WO2021051432A1

WO2021051432A1 - Laser radar

Info

Publication number: WO2021051432A1
Application number: PCT/CN2019/107846
Authority: WO
Inventors: 叶高山
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2021-03-25
Also published as: CN112888956B; CN112888956A

Abstract

Disclosed is a laser radar (10), comprising: a laser transceiving system (200), used for emitting an emergent laser and receiving a reflected laser, wherein the reflected laser is a laser reflected back by an object in a detection area of the emergent laser; and a rotating system (100), which is arranged on one side of the laser transceiving system (200) and detachably connected to the laser transceiving system (200), wherein the rotating system (100) is configured to be capable of driving the laser transceiving system (200) to rotate so as to change paths of the emergent laser and the reflected laser. On one hand, paths of a laser emitted by an emitting device and a laser received by a receiving device in the laser transceiving system (200) do not need to avoid other structures, such that the laser transceiving system (200) is simple in terms of structural arrangement and low in cost; and on the other hand, the laser transceiving system (200) is connected in a detachable manner, such that the laser transceiving system and the rotating system are relatively independent when not connected, so the manufacturing processes of the laser transceiving system and the rotating system are independent, the laser transceiving system and the rotating system can be subjected to modular production at the same time, and the production efficiency of the laser radar (10) is greatly improved.

Description

Lidar

Technical field

This application relates to the technical field of laser detection, in particular to a laser radar.

Background technique

Lidar is a radar system that emits a laser beam to detect the position and speed of an object. Its working principle is that the transmitting system first emits the outgoing laser for detection to the detection area, and then the receiving system receives the reflection from the object in the detection area. The reflected laser is compared with the outgoing laser, and the relevant information of the object can be obtained after processing, such as distance, orientation, height, speed, posture, and even shape parameters.

The current lidar includes a housing and a base connected to the lower end of the housing. The base has a positioning column extending upwards, which occupies the space in the center of the housing. In order to enable the laser generated by the laser emitting device to smoothly exit the housing, optical elements need to be arranged in the housing to adjust the path of the laser so that The laser inside the housing can avoid the positioning post. Such a structure makes the structure of the lidar complex and the production cost is high.

Application content

The present application provides a laser radar, which can separate the optical path part and the driving part of the laser radar, so that the internal structure of the optical path part is simpler and convenient to manufacture; at the same time, the optical path part and the driving part of the laser radar can be independently modularized. Speed up the laser radar processing cycle.

According to one aspect of the present application, a lidar is provided, including:

A laser transceiver system for emitting outgoing laser light and receiving reflected laser light, where the reflecting laser light is the laser light that the outgoing laser light is reflected back by an object in the detection area;

The rotating system is arranged on one side of the laser transceiving system and is detachably connected to the laser transceiving system. The rotating system is configured to drive the laser transceiving system to rotate so as to change the path of the emitted laser light.

Further, the rotating system includes a rotating body, the rotating body rotates around its own central axis, and the end of the rotating body close to the laser transceiving system is threadedly connected with the laser transceiving system to drive the The laser transceiver system rotates around the central axis.

Further, the rotating system further includes a base, the base includes a positioning column extending in a direction parallel to the central axis, the rotating body has a rotating cavity with an opening facing away from the laser transceiver system, and the positioning The column extends into the rotating cavity from the opening;

The rotating system further includes a drive motor, the drive motor includes a stator and a rotor, the stator is connected to the positioning column, the rotor is connected to the inner peripheral wall of the rotating cavity, and the drive motor is configured to drive the The rotating body rotates around the positioning column.

Further, it also includes:

A first housing, the first housing defines an internal cavity, and the rotation system is disposed in the internal cavity;

Wherein, the first housing includes a fixed structure disposed in the internal cavity, and the rotating body is positioned on the fixed structure by a bearing, so that the rotating body can rotate relative to the fixed structure.

Further, the first housing has a rotating port penetrating the internal cavity and a fixed port opposite to the rotating port, and the rotating system is disposed in the internal cavity near the fixed port;

The rotating body includes a driving body and a shaft, the driving body defines the rotating cavity with an opening facing the fixed port, and the shaft is connected to the end of the driving body facing away from the fixed port, so The end of the shaft body away from the driving body is threadedly connected with the laser transceiver system;

The outer peripheral wall of the driving body is sleeved with the bearing.

Further, the base is detachably connected to one end of the first housing at the fixed port, and the positioning column extends from the fixed port toward the rotating port.

Further, the fixing structure defines a receiving chamber penetrating at both ends, the bearing includes an inner ring and an outer ring sleeved outside the inner ring, the inner ring is sleeved on the outer peripheral wall of the rotating body, so The outer ring is arranged in the containing chamber and connected to the fixing structure.

Further, the lidar further includes a first housing that defines an internal cavity, and the first housing has a rotation port that penetrates the internal cavity and is opposite to the rotation port. The fixed port, the rotation system is arranged in the inner chamber near the fixed port;

One end of the laser transceiving system is located in the internal cavity, and the other end extends out of the internal cavity from the rotating port. The laser transceiving system includes a transmitting lens for transmitting the outgoing laser and a receiving lens for receiving the laser. The receiving lens for reflecting laser light, the transmitting lens and the receiving lens are respectively arranged at one end of the laser transceiving system that extends out of the internal cavity.

Further, it also includes:

The second casing is connected to an end of the first casing close to the laser transceiver system, and the laser emission system is completely located in the cavity enclosed by the second casing and the first casing.

Further, the laser transceiver system further includes:

A support plate disposed in the internal cavity, one side of the support plate faces the fixed port, the other side faces the rotation port, and the support plate is detachably connected to the rotation system;

A launching device, arranged on the side of the support plate away from the rotation system and connected to the support plate, the launching system is used to emit the outgoing laser;

The receiving device is arranged on the side of the supporting plate away from the rotating system and connected to the supporting plate, and the receiving system is used for receiving the reflected laser light.

The present application provides a laser radar, which separates the optical path part and the driving part into two relatively independent parts. Lidar includes a laser transceiving system and a rotating system. The laser transceiving system has a transmitting device capable of emitting laser light and a receiving device capable of receiving laser light. The rotating system is arranged on one side of the laser emitting system and is detachably connected with the laser transceiver system.

On the one hand, in the present application, the path of the laser emitted by the transmitter and the laser received by the receiving device in the laser transceiver system does not need to avoid other structures (in the prior art, it is necessary to avoid the positioning column located in the center), so the structure of the laser transceiver system is simple to set up ,low cost. On the other hand, because the laser transceiver system is connected to the rotating system in a detachable manner, and the two are relatively independent when they are not connected, the manufacturing process of the two is independent, and the two can be modularized at the same time, which greatly improves the production. The efficiency of lidar.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a first schematic cross-sectional view of a lidar provided by an embodiment of this application;

2 is a schematic diagram of a second cross-sectional view of a lidar provided by an embodiment of this application;

3 is a schematic cross-sectional view of a base, a rotating body, a first housing, and a second housing provided by an embodiment of the application;

4 is a schematic cross-sectional view of a laser transceiver system provided by an embodiment of this application;

FIG. 5 is an exploded schematic diagram of a lidar provided by an embodiment of this application;

6 is an exploded schematic diagram of a cross-sectional view of a lidar provided by an embodiment of the application;

FIG. 7 is an exploded schematic diagram of the laser transceiver system and the second housing provided by an embodiment of the application.

detailed description

In order to make the purpose, technical solutions and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the application, and not used to limit the application.

The lidar in the prior art includes a housing and a base connected to the lower end of the housing. The base has a positioning column extending upward, and the positioning column extends into the inner center of the shell. A driving device is connected between the positioning column and the casing to drive the casing to rotate relative to the positioning column. The housing has a laser emitting device and a laser receiving device, and the laser emitting device and the laser receiving device can rotate with the rotation of the housing, so as to realize the detection of objects in different areas.

The positioning column occupies the center space in the housing. In order to enable the laser generated by the laser emitting device to be smoothly emitted out of the housing, an optical element needs to be arranged in the housing to adjust the path of the laser so that the laser inside the housing can avoid Positioning column. Such a structure makes the structure of the lidar complex and the production cost is high. In addition, the laser radar in the prior art has a high degree of integration, which results in a strict sequence during the processing and assembly of the laser radar, and a long processing cycle.

As shown in FIGS. 1-7, this embodiment provides a laser radar 10, which includes a laser transceiver system 200 and a rotating system 100.

The laser transceiver system 200 includes a transmitting device and a receiving device. The transmitting device is used to emit the outgoing laser, and the receiving device is used to receive the reflected laser, where the reflected laser is the laser that the outgoing laser is reflected back by the object in the detection area. After the transmitting device emits the outgoing laser, the outgoing laser hits the detection object in the detection area and is reflected back to the laser transceiver system 200, and the reflected laser light is received by the receiving device. By comparing the changes in related parameters between the laser emitted by the transmitter and the laser received by the receiving device, relevant information about the detected object, such as distance, orientation, height, speed, attitude, and even shape, can be obtained.

The rotation system 100 is arranged on one side of the laser transceiver system 200 and is detachably connected with the laser transceiver system 200. The rotation system 100 is configured to drive the laser transceiver system 200 to rotate to change the path of the emitted laser light and the reflected laser light. By changing the path of the emitted laser light, the path of the reflected laser light is changed. The scanning area of the laser radar 10 can be changed by changing the paths of the emitted laser light and the reflected laser light, which enriches the applicable scenarios of the laser radar 10.

The rotating system 100 can be specifically set in any position of the laser transceiver system 200, and the relative position of the two depends on actual needs. However, for the convenience of description, the following takes the rotation system 100 arranged below the laser transceiver system 200 as an example for illustration. It should be noted that in other embodiments, the rotation system 100 may also be arranged above or on the left of the laser transceiver system 200. Other directions such as square or right.

After the rotating system 100 is disposed under the laser transceiver system 200, the upper end of the rotating system 100 and the lower end of the laser transceiver system 200 are detachably connected. Specifically, the two can be connected by screw connection, snap connection, magnetic attraction, etc. In order to obtain a stable driving force, the rotating part of the rotating system 100 may be screwed with the laser transceiver system 200.

Since the laser light emitted by the transmitting device and the laser light received by the receiving device in the laser transceiver system 200 in this embodiment does not need to avoid rotating parts, the optical path is simple, and no optical components are required to adjust the path of the laser, which makes the laser radar 10 as a whole The cost is reduced. Moreover, since the laser transceiver system 200 is connected to the rotating system 100 in a detachable manner, and the two are relatively independent when not connected, the manufacturing process of the two is independent, and the two can be modularized at the same time, which greatly improves the production. The efficiency of Lidar 10.

In an embodiment, the rotating system 100 may include a rotating body 110 that rotates around its own central axis. When the rotating system 100 is arranged below the laser transceiver system 200, the central axis of the rotating body 110 is arranged vertically. The end of the rotating body 110 close to the laser transceiving system 200 is threadedly connected with the laser transceiving system 200 to drive the laser transceiving system 200 to rotate around the central axis. When the rotating body 110 rotates around its central axis, the laser transceiver system 200 as a whole also rotates around the center axis of the rotating body 110. At this time, the path of the laser emitted by the transmitter of the laser transceiver system 200 is changed accordingly.

In the threaded connection between the rotating body 110 and the laser transceiver system 200, the rotating body 110 can be provided with threaded holes, and the screws or bolts provided in the laser transceiver system 200 are inserted into the threaded holes in the rotating body 110 by the laser transceiver system 200 to connect with each other. Threaded hole threaded connection. Of course, it is also possible to directly set an external thread on the end of the rotating body 110, provide a connecting hole on the laser transceiver system 200, and set an internal thread on the inner surface of the connecting hole, so that the external thread on the rotating body 110 and the connecting hole The internal threads of φ are matched to realize the threaded connection between the rotating body 110 and the laser transceiver system 200. The threaded connection between the rotating body 110 and the laser transceiver system 200 is not limited to the above situation, and will not be repeated here.

After the rotating body 110 is disposed under the laser transceiver system 200, the rotating body 110 and the laser transceiver system 200 can also only be matched with a shaft hole. For example, a connecting shaft is provided at the upper end of the rotating body 110, and a connecting hole is provided at the lower end of the laser transceiver system 200. The connecting shaft extends into the connecting hole to complete the detachable connection between the rotating body 110 and the laser transceiver system 200. The connecting shaft and the connecting hole are The transverse cross-sections may not be circular, so that the rotating body 110 can drive the laser transceiver system 200 to rotate. Of course, in other embodiments, the above-mentioned connecting shaft may be provided on the laser transceiver system 200, and the above-mentioned connecting hole may be provided on the rotating body 110.

In this embodiment, the rotating system 100 further includes a base 500. The base 500 includes a positioning column 510 extending in a direction parallel to the central axis of the rotating body 110. The rotating body 110 has a rotating cavity 113 with an opening facing away from the laser transceiver system 200 (that is, the opening of the rotating cavity 113 is arranged downward), and the positioning column 510 extends into the rotating cavity 113 from bottom to top. After the positioning post 510 extends into the rotating cavity 113, it is located at the center of the rotating cavity 113.

The rotating system 100 further includes a driving motor, which is positioned on the positioning post 510 of the base 500 and drives the rotating body 110 to rotate around the positioning post 510. Specifically, the driving motor may include a stator 141 and a rotor 142. The stator 141 of the driving motor is sleeved on the positioning column 510, and the rotor 142 is connected to the inner circumferential wall of the rotating cavity 113 of the rotating body 110. When the driving motor works, its rotor 142 rotates around the stator 141, so the rotating body 110 is driven by the rotor 142 to rotate around the positioning column 510 of the base 500, and the laser transceiver system 200 is driven by the rotating body 110 to rotate relative to the base 500. Finally, the purpose of changing the path of the laser beam emitted by the laser transceiver system 200 is achieved.

The lidar 10 may further include a first housing 300. The first housing 300 defines an internal cavity 320, and the rotating system 100 is disposed in the internal cavity 320, so that the first housing 300 can well protect the rotating system 100. The first housing 300 may have a rotating port 321 at the upper end and a fixed port 322 at the lower end, and both the rotating port 321 and the fixed port 322 penetrate the internal cavity 320 of the first housing 300. The rotating system 100 is specifically arranged in the inner chamber 320 close to the fixed port 322. The fixed port 322 of the first housing 300 is fixedly connected to the base 500, and the laser transceiver system 200 generates a rotational movement at the rotation port 321 of the first housing 300.

In an embodiment, the rotating body 110 may be positioned on the positioning column 510 of the base 500, that is, the positioning column 510 gives the rotating body 110 a vertical upward bearing capacity. However, in the above structure, the positioning column 510 needs to give the rotating body 110 both torque and bearing capacity, so the mechanical properties of the positioning column 510 are relatively high, and because the positioning column 510 is disposed in the rotating cavity 113 of the rotating body 110 , Its size is limited, so it is difficult to meet actual needs.

In this embodiment, the first housing 300 may include a fixed structure 310 disposed in the internal cavity 320, and the rotating body 110 is positioned on the fixed structure 310 by a bearing 120 so that the rotating body 110 can rotate relative to the fixed structure 310. That is, the fixed structure 310 of the first housing 300 provides the upward bearing capacity of the rotating body 110 (when the rotating system 100 is arranged in other positions of the laser transceiver system 200, the first housing 300 gives the rotating body 110 other directions of bearing capacity. force). In addition, the first housing 300 and the rotating body 110 are connected by the bearing 120, so that the fixed structure 310 can provide the upward bearing capacity of the rotating body 110, and the rotating body 110 can also rotate relative to the fixed structure 310.

When the rotating system 100 is disposed under the laser transceiver system 200, the bearing 120 between the rotating body 110 and the fixed structure 310 needs to transmit the vertical upward bearing capacity. The above-mentioned bearing 120 may be a thrust bearing, and the thrust bearing is disposed at the lower end of the rotating body 110, one side of which abuts against the rotating body 110 and the other side is fixed to the fixing structure 310 of the first housing 300. The thrust bearing can provide the rotating body 110 with greater thrust while ensuring that the rotating body 110 can rotate relative to the fixed structure 310. When the bearing 120 connected to the rotating body 110 is a thrust bearing, the thrust bearing can also be fixed on the base 500, that is, after the positioning column 510 of the base 500 passes through the thrust bearing, the upper side of the thrust bearing abuts against the rotating body 110, The lower end surface is positioned on the base 500. Of course, the shape and specific structure of the bearing 120 depend on actual needs.

In an embodiment, the rotating body 110 may be used to carry the laser transceiving system 200, that is, the rotating body 110 gives the laser transceiving system 200 a vertical upward thrust. At this time, the bearing 120 between the rotating body 110 and the first housing 300 bears the common gravity of the rotating body 110 and the laser transceiver system 200. Of course, in other embodiments, other structures can also be provided on the first housing 300, and the bearing 120 is connected between the above structure and the laser transceiver system 200, so that the first housing 300 can carry the gravity of the laser transceiver system 200. At the same time, it can also produce relative rotation with the laser transceiver system 200.

The rotating body 110 may include a driving body 111 and a shaft 112 located above the driving body 111. The driving body 111 defines the aforementioned rotating cavity 113 that opens toward the fixed port 322. The shaft 112 is connected to the end of the driving body 111 facing away from the fixed port 322. The end of the shaft 112 away from the driving body 111 is connected to the laser transceiver system 200. Threaded connection. In this arrangement, the outer peripheral wall of the driving body 111 can be sleeved with the bearing 120. Since the lateral cross section of the driving body 111 is relatively large, a relatively large bearing 120 can be provided to increase the ultimate bearing capacity of the bearing 120. At the same time, the bearing 120 is arranged on the peripheral wall of the driving body 111 instead of being arranged in the vertical position of the rotating body 110 (that is, above or below the rotating body 110), which can reduce the vertical occupation space of the rotating system 100, thereby reducing the lidar 10 The overall vertical height (when the laser transceiver system 200 and the rotating system 100 are arranged up and down).

The base 500 may be integrally provided with the first housing 300, but in order to facilitate the disassembly and assembly of the lidar 10, in this embodiment, the base 500 is detachably connected to the end of the first housing 300 at the fixed port 322, and the positioning The column 510 extends from the fixed port 322 toward the rotation port 321. Specifically, the base 500 and the first housing 300 may be connected with threaded fasteners. When the base 500 is connected to the fixed port 322 of the first housing 300, the base 500 can cover the fixed port 322 of the first housing 300, and at the same time, the base 500 can also be used to carry the first housing 300, that is, the base 500 gives the first housing 300 a vertical upward bearing capacity. In other embodiments, the first housing 300 may also carry the base 500, that is, the base 500 is connected to the fixed port 322 of the housing and then suspended, and the bearing capacity of the base 500 is determined by the difference between the base 500 and the first housing 300. The screw connection between the two is provided, and the overall bearing capacity of the lidar 10 is provided by the first housing 300.

In an embodiment, the fixing structure 310 of the first housing 300 may be a horizontally arranged ring-shaped bearing platform, but in order to facilitate the installation and fixation of the rotating body 110 and the bearing 120, in this embodiment, as shown in FIG. 3 As shown, the fixing structure 310 defines a receiving chamber 311 passing through at both ends. The bearing 120 may include an inner ring and an outer ring sleeved outside the inner ring, and spherical balls or cylindrical rollers may be arranged between the inner ring and the outer ring. The inner ring of the bearing 120 is sleeved on the outer peripheral wall of the rotating body 110, and the outer ring is provided in the receiving chamber 311 of the fixed structure 310 and connected to the inner peripheral wall of the fixed structure 310.

As shown in Figures 1 to 2, in order to facilitate the positioning of the bearing 120, a stepped structure can be provided in the receiving chamber 311 of the fixing structure 310, and the bearing 120 can be fixed on the stepped structure. The stepped structure can give the outer surface of the bearing 120 The vertical bearing capacity of the ring. And in order to make the positioning of the rotating body 110 more stable, two bearings 120 may be arranged in the receiving chamber 311 of the fixed structure 310, and the two bearings 120 are respectively sleeved on the upper and lower ends of the outer peripheral wall of the driving body 111.

The shaft 112 of the rotating body 110 can extend upward from the first housing 300 to be detachably connected to the laser transceiver system 200. However, in order to improve the reliability of the connection between the optical transceiver system and the rotating body 110, in this embodiment, the laser transceiver The lower end of the system 200 is located in the internal chamber 320 and is detachably connected to the shaft 112 of the rotating body 110. The other end of the laser transceiving system 200 extends upward from the inner cavity 320 from the rotating port 321. The above structure makes the connection between the laser transceiving system 200 and the shaft 112 of the rotating body 110 covered by the first housing 300, and it is unlikely that the connection between the two will fail due to the entry of foreign objects.

When the lower end of the laser transceiver system 200 extends into the accommodating chamber 311 of the first housing 300, the transmitting lens 220 for emitting outgoing laser light and the receiving lens 230 for receiving reflected laser light of the laser transmitting and receiving system 200 are located in the internal cavity. Outside the chamber 320, that is, the transmitting lens 220 and the receiving lens 230 are respectively disposed at the upper end of the laser transceiver system 200 that protrudes from the inner cavity 320, so as to facilitate the transmission and reception of laser light.

The laser transceiving system 200 may further include a supporting plate 210, the supporting plate 210 is transversely disposed in the internal cavity 320 of the first housing 300, and one side of the supporting plate 210 faces the fixed port 322 and the other side faces the rotating port 321. The supporting plate 210 is disposed at the bottom end of the laser transceiver system 200, and the supporting plate 210 is detachably connected to the rotating system 100, and specifically connected to the shaft 112 of the rotating system 100 using threaded fasteners. The transmitting device and the receiving device of the laser transceiver system 200 are both arranged on the upper end surface of the support plate 210.

In order to protect the internal components of the laser transceiver system 200, it may further include an outer housing 240, the lower end of the outer housing 240 has an opening, and the support plate 210 is connected to the outer housing 240 and covers the lower end opening of the outer housing 240. The transmitting device and the receiving device of the laser transceiver system 200 are both arranged in the space enclosed by the outer shell 240 and the supporting plate 210. Since the space enclosed by the outer shell 240 and the support plate 210 does not have other components that block the laser path, the laser generated by the laser emitting device can be emitted out of the outer shell 240 along a straight line, and the laser entering the outer shell 240 can also reach the receiver along a straight line. Device.

The lidar 10 may further include a second housing 400. The second housing 400 is connected to an end of the first housing 300 close to the laser transceiver system 200, and the laser emitting system is completely located in the cavity enclosed by the second housing 400 and the first housing 300. Specifically, the second can be spherical, and can also be made of a light-transmitting material, so that the emitted laser light generated by the transmitting device can be emitted out of the second housing 400; the reflected laser light received by the receiving device can be injected into the second housing 400.

The laser transceiving system 200 may further include a circuit board 250 for processing and transmitting laser signals. The circuit board 250 is fixed to the supporting board 210. Specifically, the circuit board 250 may be arranged above the circuit board 250 to enable the laser transceiving system The outer shell 240 of the 200 can protect the circuit board 250, and the circuit board 250 can also be disposed under the support board 210 to make full use of the space under the support board 210. In order to increase the area of the circuit board 250, an opening can be provided on the circuit board 250 to allow the shaft 112 of the rotating system 100 to pass through the opening of the circuit board 250, so that the circuit board 250 can completely cover the lower surface of the support board 210 .

The lidar 10 may further include a magnetic ring assembly including an inner magnetic ring 151 and an outer magnetic ring 152 arranged around the inner magnetic ring 151. The inner magnetic ring 151 can be sleeved on the positioning column 510, and the outer magnetic ring 152 is fixed on the inner peripheral wall of the rotating body 110. When the rotating body 110 rotates, the outer magnetic ring 152 rotates relative to the inner magnetic ring 151. The outer magnetic ring 152 is electrically connected to the circuit board 250 of the laser transceiver system 200, and the signal has been transmitted to the outer magnetic ring 152. The outer magnetic ring 152 transmits the received signal to the inner magnetic ring 151, so that the laser transceiver system 200 The signal can be transmitted to the outside of the lidar 10 smoothly.

The same or similar reference numerals in the drawings of this embodiment correspond to the same or similar components; in the description of this application, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation, therefore, the terms describing the positional relationship in the drawings are only used for exemplary description, and cannot be understood as a limitation of the patent. For those of ordinary skill in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

The above descriptions are only the preferred embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included in the protection of this application. Within range.

Claims

A lidar, which is characterized in that it comprises:

A laser transceiver system for emitting outgoing laser light and receiving reflected laser light, where the reflecting laser light is the laser light that the outgoing laser light is reflected back by an object in the detection area;

The rotating system is arranged on one side of the laser transceiving system and is detachably connected to the laser transceiving system. The rotating system is configured to drive the laser transceiving system to rotate so as to change the path of the emitted laser light.
The lidar of claim 1, wherein:

The rotating body includes a rotating body that rotates around its own central axis, and an end of the rotating body close to the laser transceiver system is threadedly connected with the laser transceiver system to drive the laser transceiver system Rotate around the central axis.
The lidar of claim 2, wherein:

The rotation system further includes a base, the base includes a positioning column extending in a direction parallel to the central axis, the rotating body has a rotating cavity with an opening facing away from the laser transceiver system, and the positioning column is controlled by the positioning column. The opening extends into the rotating cavity;

The rotating system further includes a drive motor, the drive motor includes a stator and a rotor, the stator is connected to the positioning column, the rotor is connected to the inner peripheral wall of the rotating cavity, and the drive motor is configured to drive the The rotating body rotates around the positioning column.
The lidar of claim 3, further comprising:

A first housing, the first housing defines an internal cavity, and the rotation system is disposed in the internal cavity;

Wherein, the first housing includes a fixed structure disposed in the internal cavity, and the rotating body is positioned on the fixed structure by a bearing, so that the rotating body can rotate relative to the fixed structure.
The lidar of claim 4, wherein:

The first housing has a rotating port passing through the internal cavity and a fixed port opposite to the rotating port, and the rotating system is disposed in the internal cavity near the fixed port;

The rotating body includes a driving body and a shaft, the driving body defines the rotating cavity with an opening facing the fixed port, and the shaft is connected to the end of the driving body facing away from the fixed port, so The end of the shaft body away from the driving body is threadedly connected with the laser transceiver system;

The outer peripheral wall of the driving body is sleeved with the bearing.
The lidar of claim 4, wherein:

The base is detachably connected to one end of the first housing at the fixed port, and the positioning column extends from the fixed port toward the rotating port.
The lidar of claim 4, wherein:

The fixing structure defines a receiving chamber with two ends passing through, the bearing includes an inner ring and an outer ring sleeved outside the inner ring, the inner ring is sleeved on the outer peripheral wall of the rotating body, and the outer ring It is arranged in the containing chamber and connected to the fixing structure.
The lidar of claim 1, wherein:

The lidar further includes a first housing that defines an internal cavity, and the first housing has a rotation port passing through the internal cavity and a fixed port opposite to the rotation port , The rotation system is arranged in the inner chamber near the fixed port;

One end of the laser transceiving system is located in the internal cavity, and the other end extends out of the internal cavity from the rotating port. The laser transceiving system includes a transmitting lens for transmitting the outgoing laser and a receiving lens. The receiving lens for reflecting laser light, the transmitting lens and the receiving lens are respectively arranged at one end of the laser transceiving system that extends out of the internal cavity.
The lidar of claim 8, further comprising:

The second housing is connected to one end of the first housing close to the laser transceiver system and completely covers the rotating port. The laser emission system is completely located between the second housing and the first housing In the cavity enclosed by the body.
The laser radar according to claim 8, wherein the laser transceiver system further comprises:

A support plate disposed in the internal chamber, one side of the support plate faces the fixed port, the other side faces the rotation port, and the support plate is detachably connected to the rotation system;

A launching device, arranged on the side of the support plate away from the rotation system and connected to the support plate, the launching system is used to emit the outgoing laser;

The receiving device is arranged on the side of the supporting plate away from the rotating system and connected to the supporting plate, and the receiving system is used for receiving the reflected laser light.