoid the method of supplementing the lateral field of view at the receiving end to supplement the blind zone. Therefore, at the transmitting front end, a single optical fiber is designed to scatter a part of the blind area of the receiving line of sight supplementary solution, so as not to increase the background noise of the detector. By adding fiber 717, the blind area can be shortened from 0.4m to 0.01m.
  • FIG. 20 shows a schematic diagram of a single-line signal transmitting circuit of a lidar in the prior art.
  • the single-wire signal transmitting circuit 100 of the lidar includes: a switching device driver 101, a switching device 102, a light emitting device 103 and an energy storage capacitor 104.
  • the input terminal of the switching device driver 101 inputs a pulse signal.
  • the output of the switching device driver 101 is electrically connected to the switching device 102.
  • the switching device 102 may be a switching transistor.
  • the output terminal of the switching device driver 101 may be electrically connected to the gate of the switching transistor 102.
  • the source of the switching transistor is connected to the ground.
  • the anode of the light emitting device 103 is electrically connected to the high-level signal line (HV), and the cathode of the light emitting device is electrically connected to the drain of the switching transistor 102.
  • HV high-level signal line
  • the energy storage capacitor 104 is used as an energy storage element, one end is input with a high level signal, and one end is connected to the ground. In addition, one end of the energy storage capacitor inputting a high-level signal is electrically connected to the input end of the light emitting device 103.
  • the drain and source of the switching triode 102 are conducted, and the current will flow through the light emitting device 103, through the high voltage signal line.
  • the drain and source of the switching transistor 102 are switched so that the light emitting device 103 emits a light signal that can be transmitted.
  • the strength of the optical signal can be controlled by the magnitude of the signal voltage output by the high-level signal line HV.
  • the duration of the light signal emitted by the light emitting device 103 can be controlled by the pulse signal output by the switching device driver 101.
  • multi-line lidar it usually includes multiple light-emitting devices.
  • a switching device driver is provided for each light emitting device.
  • the present application adopts a signal distributor in the transmitting circuit of the lidar to drive more switching devices with fewer switching device drivers, thereby reducing the number of devices included in the transmitting circuit of the lidar , Is conducive to reducing the size of lidar.
  • the cost of the signal distributor is lower than the cost of the switching device driver, the cost of the lidar can be reduced, which is beneficial to expand the further promotion of the lidar.
  • FIG. 21 shows a schematic structural diagram 160 of a laser radar transmitting circuit provided by an embodiment of the present application.
  • the transmitting circuit 200 of the laser radar includes a control signal generator 201, a switching device driver 202, a first signal distributor 203, a plurality of switching devices 204, and a plurality of light emitting devices 205.
  • the number of light emitting devices 205 can be any integer greater than one. For example 16, 26, 32, 64, etc.
  • the number of switching devices 204 may be equal to the number of light emitting devices. Each switching device 204 corresponds to each light emitting device 205 one-to-one.
  • the switching device driver 202 is suitable for driving the switching device 204.
  • the output terminal of the control signal generator 201 is electrically connected to the input terminal of the switching device driver 202.
  • the output terminal of the switching device driver 202 is electrically connected to the signal input terminal of the first signal distributor 203.
  • the first signal distributor 203 includes a plurality of output terminals.
  • the output terminal of each first signal distributor 203 corresponds to one switching device 204 one-to-one.
  • the output terminal of each first signal distributor 203 is electrically connected to the input terminal of the switching device 204 (for example, the gate of a switching transistor) corresponding to the output terminal.
  • Each switching device 204 corresponds to one light emitting device 205 one to one.
  • the drain of the switching device 204 is electrically connected to the negative electrode of the light emitting device 205 corresponding to the switching device 204, and the positive electrode of the light emitting device 205 corresponding to the switching device 204 is connected to a high-level signal line (HV) Electrical connection.
  • HV high-level signal line
  • the control signal generator 201 is used to generate a trigger signal.
  • the positive amplitude and negative amplitude of the trigger signal may not match the turn-on voltage and pinch-off voltage of the switching device.
  • the function of the switching device driver 202 is to turn on and drive the switching device 204 under the triggering of the trigger signal generated by the control signal generator 201.
  • the width of the pulse output by the switching device driver 202 is used to control the on time of the switching device 204, thereby controlling the duration of the light signal emitted by the light emitting device.
  • the signal output by the switching device driver 202 can control the on and off of the switching device 204.
  • the aforementioned switching device driver may be a GaN switching device driver.
  • the GaN switching device driver is simple in design and can achieve an extremely fast propagation delay of 2.5 nanoseconds and a minimum pulse width of 1 nanosecond. Using GaN switching device driver makes the control signal of the switching device more accurate. Can be used to control various switching devices.
  • the first signal distributor 203 includes a signal input terminal, multiple output terminals, and at least one addressing signal input terminal.
  • the number of output terminals of the first signal distributor 203 can be matched with the number of light emitting devices 205 used in the laser radar transmitting circuit.
  • the number of output terminals of the first signal distributor 203 may be greater than or equal to the number of light emitting devices 205 described above.
  • At least one addressing signal input terminal of the first signal distributor 203 can input an addressing signal.
  • the output terminal corresponding to the address selection signal can be determined according to the address selection signal.
  • the first signal distributor 203 can transmit the pulse signal input to the first signal distributor 203 and converted by the switch device driver to the output terminal determined by the address selection signal.
  • the switching device 204 may be various types of switching transistors, such as silicon-based field effect transistors, silicon-based MOS transistors, and the like.
  • the above-mentioned switching device 204 may be a GaN switching device, such as a silicon-based GaN field effect tube, a GaN-based field effect tube, and the like.
  • GaN switching devices have the advantages of high temperature resistance, easy integration, fast response speed, etc., and are suitable as switching devices for multi-line lidar.
  • the aforementioned switching device driver 202 may be a GaN switching device driver.
  • the above-mentioned light-emitting device 205 may be various light-emitting devices.
  • the above-mentioned light-emitting device may be an inorganic semiconductor light-emitting device, such as a semiconductor light-emitting diode (LED), and a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser). , Vcsel), Edge Emitting Lasers (EEL), etc.
  • the number of the switching device driver 202 may be one.
  • the number of output terminals of the first signal distributor 203 can match the number of switching devices 204.
  • one switching device driver can drive all switching devices.
  • the number of switching device drivers in the above-mentioned embodiment is greatly reduced.
  • the cost of the laser radar transmitting circuit can be reduced; on the other hand, the number of devices used in the laser radar transmitting circuit can be reduced, thereby reducing the volume occupied by the laser radar transmitting circuit.
  • FIG. 22 shows another schematic diagram 260 of the laser radar transmitting circuit provided by the embodiment of the present application.
  • the transmitting circuit 300 of the lidar includes a control signal generator 301, at least two switching device drivers 302, at least two first signal distributors 303, multiple switching devices 304, and multiple light emitting devices 305, and The second signal distributor 306.
  • the number of light emitting devices 305 can be any integer greater than one. For example 16, 26, 32, 64, etc.
  • the number of switching devices 304 may be equal to the number of light emitting devices. Each switching device 304 corresponds to each light-emitting device 305 one-to-one.
  • the switching device driver 302 is suitable for driving the switching device 304.
  • the number of switching device drivers 302 is greater than or equal to two.
  • the number of switching device drivers 302 may be equal to the number of first signal distributors 303.
  • Each switching device driver 302 corresponds to each first signal distributor 303 one-to-one.
  • connection relationship between the switching device 304 and the light emitting device 305 reference may be made to the description of the embodiment shown in FIG. 21, which is not repeated here.
  • the number of first signal distributors 303 may be greater than or equal to two.
  • Each first signal distributor 303 may include a signal input terminal, at least one addressing signal input terminal, and at least two output terminals.
  • the sum of the number of the output terminals of the at least two first signal distributors 303 described above can match the number of the switching devices 304.
  • the sum of the number of output terminals of each first signal distributor 303 is equal to the number of switching devices 304.
  • Each switching device 304 can correspond to an output terminal of a first signal distributor 303 one-to-one.
  • the signal input end of the first signal distributor 303 is electrically connected to the signal output end of the switching device driver 302 corresponding to the first signal distributor 303; the address selection signal input end is connected to the address selection signal Wire electrical connection.
  • the output terminal is electrically connected to the input terminal of the switching device 304 corresponding to the output terminal.
  • control signal generator 301 and the above-mentioned at least two switching device drivers 302 are electrically connected through the second signal distributor 306.
  • the second signal distributor 306 includes a first input terminal, at least one second input terminal, and at least two first output terminals; wherein, the first input terminal is electrically connected to the control signal output terminal of the control signal generator 301. At least one second input terminal is electrically connected to the first address selection signal line. The number of the first address signal lines can be greater than or equal to one. At each moment, a first output terminal of the second signal distributor 306 can be determined according to the signal transmitted on each first address selection signal line. Each first output terminal may be electrically connected to an input terminal of a switching device driver corresponding to the first output terminal. In this embodiment, each switching device driver 302 corresponds to each first output terminal one to one.
  • the number of output terminals of each first signal distributor 303 may be less than the number of switching devices used in the laser radar transmitting circuit 300 shown in FIG. 22.
  • the number of the first output terminals of the second signal distributor 306 can be matched with the number of the switching device drivers 302 used in the laser radar transmitting circuit 300 shown in FIG. 22.
  • the number of first output terminals of the second signal distributor 306 may be equal to the number of switching device drivers 302 used by the laser radar transmitting circuit 300.
  • the number of first output terminals of the second signal distributor 306 may be two, and the number of output terminals of the first signal distributor 306 may be 32.
  • the number of first output terminals of the first signal distributor is 4, and the number of output terminals of the first signal distributor may be 16.
  • the number of first output terminals of the second signal distributor is 8, the number of output terminals of the first signal distributor is 8, and so on.
  • the first signal distributor and the second signal distributor are arranged in the laser radar transmitting circuit, so as to reduce the number of switching device drivers for driving multiple switching devices.
  • the cost of the transmitting circuit of the lidar can be reduced, and the volume of the transmitting circuit can be reduced.
  • FIG. 23 shows another schematic diagram 400 of the laser radar transmitting circuit provided by the embodiment of the present application.
  • the transmitting circuit 400 of the lidar includes a control signal generator 401, at least two switching device drivers 402, at least two first signal distributors 403, multiple switching devices 404, and multiple light emitting devices 405, and At least two third signal distributors 406.
  • the number of light emitting devices 405 can be any integer greater than one. For example 16, 26, 32, 64, etc.
  • the number of switching devices 404 may be equal to the number of light emitting devices 405. Each switching device 404 corresponds to each light emitting device 405 one-to-one.
  • the switching device driver 402 is suitable for driving the switching device 404.
  • the number of switching device drivers 402 is greater than or equal to two.
  • the number of switching device drivers 402 may be equal to the number of first signal distributors 403.
  • Each switching device driver 402 corresponds to each first signal distributor 403 one-to-one.
  • connection relationship between the switching device 404 and the light emitting device 405 reference may be made to the description of the embodiment shown in FIG. 21, which will not be repeated here.
  • connection relationship between the first signal distributor 403 and the switch driver reference may be made to the description of the embodiment shown in FIG. 22, which will not be repeated this time.
  • the third signal distributor 406 includes a third input terminal, at least one fourth input terminal, and at least two second output terminals.
  • the control signal generator 401 may include at least two sets of control signal output terminals. At least two groups of control signal output terminals of the control signal generator, and only one group of control signal output terminals are in effective working state at each moment. Each group of control signal output terminals corresponds to a third signal distributor one to one. A group of control signal output terminals of the control signal generator 401 are electrically connected to the third input terminal of the third signal distributor corresponding to the control signal output terminal.
  • At least one fourth input terminal of the third signal distributor 406 is electrically connected to the second addressing signal line.
  • the address selection signal on the second address selection signal line is used to instruct the third distributor to transmit the input signal to the output end designated by the address selection signal of the third distributor.
  • the total number of the second output terminals corresponding to the at least two third signal distributors 406 may be equal to the total number of the switching devices 402 described above.
  • Each second output terminal corresponds to a switching device driver 402 one-to-one.
  • Each second output terminal is electrically connected to an input terminal of a switching device driver 402 corresponding to the second output terminal.
  • the number of output terminals of each first signal distributor 403 may be less than the number of switching devices used in the laser radar transmitting circuit 400 shown in FIG. 23.
  • each third signal distributor 406 can be matched with the number of switching device drivers used in the laser radar transmitting circuit 400 shown in FIG. 23.
  • the total number of the third output terminals of the third signal distributors 406 may be equal to the number of the switching device drivers 402 used by the laser radar transmitting circuit 400.
  • control signal output terminals of the control signal generator 401 may be 4 groups.
  • the number of third signal distributors can be four.
  • the number of first signal distributors can be eight.
  • the number of light-emitting devices used by the transmitting circuit 400 of the lidar is 64.
  • the third signal distributor can be a 2-channel signal distributor.
  • the above-mentioned first signal distributor may be an 8-channel signal distributor.
  • the four groups of control signal output terminals of the control signal generator can be T-AP/N, T-BP/N, T-CP/N, and T-DP/N.
  • the four third signal distributors 406 can be A, B, C, and D respectively.
  • the trigger signals output by T-AP/N, T-BP/N, T-CP/N, and T-DP/N are respectively transmitted to the third input terminals of A, B, C, and D at different times.
  • T-AP/N represents the T-AP signal (positive signal) output terminal and the T-AN signal (negative signal) output terminal.
  • T-BP/N, T-CP/N, T-DP/N are the same.
  • the trigger signal is transmitted to the third signal distributor (such as A, B, C or D), taking A as an example, A corresponds to two possible output terminals: O-AP/N1 and O-AP/N2.
  • the address selection signal input from the fourth input terminal of A can control A to transmit the trigger signal to the O-AP/N1 terminal or the O-AP/N2 terminal. If the trigger signal is transmitted to the O-AP/N1 terminal, the switching device driver electrically connected to the O-AP/N1 output terminal will be triggered to enter the working state.
  • the driving signal sent by the switching device driver 402 is distributed to a switching device 404 after passing through the first signal distributor 403.
  • the length of the driving signal can be determined by the time interval during which O-AP1 and O-AN1 act on the switching device 404 respectively.
  • the length of the driving signal sent by the switching device driver 402 may determine the duration of turning on the switching device 404.
  • the switching device 404 is turned on, the light emitting device 405 emits light under the action of the HV signal.
  • the aforementioned drive signal and HV signal determine the energy of the detection signal emitted by the light-emitting device 405.
  • only one trigger signal output by T-AP/N, T-BP/N, T-CP/N, T-DP/N has a signal.
  • the number of control signal output terminals of the control signal generator 401 can be four
  • the third signal distributor 406 can be a four-way signal distributor
  • the number of the third signal distributor 406 can be four.
  • the first signal distributor 403 may be a 4-way signal distributor.
  • the number of the first signal distributor 403 may be 16.
  • the number of control signal output terminals of the control signal generator 401 can be two
  • the third signal distributor 406 can be a 4-way signal distributor
  • the number of the third signal distributor 406 can be two.
  • the first signal distributor 403 may be an 8-channel signal distributor or the like, and the number of the first signal distributor 403 may be eight.
  • the product of the number of output terminals of the first signal distributor 403, the number of control signal terminals of the control generator 401, and the number of output terminals of the third signal distributor 406 can be set equal to the luminescence used by the transmitter circuit of the laser radar.
  • the number of devices can achieve the goal of using fewer switching device drivers 402 to drive more switching devices, reducing the number of devices used in the signal transmitting circuit and reducing the cost of the lidar.
  • the first signal distributor and the second signal distributor are arranged in the laser radar transmitting circuit, so as to reduce the number of switching device drivers for driving multiple switching devices.
  • the cost of the transmitting circuit of the lidar can be reduced, and the volume of the transmitting circuit can be reduced. So as to achieve the purpose of reducing the cost of lidar and reducing the volume of lidar.
  • FIG. 24 shows a schematic structural diagram 500 of a lidar provided by an embodiment of the present application.
  • the lidar 500 includes a signal transmitting device and a signal receiving device.
  • the signal transmitting device includes a laser radar transmitting circuit as shown in FIG. 21, FIG. 22, or FIG. 23.
  • the above-mentioned lidar can be used for distance measurement, obstacle recognition, etc.
  • the lidar may include other features mentioned in the first, second, and third aspects of the application, for example.
  • FIG. 25 shows a schematic flowchart 600 of a laser radar ranging method provided by an embodiment of the present application.
  • the laser radar may be the laser radar shown in FIG. 24.
  • the signal transmitting device of the laser radar may include a signal transmitting circuit as shown in FIG. 21, FIG. 22 or FIG. 23.
  • the signal emitting device includes a plurality of light emitting devices. Lidar can control multiple light-emitting devices to send out detection signals in turn.
  • the two adjacent light-emitting devices are regarded as the first light-emitting device and the second light-emitting device according to the sequence of emitting the detection signal.
  • the first detection signal emitted by the first light-emitting device corresponds to the first flight time.
  • the ranging method of the lidar may include:
  • Step 601 The signal emitting device controls a plurality of light emitting devices to sequentially emit detection signals, and for every two adjacent light emitting devices, controls the time between the first and second light emitting devices sequentially emitting the first detection signal and the second detection signal The interval is greater than the first flight time.
  • step 602 the signal receiving device receives the echo signals respectively generated when each detection signal encounters an obstacle.
  • Step 603 Determine the flight time of each detection signal based on the transmission time of each detection signal and the reception time of each echo signal.
  • Step 604 Determine the distance between the obstacle and the lidar according to the flight time.
  • the two adjacent light-emitting devices here refer to two light-emitting devices that are adjacent in the light-emitting sequence. In some application scenarios, the two adjacent light-emitting devices may also be two light-emitting devices that are adjacent in space.
  • the signal emitting device can control the on time of the switch device corresponding to the light-emitting device to control the time when the light-emitting device emits the detection signal.
  • the signal emitting device can also control the intensity of light emitted by each light emitting device by controlling the intensity of the HV signal input to the positive electrode of each light emitting device.
  • the light-emitting device of the two adjacent light-emitting devices that first sends out the detection signal can be regarded as the first light-emitting device, and the light-emitting device that sends out the detection signal later can be regarded as the first light-emitting device.
  • the emission time of the detection signal corresponding to the first light-emitting device may be the first time
  • the emission time of the detection signal corresponding to the second light-emitting device may be the second time.
  • the time difference between the second time and the first time may be greater than the first flight time of the detection signal sent by the first light-emitting device.
  • the Time of Flight (ToF) of each detection signal can be considered as the time interval between the time when the detection signal is sent and the time when the detection signal encounters an echo signal formed by an obstacle.
  • the product of the flight time of the detection signal and the speed of light can be regarded as the distance between the lidar and the obstacle.
  • multiple light-emitting devices can obtain multiple initial distances between the lidar and the obstacle. Each initial distance corresponds to a detection signal emitted by a light-emitting device.
  • the above-mentioned multiple initial distances can be integrated to determine the more accurate distance between the lidar and the above-mentioned obstacles.
  • the foregoing step 603 may further include: for each detection signal, determining the detection signal based on the transmission time of the detection signal and the reception time of the echo signal corresponding to the detection signal and the pre-determined compensation time. The flight time of the detection signal.
  • the above compensation time is mainly used to compensate the deviation of the flight time caused by the parasitic capacitance in the transmitting circuit of the lidar.
  • the transmission circuit of lidar will generate parasitic capacitance.
  • the existence of parasitic capacitance will consume the driving pulse signal input from the gate of the switching device. Taking the time when the driving pulse signal sent by the switching device driver reaches the turn-on voltage of the light emitting device as a reference time, the existence of the above parasitic capacitance makes the actual turn-on time of the light emitting device later than the reference time. If the flight time of the detection signal is calculated at the above reference time, the actual flight time of the detection signal will be less than the flight time of the measured detection signal, so that the measured distance between the lidar and the obstacle is inaccurate.
  • the calibration test method can be used to measure the time difference between the actual turn-on time of the light emitting device and the aforementioned reference time, and the aforementioned time difference is used as the compensation time.
  • the difference between the time interval between the above-mentioned reference time of the detection signal sent by the light emitting device and the time when the echo signal generated by the detection signal encounters an obstacle and the above-mentioned compensation time is calculated, Determine the flight time of the detection signal used to calculate the distance
  • the flight time of the detection signal used for calculating the distance is closer to the actual flight time of the detection signal, so that the measured distance between the lidar and the obstacle is more accurate.
  • the embodiment of the present application also provides a signal processing method applicable to lidar, including:
  • the driving signal output by each of the at least one switching device driver is sequentially output to the switching device to control the opening and closing of the switching device;
  • the light emission of the light emitting device is controlled by the opening and closing of the switching device.
  • the fourth aspect of the present application relates to a laser radar transmitting circuit and a signal processing method at the transmitting end.
  • the transmitting circuits 200, 300, and 400 and the signal processing method therein can be combined with the lidar of the first, second, and third aspects of the present application, for example, used as the transmitting circuit of the lidar and the signal processing method therein.
  • a beam emitting device 703 is provided outside the rear end of the emitting support 701, and the beam emitting device 703 includes an emitting circuit board 703A and m ⁇ n emitting light sources 703B.
  • the light-emitting devices 205, 305, and 405 in the emission circuit of the fourth aspect of the present application can be used as the emission light source 703B in FIG. 8.
  • other components of the emission circuit of the fourth aspect of the present application such as a control signal generator, can be used.
  • Switching device driver, first signal distributor, second signal distributor, third signal distributor, multiple switching devices, etc. are also integrated on the transmitting circuit board 703A, so that the laser of the fourth aspect of the application can be integrated
  • the technical scheme of the radar transmitting circuit and the signal processing method are integrated into the aforementioned lidar. This combination is easy to understand for those skilled in the art, and no creative work is required, and will not be repeated here.
  • FIG. 26 shows a schematic structural diagram of a signal receiver for laser radar in the prior art.
  • the signal receiver of the laser radar may include a plurality of photoelectric signal receivers.
  • the photoelectric signal receiver is used to convert the received optical signal into an electrical signal.
  • the signal receiving circuit in the existing laser radar includes a plurality of signal receiving subunits 70.
  • Each signal receiving subunit 70 includes a photoelectric signal receiver 71, a signal amplifier 72 and a voltage comparator 73.
  • Each signal receiving subunit 70 may correspond to a light emitting device in the laser radar transmitting device.
  • the photoelectric signal receiver 71 in the signal receiving subunit 70 can receive the echo signal returned by the detection signal from the light emitting device corresponding to the signal receiving subunit 70 when encountering an obstacle.
  • the echo signal here is a relatively weak optical signal.
  • the signal amplifier 72 in the signal receiving subunit 70 amplifies the above-mentioned electric signal.
  • the amplified electrical signal is a continuous voltage signal.
  • the voltage comparator 73 in the signal receiving subunit 70 is used to convert the above-mentioned continuous voltage signal into a pulse voltage signal.
  • the echo signal can be further analyzed based on the pulse voltage signal.
  • the existing lidar is a multi-line lidar.
  • the transmitting end includes a plurality of light emitting devices, and correspondingly, the signal receiving end may include a plurality of photoelectric signal receivers. For each photoelectric signal receiver, a one-to-one corresponding signal amplifier is required. As a result, the number of components included in the lidar is large, and the cost is high, which is not conducive to the large-scale promotion of lidar.
  • FIG. 27 shows a schematic structural diagram of a receiving circuit of a lidar provided by an embodiment of the present application.
  • the receiving circuit 800 of the laser radar includes a plurality of photoelectric signal receivers 801, a first signal selector 802, a signal amplifier 803, and a voltage comparator 804.
  • the number of photoelectric signal receivers 801 can be any natural number greater than or equal to 1. For example, 8, 16, 24, 64, etc.
  • the number of photoelectric signal receivers can be set according to specific application scenarios.
  • the aforementioned photoelectric signal receiver may be, for example, a phototube, a photomultiplier tube, a silicon photocell, a photodiode, an avalanche photodiode, a PIN photodiode, a silicon photomultiplier (SiPM), or a single photon avalanche diode (Single Photon Avalanche Diode, Spad) etc.
  • the working time of the photoelectric signal receiver can be controlled to match the time when the light emitting device of the signal transmitting end of the laser radar corresponding to the photoelectric signal receiver sends out the detection signal.
  • a photoelectric signal receiver can control the working time of the photoelectric signal receiver from the time when the light emitting device corresponding to the photoelectric signal receiver and the signal transmitting end of the laser radar sends out the detection signal to the time when the photoelectric signal receiver receives End after the echo signal of the above detection signal.
  • each photoelectric signal receiver 801 may correspond to a signal input terminal of the first signal selector 802 one to one.
  • the output terminal of each photoelectric signal receiver 801 may be electrically connected to the signal input terminal of the first signal selector 802 corresponding to the output terminal of the photoelectric signal receiver 801.
  • the first signal selector 802 may have an address signal input terminal.
  • the address signal input terminal can be electrically connected with the address signal line. Using the address signal input from the address signal input terminal can control which signal input terminal of the first signal selector 802 transmits to the output terminal of the first signal selector 802.
  • the address signal on the address signal line and the control signal for controlling the working time of each photoelectric signal receiver can be matched with each other.
  • the output terminal of the first signal selector 802 is electrically connected to the signal input terminal of the signal amplifier 803.
  • the signal output by the photoelectric signal receiver 801 may be a current signal, and the signal amplifier 803 may convert the current signal input into it into a voltage signal, and amplify the voltage signal.
  • the signal output by the photoelectric signal receiver 801 may be a voltage signal, and the signal amplifier 803 may amplify the voltage signal input into it and output by the photoelectric signal receiver.
  • the voltage signal output by the signal amplifier 803 is a continuous voltage signal.
  • the voltage comparator 804 is used to convert the continuous voltage signal output by the signal amplifier 803 into a pulse voltage signal.
  • the voltage comparator 804 has a first input terminal and a second input terminal.
  • the output terminal of the signal amplifier 803 is electrically connected to the first input terminal of the voltage comparator 804, and the second input terminal of the voltage comparator 804 is electrically connected to the predetermined threshold voltage signal line.
  • the threshold voltage transmitted on the aforementioned preset threshold voltage signal line can be changed according to application scenarios.
  • multiple photoelectric signal receivers 801 may be arranged on the same carrier.
  • Two first signal selectors 802, two signal amplifiers 803, and two voltage comparators 804 can also be provided on the carrier.
  • the foregoing multiple photoelectric signal receivers 801 can be divided into two groups.
  • Each group of photoelectric signal receivers 801 corresponds to a first signal selector 802. For example, if the total number of photoelectric signal receivers 801 described above is 16, the 16 photoelectric signal receivers 801 can be divided into 2 groups, each with 8 photoelectric signal receivers 801. Each group of 8 photoelectric signal receivers 801 corresponds to a first signal selector 802.
  • the output terminals of the photoelectric signal receivers 801 of each group are respectively connected to the signal input terminals of the first signal selector 802 corresponding to the group of photoelectric connectors 801 in a one-to-one correspondence.
  • the output terminal of the first signal selector 802 may be electrically connected to the signal input terminal of a signal amplifier 803.
  • the signal amplifier 803 may have an enable signal input terminal.
  • the output terminal of each signal amplifier 803 can be electrically connected to the first input terminal of the voltage comparator 804.
  • the second input terminal of the voltage comparator 803 is electrically connected to the preset threshold voltage signal line.
  • the first signal selector is used between the multiple photoelectric signal receivers and the signal amplifier, and the electrical signals output by the different photoelectric signal receivers can be input to the quantity in a preset order. Fewer signal amplifiers. Compared with arranging a signal amplifier for each photoelectric signal receiver in the laser radar, the solution provided in this embodiment reduces the number of signal amplifiers used, reduces the cost of the laser radar, and facilitates the further promotion of the laser radar.
  • FIG. 28 shows another schematic diagram of the structure of the receiving circuit of the lidar provided by the embodiment of the present application.
  • the receiving circuit 900 of the laser radar shown in FIG. 28 includes a plurality of photoelectric signal receivers 901, a first signal selector, a signal amplifier, and a voltage comparator 904.
  • multiple photoelectric signal receivers 901, at least one signal amplifier, and at least one voltage comparator are divided into at least two receiving circuit subgroups.
  • the receiving circuit sub-group may include at least two photoelectric signal receivers 901, at least one signal amplifier, and one voltage comparator 905, wherein the at least two photoelectric signal receivers 901 and the at least one The signal amplifiers are electrically connected through at least one first signal selector.
  • the number of the above-mentioned first signal selectors may be 2, 3, or other numbers.
  • the number of first signal selectors may be less than the number of photoelectric signal receivers.
  • connection relationship of the photoelectric signal receiver, the first signal selector, the signal amplifier, and the voltage comparator can be referred to the description of the embodiment shown in FIG. 27, which will not be repeated here.
  • the foregoing multiple photoelectric signal receivers 901, at least one signal amplifier, and at least one voltage comparator 905 are divided into four receiving circuit subgroups (BANKA, BANKB, BANKC, and BANKD as shown in FIG. 28) .
  • the receiving circuit subgroup includes at least two photoelectric signal receivers 901, at least one signal amplifier, and one voltage comparator 905.
  • At least two photoelectric signal receivers 901 and at least one signal amplifier are electrically connected through at least one first signal amplifier.
  • the number of the above-mentioned signal amplifiers can be one, two or more.
  • the number of signal amplifiers may be less than the number of photoelectric signal receivers 901.
  • each of the foregoing receiving circuit subgroups may further include a second signal selector 904.
  • the output terminals of the signal amplifiers included in the receiving circuit subgroup are electrically connected to the signal input terminals 904 of the second signal selector in a one-to-one correspondence.
  • the output terminal of the second signal selector 904 is electrically connected to the first input terminal of the voltage comparator 905 of the receiving circuit subgroup.
  • the second input terminal of the voltage comparator 905 is electrically connected to the predetermined threshold voltage signal line VTHA.
  • the corresponding preset threshold voltage signal line is VTHB; for the receiving circuit subgroup BANKC, the corresponding preset threshold voltage signal line is VTHC; for the receiving circuit subgroup BANKD, The corresponding preset threshold voltage signal line is VTHD, but because BANKB, BANKC, and BANKD are blocked by BANKA, they are not shown one by one. However, for the specific solution, those skilled in the art can refer to the illustration of BANKA for understanding. , BANKC, BANKD and BANKA have the same structure diagram.
  • the receiving circuit subgroups BANKA, BANKB, BANKC, and BANKD are arranged sequentially in the vertical direction, and the receiving circuit subgroups in different vertical directions may have different obstacle detection requirements, so VTHA, VTHB, VTHC and VTHD can be different.
  • the number of photoelectric signal receivers 901 included in the signal receiving circuit of the lidar is 64.
  • the receiving circuit subgroup may include 16 photoelectric signal receivers 901, 2 first signal selectors, 2 signal amplifiers, 1 second signal selector 904, and 1 voltage comparator. 905.
  • the output terminals of the first 8 photoelectric signal receivers 901 of the above-mentioned 16 photoelectric signal receivers 901 are electrically connected to the signal input terminals of the first first signal selector 9021 in a one-to-one correspondence; the last 8 photoelectric signals
  • the output terminal of the receiver 901 is electrically connected to each signal input terminal of the second first signal selector 9022 in a one-to-one correspondence.
  • Both the first first signal selector 9021 and the second first signal selector 9022 have address signal input terminals.
  • the address signal input ends of the first first signal selector 9021 and the second first signal selector 9022 may both be electrically connected to the address signal lines A0, A1, and A2.
  • the signals transmitted on the address signal lines A0, A1, and A2 are used to determine which input signal is selected by the first first signal selector and the second first signal selector as the output.
  • the address signal lines corresponding to the address signal input terminal of the first first signal selector 9021 and the address signal input terminal of the second first signal selector 9022 may be independent of each other. This allows for more independent choices.
  • the output end of the first first signal selector 9021 is electrically connected to the signal input end of the first signal amplifier 9031; the output end of the second signal selector 9022 is electrically connected to the signal input end of the second signal amplifier 9032.
  • the output terminal of the first signal amplifier 9031 and the output terminal of the second signal amplifier 9032 are electrically connected to the signal input terminal of the second signal selector 904, respectively.
  • the first signal amplifier 9031 and the second signal amplifier 9032 each have an enable signal input terminal.
  • the enable signal input terminal is electrically connected to the enable signal line.
  • the enable signal line is ENA as shown in Figure 28;
  • the enable signal line is ENB as shown in Figure 28;
  • the enable signal line is ENC as shown in Figure 28;
  • BANKD enable The signal line is shown as END in Figure 28.
  • the second signal selector 904 has an address signal input terminal, and the address signal input terminal is electrically connected to the address signal line A3.
  • the output terminal of the second signal selector 904 is electrically connected to the first input terminal of the voltage comparator 905.
  • the second input terminal of the voltage comparator 905 is electrically connected to the predetermined threshold voltage signal line VTHA.
  • the aforementioned BANKA outputs a pulse voltage signal PA
  • BANKA outputs a pulse voltage signal PB
  • BANKC outputs a pulse voltage signal PC
  • BANKD outputs a pulse voltage signal PD.
  • the multiple photoelectric signal receivers 901 of the BANK can be arranged in a photoelectric signal receiver array (as shown in FIG. 28 in a single row).
  • the 16 photoelectric signals from the photoelectric signal receiver array first pass through two 8-channel signal selectors 9021 and 9022, then enter two broadband signal amplifiers 9031 and 9032, and then pass through two signal selectors 904 to synthesize one or say After selecting one of them, it enters the voltage comparator 905 and compares it with the threshold VTHA. If it is greater than the threshold VTHA, the pulse signal is output and then converted into a low-voltage differential signal for subsequent analysis and processing.
  • the threshold VTHA may be different, because different paths may correspond to different detection requirements.
  • the threshold VTHA may be related to the preset detection distance of the lidar, for example. For nearby targets, or highly reflective targets, the echo signal is too strong, so that the pulse width of the signal amplifier cannot reflect the strength of the echo signal. At this time, it is necessary to lower the threshold appropriately to obtain reflectivity information. In other words, the lower the preset detection distance, the higher the threshold; the higher the preset detection distance, the lower the threshold.
  • the photoelectric signal receivers of BANKA, BANKB, BANKC, and BANKD are arranged vertically.
  • the possible detection requirement is to measure the distance, that is, to detect as far as possible.
  • the threshold voltage VTHA in BANKA is lower; similarly, for the optoelectronic receiving unit in the relatively central BANKB, the detection requirement may be higher in density but closer in distance, which corresponds to the threshold voltage VTHB in BANKB It is higher.
  • the signal amplifier has an enable signal input terminal (control switch). It is controlled by the enable signal (such as the enable signal transmitted on the enable signal lines ENA, ENB, EBC shown in Figure 28), and can be controlled to be turned off when detection is not needed, so power consumption can be reduced. Since it takes 1-2us for the signal amplifier to recover from the low power consumption state, the enable signal needs to be given in advance. For example, the signal amplifier needs to start working at t2. In the design of the enable signal, an enable signal can be sent to the signal amplifier at the time point of (t2-[1-2us]), so that the signal amplifier can start to work on time at t2 .
  • the enable signal such as the enable signal transmitted on the enable signal lines ENA, ENB, EBC shown in Figure 28
  • this embodiment divides the signal receiving circuit in the lidar into at least two receiving circuit subgroups, and each subgroup has at least two photoelectric signal receivers and at least one first signal selection And at least one voltage comparator, which can increase the speed of the echo signal to the received detection signal. On the one hand, it can reduce the cost of the laser, and on the other hand, it can also ensure the response speed of the lidar. Conducive to the further promotion of lidar.
  • Lidar includes a signal transmitting device and a signal receiving device.
  • the signal receiving device includes the laser radar signal receiving circuit provided in the embodiment shown in FIG. 31 or FIG. 32.
  • the lidar may include other features mentioned in the first, second, third, and fourth aspects of this application, for example.
  • FIG. 29 shows a schematic flowchart of a laser radar ranging method provided by an embodiment of the present application.
  • the laser radar ranging method 1000 includes the following steps:
  • Step 1001 The signal emitting device controls a plurality of light emitting devices to sequentially emit detection signals.
  • Step 1002 The photoelectric signal receivers included in the signal receiving device sequentially receive the echo signals respectively generated when the detection signals encounter obstacles.
  • Step 1003 based on the transmission time of each of the detection signals, the reception time of each of the echo signals, and the pre-measured compensation time, sequentially determine the flight time of each of the detection signals.
  • Step 1004 Determine the distance between the obstacle and the lidar according to the flight time.
  • the Time of Flight (ToF) of each detection signal can be considered as the time interval between the time when the detection signal is sent and the time when the echo signal formed by the obstacle is received by the detection signal.
  • the product of the flight time of the detection signal and the speed of light can be regarded as the distance between the lidar and the obstacle.
  • the above compensation time is mainly used to compensate the deviation of the flight time caused by the parasitic capacitance in the receiving circuit of the lidar.
  • the above-mentioned parasitic capacitance may be caused by the first signal selector and/or the second signal selector.
  • the receiving circuit of the lidar generates parasitic capacitance.
  • the existence of parasitic capacitance will consume voltage.
  • the rising time of the rising edge of the pulse signal voltage output by the voltage comparator is later than the rising time of the rising edge of the pulse voltage signal theoretically generated by the echo signal when the signal receiving circuit has no parasitic capacitance. Therefore, the actual flight time of the detection signal will be less than the flight time of the measured detection signal, which makes the distance between the lidar and the obstacle measured by the lidar inaccurate.
  • the calibration test method can be used to measure the rising time of the rising edge of the pulse signal voltage output by the voltage comparator and the rising time of the rising edge of the pulse voltage signal generated by the echo signal theoretically when the signal receiving circuit has no parasitic capacitance
  • the above time difference is used as the compensation time.
  • the difference between the time interval between the above-mentioned reference time of the detection signal sent by the light emitting device and the time when the echo signal generated by the detection signal encounters an obstacle and the above-mentioned compensation time is calculated, Determine the flight time of the detection signal used to calculate the distance.
  • the embodiment of the present application also provides a signal processing method applicable to lidar, including:
  • the first signal selector sequentially outputting the electrical signal output by each of the plurality of photoelectric signal receivers to the signal amplifier
  • the amplified electrical signal is compared with a threshold voltage, and a pulse voltage signal is output according to the comparison result.
  • the threshold voltage is related to the detection requirements of lidar.
  • the fifth aspect of the present application relates to the receiving circuit of the lidar and the signal processing method at the receiving end.
  • the receiving circuits 800 and 900 and the signal processing method therein can be combined with the lidar of the first, second, third, and fourth aspects of the application, for example, used as the receiving circuit of the lidar and the signal processing therein method.
  • a photoelectric processing device 704 is provided outside the rear end of the receiving support 702.
  • the photoelectric processing device 704 includes a receiving circuit board 704A and a plurality of photoelectric sensor elements 704B arranged on the receiving circuit board.
  • the photoelectric signal receivers 801 and 901 in the receiving circuit of the fifth aspect of the present application can be used as the photoelectric sensor element 704B in FIG.
  • the receiving circuit of the fifth aspect of the present application is also integrated on the receiving circuit board 704A, so that the technical solution and signal processing method of the lidar receiving circuit of the fifth aspect of the present application can be integrated , Combined with the aforementioned lidar.
  • the technical solution and signal processing method of the laser radar receiving circuit of the fifth aspect of the present application can be easily combined with the technical solution and signal processing method of the laser radar transmitting circuit of the fourth aspect of the present application. This combination is easy to understand for those skilled in the art, and no creative work is required, so it will not be repeated here.

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Abstract

一种激光雷达，包括：主轴（2）、雷达转子（17）、上仓板（7）、顶盖（15）和底座（1）；上仓板（7）相对于雷达转子（17）固定设置，且上仓板（7）在激光雷达的轴向上相对更靠近底座（1），更远离顶盖（15）；主轴（2）垂直于底座（1）设置并且位于上仓板（7）和底座（1）之间。该激光雷达可缩短各模块的走线，安装维护方便，并提高机械可靠性。

Description

激光雷达及其探测装置 技术领域
本申请涉及测距领域，特别涉及一种激光雷达。
背景技术
激光雷达LiDAR是激光主动探测传感器设备的一种统称，其工作原理大致如下：激光雷达的发射器发射出激光光束，激光光束遇到物体后，经过漫反射，返回至激光接收器，雷达模块根据发送和接收激光光束的时间间隔乘以光速，再除以2，即可计算出发射器与物体的距离。
现有的激光雷达，在主轴轴系的结构上，主要采用贯穿轴的结构设计，而所谓的贯穿轴，即是指从激光雷达的顶部一直延伸至底部的主轴的结构，而从底部到顶部的主轴占据了激光雷达内部的空间，给位于激光雷达上方的测距组件或者说雷达转子的设计提高了难度。并且，这种贯穿轴设计的成本较高，机械结构复杂，轴系设计不紧密。
另外，目前的多线激光雷达为一对一的收发通道，例如，32线雷达需要32对发射光源与接收通道。并且，旋转扫描式激光雷达有着向纵向(垂直)视场越来越大，扫描线束越来越多的趋势不断发展。而该发展趋势，则要求激光雷达的通道数量越来越多。越来越多的通道数量可能会使激光雷达的成本变高，内部空间紧张，体积增大，并使发射端空间排布的难度增高。
现有的激光雷达，在主轴轴系的结构上，主要采用贯穿轴的结构设计，主轴从激光雷达的顶部一直延伸至底部，如此，在设计探测装置时，需要使用发射镜来折转光路以避开主轴，探测装置的结构设计比较复杂。并且，多线激光雷达为一对一的收发通道，即每个发射光源均有一个光电传感元件与之相对应，在使用时，每对发射光源和光电传感元件都需要人为进行对准光路装调，这将可能提高使用激光雷达的难度，并降低使用效率。
另外，早期的激光雷达是单线激光雷达，也就是只有一个激光器和探测器，其扫描的目标范围有限，容易造成检测目标的缺失。为了弥补单线 激光雷达的缺点，多线激光雷达越来越成为研究和商用的焦点。现有多线激光雷达往往存在成本高昂、能耗过大的问题。
背景技术部分的内容仅仅是公开人所知晓的技术，并不当然代表本领域的现有技术。
公开内容
本申请的目的在于提供一种激光雷达，可减小因主轴从上到下贯穿整个雷达所占用的空间，方便并简化了主轴上方雷达转子上的各器件的结构的设置。
为解决上述技术问题，本申请的实施例公开了一种激光雷达，包括主轴、雷达转子、上仓板、顶盖和底座；
所述上仓板相对于所述雷达转子固定设置，且所述上仓板在所述激光雷达的轴向上相对更靠近所述底座，更远离所述顶盖；
所述主轴垂直于所述底座设置并且位于所述上仓板和所述底座之间。
可选地，该激光雷达还包括旋转支架及驱动电机；
所述旋转支架包括第一部分及第二部分，所述第一部分为中空结构且适于套设于所述主轴上，所述第二部分为垂直于所述第一部分的圆盘面结构且适于与所述雷达转子耦接，所述第二部分包括至少三个旋转子支架，每个所述旋转子支架的第一端耦接于所述第一部分，每个所述旋转子支架的第二端耦接于所述第二部分的圆盘面的边缘，所述驱动电机适于通过所述旋转支架驱动所述雷达转子旋转。
可选地，每个所述旋转子支架的第二端与所述圆盘面的边缘的耦接处还设置有支撑凸缘，所述支撑凸缘的凸起方向背离所述底座，所述雷达转子适于通过所述支撑凸缘与所述旋转支架耦接。
可选地，激光雷达还包括下仓板，所述下仓板位于所述上仓板和所述底座之间并环绕所述主轴设置。
可选地，激光雷达还包括位于所述上仓板和下仓板之间的无线供电组件， 所述无线供电组件包括无线发射线圈、无线接收线圈、发射电路板和接收电路板；
所述无线发射线圈、无线接收线圈、发射电路板和接收电路板均环绕所述主轴设置；
所述无线发射线圈和发射电路板相对于所述主轴固定设置，所述无线接收线圈和接收电路板相对于所述雷达转子固定设置；
所述无线发射线圈与所述发射电路板电连接，所述无线接收线圈与所述发射电路板电连接。
可选地，所述激光雷达还包括驱动电机，所述驱动电机包括磁铁和电枢，所述磁铁及电枢均环绕所述主轴设置，且所述磁铁相对所述电枢更远离所述主轴，所述磁铁与所述发射电路板耦接。
可选地，所述激光雷达还包括驱动电机，所述驱动电机包括磁铁和电枢，所述磁铁及电枢均环绕所述主轴设置，且所述磁铁相对所述电枢更远离所述主轴，所述发射电路板与所述电枢电连接以向所述电枢供电。
可选地，所述驱动电机为直流电机。
可选地，激光雷达还包括角度测量组件，所述角度测量组件环绕所述主轴设置，并且相对于所述无线供电组件与所述主轴的距离更远。
可选地，激光雷达还包括电缆接口，所述电缆接口用于连接所述激光雷达与相对于所述激光雷达外的外部设备。
本申请实施例包括，但不限于，如下效果：
1)采用非贯穿主轴结构，通过将上下仓板、发射和接收电路板、主轴等元器件压缩叠加设置于激光雷达的偏下方位置形成扁平化平台，减小了因主轴从上到下贯穿整个雷达所占用的空间，方便并简化了设置于主轴上方或者下方的测距组件等的结构的设置。
2)旋转支架上的支撑凸缘提高了主轴上方雷达转子部分转动的稳定性，减少了转动对整机寿命和雷达成像质量的影响。
3)由于中空的下仓板套设于主轴上，也即主轴贯穿下仓板，则主轴可以 为旋转支架提供更好的支撑性，且可以提高雷达的稳定性。
4)现有的激光雷达多采用较为复杂的盘式电机驱动雷达转子，而本申请采用直流电机驱动雷达转子，直流电机具有结构简单低成本的特点，因此可以降低激光雷达的成本及复杂度。
5)将如码盘的角度测量组件设置在最外侧靠近激光雷达的外壳，能提高测量角度的准确性，从而提高激光雷达的测量准确度。
6)驱动电机采用磁铁作为转子，电枢作为定子，磁铁无需供电，而电枢与发射电路板电连接，通过下仓板为电枢供电，降低了无线供电组件的供电压力。
本申请的目的还在于提供一种激光雷达及其探测装置，激光雷达中的发射支撑体和接收支撑体的延伸方向相互平行，也即基本相对对称地设置，且光路上各元件位置相对固定，结构简单，因此可以减少或者避免对准光路装调。
为解决上述技术问题，本申请的一方面公开了一种激光雷达的探测装置，包括镜筒、光束发射器件、发射透镜组件、接收透镜组件、以及光电处理器件；
所述镜筒包括发射支撑体和接收支撑体，所述发射支撑体和接收支撑体的延伸方向相互平行；
所述发射透镜组件位于所述发射支撑体内部，并位于所述光束发射器件发出的探测光束的光路径上；所述接收透镜组件位于所述接收支撑体内部，并位于所述光电处理器件接收的回波光束的光路径上。
可以理解，发射支撑体和接收支撑体可以是一体的，即是通过将一个镜筒由隔光板隔开得到的两个支撑体，也可以是独立的两个支撑体，支撑体的侧壁为隔光材料。
通过将发射和接收透镜组件设置在延伸方向相互平行的镜筒中，能够使得探测光束的出射方向和回波光束的入射方向近似平行，无需对光束进行转折，各光学器件的结构设置相对简单，减少或者避免了对准光路装调。
在本申请的另一方面，所述光束发射器件包括发射电路板，所述发射电路板位于所述发射支撑体的外部并设置于所述发射支撑体的后端，其中，所述发射支撑体的后端为与所述发射支撑体出射所述探测光束的一端相对的另一端；所述光电处理器件包括接收电路板，所述接收电路板位于所述接收支撑体的外部并设置于所述接收支撑体的后端，其中，所述接收支撑体的后端为与所述接收支撑体接收所述回波光束的一端相对的另一端。发射隔磁件设置于所述发射电路板的后端，用于屏蔽所述发射电路板发出的电磁信号；接收隔磁件设置于所述接收电路板的后端，用于屏蔽所述接收电路板发出的电磁信号。发射隔磁件和接收隔磁件可以是两个分开的部件，也可以是一体的，在此不做限制，其能够阻隔发射电路板和接收电路板之间的电磁串扰，减少电路的噪音。
在本申请的另一方面，所述发射支撑体的前端端面上具有发射孔，并且探测光束适于经由所述发射孔从所述发射支撑体射出；所述接收支撑体的前端端面上具有接收孔，并且所述回波光束适于经由所述接收孔入射至所述接收支撑体；并且所述镜筒还包括发射遮光板和接收遮光板，所述发射遮光板位于所述发射支撑体前端的端面的外侧并与所述发射支撑体前端的端面垂直，所述接收遮光板位于所述接收支撑体前端的端面的外侧并与所述接收支撑体前端的端面垂直。发射遮光板和接收遮光板能够分别对发射孔发出的探测光束和接收孔接收的回波光束起到隔离作用，尽量避免发射孔发出的探测光束和接收孔接收的回波光束相互干扰，减少点云图中的噪声点。
本申请的另一方面公开了一种激光雷达，该激光雷达包括探测装置、主轴、上仓板、顶盖、以及底座；
所述上仓板相对于所述探测装置固定设置并位于所述探测装置的支撑平台的下方，且所述上仓板在所述探测装置的轴向上相对更靠近所述底座，更远离所述顶盖；
所述主轴垂直于所述底座设置，并且位于所述上仓板和所述底座之间；
所述探测装置能够绕所述主轴360°旋转，以实现在水平方向上的扫描。
该激光雷达采用非贯穿主轴结构，通过将上下仓板、发射和接收电路板、主轴等元器件压缩叠加设置于激光雷达的偏下方位置形成扁平化平台，减小了因主轴从上到下贯穿整个激光雷达所占用的空间，故本申请各方面公开的探测装置可以安装于扁平化平台之上，方便使用，这种设计有利于探测装置和扁平化平台中的器件的独立维护和独立升级。
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附图说明
构成本公开的一部分的附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1根据本申请的一些实施例，示出了激光雷达的剖面示意图；
图2根据本申请的一些实施例，示出了激光雷达的扁平化平台的结构示意图；
图3根据本申请的一些实施例，示出了激光雷达扁平化平台的剖面示意图；图3A根据本申请的一些实施例，示出了码盘的示意图；图3B示出了上行通信和下行通信的示意图；
图4根据本申请的一些实施例，示出了旋转支架的结构示意图；
图5根据本申请的一些实施例，示出了主轴的结构示意图。
图6根据本申请的一些实施例，示出了激光雷达的探测装置的结构示意图；
图7根据本申请的一些实施例，示出了探测装置的分解图；
图7A根据本申请的一些实施例，示出了发射支撑体的剖面图；
图7B根据本申请的一些实施例，示出了接收支撑体的剖面图；
图8根据本申请的一些实施例，示出了光束发射器件和光电处理器件的 示意图。
图9根据本申请的一些实施例，示出了激光雷达扁平化平台的剖面示意图；
图10根据本申请的一些实施例，示出了激光雷达的剖面示意图；
图11根据本申请的一些实施例，示出了主轴中的通信组件的结构示意图；
图12示出了根据本申请第三方面的激光雷达的探测装置的分解图；
图12A示出了发射透镜组件、接收透镜组件、光束发射器件、光束接收器件的分解示意图；
图13示意性示出了发射透镜组件和接收透镜组件的示意图；
图14A示出了发射透镜组件设置在发射支撑体内部的凹槽中的示意图；
图14B示出了接收透镜组件设置在接收支撑体的的凹槽中的示意图；
图15示出了激光雷达进行探测的光路示意图；
图16示出了发射光路中从一个组的发射光源出射的光束经过发射透镜组件后的光路变化；
图17示意性示出了四组发射光源形成的视场；
图18示出了四组发射光源形成的视场的扫描线分布；
图19示出了根据本申请的一个实施例的激光雷达的探测装置；
图20为现有技术中用于激光雷达的信号发射器的驱动电路的原理性示意图；
图21为本申请实施例提供的激光雷达的发射电路的一种结构示意图；
图22为本申请实施例提供的激光雷达的发射电路的另一种结构示意图；
图23为本申请实施例提供的激光雷达的发射电路的又一种结构示意图；
图24为本申请实施例提供的激光雷达的一种结构示意图；
图25为本申请实施例提供的基于激光雷达的测距方法的一个流程示意 图。
图26为现有技术中用于激光雷达的信号接收器的一个原理性结构示意图；
图27为本申请实施例提供的激光雷达的接收电路的一种结构示意图；
图28为本申请实施例提供的激光雷达的接收电路的另一种结构示意图；
图29为本申请实施例提供的激光雷达的测距方法的一个流程示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本公开的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
在本公开的描述中，需要理解的是，术语"中心"、"纵向"、"横向"、"长度"、"宽度"、"厚度"、"上"、"下"、"前"、"后"、"左"、"右"、"坚直"、"水平"、"顶"、"底"、"内"、"外"、"顺时针"、"逆时针"等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语"第一"、"第二"仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有"第一"、"第二"的特征可以明示或者隐含地包括一个或者更多个所述特征。在本公开的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语"安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据 具体情况理解上述术语在本公开中的具体含义。
在本公开中，除非另有明确的规定和限定，第一特征在第二特征之"上"或之"下"，可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征"之上"、"上方"和"上面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征"之下"、"下方"和"下面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本公开的不同结构。为了简化本公开的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本公开。此外，本公开可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本公开提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
以下结合附图对本公开的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本公开，并不用于限定本公开。
本申请的说明性实施例包括但不限于一种激光雷达。
本申请将使用本领域技术人员通常采用的术语来描述说明性实施例的各个方面，以将他们工作的实质传达给本领域其他技术人员。然而，对于本领域技术人员显而易见的是，可以使用所描述方面的部分来实践一些可替代实施例。出于解释的目的，为提供对说明性实施例的透彻理解，对具体的数字、材料和配置进行阐述。然而，对于本领域技术人员来说显而易见的是，可以在没有具体细节的情况下实现替代的实施例。在其他情况下，为了不对说明性实施例造成混淆，省略或简化了一些公知的特征。
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请的实施例作进一步地详细描述。
第一方面
根据本申请第一方面的一些实施例，公开了一种激光雷达。图1是该激光雷达的剖面结构示意图，图2和图3分别示出了该激光雷达的扁平化平台的结构示意图和剖面示意图。如图1所示，该激光雷达的主轴2位于整个雷达的下半部分，并非是轴向贯穿整个激光雷达，从而减小了因主轴从上到下贯穿整个雷达所占用的空间，方便并简化了主轴上方测距组件等的结构的设置。
具体地，参考图1、图2及图3，该激光雷达可以包括底座1、主轴2、外壳16、雷达转子(探测装置)17、旋转支架3、顶盖15、上仓板7、下仓板8、轴承6、无线供电组件、直流电机、通信组件(未示出)、码盘13以及电缆接口14。主轴2位于上仓板7和底座1组成的空间之中并与底座1相垂直。从图4和图5分别示出的旋转支架3和主轴2的具体结构可以看出，主轴2在穿透下仓板8后，下端部2B固定在主轴座1A上，故可以提高激光雷达的稳定性。另外，主轴2的上端部2A可以套设于旋转支架3的中空的第一部分3A。此外，可以理解，在本发明的其他实施例中，也可以不设置主轴1穿过下仓板8，而是位于下仓板8之上，也即将下仓板8设置于主轴座1A的下端的下方。
如图4所示，旋转支架3的第一部分3A垂直于圆盘面结构的第二部分3B，第一部分3A套设于主轴2上。第二部分3B与雷达转子17耦接，并且，在一示范例中，第二部分3B包括三个旋转子支架3c，每个旋转子支架3c的第一端耦接于第一部分3A，每个旋转子支架3c的第二端耦接于第二部分3B的圆盘面的边缘。每个旋转子支架3c的第二端与圆盘面的边缘的耦接处还设置有支撑凸缘3d，支撑凸缘3d的凸起方向背离底座1，雷达转子17可以通过支撑凸缘3d上的通孔与旋转支架3耦接，从而提高主轴2上方雷达转子17部分转动的稳定性，减少转动对整机寿命和雷达成像质量的影响。可以理 解，旋转子支架的数量可以不仅仅是三个，也可以是大于三的任何数目，并且，支撑凸缘的个数也可以是大于三的任何数目。此外，旋转支架也可以采用其他的适合套于主轴上并承接雷达转子的结构，在此不做限制。
上仓板7设置在激光雷达轴向上更靠近底座的部分，并位于旋转支架3的圆盘面上方，并且上仓板7相对于雷达转子17固定设置，即上仓板7可随旋转支架3旋转，主要用于对从雷达转子17上各器件输出以及传输给雷达转子17上的各器件的各种信号进行处理。可以理解，上仓板7也可以具有其他功能，也可以有其他的名称，并不限于此。下仓板8主要用于对从雷达转子17上各器件接收到的以及要发送给雷达转子17上的各器件的各种信号进行处理。可以理解，下仓板8也可以具有其他功能或者具备其他名称，并不限于此。需要说明的是，由于雷达转子17的内部具体结构对本实施例要体现的方案的实施无关，只要雷达转子17可以转动并可以完成距离检测即可，故雷达转子17的内部结构并未示出。
在具体实施中，通信组件可以包括第一通信模块和第二通信模块，第一通信模块相对于雷达转子17固定设置并与上仓板7电连接，第二通信模块相对于主轴2固定设置并与下仓板8电连接。
在本发明一实施例中，无线供电组件可以位于上仓板7和下仓板8之间，具体可以包括无线发射线圈12、无线接收线圈11、发射电路板10和接收电路板9，无线发射线圈12、无线接收线圈11、发射电路板10和接收电路板9均环绕主轴2设置，无线发射线圈12和发射电路板10相对于主轴2固定设置，无线接收线圈11和接收电路板9相对于雷达转子17固定设置，无线发射线圈12与无线接收线圈11相对运动，并用于向驱动电机及雷达转子17上的各器件供电，如设置于雷达转子17内并相对于雷达转子17固定设置的测距组件。
驱动电机环绕主轴2设置，并通过带动旋转支架3旋转而带动旋转支架3上套有的雷达转子17相对于主轴2或者底座1旋转。此处驱动电机可以采用直流电机，而该直流电机包括磁铁5和电枢4，且都环绕主轴2设置的磁 铁5和电枢4在作为定转子的功能角色上可以互换。比如可以设置磁铁5为转子，电枢4为定子。磁铁5套在电枢4的外侧，相对与主轴2的距离更远，由于磁铁5无需供电，下仓板8与电枢4电连接以有线连接形式向所述电枢4供电，故可以降低无线供电组件的供电压力。可以理解，在本发明其他实施例中，直流电机的磁铁5和电枢4也可以采用另外的功能角色设置，例如，磁铁5作为电机定子与发射电路板10耦接，电枢4作为电机转子，可以通过无线供电组件供电。此外，本申请中的驱动电机也可以采用其他类型的驱动电机，不限定为直流电机。现有的激光雷达多采用盘式电机，盘式电机的结构复杂，而本申请的激光雷达采用直流电机，直流电机具有结构简单低成本的特点，故可以降低激光雷达的复杂度。
在具体实施中，可以采用码盘13作为角度测量组件，码盘13环绕主轴2设置，并且相对于无线供电组件与主轴2的距离更远，即将码盘13设置在周向上距离主轴2最远处，靠近底座1的外壳的周壁。通过将码盘13设置在最外侧，或者说靠近外壳16的位置，能提高码盘测量角度的准确性。
图3A示出了根据本发明一个实施例的码盘13。如图3A所示，码盘13大致为圆环形状，可环绕主轴2设置。码盘13上例如具有规则分布的多个空隙或者编码标志，供光电元件测量使用。码盘13例如可随着上仓板7和雷达转子17同步旋转，在其旋转过程中，光电部件(未示出)例如可通过码盘13上的空隙或者编码标志，来识别或确定雷达转子17的旋转角度，对雷达转子17进行角度定向，从而确定激光雷达在水平方向上扫描的角度。
另外，电缆接口14用于将激光雷达与其他的电子器件，比如其他的激光雷达或者电子设备进行连接，从而可以将当前激光雷达内部的信号传输到当前激光雷达的外部，而电缆接口14可以防水，能防止激光雷达进水时对信号传输的影响，从而可以提高雷达的防水能力。上述激光雷达的工作过程如下：
第二通信模块将下仓板8发出的测距指令信息发送给第一通信模块，例如，以光信号的形式发送，即所谓的上行光信号传输或上行通信，第一通信模块通过上仓板7将该测距指令信息发送给设置于雷达转子17内部的测距组 件，测距组件接收到测距指令信息后开始进行测距任务；
测距组件执行测距任务产生的测距结果信息经由上仓板7处理后通过第一通信模块发送给第二通信模块，例如，以光信号的形式发送，即所谓的下行光信号传输或下行通信，下仓板通过第二通信模块控制组件接收到测距结果信息后对其进行相关分析和处理。
根据本发明的一个优选实施例，为了避免上下行通信之间的串扰，上行通信和下行通信采用不同的波长来进行通信。相对于上行通信，下行通信的传输数据量更大，速度也会更快。根据一个实例，下行通信可采用904nm左右的激光器作为光通信发射单元，上行通信采用LED红光作为光通信发射单元。图3B示出了上行通信和下行通信的示意图，其中，箭头向下表示下行通信；箭头向上表示上行通信。如图3B所示，对于下行通信，上仓板7上设置有第一光通信发射单元L1，例如波长为904nm左右的激光器，在下仓板8上设置有第一光通信接收单元R1，其能够接收或处理的光信号的波长与第一光通信发射单元L1相对应；对于上行通信，在下仓板8上设置有第二光通信发射单元L2，例如红光LED，在上仓板7上设置有第二光通信接收单元R2，其能够接收或处理的光信号的波长与第二光通信发射单元L2相对应。因此，第一通信模块包括第一光通信发射单元L1和第二光通信接收单元R2，第二通信模块包括第二光通信发射单元L2和第一光通信接收单元R1。另外如图3B所示，根据本发明的一个优选实施例，所述第一通信模块和第二通信模块均设置在所述主轴2内部，以节省空间。
由于上下行通信模块的光通信发射单元发出的光的发散角较大，因此基本上收发一对一即可，也即第一通信模块和第二通信模块可以各自包括一个光通信发射单元与一个光通信接收单元，故通信部件的结构相对简单。上下通信所采用的波长不同，亦可降低干扰，提高通信的效率。另外，从位置上而言的话，上下行通信的模块都设置在轴心位置，具体地，无论是在上仓板还是在下仓板上，所述第一通信模块和第二通信模块均设置于相对靠近主轴2的周向截面的中心的位置。通信器件本身体积不大，周向截面的中心位置 处足以放置，因此能够有效地利用空间。
此外，在上述激光雷达工作的过程中，无线发射线圈12与无线接收线圈11相对转动，无线供电组件可以向设置于雷达转子17内的测距组件供电，以使得测距组件执行测距任务。同时，对于测量角度的码盘13，在激光雷达的工作过程中，对雷达的旋转角度(也即雷达的水平扫描角度)进行测量。
在以下实施例中总结了进一步的本申请的技术方案：
实施例1：一种激光雷达，包括主轴、雷达转子、上仓板、顶盖和底座；
所述上仓板相对于所述雷达转子固定设置，且所述上仓板在所述激光雷达的轴向上相对更靠近所述底座，更远离所述顶盖；
所述主轴垂直于所述底座设置，并且位于所述上仓板和所述底座之间。
实施例2：根据实施例1所述的激光雷达，还包括旋转支架及驱动电机；
所述旋转支架包括第一部分及第二部分，所述第一部分为中空结构且适于套设于所述主轴上，所述第二部分为垂直于所述第一部分的圆盘面结构且适于与所述雷达转子耦接，所述第二部分包括至少三个旋转子支架，每个所述旋转子支架的第一端耦接于所述第一部分，每个所述旋转子支架的第二端耦接于所述第二部分的圆盘面的边缘，所述驱动电机适于通过所述旋转支架驱动所述雷达转子旋转。
实施例3：根据实施例2所述的激光雷达，每个所述旋转子支架的第二端与所述圆盘面的边缘的耦接处还设置有支撑凸缘，所述支撑凸缘的凸起方向背离所述底座，所述雷达转子适于通过所述支撑凸缘与所述旋转支架耦接。
实施例4：根据实施例1或2所述的激光雷达，还包括下仓板，所述下仓板位于所述上仓板和所述底座之间并环绕所述主轴设置。
实施例5：根据实施例4所述的激光雷达，还包括位于所述上仓板和下仓板之间的无线供电组件，所述无线供电组件包括无线发射线圈、无线接收线圈、发射电路板和接收电路板；
所述无线发射线圈、无线接收线圈、发射电路板和接收电路板均环绕所述主轴设置；
所述无线发射线圈和发射电路板相对于所述主轴固定设置，所述无线接收线圈和接收电路板相对于所述雷达转子固定设置；
所述无线发射线圈与所述发射电路板电连接，所述无线接收线圈与所述接收电路板电连接。
实施例6：根据实施例2至5中任一项所述的激光雷达，还包括驱动电机，所述驱动电机包括磁铁和电枢，所述磁铁及电枢均环绕所述主轴设置，且所述磁铁相对所述电枢更远离所述主轴，所述磁铁与所述发射电路板耦接。
实施例7：根据实施例2至5中任一项所述的激光雷达，所述激光雷达还包括驱动电机，所述驱动电机包括磁铁和电枢，所述磁铁及电枢均环绕所述主轴设置，且所述磁铁相对所述电枢更远离所述主轴，所述发射电路板与所述电枢电连接以向所述电枢供电。
实施例8：根据实施例2至7中任一项所述的激光雷达，所述驱动电机为直流电机。
实施例9：根据实施例5至8中任一项所述的激光雷达，还包括角度测量组件，所述角度测量组件环绕所述主轴设置，并且相对于所述无线供电组件与所述主轴的距离更远。
实施例10：根据实施例1至9中任一项所述的激光雷达，还包括电缆接口，所述电缆接口用于连接所述激光雷达与相对于所述激光雷达外的外部设备。
第二方面
本申请第二方面的说明性实施例包括但不限于一种激光雷达的探测装置及其激光雷达。
根据本申请的一些实施例，公开了一种激光雷达。该激光雷达的剖面结构如图1所示，图6和图7示出了该激光雷达的探测装置的结构示意图和分解图，图2示出了该激光雷达的扁平化平台的结构示意图，图9示出了该激 光雷达的扁平化平台的剖面示意图。如图1所示，该激光雷达的主轴2位于整个雷达的下半部分，并非是轴向贯穿整个激光雷达，从而减小了因主轴从上到下贯穿整个雷达所占用的空间，方便并简化了主轴上方探测装置的结构的设置。
具体地，参考图1、图6、图7、图2、图9及图10，该激光雷达可以包括底座1、主轴2、旋转支架3、支撑平台18、探测装置(雷达转子)17、顶盖15、外壳16、上仓板7、下仓板8、轴承6、无线供电组件(11及12)、直流电机、通信组件19、码盘13以及电缆接口14。
主轴2贯穿于上仓板7和底座1之间并与底座1相垂直。主轴2为中空结构，通信组件19设置在主轴2中。探测装置17位于上仓板7、顶盖15以及外壳16组成的空间中。在直流电机的驱动下，在本发明一个实施例中，上仓板7、探测装置17以及外壳16可以一起绕着主轴2进行360度旋转，以实现激光雷达在水平方向上的扫描。
在本发明另一实施例中，在直流电机的驱动下，上仓板7与探测装置17也可以在外壳16内部旋转，以实现激光雷达在水平方向上的扫描。可以理解，在本申请中，水平方向是指与主轴2相垂直的方向。
如图6和图7所示，探测装置17包括：位于上仓板7上方的支撑平台18，以及位于支撑平台18上方并相对于支撑平台18固定设置的镜筒、光束发射器件703、发射透镜组件、接收透镜组件、光电处理器件704、隔光板711、发射隔磁件705及接收隔磁件706。镜筒包括由隔光板711隔开的发射支撑体701和接收支撑体702，其中发射支撑体701和接收支撑体702的延伸方向相互平行，且发射支撑体701和接收支撑体702相对于隔光板711对称设置。
在具体实施中，发射支撑体701和接收支撑体702也可以为一体式结构，只要可以用以安装固定发射透镜组件及接收透镜组件即可。可以理解的是，顶盖15以及外壳16可以为分体设置，也可以为一体式设置，并且为了便于发射光束的出射以及回波光束的接收，上述外壳16至少有一部分透明。
在具体实施中，参考图7及图7B，发射支撑体701的前端的端面上具有发射孔707和发射遮光板709，发射支撑体701的顶部设置有阶梯状的结构713，该阶梯状的结构713可以用以减轻发射支撑体701的重量。并且，发射支撑体701的内壁上具有凹槽712，所述凹槽712用以安装发射透镜组件，详细来说，发射透镜组件可以包括准直器、汇聚透镜等光学器件。结合参考图8，发射支撑体701的后端的外部设置有光束发射器件703，光束发射器件703包括发射电路板703A和m×n个发射光源703B。m×n个发射光源703B沿竖直方向交错地设置在发射电路板703A上，如图8所示，例如，4×16个发射光源703B，每16个发射光源703B在竖向上排列成一列。m n中至少一个为大于1的自然数。在使用时，由多个发射光源703B发射的探测光束经由发射透镜组后，通过发射孔707出射至待测空间，其中，发射遮光板709与发射支撑体701的前端端面垂直，与发射孔707均位于隔光板711的一侧，能阻挡探测光束从发射孔707出射经外壳16反射后进入接收孔708，避免对接收孔708接收到的回波光束造成干扰，减少扫描得到的点云图中的噪声点。
类似地，参考图7以及图7A可见，接收支撑体702的前端端面上具有接收孔708和接收遮光板710，接收支撑体702的顶部设置有阶梯状的结构714，该阶梯状的结构714可以用以减轻接收支撑体702的重量。并且，接收支撑体702的内壁上具有凹槽712*，所述凹槽712*安装接收透镜组件，详细来说，接收透镜组件可以包括汇聚透镜等光学器件。接收支撑体702的后端的外部设置有光电处理器件704，光电处理器件704包括接收电路板704A和多个光电传感元件704B。i×j个光电传感元件704B设置在接收电路板704A上，i和j中至少一个为大于1的自然数。例如，图8所示的接收电路板上具有与m×n个发射光源703B对应的m×n个光电传感元件704B，即此时i＝m，j＝n。此外，可以理解，在其他实施例中，光电传感元件704B和发光光源703B之间也可以不是一一对应的关系，例如，可以是一对多的关系，也可以是多对一的关系。
在使用时，回波光束经由接收孔708入射至接收支撑体702，经由接收 透镜组件汇聚后入射至接收电路板704A上的光电传感元件704B，其中，接收遮光板710位于接受支撑体702前端的端面上并与该端面垂直，接收遮光板710与接收孔708均位于隔光板711的一侧，能阻挡发射孔707出射的探测光束经外壳16反射后进入接收孔708，避免对接收孔708接收的回波光束造成干扰，减少扫描得到的点云图中的噪声点。
可以理解，本申请的实施例中，接收透镜组件和发射透镜组件中的各个光学器件在接收支撑体702和发射支撑体701内部的位置固定，并且接收电路板704A和发射电路板703A的位置可以被精确确定(即位于接收支撑体702和发射支撑体701的后端)，从而可以一定程度减少整机的装调。
可以理解，在本申请的实施例中，光电传感元件704B与发射光源703B可以一一对应设置，也可以数量不同，在此不做限制。此外，为了便于对齐光电传感元件704B与发射光源703B，可以将光电传感元件704B和发射光源703B中的一者固定设置，另一者设置为可调。此外，多个发射光源703B在工作时可以按顺序发射光束，也可以同时发射光束。
如上所述，发射电路板703A和接收电路板704A的位置可以分别精确地确定在发射支撑体701和接收支撑体702的后端，从而可以减少整机的装调。
发射隔磁件705设置于发射电路板703A一侧面上，该侧面与发射支撑体701的后端相背，发射隔磁件705用于屏蔽发射电路板703A产生的电磁信号；接收隔磁件706设置于接收电路板704A一侧面上，该侧面与接收支撑体702的后端相背，用于屏蔽接收电路板704A产生的电磁信号。
下面结合图2、图4、图5、图9说明本申请的扁平化平台。如图所示，主轴2在穿透下仓板8后，下端部2B固定在主轴座1A上，故可以提高激光雷达的稳定性。另外，主轴2的上端部2A可以套设于旋转支架3的中空的第一部分3A。此外，可以理解，在本发明的其他实施例中，也可以不设置主轴2穿过下仓板8，而是位于下仓板8之上，也即将下仓板8设置于主轴座1A的下端。
如图4所示，旋转支架的第一部分3A垂直于圆盘面结构的第二部分3B， 第一部分3A套设于主轴2上。第二部分3B与外壳16耦接，并且，在一示范例中，第二部分3B包括三个旋转子支架3c，每个旋转子支架3c的第一端耦接于第一部分3A，每个旋转子支架3c的第二端耦接于第二部分3B的圆盘面的边缘。每个旋转子支架3c的第二端与圆盘面的边缘的耦接处还设置有支撑凸缘3d，支撑凸缘3d的凸起方向背离底座1，上仓板7可以通过支撑凸缘3d上的通孔与旋转支架3耦接，从而提高探测装置17部分转动的稳定性，减少转动对整机寿命和雷达成像质量的影响。可以理解，旋转子支架的数量可以不仅仅是三个，也可以是大于三的任何数目，并且，支撑凸缘的个数也可以是大于三的任何数目。此外，旋转支架也可以采用其他的适合套于主轴上并承接上仓板7的结构，在此不做限制。
上仓板7设置在激光雷达轴向上更靠近底座的部分，并位于旋转支架3的圆盘面上方，并且上仓板7相对于旋转支架3固定设置，即上仓板7可随旋转支架3旋转，主要用于对从探测装置17上各器件输出以及传输给探测装置17上的各器件的各种信号进行处理。可以理解，上仓板7也可以具有其他功能，也可以有其他的名称，并不限于此。下仓板8主要用于对从探测装置17上各器件接收到的以及要发送给探测装置17上的各器件的各种信号进行处理。可以理解，下仓板8也可以具有其他功能或者具备其他名称，并不限于此。
在具体实施中，如图11所示，通信组件19可以包括组成第一通信模块的光发射元件19A和光电传感元件19D、以及组成第二通信模块的光发射元件19C和光电传感元件19B，第一通信模块的光发射元件19A和光电传感元件19D相对于旋转支架3固定设置并与上仓板7电连接，第二通信模块的光发射元件19C和光电传感元件19B相对于主轴2固定设置并与下仓板8电连接。光发射元件19A发射的光束的波长与光发射元件19C发射的光束的波长不同，具体而言，光发射元件19C发射波长为λ1的光束，光发射元件19C与光电传感元件19D可以采用波长为λ1的光束进行上行通信，也即将下仓板8的一些指令信息传输至上仓板7；而光发射元件19A发射波长为λ2的 光束，光发射元件19A与光电传感元件19B可以采用波长为λ2的光束进行下行通信，也即通过上仓板7将探测装置17探测到的一些信息传输至下仓板8。由于该激光雷达将主轴2设置在探测装置的下方，扁平化平台中设置有较多的器件，将通信组件19设置为中空的主轴2中，能够有效节省扁平化平台中的空间，方便平台中其他器件的安置。
可以理解，在实际应用中，可以设置与在图11中的光发射元件和光电传感元件数量不同的通信组件，在此不作限制。例如，考虑到下行数据传输的量比上行数据传输的量大，可以在第二通信模块中设置光发射元件的数量，多于在第一通信模块上设置的光发射元件的数量。可以理解，光发射元件可以是能够发光的任何器件，包括但不限于激光二极管、发光二极管、有机发光二极管、激光发射器等。光电传感元件是指能够进行光电信息互转的任何传感器，包括但不限于有光电管、光电倍增管、光敏电阻、光敏二极管、光敏三极管、光电池、雪崩二极管等。
在本发明一实施例中，无线供电组件可以位于上仓板7和下仓板8之间，具体可以包括无线发射线圈12、无线接收线圈11、发射电路板10和接收电路板9，无线发射线圈12、无线接收线圈11、发射电路板10和接收电路板9均环绕主轴2设置，无线发射线圈12和发射电路板10相对于主轴2固定设置，无线接收线圈11和接收电路板9相对于旋转支架3固定设置，无线发射线圈12与无线接收线圈11相对运动，并用于向驱动电机及探测装置17供电。
驱动电机环绕主轴2设置，并通过带动旋转支架3旋转而带动旋转支架3上套有的外壳16、探测装置17、以及上仓板7相对于主轴2或者底座1旋转。此处驱动电机可以采用直流电机，而该直流电机包括磁铁5和电枢4，且都环绕主轴2设置。参考图9，磁铁5环绕主轴2设置且与旋转支架3固定连接，电枢4也是环绕主轴2设置，电枢4是通过将线圈缠绕于硅钢片所形成，故电枢4的截面是类似十字型，电枢4与磁铁5之间存在一定的间隙。另外，电枢固定环41环绕主轴2设置，分别与电枢4以及无线供电发射板10连接，用以将电枢4固定到无线供电发射板10上。磁铁5和电枢4在作 为定转子的功能角色上可以互换，比如可以设置磁铁5为转子，电枢4为定子。磁铁5套在电枢4的外侧，相对与主轴2的距离更远，由于磁铁5无需供电，下仓板8与电枢4电连接以有线连接形式向所述电枢4供电，故可以降低无线供电组件的供电压力。可以理解，在本发明其他实施例中，直流电机的磁铁5和电枢4也可以采用另外的功能角色设置，例如，磁铁5作为电机定子与发射电路板10耦接，电枢4作为电机转子，可以通过无线供电组件供电。此外，本申请中的驱动电机也可以采用其他类型的驱动电机，不限定为直流电机。现有的的激光雷达多采用盘式电机，盘式电机的结构复杂，而本申请的激光雷达采用直流电机，直流电机具有结构简单低成本的特点，故可以降低激光雷达的复杂度。
在具体实施中，可以采用码盘13作为角度测量组件，码盘13环绕主轴2设置，并且相对于无线供电组件与主轴2的距离更远，即将码盘13设置在距离主轴2最远处，靠近底座1的外壳的周壁。通过将码盘设置在最外侧靠近外壳，能提高码盘测量角度的准确性。码盘13如图3A所示，此处不再赘述。
另外，电缆接口14用于将激光雷达与其他的电子器件，比如其他的激光雷达或者电子设备进行连接，从而可以将当前激光雷达内部的信号传输到当前激光雷达的外部，而电缆接口14可以防水，能防止激光雷达进水时对信号传输的影响，从而可以提高雷达的防水能力。
上述激光雷达的工作过程如下：
光发射元件19C将下仓板8发出的检测指令信息以光信号的形式发送给光电传感元件19D，即所谓的上行光信号传输或上行通信，光电传感元件19D对检测指令信息进行光电转换后，通过上仓板7将该检测指令信息发送给探测装置17，探测装置17接收到检测指令信息后开始进行检测任务；具体地，发射电路板703A接收到检测指令信息后控制多个发射光源703B发射探测光束至待测空间，接收电路板704A上的光电传感元件704B接收到由接收孔708入射的回波光束后进行光电转换，生成检测结果信息。
检测结果信息经由上仓板7处理后通过光发射元件19A以光信号的形式发送给光电传感元件19B，即所谓的下行光信号传输，光电传感元件19B将检测结果信息进行光电转换后发送给下仓板，下仓板将接收到的检测结果信息发送给控制组件，以便控制组件对检测结果信息进行相关分析和处理。
根据本发明的一个优选实施例，上行通信和下行通信采用不同的波长来进行通信。相对于上行通信，下行通信的传输数据量更大，速度也会更快。根据一个实例，下行通信可采用904nm左右的激光器作为光通信发射单元，上行通信采用LED红光作为光通信发射单元。上行通信和下行通信的具体结构与图3B所示的类似，此处不再赘述。
此外，在上述激光雷达工作的过程中，无线发射线圈12与无线接收线圈11相对转动，无线供电组件可以向探测装置17供电，以使得探测装置17执行检测任务。同时，对于测量角度的码盘10，在激光雷达的工作过程中，对雷达的旋转角度进行测量。
现有激光雷达的贯穿主轴设置要求发射和接收光路需要设置反射镜来避开主轴，而本申请的非贯穿主轴结构在激光雷达的下方位置形成扁平化平台，不存在主轴带来的光路遮挡问题，无需反射镜进行折转光路，即发射和接收光路可以实现基本的平行设置。例如，对于上述4×16个发射光源703B和对应的4×16个光电传感元件704B，能够取消两组反射镜，多线数激光雷达可以做到没有发射与接收各线束的一一对应的复杂装调过程，从而减少光学装调或者没有光学装调。
在以下实施例中总结了进一步的本申请的技术方案：
实施例1可以包括一种激光雷达的探测装置，包括镜筒、光束发射器件、发射透镜组件、接收透镜组件、以及光电处理器件；
所述镜筒包括发射支撑体和接收支撑体，所述发射支撑体和接收支撑体的延伸方向相互平行；
所述发射透镜组件位于所述发射支撑体内部，并位于所述光束发射器件发出的探测光束的光路径上；
所述接收透镜组件位于所述接收支撑体内部，并位于所述光电处理器件接收的回波光束的光路径上。
实施例2可以包括实施例1所述的激光雷达的探测装置，该探测装置还包括隔光板，所述隔光板设置于所述发射支撑体和接收支撑体之间，且平行于所述发射支撑体和接收支撑体的所述延伸方向。
实施例3可以包括实施例1或2所述的激光雷达的探测装置，其中，所述光束发射器件包括发射电路板，所述发射电路板位于所述发射支撑体的外部并设置于所述发射支撑体的后端，其中，所述发射支撑体的后端为与所述发射支撑体出射所述探测光束的一端相对的另一端；
所述光电处理器件包括接收电路板，所述接收电路板位于所述接收支撑体的外部并设置于所述接收支撑体的后端，其中，所述接收支撑体的后端为与所述接收支撑体接收所述回波光束的一端相对的另一端。
实施例4可以包括实施例1至3中任一项所述的激光雷达的探测装置，该探测装置还包括：
发射隔磁件，设置于所述发射电路板的后端，用于屏蔽所述发射电路板产生的电磁信号；和
接收隔磁件，设置于所述接收电路板的后端，用于屏蔽所述接收电路板产生的电磁信号。
实施例5可以包括实施例1至4中任一项所述的激光雷达的探测装置，其中，所述光束发射器件还包括发射光源，所述光电处理器件还包括光电传感元件，其中：
m×n个所述发射光源设置在所述发射电路板上；和
i×j个所述光电传感元件设置在所述接收电路板上；
其中，所述m、n、i、j为大于1的自然数。
实施例6可以包括实施例1至5中任一项所述的激光雷达的探测装置，其中，所述发射支撑体的前端端面上具有发射孔，并且探测光束适于经由所述发射孔从所述发射支撑体射出；所述接收支撑体的前端端面上具有接收孔， 并且所述回波光束适于经由所述接收孔入射至所述接收支撑体；并且
所述镜筒还包括发射遮光板和接收遮光板，所述发射遮光板位于所述发射支撑体前端的端面的外侧并与所述发射支撑体前端的端面垂直，所述接收遮光板位于所述接收支撑体前端的端面的外侧并与所述接收支撑体前端的端面垂直。
实施例7可以包括实施例1至6中任一项所述的激光雷达的探测装置，其中，所述发射支撑体的内壁上设置有至少一个凹槽，用于固定所述发射透镜组件；并且
所述接收支撑体的内壁上设置有至少一个凹槽，用于固定所述接收透镜组件。
实施例8可以包括实施例1所述的激光雷达的探测装置，探测装置还包括支撑平台，所述镜筒、光束发射器件、发射透镜组件、接收透镜组件、以及光电处理器件位于所述支撑平台的上方并相对于所述支撑平台固定设置。
实施例9可以包括一种激光雷达，该激光雷达包括：如实施例8所述的探测装置、主轴、上仓板、顶盖、以及底座；
所述上仓板相对于所述探测装置固定设置并位于所述探测装置的支撑平台的下方，且所述上仓板在所述探测装置的轴向上相对更靠近所述底座，更远离所述顶盖；
所述主轴垂直于所述底座设置，并且位于所述上仓板和所述底座之间；
所述探测装置能够相对于所述主轴以水平方向360°旋转。
实施例10可以包括实施例9所述的激光雷达，该激光雷达还包括旋转支架及驱动电机；
所述旋转支架包括第一部分及第二部分，所述第一部分为中空结构且适于套设于所述主轴上，所述第二部分为垂直于所述第一部分的圆盘面结构且适于支撑所述支撑平台，所述第二部分包括至少三个旋转子支架，每个所述旋转子支架的第一端耦接于所述第一部分，每个所述旋转子支架的第二端耦接于所述第二部分的圆盘面的边缘，所述驱动电机适于通过所述旋转支架驱 动所述支撑平台旋转。
实施例11可以包括实施例9或10所述的激光雷达，还包括外壳，所述外壳位于所述底座上方，并与所述探测装置的所述支撑平台的周边相接。
实施例12可以包括实施例10所述的激光雷达，该激光雷达还包括通信组件；
所述主轴被设置为中空结构，所述通信组件被设置于所述主轴的内部。
实施例13可以包括实施例12所述的激光雷达，其中，所述通信组件包括第一通信模块和第二通信模块，所述第一通信模块与所述探测装置相对固定，所述第二通信模块与所述底座相对固定；
所述第一通信模块包括至少一个光发射元件，所述第二通信模块包括至少一个光电传感元件，所述第二通信模块的所述至少一个光电传感元件位于所述第一通信模块的至少一个光发射元件发出的光束的光路径上。
实施例14可以包括实施例13所述的激光雷达，其中，所述第二通信模块还包括至少一个光发射元件，所述第一通信模块还包括至少一个光电传感元件，所述第一通信模块的所述至少一个光电传感元件位于所述第二通信模块的所述至少一个光发射元件发出的光束的光路径上。
实施例15可以包括实施例14所述的激光雷达，其中，所述第一通信模块的所述至少一个光发射元件所发射光束的波长与所述第二通信模块的至少一个光发射元件所发射光束的波长不同。
第三方面
本申请第三方面的说明性实施例包括但不限于一种激光雷达的探测装置及其激光雷达。本申请第三方面主要是基于上述第二方面，因此以下描述中，将重点描述与第二方面不同之处，相同之处或类似之处将不再赘述。
图12示出了根据本申请第三方面的激光雷达的探测装置(雷达转子)17， 其例如设置在图1所示的壳体16内。图12与图7所示结构类似，另外的示出了发射透镜组件715和接收透镜组件716。下面分别详细描述。
如图12所示，发射支撑体701与接收支撑体702基本是对称的结构，二者设置在支撑平台18上。支撑平台18例如大致是圆形的，因此，发射支撑体701与接收支撑体702的结合处(例如隔光板711的位置)大致可位于所述支撑平台18的一条直径上，从而尽可能地将探测装置17的重量平均分布在所述支撑平台18上，尽可能减少在高速旋转中可能产生的不平衡。
如图12所示，发射透镜组件715例如包括多个透镜，设置在发射支撑体701内部的凹槽712中(如图7B所示)。发射透镜组件715例如可以包括准直器、汇聚透镜等光学器件。发射支撑体701的后端设置有光束发射器件703，在使用时，所述光束发射器件703发射的探测光束经由发射透镜组715进行调制整形后，通过发射孔707出射至待测空间。
如图12所示，接收透镜组件716例如可包括多个透镜，设置在接收支撑体702的凹槽712*中(如图7A所示)。接收透镜组件716例如包括汇聚透镜等光学器件。在使用时，回波光束经由接收孔708入射至接收支撑体702，经由接收透镜组件716汇聚后入射至接收电路板704A上的光电传感元件704B。图12A示出了发射透镜组件715、接收透镜组件716、光束发射器件703、光束接收器件704的分解示意图。
图13示意性示出了发射透镜组件715和接收透镜组件716的示意图。图14A示出了发射透镜组件715设置在发射支撑体701内部的凹槽712中的示意图，图14B示出了接收透镜组件716设置在接收支撑体702的的凹槽712*中的示意图。
参考图13、图14A及图14B所示，发射透镜组件715包括两个平凸透镜(优选相同规格的平凸透镜，也即透镜715c与715d)、一个对称双凸透镜(也即透镜715b)以及光阑(靠近发射孔707一侧，也即透镜715a)；接收透镜组件716包括透镜716a、透镜716b以及透镜716c，在远离接收孔708一侧上还包括滤光片(也即滤光片716d)，用于滤除杂散光。根据本申请的一个 实施例，所述发射透镜组件715为远心透镜组，其中透镜715d靠近所述光束发射器件703设置，可接收来自所述光束发射器件703的激光束，进行偏折后，将光束入射到其他透镜组件例如为准直透镜，配置成对所述经过偏折的激光束进行准直并出射。
另外，根据本发明的一个优选实施例，所述接收透镜组件716中最靠近光束接收器件704的透镜716d，以及发射透镜组件715中最靠近光束发射器件703的透镜715d，位于所述支撑平台的中部，二者大致位于同一平面上，而且二者的连线或者整体的重心经过所述支撑平台18的圆心。通常，透镜716d以及透镜715d的尺寸和重量都比较大，因此，将二者设置在支撑平台的中部，有利于减小在高速旋转时探测装置17的转动惯量。
另外与图7类似，设置在发射支撑体701外端上的阶梯状结构713，以及设置在接收支撑体702外端上的阶梯状结构714，可以减轻发射支撑体701和接收支撑体702的重量，同时由于阶梯状结构位于外端处，也能够减小高速旋转时探测装置17的转动惯量。
图8中示出了光束发射器件703上包括四组发射光源703B，每组16个发射光源703B，例如在竖直方向上排成一列；光束接收器件704同样包括四组光电传感元件704B，每组16个光电传感元件704B优选的在竖直方向排成一列。图15示出了激光雷达进行探测的光路示意图，其中为了清楚起见，省略了发射透镜组件和接收透镜组件。
图15中，OB代表待探测的物体。如图15所示，从发射光源703B出射的一部分光束，入射到待探测物体OB上之后(待探测物体OB上的正方形代表来自发射光源703B的光束在待探测物体OB上产生的光斑)，产生漫反射，部分光束被反射回到光电传感元件704B。比如出射的光束190at，入射到待探测物体OB上生成光斑a，产生漫反射部分光束190ar被光电传感元件704B的其中一个接收单元接收。又比如，出射的光束190bt，入射到待探测物体OB上生成光斑b，产生漫反射部分光束190br被光电传感元件704B的另一接收单元接收。光电传感元件704B产生的信号经过放大、过滤等信号处理，再 进行进一步处理，便可获知待探测物体OB的距离、方位等参数。需要说明的是，本申请中的发射接收单元彼此的数量对应关系可以有多种，比如可以一一对应，也可一个发射单元对应多个接收单元，也可多个发射单元对应一个接收单元。另外，基本相互对应的发射接收单元的位置相对关系一致，比如发射光束190at的发射单元位于整个发射光源703B构成的列的相对靠底部的位置，接收光束190ar的接收单元基本也位于整个光电传感元件704B构成的列的相对靠底部的位置。发射光束190bt的发射单元位于整个发射光源703B构成的列的相对靠顶部的位置，接收光束190br的接收单元基本也位于整个光电传感元件704B构成的列的相对靠顶部的位置。
图16示出了发射光路中，从一个组的发射光源703B出射的光束，经过发射透镜组件后的光路变化。图17示意性示出了四组发射光源703B形成的视场。图17中的黄色、红色、绿色以及蓝色分别对应四组发射光源703B的出射光，图16中的紫色出射光对应于图17中右边的红色的出射光。如图17所示，激光雷达的探测装置17的纵向视场约为106°，在视场中心位置处，角分辨率最小，为1.5°，在视场边缘处角分辨率最大，为2.3°，全视场平均角分辨率约1.7°，扫描线分布如图18所示。
图19示出了根据本申请的一个实施例的激光雷达的探测装置17。相比于图6的结构，图19中的探测装置17中，在发射孔707前方设置了光纤717，用于散射一部分出射的光能量或者光束，以提供一种近场探测盲区的补充方案，从而不增加探测器的背景噪声。具体地，该光纤717可以设置在出射孔707的中心相对靠外侧的位置，可以避免过多的出射光束被该光纤717所散射。这种近场探测盲区补偿的方式在光电传感元件704B采用SiPM探测器的情形中是特别有利的。SiPM探测器的功率响应下限很低，通常需要避免采用补充接收端横向视场的方法来补充盲区。因此，在发射前端设计了单根光纤向接收视线内散射一部分光能量的盲区补充方案，从而不增加探测器的背景噪声。通过增加光纤717，盲区可以从0.4m缩短到0.01m。
第四方面
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请的第四方面。
请参考图20，其示出了图20为现有技术中激光雷达的单线信号发射电路的一个原理性示意图。
如图20所示，激光雷达的单线信号发射电路100包括：开关器件驱动器101、开关器件102、发光器件103以及储能电容104。其中，开关器件驱动器101的输入端输入脉冲信号。开关器件驱动器101的输出与开关器件102电连接。开关器件102可以是开关三极管。开关器件驱动器101的输出端可以与开关三极管102的栅极电连接。开关三极管的源极与地连接。发光器件103的正极与高电平信号线(HV)电连接，发光器件的负极与开关三极管102的漏极电连接。此外，储能电容104作为储能元件，一端输入高电平信号，一端与地连接。此外储能电容输入高电平信号的一端与发光器件103的输入端电连接。
上述开关器件驱动器101输出的脉冲信号的电压大于开关三级管102的开启电压时，开关三级管102的漏极与源极之间导通，电流将由高电压信号线流经发光器件103、开关三极管102漏极、源极，从而发光器件103发出可以传输的光信号。可以通过高电平信号线HV输出的信号电压的大小来控制光信号的强弱。此外，可以通过开关器件驱动器101输出的脉冲信号控制发光器件103发出的光信号的持续时间。
对于多线激光雷达，通常会包括多个发光器件。现有技术中对于每一个发光器件会设置一个开关器件驱动器。一来不利于减小激光雷达的体积；二来，由于开关器件驱动器的成本较高，使得多线激光雷达的成本也较高。
为了解决上述问题，本申请在激光雷达的发射电路中采用了信号分配器，以利用较少的开关器件驱动器驱动较多的开关器件，从而可以减少激光雷达的发射电路中所包括的器件的数量，有利于缩小激光雷达的体积。此外，由于信号分配器的成本较开关器件驱动器的成本低，从而可以降低 激光雷达的成本，有利于扩大激光雷达的进一步推广。
请参考图21，图21示出了本申请实施例提供的激光雷达的发射电路的一种结构示意图160。
如图21所示，激光雷达的发射电路200包括控制信号发生器201、开关器件驱动器202、第一信号分配器203、多个开关器件204和多个发光器件205。
在本实施例中，发光器件205的数量可以为大于1的任意整数。例如16、26、32、64等。
开关器件204的数量可以等于发光器件的数量。各开关器件204与各发光器件205一一对应。
开关器件驱动器202适于驱动开关器件204。
控制信号发生器201的输出端与开关器件驱动器202的输入端电连接。开关器件驱动器202的输出端与第一信号分配器203的信号输入端电连接。第一信号分配器203包括多个输出端。每一个第一信号分配器203的输出端与一个开关器件204一一对应。每一个第一信号分配器203的输出端与该输出端对应的开关器件204的输入端(例如开关三极管的栅极)电连接。每一个开关器件204与一个发光器件205一一对应。对于每一个开关器件204，该开关器件204的漏极与该开关器件204对应的发光器件205的负极电连接，与该开关器件204对应的发光器件205的正极与高电平信号线(HV)的电连接。
控制信号发生器201用于产生触发信号。通常触发信号的正向幅值和负向幅值与开关器件开启电压和夹断电压可能不匹配。
开关器件驱动器202的作用是在控制信号发生器201产生的触发信号的触发下，来开启驱动开关器件204。开关器件驱动器202输出的脉冲的宽度用于控制开关器件204的导通时间，从而控制发光器件发射光信号的持续时间。开关器件驱动器202输出的信号可以控制开关器件204的导通及关断。
在一些应用场景中，上述开关器件驱动器可以为GaN开关器件驱动器。GaN开关器件驱动器设计简单，可实现2.5纳秒的极快传播延迟和1纳秒的最小脉冲宽度。使用GaN开关器件驱动器，使得开关器件的控制信 号更加准确。可以用于控制各种开关器件。
第一信号分配器203包括一个信号输入端、多个输出端、以及至少一个选址信号输入端。第一信号分配器203输出端的数量可以与激光雷达的发射电路所使用的发光器件205的数量相匹配。第一信号分配器203的输出端的数量可以大于或者等于上述发光器件205的数量。第一信号分配器203的至少一个选址信号输入端可以输入选址信号。可以根据选址信号确定该选址信号对应的输出端。第一信号分配器203可以将输入到第一信号分配器203上的、经过开关器件驱动器转换后的脉冲信号，传输到由选址信号所确定的输出端。
在本实施例中，开关器件204可以是各种类型的开关三极管，例如硅基场效应管、硅基MOS管等。
在一些应用场景中，上述开关器件204可以是GaN开关器件，例如硅基GaN场效应管、GaN基场效应管等。
GaN开关器件具有耐高温、易于集成、响应速度快等优点，适于作为多线激光雷达的开关器件。
与这些应用场景相对应，上述开关器件驱动器202可以为GaN开关器件驱动器。
上述发光器件205可以是各种发光器件，在一些应用场景中，上述发光器件可以是无机半导体发光器件，例如半导体发光二极管(Light Emitting Diode，LED)，垂直腔面发射激光器(Vertical Cavity Surface Emitting Laser，Vcsel)，边缘发射激光器(Edge Emitting Lasers，EEL)等。
在本实施例中，开关器件驱动器202的数量可以为一个。第一信号分配器203的输出端的数量可以与开关器件204的数量相匹配。这样一来，使用一个开关器件驱动器就可以驱动全部开关器件。相对于每一个开关器件204设置一个对应的开关器件驱动器，上述实施例中开关器件驱动器的数量大大减少了。一方面可以降低激光雷达的发射电路的成本；另一方面可以减少激光雷达的发射电路所使用的器件的数量，从而减少激光雷达的发射电路所占用的体积。
请参考图22，图22示出了本申请实施例提供的激光雷达的发射电路的另一种结构示意图260。
如图22所示，激光雷达的发射电路300包括控制信号发生器301、至少两个开关器件驱动器302、至少两个第一信号分配器303、多个开关器件304和多个发光器件305，以及第二信号分配器306。
在本实施例中，发光器件305的数量可以为大于1的任意整数。例如16、26、32、64等。
开关器件304的数量可以等于发光器件的数量。各开关器件304与各发光器件305一一对应。
开关器件驱动器302适于驱动开关器件304。开关器件驱动器302的数量大于等于2。开关器件驱动器302的数量可以等于第一信号分配器303的数量。各开关器件驱动器302与各第一信号分配器303一一对应。
开关器件304与发光器件305的连接关系可以参考图21所示实施例的说明，此处不赘述。
在本实施例中，第一信号分配器303的数量可以大于等于2。
每一个第一信号分配器303可以包括一个信号输入端、至少一个选址信号输入端、至少两个输出端。上述至少两个第一信号分配器303的输出端的数量之和可以与开关器件304的数量相匹配。例如各第一信号分配器303的输出端的数量之和等于开关器件304的数量。每一个开关器件304可以与一个第一信号分配器303的一个输出端一一对应。
对于每一个第一信号分配器303，第一信号分配器303的信号输入端与该第一信号分配器303对应的开关器件驱动器302的信号输出端电连接；选址信号输入端与选址信号线电连接。对于第一信号分配器303的每一输出端，该输出端与该输出端对应的开关器件304的输入端电连接。
控制信号发生器301与上述至少两个开关器件驱动器302之间，通过第二信号分配器306实现电连接。
第二信号分配器306包括第一输入端、至少一个第二输入端和至少两个第一输出端；其中，上述第一输入端与控制信号发生器301的控制信号输出端电连接。至少一个第二输入端与第一选址信号线电连接。第一选址信号线的数量可以大于等于1。在每一个时刻，可以根据各第一选址信号 线上传输的信号来确定第二信号分配器306的一个第一输出端。每一个第一输出端可以与该第一输出端对应的一个开关器件驱动器的输入端电连接。在本实施例中，各开关器件驱动器302分别与各第一输出端一一对应。
每一个第一信号分配器303的输出端的数量可以小于图22所示的激光雷达的发射电路300所采用的开关器件的数量。
第二信号分配器306的第一输出端的数量可以与图22所示的激光雷达的发射电路300所采用的开关器件驱动器302的数量相匹配。例如第二信号分配器306的第一输出端的数量可以等于激光雷达的发射电路300所采用的开关器件驱动器302的数量。
以发光器件305的数量为64为例进行说明。第二信号分配器306的第一输出端的数量可以为2，第一信号分配器的输出端的数量可以为32。或者，第一信号分配器的第一输出端的数量为4，第一信号分配器的输出端的数量可以为16。又或者，第二信号分配器的第一输出端的数量为8，第一信号分配器的输出端的数量为8等。
本实施例提供的激光雷达的发射电路，通过在激光雷达的发射电路中设置第一信号分配器和第二信号分配器，实现了减少用于驱动多个开关器件的开关器件驱动器的目的。可以降低激光雷达的发射电路的成本，有助于缩小发射电路的体积。
请参考图23，图23示出了本申请实施例提供的激光雷达的发射电路的另一种结构示意图400。
在本实施例中，激光雷达的发射电路400包括控制信号发生器401、至少两个开关器件驱动器402、至少两个第一信号分配器403、多个开关器件404和多个发光器件405，以及至少二个第三信号分配器406。
在本实施例中，发光器件405的数量可以为大于1的任意整数。例如16、26、32、64等。
开关器件404的数量可以等于发光器件405的数量。各开关器件404与各发光器件405一一对应。
开关器件驱动器402适于驱动开关器件404。开关器件驱动器402的数量大于等于2。开关器件驱动器402的数量可以等于第一信号分配器403 的数量。各开关器件驱动器402与各第一信号分配器403一一对应。
开关器件404与发光器件405的连接关系可以参考图21所示实施例的说明，此处不赘述。第一信号分配器403与开关驱动器的连接关系可以参考图22所示实施例的说明，此次不赘述。
在本实施例中，第三信号分配器406包括第三输入端、至少一个第四输入端、至少两个第二输出端。
控制信号发生器401可以包括至少二组控制信号输出端。控制信号发生器的至少二组控制信号输出端，在每一个时刻只有一组控制信号输出端为有效工作状态。每一组控制信号输出端与一个第三信号分配器一一对应。控制信号发生器401的一组控制信号输出端与该控制信号输出端对应的第三信号分配器的第三输入端电连接。
第三信号分配器406的至少一个第四输入端与第二选址信号线电连接。第二选址信号线上的选址信号用于指示第三分配器将所输入的信号传输到第三分配器的由选址信号指定的输出端。
上述至少两个第三信号分配器406各自对应的第二输出端的总数量可以等于上述开关器件402的总数量。
每一个第二输出端与一个开关器件驱动器402一一对应。
每一个第二输出端与该第二输出端对应的一个开关器件驱动器402的输入端电连接。
在本实施例中，每一个第一信号分配器403的输出端的数量可以小于图23所示的激光雷达的发射电路400所采用的开关器件的数量。
各第三信号分配器406的输出端的数量总和可以与图23所示的激光雷达的发射电路400所采用的开关器件驱动器的数量相匹配。例如各第三信号分配器406的第三输出端的数量总和可以等于激光雷达的发射电路400所采用的开关器件驱动器402的数量。
如图23所示，在本实施例中，控制信号发生器401的控制信号输出端可以为4组。第三信号分配器的数量可以为4个。第一信号分配器的数量为可以为8个。
在本实施例的一些应用场景中，上述激光雷达的发射电路400所使用的发光器件的数量为64。在这些应用场景中，第三信号分配器可以为2 路信号分配器。上述第一信号分配器可以为8路信号分配器。
以下说明具体工作过程，控制信号发生器的4组控制信号输出端分别可以是T-AP/N、T-BP/N、T-CP/N、T-DP/N。4个第三信号分配器406分别可以为A、B、C、D。T-AP/N、T-BP/N、T-CP/N、T-DP/N输出的触发信号分别在不同时刻被传输到上述A、B、C、D各自的第三输入端。这里的T-AP/N表示T-AP信号(正向信号)输出端和T-AN信号(负向信号)输出端。T-BP/N、T-CP/N、T-DP/N同理。在触发信号被传输到第三信号分配器(如A、B、C或D)后，以A为例，A对应两个可能的输出端：O-AP/N1和O-AP/N2。A的第四输入端输入的选址信号可以控制A将触发信号传输到O-AP/N1端，或者O-AP/N2端。若触发信号被传输到O-AP/N1端，与O-AP/N1输出端电连接的开关器件驱动器将被触发进入工作状态。该开关器件驱动器402发出的驱动信号经过第一信号分配器403后被分配到一个开关器件404上。上述驱动信号的长度可以由O-AP1与O-AN1分别作用在上述开关器件404上的时间间隔来确定。上述开关器件驱动器402发出的驱动信号的长度可以决定使上述开关器件404导通的时长。当开关器件404导通时，发光器件405在HV信号的作用下发光。上述驱动信号与HV信号确定发光器件405所发出的探测信号的能量。同一时刻，T-AP/N、T-BP/N、T-CP/N、T-DP/N输出的触发信号只有一路有信号。
此外，控制信号发生器401的控制信号输出端的数量可以为4个，第三信号分配器406可以为4路信号分配器，第三信号分配器406的数量可以为4个。第一信号分配器403可以为4路信号分配器。第一信号分配器403的数量可以为16个。
此外，控制信号发生器401的控制信号输出端的数量可以为2个，第三信号分配器406可以为4路信号分配器，第三信号分配器406的数量可以为2个。第一信号分配器403可以为8路信号分配器等，第一信号分配器403的数量可以为8个。
从以上可以看出，可以设置第一信号分配器403的输出端的数量、控制发生器401的控制信号端的数量、第三信号分配器406输出端的数量的乘积等于激光雷达的发射电路所使用的发光器件的数量，均可以实现使用较少的开关器件驱动器402驱动较多的开关器件，达到减少信号发射电路 所使用过的器件的数量，降低激光雷达的成本的目的。
本实施例提供的激光雷达的发射电路，通过在激光雷达的发射电路中设置第一信号分配器和第二信号分配器，实现了减少用于驱动多个开关器件的开关器件驱动器的目的。可以降低激光雷达的发射电路的成本，有助于缩小发射电路的体积。从而达到降低激光雷达的成本，缩小激光雷达的体积的目的。
请参考图24，图24示出了本申请实施例提供的激光雷达一种结构示意图500。
如图24所示，激光雷达500包括信号发射装置和信号接收装置。其中，信号发射装置包括如图21、图22、或者图23所示的激光雷达的发射电路。
上述激光雷达可以用于距离测量，障碍物识别等。所述激光雷达例如可包括本申请第一方面、第二方面、第三方面中提及的其他特征。
请参考图25，图25示出了本申请实施例提供的激光雷达的测距方法的一个示意性流程图600。
在本实施例中，激光雷达可以为图24所示的激光雷达。激光雷达的信号发射装置可以包括如图21、图22或图23所示的信号发射电路。
信号发射装置包括多个发光器件。激光雷达可以控制多个发光器件依次发出探测信号。
对于多个发光器件中的每相邻两个发光器件，该相邻两个发光器件按照发射探测信号的先后依次被视为第一发光器件和第二发光器件。第一发光器件所发出的第一探测信号对应第一飞行时间。
如图25所示，该激光雷达的测距方法可以包括：
步骤601，信号发射装置控制多个发光器件依次发射探测信号，对于每相邻两个发光器件，控制第一发光器件和第二发光器件依次发出第一探测信号和第二探测信号之间的时间间隔，大于第一飞行时间。
步骤602，信号接收装置接收由各探测信号遇到障碍物分别产生的回波信号。
步骤603，基于各探测信号的发射时刻与各回波信号的接收时刻，确定各探测信号的飞行时间。
步骤604，根据飞行时间确定障碍物与激光雷达之间的距离。
在本实施例中，这里的相邻两个发光器件是指在发光顺序上相邻的两个发光器件。在一些应用场景中，上述相邻两个发光器件也可以是在空间中相邻的两个发光器件。
在本实施例中，对于每一个发光器件，信号发射装置可以控制传输到该发光器件对应的开关器件的导通时间，来控制该发光器件发出探测信号的时间。
此外，信号发射装置还可以通过控制输入到各发光器件正极的HV信号的强度，来控制各发光器件发出的光的光强。
对于发光器件中的发射时间上每相邻的两个发光器件，该相邻两个发光器件先发出探测信号的发光器件可以视为第一发光器件，后发出探测信号的发光器件可以视为第二发光器件。第一发光器件所对应的探测信号发出时间可以为第一时间，第二发光器件所对应的探测信号的发出时间可以为第二时间。上述第二时间和第一时间的时间差可以大于第一发光器件发出的探测信号的第一飞行时间。
每一探测信号的飞行时间(Time of Flight，ToF)可以认为是该探测信号发出的时刻与接收到该探测信号遇到障碍物形成的回波信号的时刻之间的时间间隔。
将相邻两个发光器件依次发出探测信号的时间间隔，设置为大于该相邻两个发光器件发出的探测信号中较早发出的探测信号的飞行时间，因此可以降低相邻两个发光器件彼此之间的串扰。
对于每一个探测信号，该探测信号的飞行时间与光速的乘积，可以视为激光雷达与障碍物之间的距离。
使用多个发光器件的激光雷达，在测量一障碍物时，由多个发光器件可以得到激光雷达与该障碍物的多个初始距离。每一个初始距离与一个发光器件所发出的探测信号对应。
可以综合上述多个初始距离，确定较为精确的激光雷达与上述障碍物之间的距离。
在一些可选的实现方式中，上述步骤603可以进一步包括：对于每一探测信号，基于该探测信号的发射时间与该探测信号对应的回波信号的接收时间以及预先测定的补偿时间，确定该探测信号的飞行时间。
上述补偿时间主要是用于补偿激光雷达的发射电路中的寄生电容导致的飞行时间的偏差。
激光雷达的发射电路会产生寄生电容。寄生电容的存在会消耗开关器件的栅极所输入的驱动脉冲信号。以开关器件驱动器所发出的驱动脉冲信号达到光发射器件的开启电压的时刻为参考时刻为例，上述寄生电容的存在，使得光发射器件的实际导通时刻要迟于上述参考时刻。若以上述参考时刻计算探测信号的飞行时间，探测信号的实际飞行时间将小于测量得到的探测信号的飞行时间，使得测得激光雷达所测量的激光雷达与障碍物之间的距离不准确。
可以使用标定测试的方法，来测量光发射器件实际导通时刻与上述参考时刻之间的时间差，将上述时间差作为补偿时间。在计算探测信号的飞行时间时，将由光发射器件发出探测信号的上述参考时刻、接收到该探测信号遇到障碍物的产生的回波信号的时刻之间的时间间隔与上述补偿时间之差，确定为用于计算距离的探测信号的飞行时间
通过对探测信号的飞行时间的补偿，使得用于计算距离的探测信号的飞行时间更加接近于探测信号的实际飞行时间，从而使得所测得的激光雷达与障碍物之间的距离更加准确。
本申请实施例还提供一种可用于激光雷达的信号处理方法，包括：
通过控制信号发生器输出触发信号至开关器件驱动器；
通过所述第一信号分配器，将至少一个开关器件驱动器中的每个开关器件驱动器输出的驱动信号依次输出至开关器件，以控制所述开关器件的开闭；和
通过所述开关器件的开闭来控制发光器件的发光。
本申请的第四方面涉及激光雷达的发射电路、以及发射端的信号处理方法。其中的发射电路200、300和400以及信号处理方法可以与本申请的第一方面、第二方面、第三方面的激光雷达相结合，例如用作激光雷达的发射电路以及其中的信号处理方法。例如，参考图7和图8，发射支撑体 701的后端的外部设置有光束发射器件703，光束发射器件703包括发射电路板703A和m×n个发射光源703B。本申请第四方面的发射电路中的发光器件205、305、405可用作图8中的发射光源703B，同时例如可以将本申请第四方面的发射电路的其他元器件，诸如控制信号发生器、开关器件驱动器、第一信号分配器、第二信号分配器、第三信号分配器、多个开关器件等，同样集成在所述发射电路板703A上，从而可以将本申请第四方面的激光雷达发射电路的技术方案以及信号处理方法，结合到前述的激光雷达中。这种结合对于本领域技术人员是容易理解的，不需要付出创造性的劳动，此处不再赘述。
第五方面
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
请参考图26，其示出了现有技术中用于激光雷达的信号接收器的一个原理性结构示意图。
激光雷达的信号接收器可以包括多个光电信号接收器。光电信号接收器用于将接收到的光信号转换成电信号。
如图26所示，现有激光雷达中的信号接收电路包括多个信号接收子单元70。每个信号接收子单元70包括一个光电信号接收器71、信号放大器72和电压比较器73。
每一个信号接收子单元70可以对应激光雷达发射装置中的一个发光器件。对于每一个信号接收子单元70，该信号接收子单元70中的光电信号接收器71可以接收与该信号接收子单元70对应的发光器件发出的探测信号遇到障碍物返回的回波信号。这里的回波信号为较为微弱的光信号。并将该回波信号转换成电信号。该信号接收子单元70中的信号放大器72将上述电信号放大。被放大的电信号为连续电压信号。该信号接收子单元70中的电压比较器73用于将上述连续电压信号转换成脉冲电压信号。
可以根据脉冲电压信号对回波信号做进一步的分析。
因为现有激光雷达为多线激光雷达。发射端包括多个发光器件，相应 地，信号接收端可以包括多个光电信号接收器。对于每个光电信号接收器需要设置一一对应的信号放大器。这样一来，激光雷达所包括的器件的数量较多，成本较高，不利于激光雷达的大范围推广。
针对上述问题，可以采用本申请各实施例所提供的技术方案。
请参考图27，图27示出了本申请实施例提供的激光雷达的接收电路的一种结构示意图。
如图27所示，激光雷达的接收电路800包括多个光电信号接收器801、第一信号选择器802、信号放大器803和电压比较器804。
光电信号接收器801的数量可以为大于等于1的任意自然数。例如8个、16个、24个、64个等。光电信号接收器的数量可以根据具体的应用场景进行设置。上述光电信号接收器例如可以是光电管、光电倍增管、硅光电池、光电二极管、雪崩光电二极管、PIN光电二极管、硅光电倍增管(Silicon photomultiplier，SiPM)、单光子雪崩二极管(Single Photon Avalanche Diode，Spad)等。
对于每一个光电信号接收器，可以控制该光电信号接收器的工作时间与该光电信号接收器对应的、激光雷达的信号发射端的发光器件发出探测信号的时间相匹配。例如，一个光电信号接收器，可以控制该光电信号接收器的工作时间从与该光电信号接收器对应的、激光雷达的信号发射端的发光器件发出探测信号的时间开始，到该光电信号接收器接收到上述探测信号的回波信号后结束。
在本实施例中，每一个光电信号接收器801的输出端可以与第一信号选择器802的一个信号输入端一一对应。每一个光电信号接收器801的输出端可以与该光电信号接收器801的输出端对应的、第一信号选择器802的信号输入端电连接。第一信号选择器802可以具有地址信号输入端。地址信号输入端可以与地址信号线电连接。使用地址信号输入端输入的地址信号可以控制第一信号选择器802将传输到自身的哪个信号输入端的信号，传输到第一信号选择器802的输出端。上述地址信号线上的地址信号、控制各光电信号接收器工作时间的控制信号可以互相匹配。
第一信号选择器802的输出端与信号放大器803的信号输入端电连接。在一些应用场景中，光电信号接收器801输出的信号可以是电流信号， 信号放大器803可以将输入到其中的电流信号转为电压信号，并对电压信号进行放大。在另外一些应用场景中，光电信号接收器801输出的信号可以是电压信号，信号放大器803可以将输入到其中的、由光电信号接收器输出的电压信号进行放大。通常，信号放大器803输出的电压信号为连续电压信号。
电压比较器804，用于将信号放大器803输出的连续电压信号，转为脉冲电压信号。电压比较器804具有第一输入端和第二输入端。信号放大器803的输出端与电压比较器804的第一输入端电连接，电压比较器804的第二输入端与预设阈值电压信号线电连接。上述预设阈值电压信号线上传输的阈值电压可以根据应用场景进行变化。
在一些应用场景中，可以将多个光电信号接收器801设置在同一载体上。在该载体上还可以设置2个第一信号选择器802、2个信号放大器803和2个电压比较器804。在这些应用场景中，上述多个光电信号接收器801可以分为2组。每一组光电信号接收器801对应一个第一信号选择器802。例如，若上述总的光电信号接收器801的数量为16个，则可以将16个光电信号接收器801分为2组，每组8个光电信号接收器801。每组的8个光电信号接收器801对应一个第一信号选择器802。每一组的各光电信号接收器801的输出端分别与该组光电接器801对应的第一信号选择器802的各个信号输入端一一对应连接。第一信号选择器802的输出端可以与一个信号放大器803的信号输入端电连接。信号放大器803可以具有使能信号输入端。每一个信号放大器803的输出端可以与电压比较器804的第一输入端电连接。电压比较器803的第二输入端与预设阈值电压信号线电连接。
这样一来，在激光雷达的信号接收电路中，在多个光电信号接收器与信号放大器之间使用第一信号选择器，可以将不同光电信号接收器输出的电信号按照预设顺序输入到数量较少的信号放大器中。相比于在激光雷达中对每一个光电信号接收器设置一个信号放大器，本实施例提供的方案减少了信号放大器的使用数量，降低了激光雷达的成本，有利于激光雷达的进一步推广。
请参考图28，其示出了本申请实施例提供的激光雷达的接收电路的另一种结构示意图。
与图27所示实施例相同的是，图28所示的激光雷达的接收电路900包括多个光电信号接收器901、第一信号选择器、信号放大器、电压比较器904。
与图27不同的是，本实施例中，多个光电信号接收器901，至少一个信号放大器以及至少一个电压比较器被分为至少两个接收电路子组。
对于每一个接收电路子组，该接收电路子组可以包括至少两个光电信号接收器901、至少一个信号放大器、一个电压比较器905，其中，上述至少两个光电信号接收器901与上述至少一个信号放大器之间通过至少一个第一信号选择器实现电连接。
在本实施例中，上述第一信号选择器的数量可以是2个、3个，或者其他数量。第一信号选择器的数量可以小于光电信号接收器的数量。
对于每一个接收电路子组，其上的光电信号接收器、第一信号选择器、信号放大器、电压比较器的连接关系，可以参考图27所示实施例的说明，此处不赘述。
在一些应用场景中，上述多个光电信号接收器901，至少一个信号放大器以及至少一个电压比较器905被分为四个接收电路子组(如图28所示的BANKA、BANKB、BANKC、BANKD)。对于每一个接收电路子组(如BANKA)，该接收电路子组包括至少两个光电信号接收器901、至少一个信号放大器、一个电压比较器905。至少两个光电信号接收器901与至少一个信号放大器之间通过至少一个第一信号放大器实现电连接。上述信号放大器的数量可以是一个，也可以是两个，还可以是多个。信号放大器的数量可以小于光电信号接收器901的数量。
在本实施例中，上述每一个接收电路子组(如图28所示的BANKA)还可以包括第二信号选择器904。该接收电路子组(如BANKA)所包括的各信号放大器的输出端分别与第二信号选择器的904各信号输入端一一对应电连接。第二信号选择器904的输出端与该接收电路子组的电压比较器905的第一输入端电连接。电压比较器905的第二输入端与预设阈值电压信号线VTHA电连接。可以理解的是，对于接收电路子组BANKB，其对应的 预设阈值电压信号线为VTHB；对于接收电路子组BANKC，其对应的预设阈值电压信号线为VTHC；对于接收电路子组BANKD，其对应的预设阈值电压信号线为VTHD，但由于BANKB、BANKC、BANKD被BANKA遮挡，因此并未一一示意出，但其具体方案，本领域技术人员可以参考对BANKA的示意进行理解，BANKB、BANKC、BANKD与BANKA的结构图相同。另外，由于接收电路子组BANKA、BANKB、BANKC、BANKD在竖直方向上依次排列，而处于不同竖直方向处的接收电路子组对障碍物的探测需求可能不同，因此VTHA、VTHB、VTHC及VTHD可以不同。
在一些应用场景中，上述激光雷达的信号接收电路中所包括的光电信号接收器901的数量为64个。对于每一接收电路子组，该接收电路子组可以包括16个光电信号接收器901、2个第一信号选择器、2个信号放大器、1个第二信号选择器904、1个电压比较器905。其中，上述16个光电信号接收器901中的前8个光电信号接收器901的输出端与第一个第一信号选择器9021的各信号输入端一一对应地电连接；后8个光电信号接收器901的输出端与第二个第一信号选择器9022的各信号输入端一一对应地电连接。第一个第一信号选择器9021和第二个第一信号选择器9022均具有地址信号输入端。在一些应用场景中，第一个第一信号选择器9021和第二个第一信号选择器9022的地址信号输入端可以均与地址信号线A0、A1、A2电连接。地址信号线A0、A1、A2上传输的信号用于确定第一个第一信号选择器和第二个第一信号选择器选择哪一个输入信号作为输出。在另外一些应用场景中，第一个第一信号选择器9021的地址信号输入端和第二个第一信号选择器9022的地址信号输入端各自对应的地址信号线可以彼此独立。这样可以做更相对独立的选择。
第一个第一信号选择器9021的输出端与第一个信号放大器9031的信号输入端电连接；第二个信号选择器9022的输出端与第二个信号放大器9032的信号输入端电连接。第一个信号放大器9031的输出端和第二个信号放大器9032的输出端分别与第二信号选择器904的信号输入端电连接。
第一信号放大器9031、第二信号放大器9032均具有使能信号输入端。使能信号输入端与使能信号线电连接。对于BANKA，使能信号线如图28所示的ENA；对于BANKB，使能信号线如图28所示的ENB；对于BANKC， 使能信号线如图28所示的ENC；对于BANKD，使能信号线如图28所示的END。第二信号选择器904具有地址信号输入端，地址信号输入端与地址信号线A3电连接。
第二信号选择器904的输出端与电压比较器905的第一输入端电连接。电压比较器905的第二输入端与预设阈值电压信号线VTHA电连接。经过电压比较器905，上述BANKA输出脉冲电压信号PA，BANKA输出脉冲电压信号PB,BANKC输出脉冲电压信号PC，BANKD输出脉冲电压信号PD。
对于每一个BANK(如BANKA)，该BANK的多个光电信号接收器901可以排成一个光电信号接收器阵列(如图28所示的单列排列)。从光电信号接收器阵列出来的16路光电信号，先经过2个8路信号选择器9021和9022，然后进入2个宽带信号放大器9031、9032，再经过2路信号选择器904，合成一路或者说选其中一路后，进入电压比较器905，与阈值VTHA进行比较，若大于阈值VTHA，则输出脉冲信号，并进而转化为低压差分信号进行后续分析处理。
另外，对于每一个光电信号接收器901形成的通路而言，阈值VTHA可以不同，因为可能不同的通路对应不同的探测需求。在每个光电信号接收器阵列中，任意时刻只能选择其中一路光电信号接收器生成的信号，进行放大比较，且比较器的阈值VTHA可以动态调整。阈值VTHA比如可以与激光雷达的预设探测距离有关。对于近处的目标，或者高反目标，回波信号太强，以至于信号放大器的脉宽无法反应回波信号强度，这时需要适当调低阈值，以获取反射率信息。换言之，预设探测距离越低，阈值越高；预设探测距离越高，阈值越低。
参考图28，BANKA、BANKB、BANKC、BANKD的光电信号接收器竖直依次排列，对于处于相对边缘的BANKA中的光电信号接收器，可能探测需求是测远，也就是尽可能探测更远的距离，则对应于BANKA中的阈值电压VTHA则较低；类似地，对于处于相对中央的BANKB中的光电接收单元，可能探测需求是密度较高但距离较近，则对应于BANKB中的阈值电压VTHB则较高。
信号放大器具有使能信号输入端(控制开关)。由使能信号(例如图28所示的使能信号线ENA、ENB、EBC上传输的使能信号)控制，可以在无 需探测时被控制关闭，故可以降低功耗。由于信号放大器从低功耗状态中恢复需要1-2us的时间，因此需要提前给出使能信号。比如需要信号放大器在t2时刻开始工作，在使能信号设计上可以在(t2-[1-2us])的时间点向信号放大器发使能信号，使得该信号放大器可以在t2准时开始进入工作状态。
与图27所示实施例相比，本实施例将在激光雷达的信号接收电路分为至少两个接收电路子组，每个子组对个至少两个光电信号接收器、至少一个第一信号选择器、至少一个电压比较器，可以提高对所接收的探测信号的回波信号的速度。一方面可以降低激光器的成本，另一方面还可以确保激光雷达的响应速度。有利于激光雷达的进一步推广。
此外，本申请实施例还提供的激光雷达。激光雷达包括信号发射装置和信号接收装置。信号接收装置包括如图31或图32所示的实施例提供的激光雷达的信号接收电路。所述激光雷达例如可包括本申请第一方面、第二方面、第三方面、第四方面中提及的其他特征。
请参考图29，其示出了本申请实施例提供的激光雷达的测距方法的一个流程示意图。
如图29所示，激光雷达的测距方法1000包括如下步骤：
步骤1001，信号发射装置控制多个发光器件依次发射探测信号。
步骤1002，信号接收装置所包括的各光电信号接收器依次接收各所述探测信号遇到障碍物分别产生的回波信号。
步骤1003，基于各所述探测信号的发射时刻、各所述回波信号的接收时刻以及预先测定的补偿时间，依次各所述探测信号的飞行时间。
步骤1004，根据所述飞行时间确定所述障碍物与所述激光雷达之间的距离。
这里，每一探测信号的飞行时间(Time of Flight，ToF)可以认为是该探测信号发出的时刻与接收到该探测信号遇到障碍物形成的回波信号的时刻之间的时间间隔。
对于每一个探测信号，该探测信号的飞行时间与光速的乘积，可以视 为激光雷达与障碍物之间的距离。
上述补偿时间主要是用于补偿激光雷达的接收电路中的寄生电容导致的飞行时间的偏差。上述寄生电容可以是由第一信号选择器和/或第二信号选择器引起的。
激光雷达的接收电路会产生寄生电容。寄生电容的存在会消耗电压。使得电压比较器输出的脉冲信号电压的上升沿的上升时刻迟于理论上由回波信号、在信号接收电路无寄生电容时生成的脉冲电压信号的上升沿的上升时刻。故而探测信号的实际飞行时间将小于测量得到的探测信号的飞行时间，使得测得激光雷达所测量的激光雷达与障碍物之间的距离不准确。
可以使用标定测试的方法，来测量电压比较器输出的脉冲信号电压的上升沿的上升时刻与理论上由回波信号、在信号接收电路无寄生电容时生成的脉冲电压信号的上升沿的上升时刻之间的时间差，将上述时间差作为补偿时间。在计算探测信号的飞行时间时，将由光发射器件发出探测信号的上述参考时刻、接收到该探测信号遇到障碍物的产生的回波信号的时刻之间的时间间隔与上述补偿时间之差，确定为用于计算距离的探测信号的飞行时间。
本申请实施例还提供一种可用于激光雷达的信号处理方法，包括：
通过多个光电信号接收器，将接收到的光信号转换成电信号；
通过第一信号选择器，将所述多个光电信号接收器中的每个光电信号接收器输出的电信号依次输出至信号放大器；
通过所述放大器对接收的电信号进行放大；和
通过一电压比较器，将放大后的电信号与一阈值电压进行比较，根据比较结果输出脉冲电压信号。
其中所述阈值电压与激光雷达的探测需求有关。
本申请的第五方面涉及激光雷达的接收电路、以及接收端的信号处理方法。其中的接收电路800、900以及信号处理方法可以与本申请的第一方面、第二方面、第三方面、第四方面的激光雷达相结合，例如用作激光雷达的接收电路以及其中的信号处理方法。例如，参考图7和图8，接收支撑体702的后端的外部设置有光电处理器件704，光电处理器件704包括接 收电路板704A和设置在该接收电路板上的多个光电传感元件704B。本申请第五方面的接收电路中的光电信号接收器801、901可用作图8中的光电传感元件704B，同时例如可以将本申请第五方面的接收电路的其他元器件，诸如信号发达器、第一信号选择器、第二信号选择器、电压比较器等，同样集成在所述接收电路板704A上，从而可以将本申请第五方面的激光雷达接收电路的技术方案以及信号处理方法，结合到前述的激光雷达中。另外，本申请第五方面的激光雷达接收电路的技术方案及信号处理方法，可以与本申请第四方面的激光雷达发射电路的技术方案及信号处理方法容易地结合。这种结合对于本领域技术人员是容易理解的，不需要付出创造性的劳动，此处不再赘述。
在附图中，可以以特定布置和/或顺序示出一些结构或方法特征。然而，应该理解，可能不需要这样的特定布置和/或排序。而是，在一些实施例中，这些特征可以以不同于说明性附图中所示的方式和/或顺序来布置。另外，在特定图中包括结构或方法特征并不意味着暗示在所有实施例中都需要这样的特征，并且在一些实施例中，可以不包括这些特征或者可以与其他特征组合。
需要说明的是，在本专利的示例和说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
需要说明的是，在本专利的示例和说明书中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含， 从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
虽然通过参照本申请的某些优选实施例，已经对本申请进行了图示和描述，但本领域的普通技术人员应该明白，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。

Claims (25)

  1. 一种激光雷达，其特征在于，包括主轴、雷达转子、上仓板、顶盖和底座；
    所述上仓板相对于所述雷达转子固定设置，且所述上仓板在所述激光雷达的轴向上相对更靠近所述底座，更远离所述顶盖；
    所述主轴垂直于所述底座设置，并且位于所述上仓板和所述底座之间。
  2. 根据权利要求1所述的激光雷达，其特征在于，还包括旋转支架及驱动电机；
    所述旋转支架包括第一部分及第二部分，所述第一部分为中空结构且适于套设于所述主轴上，所述第二部分为垂直于所述第一部分的圆盘面结构且适于与所述雷达转子耦接，所述第二部分包括至少三个旋转子支架，每个所述旋转子支架的第一端耦接于所述第一部分，每个所述旋转子支架的第二端耦接于所述第二部分的圆盘面的边缘，所述驱动电机适于通过所述旋转支架驱动所述雷达转子旋转。
  3. 根据权利要求2所述的激光雷达，其特征在于，每个所述旋转子支架的第二端与所述圆盘面的边缘的耦接处还设置有支撑凸缘，所述支撑凸缘的凸起方向背离所述底座，所述雷达转子适于通过所述支撑凸缘与所述旋转支架耦接。
  4. 根据权利要求1所述的激光雷达，其特征在于，还包括中空的下仓板，所述下仓板套设于所述主轴，并位于所述上仓板和所述底座之间。
  5. 根据权利要求4所述的激光雷达，其特征在于，还包括位于所述上仓板和下仓板之间的无线供电组件，所述无线供电组件包括无线发射线圈、无线接收线圈、发射电路板和接收电路板；
    所述无线发射线圈、无线接收线圈、发射电路板和接收电路板均环绕所 述主轴设置；
    所述无线发射线圈和发射电路板相对于所述主轴固定设置，所述无线接收线圈和接收电路板相对于所述雷达转子固定设置；
    所述无线发射线圈与所述发射电路板电连接，所述无线接收线圈与所述接收电路板电连接。
  6. 根据权利要求5所述的激光雷达，其特征在于，还包括驱动电机，所述驱动电机包括磁铁和电枢，所述磁铁及电枢均环绕所述主轴设置，且所述磁铁相对所述电枢更远离所述主轴，所述磁铁与所述发射电路板耦接。
  7. 根据权利要求5所述的激光雷达，其特征在于，还包括驱动电机，所述驱动电机包括磁铁和电枢，所述磁铁及电枢均环绕所述主轴设置，且所述磁铁相对所述电枢更远离所述主轴，所述发射电路板与所述电枢电连接以向所述电枢供电。
  8. 根据权利要求6或7所述的激光雷达，其特征在于，所述驱动电机为直流电机。
  9. 根据权利要求5所述的激光雷达，其特征在于，还包括角度测量组件，所述角度测量组件环绕所述主轴设置，并且相对于所述无线供电组件与所述主轴的距离更远。
  10. 根据权利要求1所述的激光雷达，其特征在于，还包括电缆接口，所述电缆接口用于连接所述激光雷达与外部设备。
  11. 一种激光雷达的探测装置，其特征在于，包括镜筒、光束发射器件、发射透镜组件、接收透镜组件、以及光电处理器件；
    所述镜筒包括发射支撑体和接收支撑体，所述发射支撑体和接收支撑体 的延伸方向相互平行；
    所述发射透镜组件位于所述发射支撑体内部，并位于所述光束发射器件发出的探测光束的光路径上；
    所述接收透镜组件位于所述接收支撑体内部，并位于所述光电处理器件接收的回波光束的光路径上。
  12. 根据权利要求11所述的激光雷达的探测装置，其特征在于，还包括隔光板，所述隔光板设置于所述发射支撑体和接收支撑体之间，且平行于所述发射支撑体和接收支撑体。
  13. 根据权利要求11所述的激光雷达的探测装置，其特征在于，所述光束发射器件包括发射电路板，所述发射电路板位于所述发射支撑体的外部并设置于所述发射支撑体的后端，其中，所述发射支撑体的后端为与所述发射支撑体出射所述探测光束的一端相对的另一端；
    所述光电处理器件包括接收电路板，所述接收电路板位于所述接收支撑体的外部并设置于所述接收支撑体的后端，其中，所述接收支撑体的后端为与所述接收支撑体接收所述回波光束的一端相对的另一端。
  14. 根据权利要求13所述的激光雷达的探测装置，其特征在于，还包括：
    发射隔磁件，设置于所述发射电路板的后端，用于屏蔽所述发射电路板产生的电磁信号；和
    接收隔磁件，设置于所述接收电路板的后端，用于屏蔽所述接收电路板产生的电磁信号。
  15. 根据权利要求11所述的激光雷达的探测装置，其特征在于，所述光束发射器件还包括发射光源，所述光电处理器件还包括光电传感元件，其中：
    m×n个所述发射光源设置在所述发射电路板上；和
    i×j个所述光电传感元件设置在所述接收电路板上；
    其中，所述m、n、i、j为大于1的自然数。
  16. 根据权利要求11所述的激光雷达的探测装置，其特征在于，所述发射支撑体的前端端面上具有发射孔，并且探测光束适于经由所述发射孔从所述发射支撑体射出；所述接收支撑体的前端端面上具有接收孔，并且所述回波光束适于经由所述接收孔入射至所述接收支撑体；并且
    所述镜筒还包括发射遮光板和接收遮光板，所述发射遮光板位于所述发射支撑体前端的端面的外侧并与所述发射支撑体前端的端面垂直，所述接收遮光板位于所述接收支撑体前端的端面的外侧并与所述接收支撑体前端的端面垂直。
  17. 根据权利要求11所述的激光雷达的探测装置，其特征在于，所述发射支撑体的内壁上设置有至少一个凹槽，用于固定所述发射透镜组件；并且
    所述接收支撑体的内壁上设置有至少一个凹槽，用于固定所述接收透镜组件。
  18. 根据权利要求11所述的激光雷达的探测装置，其特征在于，还包括支撑平台，所述镜筒、光束发射器件、发射透镜组件、接收透镜组件、以及光电处理器件位于所述支撑平台的上方并相对于所述支撑平台固定设置。
  19. 一种激光雷达，其特征在于，包括如权利要求11-18中任一项所述的探测装置、主轴、上仓板、顶盖、以及底座；
    所述上仓板相对于所述探测装置固定设置并位于所述探测装置的支撑平台的下方，且所述上仓板在所述探测装置的轴向上相对更靠近所述底座，更远离所述顶盖；
    所述主轴垂直于所述底座设置，并且位于所述上仓板和所述底座之间；
    所述探测装置能够绕所述主轴360°旋转，以实现在水平方向上的扫描。
  20. 根据权利要求19所述的激光雷达，其特征在于，还包括旋转支架及驱动电机；
    所述旋转支架包括第一部分及第二部分，所述第一部分为中空结构且适于套设于所述主轴上，所述第二部分为垂直于所述第一部分的圆盘面结构且适于支撑所述探测装置，所述第二部分包括至少三个旋转子支架，每个所述旋转子支架的第一端耦接于所述第一部分，每个所述旋转子支架的第二端耦接于所述第二部分的圆盘面的边缘，所述驱动电机适于通过所述旋转支架驱动所述探测装置旋转。
  21. 根据权利要求20所述的激光雷达，其特征在于，还包括外壳，所述外壳位于所述底座上方，并与所述探测装置的所述支撑平台的周边相接。
  22. 根据权利要求20所述的激光雷达，其特征在于，还包括通信组件；
    所述主轴被设置为中空结构，所述通信组件被设置于所述主轴的内部。
  23. 根据权利要求22所述的激光雷达，其特征在于，所述通信组件包括第一通信模块和第二通信模块，所述第一通信模块与所述探测装置相对固定，所述第二通信模块与所述底座相对固定；
    所述第一通信模块包括至少一个光发射元件，所述第二通信模块包括至少一个光电传感元件，所述第二通信模块的所述至少一个光电传感元件位于所述第一通信模块的至少一个光发射元件发出的光束的光路径上。
  24. 根据权利要求23所述的激光雷达，其特征在于，所述第二通信模块还包括至少一个光发射元件，所述第一通信模块还包括至少一个光电传感元件，所述第一通信模块的所述至少一个光电传感元件位于所述第二通信模块的所述至少一个光发射元件发出的光束的光路径上。
  25. 根据权利要求24所述的激光雷达，其特征在于，所述第一通信模块的所述至少一个光发射元件所发射光束的波长与所述第二通信模块的至少一个光发射元件所发射光束的波长不同。
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