Laser radar and its detection device

Abstract

The present application discloses a laser radar. The laser radar in the present application includes: a main shaft, a radar rotor, an upper storage plate, a top cover and a base; the upper storage plate is fixedly arranged relative to the radar rotor, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar; the main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base. The present application can shorten the wiring of each module, facilitate installation and maintenance, and improve the mechanical reliability of the laser radar.

Description

[0001] This application is a divisional application of PCT Chinese national phase application 201980085840.3 (corresponding PCT application number is PCT / CN2019 / 103853) with an application date of August 30, 2019, and all the contents of which are incorporated by reference in their entirety. Technical Field

[0002] The present application relates to the field of distance measurement, and in particular to a laser radar. Background Art

[0003] LiDAR is a general term for laser active detection sensor equipment. Its working principle is roughly as follows: the laser radar transmitter emits a laser beam. After the laser beam encounters an object, it is diffusely reflected and returns to the laser receiver. The radar module multiplies the time interval between sending and receiving the laser beam by the speed of light and divides it by 2 to calculate the distance between the transmitter and the object.

[0004] The existing laser radar mainly adopts a through-axis structure design in the main shaft system structure. The so-called through-axis refers to the structure of the main shaft extending from the top to the bottom of the laser radar. The main shaft from the bottom to the top occupies the space inside the laser radar, which increases the difficulty of designing the ranging component or radar rotor located above the laser radar. In addition, this through-axis design is costly, has a complex mechanical structure, and the shaft system design is not tight.

[0005] In addition, the current multi-line laser radar is a one-to-one transceiver channel. For example, a 32-line radar requires 32 pairs of transmitting light sources and receiving channels. In addition, the rotating scanning laser radar has a trend of increasing longitudinal (vertical) field of view and more and more scanning beams. This development trend requires more and more channels for laser radar. The increasing number of channels may increase the cost of laser radar, tighten the internal space, increase the volume, and make the spatial arrangement of the transmitting end more difficult.

[0006] The existing laser radar mainly adopts a through-axis structure design in the main axis axis system structure. The main axis extends from the top to the bottom of the laser radar. Therefore, when designing the detection device, a transmitting mirror is needed to be used to fold the optical path to avoid the main axis, and the structural design of the detection device is relatively complicated. In addition, the multi-line laser radar is a one-to-one transceiver channel, that is, each transmitting light source has a corresponding photoelectric sensor element. When in use, each pair of transmitting light sources and photoelectric sensor elements needs to be manually aligned with the optical path, which may increase the difficulty of using the laser radar and reduce the efficiency of use.

[0007] In addition, early laser radars were single-line laser radars, which only had one laser and detector. Their target scanning range was limited, which easily resulted in the loss of detected targets. In order to make up for the shortcomings of single-line laser radars, multi-line laser radars have become an increasingly important research and commercial focus. Existing multi-line laser radars often have the problems of high cost and excessive energy consumption.

[0008] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field.

[0009] Public Content

[0010] The purpose of the present application is to provide a laser radar, which can reduce the space occupied by the main shaft running through the entire radar from top to bottom, and facilitate and simplify the structural arrangement of various components on the radar rotor above the main shaft.

[0011] To solve the above technical problems, the embodiment of the present application discloses a laser radar, including a main shaft, a radar rotor, an upper compartment plate, a top cover and a base;

[0012] The upper storage plate is fixedly arranged relative to the radar rotor, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar;

[0013] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base.

[0014] Optionally, the laser radar further includes a rotating bracket and a driving motor;

[0015] The rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for being mounted on the main shaft, the second part is a disk surface structure perpendicular to the first part and is suitable for coupling with the radar rotor, the second part includes at least three rotating sub-brackets, the first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disk surface of the second part, and the driving motor is suitable for driving the radar rotor to rotate through the rotating bracket.

[0016] Optionally, a support flange is further provided at the coupling point between the second end of each rotating sub-bracket and the edge of the disk surface, and the protruding direction of the support flange is away from the base, and the radar rotor is suitable for coupling with the rotating bracket through the support flange.

[0017] Optionally, the laser radar further includes a lower storage plate, which is located between the upper storage plate and the base and is arranged around the main axis.

[0018] Optionally, the laser radar further includes a wireless power supply component located between the upper compartment plate and the lower compartment plate, wherein the wireless power supply component includes a wireless transmitting coil, a wireless receiving coil, a transmitting circuit board, and a receiving circuit board;

[0019] The wireless transmitting coil, the wireless receiving coil, the transmitting circuit board and the receiving circuit board are all arranged around the main axis;

[0020] The wireless transmitting coil and the transmitting circuit board are fixedly arranged relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixedly arranged relative to the radar rotor;

[0021] The wireless transmitting coil is electrically connected to the transmitting circuit board, and the wireless receiving coil is electrically connected to the transmitting circuit board.

[0022] Optionally, the laser radar also includes a drive motor, which includes a magnet and an armature, wherein the magnet and the armature are both arranged around the main axis, and the magnet is farther away from the main axis than the armature, and the magnet is coupled to the transmitting circuit board.

[0023] Optionally, the laser radar also includes a drive motor, which includes a magnet and an armature, wherein the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature, and the transmitting circuit board is electrically connected to the armature to supply power to the armature.

[0024] Optionally, the drive motor is a DC motor.

[0025] Optionally, the laser radar also includes an angle measurement component, which is arranged around the main axis and is farther away from the main axis than the wireless power supply component.

[0026] Optionally, the laser radar also includes a cable interface, which is used to connect the laser radar with an external device outside the laser radar.

[0027] The embodiments of the present application include, but are not limited to, the following effects:

[0028] 1) A non-through spindle structure is adopted. By compressing and stacking the upper and lower warehouse plates, transmitting and receiving circuit boards, spindles and other components and placing them at the lower part of the laser radar to form a flat platform, the space occupied by the spindle running through the entire radar from top to bottom is reduced, which facilitates and simplifies the arrangement of the distance measurement components and other structures arranged above or below the spindle.

[0029] 2) The support flange on the rotating bracket improves the stability of the rotation of the radar rotor part above the main shaft, reducing the impact of the rotation on the life of the whole machine and the radar imaging quality.

[0030] 3) Since the hollow lower warehouse plate is sleeved on the main shaft, that is, the main shaft passes through the lower warehouse plate, the main shaft can provide better support for the rotating bracket and improve the stability of the radar.

[0031] 4) Existing laser radars mostly use relatively complex disc motors to drive the radar rotor, while the present application uses a DC motor to drive the radar rotor. The DC motor has the characteristics of simple structure and low cost, thus reducing the cost and complexity of the laser radar.

[0032] 5) Placing an angle measurement component such as a code disk on the outermost shell close to the laser radar can improve the accuracy of the measured angle, thereby improving the measurement accuracy of the laser radar.

[0033] 6) The driving motor uses a magnet as a rotor and an armature as a stator. The magnet does not need to be powered, and the armature is electrically connected to the transmitting circuit board. The armature is powered by the lower compartment plate, which reduces the power supply pressure of the wireless power supply component.

[0034] The purpose of the present application is also to provide a laser radar and a detection device thereof, in which the extending directions of the transmitting support body and the receiving support body in the laser radar are parallel to each other, that is, they are basically arranged relatively symmetrically, and the positions of the components on the optical path are relatively fixed and the structure is simple, thereby reducing or avoiding alignment and adjustment of the optical path.

[0035] To solve the above technical problems, one aspect of the present application discloses a laser radar detection device, including a lens barrel, a beam emitting device, a transmitting lens assembly, a receiving lens assembly, and a photoelectric processing device;

[0036] The lens barrel comprises a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other;

[0037] The transmitting lens assembly is located inside the transmitting support body and on the optical path of the detection light beam emitted by the light beam emitting device; the receiving lens assembly is located inside the receiving support body and on the optical path of the echo light beam received by the photoelectric processing device.

[0038] It can be understood that the transmitting support body and the receiving support body can be integrated, that is, two support bodies obtained by separating a lens barrel by a light-isolating plate, or they can be two independent support bodies, and the side walls of the support bodies are made of light-isolating material.

[0039] By arranging the transmitting and receiving lens assemblies in a lens barrel whose extension directions are parallel to each other, the emission direction of the detection beam and the incident direction of the echo beam can be made approximately parallel, without the need to turn the beam. The structural arrangement of each optical device is relatively simple, reducing or avoiding alignment and adjustment of the optical path.

[0040] In another aspect of the present application, the light beam emitting device includes a transmitting circuit board, which is located outside the transmitting support body and is arranged at the rear end of the transmitting support body, wherein the rear end of the transmitting support body is the other end opposite to the end of the transmitting support body emitting the detection light beam; the photoelectric processing device includes a receiving circuit board, which is located outside the receiving support body and is arranged at the rear end of the receiving support body, wherein the rear end of the receiving support body is the other end opposite to the end of the receiving support body receiving the echo light beam. The transmitting magnetic shielding member is arranged at the rear end of the transmitting circuit board to shield the electromagnetic signal emitted by the transmitting circuit board; the receiving magnetic shielding member is arranged at the rear end of the receiving circuit board to shield the electromagnetic signal emitted by the receiving circuit board. The transmitting magnetic shielding member and the receiving magnetic shielding member can be two separate components or can be integrated, which is not limited here. It can block the electromagnetic crosstalk between the transmitting circuit board and the receiving circuit board and reduce the noise of the circuit.

[0041] In another aspect of the present application, the front end face of the emitting support body has an emitting hole, and the detection beam is suitable for emitting from the emitting support body through the emitting hole; the front end face of the receiving support body has a receiving hole, and the echo beam is suitable for incident on the receiving support body through the receiving hole; and the lens barrel also includes an emitting light shielding plate and a receiving light shielding plate, the emitting light shielding plate is located outside the end face of the front end of the emitting support body and is perpendicular to the end face of the front end of the emitting support body, and the receiving light shielding plate is located outside the end face of the front end of the receiving support body and is perpendicular to the end face of the front end of the receiving support body. The emitting light shielding plate and the receiving light shielding plate can respectively isolate the detection beam emitted by the emitting hole and the echo beam received by the receiving hole, so as to avoid mutual interference between the detection beam emitted by the emitting hole and the echo beam received by the receiving hole, and reduce noise points in the point cloud map.

[0042] Another aspect of the present application discloses a laser radar, which includes a detection device, a main shaft, an upper warehouse plate, a top cover, and a base;

[0043] The upper storage plate is fixedly arranged relative to the detection device and is located below the support platform of the detection device, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the detection device;

[0044] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base;

[0045] The detection device can rotate 360° around the main axis to achieve scanning in the horizontal direction.

[0046] The laser radar adopts a non-through main shaft structure. A flat platform is formed by compressing and stacking upper and lower warehouse plates, transmitting and receiving circuit boards, main shafts and other components and arranging them at a position slightly below the laser radar. This reduces the space occupied by the main shaft that runs through the entire laser radar from top to bottom. Therefore, the detection device disclosed in various aspects of the present application can be installed on the flat platform for easy use. This design is conducive to independent maintenance and independent upgrading of the detection device and components in the flat platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0048] Figure 1 According to some embodiments of the present application, a cross-sectional schematic diagram of a laser radar is shown;

[0049] Figure 2 According to some embodiments of the present application, a schematic structural diagram of a flattened platform of a laser radar is shown;

[0050] Figure 3 According to some embodiments of the present application, a cross-sectional schematic diagram of a laser radar flattening platform is shown; Figure 3A According to some embodiments of the present application, a schematic diagram of a code disk is shown; Figure 3B A schematic diagram showing uplink communication and downlink communication;

[0051] Figure 4 According to some embodiments of the present application, a schematic structural diagram of a rotating bracket is shown;

[0052] Figure 5 According to some embodiments of the present application, a schematic structural diagram of a main shaft is shown.

[0053] Figure 6 According to some embodiments of the present application, a schematic structural diagram of a laser radar detection device is shown;

[0054] Figure 7 According to some embodiments of the present application, an exploded view of a detection device is shown;

[0055] Fig. 7A According to some embodiments of the present application, a cross-sectional view of a launch support is shown;

[0056] Figure 7B According to some embodiments of the present application, a cross-sectional view of a receiving support is shown;

[0057] Figure 8 According to some embodiments of the present application, a schematic diagram of a light beam emitting device and a photoelectric processing device is shown.

[0058] Fig. 9 According to some embodiments of the present application, a cross-sectional schematic diagram of a laser radar flattening platform is shown;

[0059] Fig.10 According to some embodiments of the present application, a cross-sectional schematic diagram of a laser radar is shown;

[0060] Fig.11 According to some embodiments of the present application, a schematic diagram of the structure of a communication component in a spindle is shown;

[0061] Fig.12 An exploded view of a detection device of a laser radar according to a third aspect of the present application is shown;

[0062] Fig. 12A An exploded schematic diagram of a transmitting lens assembly, a receiving lens assembly, a light beam transmitting device, and a light beam receiving device is shown;

[0063] Fig.13 Schematically shows a schematic diagram of a transmitting lens assembly and a receiving lens assembly;

[0064] Fig.14A A schematic diagram showing a transmitting lens assembly disposed in a groove inside a transmitting support body;

[0065] Fig. 14B A schematic diagram showing a receiving lens assembly disposed in a groove of a receiving support body;

[0066] Fig.15 A schematic diagram of the optical path for laser radar detection is shown;

[0067] Fig.16 The figure shows the change of the optical path of the light beam emitted from one group of emission light sources in the emission optical path after passing through the emission lens assembly;

[0068] Fig.17 The schematic diagram shows the field of view formed by four groups of emitting light sources;

[0069] Fig.18 The scanning line distribution of the field of view formed by four groups of emitting light sources is shown;

[0070] Fig.19 A detection device of a laser radar according to an embodiment of the present application is shown;

[0071] Fig. 20 It is a schematic diagram of the principle of a driving circuit of a signal transmitter for a laser radar in the prior art;

[0072] Fig.21 A schematic diagram of the structure of a transmitting circuit of a laser radar provided in an embodiment of the present application;

[0073] Fig. 22 Another schematic diagram of the structure of the transmitting circuit of the laser radar provided in the embodiment of the present application;

[0074] Fig.23 A schematic diagram of another structure of a transmitting circuit of a laser radar provided in an embodiment of the present application;

[0075] Fig.24 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application;

[0076] Fig.25 A flowchart of a laser radar-based ranging method provided in an embodiment of the present application.

[0077] Fig.26 A schematic diagram of a principle structure of a signal receiver used for laser radar in the prior art;

[0078] Fig. 27 A schematic diagram of a structure of a receiving circuit of a laser radar provided in an embodiment of the present application;

[0079] Fig.28 Another schematic diagram of the structure of a receiving circuit of a laser radar provided in an embodiment of the present application;

[0080] Fig.29 A flowchart of a laser radar ranging method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0082] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0083] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "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, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0084] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0085] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0086] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0087] Illustrative embodiments of the present application include, but are not limited to, a laser radar.

[0088] The present application will use the terms commonly used by those skilled in the art to describe the various aspects of the illustrative embodiments, so that the essence of their work is conveyed to other technicians in the field. However, it is obvious to those skilled in the art that some alternative embodiments can be put into practice using parts of the described aspects. For the purpose of explanation, in order to provide a thorough understanding of the illustrative embodiments, specific numbers, materials and configurations are described. However, it is obvious to those skilled in the art that alternative embodiments can be implemented without specific details. In other cases, in order not to confuse the illustrative embodiments, some well-known features are omitted or simplified.

[0089] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0090] First aspect

[0091] According to some embodiments of the first aspect of the present application, a laser radar is disclosed. Figure 1 This is a schematic diagram of the cross-sectional structure of the laser radar. Figure 2 and Figure 3 The structural schematic diagram and cross-sectional schematic diagram of the flattened platform of the laser radar are shown respectively. Figure 1 As shown, the main axis 2 of the laser radar is located in the lower half of the entire radar, rather than axially passing through the entire laser radar, thereby reducing the space occupied by the main axis passing through the entire radar from top to bottom, facilitating and simplifying the arrangement of the structure of the ranging components above the main axis, etc.

[0092] Specifically, refer to Figure 1 , Figure 2and Figure 3 The laser radar may include a base 1, a main shaft 2, a housing 16, a radar rotor (detection device) 17, a rotating bracket 3, a top cover 15, an upper plate 7, a lower plate 8, a bearing 6, a wireless power supply component, a DC motor, a communication component (not shown), a code disk 13, and a cable interface 14. The main shaft 2 is located in the space formed by the upper plate 7 and the base 1 and is perpendicular to the base 1. Figure 4 and Figure 5 It can be seen from the specific structures of the rotating bracket 3 and the main shaft 2 shown respectively that after the main shaft 2 penetrates the lower warehouse plate 8, the lower end 2B is fixed on the main shaft seat 1A, so the stability of the laser radar can be improved. In addition, the upper end 2A of the main shaft 2 can be sleeved on the hollow first part 3A of the rotating bracket 3. In addition, it can be understood that in other embodiments of the present invention, the main shaft 1 may not be set to pass through the lower warehouse plate 8, but is located on the lower warehouse plate 8, that is, the lower warehouse plate 8 is set below the lower end of the main shaft seat 1A.

[0093] like Figure 4 As shown, the first part 3A of the rotating bracket 3 is perpendicular to the second part 3B of the disk surface structure, and the first part 3A is sleeved on the main shaft 2. The second part 3B is coupled to the radar rotor 17, and, in an exemplary embodiment, the second part 3B includes three rotating sub-brackets 3c, the first end of each rotating sub-bracket 3c is coupled to the first part 3A, and the second end of each rotating sub-bracket 3c is coupled to the edge of the disk surface of the second part 3B. A supporting flange 3d is also provided at the coupling point between the second end of each rotating sub-bracket 3c and the edge of the disk surface, and the protruding direction of the supporting flange 3d is away from the base 1. The radar rotor 17 can be coupled to the rotating bracket 3 through the through hole on the supporting flange 3d, thereby improving the stability of the rotation of the radar rotor 17 part above the main shaft 2 and reducing the impact of the rotation on the service life of the whole machine and the radar imaging quality. It can be understood that the number of rotating sub-brackets can be more than three, and can also be any number greater than three, and the number of supporting flanges can also be any number greater than three. In addition, the rotating bracket may also adopt other structures suitable for being sleeved on the main shaft and supporting the radar rotor, which is not limited here.

[0094] The upper storage plate 7 is arranged at the part closer to the base in the axial direction of the laser radar and is located above the disc surface of the rotating bracket 3. The upper storage plate 7 is fixed relative to the radar rotor 17, that is, the upper storage plate 7 can rotate with the rotating bracket 3, and is mainly used to process various signals output from various devices on the radar rotor 17 and transmitted to various devices on the radar rotor 17. It can be understood that the upper storage plate 7 can also have other functions and other names, and is not limited to this. The lower storage plate 8 is mainly used to process various signals received from various devices on the radar rotor 17 and to be sent to various devices on the radar rotor 17. It can be understood that the lower storage plate 8 can also have other functions or other names, and is not limited to this. It should be noted that since the specific internal structure of the radar rotor 17 is irrelevant to the implementation of the solution to be embodied in this embodiment, as long as the radar rotor 17 can rotate and can complete distance detection, the internal structure of the radar rotor 17 is not shown.

[0095] In a specific implementation, the communication component may include a first communication module and a second communication module, wherein the first communication module is fixed relative to the radar rotor 17 and electrically connected to the upper storage plate 7 , and the second communication module is fixed relative to the main shaft 2 and electrically connected to the lower storage plate 8 .

[0096] In one embodiment of the present invention, the wireless power supply component can be located between the upper warehouse plate 7 and the lower warehouse plate 8, and can specifically include a wireless transmitting coil 12, a wireless receiving coil 11, a transmitting circuit board 10 and a receiving circuit board 9. The wireless transmitting coil 12, the wireless receiving coil 11, the transmitting circuit board 10 and the receiving circuit board 9 are all arranged around the main shaft 2, the wireless transmitting coil 12 and the transmitting circuit board 10 are fixed relative to the main shaft 2, the wireless receiving coil 11 and the receiving circuit board 9 are fixed relative to the radar rotor 17, the wireless transmitting coil 12 and the wireless receiving coil 11 move relative to each other, and are used to supply power to the drive motor and various devices on the radar rotor 17, such as a ranging component arranged in the radar rotor 17 and fixed relative to the radar rotor 17.

[0097] The driving motor is arranged around the main shaft 2, and by driving the rotating bracket 3 to rotate, the radar rotor 17 mounted on the rotating bracket 3 is driven to rotate relative to the main shaft 2 or the base 1. The driving motor here can be a DC motor, and the DC motor includes a magnet 5 and an armature 4, and the magnet 5 and the armature 4 arranged around the main shaft 2 can be interchanged in the functional roles of the stator and rotor. For example, the magnet 5 can be set as a rotor and the armature 4 as a stator. The magnet 5 is sleeved on the outside of the armature 4, and is farther away from the main shaft 2. Since the magnet 5 does not need to be powered, the lower compartment plate 8 is electrically connected to the armature 4 to supply power to the armature 4 in the form of a wired connection, so the power supply pressure of the wireless power supply component can be reduced. It can be understood that in other embodiments of the present invention, the magnet 5 and the armature 4 of the DC motor can also be set in other functional roles. For example, the magnet 5 is coupled to the transmitting circuit board 10 as a motor stator, and the armature 4 is used as a motor rotor, which can be powered by the wireless power supply component. In addition, the driving motor in the present application can also use other types of driving motors, not limited to DC motors. Most existing laser radars use disk motors, which have a complex structure. The laser radar of the present application uses a DC motor, which has the characteristics of simple structure and low cost, so it can reduce the complexity of the laser radar.

[0098] In a specific implementation, a code disk 13 can be used as an angle measurement component, and the code disk 13 is arranged around the main shaft 2, and is farther from the main shaft 2 than the wireless power supply component, that is, the code disk 13 is arranged at the farthest distance from the main shaft 2 in the circumferential direction, close to the peripheral wall of the shell of the base 1. By arranging the code disk 13 at the outermost side, or close to the shell 16, the accuracy of the code disk in measuring the angle can be improved.

[0099] Figure 3A FIG. 1 shows a code wheel 13 according to an embodiment of the present invention. Figure 3A As shown, the code disk 13 is generally in the shape of a ring and can be arranged around the main shaft 2. For example, the code disk 13 has a plurality of regularly distributed gaps or coding marks for the photoelectric element to measure. The code disk 13 can, for example, rotate synchronously with the upper warehouse plate 7 and the radar rotor 17. During its rotation, the photoelectric component (not shown) can, for example, identify or determine the rotation angle of the radar rotor 17 through the gaps or coding marks on the code disk 13, angularly orient the radar rotor 17, and thus determine the angle of the laser radar scanning in the horizontal direction.

[0100] In addition, the cable interface 14 is used to connect the laser radar with other electronic devices, such as other laser radars or electronic devices, so that the signal inside the current laser radar can be transmitted to the outside of the current laser radar, and the cable interface 14 can be waterproof, which can prevent the laser radar from being affected by water when it enters the water, thereby improving the radar's waterproof ability. The working process of the above laser radar is as follows:

[0101] The second communication module sends the ranging instruction information sent by the lower warehouse board 8 to the first communication module, for example, in the form of an optical signal, i.e., the so-called uplink optical signal transmission or uplink communication. The first communication module sends the ranging instruction information to the ranging component arranged inside the radar rotor 17 through the upper warehouse board 7. After receiving the ranging instruction information, the ranging component starts to perform the ranging task;

[0102] The ranging result information generated by the ranging component when performing the ranging task is processed by the upper warehouse board 7 and then sent to the second communication module through the first communication module, for example, in the form of an optical signal, namely the so-called downlink optical signal transmission or downlink communication. The lower warehouse board receives the ranging result information through the second communication module control component and performs relevant analysis and processing on it.

[0103] According to a preferred embodiment of the present invention, in order to avoid crosstalk between uplink and downlink communications, uplink communication and downlink communication use different wavelengths for communication. Compared with uplink communication, downlink communication has a larger amount of transmitted data and a faster speed. According to an example, downlink communication can use a laser of about 904nm as an optical communication transmitting unit, and uplink communication uses LED red light as an optical communication transmitting unit. Figure 3B Schematic diagram of uplink communication and downlink communication is shown, wherein an arrow pointing downward indicates downlink communication, and an arrow pointing upward indicates uplink communication. Figure 3B As shown, for downlink communication, a first optical communication transmitting unit L1, such as a laser with a wavelength of about 904nm, is provided on the upper warehouse plate 7, and a first optical communication receiving unit R1 is provided on the lower warehouse plate 8, which can receive or process optical signals with a wavelength corresponding to the first optical communication transmitting unit L1; for uplink communication, a second optical communication transmitting unit L2, such as a red light LED, is provided on the lower warehouse plate 8, and a second optical communication receiving unit R2 is provided on the upper warehouse plate 7, which can receive or process optical signals with a wavelength corresponding to the second optical communication transmitting unit L2. Therefore, the first communication module includes the first optical communication transmitting unit L1 and the second optical communication receiving unit R2, and the second communication module includes the second optical communication transmitting unit L2 and the first optical communication receiving unit R1. In addition, as Figure 3B As shown, according to a preferred embodiment of the present invention, the first communication module and the second communication module are both arranged inside the main shaft 2 to save space.

[0104] Since the divergence angle of the light emitted by the optical communication transmitting unit of the uplink and downlink communication modules is relatively large, basically one-to-one transmission and reception is sufficient, that is, the first communication module and the second communication module can each include an optical communication transmitting unit and an optical communication receiving unit, so the structure of the communication component is relatively simple. The different wavelengths used for the up and down communications can also reduce interference and improve communication efficiency. In addition, in terms of position, the modules for up and down communications are both set at the axial center position. Specifically, whether on the upper warehouse plate or on the lower warehouse plate, the first communication module and the second communication module are both set at a position relatively close to the center of the circumferential section of the main shaft 2. The communication device itself is not large in size, and the center position of the circumferential section is sufficient to be placed, so the space can be effectively utilized.

[0105] In addition, during the operation of the laser radar, the wireless transmitting coil 12 and the wireless receiving coil 11 rotate relative to each other, and the wireless power supply component can supply power to the distance measuring component disposed in the radar rotor 17, so that the distance measuring component performs the distance measuring task. At the same time, for the code disk 13 for measuring the angle, during the operation of the laser radar, the rotation angle of the radar (that is, the horizontal scanning angle of the radar) is measured.

[0106] Further technical solutions of the present application are summarized in the following examples:

[0107] Embodiment 1: A laser radar, comprising a main shaft, a radar rotor, an upper compartment plate, a top cover and a base;

[0108] The upper storage plate is fixedly arranged relative to the radar rotor, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar;

[0109] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base.

[0110] Embodiment 2: The laser radar according to embodiment 1 further comprises a rotating bracket and a driving motor;

[0111] The rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for being mounted on the main shaft, the second part is a disk surface structure perpendicular to the first part and is suitable for coupling with the radar rotor, the second part includes at least three rotating sub-brackets, the first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disk surface of the second part, and the driving motor is suitable for driving the radar rotor to rotate through the rotating bracket.

[0112] Embodiment 3: According to the laser radar described in Embodiment 2, a support flange is also provided at the coupling point between the second end of each rotating sub-bracket and the edge of the disk surface, and the protruding direction of the support flange is away from the base, and the radar rotor is suitable for coupling with the rotating bracket through the support flange.

[0113] Embodiment 4: The laser radar according to Embodiment 1 or 2 further includes a lower storage plate, which is located between the upper storage plate and the base and is arranged around the main axis.

[0114] Embodiment 5: The laser radar according to embodiment 4 further comprises a wireless power supply component located between the upper compartment plate and the lower compartment plate, wherein the wireless power supply component comprises a wireless transmitting coil, a wireless receiving coil, a transmitting circuit board and a receiving circuit board;

[0115] The wireless transmitting coil, the wireless receiving coil, the transmitting circuit board and the receiving circuit board are all arranged around the main axis;

[0116] The wireless transmitting coil and the transmitting circuit board are fixedly arranged relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixedly arranged relative to the radar rotor;

[0117] The wireless transmitting coil is electrically connected to the transmitting circuit board, and the wireless receiving coil is electrically connected to the receiving circuit board.

[0118] Embodiment 6: According to any one of embodiments 2 to 5, the laser radar further includes a drive motor, wherein the drive motor includes a magnet and an armature, wherein the magnet and the armature are both arranged around the main axis, and the magnet is farther away from the main axis than the armature, and the magnet is coupled to the transmitting circuit board.

[0119] Embodiment 7: According to the laser radar described in any one of Embodiments 2 to 5, the laser radar also includes a drive motor, the drive motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature, and the transmitting circuit board is electrically connected to the armature to supply power to the armature.

[0120] Embodiment 8: According to the laser radar described in any one of Embodiments 2 to 7, the driving motor is a DC motor.

[0121] Embodiment 9: The laser radar according to any one of embodiments 5 to 8 further includes an angle measurement component, which is arranged around the main axis and is farther away from the main axis than the wireless power supply component.

[0122] Embodiment 10: The laser radar according to any one of embodiments 1 to 9 further includes a cable interface, wherein the cable interface is used to connect the laser radar with an external device outside the laser radar.

[0123] Second aspect

[0124] The illustrative embodiments of the second aspect of the present application include but are not limited to a laser radar detection device and a laser radar thereof.

[0125] According to some embodiments of the present application, a laser radar is disclosed. The cross-sectional structure of the laser radar is as follows: Figure 1 As shown, Figure 6 and Figure 7 The structure diagram and exploded diagram of the laser radar detection device are shown. Figure 2 The schematic diagram of the structure of the flat platform of the laser radar is shown. Fig. 9 FIG. 4 shows a cross-sectional schematic diagram of the flattened platform of the laser radar. Figure 1 As shown, the main axis 2 of the laser radar is located in the lower half of the entire radar, rather than axially passing through the entire laser radar, thereby reducing the space occupied by the main axis passing through the entire radar from top to bottom, and facilitating and simplifying the structural setting of the detection device above the main axis.

[0126] Specifically, refer to Figure 1 , Figure 6 , Figure 7 , Figure 2 , Fig. 9 and Fig.10 The laser radar may include a base 1, a main shaft 2, a rotating bracket 3, a supporting platform 18, a detection device (radar rotor) 17, a top cover 15, a shell 16, an upper compartment plate 7, a lower compartment plate 8, a bearing 6, a wireless power supply component (11 and 12), a DC motor, a communication component 19, a code disk 13 and a cable interface 14.

[0127] The main shaft 2 runs through the upper storage plate 7 and the base 1 and is perpendicular to the base 1. The main shaft 2 is a hollow structure, and the communication component 19 is arranged in the main shaft 2. The detection device 17 is located in the space formed by the upper storage plate 7, the top cover 15 and the shell 16. Driven by the DC motor, in one embodiment of the present invention, the upper storage plate 7, the detection device 17 and the shell 16 can rotate 360 ​​degrees around the main shaft 2 together to realize the scanning of the laser radar in the horizontal direction.

[0128] In another embodiment of the present invention, driven by a DC motor, the upper plate 7 and the detection device 17 can also rotate inside the housing 16 to achieve horizontal scanning of the laser radar. It can be understood that in this application, the horizontal direction refers to the direction perpendicular to the main axis 2.

[0129] like Figure 6 and Figure 7 As shown, the detection device 17 includes: a support platform 18 located above the upper warehouse plate 7, and a lens barrel located above the support platform 18 and fixedly arranged relative to the support platform 18, a light beam emitting device 703, an emitting lens assembly, a receiving lens assembly, a photoelectric processing device 704, a light isolation plate 711, an emitting magnetic isolation member 705, and a receiving magnetic isolation member 706. The lens barrel includes an emitting support body 701 and a receiving support body 702 separated by the light isolation plate 711, wherein the extending directions of the emitting support body 701 and the receiving support body 702 are parallel to each other, and the emitting support body 701 and the receiving support body 702 are symmetrically arranged relative to the light isolation plate 711.

[0130] In a specific implementation, the emitting support body 701 and the receiving support body 702 may also be an integrated structure, as long as they can be used to install and fix the emitting lens assembly and the receiving lens assembly. It is understandable that the top cover 15 and the housing 16 may be separate or integrated, and in order to facilitate the emission of the emitting light beam and the reception of the echo light beam, at least a portion of the housing 16 is transparent.

[0131] In the specific implementation, refer to Figure 7 and Figure 7B The front end surface of the emission support body 701 is provided with an emission hole 707 and an emission shading plate 709. The top of the emission support body 701 is provided with a stepped structure 713, which can be used to reduce the weight of the emission support body 701. In addition, the inner wall of the emission support body 701 is provided with a groove 712, and the groove 712 is used to install the emission lens assembly. In detail, the emission lens assembly can include optical devices such as a collimator and a converging lens. Figure 8 The rear end of the emitting support 701 is provided with a light beam emitting device 703, which includes an emitting circuit board 703A and m×n emitting light sources 703B. The m×n emitting light sources 703B are arranged on the emitting circuit board 703A in an interlaced manner along the vertical direction. Figure 8 As shown, for example, 4×16 emitting light sources 703B, every 16 emitting light sources 703B are arranged in a row in the vertical direction. At least one of mn is a natural number greater than 1. When in use, the detection light beam emitted by the multiple emitting light sources 703B passes through the emitting lens group and then emits to the space to be measured through the emitting hole 707, wherein the emitting light shielding plate 709 is perpendicular to the front end surface of the emitting support body 701, and is located on one side of the light isolation plate 711 with the emitting hole 707, which can block the detection light beam from emitting the emitting hole 707 and then enter the receiving hole 708 after being reflected by the housing 16, thereby avoiding interference with the echo light beam received by the receiving hole 708 and reducing the noise points in the scanned point cloud image.

[0132] Similarly, refer to Figure 7 as well as Fig. 7A It can be seen that a receiving hole 708 and a receiving shading plate 710 are provided on the front end face of the receiving support body 702, and a stepped structure 714 is provided on the top of the receiving support body 702, and the stepped structure 714 can be used to reduce the weight of the receiving support body 702. In addition, a groove 712* is provided on the inner wall of the receiving support body 702, and the groove 712* is used to install a receiving lens assembly. In detail, the receiving lens assembly may include optical devices such as a converging lens. A photoelectric processing device 704 is provided on the outside of the rear end of the receiving support body 702, and the photoelectric processing device 704 includes a receiving circuit board 704A and a plurality of photoelectric sensor elements 704B. i×j photoelectric sensor elements 704B are provided on the receiving circuit board 704A, and at least one of i and j is a natural number greater than 1. For example, Figure 8 The receiving circuit board shown has m×n photoelectric sensing elements 704B corresponding to m×n emitting light sources 703B, that is, i=m, j=n. In addition, it can be understood that in other embodiments, the photoelectric sensing elements 704B and the emitting light sources 703B may not have a one-to-one correspondence, for example, they may be a one-to-many relationship or a many-to-one relationship.

[0133] When in use, the echo light beam is incident on the receiving support body 702 through the receiving hole 708, and is converged by the receiving lens assembly and then incident on the photoelectric sensor element 704B on the receiving circuit board 704A, wherein the receiving shading plate 710 is located on the end face of the front end of the receiving support body 702 and is perpendicular to the end face, and the receiving shading plate 710 and the receiving hole 708 are both located on one side of the light isolation plate 711, which can block the detection light beam emitted from the transmitting hole 707 from entering the receiving hole 708 after being reflected by the outer shell 16, thereby avoiding interference with the echo light beam received by the receiving hole 708 and reducing noise points in the scanned point cloud image.

[0134] It can be understood that in the embodiments of the present application, the positions of the various optical devices in the receiving lens assembly and the transmitting lens assembly are fixed inside the receiving support body 702 and the transmitting support body 701, and the positions of the receiving circuit board 704A and the transmitting circuit board 703A can be accurately determined (i.e., located at the rear ends of the receiving support body 702 and the transmitting support body 701), thereby reducing the assembly and adjustment of the entire machine to a certain extent.

[0135] It is understood that in the embodiment of the present application, the photoelectric sensor element 704B and the emitting light source 703B can be arranged in a one-to-one correspondence, or in different quantities, which is not limited here. In addition, in order to facilitate the alignment of the photoelectric sensor element 704B and the emitting light source 703B, one of the photoelectric sensor element 704B and the emitting light source 703B can be fixedly arranged, and the other can be set to be adjustable. In addition, multiple emitting light sources 703B can emit light beams in sequence or simultaneously when working.

[0136] As described above, the positions of the transmitting circuit board 703A and the receiving circuit board 704A can be accurately determined at the rear ends of the transmitting support body 701 and the receiving support body 702, respectively, thereby reducing the assembly and adjustment of the whole machine.

[0137] The transmitting magnetic shielding member 705 is arranged on a side surface of the transmitting circuit board 703A, which side surface is opposite to the rear end of the transmitting support body 701, and the transmitting magnetic shielding member 705 is used to shield the electromagnetic signal generated by the transmitting circuit board 703A; the receiving magnetic shielding member 706 is arranged on a side surface of the receiving circuit board 704A, which side surface is opposite to the rear end of the receiving support body 702, and is used to shield the electromagnetic signal generated by the receiving circuit board 704A.

[0138] Combine the following Figure 2 , Figure 4 , Figure 5 , Fig. 9 The flattened platform of the present application is described. As shown in the figure, after the main shaft 2 penetrates the lower warehouse plate 8, the lower end portion 2B is fixed on the main shaft seat 1A, so the stability of the laser radar can be improved. In addition, the upper end portion 2A of the main shaft 2 can be sleeved on the hollow first portion 3A of the rotating bracket 3. In addition, it can be understood that in other embodiments of the present invention, the main shaft 2 may not be arranged to pass through the lower warehouse plate 8, but may be located on the lower warehouse plate 8, that is, the lower warehouse plate 8 is arranged at the lower end of the main shaft seat 1A.

[0139] like Figure 4As shown, the first part 3A of the rotating bracket is perpendicular to the second part 3B of the disc surface structure, and the first part 3A is sleeved on the main shaft 2. The second part 3B is coupled to the housing 16, and in an exemplary embodiment, the second part 3B includes three rotating sub-brackets 3c, the first end of each rotating sub-bracket 3c is coupled to the first part 3A, and the second end of each rotating sub-bracket 3c is coupled to the edge of the disc surface of the second part 3B. A supporting flange 3d is also provided at the coupling point between the second end of each rotating sub-bracket 3c and the edge of the disc surface, and the protruding direction of the supporting flange 3d is away from the base 1. The upper warehouse plate 7 can be coupled with the rotating bracket 3 through the through hole on the supporting flange 3d, thereby improving the stability of the rotation of the detection device 17 part and reducing the impact of the rotation on the service life of the whole machine and the quality of radar imaging. It can be understood that the number of rotating sub-brackets can be more than three, and can also be any number greater than three, and the number of supporting flanges can also be any number greater than three. In addition, the rotating bracket can also adopt other structures suitable for being sleeved on the main shaft and receiving the upper warehouse plate 7, which are not limited here.

[0140] The upper storage plate 7 is arranged at the part closer to the base in the axial direction of the laser radar, and is located above the disc surface of the rotating bracket 3, and the upper storage plate 7 is fixed relative to the rotating bracket 3, that is, the upper storage plate 7 can rotate with the rotating bracket 3, and is mainly used to process various signals output from various components on the detection device 17 and transmitted to various components on the detection device 17. It can be understood that the upper storage plate 7 can also have other functions and other names, and is not limited to this. The lower storage plate 8 is mainly used to process various signals received from various components on the detection device 17 and to be sent to various components on the detection device 17. It can be understood that the lower storage plate 8 can also have other functions or have other names, and is not limited to this.

[0141] In the specific implementation, Fig.11As shown, the communication component 19 may include a light emitting element 19A and a photoelectric sensor element 19D constituting a first communication module, and a light emitting element 19C and a photoelectric sensor element 19B constituting a second communication module. The light emitting element 19A and the photoelectric sensor element 19D of the first communication module are fixedly arranged relative to the rotating bracket 3 and are electrically connected to the upper bin plate 7, and the light emitting element 19C and the photoelectric sensor element 19B of the second communication module are fixedly arranged relative to the main shaft 2 and are electrically connected to the lower bin plate 8. The wavelength of the light beam emitted by the light emitting element 19A is different from the wavelength of the light beam emitted by the light emitting element 19C. Specifically, the light emitting element 19C emits a light beam with a wavelength of λ1, and the light emitting element 19C and the photoelectric sensor element 19D can use the light beam with a wavelength of λ1 for uplink communication, that is, to transmit some instruction information of the lower warehouse board 8 to the upper warehouse board 7; while the light emitting element 19A emits a light beam with a wavelength of λ2, and the light emitting element 19A and the photoelectric sensor element 19B can use the light beam with a wavelength of λ2 for downlink communication, that is, to transmit some information detected by the detection device 17 to the lower warehouse board 8 through the upper warehouse board 7. Since the laser radar sets the main shaft 2 below the detection device, and there are many devices in the flattened platform, setting the communication component 19 in the hollow main shaft 2 can effectively save space in the flattened platform and facilitate the placement of other devices in the platform.

[0142] It can be understood that in practical applications, it can be set Fig.11 Communication components with different numbers of light emitting elements and photoelectric sensing elements are not limited here. For example, considering that the amount of downlink data transmission is greater than the amount of uplink data transmission, the number of light emitting elements in the second communication module can be set to be greater than the number of light emitting elements set on the first communication module. It can be understood that the light emitting element can be any device that can emit light, including but not limited to laser diodes, light emitting diodes, organic light emitting diodes, laser transmitters, etc. Photoelectric sensing element refers to any sensor that can perform photoelectric information conversion, including but not limited to phototubes, photomultiplier tubes, photoresistors, photodiodes, phototransistors, photocells, avalanche diodes, etc.

[0143] In one embodiment of the present invention, the wireless power supply component can be located between the upper warehouse plate 7 and the lower warehouse plate 8, and can specifically include a wireless transmitting coil 12, a wireless receiving coil 11, a transmitting circuit board 10 and a receiving circuit board 9. The wireless transmitting coil 12, the wireless receiving coil 11, the transmitting circuit board 10 and the receiving circuit board 9 are all arranged around the main shaft 2, the wireless transmitting coil 12 and the transmitting circuit board 10 are fixed relative to the main shaft 2, the wireless receiving coil 11 and the receiving circuit board 9 are fixed relative to the rotating bracket 3, the wireless transmitting coil 12 and the wireless receiving coil 11 move relative to each other, and are used to supply power to the drive motor and the detection device 17.

[0144] The driving motor is arranged around the main shaft 2, and by driving the rotating bracket 3 to rotate, the housing 16, the detection device 17, and the upper storage plate 7 on the rotating bracket 3 are driven to rotate relative to the main shaft 2 or the base 1. The driving motor here can be a DC motor, and the DC motor includes a magnet 5 and an armature 4, and both are arranged around the main shaft 2. Referring to Figure 9, the magnet 5 is arranged around the main shaft 2 and is fixedly connected to the rotating bracket 3. The armature 4 is also arranged around the main shaft 2. The armature 4 is formed by winding a coil around a silicon steel sheet, so the cross-section of the armature 4 is similar to a cross shape, and there is a certain gap between the armature 4 and the magnet 5. In addition, the armature fixing ring 41 is arranged around the main shaft 2, and is respectively connected to the armature 4 and the wireless power supply transmitting plate 10 to fix the armature 4 to the wireless power supply transmitting plate 10. The magnet 5 and the armature 4 can be interchanged in the functional role as a stator and rotor, for example, the magnet 5 can be set as a rotor and the armature 4 as a stator. The magnet 5 is sleeved on the outside of the armature 4, and is relatively farther from the main shaft 2. Since the magnet 5 does not need to be powered, the lower compartment plate 8 is electrically connected to the armature 4 to supply power to the armature 4 in the form of a wired connection, so the power supply pressure of the wireless power supply component can be reduced. It can be understood that in other embodiments of the present invention, the magnet 5 and the armature 4 of the DC motor can also be set in other functional roles. For example, the magnet 5 is coupled to the transmitting circuit board 10 as a motor stator, and the armature 4 is used as a motor rotor, which can be powered by a wireless power supply component. In addition, the drive motor in the present application can also adopt other types of drive motors, not limited to DC motors. Existing laser radars mostly use disc motors, and the structure of disc motors is complex, while the laser radar of the present application uses a DC motor, which has the characteristics of simple structure and low cost, so the complexity of the laser radar can be reduced.

[0145] In a specific implementation, a code disk 13 can be used as an angle measurement component. The code disk 13 is arranged around the main shaft 2 and is farther from the main shaft 2 than the wireless power supply component. That is, the code disk 13 is arranged at the farthest distance from the main shaft 2 and close to the peripheral wall of the shell of the base 1. By arranging the code disk at the outermost side close to the shell, the accuracy of the code disk in measuring the angle can be improved. Figure 3A As shown, no further description is given here.

[0146] In addition, the cable interface 14 is used to connect the laser radar with other electronic devices, such as other laser radars or electronic devices, so that the signal inside the current laser radar can be transmitted to the outside of the current laser radar, and the cable interface 14 can be waterproof, which can prevent the laser radar from being affected by water when it enters the water, thereby improving the waterproof ability of the radar.

[0147] The working process of the above-mentioned laser radar is as follows:

[0148] The light emitting element 19C sends the detection instruction information issued by the lower warehouse plate 8 to the photoelectric sensor element 19D in the form of an optical signal, which is the so-called uplink optical signal transmission or uplink communication. After the photoelectric sensor element 19D performs photoelectric conversion on the detection instruction information, it sends the detection instruction information to the detection device 17 through the upper warehouse plate 7. After receiving the detection instruction information, the detection device 17 starts the detection task; specifically, after receiving the detection instruction information, the transmitting circuit board 703A controls multiple transmitting light sources 703B to emit detection light beams to the space to be tested, and the photoelectric sensor element 704B on the receiving circuit board 704A receives the echo light beam incident from the receiving hole 708 and performs photoelectric conversion to generate detection result information.

[0149] The detection result information is processed by the upper warehouse board 7 and then sent to the photoelectric sensor element 19B in the form of an optical signal through the light emitting element 19A, which is the so-called downlink optical signal transmission. The photoelectric sensor element 19B performs photoelectric conversion on the detection result information and sends it to the lower warehouse board. The lower warehouse board sends the received detection result information to the control component so that the control component can perform relevant analysis and processing on the detection result information.

[0150] According to a preferred embodiment of the present invention, uplink communication and downlink communication use different wavelengths for communication. Compared with uplink communication, downlink communication has a larger amount of transmitted data and a faster speed. According to an example, downlink communication can use a laser of about 904nm as an optical communication transmitting unit, and uplink communication uses LED red light as an optical communication transmitting unit. The specific structures of uplink communication and downlink communication are similar to Figure 3B The above is similar to that shown in the figure and will not be repeated here.

[0151] In addition, during the operation of the above-mentioned laser radar, the wireless transmitting coil 12 and the wireless receiving coil 11 rotate relative to each other, and the wireless power supply component can supply power to the detection device 17 so that the detection device 17 performs the detection task. At the same time, for the code disk 10 for measuring the angle, the rotation angle of the radar is measured during the operation of the laser radar.

[0152] The through-spindle setting of the existing laser radar requires that the transmitting and receiving optical paths need to be equipped with reflectors to avoid the spindle, while the non-through-spindle structure of the present application forms a flat platform at the bottom of the laser radar, and there is no problem of light path blocking caused by the spindle, and no reflectors are required to fold the light path, that is, the transmitting and receiving optical paths can be basically arranged in parallel. For example, for the above-mentioned 4×16 transmitting light sources 703B and the corresponding 4×16 photoelectric sensor elements 704B, two sets of reflectors can be eliminated, and the multi-line laser radar can achieve the complex adjustment process without the one-to-one correspondence between the transmitting and receiving beams, thereby reducing the optical adjustment or eliminating the optical adjustment.

[0153] Further technical solutions of the present application are summarized in the following examples:

[0154] Embodiment 1 may include a laser radar detection device, including a lens barrel, a light beam emitting device, a transmitting lens assembly, a receiving lens assembly, and a photoelectric processing device;

[0155] The lens barrel comprises a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other;

[0156] The emission lens assembly is located inside the emission support body and on the optical path of the detection light beam emitted by the light beam emitting device;

[0157] The receiving lens assembly is located inside the receiving support body and on the optical path of the echo light beam received by the photoelectric processing device.

[0158] Example 2 may include the detection device of the laser radar described in Example 1, and the detection device also includes a light-isolating plate, which is arranged between the emitting support body and the receiving support body and is parallel to the extension direction of the emitting support body and the receiving support body.

[0159] Embodiment 3 may include the detection device of the laser radar described in Embodiment 1 or 2, wherein the light beam emitting device includes a transmitting circuit board, and the transmitting circuit board is located outside the transmitting support body and is arranged at the rear end of the transmitting support body, wherein the rear end of the transmitting support body is the other end opposite to the end of the transmitting support body from which the detection light beam is emitted;

[0160] The photoelectric processing device includes a receiving circuit board, which is located outside the receiving support body and arranged at the rear end of the receiving support body, wherein the rear end of the receiving support body is the other end opposite to the end of the receiving support body receiving the echo light beam.

[0161] Embodiment 4 may include a detection device of the laser radar described in any one of embodiments 1 to 3, wherein the detection device further includes:

[0162] A transmitting magnetic shielding member, disposed at the rear end of the transmitting circuit board, for shielding electromagnetic signals generated by the transmitting circuit board; and

[0163] The receiving magnetic shielding member is arranged at the rear end of the receiving circuit board and is used for shielding the electromagnetic signal generated by the receiving circuit board.

[0164] Embodiment 5 may include the detection device of the laser radar described in any one of embodiments 1 to 4, wherein the light beam emitting device further includes an emitting light source, and the photoelectric processing device further includes a photoelectric sensor element, wherein:

[0165] m×n emitting light sources are arranged on the emitting circuit board; and

[0166] i×j photoelectric sensing elements are arranged on the receiving circuit board;

[0167] Wherein, m, n, i, and j are natural numbers greater than 1.

[0168] Embodiment 6 may include the detection device of the laser radar described in any one of embodiments 1 to 5, wherein the front end face of the emitting support body has an emitting hole, and the detection light beam is suitable for being emitted from the emitting support body through the emitting hole; the front end face of the receiving support body has a receiving hole, and the echo light beam is suitable for being incident on the receiving support body through the receiving hole; and

[0169] The lens barrel also includes an emitting shading plate and a receiving shading plate. The emitting shading plate is located outside the end surface of the front end of the emitting support body and is perpendicular to the end surface of the front end of the emitting support body. The receiving shading plate is located outside the end surface of the front end of the receiving support body and is perpendicular to the end surface of the front end of the receiving support body.

[0170] Embodiment 7 may include the detection device of the laser radar described in any one of Embodiments 1 to 6, wherein at least one groove is provided on the inner wall of the emission support body for fixing the emission lens assembly; and

[0171] At least one groove is provided on the inner wall of the receiving support body for fixing the receiving lens assembly.

[0172] Example 8 may include the detection device of the laser radar described in Example 1, the detection device also includes a supporting platform, the lens barrel, beam emitting device, transmitting lens assembly, receiving lens assembly, and optoelectronic processing device are located above the supporting platform and fixedly arranged relative to the supporting platform.

[0173] Embodiment 9 may include a laser radar, the laser radar including: the detection device as described in embodiment 8, a main shaft, an upper storage plate, a top cover, and a base;

[0174] The upper storage plate is fixedly arranged relative to the detection device and is located below the support platform of the detection device, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the detection device;

[0175] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base;

[0176] The detection device can be rotated 360° in a horizontal direction relative to the main axis.

[0177] Embodiment 10 may include the laser radar described in embodiment 9, wherein the laser radar further includes a rotating bracket and a driving motor;

[0178] The rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for being mounted on the main shaft, the second part is a disc surface structure perpendicular to the first part and is suitable for supporting the supporting platform, the second part includes at least three rotating sub-brackets, the first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disc surface of the second part, and the driving motor is suitable for driving the supporting platform to rotate through the rotating bracket.

[0179] Embodiment 11 may include the laser radar described in Embodiment 9 or 10, and further include a housing, wherein the housing is located above the base and connected to the periphery of the supporting platform of the detection device.

[0180] Embodiment 12 may include the laser radar described in embodiment 10, wherein the laser radar further includes a communication component;

[0181] The main shaft is configured as a hollow structure, and the communication component is disposed inside the main shaft.

[0182] Embodiment 13 may include the laser radar of embodiment 12, wherein the communication component includes a first communication module and a second communication module, the first communication module is fixed relative to the detection device, and the second communication module is fixed relative to the base;

[0183] The first communication module includes at least one light emitting element, and the second communication module includes at least one photoelectric sensing element. The at least one photoelectric sensing element of the second communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the first communication module.

[0184] Embodiment 14 may include the laser radar described in Embodiment 13, wherein the second communication module further includes at least one light emitting element, the first communication module further includes at least one photoelectric sensing element, and the at least one photoelectric sensing element of the first communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the second communication module.

[0185] Embodiment 15 may include the laser radar described in Embodiment 14, wherein the wavelength of the light beam emitted by the at least one light emitting element of the first communication module is different from the wavelength of the light beam emitted by the at least one light emitting element of the second communication module.

[0186] The third aspect

[0187] The illustrative embodiments of the third aspect of the present application include but are not limited to a laser radar detection device and a laser radar thereof. The third aspect of the present application is mainly based on the above-mentioned second aspect, so in the following description, the differences from the second aspect will be described in detail, and the same or similar aspects will not be repeated.

[0188] Fig.12 The detection device (radar rotor) 17 of the laser radar according to the third aspect of the present application is shown, which is arranged, for example, at Figure 1 The housing 16 is shown. Fig.12 and Figure 7 The structures shown are similar, with the addition of a transmitting lens assembly 715 and a receiving lens assembly 716. Each is described in detail below.

[0189] like Fig.12 As shown, the transmitting support body 701 and the receiving support body 702 are basically symmetrical structures, and the two are arranged on the supporting platform 18. The supporting platform 18 is, for example, roughly circular, so the junction of the transmitting support body 701 and the receiving support body 702 (such as the position of the light-isolating plate 711) can be roughly located on a diameter of the supporting platform 18, so as to evenly distribute the weight of the detection device 17 on the supporting platform 18 as much as possible, and minimize the imbalance that may be generated during high-speed rotation.

[0190] like Fig.12 As shown, the emission lens assembly 715 includes, for example, a plurality of lenses, which are arranged in a groove 712 inside the emission support body 701 (eg, Figure 7B As shown). The emission lens assembly 715 may include, for example, optical devices such as a collimator and a converging lens. A light beam emitting device 703 is disposed at the rear end of the emission support 701. When in use, the detection light beam emitted by the light beam emitting device 703 is modulated and shaped by the emission lens assembly 715 and then emitted to the space to be measured through the emission hole 707.

[0191] like Fig.12 As shown, the receiving lens assembly 716 may include, for example, a plurality of lenses disposed in a groove 712* of the receiving support body 702 (eg, Fig. 7A The receiving lens assembly 716 includes, for example, an optical device such as a converging lens. When in use, the echo light beam is incident on the receiving support body 702 via the receiving hole 708, and is then incident on the photoelectric sensor element 704B on the receiving circuit board 704A after being converged by the receiving lens assembly 716. Fig. 12A An exploded schematic diagram of the emitting lens assembly 715, the receiving lens assembly 716, the light beam emitting device 703, and the light beam receiving device 704 is shown.

[0192] Fig.13 A schematic diagram of a transmitting lens assembly 715 and a receiving lens assembly 716 is schematically shown. Fig.14A FIG. 7 is a schematic diagram showing that the emission lens assembly 715 is disposed in the groove 712 inside the emission support body 701. Fig. 14B A schematic diagram showing a receiving lens assembly 716 disposed in a groove 712 * of a receiving support body 702 is shown.

[0193] refer to Fig.13 , Fig.14A and Fig. 14B As shown, the emitting lens assembly 715 includes two plano-convex lenses (preferably plano-convex lenses of the same specifications, i.e., lenses 715c and 715d), a symmetrical biconvex lens (i.e., lens 715b) and an aperture (close to the emitting hole 707, i.e., lens 715a); the receiving lens assembly 716 includes lenses 716a, 716b and 716c, and also includes a filter (i.e., filter 716d) on the side away from the receiving hole 708 for filtering out stray light. According to one embodiment of the present application, the emitting lens assembly 715 is a telecentric lens group, wherein lens 715d is disposed close to the light beam emitting device 703, can receive the laser beam from the light beam emitting device 703, and after deflection, the light beam is incident on other lens assemblies, such as a collimating lens, configured to collimate and emit the deflected laser beam.

[0194] In addition, according to a preferred embodiment of the present invention, the lens 716d closest to the beam receiving device 704 in the receiving lens assembly 716 and the lens 715d closest to the beam emitting device 703 in the emitting lens assembly 715 are located in the middle of the supporting platform, and the two are approximately located on the same plane, and the connecting line of the two or the center of gravity of the whole passes through the center of the circle of the supporting platform 18. Generally, the size and weight of the lens 716d and the lens 715d are relatively large, so arranging the two in the middle of the supporting platform is conducive to reducing the rotational inertia of the detection device 17 when rotating at high speed.

[0195] In addition Figure 7 Similarly, the stepped structure 713 arranged on the outer end of the launching support body 701 and the stepped structure 714 arranged on the outer end of the receiving support body 702 can reduce the weight of the launching support body 701 and the receiving support body 702. At the same time, since the stepped structure is located at the outer end, the rotational inertia of the detection device 17 during high-speed rotation can also be reduced.

[0196] Figure 8 It is shown that the light beam emitting device 703 includes four groups of emitting light sources 703B, each group of 16 emitting light sources 703B, for example, arranged in a row in the vertical direction; the light beam receiving device 704 also includes four groups of photoelectric sensor elements 704B, each group of 16 photoelectric sensor elements 704B are preferably arranged in a row in the vertical direction. Fig.15A schematic diagram of the optical path for laser radar detection is shown, in which the transmitting lens assembly and the receiving lens assembly are omitted for clarity.

[0197] Fig.15 In , OB represents the object to be detected. Fig.15 As shown, after a part of the light beam emitted from the emitting light source 703B is incident on the object to be detected OB (the square on the object to be detected OB represents the light spot generated by the light beam from the emitting light source 703B on the object to be detected OB), diffuse reflection is generated, and part of the light beam is reflected back to the photoelectric sensor element 704B. For example, the emitted light beam 190at is incident on the object to be detected OB to generate a light spot a, and the diffuse reflection part of the light beam 190ar is received by one of the receiving units of the photoelectric sensor element 704B. For another example, the emitted light beam 190bt is incident on the object to be detected OB to generate a light spot b, and the diffuse reflection part of the light beam 190br is received by another receiving unit of the photoelectric sensor element 704B. The signal generated by the photoelectric sensor element 704B is subjected to signal processing such as amplification and filtering, and then further processed to obtain the distance, direction and other parameters of the object to be detected OB. It should be noted that the number of transmitting and receiving units in the present application can have various corresponding relationships, such as one-to-one correspondence, one transmitting unit can correspond to multiple receiving units, or multiple transmitting units can correspond to one receiving unit. In addition, the relative relationship of the positions of the transmitting and receiving units that basically correspond to each other is consistent, such as the transmitting unit of the emitting light beam 190at is located at a relatively bottom position of the column formed by the entire emitting light source 703B, and the receiving unit of the receiving light beam 190ar is basically located at a relatively bottom position of the column formed by the entire photoelectric sensor element 704B. The transmitting unit of the emitting light beam 190bt is located at a relatively top position of the column formed by the entire emitting light source 703B, and the receiving unit of the receiving light beam 190br is basically located at a relatively top position of the column formed by the entire photoelectric sensor element 704B.

[0198] Fig.16 It shows the change of the optical path of a light beam emitted from a group of emission light sources 703B after passing through the emission lens assembly. Fig.17 The field of view formed by four groups of emission light sources 703B is schematically shown. Fig.17 The yellow, red, green and blue colors in the figure correspond to the emitted lights of the four groups of emitting light sources 703B, respectively. Fig.16 The purple light in Fig.17 The red light on the right side of the image. Fig.17 As shown, the longitudinal field of view of the laser radar detection device 17 is about 106°. At the center of the field of view, the angular resolution is the smallest, which is 1.5°, and at the edge of the field of view, the angular resolution is the largest, which is 2.3°. The average angular resolution of the entire field of view is about 1.7°. The scanning line distribution is as follows: Fig.18 shown.

[0199] Fig.19 FIG. 1 shows a laser radar detection device 17 according to an embodiment of the present application. Figure 6 The structure, Fig.19 In the detection device 17 in the embodiment, an optical fiber 717 is arranged in front of the emission hole 707 to scatter a part of the emitted light energy or light beam, so as to provide a supplementary solution for the near-field detection blind area, thereby not increasing the background noise of the detector. Specifically, the optical fiber 717 can be arranged at a relatively outer position from the center of the emission hole 707, so as to avoid too much of the emitted light beam being scattered by the optical fiber 717. This method of near-field detection blind area compensation is particularly advantageous in the case where the photoelectric sensor element 704B adopts a SiPM detector. The power response lower limit of the SiPM detector is very low, and it is usually necessary to avoid using a method of supplementing the lateral field of view of the receiving end to supplement the blind area. Therefore, a blind area supplementary solution is designed at the emission front end to scatter a part of the light energy into the receiving line of sight through a single optical fiber, thereby not increasing the background noise of the detector. By adding the optical fiber 717, the blind area can be shortened from 0.4m to 0.01m.

[0200] The fourth aspect

[0201] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The fourth aspect of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0202] Please refer to Fig. 20 , which shows Fig. 20 The figure is a schematic diagram of a single-line signal transmission circuit of a laser radar in the prior art.

[0203] like Fig. 20 As shown, the single-line signal transmission circuit 100 of the laser radar includes: a switching device driver 101, a switching device 102, a light-emitting device 103 and an energy storage capacitor 104. Among them, the input end of the switching device driver 101 inputs a pulse signal. The output of the switching device driver 101 is electrically connected to the switching device 102. The switching device 102 can be a switching transistor. The output end of the switching device driver 101 can be electrically connected to the gate of the switching transistor 102. The source of the switching transistor is connected to the ground. The positive electrode of the light-emitting device 103 is electrically connected to the high-level signal line (HV), and the negative electrode of the light-emitting device is electrically connected to the drain of the switching transistor 102. In addition, the energy storage capacitor 104 is used as an energy storage element, one end of which inputs a high-level signal and the other end is connected to the ground. In addition, one end of the energy storage capacitor that inputs a high-level signal is electrically connected to the input end of the light-emitting device 103.

[0204] When the voltage of the pulse signal output by the switching device driver 101 is greater than the turn-on voltage of the switching transistor 102, the drain and source of the switching transistor 102 are connected, and the current flows from the high voltage signal line through the light emitting device 103, the drain and source of the switching transistor 102, so that the light emitting device 103 emits a transmittable light signal. The strength of the light signal can be controlled by the magnitude of the signal voltage output by the high level signal line HV. In addition, the duration of the light signal emitted by the light emitting device 103 can be controlled by the pulse signal output by the switching device driver 101.

[0205] A multi-line laser radar usually includes multiple light-emitting devices. In the prior art, a switch device driver is provided for each light-emitting device. This is not conducive to reducing the size of the laser radar. Secondly, due to the high cost of the switch device driver, the cost of the multi-line laser radar is also high.

[0206] In order to solve the above problems, the present application adopts a signal distributor in the transmitting circuit of the laser radar, so as to use fewer switch device drivers to drive more switch devices, thereby reducing the number of devices included in the transmitting circuit of the laser radar, which is conducive to reducing the size of the laser radar. In addition, since the cost of the signal distributor is lower than that of the switch device driver, the cost of the laser radar can be reduced, which is conducive to further promotion of the laser radar.

[0207] Please refer to Fig.21 , Fig.21 A structural schematic diagram 160 of a transmitting circuit of a laser radar provided in an embodiment of the present application is shown.

[0208] like Fig.21 As shown, the transmitting circuit 200 of the laser radar includes a control signal generator 201, a switching device driver 202, a first signal distributor 203, a plurality of switching devices 204 and a plurality of light-emitting devices 205.

[0209] In this embodiment, the number of the light emitting devices 205 may be any integer greater than 1, such as 16, 26, 32, 64, etc.

[0210] The number of the switch devices 204 may be equal to the number of the light emitting devices. Each switch device 204 corresponds to each light emitting device 205 one by one.

[0211] The switching device driver 202 is adapted to drive the switching device 204 .

[0212] The output end of the control signal generator 201 is electrically connected to the input end of the switch device driver 202. The output end of the switch device driver 202 is electrically connected to the signal input end of the first signal distributor 203. The first signal distributor 203 includes a plurality of output ends. Each output end of the first signal distributor 203 corresponds to a switch device 204 one-to-one. Each output end of the first signal distributor 203 is electrically connected to the input end (e.g., the gate of the switch transistor) of the switch device 204 corresponding to the output end. Each switch device 204 corresponds to a light-emitting device 205 one-to-one. For each switch device 204, the drain of the switch device 204 is electrically connected to the negative electrode of the light-emitting device 205 corresponding to the switch device 204, and the positive electrode of the light-emitting device 205 corresponding to the switch device 204 is electrically connected to the high-level signal line (HV).

[0213] The control signal generator 201 is used to generate a trigger signal. Generally, the positive amplitude and negative amplitude of the trigger signal may not match the turn-on voltage and pinch-off voltage of the switch device.

[0214] The function of the switch device driver 202 is to turn on the switch device 204 under the trigger of the trigger signal generated by the control signal generator 201. The width of the pulse output by the switch device driver 202 is used to control the conduction time of the switch device 204, thereby controlling the duration of the light signal emitted by the light emitting device. The signal output by the switch device driver 202 can control the conduction and shutdown of the switch device 204.

[0215] In some application scenarios, the above-mentioned switch device driver can be a GaN switch device driver. The GaN switch device driver is simple in design and can achieve an extremely fast propagation delay of 2.5 nanoseconds and a minimum pulse width of 1 nanosecond. The use of the GaN switch device driver makes the control signal of the switch device more accurate. It can be used to control various switch devices.

[0216] The first signal distributor 203 includes a signal input terminal, multiple output terminals, and at least one address selection signal input terminal. The number of output terminals of the first signal distributor 203 can match the number of light-emitting devices 205 used by the transmitting circuit of the laser radar. The number of output terminals of the first signal distributor 203 can be greater than or equal to the number of the above-mentioned light-emitting devices 205. The address selection signal can be input to at least one address selection signal input terminal of the first signal distributor 203. The output terminal corresponding to the address selection signal can be determined according to the address selection signal. The first signal distributor 203 can transmit the pulse signal input to the first signal distributor 203 and converted by the switch device driver to the output terminal determined by the address selection signal.

[0217] In this embodiment, the switch device 204 may be various types of switch transistors, such as silicon-based field effect transistors, silicon-based MOS transistors, and the like.

[0218] In some application scenarios, the switching device 204 may be a GaN switching device, such as a silicon-based GaN field effect transistor, a GaN-based field effect transistor, etc.

[0219] GaN switching devices have the advantages of high temperature resistance, easy integration, and fast response speed, and are suitable as switching devices for multi-line lidar.

[0220] Corresponding to these application scenarios, the switching device driver 202 may be a GaN switching device driver.

[0221] The above-mentioned light-emitting device 205 can be various light-emitting devices. In some application scenarios, the above-mentioned light-emitting device can be an inorganic semiconductor light-emitting device, such as a semiconductor light-emitting diode (Light Emitting Diode, LED), a vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, Vcsel), an edge emitting laser (Edge Emitting Lasers, EEL), etc.

[0222] In this embodiment, the number of switch device drivers 202 may be one. The number of output terminals of the first signal distributor 203 may match the number of switch devices 204. In this way, all switch devices can be driven by one switch device driver. Compared with providing a corresponding switch device driver for each switch device 204, the number of switch device drivers in the above embodiment is greatly reduced. On the one hand, the cost of the laser radar's transmitting circuit can be reduced; on the other hand, the number of devices used in the laser radar's transmitting circuit can be reduced, thereby reducing the volume occupied by the laser radar's transmitting circuit.

[0223] Please refer to Fig. 22 , Fig. 22 Another structural schematic diagram 260 of the transmitting circuit of the laser radar provided in an embodiment of the present application is shown.

[0224] like Fig. 22 As shown, the transmitting circuit 300 of the laser radar includes a control signal generator 301, at least two switching device drivers 302, at least two first signal distributors 303, multiple switching devices 304 and multiple light-emitting devices 305, and a second signal distributor 306.

[0225] In this embodiment, the number of the light emitting devices 305 may be any integer greater than 1, such as 16, 26, 32, 64, etc.

[0226] The number of the switch devices 304 may be equal to the number of the light emitting devices. Each switch device 304 corresponds to each light emitting device 305 one by one.

[0227] The switching device driver 302 is adapted to drive the switching device 304. The number of the switching device drivers 302 is greater than or equal to 2. The number of the switching device drivers 302 may be equal to the number of the first signal distributors 303. Each switching device driver 302 corresponds to each first signal distributor 303 one by one.

[0228] The connection relationship between the switch device 304 and the light emitting device 305 can be referred to Fig.21 The description of the illustrated embodiment is not repeated here.

[0229] In this embodiment, the number of the first signal distributors 303 may be greater than or equal to 2.

[0230] Each first signal distributor 303 may include a signal input terminal, at least one address selection signal input terminal, and at least two output terminals. The sum of the number of output terminals of the at least two first signal distributors 303 may match the number of switch devices 304. For example, the sum of the number of output terminals of each first signal distributor 303 is equal to the number of switch devices 304. Each switch device 304 may correspond one-to-one to one output terminal of a first signal distributor 303.

[0231] For each first signal distributor 303, the signal input terminal of the first signal distributor 303 is electrically connected to the signal output terminal of the switch device driver 302 corresponding to the first signal distributor 303; the address selection signal input terminal is electrically connected to the address selection signal line. For each output terminal of the first signal distributor 303, the output terminal is electrically connected to the input terminal of the switch device 304 corresponding to the output terminal.

[0232] The control signal generator 301 and the at least two switch device drivers 302 are electrically connected via the second signal distributor 306 .

[0233] The second signal distributor 306 includes a first input terminal, at least one second input terminal and at least two first output terminals; wherein the first input terminal is electrically connected to the control signal output terminal of the control signal generator 301. At least one second input terminal is electrically connected to the first address selection signal line. The number of first address selection signal lines can be greater than or equal to 1. At each moment, a first output terminal of the second signal distributor 306 can be determined according to the signal transmitted on each first address selection signal line. Each first output terminal can be electrically connected to an input terminal of a switch device driver corresponding to the first output terminal. In this embodiment, each switch device driver 302 corresponds to each first output terminal one by one.

[0234] The number of output terminals of each first signal distributor 303 may be less than Fig. 22 The number of switching devices used in the transmitting circuit 300 of the laser radar is shown.

[0235] The number of the first output terminals of the second signal distributor 306 may be Fig. 22 The number of the switch device drivers 302 used in the transmitting circuit 300 of the laser radar shown matches. For example, the number of the first output terminals of the second signal distributor 306 can be equal to the number of the switch device drivers 302 used in the transmitting circuit 300 of the laser radar.

[0236] For example, the number of light emitting devices 305 is 64. The number of first output terminals of the second signal distributor 306 may be 2, and the number of output terminals of the first signal distributor may be 32. Alternatively, the number of first output terminals of the first signal distributor is 4, and the number of output terminals of the first signal distributor may be 16. Alternatively, the number of first output terminals of the second signal distributor is 8, and the number of output terminals of the first signal distributor is 8, etc.

[0237] The laser radar transmitting circuit provided in this embodiment achieves the purpose of reducing the number of switch device drivers for driving multiple switch devices by setting the first signal distributor and the second signal distributor in the laser radar transmitting circuit, which can reduce the cost of the laser radar transmitting circuit and help reduce the size of the transmitting circuit.

[0238] Please refer to Fig.23 , Fig.23 Another structural schematic diagram 400 of the transmitting circuit of the laser radar provided in an embodiment of the present application is shown.

[0239] In this embodiment, the transmitting circuit 400 of the laser radar includes a control signal generator 401, at least two switching device drivers 402, at least two first signal distributors 403, multiple switching devices 404 and multiple light-emitting devices 405, and at least two third signal distributors 406.

[0240] In this embodiment, the number of the light emitting devices 405 may be any integer greater than 1, such as 16, 26, 32, 64, etc.

[0241] The number of the switch devices 404 may be equal to the number of the light emitting devices 405. Each switch device 404 corresponds to each light emitting device 405 one by one.

[0242] The switching device driver 402 is adapted to drive the switching device 404. The number of the switching device drivers 402 is greater than or equal to 2. The number of the switching device drivers 402 may be equal to the number of the first signal distributors 403. Each switching device driver 402 corresponds to each first signal distributor 403 one by one.

[0243] The connection relationship between the switch device 404 and the light emitting device 405 can be referred to Fig.21 The description of the embodiment shown is not repeated here. The connection relationship between the first signal distributor 403 and the switch driver can be referred to Fig. 22 The description of the illustrated embodiment will not be repeated here.

[0244] In this embodiment, the third signal distributor 406 includes a third input terminal, at least one fourth input terminal, and at least two second output terminals.

[0245] The control signal generator 401 may include at least two groups of control signal output terminals. Of the at least two groups of control signal output terminals of the control signal generator, only one group of control signal output terminals is in an effective working state at each moment. Each group of control signal output terminals corresponds to a third signal distributor one by one. A group of control signal output terminals of the control signal generator 401 is electrically connected to a third input terminal of the third signal distributor corresponding to the control signal output terminal.

[0246] At least one fourth input terminal of the third signal distributor 406 is electrically connected to the second address selection signal line. The address selection signal on the second address selection signal line is used to instruct the third distributor to transmit the input signal to the output terminal of the third distributor specified by the address selection signal.

[0247] The total number of the second output terminals corresponding to the at least two third signal distributors 406 may be equal to the total number of the switch devices 402 .

[0248] Each second output terminal corresponds to a switch device driver 402 on a one-to-one basis.

[0249] Each second output terminal is electrically connected to an input terminal of a switching device driver 402 corresponding to the second output terminal.

[0250] In this embodiment, the number of output terminals of each first signal distributor 403 may be less than Fig.23 The number of switching devices used in the transmitting circuit 400 of the laser radar is shown.

[0251] The sum of the number of output terminals of each third signal distributor 406 can be Fig.23The number of switch device drivers used in the transmitting circuit 400 of the laser radar shown matches. For example, the sum of the number of third output terminals of each third signal distributor 406 can be equal to the number of switch device drivers 402 used in the transmitting circuit 400 of the laser radar.

[0252] like Fig.23 As shown, in this embodiment, the control signal output terminals of the control signal generator 401 may be 4 groups. The number of the third signal distributors may be 4. The number of the first signal distributors may be 8.

[0253] In some application scenarios of this embodiment, the number of light-emitting devices used in the transmitting circuit 400 of the laser radar is 64. In these application scenarios, the third signal distributor may be a 2-way signal distributor. The first signal distributor may be an 8-way signal distributor.

[0254] The specific working process is described below. The four control signal output terminals of the control signal generator can be T-AP / N, T-BP / N, T-CP / N, and T-DP / N, respectively. The four third signal distributors 406 can be A, B, C, and D, respectively. The trigger signals output by T-AP / N, T-BP / N, T-CP / N, and T-DP / N are transmitted to the third input terminals of A, B, C, and D at different times. Here, T-AP / N represents the output terminal of T-AP signal (positive signal) and the output terminal of T-AN signal (negative signal). The same is true for T-BP / N, T-CP / N, and T-DP / N. After the trigger signal is transmitted to the third signal distributor (such as A, B, C, or D), taking A as an example, A corresponds to two possible output terminals: O-AP / N1 and O-AP / N2. The addressing signal input to the fourth input terminal of A can control A to transmit the trigger signal to the O-AP / N1 terminal or the O-AP / N2 terminal. If the trigger signal is transmitted to the O-AP / N1 terminal, the switch device driver electrically connected to the output terminal of O-AP / N1 will be triggered to enter the working state. The drive signal emitted by the switch device driver 402 is distributed to a switch device 404 after passing through the first signal distributor 403. The length of the above drive signal can be determined by the time interval between O-AP1 and O-AN1 acting on the above switch device 404 respectively. The length of the drive signal emitted by the above switch device driver 402 can determine the duration of turning on the above switch device 404. When the switch device 404 is turned on, the light-emitting device 405 emits light under the action of the HV signal. The above drive signal and the HV signal determine the energy of the detection signal emitted by the light-emitting device 405. At the same time, only one of the trigger signals output by T-AP / N, T-BP / N, T-CP / N, and T-DP / N has a signal.

[0255] In addition, the number of control signal output terminals of the control signal generator 401 may be 4, the third signal distributor 406 may be a 4-way signal distributor, and the number of the third signal distributors 406 may be 4. The first signal distributor 403 may be a 4-way signal distributor. The number of the first signal distributors 403 may be 16.

[0256] In addition, the number of control signal output terminals of the control signal generator 401 may be 2, the third signal distributor 406 may be a 4-way signal distributor, and the number of the third signal distributors 406 may be 2. The first signal distributor 403 may be an 8-way signal distributor, and the number of the first signal distributors 403 may be 8.

[0257] From the above, it can be seen that the product of the number of output terminals of the first signal distributor 403, the number of control signal terminals of the control generator 401, and the number of output terminals of the third signal distributor 406 can be set equal to the number of light-emitting devices used in the transmitting circuit of the laser radar, and the use of fewer switching device drivers 402 to drive more switching devices can be achieved, thereby achieving the purpose of reducing the number of devices used in the signal transmitting circuit and reducing the cost of the laser radar.

[0258] The transmitting circuit of the laser radar provided in this embodiment achieves the purpose of reducing the switch device drivers used to drive multiple switch devices by setting the first signal distributor and the second signal distributor in the transmitting circuit of the laser radar. The cost of the transmitting circuit of the laser radar can be reduced, which helps to reduce the volume of the transmitting circuit. Thus, the purpose of reducing the cost of the laser radar and reducing the volume of the laser radar is achieved.

[0259] Please refer to Fig.24 , Fig.24 A structural schematic diagram 500 of a laser radar provided in an embodiment of the present application is shown.

[0260] like Fig.24 As shown, the laser radar 500 includes a signal transmitting device and a signal receiving device. The signal transmitting device includes Fig.21 , Fig. 22 ,or Fig.23 The transmitting circuit of the laser radar is shown.

[0261] The above-mentioned laser radar can be used for distance measurement, obstacle identification, etc. The laser radar may include, for example, other features mentioned in the first aspect, the second aspect, and the third aspect of the present application.

[0262] Please refer to Fig.25 , Fig.25 A schematic flowchart 600 of a laser radar ranging method provided in an embodiment of the present application is shown.

[0263] In this embodiment, the laser radar can be Fig.24 The laser radar shown in FIG. The laser radar signal transmitting device may include Fig.21 , Fig. 22 or Fig.23 The signal transmitting circuit shown.

[0264] The signal transmitting device includes a plurality of light emitting devices. The laser radar can control the plurality of light emitting devices to emit detection signals in sequence.

[0265] For each two adjacent light emitting devices among the plurality of light emitting devices, the two adjacent light emitting devices are regarded as the first light emitting device and the second light emitting device in order of emitting the detection signal. The first detection signal emitted by the first light emitting device corresponds to the first flight time.

[0266] like Fig.25 As shown, the ranging method of the laser radar may include:

[0267] Step 601, the signal transmitting device controls multiple light-emitting devices to transmit detection signals in sequence, and for every two adjacent light-emitting devices, controls the time interval between the first light-emitting device and the second light-emitting device to transmit the first detection signal and the second detection signal in sequence to be greater than the first flight time.

[0268] Step 602: The signal receiving device receives echo signals generated by each detection signal encountering an obstacle.

[0269] Step 603, determining the flight time of each detection signal based on the transmission time of each detection signal and the reception time of each echo signal.

[0270] Step 604, determining the distance between the obstacle and the laser radar according to the flight time.

[0271] In this embodiment, the two adjacent light emitting devices here refer to two light emitting devices that are adjacent in the light emitting sequence. In some application scenarios, the two adjacent light emitting devices may also be two light emitting devices that are adjacent in space.

[0272] In this embodiment, for each light-emitting device, the signal transmitting device can control the conduction time of the switch device corresponding to the light-emitting device to control the time when the light-emitting device emits the detection signal.

[0273] In addition, the signal transmitting device can also control the intensity of light emitted by each light emitting device by controlling the intensity of the HV signal input to the positive electrode of each light emitting device.

[0274] For each two adjacent light-emitting devices in terms of emission time among the light-emitting devices, the light-emitting device that emits the detection signal first can be regarded as the first light-emitting device, and the light-emitting device that emits the detection signal later can be regarded as the second light-emitting device. The emission time of the detection signal corresponding to the first light-emitting device can be the first time, and the emission time of the detection signal corresponding to the second light-emitting device can be the second time. The time difference between the second time and the first time can be greater than the first flight time of the detection signal emitted by the first light-emitting device.

[0275] The time of flight (ToF) of each detection signal can be considered as the time interval between the moment when the detection signal is sent and the moment when the echo signal formed by the detection signal encountering an obstacle is received.

[0276] The time interval between two adjacent light-emitting devices sending out detection signals in sequence is set to be greater than the flight time of the earlier detection signal sent out among the two adjacent light-emitting devices, thereby reducing the crosstalk between the two adjacent light-emitting devices.

[0277] For each detection signal, the product of the flight time of the detection signal and the speed of light can be regarded as the distance between the lidar and the obstacle.

[0278] When using a laser radar with multiple light emitting devices to measure an obstacle, multiple initial distances between the laser radar and the obstacle can be obtained by the multiple light emitting devices. Each initial distance corresponds to a detection signal emitted by a light emitting device.

[0279] The above multiple initial distances can be combined to determine a more accurate distance between the laser radar and the above obstacles.

[0280] In some optional implementations, the above step 603 may further include: for each detection signal, determining the flight time of the detection signal based on the transmission time of the detection signal, the reception time of the echo signal corresponding to the detection signal, and a pre-determined compensation time.

[0281] The above compensation time is mainly used to compensate for the deviation of flight time caused by parasitic capacitance in the transmitting circuit of the laser radar.

[0282] The transmitting circuit of the laser radar will generate parasitic capacitance. The existence of parasitic capacitance will consume the driving pulse signal input by the gate of the switching device. Taking the moment when the driving pulse signal emitted by the switching device driver reaches the turn-on voltage of the light emitting device as the reference time, the existence of the above parasitic capacitance makes the actual turn-on time of the light emitting device later than the above reference time. If the flight time of the detection signal is calculated based on the above reference time, the actual flight time of the detection signal will be less than the measured flight time of the detection signal, making the distance between the laser radar and the obstacle measured by the laser radar inaccurate.

[0283] The calibration test method can be used to measure the time difference between the actual turn-on time of the light emitting device and the reference time, and the time difference is used as the compensation time. When calculating the flight time of the detection signal, the difference between the time interval between the reference time when the detection signal is emitted by the light emitting device and the time when the echo signal generated by the detection signal encountering an obstacle is received and the compensation time is determined as the flight time of the detection signal used to calculate the distance.

[0284] By compensating the flight time of the detection signal, the flight time of the detection signal used to calculate the distance is closer to the actual flight time of the detection signal, thereby making the measured distance between the laser radar and the obstacle more accurate.

[0285] The present application also provides a signal processing method that can be used for laser radar, including:

[0286] Outputting a trigger signal to a switch device driver via a control signal generator;

[0287] Outputting the driving signal output by each switching device driver in at least one switching device driver to the switching device in sequence through the first signal distributor to control the opening and closing of the switching device; and

[0288] The light emission of the light emitting device is controlled by opening and closing the switch device.

[0289] The fourth aspect of the present application relates to a transmitting circuit of a laser radar and a signal processing method at the transmitting end. The transmitting circuits 200, 300 and 400 and the signal processing method therein can be combined with the laser radars of the first aspect, the second aspect and the third aspect of the present application, for example, used as the transmitting circuit of the laser radar and the signal processing method therein. For example, refer to Figure 7 and Figure 8 The rear end of the emitting support 701 is provided with a light beam emitting device 703, which includes an emitting circuit board 703A and m×n emitting light sources 703B. The light emitting devices 205, 305, and 405 in the emitting circuit of the fourth aspect of the present application can be used as Figure 8The transmitting light source 703B in the fourth aspect of the present application can also be integrated on the transmitting circuit board 703A, such as the control signal generator, the switch device driver, the first signal distributor, the second signal distributor, the third signal distributor, and multiple switch devices, so that the technical solution and the signal processing method of the laser radar transmitting circuit of the fourth aspect of the present application can be combined with the aforementioned laser radar. This combination is easy to understand for those skilled in the art, and does not require creative labor, and will not be repeated here.

[0290] Fifth Aspect

[0291] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0292] Please refer to Fig.26 , which shows a schematic diagram of the principle structure of a signal receiver used for lidar in the prior art.

[0293] The signal receiver of the laser radar may include a plurality of photoelectric signal receivers, which are used to convert the received optical signal into an electrical signal.

[0294] like Fig.26 As shown, the signal receiving circuit in the existing laser radar includes a plurality of signal receiving subunits 70. Each signal receiving subunit 70 includes a photoelectric signal receiver 71, a signal amplifier 72 and a voltage comparator 73.

[0295] Each signal receiving subunit 70 can correspond to a light-emitting device in the laser radar transmitting device. For each signal receiving subunit 70, the photoelectric signal receiver 71 in the signal receiving subunit 70 can receive the echo signal returned by the detection signal emitted by the light-emitting device corresponding to the signal receiving subunit 70 when encountering an obstacle. The echo signal here is a relatively weak light signal. And the echo signal is converted into an electrical signal. The signal amplifier 72 in the signal receiving subunit 70 amplifies the above electrical signal. The amplified electrical signal is a continuous voltage signal. The voltage comparator 73 in the signal receiving subunit 70 is used to convert the above continuous voltage signal into a pulse voltage signal.

[0296] The echo signal can be further analyzed based on the pulse voltage signal.

[0297] Because the existing laser radar is a multi-line laser radar. The transmitting end includes multiple light-emitting devices, and accordingly, the signal receiving end may include multiple photoelectric signal receivers. A one-to-one corresponding signal amplifier needs to be set for each photoelectric signal receiver. As a result, the number of devices included in the laser radar is large, the cost is high, and it is not conducive to the large-scale promotion of laser radar.

[0298] To address the above problems, the technical solutions provided in the embodiments of the present application can be adopted.

[0299] Please refer to Fig. 27 , Fig. 27 A structural schematic diagram of a receiving circuit of a laser radar provided in an embodiment of the present application is shown.

[0300] like Fig. 27 As shown, the receiving circuit 800 of the laser radar includes multiple photoelectric signal receivers 801, a first signal selector 802, a signal amplifier 803 and a voltage comparator 804.

[0301] The number of photoelectric signal receivers 801 can be any natural number greater than or equal to 1. For example, 8, 16, 24, 64, etc. The number of photoelectric signal receivers can be set according to the specific application scenario. The above-mentioned photoelectric signal receiver can be, for example, a phototube, a photomultiplier tube, a silicon photocell, a photodiode, an avalanche photodiode, a PIN photodiode, a silicon photomultiplier (SiPM), a single photon avalanche diode (Spad), etc.

[0302] For each photoelectric signal receiver, the working time of the photoelectric signal receiver can be controlled to match the time when the light-emitting device at the signal transmitting end of the laser radar corresponding to the photoelectric signal receiver sends out the detection signal. For example, a photoelectric signal receiver can be controlled to start working from the time when the light-emitting device at the signal transmitting end of the laser radar corresponding to the photoelectric signal receiver sends out the detection signal, and end when the photoelectric signal receiver receives the echo signal of the above detection signal.

[0303] In this embodiment, the output end of each photoelectric signal receiver 801 can correspond to a signal input end of the first signal selector 802 one by one. The output end of each photoelectric signal receiver 801 can be electrically connected to the signal input end of the first signal selector 802 corresponding to the output end of the photoelectric signal receiver 801. The first signal selector 802 can have an address signal input end. The address signal input end can be electrically connected to the address signal line. The address signal inputted by the address signal input end can control the signal of which signal input end of the first signal selector 802 will be transmitted to the output end of the first signal selector 802. The address signal on the above-mentioned address signal line and the control signal for controlling the working time of each photoelectric signal receiver can match each other.

[0304] The output end of the first signal selector 802 is electrically connected to the signal input end of the signal amplifier 803. In some application scenarios, the signal output by the photoelectric signal receiver 801 may be a current signal, and the signal amplifier 803 may convert the current signal input thereinto into a voltage signal and amplify the voltage signal. In other application scenarios, the signal output by the photoelectric signal receiver 801 may be a voltage signal, and the signal amplifier 803 may amplify the voltage signal input therein and output by the photoelectric signal receiver. Typically, the voltage signal output by the signal amplifier 803 is a continuous voltage signal.

[0305] The voltage comparator 804 is used to convert the continuous voltage signal output by the signal amplifier 803 into a pulse voltage signal. The voltage comparator 804 has a first input terminal and a second input terminal. The output terminal of the signal amplifier 803 is electrically connected to the first input terminal of the voltage comparator 804, and the second input terminal of the voltage comparator 804 is electrically connected to the preset threshold voltage signal line. The threshold voltage transmitted on the above-mentioned preset threshold voltage signal line can be changed according to the application scenario.

[0306] In some application scenarios, multiple photoelectric signal receivers 801 can be set on the same carrier. Two first signal selectors 802, two signal amplifiers 803 and two voltage comparators 804 can also be set on the carrier. In these application scenarios, the multiple photoelectric signal receivers 801 can be divided into two groups. Each group of photoelectric signal receivers 801 corresponds to a first signal selector 802. For example, if the total number of photoelectric signal receivers 801 is 16, the 16 photoelectric signal receivers 801 can be divided into two groups, each with 8 photoelectric signal receivers 801. The 8 photoelectric signal receivers 801 in each group correspond to a first signal selector 802. The output ends of each photoelectric signal receiver 801 in each group are respectively connected to the respective signal input ends of the first signal selector 802 corresponding to the photoelectric receiver 801 in the group. The output end of the first signal selector 802 can be electrically connected to the signal input end of a signal amplifier 803. The signal amplifier 803 can have an enable signal input end. The output terminal of each signal amplifier 803 may be electrically connected to the first input terminal of the voltage comparator 804. The second input terminal of the voltage comparator 803 is electrically connected to the preset threshold voltage signal line.

[0307] In this way, in the signal receiving circuit of the laser radar, the first signal selector is used between multiple photoelectric signal receivers and signal amplifiers, and the electrical signals output by different photoelectric signal receivers can be input into a smaller number of signal amplifiers in a preset order. Compared with setting a signal amplifier for each photoelectric signal receiver in the laser radar, the solution provided in this embodiment reduces the number of signal amplifiers used, reduces the cost of the laser radar, and is conducive to the further promotion of the laser radar.

[0308] Please refer to Fig.28 , which shows another structural schematic diagram of the receiving circuit of the laser radar provided in an embodiment of the present application.

[0309] and Fig. 27 The same thing about the embodiments shown is that Fig.28 The receiving circuit 900 of the laser radar shown includes multiple photoelectric signal receivers 901, a first signal selector, a signal amplifier, and a voltage comparator 904.

[0310] and Fig. 27 The difference is that, in this embodiment, the plurality of photoelectric signal receivers 901 , at least one signal amplifier and at least one voltage comparator are divided into at least two receiving circuit subgroups.

[0311] For each receiving circuit subgroup, the receiving circuit subgroup may include at least two photoelectric signal receivers 901, at least one signal amplifier, and a voltage comparator 905, wherein the at least two photoelectric signal receivers 901 and the at least one signal amplifier are electrically connected via at least one first signal selector.

[0312] In this embodiment, the number of the first signal selectors may be 2, 3, or other numbers. The number of the first signal selectors may be smaller than the number of the photoelectric signal receivers.

[0313] For each receiving circuit subgroup, the connection relationship between the photoelectric signal receiver, the first signal selector, the signal amplifier, and the voltage comparator thereon can be referred to Fig. 27 The description of the illustrated embodiment is not repeated here.

[0314] In some application scenarios, the multiple photoelectric signal receivers 901, at least one signal amplifier and at least one voltage comparator 905 are divided into four receiving circuit subgroups (eg Fig.28 For each receiving circuit subgroup (such as BANKA), the receiving circuit subgroup includes at least two photoelectric signal receivers 901, at least one signal amplifier, and a voltage comparator 905. The at least two photoelectric signal receivers 901 and the at least one signal amplifier are electrically connected through at least one first signal amplifier. The number of the above-mentioned signal amplifiers can be one, two, or more. The number of signal amplifiers can be less than the number of photoelectric signal receivers 901.

[0315] In this embodiment, each of the above receiving circuit subgroups (such as Fig.28BANKA shown in the figure may also include a second signal selector 904. The output ends of the signal amplifiers included in the receiving circuit subgroup (such as BANKA) are electrically connected to the signal input ends of the second signal selector 904 in a one-to-one correspondence. The output end of the second signal selector 904 is electrically connected to the first input end of the voltage comparator 905 of the receiving circuit subgroup. The second input end of the voltage comparator 905 is electrically connected to the preset threshold voltage signal line VTHA. It can be understood that for the receiving circuit subgroup BANKB, the corresponding preset threshold voltage signal line is VTHB; for the receiving circuit subgroup BANKC, the corresponding preset threshold voltage signal line is VTHC; for the receiving circuit subgroup BANKD, the corresponding preset threshold voltage signal line is VTHD, but because BANKB, BANKC, and BANKD are blocked by BANKA, they are not illustrated one by one, but the specific scheme can be understood by those skilled in the art by referring to the schematic diagram of BANKA. The structural diagrams of BANKB, BANKC, and BANKD are the same as those of BANKA. In addition, since the receiving circuit subgroups BANKA, BANKB, BANKC, and BANKD are arranged in sequence in the vertical direction, and the receiving circuit subgroups in different vertical directions may have different requirements for obstacle detection, VTHA, VTHB, VTHC, and VTHD may be different.

[0316] In some application scenarios, the number of photoelectric signal receivers 901 included in the signal receiving circuit of the above-mentioned laser radar is 64. For each receiving circuit subgroup, the receiving circuit subgroup may include 16 photoelectric signal receivers 901, 2 first signal selectors, 2 signal amplifiers, 1 second signal selector 904, and 1 voltage comparator 905. Among them, the output ends of the first 8 photoelectric signal receivers 901 of the above-mentioned 16 photoelectric signal receivers 901 are electrically connected to each signal input end of the first first signal selector 9021 in a one-to-one correspondence; the output ends of the last 8 photoelectric signal receivers 901 are electrically connected to each signal input end of the second first signal selector 9022 in a one-to-one correspondence. The first first signal selector 9021 and the second first signal selector 9022 both have address signal input ends. In some application scenarios, the address signal input ends of the first first signal selector 9021 and the second first signal selector 9022 can be electrically connected to the address signal lines A0, A1, and A2. The signals transmitted on the address signal lines A0, A1, and A2 are used to determine which input signal the first first signal selector and the second first signal selector select as output. In some other application scenarios, the address signal lines corresponding to the address signal input end of the first first signal selector 9021 and the address signal input end of the second first signal selector 9022 can be independent of each other. In this way, a more relatively independent selection can be made.

[0317] The output end of the first signal selector 9021 is electrically connected to the signal input end of the first signal amplifier 9031; the output end of the second signal selector 9022 is electrically connected to the signal input end of the second signal amplifier 9032. The output end of the first signal amplifier 9031 and the output end of the second signal amplifier 9032 are electrically connected to the signal input end of the second signal selector 904, respectively.

[0318] The first signal amplifier 9031 and the second signal amplifier 9032 both have an enable signal input terminal. The enable signal input terminal is electrically connected to the enable signal line. Fig.28 For BANKB, the enable signal line is as shown in Fig.28 ENB shown; for BANKC, the enable signal line is as follows Fig.28 ENC as shown; for BANKD, the enable signal line is as follows Fig.28 The second signal selector 904 has an address signal input terminal, and the address signal input terminal is electrically connected to the address signal line A3.

[0319] The output terminal of the second signal selector 904 is electrically connected to the first input terminal of the voltage comparator 905. The second input terminal of the voltage comparator 905 is electrically connected to the preset threshold voltage signal line VTHA. Through the voltage comparator 905, the above-mentioned BANKA outputs a pulse voltage signal PA, BANKA outputs a pulse voltage signal PB, BANKC outputs a pulse voltage signal PC, and BANKD outputs a pulse voltage signal PD.

[0320] For each BANK (such as BANKA), the multiple photoelectric signal receivers 901 of the BANK can be arranged into a photoelectric signal receiver array (such as Fig.28 The 16-channel photoelectric signals from the photoelectric signal receiver array first pass through two 8-channel signal selectors 9021 and 9022, then enter two broadband signal amplifiers 9031 and 9032, and then pass through a 2-channel signal selector 904 to synthesize one channel or select one channel, and then enter the voltage comparator 905 to compare with the threshold VTHA. If it is greater than the threshold VTHA, a pulse signal is output and then converted into a low-voltage differential signal for subsequent analysis and processing.

[0321] In addition, for each path formed by the photoelectric signal receiver 901, the threshold VTHA may be different, because different paths may correspond to different detection requirements. In each photoelectric signal receiver array, only one of the signals generated by the photoelectric signal receiver can be selected at any time for amplification and comparison, and the threshold VTHA of the comparator can be adjusted dynamically. The threshold VTHA may be related to the preset detection distance of the laser radar, for example. For close targets or highly reflective targets, the echo signal is so strong that the pulse width of the signal amplifier cannot reflect the echo signal strength. At this time, the threshold needs to be appropriately lowered to obtain reflectivity information. In other words, the lower the preset detection distance, the higher the threshold; the higher the preset detection distance, the lower the threshold.

[0322] refer to Fig.28 The photoelectric signal receivers of BANKA, BANKB, BANKC, and BANKD are arranged vertically in sequence. For the photoelectric signal receiver in BANKA which is at the relative edge, the detection requirement may be long-distance measurement, that is, detecting as far as possible, then the threshold voltage VTHA in BANKA is lower; similarly, for the photoelectric receiving unit in BANKB which is at the relatively center, the detection requirement may be higher density but closer distance, then the threshold voltage VTHB in BANKB is higher.

[0323] The signal amplifier has an enable signal input terminal (control switch). Fig.28 The enable signal transmitted on the enable signal lines ENA, ENB, and EBC shown in the figure can be controlled to be turned off when no detection is required, so the power consumption can be reduced. Since it takes 1-2us for the signal amplifier to recover from the low power state, the enable signal needs to be given in advance. For example, if the signal amplifier is required to start working at time t2, the enable signal design can send an enable signal to the signal amplifier at the time point (t2-[1-2us]), so that the signal amplifier can start to enter the working state on time at t2.

[0324] and Fig. 27 Compared with the embodiment shown in the figure, the signal receiving circuit of the laser radar is divided into at least two receiving circuit subgroups in this embodiment, and each subgroup has at least two photoelectric signal receivers, at least one first signal selector, and at least one voltage comparator, which can improve the speed of the echo signal of the received detection signal. On the one hand, it can reduce the cost of the laser, and on the other hand, it can ensure the response speed of the laser radar. It is conducive to the further promotion of the laser radar.

[0325] In addition, the embodiment of the present application also provides a laser radar. The laser radar includes a signal transmitting device and a signal receiving device. The signal receiving device includes a signal receiving circuit of the laser radar provided in the above embodiment. The laser radar may include, for example, other features mentioned in the first aspect, the second aspect, the third aspect, and the fourth aspect of the present application.

[0326] Please refer to Fig.29 , which shows a flow chart of the laser radar ranging method provided in an embodiment of the present application.

[0327] like Fig.29 As shown, the laser radar ranging method 1000 includes the following steps:

[0328] Step 1001: a signal transmitting device controls a plurality of light emitting devices to transmit detection signals in sequence.

[0329] Step 1002: Each photoelectric signal receiver included in the signal receiving device sequentially receives the echo signals generated by each detection signal encountering an obstacle.

[0330] Step 1003, based on the emission time of each detection signal, the reception time of each echo signal and the pre-determined compensation time, the flight time of each detection signal is calculated in turn.

[0331] Step 1004, determining the distance between the obstacle and the laser radar according to the flight time.

[0332] Here, the time of flight (ToF) of each detection signal can be considered as the time interval between the time when the detection signal is sent and the time when the echo signal formed by the detection signal encountering an obstacle is received.

[0333] For each detection signal, the product of the flight time of the detection signal and the speed of light can be regarded as the distance between the lidar and the obstacle.

[0334] The compensation time is mainly used to compensate for the deviation of the flight time caused by the parasitic capacitance in the receiving circuit of the laser radar. The parasitic capacitance may be caused by the first signal selector and / or the second signal selector.

[0335] The receiving circuit of the laser radar will generate parasitic capacitance. The existence of parasitic capacitance will consume voltage. This will cause the rising edge of the pulse signal voltage output by the voltage comparator to rise later than the theoretical rising edge of the pulse voltage signal generated by the echo signal when there is no parasitic capacitance in the signal receiving circuit. Therefore, the actual flight time of the detection signal will be less than the measured flight time of the detection signal, making the distance between the laser radar and the obstacle measured by the laser radar inaccurate.

[0336] The calibration test method can be used to measure the time difference between the rising time of the rising edge of the pulse signal voltage output by the voltage comparator and the rising time of the rising edge of the pulse voltage signal theoretically generated by the echo signal when the signal receiving circuit has no parasitic capacitance, and the above time difference is used as the compensation time. When calculating the flight time of the detection signal, the difference between the time interval between the reference time when the detection signal is emitted by the optical emitting device and the time when the echo signal generated by the detection signal encountering an obstacle is received and the above compensation time is determined as the flight time of the detection signal used to calculate the distance.

[0337] The present application also provides a signal processing method that can be used for laser radar, including:

[0338] The received optical signals are converted into electrical signals through a plurality of photoelectric signal receivers;

[0339] outputting the electrical signal output by each of the plurality of photoelectric signal receivers to the signal amplifier in sequence through the first signal selector;

[0340] amplifying the received electrical signal by the amplifier; and

[0341] The amplified electrical signal is compared with a threshold voltage through a voltage comparator, and a pulse voltage signal is output according to the comparison result.

[0342] The threshold voltage is related to the detection requirements of the lidar.

[0343] The fifth aspect of the present application relates to a receiving circuit of a laser radar and a signal processing method at the receiving end. The receiving circuits 800, 900 and the signal processing method therein can be combined with the laser radars of the first, second, third and fourth aspects of the present application, for example, used as the receiving circuit of a laser radar and the signal processing method therein. For example, refer to Figure 7 and Figure 8 The photoelectric processing device 704 is arranged outside the rear end of the receiving support body 702. The photoelectric processing device 704 includes a receiving circuit board 704A and a plurality of photoelectric sensing elements 704B arranged on the receiving circuit board. The photoelectric signal receivers 801 and 901 in the receiving circuit of the fifth aspect of the present application can be used as Figure 8The photoelectric sensor element 704B in the fifth aspect of the present application, for example, other components of the receiving circuit of the fifth aspect of the present application, such as a signal developer, a first signal selector, a second signal selector, a voltage comparator, etc., can also be integrated on the receiving circuit board 704A, so that the technical solution and signal processing method of the laser radar receiving circuit of the fifth aspect of the present application can be combined with the aforementioned laser radar. In addition, the technical solution and signal processing method of the laser radar receiving circuit of the fifth aspect of the present application can be easily combined with the technical solution and signal processing method of the laser radar transmitting circuit of the fourth aspect of the present application. This combination is easy to understand for those skilled in the art and does not require creative labor, so it will not be repeated here.

[0344] In the accompanying drawings, some structural or method features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. Instead, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a particular figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0345] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0346] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0347] Although the present application has been illustrated and described with reference to certain preferred embodiments thereof, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present application.

Claims

1. A laser radar detection device, characterized in that: It includes a lens barrel, a light beam emitting device, a transmitting lens assembly, a receiving lens assembly, and a photoelectric processing device; The lens barrel comprises a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other; The emission lens assembly is located inside the emission support body and on the optical path of the detection light beam emitted by the light beam emitting device; The receiving lens assembly is located inside the receiving support body and on the optical path of the echo light beam received by the photoelectric processing device. The transmitting support body and the receiving support body have a substantially symmetrical structure. The light beam emitting device comprises a emitting circuit board, which is located outside the emitting support body and is arranged at the rear end of the emitting support body, wherein the rear end of the emitting support body is the other end opposite to the end of the emitting support body from which the detection light beam is emitted; The optoelectronic processing device comprises a receiving circuit board, which is located outside the receiving support body and is arranged at the rear end of the receiving support body, wherein the rear end of the receiving support body is the other end opposite to the end of the receiving support body receiving the echo light beam; The detection device of the laser radar also includes a light isolation plate, which is arranged between the emitting support body and the receiving support body and is parallel to the emitting support body and the receiving support body.

2. The laser radar detection device according to claim 1, characterized in that: The transmitting support body and / or the receiving support body is provided with a stepped structure for reducing weight.

3. The laser radar detection device according to claim 1, characterized in that: The detection device also includes a circular support platform, and the junction of the transmitting support body and the receiving support body is located on the diameter of the support platform.

4. The laser radar detection device according to claim 3, characterized in that: The receiving lens assembly includes a plurality of receiving lenses, and the emitting lens assembly includes a plurality of emitting lenses, wherein an emitting lens among the plurality of emitting lenses closest to the light beam emitting device and a receiving lens among the plurality of receiving lenses closest to the photoelectric processing device are approximately located on the same plane, and the centers of the two pass through the center of the circle of the supporting platform, and the emitting lens assembly and the receiving lens assembly include the same number of lenses and the same lens type.

5. The laser radar detection device according to claim 1, characterized in that: Also includes: A transmitting magnetic shielding member, arranged at the rear end of the transmitting circuit board, for shielding the electromagnetic signal generated by the transmitting circuit board; and The receiving magnetic shielding member is arranged at the rear end of the receiving circuit board and is used for shielding the electromagnetic signal generated by the receiving circuit board.

6. The laser radar detection device according to claim 1, characterized in that: The light beam emitting device further comprises an emitting light source, and the photoelectric processing device further comprises a photoelectric sensing element, wherein: m×n emitting light sources are arranged on the emitting circuit board; and i×j photoelectric sensing elements are arranged on the receiving circuit board; Wherein, m, n, i, and j are natural numbers greater than 1.

7. The laser radar detection device according to claim 1, characterized in that: The front end surface of the emitting support body has an emitting hole, and the detection light beam is suitable for being emitted from the emitting support body through the emitting hole; the front end surface of the receiving support body has a receiving hole, and the echo light beam is suitable for being incident on the receiving support body through the receiving hole; and The lens barrel also includes an emitting shading plate and a receiving shading plate. The emitting shading plate is located outside the end surface of the front end of the emitting support body and is perpendicular to the end surface of the front end of the emitting support body. The receiving shading plate is located outside the end surface of the front end of the receiving support body and is perpendicular to the end surface of the front end of the receiving support body.

8. The laser radar detection device according to claim 1, characterized in that: At least one groove is provided on the inner wall of the emission support body for fixing the emission lens assembly; and At least one groove is provided on the inner wall of the receiving support body for fixing the receiving lens assembly.

9. The laser radar detection device according to claim 1, characterized in that: It also includes a supporting platform, and the lens barrel, the light beam emitting device, the emitting lens assembly, the receiving lens assembly, and the photoelectric processing device are located above the supporting platform and fixedly arranged relative to the supporting platform.

10. A laser radar, characterized in that: It comprises a detection device, a main shaft, an upper storage plate, a top cover, and a base according to any one of claims 1 to 9; The upper storage plate is fixedly arranged relative to the detection device and is located below the support platform of the detection device, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the detection device; The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base; The detection device can rotate 360° around the main axis to achieve scanning in the horizontal direction.

11. The laser radar according to claim 10, characterized in that: It also includes a rotating bracket and a driving motor; The rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for being mounted on the main shaft, the second part is a disc surface structure perpendicular to the first part and is suitable for supporting the detection device, the second part includes at least three rotating sub-brackets, the first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disc surface of the second part, and the driving motor is suitable for driving the detection device to rotate through the rotating bracket.

12. The laser radar according to claim 11, characterized in that: It also includes a shell, which is located above the base and connected to the periphery of the supporting platform of the detection device.

13. The laser radar according to claim 11, characterized in that: Also included are communications components; The main shaft is configured as a hollow structure, and the communication component is disposed inside the main shaft.

14. The laser radar according to claim 13, characterized in that: The communication component includes a first communication module and a second communication module, the first communication module is relatively fixed to the detection device, and the second communication module is relatively fixed to the base; The first communication module includes at least one light emitting element, and the second communication module includes at least one photoelectric sensing element. The at least one photoelectric sensing element of the second communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the first communication module.

15. The laser radar according to claim 14, characterized in that: The second communication module further includes at least one light emitting element, and the first communication module further includes at least one photoelectric sensor element, wherein the at least one photoelectric sensor element of the first communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the second communication module.

16. The laser radar according to claim 15, characterized in that: The wavelength of the light beam emitted by the at least one light emitting element of the first communication module is different from the wavelength of the light beam emitted by the at least one light emitting element of the second communication module.

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