A laser radar and intelligent sensing device

Abstract

A laser radar (100) and intelligent sensing equipment, the laser radar comprising a radar body (10), a laser emitting plate (20), a laser receiving plate (30) and a counterweight structure. The laser emitting plate (20) and the laser receiving plate (30) are respectively arranged on the radar body (10). The laser emitting plate (20) is used to emit an outgoing laser toward a detection target; the laser receiving plate (30) is used to receive the reflected laser reflected by the detection target and convert the optical signal into an electrical signal, thereby analyzing the position, three-dimensional image and speed of the detection target. The radar body (10) is connected to a power device, and the power device drives the entire radar body (10) and the laser emitting plate (20) and the laser receiving plate (30) located on the radar body (10) to rotate, so that the laser radar (100) can detect a 360° range around. The present invention can make the radar body (10) more stable when rotating by arranging a counterweight structure on the radar body (10), thereby effectively ensuring the accuracy of the radar and extending the service life of the radar.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of laser radar technology, and in particular to a laser radar and an intelligent sensing device. Background Art

[0002] Laser radar is a radar system that emits laser beams to detect the position and speed of a target. Mechanical laser radar drives the laser emitting and receiving components of the laser radar to rotate, so that the detection range of the laser radar is larger.

[0003] The inventor of the present invention found in the process of realizing the present invention that: at present, due to the large number of electronic and optical devices in the laser radar, the coordination of the optical path in the middle is relatively complex, and the weight of each component is inconsistent, so during the laser radar's rotation scanning process, the center of gravity of the laser radar body will deviate from its center position, causing device wear, which will affect the life and detection accuracy of the laser radar. At the same time, due to the large number of internal devices in the laser radar, the heat insulation and light crosstalk between the internal devices have also become important factors affecting the performance of the laser radar. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a laser radar and an intelligent sensing device, so that the weight of the radar body of the laser radar is more reasonable, and the radar body is more stable when rotating, thereby effectively ensuring the accuracy of the radar and extending the service life of the radar.

[0005] An embodiment of the present invention provides a laser radar, comprising a radar body (100) and a radar base (200);

[0006] The radar base (200) is provided with a central axis (201), and the radar body (100) is sleeved on the central axis (201);

[0007] The radar body (100) comprises a bottom plate (110) and a first counterweight groove (111), wherein the first counterweight groove (111) is arranged at the edge of the bottom plate (110) and is formed in a circular ring shape around the bottom plate (110), wherein the first counterweight groove (111) comprises a lower edge (1112), wherein at least one first fixing hole (115) is arranged on the lower edge (1112), wherein the first fixing hole (115) enables a first counterweight block (113) to be adjusted along the circumferential direction of the bottom plate (110) and in the axial direction toward the central axis (201), and the first counterweight block (113) is fixed at any position of the first fixing hole (115); and the radar body (100) can rotate relative to the radar base (200).

[0008] Another embodiment of the present invention provides a laser radar, comprising a radar body (100) and a radar base (200);

[0009] The radar base (200) is provided with a central axis (201), and the radar body (100) is sleeved on the central axis (201);

[0010] The radar body (100) comprises a bottom plate (110) and a first counterweight plate (120), wherein the first counterweight plate (120) is arranged at the bottom of the bottom plate (110), and a second counterweight groove (121) is formed at the edge of the bottom plate (110), and the second counterweight groove (121) is formed in a circular ring shape around the bottom plate (110), and the counterweight plate (120) comprises a second counterweight edge (124), and at least one third fixing hole (122) is arranged on the second counterweight edge (124), and the third fixing hole (122) enables the second counterweight block (123) to be adjusted along the circumferential direction of the bottom plate (110) and toward the axial direction of the central axis (201), and the second counterweight block (123) is fixed at any position of the third fixing hole (122);

[0011] The radar body (100) is rotatable relative to the radar base (200).

[0012] Another embodiment of the present invention provides a laser radar, comprising a radar body (10), wherein the radar body (10) comprises: an axial connection portion (11), a bottom plate (12), a lens frame (13), a connecting vertical plate (14), a counterweight (15), a laser emitting plate (20) and a laser receiving plate (30);

[0013] The axial connection part (11) is located at the center of the bottom plate (12) and is vertically connected to the bottom plate (12); a lens frame (13) is arranged on one side of the axial connection part (11); a connecting vertical plate (14) is arranged on the other side of the axial connection part; the connecting vertical plate (14) and the center position of the lens frame (13) are in the same plane and are vertically connected to the bottom plate (12);

[0014] The connecting plate (14) is located between the laser emitting plate (20) and the laser receiving plate (30) and is used to isolate the laser emitting plate (20) and the laser receiving plate (30); one end of the connecting plate (14) is connected to the axial connecting portion (11); the other end of the connecting plate (14) fixes the counterweight (15) to a position at the edge of the base plate (12) opposite to the lens frame (13); the lens frame (13) is arranged on the base plate (12).

[0015] Another embodiment of the present invention provides an intelligent sensing device, comprising the laser radar described in any one of the above embodiments.

[0016] This embodiment can effectively balance the center of gravity of the radar body by reasonably arranging the counterweight, making the radar body more stable when rotating, thereby effectively ensuring the accuracy of the radar and extending the service life of the radar.

[0017] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the drawings in the drawings do not constitute proportional limitations unless otherwise stated:

[0019] Figure 1 is a schematic diagram of a laser radar provided by an embodiment of the present invention;

[0020] Figure 2 is an exploded diagram of a laser radar provided by an embodiment of the present invention;

[0021] Figure 3 is a schematic diagram of a radar body in a laser radar provided by an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of a counterweight and a second secondary counterweight in a laser radar provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of another laser radar provided by an embodiment of the present invention;

[0024] Figure 6 is a schematic diagram of another structure of a laser radar provided by an embodiment of the present invention;

[0025] Figure 7 is a schematic diagram of another structure of a laser radar provided by an embodiment of the present invention;

[0026] Fig. 8A This is a first fixing hole structure diagram provided by the present invention;

[0027] Figure 8B This is a second fixing hole structure diagram provided by the present invention;

[0028] Figure 8C This is a third fixing hole structure diagram provided by the present invention;

[0029] Fig.8D This is a fourth fixing hole structure diagram provided by the present invention;

[0030] Fig. 8E This is a fifth fixing hole structure diagram provided by the present invention;

[0031] Fig.8F This is a sixth fixing hole structure diagram provided by the present invention;

[0032] Fig. 9 is a schematic structural diagram of a counterweight plate provided in an embodiment of the present invention;

[0033] Fig.10 is a schematic diagram of another structure of a laser radar provided by an embodiment of the present invention;

[0034] Fig.11 This is another laser radar assembly diagram provided by the embodiment of the present invention;

[0035] Fig.12 is a schematic diagram of another structure of a laser radar provided by an embodiment of the present invention;

[0036] Fig.13A This is another first type of fixed hole structure diagram on a laser radar provided by the present invention;

[0037] Fig. 13B This is a diagram of a second type of fixed hole structure on another laser radar provided by the present invention;

[0038] Fig. 13C This is a diagram of a third type of fixed hole structure on another laser radar provided by the present invention;

[0039] Fig.13D This is another fourth type of fixed hole structure diagram on a laser radar provided by the present invention;

[0040] Fig.13E This is another fifth type of fixed hole structure diagram on a laser radar provided by the present invention;

[0041] Fig.13F This is another sixth type of fixed hole structure diagram on a laser radar provided by the present invention;

[0042] Fig.14 It is a schematic diagram of another structure of a laser radar provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0044] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0045] See also Figure 1 The laser radar 100 provided in the embodiment of the present invention includes a radar body 10, a laser emitting plate 20 and a laser receiving plate 30. The laser emitting plate 20 and the laser receiving plate 30 are respectively arranged on the radar body 10. Among them, the laser emitting plate 20 is used to emit an outgoing laser toward the detection target; the laser receiving plate 30 is used to receive the reflected laser reflected back by the detection target, and convert the optical signal into an electrical signal, so as to analyze the position, three-dimensional image and speed of the detection target. The radar body 10 is connected to a power device, and the power device drives the entire radar body 10 and the laser emitting plate 20 and the laser receiving plate 30 located on the radar body 10 to rotate, so that the detection range of the laser radar 100 is wider, and it can detect a 360° range around.

[0046] See also Figure 2, the radar body 10 includes an axial connection part 11 and a base 12. It can be understood that the base 12 of the radar body can also be called the bottom plate of the radar body, that is, the support plate structure at the bottom of the radar body for carrying the above-mentioned laser emitting plate, laser receiving plate, lens bracket and other structures, which will not be repeated in the following embodiments. The base 12 is connected to the laser emitting plate 20 and the laser receiving plate 30. Optionally, the axial connection part 11 and the base 12 are integrally formed, or the axial connection part 11 and the base 12 are fixedly connected, and the axial connection part 11 is located at the center of the base 12 and is perpendicular to the base 12. The axial connection part 11 is cylindrical, and one end thereof connected to the base 12 is provided with a fixing hole 111 connected to the base 12, and the fixing hole 111 is used to connect the extended shaft of the power device. Specifically, the extended shaft extends into the fixing hole 111 from the side of the base 12 away from the axial connection part 11, and is interference fit with the fixing hole 111. Compared with other connection methods such as threaded connection, this connection method does not generate bending and torsional stress on the extended shaft, and has no effect on the rotation accuracy of the extended shaft. At the same time, the interference fit can also improve the concentricity of the shaft connection part 11 and the extended shaft, ensuring the dynamic balance of the radar body 10 during rotation. When the power device is started, its extended shaft begins to rotate, and drives the shaft connection part 11 to rotate, thereby driving the base 12 and the laser emitting plate 20 and the laser receiving plate 30 to rotate together, thereby realizing the overall rotation of the laser radar 100. It can be understood that the base 12 is disc-shaped, and the shaft connection part 11 and the base 12 are integrally formed, which can improve its concentricity, avoid radial runout when the base 12 rotates, and further improve the stability of the base 12 during rotation.

[0047] It is understandable that the connection method and the shapes of the axial connection part 11 and the base 12 are not limited to the method and shape described above, and may also be other methods and shapes, which will not be repeated here.

[0048] In addition, the radar body 10 also includes a lens holder 13, a connecting plate 14 and a counterweight 15. The lens holder 13 and the connecting plate 14 are respectively connected to the base 12, and the lens holder 13 and the connecting plate 14 are respectively located on both sides of the axial connection part 11, and the connecting plate 14 is located on the same plane of the symmetry axis of the transmitting lens and the receiving lens of the lens holder 13. The connecting plate 14 can be integrally formed with the axial connection part 11 and the base 12, and optionally, the connecting plate 14 can also be fixedly connected with the axial connection part 11 and the base 12. The connecting plate 14 is connected to the counterweight 15 on the other side of the axial connection part 11, and the counterweight 15 is fixed on the edge of the base 12 at a position opposite to the lens holder 13. The lens holder 13 is used to install the transmitting lens and the receiving lens of the laser radar 100. In order to ensure the dynamic balance of the radar body 10 when rotating, the embodiment of the present invention sets a counterweight 15 at a position on the radar body 10 opposite to the lens frame 13, so that the radar body 10 is balanced front and back, so that the center of gravity of the radar body 10 can fall on the axis connection part 11, and the counterweight 15 is fixed to the position of the edge of the base opposite to the lens frame through the connecting vertical plate 14. In addition, the laser emitting plate 20 and the laser receiving plate 30 are respectively arranged on both sides of the connecting vertical plate 14. It can be understood that when the weight of the laser emitting plate 20 side and the laser receiving plate 30 side are equal, the weight vertical line of the counterweight 15 is located at the connection between the counterweight 15 and the connecting vertical plate 14, and when the weight of the laser emitting plate 20 side and the laser receiving plate 30 side are not equal, the counterweight 15 is connected to the connecting vertical plate 14, and the weight vertical line of the counterweight 15 is biased towards the side with lighter mass. Through this setting method, the left and right and front and back balance of the radar body can be further ensured, so that the rotation of the radar body 10 is more stable. At the same time, a connecting vertical plate 14 is set between the laser emitting plate 20 and the laser receiving plate 30, which can well isolate the laser emitting plate 20 and the laser receiving plate 30, can effectively perform heat dissipation isolation, and prevent light crosstalk, so that the laser emitting plate 20 and the laser receiving plate are independent of each other and will not affect each other.

[0049] It can be understood that the connection method between the connecting plate 14 and the axial connection part 11 and the base 12 is not limited to the method described above, but can also be other methods. For example, the connecting plate 14 is only integrally formed / welded with the axial connection part 11, or the connecting plate 14 is only integrally formed / welded with the base 12, or the connecting plate 14 can also be fixedly connected to the axial connection part 11 and the base 12, etc., wherein the fixed connection method can, for example, be connected with fasteners, clamped connection, etc.

[0050] For the lens holder 13, continue to refer to Figure 2The lens frame 13 is provided with a receiving hole 131 and a crossbeam 132. The receiving hole 131 is used to receive the transmitting lens and the receiving lens of the laser radar 100, and the crossbeam 132 is used to reinforce the lens frame 13 to make the lens frame 13 more stable.

[0051] In some embodiments, the transmitting lens and the receiving lens may be too heavy, and the weight of the counterweight 15 is limited and cannot offset the weight of the transmitting lens and the receiving lens well. In this case, the dynamic balance of the radar body 10 can also be achieved by reducing the weight of the lens holder 13 on the radar body 10. Specifically, a first weight reduction groove 1321 can be provided on the crossbeam 132 of the lens holder 13 to remove part of the material of the crossbeam 132 to achieve the effect of weight reduction. However, if the crossbeam 132 is too thin, it will be prone to bending or breaking. Therefore, it is also necessary to add a plurality of first reinforcing ribs 1322 in the first weight reduction groove 1321 to ensure the strength of the crossbeam 132.

[0052] Furthermore, the purpose of reducing the weight of the side of the radar body 10 where the lens holder 13 is disposed can be achieved by removing part of the material at the bottom of the base 12 away from the lens holder 13. Figure 3 As shown, a second weight-reducing groove 121 can also be provided at the bottom of the base 12 away from the lens holder 13 to achieve a weight-reducing effect. Similarly, in order to ensure the strength of the base 12, a plurality of second reinforcing ribs 1211 are also provided in the second weight-reducing groove 121.

[0053] The first weight-reducing grooves 1321 may be evenly distributed on the crossbeam 132 in a horizontal and vertical manner. Figure 2As shown, the gap between the two transversely arranged first weight-reducing grooves 1321 and the longitudinally arranged first weight-reducing grooves 1321 forms a T-shaped first reinforcing rib 1322 to stabilize the crossbeam 132. It is understandable that the shape and size of the first weight-reducing grooves 1321 can be the same or different. Preferably, in this embodiment, the first weight-reducing grooves 1321 can be an elliptical shape of the same size and shape, which is more conducive to symmetrical processing and can make processing more convenient. In addition, in this embodiment, the second weight-reducing grooves 121 are a plurality of grooves of different depths. Due to the uneven thickness of the base 12, a deeper second weight-reducing groove 121 can be set at a thicker position of the base 12, and a shallower second weight-reducing groove 121 can be set at a thinner position of the base 12. It is understandable that the size, depth and shape of the second weight-reducing grooves 121 can also be the same or different, which will not be repeated here. Generally, in order to make the weight on both sides of the lens the same, preferably, the weight-reducing grooves are distributed on both sides of the axis of the two lenses in the same way. That is, at the symmetrical positions on both sides of the two lens axes, the first weight-reducing groove 1321 and the second weight-reducing groove 121 are of the same size, shape, depth and shallowness. The first weight-reducing groove 1321 and the second weight-reducing groove 121 are evenly arranged according to a rule, such as arranged in columns or rows. The even arrangement facilitates symmetrical processing and makes processing more convenient. At the same time, the shapes of the first weight-reducing groove 1321 and the second weight-reducing groove 121 can also be adjusted as needed. Preferably, the embodiment of the present invention adopts an elliptical structure, which can facilitate symmetrical processing.

[0054] It can be understood that by providing the first weight-reducing groove 1321 and the second weight-reducing groove 121, the overall weight of the rotating body can be reduced and energy consumption can be reduced. Figure 2 and Figure 3, the radar body 10 further includes at least one first-level counterweight 16. The first-level counterweight 16 can be bonded or clamped in the first weight-reducing groove 1321 or the second weight-reducing groove 121, or the first-level counterweight 16 can be bonded or clamped in the first weight-reducing groove 1321 and the second weight-reducing groove 121 at the same time, so that the front and rear of the radar body 10 are balanced. Preferably, the shape of the first-level counterweight 16 is adapted to the first weight-reducing groove 1321 and the second weight-reducing groove 121, and a variety of shapes can be adopted. For example, the first-level counterweight 16 can be selected into any shape adapted to the first weight-reducing groove 1321 and the second weight-reducing groove 121, such as an ellipse, a rectangle, a wedge, etc. In the embodiment of the present invention, by adding the first-level counterweight 16, the weight of the side of the radar body 10 provided with the lens holder 13 can be adjusted when the weight of the counterweight 15 is constant, thereby improving the flexibility of the overall dynamic balance adjustment of the radar body 10, thereby having stronger practicality. At the same time, the weight difference caused by the need for symmetrical processing of the first lightening groove 1321 and the second lightening groove 121 can also be adjusted through the first grade counterweight 16, thereby simplifying the processing technology.

[0055] For the above-mentioned connection of the vertical plate 14 and the counterweight 15, continue to refer to Figure 2 , the connecting plate 14 is provided with a positioning boss 141, and the counterweight 15 is provided with a positioning hole 151. In the process of fixing the connecting plate 14 and the counterweight 15, the positioning hole 151 of the counterweight 15 can be first inserted into the positioning boss 141 to achieve the preliminary positioning of the counterweight 15. At this time, the mounting hole 153 on the counterweight 15 is aligned with the threaded hole on the connecting plate 14, and then the screw is passed through the mounting hole 153 and screwed into the threaded hole to complete the fixing of the connecting plate 14 and the counterweight 15. By adding the positioning boss 141 and the positioning hole 151, the installation process of the connecting plate 14 and the counterweight 15 can be simplified, the process of aligning the threaded holes is saved, and the assembly time is saved. In addition, the surface of the counterweight 15 on the side away from the connecting plate 14 is an arc-shaped structure, which is adapted to the disc structure of the base 12, making the appearance of the laser radar 100 more beautiful.

[0056] It is understood that the connection method of the vertical plate 14 and the counterweight 15 and the surface shape of the counterweight 15 are not limited to the above-described methods and shapes, and may also be other methods and shapes. For example, the vertical plate 14 and the counterweight 15 may also be connected by clamping or gluing. The shape of the counterweight may be other shapes that match the base, etc., which will not be described in detail here.

[0057] In other embodiments, Figure 4As shown, the radar body 10 also includes at least one second-level counterweight 17, and the counterweight 15 is provided with the same number of connection holes 152 as the second-level counterweight 17, and each second-level counterweight 17 is also provided with a through hole 171 for connection. The connection between the second-level counterweight 17 and the counterweight 15 can be achieved by passing a screw through the connection hole 152 and the through hole 171, and then tightening the two ends of the screw with a bolt. By adding a second-level counterweight 17, when the weight of the counterweight 15 is not enough, the second-level counterweight 17 can be gradually added to the counterweight 15, and the weight of the counterweight 15 can be gradually increased, so that the weight of the counterweight 15 can be adjusted, and the practicality of the counterweight 15 is increased.

[0058] It is understandable that the connection method between the second secondary counterweight 17 and the counterweight 15 is not limited to the method described above, and may also be other methods, such as gluing or gluing combined with other fastening methods.

[0059] Different from the prior art, the radar body 10 in the embodiment of the present invention includes an axial connection part 11, a base 12, a lens holder 13, a connecting vertical plate 14 and a counterweight 15. Among them, the axial connection part 11 is used to connect the driving device to drive the entire laser radar 100 to rotate. A lens holder 13 is provided on one side of the axial connection part 11, and the lens holder 13 is used to install the transmitting lens and the receiving lens of the laser radar 100. Since the transmitting lens and the receiving lens are heavy, the center of gravity of the radar body 10 will deviate from the center position, affecting the dynamic balance of the radar body 10 when rotating. Therefore, in the embodiment of the present invention, a counterweight 15 is provided on the other side opposite to the lens holder 13 through the connecting vertical plate 14, and the counterweight 15 is provided at a position opposite to the lens holder at the edge of the base, and is also provided between the laser transmitting plate 20 and the laser receiving plate 30. By adding the connecting vertical plate 14 and the counterweight 15, the radar body 10 can be effectively balanced, making the radar body 10 more stable when rotating, and the laser emitting plate 20 and the laser receiving plate 30 can be better isolated to prevent mutual influence between them. In addition, the embodiment of the present invention also adds a first-level counterweight 16 and a second-level counterweight 17, so that the weight of the side of the radar body 10 where the lens holder 13 is provided and the counterweight 15 can be adjusted, making the counterweight solution provided by the embodiment of the present invention more practical.

[0060] Furthermore, Figure 5In another optional embodiment of the present invention, the radar body further includes a first counterweight groove, which is arranged at the edge of the base 12 (the base 12 of the radar body can also be called the bottom plate of the radar body, that is, the support plate structure at the bottom of the radar body for carrying the above-mentioned laser emitting plate, laser receiving plate and lens bracket and other structures, which will not be repeated in the following embodiments), and is annular around the base 12. The first counterweight groove includes a lower edge, and at least one first fixing hole is arranged on the lower edge. The first fixing hole allows the first counterweight block to be adjusted along the circumferential direction of the bottom plate and toward the axis of the central axis, and the first counterweight block is fixed at any position of the first fixing hole. It can be understood that by arranging the counterweight groove on the bottom plate, on the one hand, when the counterweight adjustment is not performed through the bottom plate, the weight of the rotating body can be reduced; on the other hand, when the counterweight adjustment is performed through the bottom plate, the counterweight block can be conveniently arranged in any direction and position of the bottom plate of the rotating body to achieve the dynamic balance adjustment of the laser radar. At the same time, by setting a counterweight on the bottom plate, the center of gravity of the radar body can be lowered during rotation, which can reduce the offset caused by the center of gravity shift and increase the service life of the equipment.

[0061] Optionally, the first fixing hole may be: Fig. 8A , Figure 8B , Figure 8C , Fig.8D , Fig. 8E and Fig.8F As shown, the first fixing holes can be arranged relatively closely around the base 12 and can have various shapes.

[0062] Preferably, the first fixing hole is configured to be an oblong shape toward the axis of the radar body 10. Figure 8C As shown, when the counterweight block is fixed to the counterweight plate, the position of the counterweight block can be easily fine-tuned. For example, it can be moved toward the axis position to adjust the distance between the counterweight block and the axis of the radar body. This makes it easier to adjust the center of gravity of the radar body without adding counterweight.

[0063] Optionally, the fixing holes may be arranged in a circular shape along the circumference of the bottom plate, such as Figure 3 As shown in A and 3B, along the circumference of the counterweight plate, Fig. 8A Set up 4 long circular rings so that the counterweight can be moved along the circumference of the bottom plate. Each time you adjust it, you can adjust the center of gravity without removing the counterweight. Figure 8B As shown, two long circular rings can be provided, which can eliminate the intervals between the fixing holes to the greatest extent, so that the counterweight can be fixed at any position and the convenience of adjustment is increased.

[0064] Optionally, you can Fig.8D As shown, the fixing holes are arranged in two circles around the axis of the bottom plate, which can increase the adjustment range of the counterweight and enhance the convenience of dynamic balance adjustment.

[0065] Optionally, as shown in Fig. 8E or Figure 8F, the fixing holes can be set in a T-shape or a cross-shape, which can facilitate the front-back and left-right movement of the fixing block, that is, fine-tune the position of the fixing block in multiple directions, thus increasing the convenience of dynamic balance adjustment. It can be understood that in some possible embodiments, the form of the fixing holes can also be set as a dry character shape, a rich character shape, etc., which can perform fine-tuning in multiple directions simultaneously, thereby further increasing the convenience of dynamic balance adjustment.

[0066] It can be understood that the specific shape of the fixing holes can also be other forms, which are not limited herein. The purpose is to better fix the fixing block and better fine-tune the position of the fixing block. At the same time, the arrangement method and density of the above fixing holes can also be adjusted according to needs. They can be evenly distributed or the distribution density can be adjusted according to needs. In the above embodiment, by setting fixing holes in the counterweight groove and facilitating the sliding of the counterweight along the circumferential direction of the bottom plate and the direction towards the axis of the central axis, the position of the first counterweight can be conveniently adjusted. It can not only move along the circumferential direction but also move towards the axis direction, making the adjustment of dynamic balance very convenient. Moreover, since it can be adjusted towards the axis direction, the effect of dynamic balance adjustment is more obvious.

[0067] Optionally, in another embodiment of the present invention, as shown in Fig. 9 the radar body further includes a first counterweight disk (120), the first counterweight disk (120) is arranged at the bottom of the base 12, and a second counterweight groove is formed at the edge of the base 12. The second counterweight groove is circular around the base 12. The counterweight disk (120) includes a second counterweight edge (124), and at least one third fixing hole (122) is arranged on the second counterweight edge (124). The third fixing hole (122) enables the second counterweight block (123) to be adjusted along the circumferential direction of the bottom plate (110) and the direction towards the axis of the central axis (201), and fixes the second counterweight block (123) at any position of the third fixing hole (122).

[0068] Among them, preferably, the inside of the first counterweight disk (120) is hollow and includes an external thread (125). The first counterweight disk (120) is fixed to the internal thread on the base 12 through the external thread (125).

[0069] Optionally, the radar body has a top cover, and the first counterweight plate 120 can also form counterweight grooves around the top cover to fix the counterweight blocks at any positions around the top plate of the laser radar.

[0070] The embodiment of the present invention sets a first counterweight plate 120 at the bottom of the base 12 of the radar body 10 to form a counterweight groove, which can conveniently configure counterweight blocks in any direction and position of the bottom plate and / or top plate to adjust the dynamic balance of the laser radar, thereby realizing all-round weight adjustment on the bottom plate and / or top plate of the radar body, thereby achieving a better effect of adjusting the dynamic balance of the laser radar.

[0071] There are many ways to fix the first counterweight plate 120 to the bottom plate. Preferably, the first counterweight plate 120 is fixed to the bottom plate by screw thread. Fig.10 As shown, the bottom of the bottom plate 110 is provided with a cavity 118, and the cavity is provided with an internal thread 119, and the first counterweight plate 120 is provided with an external thread 125, and the two are fixed by the internal thread and the external thread. Preferably, the bottom of the bottom plate 110 is set as a cavity, which can reduce the weight of the bottom plate 110. It is understandable that the bottom plate 110 and the first counterweight plate 120 can also be fixed by other methods, such as: fixed by screws, adhesive or clamping.

[0072] It can be understood that, in some optional embodiments, the first counterweight plate may include a clearance hole, and the first counterweight plate is sleeved on the rotating shaft through the clearance hole and fixed to the bottom of the base plate by screws.

[0073] Further, such as Fig.12 As shown, the laser radar shown can also include a second counterweight plate 130, the second counterweight plate 130 includes an internal thread, an external thread and a counterweight edge, the second counterweight plate 130 is fixed to the internal thread of the first counterweight plate through the external thread, and the counterweight edge is used to fix the second counterweight block.

[0074] Through the counterweight plate and laser radar provided by the embodiment of the present invention, the counterweight plate can be conveniently installed on the bottom plate of the laser radar body, the counterweight block can be installed as needed, and the dynamic balance can be adjusted at various angles of the bottom plate edge. At the same time, through the embodiment of the present invention, multiple counterweight plates can be conveniently installed as needed, and multiple counterweight plates can be combined through threads and can be adapted to each other. Multiple counterweight blocks can be configured in the same direction, which increases the strength of dynamic balance adjustment.

[0075] Furthermore, based on the above-mentioned laser radar 100, an embodiment of the present invention proposes an intelligent sensing device including the laser radar 100 in the above-mentioned embodiment. The intelligent sensing device can be a car, a drone, a robot, and other devices involving the use of the laser radar 100 for intelligent sensing and detection.

[0076] See also Figure 6 The embodiment of the present invention provides a laser radar, including a radar body 100 and a radar base 200, wherein the radar base 200 is provided with a central axis 201, and the radar body 100 is sleeved on the central axis 201; the radar body 100 includes a bottom plate 110 and a first counterweight groove 111, wherein the first counterweight groove 111 is provided at the edge of the bottom plate 110, and is formed in a circular ring around the bottom plate, and is recessed toward the axis of the central axis 201, and the first counterweight groove 111 is used to receive a first counterweight block 113, and the radar body 100 can rotate relative to the radar base 200. In the embodiment of the present invention, the first counterweight groove 111 is formed by contracting the bottom edge of the bottom plate 110 toward the axis of the central axis 201, and the first counterweight groove 111 is an L-shaped structure, and the first counterweight groove 111 of the L-shaped structure is formed. By arranging the first counterweight groove 111 around the bottom edge of the base plate 110, the counterweight block can be fixed at any position of the base plate 110 as needed, which facilitates the adjustment of the dynamic balance of the laser radar. At the same time, since the first counterweight block 113 is placed in the first counterweight groove 111, the counterweight block will not protrude outside the radar body 100, so that when the radar body 100 rotates relative to the radar base 200, the counterweight block will not touch the outer casing of the radar.

[0077] It is understandable that by setting a counterweight groove on the bottom plate of the radar body, the counterweight groove can be set in the circumferential direction of the bottom plate of the radar body, and the counterweight block can be conveniently set in any direction and position to adjust the dynamic balance of the laser radar. At the same time, by setting the counterweight block on the bottom plate, the center of gravity of the radar body can be lowered when it rotates, which can reduce the offset caused by the center of gravity offset and increase the service life of the equipment.

[0078] It can be understood that in some embodiments, the radar body may further include a top cover, and the above-mentioned first counterweight slot 111 may be arranged on the top cover of the radar body 100, and the first counterweight slot is arranged around the top cover, and the first counterweight block may be fixed in the first counterweight slot by screws. It can be understood that the first counterweight block may also be fixed in the counterweight slot by gluing, clamping, etc.

[0079] It is understandable that in some embodiments, counterweight grooves can also be set on the bottom plate and the top plate of the radar body at the same time to flexibly adjust the fixed position and fixed number of the first counterweight block, so as to better adjust the dynamic balance of the laser radar.

[0080] During actual use, the laser radar body is in a high-speed rotation process. In an embodiment of the present invention, by providing a counterweight groove at the edge of the bottom plate or top plate of the radar body, the counterweight block can be conveniently configured in any direction and position of the bottom plate and / or top plate to adjust the dynamic balance of the laser radar, thereby realizing all-round weight adjustment of the bottom plate and / or top plate of the radar body, thereby achieving a better effect of adjusting the dynamic balance of the laser radar.

[0081] Another embodiment of the present invention also provides another laser radar, such as Figure 7 As shown, in this embodiment, the first counterweight groove 111 includes an upper edge 1111 and a lower edge 1112, and the upper edge 1111 and the lower edge 1112 together form a U-shaped first counterweight groove 111, and the lower edge 1112 is an edge away from the side of the bottom plate 110. The U-shaped first counterweight groove 111 surrounds the bottom plate 110 in a circular ring, and at least one first fixing hole 115 is provided on the lower edge 1112, and the first counterweight block 113 is provided in the counterweight groove through the first fixing hole 115. In this way, the fixing of the first counterweight block 113 is facilitated, and the first fixing hole 115 is provided at any position around the bottom plate 110, which improves the convenience of dynamic balance adjustment of the laser radar.

[0082] Of course, when fixing the first counterweight 113, a circle of second fixing holes 112 can also be provided on the inner side of the L-shaped first counterweight slot 111, and the first counterweight 113 can be fixed to the inner wall of the first counterweight slot 111 by screwing. It can be understood that the first counterweight can also be fixed in the first counterweight slot by gluing, clamping, etc.

[0083] Optionally, the first counterweight block 113 can slide relative to the first fixing hole 115, and the first fixing hole 115 can adjust the first counterweight block 113 along the circumferential direction of the bottom plate 110 and / or toward the axial direction of the central axis 201, and the first counterweight block 113 can be fixed at any position of the majority of the first fixing holes 115. The first fixing hole 115 can be as follows: Fig. 8A , Figure 8B , Figure 8C , Fig.8D , Fig. 8E and Fig.8F As shown, the first fixing holes can be arranged relatively closely around the bottom plate, and their shapes can be various.

[0084] Preferably, the first fixing hole 115 is configured to be an oblong shape toward the axis of the radar body 100. Figure 8CAs shown, when the counterweight is fixed to the counterweight disk, the position of the counterweight can be conveniently fine-tuned. For example, it can be moved towards the axis to adjust the distance between the counterweight and the axis of the radar body. In this way, without increasing the counterweight, it is more convenient to adjust the center of gravity of the radar body.

[0085] Optionally, the fixing holes can also be arranged in a circular ring shape along the circumferential direction of the bottom plate, as Fig. 8A and 8B shown. Along the circumferential direction of the counterweight disk, Fig. 8A 4 long circular rings are arranged. In this way, the counterweight can move along the circumferential direction of the bottom plate. Each time an adjustment is made, the center of gravity can be adjusted without disassembling the counterweight. Of course, as Figure 8B shown, 2 long circular rings can be arranged. In this way, the interval between the fixing holes is eliminated to the greatest extent, and the counterweight can be fixed at any position, which also increases the convenience of adjustment.

[0086] Optionally, as Fig.8D shown, the fixing holes can be arranged in two circles around the axis of the bottom plate. In this way, the adjustment range of the counterweight can be increased, and the convenience of dynamic balance adjustment is increased.

[0087] Optionally, as Fig. 8E or shown in 8F, the fixing holes can be set in a T shape or a cross shape. In this way, the fixing block can be conveniently moved back and forth and left and right, that is, the position of the fixing block can be fine-tuned in multiple directions, increasing the convenience of dynamic balance adjustment. It can be understood that in some possible embodiments, the form of the fixing holes can also be set in various forms such as a dry character shape, a rich character shape, etc. that can perform fine-tuning in multiple directions at the same time, thereby further increasing the convenience of dynamic balance adjustment.

[0088] It can be understood that the specific shape of the fixing holes can also be other forms, which are not limited here. The purpose is to better fix the fixing block and better fine-tune the position of the fixing block. At the same time, the arrangement method and density of the above-mentioned fixing holes can also be adjusted according to needs, which can be evenly distributed or the distribution density can be adjusted according to needs. In the above embodiments, by setting fixing holes in the counterweight groove and conveniently sliding the counterweight along the circumferential direction of the bottom plate and towards the axis of the center, the position of the first counterweight can be conveniently adjusted. It can not only move along the circumferential direction but also move towards the axis direction, making the adjustment of dynamic balance very convenient. Moreover, since it can be adjusted towards the axis direction, the effect of dynamic balance adjustment is more obvious.

[0089] Another embodiment of the present invention provides a counterweight plate 120, the counterweight plate includes a fixed edge, a counterweight edge and a fixed hole, the counterweight plate is fixed to the laser radar through the fixed edge, the counterweight edge can be fixed to the bottom plate of the laser radar, and together with the bottom plate of the laser radar body, a counterweight groove is formed to fix the counterweight block. Specifically, the embodiment of the present invention preferably adopts a threaded method to fix it to the bottom plate of the laser radar, and provides a counterweight plate, such as Fig. 9 As shown, the counterweight plate is hollow inside to form a receiving space 127, including an internal thread 126, an external thread 125, a counterweight edge 124 and a third fixing hole 122. The counterweight plate is fixed to the laser radar base plate through the external thread 125, fixed to other counterweight plates through the internal thread 126, and fixed to the counterweight block through the third fixing hole 122. The third fixing hole 122 allows the counterweight block to slide along the circumferential direction of the base plate and toward the axial direction of the central axis, and fixes the counterweight block at any position of the third fixing hole 122. The counterweight plate is a standard part, and each counterweight plate can be directly fixed to each other.

[0090] In some optional embodiments, Figure 6 and Figure 7 Based on the laser radar provided, the above-mentioned Figure 4 The counterweight plate shown forms a plurality of counterweight slots, and a plurality of fixing blocks can be fixed in the same direction. The specific fixing method can be threaded connection, screw connection, adhesive connection or clamping method, which is not limited here.

[0091] By adding a counterweight plate structure on the basis of the original bottom counterweight slot structure, multi-layer dynamic balance adjustment can be achieved at the same position, thereby increasing the convenience of dynamic balance adjustment.

[0092] exist Fig.10 and Fig.11 In another embodiment of the present invention, a laser radar is provided, wherein a central axis 201 is provided on the radar base 200, and the radar body 100 is sleeved on the central axis 201;

[0093] The radar body 100 includes a bottom plate 110 and a first counterweight plate 120. The first counterweight plate 120 is disposed at the bottom of the bottom plate 110. A second counterweight groove 121 is formed at the edge of the bottom plate. The second counterweight groove 121 is formed in a circular ring around the bottom plate 110. The second counterweight groove 121 is used to receive a second counterweight block 123.

[0094] The radar body 100 can rotate relative to the radar base 200 .

[0095] Optionally, the laser radar 100 has a top cover, and the first counterweight plate 120 can also form counterweight grooves around the top cover to fix the counterweight blocks at any positions around the top plate of the laser radar.

[0096] The embodiment of the present invention forms a counterweight groove by setting a first counterweight plate 120 at the bottom of the bottom plate 110 of the radar body 100, which can conveniently configure counterweight blocks in any direction and position of the bottom plate and / or the top plate to adjust the dynamic balance of the laser radar, thereby realizing all-round weight adjustment on the bottom plate and / or the top plate of the radar body, thereby achieving a better effect of adjusting the dynamic balance of the laser radar.

[0097] There are many ways to fix the first counterweight plate 120 to the bottom plate 110. Preferably, they are fixed by screw threads, such as Figure 5 As shown, the bottom of the bottom plate 110 is provided with a cavity 118, and the cavity is provided with an internal thread 119, and the first counterweight plate 120 is provided with an external thread 125, and the two are fixed by the internal thread and the external thread. Preferably, the bottom of the bottom plate 110 is set as a cavity, which can reduce the weight of the bottom plate 110. It is understandable that the bottom plate 110 and the first counterweight plate 120 can also be fixed by other methods, such as: fixed by screws, adhesive or clamping.

[0098] It is understandable that, in some optional embodiments, the first counterweight plate 120 may include a clearance hole, and the first counterweight plate 120 is sleeved on the rotating shaft through the clearance hole and fixed to the bottom of the base plate 110 by screws.

[0099] Further, such as Fig.11 and Fig.12 As shown, the laser radar shown can also include a second counterweight plate 130, the second counterweight plate 130 includes an internal thread 126, an external thread 125 and a counterweight edge 124, the second counterweight plate 130 is fixed to the internal thread 126 of the first counterweight plate 120 via the external thread 125, and the counterweight edge 124 is used to fix the second counterweight block 123.

[0100] It is understandable that, in some optional embodiments, the second counterweight plate 130 may also include a clearance hole, and the second counterweight plate 130 is sleeved on the rotating shaft through the clearance hole and fixed to the lower part of the first counterweight plate 120 by screws.

[0101] Through the counterweight plate and laser radar provided by the embodiment of the present invention, the counterweight plate can be conveniently installed on the bottom plate of the laser radar body, the counterweight block can be installed as needed, and the dynamic balance can be adjusted at various angles of the bottom plate edge. At the same time, through the embodiment of the present invention, multiple counterweight plates can be conveniently installed as needed, and multiple counterweight plates can be combined through threads and can be adapted to each other. Multiple counterweight blocks can be configured in the same direction, which increases the strength of dynamic balance adjustment.

[0102] Another embodiment of the present invention provides another structure of fixing holes. In the above embodiments, at least one third fixing hole is provided on the side of the counterweight for fixing the counterweight. Preferably, as Fig.13A , Fig. 13B , Fig. 13C , Fig.13D , Fig.13E and Fig.13F As shown, the fixing holes can be arranged relatively closely around the bottom plate, and their shapes can be various.

[0103] Preferably, the fixing hole can be arranged in an oblong shape toward the axis of the radar body 100, such as Fig. 13C As shown, when the counterweight block is fixed to the counterweight plate, the position of the counterweight block can be easily fine-tuned. For example, it can be moved toward the axis position to adjust the distance between the counterweight block and the axis of the radar body. This makes it easier to adjust the center of gravity of the radar body without adding counterweight.

[0104] Optionally, the fixing holes may be arranged in a circular shape along the circumference of the bottom plate, such as Fig.13A and 13B As shown, along the circumference of the counterweight plate, Fig.13A Set up 4 long circular rings so that the counterweight can be moved along the circumference of the bottom plate. Each time you adjust it, you can adjust the center of gravity without removing the counterweight. Fig. 13B As shown, two long circular rings can be provided, which can eliminate the intervals between the fixing holes to the greatest extent, so that the counterweight can be fixed at any position and the convenience of adjustment is increased.

[0105] Optionally, you can Fig.13D As shown, the fixing holes are arranged in two circles around the axis of the base plate, which can increase the adjustment range of the counterweight block and increase the convenience of dynamic balance adjustment.

[0106] Optionally, you can Fig.13EAs shown in Fig. 13F, the fixing holes are arranged in a T shape or a cross shape, which facilitates the front-back and left-right movement of the fixing block, that is, fine-tuning the position of the fixing block in multiple directions, and increases the convenience of dynamic balance adjustment. It can be understood that in some possible embodiments, the form of the fixing holes can also be set in various forms such as a dry character shape, a rich character shape, etc. that can perform fine-tuning in multiple directions simultaneously, so as to further increase the convenience of dynamic balance adjustment.

[0107] It can be understood that the specific shape of the fixing holes can also be in other forms, which are not limited herein. The purpose is to better fix the fixing block and better fine-tune the position of the fixing block. At the same time, the arrangement method and density of the above-mentioned fixing holes can also be adjusted according to needs, and can be evenly distributed or the distribution density can be adjusted according to needs.

[0108] Of course, in actual use, since the laser emission and incident lenses included in the radar body 100 are relatively heavy, therefore, on the basis of the above Figure 6 , Figure 7 , Fig. 9 , Fig.11 and Fig.12 embodiments of the lidar, special settings can also be made in a certain direction. In the embodiments of the present invention, the dynamic balance is adjusted by combining weight reduction and weight addition. As Fig.14 shown, the radar body includes a lens bracket 140. Since there is a lens on the lens bracket 140 and the weight is often heavy, a cross beam is provided on the lens bracket 140, and a first weight reduction groove is provided on the cross beam. At the same time, a second weight reduction groove is provided on the bottom plate 110 on one side of the lens bracket. A first reinforcing rib is provided in the first weight reduction groove, and a second reinforcing rib is provided in the second weight reduction groove. At the same time, on the side far from the lens bracket 140, a movable side wall 160 is provided at the edge of the bottom plate, and a long circular hole is provided on the movable side wall for fixing a weight block, and the weight block can be adjusted and fixed in position in the long circular hole. Optionally, the movable side wall 160 can be fixed to the radar body through a connecting vertical plate 150. It can be understood that in the embodiments of the present invention, a weight block is provided on the movable wall, and the weight block is arranged in the long circular hole on the movable arm, and the weight block can be freely adjusted in position, so as to balance the weight on the side of the laser lens. At the same time, in the lidar, the weights of the laser emission plate 170 and the laser reception plate 180 also account for a relatively high proportion. Therefore, the laser emission plate 170 and the laser reception plate 180 are respectively arranged on both sides of the connecting vertical plate 150 to achieve weight balance. In this way, after the center of gravity is adjusted at all angles by setting a weight groove at the bottom of the radar body, combined with targeted adjustment in a certain dimension, the center of gravity adjustment of the lidar can be better realized.

[0109] To sum up, the laser radar proposed in the embodiment of the present invention realizes the adjustment of the center of gravity of the laser radar in all directions by setting a counterweight groove at the bottom of the radar body, which greatly facilitates the use of the laser radar and greatly improves the service life of the radar.

[0110] Furthermore, based on the above-mentioned laser radar, an embodiment of the present invention proposes an intelligent sensing device including the laser radar in the above-mentioned embodiment. The intelligent sensing device can be a car, a drone, a robot, and other devices involving the use of laser radar for intelligent sensing and detection.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

[0112] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0113] In the description of the present application, 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", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0114] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0115] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through 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 invention can be understood according to specific circumstances.

[0116] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or 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 may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A laser radar, characterized in that: The radar body includes: an axial connection part, a base, a lens frame, a connection vertical plate, a counterweight, a laser emitting plate and a laser receiving plate; The axis connection part is located at the center of the base and is vertically connected to the base. A lens holder is arranged on one side of the axis connection part, and a connecting vertical plate is arranged on the other side of the axis connection part. The connecting vertical plate and the center position of the lens holder are in the same plane and are vertically connected to the base. The connecting plate is located between the laser emitting plate and the laser receiving plate, and is used to isolate the laser emitting plate and the laser receiving plate. One end of the connecting plate is connected to the axial connecting portion, and the other end of the connecting plate fixes the counterweight to the position of the edge of the base opposite to the lens holder. The lens holder is arranged on the base; The radar body also includes a first counterweight groove, which is arranged at the edge of the base and forms a circular ring around the bottom plate. The first counterweight groove includes a lower edge, and at least one first fixing hole is arranged on the lower edge. The first fixing hole enables the first counterweight block to be adjusted along the circumferential direction of the base and toward the axial direction of the central axis, and the first counterweight block is fixed at any position of the first fixing hole.

2. The laser radar according to claim 1, characterized in that: The lens frame is provided with a crossbeam, and the crossbeam is provided with a first weight-reducing groove.

3. The laser radar according to claim 1, characterized in that: The lens mount is provided with a receiving hole, and the receiving hole is used to accommodate the transmitting lens and the receiving lens of the laser radar; the connecting vertical plate is arranged on the same plane as the middle position of the transmitting lens and the receiving lens.

4. The laser radar according to claim 2, characterized in that: A second weight-reducing groove is provided at the bottom of the base away from the lens holder.

5. The laser radar according to claim 4, characterized in that: A first reinforcing rib is disposed in the first weight-reducing groove, and a second reinforcing rib is disposed in the second weight-reducing groove.

6. The laser radar according to claim 1, characterized in that: One side surface of the counterweight is an arc-shaped structure adapted to the structure of the base.

7. The laser radar according to claim 1, characterized in that: The connecting vertical plate is provided with a positioning boss, the counterweight is provided with a positioning hole, and the positioning boss is engaged with the positioning hole.

8. The laser radar according to claim 4, characterized in that: The radar body further includes at least one first-level counterweight, and the first-level counterweight is disposed in the first weight-reducing groove and / or the second weight-reducing groove.

9. The laser radar according to any one of claims 1 to 8, characterized in that: The radar body further comprises at least one second-level counterweight, the counterweight is provided with the same number of connection holes as the second-level counterweight, and the second-level counterweight is connected to the counterweight through the connection holes.

10. The laser radar according to claim 1, characterized in that: The first fixing hole is configured to be an oblong shape toward the axis of the central axis, and the first counterweight block can slide relative to the first fixing hole.

11. The laser radar according to claim 1, characterized in that: The first fixing hole is arranged in a circular ring shape along the circumferential direction of the bottom plate, and the first counterweight block can slide relative to the first fixing hole.

12. The laser radar according to claim 1, characterized in that: The first fixing hole is T-shaped or cross-shaped, and the first counterweight block can slide relative to the first fixing hole.

13. The laser radar according to claim 10, 11 or 12, characterized in that: The first fixing holes are arranged in one circle or two circles around the edge of the bottom plate.

14. The laser radar according to claim 13, characterized in that: The radar body further comprises a lens holder and a movable side wall, wherein the movable side wall is arranged at a side away from the lens holder; At least one oblong hole is arranged on the movable side wall, and the oblong hole enables the counterweight to slide up and down or left and right along the movable side wall, and fixes the counterweight at any position of the oblong hole.

15. The laser radar according to claim 1, characterized in that: The radar body also includes a first counterweight plate, which is arranged at the bottom of the base, and a second counterweight groove is formed on the edge of the base, and the second counterweight groove is annular around the base. The counterweight plate includes a second counterweight edge, and at least one third fixing hole is arranged on the second counterweight edge. The third fixing hole enables the second counterweight block to be adjusted along the circumferential direction of the base and toward the axial direction of the central axis, and the second counterweight block is fixed at any position of the third fixing hole.

16. The laser radar according to claim 15, characterized in that: The first counterweight plate is hollow inside and includes external threads, and the first counterweight plate is fixed to the base via the external threads.

17. The laser radar according to claim 16, characterized in that: The laser radar also includes a second counterweight plate, which is fixed to the first counterweight plate via an external thread.

18. The laser radar according to claim 15, characterized in that: The third fixing hole is T-shaped or cross-shaped, and the second counterweight block can slide relative to the third fixing hole.

19. An intelligent sensing device, characterized in that: Comprising a laser radar as described in any one of claims 1 to 18.

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