Multi-line laser radar device and manufacturing method thereof

Abstract

The present invention discloses a multi-line laser radar device and a manufacturing method thereof. The multi-line laser radar device includes a multi-line laser radar body and a rotating device. The rotating device includes a base component, a platform component, a driving mechanism and an optical communication component. The platform component has a rotation axis, wherein the multi-line laser radar body is installed on the platform component. The driving mechanism is arranged between the base component and the platform component, wherein the driving mechanism has an optical channel, and the optical channel extends from the rotating component to the fixed component along the rotation axis. The optical communication component is arranged between the base component and the platform component, and the optical communication component corresponds to the optical channel of the driving mechanism. When the driving mechanism drives the platform component to drive the multi-line laser radar body to rotate around the rotation axis, the optical communication component transmits data between the platform component and the base component in an optical communication manner.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and more specifically to a multi-line laser radar device and a manufacturing method thereof. Background Art

[0002] Unmanned autonomous vehicles need to sense the environment around the vehicle at all times to obtain information about the road, vehicle posture, and other obstacles to guide and control the vehicle's steering and speed. Unmanned vehicles usually use multi-line lidar to detect the vehicle's surroundings, making this type of lidar very important in unmanned vehicles. As the name suggests, a multi-line lidar is a scan that forms multiple beams through the distribution of multiple laser emitters in the vertical direction and the rotation of the motor. In theory, the more and denser the beams of the multi-line lidar, the more complete the description of the surrounding environment, which can also reduce the requirements of the algorithm.

[0003] However, most of the multi-line LiDARs on the market currently usually use high-performance slip rings to realize the transmission of electrical energy and signals (data). However, due to the limited data transmission capacity of high-performance slip rings, they are generally only suitable for data transmission of about 16 lines. Therefore, most multi-line LiDARs will inevitably have low resolution in the vertical direction due to the limitations of high-performance slip rings.

[0004] In addition, the slip ring will inevitably produce sliding friction and wear and noise during the data transmission process, resulting in a decrease in the data transmission quality or power transmission quality of the slip ring. This means that the slip ring will have to be replaced with a new one after a period of use due to severe wear, increasing the use cost of the multi-line laser radar. Furthermore, the slip ring needs to be specially processed to ensure the data transmission quality or power transmission quality of the slip ring, which greatly increases the manufacturing cost of the slip ring, which will further increase the manufacturing cost and use cost of the multi-line laser radar. Summary of the invention

[0005] An object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, which can increase the data transmission rate of the multi-line laser radar device to get rid of the limitation of the slip ring on the data transmission rate.

[0006] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, which can improve the data transmission quality of the multi-line laser radar device to avoid reducing the detection quality of the surrounding environment of the multi-line laser radar device due to data loss or damage.

[0007] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, which can improve the resolution of the multi-line laser radar device in the vertical direction.

[0008] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, the multi-line laser radar device uses optical communication components to replace traditional slip rings for data transmission, so as to greatly improve the data transmission rate of the multi-line laser radar device while avoiding the problem of decreased data transmission quality due to slip ring wear.

[0009] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, the multi-line laser radar device can utilize the optical communication component to perform dual-channel data transmission so as to transmit environmental data collected by the multi-line laser radar body and transmit various control signal data to the multi-line laser radar body.

[0010] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, a driving mechanism of a rotating device of the multi-line laser radar device has an optical channel, so that when the multi-line laser radar body is driven by the driving mechanism to rotate, the optical channel can still provide an optical communication channel for the optical communication component to ensure that the optical communication component can transmit data stably.

[0011] Another object of the present invention is to provide a multi-line laser radar device and a method for manufacturing the same. In one embodiment of the present invention, the optical communication component of the rotating device will not be worn during data transmission, which helps to increase the service life of the multi-line laser radar device and reduce the use cost of the multi-line laser radar device.

[0012] Another object of the present invention is to provide a multi-line laser radar device and a method for manufacturing the same, wherein, in one embodiment of the present invention, a photoconductive element is provided between a transmitting element and a receiving element of the optical communication component, which helps to reduce the loss of the optical signal of the transmitting element to improve the data transmission quality of the optical communication component.

[0013] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, a rotor of the driving mechanism is correspondingly arranged on the inner side of a stator of the driving mechanism to reduce the rotational inertia of the driving mechanism, which helps to improve the overall stability of the multi-line laser radar device.

[0014] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, a hollow base of the driving mechanism can not only form the optical channel, but also ensure a stable positional relationship between the stator and the rotor through the hollow base.

[0015] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, the multi-line laser radar device adopts an electrical transmission component to replace the traditional slip ring power transmission scheme to improve the reliability of power transmission of the multi-line laser radar device and extend the service life of the multi-line laser radar device.

[0016] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, a conductor of the driving mechanism is embedded in a hollow cylinder of the driving mechanism, so as to simplify the conductive structure between an output coil of the power transmission component and a platform component, thereby helping to ensure the safety and stability of power transmission.

[0017] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, the multi-line laser radar device uses an optical encoding component to replace a traditional contact angle meter, so as to accurately obtain the rotation angle of the platform component while avoiding wear caused by rotation, thereby helping to increase the service life of the multi-line laser radar device.

[0018] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, the top cover assembly and the base assembly of the rotating device isolate the driving mechanism and the multi-line laser radar body from the external environment to prevent the driving mechanism and various multi-line laser radar bodies from being contaminated.

[0019] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in one embodiment of the present invention, the center of gravity of the multi-line laser radar body can be set to be located on a rotation axis of the platform assembly to ensure that the moment of inertia of the multi-line laser radar device relative to the rotation axis is evenly distributed, which is beneficial to improving the stability of the entire product.

[0020] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof. In one embodiment of the present invention, the multi-line laser radar device can improve the reliability, consistency and mass producibility of the device through modular debugging and assembly.

[0021] Another object of the present invention is to provide a multi-line laser radar device and a manufacturing method thereof, wherein, in order to achieve the above-mentioned object, no expensive materials or complicated structures are required in the present invention. Therefore, the present invention successfully and effectively provides a solution, not only providing a simple multi-line laser radar device and a manufacturing method thereof, but also increasing the practicality and reliability of the multi-line laser radar device and the manufacturing method thereof.

[0022] In order to achieve at least one of the above-mentioned objectives or other objectives and advantages, the present invention provides a multi-line laser radar device, comprising:

[0023] a multi-line laser radar body; and

[0024] A rotating device, wherein the rotating device comprises:

[0025] a base assembly;

[0026] a platform assembly, wherein the platform assembly has a rotation axis, wherein the multi-line laser radar body is mounted on the platform assembly;

[0027] a driving mechanism, wherein the driving mechanism is disposed between the base assembly and the platform assembly, wherein the driving mechanism has an optical channel, and the optical channel extends from the rotating assembly to the fixed assembly along the rotation axis; and

[0028] An optical communication component, wherein the optical communication component is arranged between the base component and the platform component, and the optical communication component corresponds to the optical channel of the driving mechanism, wherein when the driving mechanism drives the platform component to drive the multi-line laser radar body to rotate around the rotation axis, the optical communication component transmits data between the platform component and the base component in a manner of optical communication.

[0029] In one embodiment of the present invention, the driving mechanism includes a stator, a rotor and a hollow cylinder, wherein a fixed end of the hollow cylinder is fixedly connected to the platform assembly, and a free end of the hollow cylinder extends integrally from the fixed end of the hollow cylinder along the rotation axis to form the light channel at the center of the hollow cylinder, wherein the rotor is fixed to the free end of the hollow cylinder, and the stator is correspondingly arranged on the rotor, wherein the rotor can be driven by the stator to drive the hollow cylinder to rotate around the rotation axis.

[0030] In one embodiment of the present invention, the driving mechanism further comprises a hollow base fixed to the fixed assembly, wherein the stator is fixed to the hollow base, and the free end of the hollow cylinder is rotatably disposed on the hollow base so as to drive the rotor to rotate around the rotation axis together with the hollow cylinder through the stator.

[0031] In one embodiment of the present invention, the hollow base includes an outer frame, an inner frame and an annular substrate, and has an annular space, wherein the annular substrate is fixed to the fixed component, and the outer frame extends integrally from the outer periphery of the annular substrate toward the platform component along the rotation axis, and the inner frame extends integrally from the inner periphery of the annular substrate toward the platform component along the rotation axis to form the light channel on the inner side of the inner frame, and the annular space is formed between the outer frame and the inner frame to accommodate the stator and the rotor.

[0032] In one embodiment of the present invention, the stator is fixed to the inner frame of the hollow base, and the free end of the hollow cylinder is connected to the outer frame of the hollow base in a bearing connection manner so that the rotor is located around the stator.

[0033] In one embodiment of the present invention, the stator is fixed to the outer frame of the hollow base, and the free end of the hollow cylinder is connected to the inner frame of the hollow base in a bearing connection manner so that the stator is located around the rotor.

[0034] In one embodiment of the present invention, the rotor is fixed to the free end of the hollow cylinder in a nested manner.

[0035] In one embodiment of the present invention, the optical communication component includes a first emitting element and a first receiving element, wherein the first emitting element is arranged on the platform component, and the emitting path of the first emitting element is within the optical channel of the driving mechanism, wherein the first receiving element is correspondingly arranged on the base component, and the first receiving element is located in the emitting path of the first emitting element, so that when the platform component rotates relative to the base component, the first receiving element can receive the optical signal from the first emitting element to transmit data from the platform component to the base component.

[0036] In one embodiment of the present invention, the optical communication component includes a first emitting element and a first receiving element, wherein the first emitting element is arranged on the platform component, and the emitting path of the first emitting element is within the optical channel of the driving mechanism, wherein the first receiving element is correspondingly arranged on the base component, and the first receiving element is located in the emitting path of the first emitting element, so that when the platform component rotates relative to the base component, the first receiving element can receive the optical signal from the first emitting element to transmit data from the platform component to the base component.

[0037] In one embodiment of the present invention, the optical communication component further includes a second emitting element and a second receiving element, wherein the second emitting element is disposed on the base component, and the emitting path of the second emitting element is within the optical channel of the driving mechanism, wherein the second receiving element is correspondingly disposed on the platform component, and the second receiving element is located on the emitting path of the second emitting element, so that when the platform component rotates relative to the base component, the second receiving element can receive an optical signal from the second emitting element to transmit data from the base component to the platform component.

[0038] In one embodiment of the present invention, the platform assembly includes a rotating platform and a rotating circuit board arranged on the rotating platform, wherein the rotating platform is fixedly connected to the fixed end of the hollow cylinder, wherein the rotating circuit board is communicatively connected to the multi-line laser radar device, and the rotating circuit board is communicatively connected to the first transmitting element and the second receiving element.

[0039] In one embodiment of the present invention, the rotating circuit board is disposed between the rotating platform and the hollow cylinder, wherein the first transmitting element and the second receiving element are fixedly disposed on the rotating circuit board in a communicable manner.

[0040] In one embodiment of the present invention, the platform assembly further comprises a set of support arms, wherein each of the support arms extends downward from the rotating platform to pass through the rotating circuit board and be fixedly connected to the fixed end of the hollow cylinder.

[0041] In one embodiment of the present invention, the base assembly includes a base and a fixed circuit board arranged on the base, wherein the hollow base of the driving mechanism is fixed to the base, wherein the fixed circuit board is arranged between the base and the hollow base, and the second transmitting element and the first receiving element are communicatively arranged on the fixed circuit board.

[0042] In one embodiment of the present invention, the hollow base further includes a group of supporting legs, wherein each of the supporting legs extends downward from the annular base of the hollow base to pass through the fixed circuit board and be fixedly connected to the base.

[0043] In one embodiment of the present invention, the optical communication component further comprises a light-guiding element, wherein the light-guiding element is arranged in the optical channel of the driving mechanism, and the light-guiding element is located in the emission path of the first and second emitting elements to conduct the optical signals emitted by the first and second emitting elements.

[0044] In one embodiment of the present invention, the rotating device further comprises an electric transmission component, wherein the electric transmission component comprises an input coil electrically connectable to the base component and an output coil electrically connectable to the platform component, wherein the input coil and the output coil are coaxially arranged between the base component and the platform component with the rotation axis as the axis, so as to transmit electric energy from the base component to the platform component through the electric transmission component.

[0045] In one embodiment of the present invention, the rotating device further comprises an electric transmission component, wherein the electric transmission component comprises an input coil electrically connectable to the base component and an output coil electrically connectable to the platform component, wherein the input coil and the output coil are coaxially arranged between the base component and the platform component with the rotation axis as the axis, so as to transmit electric energy from the base component to the platform component through the electric transmission component.

[0046] In one embodiment of the present invention, the input coil is fixed to the environmental substrate of the hollow base of the driving mechanism, and the output coil is fixed to the free end of the hollow cylinder, so that the output coil is located adjacent to the input coil.

[0047] In one embodiment of the present invention, the driving mechanism further includes a conductor, wherein the conductor is embedded in the hollow cylinder, wherein one end of the conductor is connected to the output coil, and the other end of the conductor is connected to the rotating circuit board.

[0048] In one embodiment of the present invention, the rotating device also includes an optical encoder assembly, wherein the optical encoder assembly includes an optical encoder code disk and an optical encoder chip communicatively connected to the fixed circuit board, wherein the optical encoder code disk is fixedly mounted on the rotating circuit board of the platform assembly with the rotation axis as the axis, and the optical encoder chip is correspondingly arranged on the hollow base of the driving mechanism, wherein when the rotating circuit board drives the optical encoder code disk to rotate around the rotation axis, the optical encoder chip scans along the optical encoder code disk to obtain the rotation angle data of the platform assembly.

[0049] In one embodiment of the present invention, the rotating device also includes an optical encoder assembly, wherein the optical encoder assembly includes an optical encoder code disk and an optical encoder chip communicatively connected to the rotating circuit board, wherein the optical encoder code disk is fixed to the hollow base of the driving mechanism with the rotation axis as the axis, and the optical encoder chip is correspondingly arranged on the rotating circuit board of the platform assembly, wherein when the rotating circuit board rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code disk to obtain the rotation angle data of the platform assembly.

[0050] In one embodiment of the present invention, the rotating device also includes a top cover assembly, wherein the top cover assembly is correspondingly arranged on the base assembly to form an accommodating space between the top cover assembly and the base assembly to accommodate the platform assembly, the driving mechanism and the multi-line laser radar body.

[0051] In one embodiment of the present invention, the top cover assembly includes a top cover body and a light-transmitting annular window, wherein the annular window is arranged between the top cover body and the base assembly, and the annular window is provided in the detection path of the multi-line laser radar body.

[0052] In one embodiment of the present invention, the top cover assembly also includes a pair of sealing rings, one of which is disposed between the annular window and the top cover body, and the other sealing ring is disposed between the annular window and the base assembly to form a sealed accommodating space between the top cover assembly and the base assembly.

[0053] In one embodiment of the present invention, the multi-line laser radar body includes a transmitting module, an optical component and a receiving module, wherein the transmitting module is configured to transmit a group of laser beams along the detection path of the multi-line laser radar body, the optical component is correspondingly arranged in the detection path of the transmitting module to process each of the laser beams from the transmitting module, and the receiving module is configured to receive the laser beams reflected back by environmental objects so that the multi-line laser radar body can obtain environmental data.

[0054] In one embodiment of the present invention, the multi-line laser radar body also includes a base plate, wherein the transmitting module, the optical component and the receiving module are respectively fixed on the base plate to form the multi-line laser radar body with an integrated structure, wherein the base plate is fixed to the platform component of the rotating device to install the multi-line laser radar body on the platform component on the ground.

[0055] In one embodiment of the present invention, the rotating device further includes an adjustment mechanism, wherein the adjustment mechanism is correspondingly arranged between the platform assembly and the bottom plate of the multi-line laser radar body to adjust the detection path of the multi-line laser radar body.

[0056] According to another aspect of the present invention, the present invention also provides a method for manufacturing a multi-line laser radar device, comprising the steps of:

[0057] Disposing an optical communication component between a base component and a platform component, wherein the optical communication component is located adjacent to a rotation axis of the platform component;

[0058] A driving mechanism having an optical channel is correspondingly arranged between the base assembly and the platform assembly, so as to drive the platform assembly to rotate around the rotation axis through the driving mechanism, wherein the optical channel of the driving mechanism extends along the rotation axis of the platform assembly, and the optical communication assembly corresponds to the optical channel of the driving mechanism; and

[0059] A multi-line laser radar body is installed on the platform component to transmit data from the multi-line laser radar body to the base component through the optical communication component.

[0060] In one embodiment of the present invention, the method for manufacturing the multi-line laser radar device further includes the steps of:

[0061] A top cover assembly is correspondingly arranged on the base assembly to form a containing space between the top cover assembly and the base assembly to accommodate the driving mechanism, the platform assembly and the multi-line laser radar body.

[0062] In one embodiment of the present invention, the method for manufacturing the multi-line laser radar device further includes the steps of:

[0063] An input coil is disposed on a hollow base of the driving mechanism with the rotation axis as an axis, wherein the input coil is electrically connected to the base assembly; and

[0064] An output coil is arranged on a hollow cylinder of the driving mechanism with the rotation axis as the axis, wherein the output coil is electrically connected to the platform assembly so as to transmit electric energy between the base assembly and the platform assembly through the input coil and the output coil.

[0065] In one embodiment of the present invention, the method for manufacturing the multi-line laser radar device further includes the steps of:

[0066] An optical encoder disc is coaxially arranged on a hollow base of the driving mechanism with the rotation axis as the axis; and

[0067] Correspondingly, an optical encoder chip is disposed on the platform component, wherein when the platform component rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code disk to obtain the rotation angle of the platform component.

[0068] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and the accompanying drawings.

[0069] These and other objects, features and advantages of the present invention will be more fully understood from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a three-dimensional schematic diagram of a multi-line laser radar device according to a preferred embodiment of the present invention.

[0071] Figure 2 It is a cross-sectional schematic diagram of the multi-line laser radar device according to the above preferred embodiment of the present invention.

[0072] Figure 3 It is an enlarged schematic diagram of a driving mechanism of the multi-line laser radar device according to the above preferred embodiment of the present invention.

[0073] Figure 4 It is a partially enlarged schematic diagram of a top cover assembly of the multi-line laser radar device according to the above preferred embodiment of the present invention.

[0074] Figure 5 It is a partially enlarged schematic diagram of an optical encoder component of the multi-line laser radar device according to the above preferred embodiment of the present invention.

[0075] Figure 6 It is a three-dimensional schematic diagram of a multi-line laser radar body of the multi-line laser radar device according to the above preferred embodiment of the present invention.

[0076] Figure 7 It is a cross-sectional schematic diagram of the multi-line laser radar body of the multi-line laser radar device according to the above preferred embodiment of the present invention.

[0077] Fig. 8A and Figure 8B A first variant implementation of the multi-line laser radar device according to the above preferred embodiment of the present invention is shown.

[0078] Fig. 9 A second variant implementation of the multi-line laser radar device according to the above preferred embodiment of the present invention is shown.

[0079] Fig.10A schematic flow chart of a method for manufacturing a multi-line laser radar device according to the above preferred embodiment of the present invention is shown. DETAILED DESCRIPTION

[0080] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0081] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0082] In the present invention, the term "one" in the specification should be understood as "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. Unless it is clearly indicated in the disclosure of the present invention that the number of the element is only one, the term "one" cannot be understood as unique or single, and the term "one" cannot be understood as a limitation on the quantity.

[0083] In the description of the present invention, it should be understood that "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0085] Refer to the attached figure Figures 1 to 7 As shown, a multi-line laser radar device and a manufacturing method according to a preferred embodiment of the present invention are explained. In the preferred embodiment of the present invention, as Figure 1 and Figure 2 As shown, the multi-line laser radar device 1 includes a rotating device 10 and a multi-line laser radar body 20, wherein the rotating device 10 includes a base assembly 11, a platform assembly 12, a driving mechanism 13 and an optical communication assembly 14. The platform assembly 12 has a rotation axis 120, and the multi-line laser radar body 20 is installed on the platform assembly 12. The driving mechanism 13 is coaxially arranged between the base assembly 11 and the platform assembly 12 with the rotation axis 120 as the axis, wherein the driving mechanism 13 has an optical channel 130, and the optical channel 130 extends from the platform assembly 12 to the base assembly 11 along the rotation axis 120, so as to drive the platform assembly 12 and the multi-line laser radar body 20 to rotate around the rotation axis 120 through the driving mechanism 13. The optical communication component 14 is correspondingly disposed between the base component 11 and the platform component 12 , and the optical communication component 14 corresponds to the optical channel 130 of the driving mechanism 13 , so as to transmit data between the base component 11 and the platform component 12 through the optical communication component 14 .

[0086] Specifically, Figure 2 and Figure 3As shown, the optical communication component 14 includes a first emitting element 141 communicatively connected to the platform component 12 and a first receiving element 142 communicatively connected to the base component 11, wherein the first emitting element 141 is arranged on the platform component 12, and the emitting path of the first emitting element 141 is within the optical channel 130 of the driving mechanism 13, wherein the first receiving element 142 is correspondingly arranged on the base component 11, and the first receiving element 142 is located in the emitting path of the first emitting element 141, wherein when the first emitting element 141 emits an optical signal to transmit data, the first receiving element 142 will receive the optical signal to obtain the data, thereby realizing the transmission of the data from the platform component 12 to the base component 11 in a contactless transmission manner.

[0087] It is worth noting that when the platform assembly 12 is driven by the driving mechanism 13 to rotate around the rotation axis 120, the optical signal emitted by the first transmitting element 141 will pass through the optical channel 130 and be received by the first receiving element 142 to complete the data transmission, so that the first transmitting element 141 and the first receiving element 142 transmit data between the base assembly 11 and the platform assembly 12 in a non-contact transmission manner. Therefore, the first transmitting element 141 and the first receiving element 142 will not be worn due to mutual contact, so as to ensure that the optical communication component 14 can transmit data for a long time without wear, so as to extend the service life of the multi-line laser radar device 1. It can be understood that the multi-line laser radar device 1 of the preferred embodiment of the present invention uses the optical communication component 14 to replace the conventional slip ring to transmit data, which can not only greatly increase the data transmission volume to eliminate the limitation of the conventional slip ring on the data transmission volume, but also increase the reliability of data transmission.

[0088] Exemplarily, when the multi-line laser radar body 20 detects the surrounding environment to obtain environmental data, the multi-line laser radar body 20 transmits the environmental data to the platform component 12 through a data line, and then the first transmitting element 141 radiates the environmental data from the platform component 12 in the form of an optical signal to the first receiving element 142, and the first receiving element 142 receives the optical signal to obtain the environmental data, and transmits the obtained environmental data to the base component 11, so that the environmental data from the multi-line laser radar body 20 is transmitted from the rotating platform component 12 to the base component 11 in an optical communication manner through the optical communication component 14. It should be understood that the environmental data may include various information such as obstacle distance information, speed information, self-attitude information, etc. obtained by the multi-line laser radar body 20, and the present invention is not limited to this.

[0089] It is worth noting that the first transmitting element 141 can be implemented as a laser transmitter but is not limited to, and the first receiving element 142 can be implemented as a receiver but is not limited to, so that various data (such as the environmental data, etc.) are transmitted between the first transmitting element 141 and the first receiving element 142 through laser. Here, since the first transmitting element 141 and the first receiving element 142 of the optical communication component 14 can only transmit data from the platform component 12 to the base component 11, the optical communication component 14 can realize single-channel data transmission between the base component 11 and the platform component 12.

[0090] In order to realize dual-channel data transmission (i.e. full-duplex communication or half-duplex communication) between the base component 11 and the platform component 12 through the optical communication component 14, that is to say, data can be transmitted from the platform component 12 to the base component 11, and data can be transmitted from the base component 11 to the platform component 12 through the optical communication component 14 (for example, the control signal data is transmitted from the base component 11 to the platform component 12, and then transmitted from the platform component 12 to the multi-line laser radar body 20, so as to control the opening and closing and operation of the multi-line laser radar body 20).

[0091] Therefore, in the preferred embodiment of the present invention, Figure 2 and Figure 3 As shown, the optical communication component 14 also includes a second emitting element 143 communicatively connected to the base component 11 and a second receiving element 144 communicatively connected to the platform component 12, wherein the second emitting element 143 is arranged on the base component 11, and the emitting path of the second emitting element 143 is within the optical channel 130 of the driving mechanism 13, wherein the second receiving element 144 is correspondingly arranged on the platform component 12, and the second receiving element 144 is located on the emitting path of the second emitting element 143, wherein when the second emitting element 143 emits an optical signal to transmit data, the second receiving element 144 will receive the optical signal to obtain the data, thereby realizing the transmission of the data from the base component 11 to the platform component 12 in a contactless transmission manner.

[0092] Exemplarily, when the multi-line laser radar body 20 needs to be turned on to detect the surrounding environment, the second transmitting element 143 transmits the control signal data from the base assembly 11 to the second receiving element 144 in the form of an optical signal; then, the second receiving element 144 receives the optical signal to obtain the control signal data, and transmits the obtained control signal data to the platform assembly 12; finally, the platform assembly 12 transmits the control signal data to the multi-line laser radar body 20 through a data line to turn on the multi-line laser radar body 20 to start detecting the surrounding environment. It can be understood that the second transmitting element 143 can be implemented as a laser transmitter but is not limited to, and the second receiving element 144 can be implemented as a receiver but is not limited to, so that various data (such as the control signal data, etc.) are transmitted between the second transmitting element 143 and the second receiving element 144 through laser.

[0093] In particular, if Figure 2 As shown, the base assembly 11 includes a base 111 and a fixed circuit board 112 mounted on the base 111, wherein the fixed circuit board 112 of the base assembly 11 is communicatively connected with the second transmitting element 143 and the first receiving element 142 disposed on the base assembly 11. Figure 2 As shown, the platform assembly 12 includes a rotating platform 121 and a rotating circuit board 122 installed on the rotating platform 121, wherein the rotating circuit board 122 is communicatively connected to the first transmitting element 141 and the second receiving element 144 arranged on the platform assembly 12, and the rotating circuit board 122 is communicatively connected to the multi-line laser radar body 20 installed on the rotating platform 121.

[0094] Therefore, after the multi-line laser radar body 20 collects environmental data, the multi-line laser radar body 20 first transmits the environmental data to the rotating circuit board 122, so as to transmit it to the first transmitting element 141 via the rotating circuit board 122, and then the first transmitting element 141 transmits the environmental data to the first receiving element 142 in the form of optical communication, and finally transmits the environmental data to the fixed circuit board 112 of the base assembly 11 for storage or use. In addition, when it is necessary to control the opening and closing or operation of the multi-line laser radar body 20, the fixed circuit board 112 can also generate a control signal data based on a control instruction, and transmit the control signal data to the second transmitting element 143; then, the second transmitting element 143 transmits the control signal data to the rotating circuit board 122 of the platform assembly 12 in the form of optical communication; finally, the control signal data is transmitted to the multi-line laser radar body 20 through the rotating circuit board 122 to control the opening and closing or operation of the multi-line laser radar body 20.

[0095] For example, Figure 3 As shown, the fixed circuit board 112 of the base assembly 11 is disposed between the driving mechanism 13 and the base 111, and the second transmitting element 143 and the first receiving element 142 are directly mounted on the fixed circuit board 112, so that the second transmitting element 143 and the first receiving element 142 are directly communicably connected to the fixed circuit board 112. Correspondingly, the rotating circuit board 122 of the platform assembly 12 is disposed between the rotating platform 121 and the driving mechanism 13, and the first transmitting element 141 and the second receiving element 144 are directly mounted on the rotating circuit board 122, so that the first transmitting element 141 and the second receiving element 144 are directly communicably connected to the rotating circuit board 122.

[0096] It is worth mentioning that the first transmitting element 141 of the optical communication component 14 is arranged to be located in a position adjacent to the rotation axis 120, and the first receiving element 142 is also arranged to be located in a position adjacent to the rotation axis 120. In this way, when the platform component 12 rotates around the rotation axis 120 and the base component 11 is stationary relative to the rotation axis 120, although the first transmitting element 141 rotates around the rotation axis 120 together with the platform component 12, the first transmitting element 141 is always located in a position adjacent to the rotation axis 120. Therefore, the optical signal emitted by the first transmitting element 141 is diffused, so that the first receiving element 142 can always be in the emission path of the first transmitting element 141, so as to continuously receive the optical signal from the first transmitting element 141, so that the first transmitting element 141 and the first receiving element 142 can continuously perform data transmission during the rotation of the platform component 12.

[0097] Correspondingly, the second transmitting element 143 of the optical communication component 14 is arranged to be located in a position adjacent to the rotation axis 120, and the second receiving element 144 is also arranged to be located in a position adjacent to the rotation axis 120. In this way, when the platform component 12 rotates around the rotation axis 120 and the base component 11 is stationary relative to the rotation axis 120, although the second receiving element 144 rotates around the rotation axis 120 together with the platform component 12, the second receiving element 144 is always located in a position adjacent to the rotation axis 120. Therefore, the optical signal emitted by the second transmitting element 143 is diffused, so that the second receiving element 144 can always be in the emission path of the second transmitting element 143, so as to continuously receive the optical signal from the second transmitting element 143, so that the second transmitting element 143 and the second receiving element 144 can continuously perform data transmission during the rotation of the platform component 12.

[0098] It can be understood that since the optical channel 130 of the driving mechanism 13 of the rotating device 10 of the multi-line laser radar device 1 extends from the platform assembly 12 to the base assembly 11 along the rotation axis 120, and the emission paths of the first transmitting element 141 and the second transmitting element 143 are both located in the optical channel 130, the optical signal emitted by the first transmitting element 141 (or the second transmitting element 143) can be received by the first receiving element 142 (or the second receiving element 144) through the optical channel 130 without being blocked by the driving mechanism 13, so as to avoid the driving mechanism 13 affecting the normal data transmission between the base assembly 11 and the platform assembly 12.

[0099] Preferably, if Figure 2 and Figure 3 As shown, the optical communication component 14 further includes a light guide element 145, wherein the light guide element 145 is disposed in the optical channel 130 of the driving mechanism 13, and the light guide element 145 is located in the emission path of the first emitting element 141 and the second emitting element 143, so as to transmit the optical signals emitted by the first emitting element 141 and the second emitting element 143 to the corresponding first receiving element 142 and the second receiving element 144 through the light guide element 145. In this way, the multi-line laser radar device 1 can reduce the loss caused by the propagation of the optical signal in the air, so as to improve the data transmission quality of the optical communication component 14.

[0100] Exemplarily, the optical guide element 145 may be implemented as a waveguide column, but is not limited to being implemented as a waveguide column, wherein a gap is reserved between the waveguide column and the rotating circuit board 122 of the platform assembly 12 to prevent the waveguide column from interfering with the rotation of the rotating circuit board 122, and to prevent the waveguide column from being worn due to contact with the rotating circuit board 122, thereby helping to improve the service life of the optical guide element 145. Of course, in some other embodiments of the present invention, the optical guide element 145 may also be implemented as an optical fiber bundle, etc., which will not be described in detail herein.

[0101] According to the preferred embodiment of the present invention, Figure 2 As shown, the driving mechanism 13 of the rotating device 10 includes a stator 131, a rotor 132 and a hollow cylinder 133, wherein the hollow cylinder 133 is arranged between the base assembly 11 and the platform assembly 12 with the rotation axis 120 as the axis to form the light channel 130 in the center of the hollow cylinder 133, wherein the stator 131 is arranged on the base assembly 11, and the platform assembly 12 is fixed on the hollow cylinder 133, wherein the rotor 132 is fixed on the hollow cylinder 133, and the rotor 132 is correspondingly located on the inner side of the stator 131, so that the rotor 132 is driven to rotate around the rotation axis 120 through the stator 131, and the hollow cylinder 133 and the platform assembly 12 are driven by the rotor 132 to rotate around the rotation axis 120. In this way, when the driving mechanism 13 drives the platform assembly 12 to rotate, the emission paths of the first emitting element 141 and the second emitting element 143 can always be located within the optical channel 130, and the first receiving element 142 and the second receiving element 144 are always located in the corresponding emission paths, respectively, to continuously transmit data.

[0102] It should be understood that since the rotor 132 is located on the inner side of the stator 131 , the distance between the rotor 132 and the rotation axis 120 is small, so the moment of inertia of the rotor 132 relative to the rotation axis 120 is small, which helps to enhance the stability of the multi-line laser radar device 1 .

[0103] Furthermore, if Figure 2 and Figure 3 As shown, the driving mechanism 13 also includes a hollow base 134, wherein the hollow base 134 is fixed to the base assembly 11 with the rotation axis 120 as the axis, and the stator 131 is coaxially fixed to the hollow base 134, wherein the hollow cylinder 133 is coaxially and rotatably arranged on the hollow base 134 to ensure that the positional relationship between the rotor 132 and the stator 131 remains stable, so that the rotor 132 can be stably driven by the stator 131 to drive the hollow cylinder 133 to rotate stably around the rotation axis 120.

[0104] Specifically, Figure 3 As shown, the hollow base 134 includes an annular base plate 1341, an outer frame 1342 and an inner frame 1343, and has an annular space 1344 for accommodating the stator 131 and the rotor 132. The annular base plate 1341 is coaxially fixed to the base assembly 11 with the rotation axis 120 as the axis, the outer frame 1342 integrally extends upward from the outer periphery of the annular base plate 1341 along the rotation axis 120, and the inner frame 1343 integrally extends upward from the inner periphery of the annular base plate 1341 along the rotation axis 120, so as to form the light channel 130 inside the inner frame 1343 of the hollow base 134, and form the annular space 1344 between the inner frame 1343 and the outer frame 1342.

[0105] More specifically, the stator 131 is fixed to the inner side of the outer frame 1342 of the hollow base 134, wherein the inner frame 1343 of the hollow base 134 extends into the hollow cylinder 133, and the inner frame 1343 is connected to the hollow cylinder 133 in a bearing connection manner, so as to stably maintain the rotor 132 fixed to the hollow cylinder 133 between the stator 131 and the hollow cylinder 133, so as to stably drive the rotor 132 together with the hollow cylinder 133 to rotate around the rotation axis 120 through the stator 131.

[0106] In other words, Figure 3As shown, the hollow cylinder 133 includes a fixed end 1331 and a free end 1332 extending integrally from the fixed end 1331, wherein the fixed end 1331 of the hollow cylinder 133 is fixedly connected to the platform assembly 12, wherein the free end 1332 of the hollow cylinder 133 is inserted into the annular space 1344 of the hollow base 134, and the free end 1332 of the hollow cylinder 133 is connected to the annular space 1344 of the hollow base 134. The inner frame 1343 is connected in a bearing connection manner, wherein the rotor 132 is fixed to the free end 1332 of the hollow cylinder 133, so as to stably maintain the rotor 132 between the stator 131 and the hollow cylinder 133 and ensure that the gap between the stator 131 and the rotor 132 remains constant, which helps the stator 131 to stably drive the rotor 132 together with the hollow cylinder 133 to rotate around the rotation axis 120.

[0107] Preferably, the rotor 132 is fixed to the free end 1332 of the hollow cylinder 133 in a nested manner, which not only can firmly fix the rotor 132 to the hollow cylinder 133, but also helps to reduce the distance between the rotor 132 and the rotation axis 120, thereby facilitating the reduction of the lateral size of the driving mechanism 13, and is conducive to the multi-line laser radar device 1 meeting the needs of the miniaturization development trend.

[0108] More preferably, if Figure 3 As shown, the hollow base 134 of the driving mechanism 13 further includes a group of supporting legs 1345, wherein each supporting leg 1345 extends downward from the annular base plate 1341 of the hollow base 134, and passes through the fixed circuit board 112 to be fixedly connected to the base 111 of the base assembly 11, so as to facilitate the driving mechanism 13 to be firmly fixed to the base 111 of the base assembly 11. In this way, since each supporting leg 1345 passes through the fixed circuit board 112, so as to support the annular base plate 1341 of the hollow base 134 above the fixed circuit board 112 through each supporting leg 1345, the supporting legs 1345 can also prevent the fixed circuit board 112 from being damaged due to the extrusion of the driving mechanism 13.

[0109] Accordingly, if Figure 2 and Figure 3As shown, the platform assembly 12 further includes a group of support arms 123, wherein each of the support arms 123 extends downward from the rotating platform 121, passes through the rotating circuit board 122, and is fixedly connected to the fixed end 1331 of the hollow cylinder 133 of the driving mechanism 13, so as to securely fix the rotating platform 121 to the hollow cylinder 133. In this way, since each of the support arms 123 passes through the rotating circuit board 122, so as to support the rotating platform 121 above the rotating circuit board 122 through each of the support arms 123, the support arms 123 can also prevent the rotating circuit board 122 from being damaged due to the squeezing of the rotating platform 121.

[0110] It is worth mentioning that in order to provide power to the multi-line laser radar body 20, conventional rotating platforms usually use slip rings to transmit power. However, slip rings transmit power by direct contact, and when the conventional rotating platform rotates, the slip rings will inevitably generate sliding friction, which will not only generate noise during the power transmission process, but also cause the slip rings to wear due to sliding friction, which will cause the slip rings to wear and tear, thus greatly shortening their service life. In addition, the multi-line laser radar body 20 may be accidentally powered off and unable to work normally due to poor contact of the slip rings.

[0111] Therefore, in order to solve the above problems, Figure 2 As shown, the multi-line laser radar device 1 of the preferred embodiment of the present invention also includes an electric transmission component 15, wherein the electric transmission component 15 includes an input coil 151 electrically connectable to the fixed circuit board 112 and an output coil 152 electrically connectable to the rotating circuit board 122, wherein the input coil 151 is arranged on the hollow base 134 of the driving mechanism 13 with the rotation axis 120 as the axis, and the output coil 152 is arranged on the hollow cylinder 133 of the driving mechanism 13 with the rotation axis 120 as the axis, so that when the hollow cylinder 133 rotates relative to the hollow base 134, electric energy can still be transmitted between the input coil 151 and the output coil 152 in a wireless transmission manner, so that the electric energy from the fixed circuit board 112 is first stably transmitted to the rotating circuit board 122 through the electric transmission component 15, and then the electric energy is transmitted to the multi-line laser radar body 20 through the rotating circuit board 122. It should be understood that since the fixed circuit board 112 of the base assembly 11 does not rotate, the fixed circuit board 112 can be directly electrically connected to an external power source through a power cord, so as to transmit electrical energy to the multi-line laser radar device 1 and the multi-line laser radar body 20 through the fixed circuit board 112.

[0112] Specifically, Figure 3 As shown, the input coil 151 is fixed to the annular base plate 1341 of the hollow base 134, and the output coil 152 is fixed to the free end 1332 of the hollow cylinder 133. In this way, the input coil 151 and the output coil 152 are both located in the annular space 1344 of the hollow base 134, and the output coil 152 is located adjacent to the input coil 151, which helps to improve the power transmission efficiency between the input coil 151 and the output coil 152, so as to reduce the power transmission loss.

[0113] Preferably, if Figure 3 As shown, the driving mechanism 13 further includes a conductor 135 embedded in the hollow cylinder 133, wherein one end of the conductor 135 is connected to the output coil 152, and the other end of the conductor 135 is connected to the rotating circuit board 122, so that the output coil 152 and the rotating circuit board 122 are connected through the conductor 135. In this way, it is not only convenient to simplify the power transmission structure between the output coil 152 and the rotating circuit board 122 of the platform assembly 12, but also helps to ensure the safety and stability of power transmission.

[0114] Generally, when the driving mechanism 13 of the multi-line laser radar device 1 drives the multi-line laser radar body 20 to rotate so as to sense or detect the surrounding environment through the multi-line laser radar body 20, it is also necessary to know the direction of the multi-line laser radar device 1 from which the environmental data collected by the multi-line laser radar body 20 comes, so as to facilitate the analysis and processing of the environmental data. Therefore, in the preferred embodiment of the present invention, Figure 2 As shown, the multi-line laser radar device 1 also includes an optical encoder component 16, wherein the optical encoder component 16 is arranged between the platform component 12 and the base component 11 to measure the rotation angle of the platform component 12 relative to the base component 11, and then determine the detection direction of the multi-line laser radar body 20 installed on the platform component 12, so as to determine that the environmental data collected by the multi-line laser radar body 20 comes from a specific direction.

[0115] For example, Figure 5As shown, the optical encoder assembly 16 includes an optical encoder code disk 161 and an optical encoder chip 162, wherein the optical encoder code disk 161 is annular in structure and is coaxially arranged on the hollow base 134 of the driving mechanism 13 with the rotation axis 120 as the axis, wherein the optical encoder chip 162 is correspondingly mounted on the rotating circuit board 122 of the platform assembly 12, wherein when the rotating circuit board 122 rotates around the rotation axis 120, the optical encoder chip 162 is driven to perform a 360-degree scan along the optical encoder code disk 161 to obtain the rotation angle data of the platform assembly 12. In addition, the optical encoder chip 162 is communicatively connected to the transmitting element 141 mounted on the rotating circuit board 122, so as to transmit the rotation angle data from the optical encoder chip 162 together with the environmental data in the form of an optical signal through the first transmitting element 141 to the first receiving element 142 mounted on the fixed circuit board 112.

[0116] Preferably, if Figure 5 As shown, the optical encoder code disc 161 is fixedly mounted on the top of the outer frame 1342 of the hollow base 134 to shorten the distance between the optical encoder code disc 161 and the optical encoder chip 162 as much as possible, which helps to improve the scanning accuracy of the optical encoder chip 162 to obtain accurate rotation angle data. In addition, fixing the optical encoder code disc 161 on the top of the outer frame 1342 of the hollow base 134 can also prevent other components of the multi-line laser radar device 1 from blocking or interfering with the normal scanning of the optical encoder chip 162, so as to improve the anti-interference ability of the optical encoder assembly 16.

[0117] Of course, in some other embodiments of the present invention, the optical encoder code disk 161 can also be fixed on the top of the inner frame 1343 of the hollow base 134, or can be fixed on the outside of the outer frame 1342 of the hollow base 134, or the optical encoder code disk 161 can also be fixed on the base assembly 11. In other words, the optical encoder code disk 161 can be set at any suitable position, and it is only necessary to ensure that the optical encoder chip 162 corresponds to the optical encoder code disk 161, so that when the platform assembly 12 rotates, the optical encoder chip 162 performs 360-degree scanning along the optical encoder code disk 161, and the present invention will not repeat this.

[0118] According to the preferred embodiment of the present invention, Figure 2As shown, the rotating device 10 of the multi-line laser radar device 1 also includes a top cover assembly 17, wherein the top cover assembly 17 is correspondingly arranged on the base assembly 11 to form a accommodating space 100 between the top cover assembly 17 and the base assembly 11 to accommodate the platform assembly 12, the driving mechanism 13 and the multi-line laser radar body 20 installed on the platform assembly 12 to protect the multi-line laser radar body 20 and prevent external objects from affecting the rotation of the platform assembly 12 and the multi-line laser radar body 20.

[0119] Specifically, Figure 2 As shown, the top cover assembly 17 includes a top cover body 171 and a light-transmitting annular window 172, wherein the annular window 172 is disposed between the top cover body 171 and the base assembly 11, and the annular window 172 is in the detection path of the multi-line laser radar body 20, so that the multi-line laser radar body 20 can sense or detect the surrounding environment of the multi-line laser radar device 1 through the annular window 172. It can be understood that the annular window 172 is made of transparent materials such as glass, transparent plastic, transparent polymer materials, etc., so as to isolate the accommodating space 100 from the external environment through the top cover assembly 17 and the base assembly 11, and at the same time, it can allow light to pass through the annular window 172 and be received by the multi-line laser radar body 20, so as to ensure that the multi-line laser radar body 20 can normally detect the surrounding environment of the multi-line laser radar device 1.

[0120] Preferably, if Figure 2 As shown, the top cover assembly 17 also includes a pair of sealing rings 173, one of which is disposed at the connection between the annular window 172 and the top cover body 171, and the other sealing ring 173 is disposed at the connection between the annular window 172 and the base assembly 11, so as to seal the platform assembly 12, the driving mechanism 13 and the multi-line laser radar body 20 in the accommodating space 100, so that the accommodating space 100 is implemented as a sealed space, effectively preventing dust or accumulated water from entering the accommodating space 100, so as to protect the driving mechanism 13 and the multi-line laser radar body 20.

[0121] More preferably, if Figure 4 As shown, the annular window 172 of the top cover assembly 17 includes an annular window body 1721 and a first annular clamp 1722, wherein the first annular clamp 1722 integrally protrudes inward along the upper edge of the annular window body 1721 to extend into a first annular groove 1710 of the top cover body 171 of the top cover assembly 17, so that the annular window 172 is connected to the top cover body 171 in a snap-fit ​​manner.

[0122] Correspondingly, the annular window 172 also includes a second annular clamp 1723, wherein the second annular clamp 1723 protrudes inward integrally along the lower edge of the annular window body 1721 to be inserted into a second annular groove 110 of the base assembly 11, so that the annular window 172 is connected to the base assembly 11 in a snap-fit ​​connection to prevent the annular window 172 from loosening relative to the top cover body 171 or the base assembly 11.

[0123] Of course, in some other embodiments of the present invention, the annular window 172 can also be connected to the top cover body 171 and the base assembly 11 in a detachable manner such as screw connection, bonding, flange connection, etc., so that when the multi-line laser radar body 20 is repaired or replaced, only the annular window 172 needs to be removed to open the accommodating space 100, without the need to remove the top cover body 171 or the base assembly 11, which helps to save maintenance costs.

[0124] It is worth mentioning that, since the rotating platform 121 of the platform assembly 12 is directly fixed on the top of the hollow cylinder 133 of the driving mechanism 13, that is, the rotating platform 121 does not have any physical axis at the position of the rotating axis 120, the rotating platform 121 can provide a complete installation plane to install the multi-line laser radar body 20 as a whole on the rotating platform 121, which not only helps to reduce the overall size of the multi-line laser radar body 20 to meet the needs of the miniaturization development trend, but also facilitates the individual adjustment of the optical path of the multi-line laser radar body 20, which helps to improve the assembly efficiency of the multi-line laser radar device 1. It should be understood that the conventional rotating platform can only disassemble the multi-line laser radar body 20 to install around its central axis because the central axis occupies its central area, which not only greatly increases the difficulty of assembly, but also increases the difficulty of adjusting the optical path of the multi-line laser radar body 20.

[0125] In addition, since the rotation axis 120 of the platform assembly 12 passes through the rotating platform 121, and the multi-line laser radar body 20 can be installed on the rotating platform 121 with the rotation axis 120 as the axis, the multi-line laser radar body 20 can be accurately installed so that the center of gravity of the multi-line laser radar body 20 is located on the rotation axis 120, so that the moment of inertia of the multi-line laser radar body 20 is minimized. Therefore, when the rotating platform 121 drives the multi-line laser radar body 20 to rotate around the rotation axis 120, the centrifugal force on the multi-line laser radar body 20 is extremely small, so as to prevent the multi-line laser radar body 20 from being damaged due to excessive centrifugal force, which helps to extend the service life of the multi-line laser radar body 20.

[0126] In this way, when installing the multi-line laser radar body 20, it is not necessary to consider the type or weight of the multi-line laser radar body 20. It is only necessary to ensure that the center of gravity of the multi-line laser radar body 20 is located at the rotation axis 120, so that the multi-line laser radar device 1 can adapt to various types or weights of the multi-line laser radar bodies 20. It should be understood that for a conventional rotating platform, although the multi-line laser radar body 20 can be eccentrically installed on a conventional rotating platform, it is necessary to perform dynamic balance detection and calibration on the conventional rotating platform on which the multi-line laser radar body 20 is installed. Therefore, the conventional rotating platform can only adapt to multi-line laser radar bodies of a specific size and weight. In other words, once the multi-line laser radar body 20 of a different size or weight is replaced, the dynamic balance of the conventional rotating platform will be seriously damaged, causing the conventional rotating platform to fail to work normally.

[0127] According to the preferred embodiment of the present invention, Figure 6 and Figure 7 As shown, the multi-line laser radar body 20 of the multi-line laser radar device 1 includes a transmitting module 21, an optical component 22 and a receiving module 23, wherein the transmitting module 21 is configured to transmit a group of laser beams along the detection path of the multi-line laser radar body 20, the optical component 22 is correspondingly arranged in the detection path of the transmitting module 21 to process each of the laser beams from the transmitting module 21, and the receiving module 23 is configured to receive the laser beam reflected back by the environmental objects, so that the multi-line laser radar body 20 obtains the environmental data, and then transmits the environmental data to the fixed circuit board 112 of the base assembly 11 through the optical communication component 14 of the rotating device 10.

[0128] It is worth noting that, since the optical communication component 14 of the rotating device 10 greatly increases the amount of data transmission between the platform component 12 and the base component 11, the transmitting module 21 of the multi-line laser radar body 20 can include more laser transmitters to emit more laser beams to increase the distribution density of the laser beams in the vertical direction, thereby more fully describing the surrounding environment and improving the vertical resolution of the multi-line laser radar device 1. In addition, the distribution of the laser beam can be adjusted by setting the emission angle of each laser transmitter, so as to facilitate targeted detection of the environment in a certain area and improve the pertinence and accuracy of the environmental data.

[0129] Exemplarily, the laser beam emitted by the transmitting module 21 is distributed in a vertical direction with a dense distribution in the middle and a sparse distribution at both ends, so as to concentrate on detecting targets within 1.7 meters above the road surface through the multi-line laser radar body 20, so that the environmental data obtained has more guiding value.

[0130] In addition, all the laser transmitters in the transmitting module 21 are integrated together to form the transmitting module 21 with a modular structure; and all the photon receivers in the receiving module 23 are integrated together to form the receiving module 23 with a modular structure; in addition, the components in the optical assembly 22 are also integrated together to form the optical assembly 22 with a modular structure, so that when adjusting the optical path of the multi-line laser radar body 20, it is only necessary to adjust the relative positions between the transmitting module 21, the receiving module 23 and the optical assembly 22 accordingly, which is convenient for simplifying the optical path adjustment of the multi-line laser radar body 20. Therefore, through modular debugging and assembly, the reliability, consistency and mass production of the multi-line laser radar body 20 can be significantly improved.

[0131] Furthermore, if Figure 6 As shown, the multi-line laser radar body 20 also includes a base plate 24, wherein the transmitting module 21, the optical component 22 and the receiving module 23 are respectively fixed on the base plate 24 to form the multi-line laser radar body 20 with an integrated structure, wherein the base plate 24 is fixed on the rotating platform 121 of the platform assembly 12 of the rotating device 10, so as to facilitate the installation of the multi-line laser radar body 20 on the rotating platform 121, which not only helps to simplify the assembly difficulty of the multi-line laser radar device 1, but also can perform individual adjustment on the multi-line laser radar body 20 before installing the multi-line laser radar body 20 on the rotating platform 121.

[0132] It is worth mentioning that, since the multi-line laser radar device 1 is usually set on the roof or other position higher than the road surface, and the unmanned vehicle needs to obtain various information of the road surface, the detection path of the multi-line laser radar body 20 of the multi-line laser radar device 1 usually needs to be tilted downward. Therefore, in order to achieve this effect, Figure 2 As shown, the rotating device 10 of the multi-line laser radar device 1 also includes an adjustment mechanism 18, wherein the adjustment mechanism 18 is correspondingly arranged between the platform assembly 12 and the base plate 24 of the multi-line laser radar body 20 to adjust the detection path of the multi-line laser radar body 20.

[0133] For example, Figure 2 As shown, the adjustment mechanism 18 can be, but is not limited to, implemented as an inclined pad fixed to the rotating platform 121, wherein the thin edge of the inclined pad faces the detection direction of the multi-line laser radar body 20, and the thick edge of the inclined pad faces the opposite direction of the detection direction of the multi-line laser radar body 20, so as to achieve the effect of tilting the detection path of the multi-line laser radar body 20 downward. Of course, the inclined pad can also extend upward from the rotating platform 121 as a whole, so that the inclined pad and the rotating platform 121 have an integrated structure. In addition, in some other embodiments of the present invention, the adjustment mechanism 18 can also be implemented as a component such as an adjustable screw, a support frame, a telescopic bracket, etc. that can adjust the detection path of the multi-line laser radar body 20, and the present invention will not repeat them.

[0134] Attached Fig. 8A and 8B A first variant implementation of the multi-line laser radar device 1 according to the preferred embodiment of the present invention is shown, wherein the stator 131 of the driving mechanism 13 is fixed to the outer side of the inner frame 1343 of the hollow base 134, and the rotor 132 is fixed to the free end 1332 of the hollow cylinder 133, wherein the free end 1332 of the hollow cylinder 133 is inserted into the annular space 1344 of the hollow base 134, and the free end 1332 of the hollow cylinder 133 is connected to the outer frame 1342 of the hollow base 134 in a bearing connection manner, so as to stably maintain the rotor 132 between the hollow cylinder 133 and the stator 131, so that the stator 131 can stably drive the rotor 132 to drive the hollow cylinder 133 to rotate around the rotation axis 120.

[0135] It can be understood that, although the rotor 132 is located on the outside of the stator 131, which causes the inertial momentum of the rotor 132 relative to the rotation axis 120 to increase, the hollow cylinder 133 is located on the outside of the rotor 132, which further increases the lateral size of the hollow cylinder 133, so that the connection between the hollow cylinder 133 and the platform assembly 12 is away from the rotation axis 120, so as to provide a more stable supporting force for the platform assembly 12 through the hollow cylinder 133, which helps to improve the balancing ability of the platform assembly 12.

[0136] Attached Fig. 9 A second variant implementation of the multi-line laser radar device 1 according to the preferred embodiment of the present invention is shown, wherein the optical encoder code disk 161 of the optical encoder component 16 is fixed to the rotating circuit board 122 of the platform component 12 with the rotation axis 120 as the axis, and the optical encoder chip 162 of the optical encoder component 16 is correspondingly arranged on the top of the outer frame 1342 of the hollow base 134 of the driving mechanism 13, wherein when the platform component 12 rotates around the rotation axis 120, the optical encoder code disk 161 is driven to rotate around the rotation axis 120, so that the optical encoder chip 162 performs a 360-degree scan along the optical encoder code disk 161 to obtain the rotation angle data of the platform component 12. The optical encoder chip 162 is communicatively connected to the fixed circuit board 112 of the base assembly 11 to directly transmit the rotation angle data obtained by the optical encoder chip 162 to the fixed circuit board 112 without transmitting through the optical communication assembly 14, so as to reduce the data transmission burden of the optical communication assembly 14.

[0137] Of course, in some other variant embodiments of the present invention, the optical encoder chip 162 can also be fixed on the top of the inner frame 1343 of the hollow base 134, or can be fixed on the outside of the outer frame 1342 of the hollow base 134, or the optical encoder chip 162 can be fixed on the fixed circuit board 112 of the base assembly 11. In other words, the optical encoder chip 162 can be set at any suitable position, and it is only necessary to ensure that the optical encoder chip 162 corresponds to the optical encoder code disk 161, so that when the platform assembly 12 rotates, the optical encoder chip 162 can perform 360-degree scanning along the optical encoder chip 162, and the present invention will not repeat this.

[0138] According to another aspect of the present invention, the present invention further provides a method for manufacturing the multi-line laser radar device 1. Specifically, Fig.10As shown, the manufacturing method of the multi-line laser radar device 1 comprises the steps of:

[0139] S310: Dispose an optical communication component 14 between a base component 11 and a platform component 12, wherein the optical communication component 14 is located adjacent to a rotation axis 120 of the platform component 12;

[0140] S320: Correspondingly, a driving mechanism 13 having an optical channel 130 is disposed between the base assembly 11 and the platform assembly 12, so as to drive the platform assembly 12 to rotate around the rotation axis 120 through the driving mechanism 13, wherein the optical channel 130 of the driving mechanism 13 extends along the rotation axis 120 of the platform assembly 12, wherein the optical communication assembly 14 corresponds to the optical channel 130 of the driving mechanism 13; and

[0141] S330: Install a multi-line laser radar body 20 on the platform component 12 to transmit the data obtained by the multi-line laser radar body 20 to the base component 11 through the optical communication component 14.

[0142] Furthermore, if Fig.10 As shown, the manufacturing method of the multi-line laser radar device 1 further includes the steps of:

[0143] S340: A top cover assembly 17 is correspondingly arranged on the base assembly 11 to form a receiving space 100 between the top cover assembly 17 and the base assembly 11 to accommodate the driving mechanism 13 , the platform assembly 12 and the multi-line laser radar body 20 .

[0144] In one embodiment, the method for manufacturing the multi-line laser radar device 1 further includes the steps of:

[0145] An input coil 151 is disposed on a hollow base 134 of the driving mechanism 13 with the rotation axis 120 as an axis, wherein the input coil 151 is electrically connected to the base assembly 11; and

[0146] An output coil 152 is arranged on a hollow cylinder 133 of the driving mechanism 13 with the rotation axis 120 as the axis, wherein the output coil 152 is electrically connected to the platform assembly 12 to transmit electrical energy between the base assembly 11 and the platform assembly 12 through the input coil 151 and the output coil 152.

[0147] In one embodiment, the method for manufacturing the multi-line laser radar device 1 further includes the steps of:

[0148] An optical encoder disc 161 is coaxially disposed on a hollow base 134 of the driving mechanism 13 with the rotation axis 120 as an axis; and

[0149] Correspondingly, an optical encoder chip 162 is disposed on the platform assembly 12 , wherein when the platform assembly 12 rotates around the rotation axis 120 , the optical encoder chip 162 is driven to scan along the optical encoder code disk 161 to obtain the rotation angle of the platform assembly 12 .

[0150] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A multi-line laser radar device, characterized in that: include: A multi-line laser radar body; and A rotating device, wherein the rotating device comprises: a base assembly; a platform assembly, wherein the platform assembly has a rotation axis, wherein the multi-line laser radar body is mounted on the platform assembly; a driving mechanism, wherein the driving mechanism is disposed between the base assembly and the platform assembly, wherein the driving mechanism has an optical channel, and the optical channel extends from the platform assembly to the base assembly along the rotation axis; and an optical communication component, wherein the optical communication component is disposed between the base component and the platform component, and the optical communication component corresponds to the optical channel of the driving mechanism, wherein when the driving mechanism drives the platform component to drive the multi-line laser radar body to rotate around the rotation axis, the optical communication component transmits data between the platform component and the base component in an optical communication manner; In which, the driving mechanism includes a hollow base fixed to the base assembly, the hollow base includes an outer frame, an inner frame and an annular substrate, and has an annular space, wherein the annular substrate is fixed to the base assembly, and the outer frame extends integrally from the outer periphery of the annular substrate toward the platform assembly along the rotation axis, and the inner frame extends integrally from the inner periphery of the annular substrate toward the platform assembly along the rotation axis to form the light channel on the inner side of the inner frame and form the annular space between the outer frame and the inner frame.

2. The multi-line laser radar device according to claim 1, wherein: The driving mechanism includes a stator, a rotor and a hollow cylinder, wherein a fixed end of the hollow cylinder is fixedly connected to the platform assembly, and a free end of the hollow cylinder extends integrally from the fixed end of the hollow cylinder along the rotation axis to form the light channel at the center of the hollow cylinder, wherein the rotor is fixed to the free end of the hollow cylinder, and the stator is correspondingly arranged on the rotor, wherein the rotor can be driven by the stator to drive the hollow cylinder to rotate around the rotation axis.

3. The multi-line laser radar device according to claim 2, wherein: The stator is fixed to the hollow base, and the free end of the hollow cylinder is rotatably arranged on the hollow base, so that the rotor is driven by the stator to rotate around the rotation axis together with the hollow cylinder; The annular space is used to accommodate the stator and the rotor.

4. The multi-line laser radar device according to claim 3, wherein: The stator is fixed to the inner frame of the hollow base, and the free end of the hollow cylinder is connected to the outer frame of the hollow base in a bearing connection manner, so that the rotor is located around the stator.

5. The multi-line laser radar device according to claim 3, wherein: The stator is fixed to the outer frame of the hollow base, and the free end of the hollow cylinder is connected to the inner frame of the hollow base in a bearing connection manner, so that the stator is located around the rotor.

6. The multi-line laser radar device according to claim 4 or 5, wherein: The rotor is fixedly arranged at the free end of the hollow cylinder in a nested manner.

7. The multi-line laser radar device according to any one of claims 1 to 5, wherein: The optical communication component includes a first emitting element and a first receiving element, wherein the first emitting element is arranged on the platform component, and the emitting path of the first emitting element is within the optical channel of the driving mechanism, wherein the first receiving element is correspondingly arranged on the base component, and the first receiving element is located in the emitting path of the first emitting element, so that when the platform component rotates relative to the base component, the first receiving element can receive the optical signal from the first emitting element to transmit data from the platform component to the base component.

8. The multi-line laser radar device according to claim 6, wherein: The optical communication component includes a first emitting element and a first receiving element, wherein the first emitting element is arranged on the platform component, and the emitting path of the first emitting element is within the optical channel of the driving mechanism, wherein the first receiving element is correspondingly arranged on the base component, and the first receiving element is located in the emitting path of the first emitting element, so that when the platform component rotates relative to the base component, the first receiving element can receive the optical signal from the first emitting element to transmit data from the platform component to the base component.

9. The multi-line laser radar device according to claim 8, wherein: The optical communication component also includes a second emitting element and a second receiving element, wherein the second emitting element is arranged on the base component, and the emitting path of the second emitting element is within the optical channel of the driving mechanism, wherein the second receiving element is correspondingly arranged on the platform component, and the second receiving element is located in the emitting path of the second emitting element, so that when the platform component rotates relative to the base component, the second receiving element can receive the optical signal from the second emitting element to transmit data from the base component to the platform component.

10. The multi-line laser radar device according to claim 9, wherein: The platform assembly includes a rotating platform and a rotating circuit board arranged on the rotating platform, wherein the rotating platform is fixedly connected to the fixed end of the hollow cylinder, wherein the rotating circuit board is communicatively connected to the multi-line laser radar device, and the rotating circuit board is communicatively connected to the first transmitting element and the second receiving element.

11. The multi-line laser radar device according to claim 10, wherein: The rotating circuit board is arranged between the rotating platform and the hollow cylinder, wherein the first transmitting element and the second receiving element are fixedly arranged on the rotating circuit board so as to be communicable.

12. The multi-line laser radar device according to claim 11, wherein: The platform assembly further includes a set of support arms, wherein each of the support arms extends downward from the rotating platform to pass through the rotating circuit board and be fixedly connected to the fixed end of the hollow cylinder.

13. The multi-line laser radar device according to claim 12, wherein: The base assembly includes a base and a fixed circuit board arranged on the base, wherein the hollow base of the driving mechanism is fixed to the base, wherein the fixed circuit board is arranged between the base and the hollow base, and the second transmitting element and the first receiving element are communicatively arranged on the fixed circuit board.

14. The multi-line laser radar device according to claim 13, wherein: The hollow base further includes a group of supporting legs, wherein each of the supporting legs extends downward from the annular base plate of the hollow base to pass through the fixed circuit board and be fixedly connected to the base.

15. The multi-line laser radar device according to claim 14, wherein: The optical communication component further includes a light guide element, wherein the light guide element is disposed in the optical channel of the driving mechanism and is located in the emission path of the first emitting element and the second emitting element to conduct the optical signals emitted by the first emitting element and the second emitting element.

16. The multi-line laser radar device according to any one of claims 1 to 5, wherein: The rotating device further includes an electric transmission assembly, wherein the electric transmission assembly includes an input coil electrically connectable to the base assembly and an output coil electrically connectable to the platform assembly, wherein the input coil and the output coil are coaxially arranged between the base assembly and the platform assembly with the rotation axis as the axis, so as to transmit electric energy from the base assembly to the platform assembly through the electric transmission assembly.

17. The multi-line laser radar device according to claim 14, wherein: The rotating device further includes an electric transmission assembly, wherein the electric transmission assembly includes an input coil electrically connectable to the base assembly and an output coil electrically connectable to the platform assembly, wherein the input coil and the output coil are coaxially arranged between the base assembly and the platform assembly with the rotation axis as the axis, so as to transmit electric energy from the base assembly to the platform assembly through the electric transmission assembly.

18. The multi-line laser radar device according to claim 17, wherein: The input coil is fixed to the annular base plate of the hollow base of the driving mechanism, and the output coil is fixed to the free end of the hollow cylinder, so that the output coil is located adjacent to the input coil.

19. The multi-line laser radar device according to claim 18, wherein: The driving mechanism further comprises a conductor, wherein the conductor is embedded in the hollow cylinder, wherein one end of the conductor is connected to the output coil, and the other end of the conductor is connected to the rotating circuit board.

20. The multi-line laser radar device according to claim 19, wherein: The rotating device also includes an optical encoder component, wherein the optical encoder component includes an optical encoder code disk and an optical encoder chip communicatively connected to the fixed circuit board, wherein the optical encoder code disk is fixedly mounted on the rotating circuit board of the platform component with the rotation axis as the axis, and the optical encoder chip is correspondingly arranged on the hollow base of the driving mechanism, wherein when the rotating circuit board drives the optical encoder code disk to rotate around the rotation axis, the optical encoder chip scans along the optical encoder code disk to obtain the rotation angle data of the platform component.

21. The multi-line laser radar device according to claim 19, wherein: The rotating device also includes an optical encoder component, wherein the optical encoder component includes an optical encoder code disk and an optical encoder chip communicatively connected to the rotating circuit board, wherein the optical encoder code disk is fixed to the hollow base of the driving mechanism with the rotation axis as the axis, and the optical encoder chip is correspondingly arranged on the rotating circuit board of the platform component, wherein when the rotating circuit board rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code disk to obtain the rotation angle data of the platform component.

22. The multi-line laser radar device according to any one of claims 1 to 5, wherein: The rotating device also includes a top cover assembly, wherein the top cover assembly is correspondingly arranged on the base assembly to form a accommodating space between the top cover assembly and the base assembly to accommodate the platform assembly, the driving mechanism and the multi-line laser radar body.

23. The multi-line laser radar device according to claim 22, wherein: The top cover assembly includes a top cover body and a light-transmitting annular window, wherein the annular window is arranged between the top cover body and the base assembly, and the annular window is provided in the detection path of the multi-line laser radar body.

24. The multi-line laser radar device according to claim 23, wherein: The top cover assembly also includes a pair of sealing rings, one of which is arranged between the annular window and the top cover body, and the other sealing ring is arranged between the annular window and the base assembly to form a sealed accommodating space between the top cover assembly and the base assembly.

25. The multi-line laser radar device according to any one of claims 1 to 5, wherein: The multi-line laser radar body includes a transmitting module, an optical component and a receiving module, wherein the transmitting module is configured to transmit a group of laser beams along the detection path of the multi-line laser radar body, the optical component is correspondingly arranged in the detection path of the transmitting module to process each laser beam from the transmitting module, and the receiving module is configured to receive the laser beam reflected back by the environmental objects so that the multi-line laser radar body can obtain environmental data.

26. The multi-line laser radar device according to claim 25, wherein: The multi-line laser radar body also includes a base plate, wherein the transmitting module, the optical component and the receiving module are respectively fixed on the base plate to form a multi-line laser radar body with an integrated structure, wherein the base plate is fixed to the platform component of the rotating device to install the multi-line laser radar body on the platform component on the ground.

27. The multi-line laser radar device according to claim 26, wherein: The rotating device also includes an adjustment mechanism, wherein the adjustment mechanism is correspondingly arranged between the platform assembly and the bottom plate of the multi-line laser radar body to adjust the detection path of the multi-line laser radar body.

28. A method for manufacturing a multi-line laser radar device, characterized in that: Includes steps: Disposing an optical communication component between a base component and a platform component, wherein the optical communication component is located adjacent to a rotation axis of the platform component; A driving mechanism having an optical channel is correspondingly arranged between the base assembly and the platform assembly, so as to drive the platform assembly to rotate around the rotation axis through the driving mechanism, wherein the optical channel of the driving mechanism extends along the rotation axis of the platform assembly, and the optical communication assembly corresponds to the optical channel of the driving mechanism; and Installing a multi-line laser radar body on the platform component to transmit data from the multi-line laser radar body to the base component through the optical communication component; In which, the driving mechanism includes a hollow base fixed to the base assembly, the hollow base includes an outer frame, an inner frame and an annular substrate, and has an annular space, wherein the annular substrate is fixed to the base assembly, and the outer frame extends integrally from the outer periphery of the annular substrate toward the platform assembly along the rotation axis, and the inner frame extends integrally from the inner periphery of the annular substrate toward the platform assembly along the rotation axis to form the light channel on the inner side of the inner frame and form the annular space between the outer frame and the inner frame.

29. The method for manufacturing a multi-line laser radar device as claimed in claim 28, further comprising the steps of: A top cover assembly is correspondingly arranged on the base assembly to form a containing space between the top cover assembly and the base assembly to accommodate the driving mechanism, the platform assembly and the multi-line laser radar body.

30. The method for manufacturing the multi-line laser radar device according to claim 28, further comprising the steps of: An input coil is disposed on a hollow base of the driving mechanism with the rotation axis as an axis, wherein the input coil is electrically connected to the base assembly; and An output coil is arranged on a hollow cylinder of the driving mechanism with the rotation axis as the axis, wherein the output coil is electrically connected to the platform assembly so as to transmit electric energy between the base assembly and the platform assembly through the input coil and the output coil.

31. The method for manufacturing a multi-line laser radar device according to claim 28 or 30, further comprising the steps of: An optical encoder disc is coaxially arranged on a hollow base of the driving mechanism with the rotation axis as the axis; and Correspondingly, an optical encoder chip is disposed on the platform component, wherein when the platform component rotates around the rotation axis, the optical encoder chip is driven to scan along the optical encoder code disk to obtain the rotation angle of the platform component.

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