LiDAR

Abstract

This disclosure provides a lidar system including a housing, a first circuit board, a second circuit board, a first connector, and a second connector. The first and second circuit boards are located inside the housing. The first circuit board is disposed near a first side of the housing, and the second circuit board is disposed near a second side of the housing, with a gap between the two circuit boards. A communicator is disposed on the first circuit board and configured to transmit first data to the outside of the lidar. The first connector is connected to the first circuit board and is signal-connected to the communicator; the first data is transmitted to the outside of the lidar via the first connector. The first connector is fixedly connected to the housing, and a portion of the first connector is located within the gap. The second connector connects the first and second circuit boards and transmits second data between them. Embodiments of this disclosure improve the space utilization within the housing and increase the design freedom of the lidar.

Description

Technical Field

[0001] This disclosure relates to the field of lidar technology, and in particular to a lidar. Background Technology

[0002] LiDAR has wide applications in many fields. However, existing LiDAR systems still suffer from large size, which limits their installation locations. Furthermore, the large number of structural components and complex manufacturing processes hinder improvements in production efficiency. Utility Model Content

[0003] To address one or more deficiencies in the prior art, this disclosure provides a lidar system, including a housing, a first circuit board, a second circuit board, a first connector, and a second connector; wherein,

[0004] The first circuit board and the second circuit board are located inside the housing; the first circuit board is disposed near a first side of the housing, and the second circuit board is disposed near a second side of the housing, with a gap between the first circuit board and the second circuit board;

[0005] The first circuit board is provided with a communicator, which is configured to transmit first data to the outside of the lidar.

[0006] The first connector is connected to the first circuit board and to the communicator signal connection. The first data is transmitted to the outside of the lidar via the first connector. The first connector is fixedly connected to the housing, and a portion of the first connector is located in the gap.

[0007] The second connector connects the first circuit board and the second circuit board and is configured to transmit second data between the first circuit board and the second circuit board.

[0008] Optionally, the housing includes a mounting base extending through the housing, the first connector passing through the housing at the location of the mounting base and connected to the first circuit board; the first connector is fixedly connected to the housing at the location of the mounting base.

[0009] Optionally, the second circuit board includes a first clearance notch through which the first connector is inserted into the first circuit board.

[0010] Optionally, the first side is opposite to the second side, the first side is located on the front side of the housing, and the second side is located on the rear side of the housing.

[0011] Optionally, the first circuit board and the second circuit board are parallel to each other, and both the first circuit board and the second circuit board are fixedly connected to the first side of the housing.

[0012] Optionally, the lidar further includes a detector and a receiving lens, the detector being disposed on the second circuit board; one end of the receiving lens is close to or attached to the second circuit board and corresponds to the position of the detector.

[0013] Optionally, the first circuit board includes a second clearance notch through which the receiving lens passes.

[0014] Optionally, the lidar further includes a transmitter and a transmitting lens, the transmitter being mounted on the first circuit board; one end of the transmitting lens being close to or attached to the first circuit board and corresponding to the position of the transmitter.

[0015] Optionally, the first circuit board includes a coupling, and the first connector is connected to the coupling; the coupling includes a steering head, and the first connector is connected to the first circuit board at a non-perpendicular angle via the steering head.

[0016] Optionally, the second connector includes a flexible circuit, the two ends of which are respectively inserted into the first circuit board and the second circuit board; the flexible circuit is bent away from the housing.

[0017] Compared with the prior art, the embodiments of this disclosure provide a lidar in which a first connector and a first circuit board are connected and extend to the outside of the housing, enabling the transmission of first data to the outside of the lidar. The first circuit board and the second circuit board are spaced apart, with the first connector portion located in the gap between the first and second circuit boards, which improves the space utilization inside the housing and reduces the size of the lidar. The first and second circuit boards are connected via a second connector, allowing the electronic and optical components of the lidar to be distributed across the first and second circuit boards, increasing the design freedom of the lidar and reducing the assembly and adjustment difficulty. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 An exploded view of an exemplary lidar consistent with some embodiments of this disclosure is shown;

[0020] Figures 2A-2CA schematic diagram of an exemplary lidar consistent with some embodiments of this disclosure is shown;

[0021] Figure 3 A schematic diagram showing the positions of an exemplary transmitting lens, receiving lens, and first and second circuit boards consistent with some embodiments of this disclosure is provided.

[0022] Figure 4 A schematic diagram of an exemplary first connector and first circuit board connection consistent with some embodiments of this disclosure is shown;

[0023] Figure 5A and Figure 5B A schematic diagram of an exemplary first connector and first circuit board connection consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0024] In the following description, only certain exemplary embodiments are shown. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0025] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0026] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0027] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0029] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0030] This disclosure provides a lidar system including a housing, a first circuit board, a second circuit board, a first connector, and a second connector. The first and second circuit boards are located inside the housing. The first circuit board is disposed near a first side of the housing. The second circuit board is disposed near a second side of the housing. A gap exists between the first and second circuit boards.

[0031] A communicator is mounted on the first circuit board, which can transmit first data to the outside of the lidar. A first connector is connected to the first circuit board and is also signal-connected to the communicator. The first data is transmitted to the outside of the lidar via the first connector. The first connector is fixedly connected to the housing, and a portion of the first connector's structure is located in the gap between the first and second circuit boards.

[0032] The second connector connects the first circuit board and the second circuit board, and can transmit second data between the first circuit board and the second circuit board.

[0033] In this disclosure, a gap exists between the first circuit board and the second circuit board, and a first connector portion is located within this gap. The gap between the first and second circuit boards can accommodate part of the first connector structure, which helps to reduce the overall size of the lidar. The first and second circuit boards are spaced apart, allowing components in the lidar to be distributed across them. Second data is transmitted between the first and second circuit boards via a second connector. This improves the design freedom of the lidar components and reduces the design and assembly complexity. The lidar provided by this disclosure significantly reduces the number of structural components, simplifying the assembly process, improving production efficiency, and reducing production costs.

[0034] Figure 1 The structure of an exemplary lidar 100 consistent with some embodiments of this disclosure is shown. See also Figure 1 The lidar 100 includes a housing 102, a first circuit board 104, a second circuit board 106, a first connector 108, and a second connector 110.

[0035] See Figure 1 The first circuit board 104 and the second circuit board 106 are located inside the housing 102. The first circuit board 104 is disposed near a first side of the housing 102, which is, for example, a... Figure 1 The lower side is shown in the diagram. The second circuit board 106 is disposed near the second side of the housing 102, which may be opposite to the first side. For example, the second side of the housing 102 is... Figure 1 The upper side as shown.

[0036] In some embodiments, the first side of housing 102 is opposite to the second side of housing 102. For example, the first side of housing 102 is located on the front side of housing 102 (the side from which the laser radar 100 emits its beam), and the second side of housing 102 is located on the rear side of housing 102. For example, housing 102 is generally rectangular, and the first side and the second side of housing 102 represent two generally parallel sides of the rectangular shape.

[0037] There is a gap between the first circuit board 104 and the second circuit board 106. In some embodiments, the first circuit board 104 and the second circuit board 106 are arranged approximately parallel to each other and spaced apart. In some embodiments, the first circuit board 104 and the second circuit board 106 may also have a certain included angle. The size of the gap between the first circuit board 104 and the second circuit board 106 can be set to avoid electromagnetic interference or structural interference between the components on the first circuit board 104 and the second circuit board 106.

[0038] The components in the lidar 100 include one or more electronic components such as a transmitter, detector, processor, drive circuit, filter, analog-to-digital converter, time-to-digital converter, power management circuit, communication circuit, and data interface. These various components can be respectively mounted on the first circuit board 104 and the second circuit board 106. This improves the design freedom of the components in the lidar 100, reduces the design and assembly difficulty of the lidar 100, lowers the manufacturing cost of the lidar 100, and improves the manufacturing efficiency of the lidar 100.

[0039] A communicator (not shown in the figure) is disposed on the first circuit board 104, through which the lidar 100 transmits first data to the outside. In some embodiments, the communicator may include a protocol interface chip, such as one or more of the following: an Ethernet physical layer chip, a CAN (controller area network) / CAN FD (controller area network with flexible data rate) transceiver chip, a USB controller, a USBPHY (USB physical layer interface), a serial interface, and a SerDes (serializer / deserializer). In some embodiments, the communicator may be disposed independently on the first circuit board 104 or integrated into the processor of the lidar 100.

[0040] In some embodiments, the first data transmitted by the lidar 100 to the outside may include sensing data and non-sensing data. Sensing data includes, for example, point cloud data acquired by the lidar 100. Non-sensing data includes, for example, data other than the point cloud data transmitted by the lidar 100, and can support lidar status reporting, maintenance, time synchronization, security authentication, or updates. For example, non-sensing data may include one or more of the lidar 100's logs, fault information, synchronization signaling authentication messages, update response messages, etc. This disclosure does not limit the specific content of the non-sensing data; it may have different content in different communication processes.

[0041] In some embodiments, the lidar 100 can receive external data via a communicator. In some embodiments, the data transmitted from the outside to the lidar 100 may include control commands for the lidar 100, such as controlling the lidar 100 to start, stop, restart, perform self-test, go to sleep, or wake up. Alternatively, in some embodiments, the data transmitted from the outside to the lidar 100 may include update packages for software or firmware updates and upgrades of the lidar 100. Alternatively, the data transmitted from the outside to the lidar 100 may include configuration parameters for configuring or reconfiguring the parameters of the lidar 100.

[0042] In some embodiments, the first connector 108 is connected to the first circuit board 104, and the first connector 108 is also signal-connected to a communicator. For example, the communicator includes a physical interface, and the first connector 108 is directly connected to the physical interface of the communicator, such as by plugging or soldering. Alternatively, in some embodiments, the first circuit board 104 includes a physical interface that is signal-connected to the communicator, and the first connector 108 is plugged into or soldered to the physical interface of the first circuit board 104.

[0043] The first data is transmitted to the outside of the lidar 100 via the first connector 108. For example, one end of the first connector 108 extends into the interior of the housing 102, and the other end of the first connector 108 extends through the housing 102 to the outside of the lidar 100. For example, the end of the first connector 108 located outside the housing 102 has a terminal block, which can be connected to an external processor or domain controller via a cable. For example, if the lidar 100 is an automotive lidar, the first connector 108 can be connected to the vehicle's central computing platform via a cable.

[0044] The first connector 108 and the housing 102 are fixedly connected. For example, the first connector 108 and the housing 102 are fixedly connected by means of adhesive bonding, fasteners, or other methods. In some embodiments, the first connector 108 and the housing 102 are sealed together to protect the interior of the housing 102 and reduce the impact of the external environment on the lidar 100.

[0045] See Figure 1 In some embodiments, the housing 102 includes a mounting base 122. A first connector 108 passes through the housing 102 at the location of the mounting base 122 and is connected to a first circuit board 104. The first connector 108 is fixedly connected to the housing 102 at the location of the mounting base 122. In some embodiments, the shape of the housing 102 is recessed inward at the location of the mounting base 122, for example... Figure 1The stepped shape shown at the mounting base 122 position allows the first connector 108 to be fixedly connected to the housing 102 at the stepped position. This protects the joint position between the first connector 108 and the mounting base 122, improves the structural stability of the lidar 100, and helps to reduce the encroachment on the internal space of the housing 102 while reducing the size of the lidar 100, thus providing installation space for the second circuit board 106.

[0046] The first connector 108 is partially located in the gap between the first circuit board 104 and the second circuit board 106. For example, the portion of the first connector 108 inside the housing 102 passes through the second circuit board 106 and connects to the first circuit board 104. The gap between the first circuit board 104 and the second circuit board 106 can accommodate part of the structure of the first connector 108, which helps to improve the utilization rate of the internal space of the housing 102, reduce the impact of the structural dimensions of the first connector 108 on the overall size of the lidar 100, and help to reduce the size of the lidar 100. Furthermore, the fact that the first connector 108 is partially located in the gap between the first circuit board 104 and the second circuit board 106 helps to improve the bonding strength at the connection point between the first connector 108 and the first circuit board 104, thereby improving the structural stability of the lidar 100.

[0047] See Figure 1 The second connector 110 connects the first circuit board 104 and the second circuit board 106. Furthermore, the second connector 110 can transmit second data between the first circuit board 104 and the second circuit board 106. In some embodiments, the second connector 110 may include an inter-board connector, such as a pin header and female header, a board-to-board connector, a mezzanine connector, a stacked connector, or a snap-fit ​​connector. In some embodiments, the second connector 110 may include a cable connector or a floating connector, allowing the relative positional relationship between the first circuit board 104 and the second circuit board 106 to move within a certain range, which helps reduce the assembly, adjustment, and processing difficulty of the lidar 100.

[0048] The second data transmitted between the first circuit board 104 and the second circuit board 106 may include one or more of the following: transmit control commands, receive control commands, motor control commands, sensor control commands, sensor data, clock signals, waveform data, calibration data, sensing data, and status information. For example, the second data may include control commands for the lidar 100. Various components, circuits, and / or chips in the lidar 100 are respectively disposed on the first circuit board 104 and the second circuit board 106. The control commands for the lidar 100 are transmitted from an external control platform to the first circuit board 104 via the first connector 108, and to the second circuit board 106 via the second connector 110, to control the components, circuits, and / or chips disposed on the second circuit board 106. In some embodiments, the second circuit board 106 may also transmit sensing data, status information, etc., to the first circuit board 104 via the second connector 110, and the communicator on the first circuit board 104 may transmit these data to the outside of the lidar 100 via the first connector 108.

[0049] In some embodiments, see Figure 1 The second connector 110 includes a flexible circuit, with its two ends respectively inserted into the first circuit board 104 and the second circuit board 106. The flexible circuit reduces structural constraints between the first circuit board 104 and the second circuit board 106, simplifying the assembly and adjustment of the lidar 100. In some embodiments, the flexible circuit bends away from the housing 102, reducing the risk of structural interference between the flexible circuit and components on the first and second circuit boards 104 and 106. Furthermore, the two ends of the flexible circuit can be inserted into opposite sides of the first and second circuit boards 104 and 106, simplifying their structure. In some embodiments, the length of the flexible circuit in the second connector 110 can be adjusted, or the second connector 110 can be replaced to accommodate lidars with different structural designs.

[0050] In the lidar disclosed herein, the first circuit board and the second circuit board are spaced apart, which improves the design freedom of the lidar and reduces the assembly and manufacturing difficulty. The gap between the first and second circuit boards can accommodate part of the first connector structure, which improves the internal space utilization of the housing, reduces the size of the lidar, expands the range of installable locations, and broadens the applicability of the lidar. Furthermore, the lidar disclosed herein significantly reduces the number of structural components, simplifying the assembly process, improving production efficiency, and reducing production costs.

[0051] See Figure 1In some embodiments, the second circuit board 106 includes a first clearance notch 162. A first connector 108 passes through the first clearance notch 162 and connects to the first circuit board 104. One end of the first connector 108 that connects to the first circuit board 104 passes through the location of the first clearance notch 162.

[0052] The first avoidance gap 162 can be as follows: Figure 1 As shown, extending to the edge of the second circuit board 106, the second circuit board 106 is generally L-shaped, and the first clearance notch 162 is generally a rounded rectangular notch. In some embodiments, the first clearance notch 162 may also be a through hole penetrating the second circuit board 106, with the structure of the second circuit board 106 surrounding the circumference of the first clearance notch 162. The first connector 108 passes through the through hole and connects to the first circuit board 104. In some embodiments, the shape of the second circuit board 106 may be generally rectangular, clearing the first connector 108, and the shape of the first clearance notch 162 may be generally rectangular.

[0053] In some embodiments, the housing includes a first portion and a second portion that engage with each other. The first portion of the housing is located near a first side of the housing. The second portion is located near a second side of the housing. In some embodiments, such as Figure 1 As shown, the housing 102 includes a first portion 124 and a second portion 126. The first portion 124 and the second portion 126 engage with each other and define a cavity, in which the first circuit board 104 and the second circuit board 106 are both located. A mounting base 122 is located on the second portion 126, and a first connector 108 passes through the second portion 126, extending partly into the interior of the housing 102 and partly outside the housing 102.

[0054] In some embodiments, the first part and the second part are sealed together to seal and protect the internal space of the housing. For example, the first part and the second part are sealed together by means of sealant, laser welding, etc.; or, in some embodiments, a circumferential groove is provided at the connection position of the first part and the second part, and a sealing strip is embedded in the circumferential groove.

[0055] Figure 2A A view of the front side (on the side of the laser radar 200 emitting beam) of an exemplary lidar 200 consistent with some embodiments of the present disclosure is shown; Figure 2B A view of an exemplary lidar 200 at a 45° front angle, consistent with some embodiments of the present disclosure, is shown; Figure 2C A view at a 45° angle of the rear side (the side opposite the front side) of an exemplary lidar 200 consistent with some embodiments of the present disclosure is shown. Figures 2A-2C The lidar 200 shown is structurally similar to or similar to the lidar 100 in the foregoing embodiments.

[0056] The lidar 200 includes a housing 202 and a first circuit board ( Figures 2A-2C (not shown in the image), second circuit board ( Figures 2A-2C (not shown in the image), first connector 208 ( Figure 2A (not shown in the image) and second connector ( Figures 2A-2C (Not shown in the image). In Figures 2A-2C In this embodiment, the housing 202 has the same or similar structure as the housing 102 in the previous embodiment; the first connector 208 has the same or similar structure as the first connector 108 in the previous embodiment.

[0057] In some embodiments, the lidar 200 further includes a detector ( Figures 2A-2C (Not shown in the image) and receiving lens 212. The detector can be mounted on a second circuit board. For example, the detector includes one or more photoelectric sensors that can receive the echo generated after the light beam emitted by the transmitter is reflected by an object and convert the echo into an electrical signal. The photoelectric sensors can be fixed to the second circuit board by patch or soldering. In some embodiments, the detector includes multiple photoelectric sensors, which can be arranged in a one-dimensional array or a two-dimensional array. The photoelectric sensors may include a light detection circuit, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM) or similar device.

[0058] In some embodiments, the receiving lens 212 can converge the echo so that the echo is received by the detector. Optionally, the receiving lens 212 may include one or more receiving lenses. Optionally, the receiving lens 212 may include a receiving window. The housing 202 has a through-hole on the front side of the lidar 200, through which the receiving lens 212 can pass. One end of the receiving lens 212 is located inside the housing 202, corresponding to the position of the detector. The other end of the receiving lens 212 is located outside the housing 202. In some embodiments, the end of the receiving lens 212 located outside the housing 202 protrudes from the surface of the housing 202, or is flush with the surface of the housing 202. Optionally, the outermost receiving lens of the receiving lens 212 protrudes from the surface of the housing 202, or is flush with the surface of the housing 202. Optionally, the receiving window is flush with the surface of the housing 202.

[0059] In some embodiments, the lidar 200 further includes a transmitter ( Figures 2A-2C(Not shown in the diagram) and emitting lens 214. The transmitter can be mounted on a first circuit board. For example, the transmitter includes one or more lasers, fixed to the first circuit board by means of patch or soldering. In some embodiments, the transmitter includes multiple lasers arranged in a one-dimensional or two-dimensional array, which can improve the resolution or detection range of the lidar. The lasers can include semiconductor lasers, such as vertical-cavity surface-emitting lasers (VCSELs), edge-emitting lasers (EELs), or other semiconductor lasers capable of generating laser light. In other embodiments, the lasers can also include fiber lasers. The wavelength of the laser emitted by the laser can be any one of 905nm, 940nm, or 1550nm. The laser can also emit laser light of other wavelengths.

[0060] In some embodiments, the transmitting lens 214 can collimate, expand, or deflect the beam emitted from the transmitter. Optionally, the transmitting lens 214 may include one or more receiving lenses. Optionally, the transmitting lens 214 may include a transmitting window. The housing 202 has a through-hole on the front side of the lidar 200, through which the transmitting lens 214 can pass. One end of the transmitting lens 214 is located inside the housing 202, corresponding to the position of the transmitter. The other end of the transmitting lens 214 is located outside the housing 202. In some embodiments, the end of the transmitting lens 214 located outside the housing 202 protrudes from the surface of the housing 202, or is flush with the surface of the housing 202. Optionally, the outermost transmitting lens of the transmitting lens 214 protrudes from the surface of the housing 202, or is flush with the surface of the housing. Optionally, the transmitting window is flush with the surface of the housing 202.

[0061] In some embodiments, the photoelectric sensor and the laser can be in one-to-one correspondence, or one photoelectric sensor can correspond to multiple lasers, or multiple photoelectric sensors can correspond to one laser. In some embodiments, the photosensitive surface of the photoelectric sensor can be parallel to the light-emitting surface of the laser.

[0062] In some embodiments, see Figure 2A and Figure 2B The transmitting lens 214 and the receiving lens 212 can be arranged side by side with their edges connected. In some embodiments, the transmitting lens 214 and the receiving lens 212 can also be arranged independently, with their edges spaced apart. In some embodiments, a light-blocking structure may be included between the transmitting lens 214 and the receiving lens 212 to isolate the optical path between transmission and reception.

[0063] In some embodiments, see Figure 2B The transmitting lens 214 and the receiving lens 212 are located on the outer side of the housing 202 and can be roughly in the same plane, which helps to simplify the appearance of the lidar 200 and improve the visual presentation effect of the lidar 200.

[0064] In some embodiments, the end faces of the transmitting lens 214 and the receiving lens 212 located outside the housing 202 may protrude relative to the surface of the housing 202. For example Figure 2B As shown, the transmitting lens 214 and the receiving lens 212 protrude from the front side of the housing 202. Figure 2B The left-facing surface of the lidar 200 allows for a smaller exposed surface when mounted on a device. For example, when the lidar 200 is mounted on a vehicle, the emitting lens 214 and the receiving lens 212 can protrude from or be flush with the vehicle housing, which can be located inside the vehicle housing. This results in the lidar 200's exposed surface on the outside of the vehicle being the end faces of the emitting lens 214 and the receiving lens 212, minimizing its impact on the overall appearance of the vehicle. In some embodiments, the protruding shapes of the emitting lens 214 and the receiving lens 212 from the housing 202 can be approximately cuboid. In some embodiments, the end faces of the emitting lens 214 and the receiving lens 212 on the outside of the housing 202 can be approximately flush; for example, the dimensions of the emitting lens 214 and the receiving lens 212 in the direction perpendicular to the front face of the housing 202 are approximately equal.

[0065] In some embodiments, a light-transmitting sheet may be provided at the end face of the transmitting lens 214 and the receiving lens 212 located outside the housing 202. The light beam emitted by the lidar 200 and the echo generated after the beam is reflected can pass through the light-transmitting sheet, which can protect the transmitting lens 214 and the receiving lens 212. In some embodiments, a filter may be provided at the end face of the transmitting lens 214 located outside the housing 202. Optionally, the filter may also be provided at other locations on the transmitting lens 214, such as between lenses, or between a lens and a laser. In some embodiments, a filter may be provided at the end face of the receiving lens 212 located outside the housing 202. Optionally, the filter may also be provided at other locations on the receiving lens 212, such as between lenses, or between a lens and a photoelectric sensor. The filter can filter ambient light and reduce the impact of ambient light on the lidar 200.

[0066] In some embodiments, the end faces of the transmitting lens 214 and the receiving lens 212 located outside the housing 202 can be connected as one unit, and a light-transmitting sheet or filter can be provided to cover the transmitting lens 214 and the receiving lens 212. This can reduce the bezel area on the front side of the lidar 200 and improve the appearance of the lidar 200.

[0067] See Figure 2C In some embodiments, the housing 202 includes a mounting base 222 extending through the housing 202. The structure of the mounting base 222 is the same as or similar to that of the mounting base 122 in the aforementioned embodiments. The first connector 208 is fixedly connected to the mounting surface 222. For example, in some embodiments, the first connector 208 includes a mating surface 282 extending circumferentially outward. A connection through hole is provided on the mating surface 282, and a corresponding connection through hole is also provided at the position of the mounting base 222. The first connector 208 and the housing 202 can be fixedly connected at the position of the connection through hole by fasteners. In some embodiments, the mating surface 282 and the mounting base 222 are in contact with each other, and a sealant is provided on the surfaces where the mating surface 282 and the mounting base 222 are in contact to protect the interior of the housing 202.

[0068] Figure 3 A schematic diagram illustrating the interaction of an exemplary transmitting lens 314, a receiving lens 312, a first circuit board 304, and a second circuit board 306, consistent with some embodiments of this disclosure, is shown. Figure 3 In the image, housing 302 only shows a portion of the housing located at the front of the lidar, and does not imply that the lidar housing is limited to... Figure 3 The portion shown in the image.

[0069] exist Figure 3 In this embodiment, the housing 302 has the same or similar structure as the housing 102 or housing 202 in the previous embodiment; the transmitting lens 314 has the same or similar structure as the transmitting lens 214 in the previous embodiment; the receiving lens 312 has the same or similar structure as the receiving lens 212 in the previous embodiment; the first circuit board 304 has the same or similar structure as the first circuit board 104 in the previous embodiment; and the second circuit board 306 has the same or similar structure as the second circuit board 106 in the previous embodiment.

[0070] In some embodiments, the structure of the housing 302 can serve as the lens barrel for the receiving lens 312 and / or the lens barrel for the transmitting lens 314, for example... Figure 3 The section line shown by the unidirectional oblique line indicates a portion of the housing 302, which can also serve as the lens barrel for both the receiving lens 312 and the transmitting lens 314. In some embodiments, the housing 302 can be machined with a bearing surface, allowing the receiving lens in the receiving lens 312 and the transmitting lens in the transmitting lens 314 to be embedded inside the housing 302 and supported and positioned by the bearing surface. This simplifies the structure of the lidar, reduces the number of structural components, and lowers the difficulty of assembly and adjustment. In some embodiments, the housing 302 can form a light-blocking structure between the receiving lens 312 and the transmitting lens 314, reducing the impact of stray light on the detection accuracy of the lidar.

[0071] See Figure 3In some embodiments, the lidar further includes a transmitter 316, which is disposed on a first circuit board 304. One end of a transmitting lens 314 located inside the housing 302 is close to or attached to the first circuit board 304 and corresponds to the position of the transmitter 316. In some embodiments, the transmitting lens 314 and the first circuit board 304 are bonded together, with the bonded portion surrounding the circumference of the transmitter 316. A sealed cavity is formed between the transmitting lens 314 and the first circuit board 304, and the transmitter 316 is located inside the cavity, which protects the transmitter 316 and reduces the impact of the external environment. In some embodiments, the cavity between the transmitting lens 314 and the first circuit board 304 can be filled with an inert gas to protect the transmitter 316, slow down its oxidation rate, and improve the lifespan of the lidar. By sealing the transmitter 316 with the transmitting lens 314, separate packaging of the transmitter 316 is unnecessary, reducing the lidar packaging steps, lowering costs, and increasing production speed.

[0072] See Figure 3 In some embodiments, the lidar further includes a detector 318, which is disposed on the second circuit board 306. A receiving lens 312, located inside the housing 302, is positioned close to or attached to the second circuit board 306, and its position corresponds to that of the detector 318. In some embodiments, the receiving lens 312 and the second circuit board 306 are bonded together, with the bonded positions surrounding the detector 318. A sealed cavity is formed between the receiving lens 312 and the second circuit board 306, and the detector 318 is located inside this cavity, which protects the detector 318 and reduces the impact of the external environment on it.

[0073] See Figure 3 In some embodiments, both the first circuit board 304 and the second circuit board 306 are connected to the first side of the housing 302. Figure 3 The fixed connection (shown in the unidirectional oblique section) is beneficial for improving the structural stability of the lidar and reducing the difficulty of lidar assembly and adjustment. In some embodiments, the first side of the housing 302 has a plurality of fixing posts 328 extending toward the interior of the housing 302. Through holes are provided at corresponding positions of the first circuit board 304 and the second circuit board 306, and the first circuit board 304 and the second circuit board 306 can be fixedly connected to the first side of the housing 302 at the positions of the fixing posts 328. For example, the fixing posts 328 have internal threads, and the first circuit board 304 and the second circuit board 306 can be fixedly connected to the fixing posts 328 by bolts.

[0074] In some embodiments, during the assembly and adjustment of the lidar, the positions of the receiving lens 312, the transmitting lens 314, and the first circuit board 304 relative to the housing 302 can be pre-fixed. For example, the receiving lens 312, the transmitting lens 314, and the first circuit board 304 are all fixedly connected to the structure on the first side of the housing 302. The relative position of the second circuit board 306 and the receiving lens 312 can be adjusted. For example, the second circuit board 306 has a certain amount of movement relative to the corresponding fixing post 328 to adjust the distance and / or angle of the second circuit board 306 relative to the receiving lens 312, so that the echo received by the receiving lens 312 can be received by the detector 318. After the lidar is assembled and adjusted, the second circuit board 306 and the corresponding fixing post 328 are fixedly connected, or the end of the second circuit board 306 located inside the housing 302 is glued and fixed.

[0075] In some embodiments, the size of the through hole on the second circuit board 306 that mates with the fixing post 328 is larger than the radial dimension of the bolt, and the position of the second circuit board 306 relative to the fixing post 328 and the bolt can be adjusted. After the lidar is assembled and adjusted, the second circuit board 306 can be fixedly connected to the fixing post 308.

[0076] In some embodiments, the receiving lens is close to or attached to the second circuit board. The first circuit board may allow the receiving lens to pass around its circumference. For example, the first circuit board includes a second clearance notch through which one end of the receiving lens, located inside the housing, passes and is close to or attached to the second circuit board.

[0077] For example Figure 3 As shown, the second clearance notch is located on one side of the first circuit board 304 at a position corresponding to the receiving lens 312, so that one end of the receiving lens 312 inside the housing 302 is close to or attached to the second circuit board 306. In some embodiments, the shape of the second clearance notch may be approximately the same as the shape of the first clearance notch in the foregoing embodiments.

[0078] Figure 4 An exemplary structure for the connection of a first connector 408 and a first circuit board 404, consistent with some embodiments of this disclosure, is shown.

[0079] exist Figure 4 In this embodiment, the structure of housing 402 is the same as or similar to that of housing 102, housing 202 or housing 302 in the previous embodiment; the structure of first circuit board 404 is the same as or similar to that of first circuit board 104 or first circuit board 304 in the previous embodiment; the structure of second circuit board 406 is the same as or similar to that of second circuit board 106 or second circuit board 306 in the previous embodiment; and the structure of first connector 408 is the same as or similar to that of first connector 108 or first connector 208 in the previous embodiment.

[0080] See Figure 4 In some embodiments, the first circuit board 404 further includes a connector 442. A first connector 408 is connected to the connector 442. In some embodiments, the connector 442 includes, for example, a female connector, one end of which is inserted into or soldered to the first circuit board 404, and the other end of which has a contact point. The end of the first connector 408 connected to the first circuit board 404 has a probe that matches the contact point, and the first connector 408 can be inserted into the connector 442.

[0081] See Figure 4 In some embodiments, the engagement member 442 is positioned close to the plane of the first circuit board 404 where it connects to the first connector 408. For example, the engagement member 442 includes a female connector, the outer shell of which is located on the side of the first circuit board 404 away from the first connector 408. This facilitates positioning the first connector 408 close to the plane of the first circuit board 404, thus reducing the distance between the LiDAR and the first connector 408 in the insertion direction. Figure 4 The dimensions in the vertical direction (in the middle) improve the space utilization inside the housing 402. In some embodiments, the position of the connector 442 on the first circuit board 404 is offset from the position of the transmitter, and the connector 442 avoids the transmitter lens.

[0082] Figure 5A A cross-sectional view of an exemplary lidar 500 consistent with some embodiments of this disclosure is shown; Figure 5B A schematic diagram showing an exemplary first connector 508 connected to a first circuit board 504, consistent with some embodiments of this disclosure, is shown.

[0083] exist Figure 5A and Figure 5B In this embodiment, the structure of housing 502 is the same as or similar to that of housing 102, housing 202, housing 302 or housing 402 in the previous embodiment; the structure of first circuit board 504 is the same as or similar to that of first circuit board 104, first circuit board 604 or first circuit board 404 in the previous embodiment; the structure of second circuit board 506 is the same as or similar to that of second circuit board 106, second circuit board 606 or second circuit board 406 in the previous embodiment; the structure of first connector 508 is the same as or similar to that of first connector 108, first connector 208 or first connector 408 in the previous embodiment; the structure of receiving lens 512 is the same as or similar to that of receiving lens 212 or receiving lens 312 in the previous embodiment; and the structure of transmitting lens 514 is the same as or similar to that of transmitting lens 214 or transmitting lens 314 in the previous embodiment.

[0084] See Figure 5AIn some embodiments, the lidar 500 further includes a third circuit board 520. The third circuit board 520 may be disposed on the side of the first circuit board 504 near the first side of the housing 502. In some embodiments, the first circuit board 504, the second circuit board 506, and the third circuit board 520 are substantially parallel and... Figure 5A The figures shown are arranged sequentially from top to bottom.

[0085] In some embodiments, the transmitter in the laser radar 500 may be disposed on a third circuit board 520. In some embodiments, the third circuit board 520 includes a third clearance notch, and the receiving lens 512 may pass through the third clearance notch of the third circuit board 520 and the second clearance notch of the first circuit board 504 in sequence, and then approach or adhere to the second circuit board 506.

[0086] In some embodiments, the lidar 500 includes a third connector 532. The third connector 532 connects the first circuit board 504 and the third circuit board 520. In some embodiments, the third connector 532 can transmit data between the first circuit board 504 and the third circuit board 520. For example, control commands, time signals, power signals, waveform data, etc., can be transmitted between the first circuit board 504 and the third circuit board 520 through the third connector 532. In some embodiments, the third connector 532 may include a flexible cable or a floating connector, and the relative positional relationship between the first circuit board 504 and the third circuit board 520 can move within a certain range, reducing the structural constraints during internal assembly and adjustment of the lidar 500, and reducing the processing difficulty and cost of the lidar 500.

[0087] In some embodiments, the lidar 500 further includes a fourth connector 534. The fourth connector 534 connects the second circuit board 506 and the third circuit board 520. In some embodiments, the fourth connector 534 can transmit data between the second circuit board 506 and the third circuit board 520. For example, control commands, time signals, power signals, waveform data, etc., can be transmitted between the second circuit board 506 and the third circuit board 520 through the fourth connector 532. Optionally, the above data can also be transmitted to the first circuit board 504 through the third connector 532. In some embodiments, the fourth connector 532 may include a flexible cable or a floating connector, and the relative positional relationship between the second circuit board 506 and the third circuit board 520 can move within a certain range, reducing the structural constraints during internal assembly and adjustment of the lidar 500, and reducing the processing difficulty and processing cost of the lidar 500.

[0088] See Figure 5A and Figure 5BIn some embodiments, the first circuit board 504 further includes a connector 542. The connector 542 has a similar structure to the connector 442 in the preceding embodiments. The first connector 508 is inserted into the connector 542.

[0089] In some embodiments, the coupling 542 includes a steering head. The first connector 508 is connected to the first circuit board 504 at an angle via the steering head. For example... Figure 5A and Figure 5B As shown, the first connector 508 is connected to the first circuit board 504 at a 90° angle via a steering head. The first connector 508 extends from the side of the housing 502 into the interior of the housing 502 and is inserted into the connector 542. In some embodiments, the steering head of the connector 542 can be at other angles, and the first connector 508 can be connected to the first circuit board 504 at an acute or obtuse angle via the steering head. The connector 542 can increase the degree of freedom in the relative positional relationship between the first connector 508 and the housing 502, reduce the influence of structural interference, and increase the degree of freedom in the structural design and circuit board design of the lidar 500. Furthermore, the first connector 508 can be connected to a control platform outside the lidar 500, which is beneficial for expanding the range of installation locations of the lidar 500.

[0090] See Figure 5B In some embodiments, the connector 542 is disposed on the side of the first circuit board 504 facing the second circuit board 506. The second circuit board 506 includes a first clearance notch 562. In some embodiments, the first clearance notch 562 has the same or similar structure as the first clearance notch 162 in the foregoing embodiments. In some embodiments, the size of the first clearance notch 562 may be slightly larger than the size of the connector 542, which is beneficial to increase the area of ​​the second circuit board 506, reduce the difficulty of designing the LiDAR 500 circuit board, and improve heat dissipation efficiency.

[0091] Finally, it should be noted that the above descriptions are merely embodiments of this disclosure and are not intended to limit this disclosure. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A lidar, characterized in that, It includes a housing, a first circuit board, a second circuit board, a first connector, and a second connector; wherein, The first circuit board and the second circuit board are located inside the housing; the first circuit board is disposed near a first side of the housing, and the second circuit board is disposed near a second side of the housing, with a gap between the first circuit board and the second circuit board; The first circuit board is provided with a communicator, which is configured to transmit first data to the outside of the lidar. The first connector is connected to the first circuit board and to the communicator signal connection. The first data is transmitted to the outside of the lidar via the first connector. The first connector is fixedly connected to the housing, and a portion of the first connector is located in the gap. The second connector connects the first circuit board and the second circuit board and is configured to transmit second data between the first circuit board and the second circuit board.

2. The lidar according to claim 1, characterized in that, The housing includes a mounting base extending through the housing, the first connector passing through the housing at the location of the mounting base and connected to the first circuit board; the first connector is fixedly connected to the housing at the location of the mounting base.

3. The lidar according to claim 2, characterized in that, The second circuit board includes a first clearance notch, through which the first connector is inserted into the first circuit board.

4. The lidar according to claim 1, characterized in that, The first side is opposite to the second side, the first side is located on the front side of the housing, and the second side is located on the rear side of the housing.

5. The lidar according to claim 1, characterized in that, The first circuit board and the second circuit board are parallel to each other, and both the first circuit board and the second circuit board are fixedly connected to the first side of the housing.

6. The lidar according to claim 1, characterized in that, The lidar also includes a detector and a receiving lens. The detector is mounted on the second circuit board. One end of the receiving lens is close to or attached to the second circuit board and corresponds to the position of the detector.

7. The lidar according to claim 6, characterized in that, The first circuit board includes a second clearance notch through which the receiving lens passes.

8. The lidar according to claim 1, characterized in that, The lidar also includes a transmitter and a transmitting lens. The transmitter is mounted on the first circuit board. One end of the transmitting lens is close to or attached to the first circuit board and corresponds to the position of the transmitter.

9. The lidar according to any one of claims 1-8, characterized in that, The first circuit board includes a connector, and the first connector is connected to the connector; the connector includes a steering head, and the first connector is connected to the first circuit board at a non-perpendicular angle via the steering head.

10. The lidar according to any one of claims 1-8, characterized in that, The second connector includes a flexible circuit, the two ends of which are respectively inserted into the first circuit board and the second circuit board; the flexible circuit is bent away from the housing.

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