LiDAR

Abstract

The present invention belongs to the field of laser radar, and in particular relates to a laser radar, the base of which includes a base body and a main shaft arranged on the base body. The rotating bracket is made of metal and has a central through hole rotatably connected to the main shaft. The detection device is installed at the end of the rotating bracket away from the base body, and the end of the rotating bracket close to the base body is provided with a receiving groove surrounding the central through hole; in the direction perpendicular to the axis of the main shaft, the part of the rotating bracket located between the central through hole and the receiving groove forms a first barrier part, and the part of the rotating bracket located in the receiving groove away from the first barrier part forms a second barrier part. The first barrier part and the second barrier part on the rotating bracket separate the wireless communication unit, the wireless power supply unit and the motor from each other in the direction perpendicular to the axis of the main shaft, thereby reducing the mutual electromagnetic interference among the three, ensuring the stability of communication, power supply and rotation drive, and improving the detection effect of the laser radar.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser radar. Background Art

[0002] LiDAR (LiDAR) emits a laser beam toward a target area and receives the reflected laser beam back from the target area. It uses the laser beam's time of flight to obtain three-dimensional information about the space being measured. Due to its high resolution, high measurement accuracy, and strong anti-interference capabilities, LiDAR is widely used in autonomous driving and robotics.

[0003] Existing laser radars usually use a wireless power supply unit to power the detection device and a wireless communication unit for communication. Due to the unreasonable layout of devices inside the laser radar, electromagnetic interference exists between the wireless power supply unit, the wireless communication unit and the motor used to drive the detection device to rotate, affecting the detection effect of the laser radar. Summary of the Invention

[0004] An embodiment of the present invention provides a laser radar, which is used to solve the technical problem that the layout of the internal components of the existing laser radar is unreasonable, resulting in electromagnetic interference between the wireless power supply unit, the wireless communication unit and the motor, thereby affecting the detection effect of the laser radar.

[0005] To achieve the above-mentioned object, the present invention provides a laser radar, which includes a base, a rotating bracket, a detection device, a wireless communication unit, a wireless power supply unit and a motor;

[0006] The base includes a base body and a main shaft arranged on the base body;

[0007] The rotating bracket has a central through hole rotatably connected to the main shaft. The detection device is mounted on an end of the rotating bracket away from the base body. An end of the rotating bracket close to the base body is provided with a receiving groove surrounding the central through hole. In a direction perpendicular to the main shaft axis, a portion of the rotating bracket located between the central through hole and the receiving groove forms a first blocking portion, and a portion of the rotating bracket located in the receiving groove away from the first blocking portion forms a second blocking portion.

[0008] One of the wireless communication unit, the wireless power supply unit and the motor is arranged between the main shaft and the center through hole; another one of the wireless communication unit, the wireless power supply unit and the motor is located in the accommodating groove and is arranged between the rotating bracket and the base body; the last one of the wireless communication unit, the wireless power supply unit and the motor is arranged between the side of the second blocking portion facing away from the accommodating groove and the base body.

[0009] Optionally, the base body has a first cylinder and a second cylinder coaxial with the main axis, the first cylinder is inserted in the accommodating groove, and a first accommodating space is formed between the first cylinder and the second cylinder and the inner wall of the accommodating groove, and the second blocking part is inserted between the first cylinder and the second cylinder and forms a second accommodating space between the first cylinder and the second cylinder.

[0010] Optionally, the first cylinder and the second cylinder are made of metal.

[0011] Optionally, the motor is disposed in the second accommodating space.

[0012] Optionally, the wireless communication unit includes a wireless communication transmitting coil and a wireless communication receiving coil, the wireless communication transmitting coil is fixed on the outer peripheral wall of the main shaft, and the wireless communication receiving coil is fixed on the inner peripheral wall of the central through hole and is electromagnetically coupled to the wireless communication transmitting coil; and / or,

[0013] The wireless power supply unit includes a wireless power supply transmitting coil and a wireless power supply receiving coil, wherein the wireless power supply transmitting coil is fixed on the first cylinder; the wireless power supply receiving coil is fixed on the inner wall of the accommodating groove and is electromagnetically coupled with the wireless power supply transmitting coil; and / or,

[0014] The motor comprises a rotor and a stator. The rotor is fixed to a side of the second blocking portion facing away from the accommodating groove, and the stator is fixed to a side of the second cylinder facing the rotor.

[0015] Optionally, in a direction parallel to the main shaft axis, the height of the first cylinder is smaller than the depth of the accommodating groove, and a first accommodating space is formed between one end of the first cylinder facing the bottom of the accommodating groove and the bottom of the accommodating groove.

[0016] Optionally, in a direction perpendicular to the main shaft axis, the first cylinder is arranged in the accommodating groove near the second blocking portion, and a first bearing is arranged between the first cylinder and the first blocking portion; an end of the rotating bracket away from the base body is provided with a mounting cylinder surrounding the center through hole, and the mounting cylinder is sleeved on the main shaft and a second bearing is arranged between the main shaft.

[0017] Optionally, the laser radar also includes a support platform, a mounting hole is provided in the middle of the support platform, the support platform is fixed to the end of the rotating bracket away from the base body, and the mounting tube is positioned in the mounting hole, and the detection device is fixed to the side of the support platform away from the rotating bracket.

[0018] Optionally, the laser radar further includes a fixed circuit board and a rotating circuit board;

[0019] The fixed circuit board is installed on the base body and is electrically connected to the wireless communication unit, the wireless power supply unit and the motor; the rotating circuit board is installed on the rotating bracket and is electrically connected to the wireless communication unit and the wireless power supply unit; the detection device is electrically connected to the rotating circuit board.

[0020] Optionally, a accommodating chamber is provided on a side of the base body facing away from the main shaft, and the fixed circuit board is installed in the accommodating chamber.

[0021] The beneficial effect of the laser radar provided by the present invention is that compared with the existing technology, the laser radar of the present invention separates the wireless communication unit, the wireless power supply unit and the motor from each other in a direction perpendicular to the main shaft axis through the first barrier part and the second barrier part on the rotating bracket, thereby reducing the mutual electromagnetic interference among the three, ensuring the stability of communication, power supply and rotation drive, and improving the detection effect of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] in:

[0024] Figure 1 is a schematic cross-sectional structural diagram of a laser radar according to an embodiment of the present invention;

[0025] Figure 2 1 is a schematic diagram of the three-dimensional structure of a laser radar according to an embodiment of the present invention;

[0026] Figure 3 1 is a schematic cross-sectional view of a mask assembly of a laser radar according to an embodiment of the present invention;

[0027] Figure 4 1 is a schematic diagram of the three-dimensional structure of a base of a laser radar according to an embodiment of the present invention;

[0028] Figure 5 1 is a schematic cross-sectional view of a rotating bracket of a laser radar according to an embodiment of the present invention;

[0029] Figure 6 1 is a schematic diagram of the three-dimensional structure of a rotating bracket of a laser radar according to an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the three-dimensional structure of the connection between the rotating bracket and the support platform, the rotating circuit board, the rotor, the wireless communication transmitting coil, the wireless power receiving coil, and the second bearing of the laser radar shown in one embodiment of the present invention;

[0031] Figure 8 yes Figure 7 A schematic cross-sectional view of the structure shown;

[0032] Figure 91 is a schematic diagram of the three-dimensional structure of a laser radar detection device according to an embodiment of the present invention;

[0033] Figure 10 yes Figure 1 A schematic diagram of the structure enlargement at point A;

[0034] Figure 11 1 is a schematic cross-sectional structural diagram of a laser emission module in a detection device according to an embodiment of the present invention;

[0035] Figure 12 1 is a schematic diagram of the explosion structure of the laser emission module in the detection device according to one embodiment of the present invention;

[0036] Figure 13 is a schematic cross-sectional structural diagram of a laser receiving module in a detection device according to an embodiment of the present invention;

[0037] Figure 14 Schematic diagram of the explosion structure of the laser receiving module in the detection device according to one embodiment of the present invention.

[0038] Description of main component symbols:

[0039] 100, base; 110, base body; 1101, accommodating chamber; 1102, stop surface; 111, first cylinder; 112, second cylinder; 1121, external thread; 1122, annular groove; 120, main shaft;

[0040] 200, rotating bracket; 201, central through hole; 202, accommodating groove; 203, first barrier; 204, second barrier; 2041, notch; 2042, coding tooth; 205, mounting protrusion; 206, wire hole; 210, mounting cylinder; 211, wiring hole;

[0041] 300, wireless communication unit; 310, wireless communication transmitting coil; 320, wireless communication receiving coil; 330, annular magnetic conductor;

[0042] 400, wireless power supply unit; 410, wireless power supply transmitting coil; 420, wireless power supply receiving coil; 430, annular magnetic conductor;

[0043] 500, motor; 510, rotor; 520, stator;

[0044] 600, first bearing;

[0045] 700, second bearing;

[0046] 800, fixed circuit board;

[0047] 900, rotating circuit board;

[0048] 1000, support platform; 1001, mounting hole;

[0049] 2000, detection device; 2100, laser emission module; 2110, rear housing; 2120, front cover; 2121, light exit hole; 2130, controller; 2140, beam emitter; 2141, emission circuit board; 2142, emission light source; 2200, laser receiving module; 2210, housing; 2220, cover; 2221, light transmission hole; 2230, partition; 2240, signal processor; 2250, light detector; 2251, detection circuit board; 2252, photoelectric sensor element; 2260, filter; 2300, emission lens group; 2400, receiving lens group;

[0050] 3000, light mask assembly; 3100, filter mask; 3200, adapter sleeve; 3211, internal thread; 3212, step surface; 3300, top cover;

[0051] 4000, encoder;

[0052] 5000, sunshade. DETAILED DESCRIPTION

[0053] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many other forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0054] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0055] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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 device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0058] It should also be noted that, in the embodiments of the present application, the same figure mark represents the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0059] As described in the background technology, due to the unreasonable layout of the internal components of the existing laser radar, electromagnetic interference exists between the wireless power supply unit, the wireless communication unit and the motor used to drive the detection device to rotate, affecting the detection effect of the laser radar.

[0060] In order to solve the above problems, according to one aspect of the present invention, an embodiment of the present invention provides a laser radar, such as Figure 1 and Figure 4-Figure 5As shown, the laser radar includes a base 100, a rotating bracket 200, a detection device 2000, a wireless communication unit 300, a wireless power supply unit 400, and a motor 500. The base 100 includes a base body 110 and a main shaft 120 disposed on the base body 110. The rotating bracket 200 has a central through hole 201 that is rotatably connected to the main shaft 120. The detection device 2000 is mounted on the end of the rotating bracket 200 away from the base body 110. The end of the rotating bracket 200 close to the base body 110 is provided with a receiving groove 202 surrounding the central through hole 201. In a direction perpendicular to the axis of the main shaft 120, the portion of the rotating bracket 200 located between the central through hole 201 and the receiving groove 202 forms a first barrier portion 203, and the portion of the rotating bracket 200 located in the receiving groove 202 away from the first barrier portion 203 forms a second barrier portion 204. One of the wireless communication unit 300, the wireless power supply unit 400 and the motor 500 is arranged between the main shaft 120 and the central through hole 201; another one of the wireless communication unit 300, the wireless power supply unit 400 and the motor 500 is located in the accommodating groove 202 and is arranged between the rotating bracket 200 and the base body 110; the last one of the wireless communication unit 300, the wireless power supply unit 400 and the motor 500 is arranged between the side of the second blocking portion 204 facing away from the accommodating groove 202 and the base body 110.

[0061] In an embodiment of the present invention, the laser radar separates the wireless communication unit 300, the wireless power supply unit 400 and the motor 500 from each other in a direction perpendicular to the axis of the main shaft 120 through the first barrier 203 and the second barrier 204 on the rotating bracket 200, thereby reducing the mutual electromagnetic interference among the three, ensuring the stability of communication, power supply and rotation drive, and improving the detection effect of the laser radar.

[0062] The rotating bracket 200 can be made of metal, such as aluminum alloy injection molding, and the first baffle 203 and the second baffle 204 are both cylindrical structures coaxially arranged with the central through hole 201. Figure 9 As shown, the detection device 2000 includes a laser emitting module 2100, a laser receiving module 2200, a emitting lens group 2300 installed in front of the laser emitting module 2100, and a receiving lens group 2400 installed in front of the laser receiving module 2200. The laser emitting module 2100 may have one or more emitting units (not shown in the figure). Similarly, the laser receiving module 2200 may also have one or more receiving units (not shown in the figure), which is not limited here.

[0063] In one embodiment, if Figure 1 and Figure 4As shown, the base body 110 has a first cylinder 111 and a second cylinder 112 coaxial with the main shaft 120, the first cylinder 111 is inserted into the accommodating groove 202, and a first accommodating space is formed between the first cylinder 111 and the inner wall of the accommodating groove 202, and the second blocking portion 204 is inserted between the first cylinder 111 and the second cylinder 112, and a second accommodating space is formed between the second cylinder 112.

[0064] By setting the base body 110 as above, the first cylinder 111 and the second cylinder 112 of the base body 110 are used to cooperate with the rotating bracket 200 to form a first accommodating space and a second accommodating space, which facilitates the installation and arrangement of the wireless communication unit 300, the wireless power supply unit 400 or the motor 500 between the rotating bracket 200 and the base body 110.

[0065] It can be understood that both the first accommodating space and the second accommodating space are annular spaces coaxial with the main shaft 120 .

[0066] In a specific embodiment, the first cylinder 111 and the second cylinder 112 are made of metal.

[0067] Since the first cylinder 111 is inserted into the accommodating groove 202, the second blocking portion 204 is inserted between the first cylinder 111 and the second cylinder 112, that is, in the direction perpendicular to the axis of the main shaft 120, the first blocking portion 203, the first cylinder 111, the second blocking portion 204 and the second cylinder 112 at least partially overlap, which is beneficial to further improve the electromagnetic shielding effect between the wireless communication unit 300, the wireless power supply unit 400 and the motor 500.

[0068] To facilitate processing and manufacturing, the base body 110 and the main shaft 120 of the base 100 are integrally injection-molded using metal materials. Preferably, the metal material is aluminum alloy, which is beneficial to reducing the weight of the entire laser radar and facilitating lightweight design.

[0069] In a specific embodiment, Figure 1 As shown, the motor 500 is disposed in the second accommodating space.

[0070] Compared with the first accommodating space, the second accommodating space is farther away from the main shaft 120 and has a larger diameter. By arranging the motor 500 in the second accommodating space, a larger motor 500 can be used to improve the load capacity.

[0071] In a more specific embodiment, Figure 1 and Figure 7-Figure 8As shown, the wireless communication unit 300 includes a wireless communication transmitting coil 310 and a wireless communication receiving coil 320. The wireless communication transmitting coil 310 is fixed to the outer peripheral wall of the main shaft 120, and the wireless communication receiving coil 320 is fixed to the inner peripheral wall of the central through hole 201 and is electromagnetically coupled to the wireless communication transmitting coil 310. Signal transmission to the detection device 2000 is achieved through the wireless communication unit 300; and / or,

[0072] The wireless power supply unit 400 includes a wireless power supply transmitting coil 410 and a wireless power supply receiving coil 420. The wireless power supply transmitting coil 410 is fixed to the first cylinder 111; the wireless power supply receiving coil 420 is fixed to the inner wall of the accommodating groove 202 and is electromagnetically coupled to the wireless power supply transmitting coil 410. The detection device 2000 is powered by the wireless power supply unit 400; and / or,

[0073] The motor 500 includes a rotor 510 and a stator 520. The rotor 510 is fixed to the side of the second blocking portion 204 facing away from the accommodating groove 202, and the stator 520 is fixed to the side of the second cylinder 112 facing the rotor 510. The motor 500 drives the rotating bracket 200 to rotate relative to the base 100, thereby driving the detection device 2000 installed on the rotating bracket 200 to rotate together, thereby realizing detection of the surrounding environment.

[0074] In this embodiment, the motor 500 is a DC motor, with a magnet serving as the rotor 510 and an armature serving as the stator 520. Specifically, the armature can be formed by winding a coil around a silicon steel sheet. A certain gap exists between the armature and the magnet. Since the magnet does not require power, its placement on the rotating bracket 200 reduces the power supply pressure on the wireless power supply unit 400.

[0075] In addition, it should be noted that in other embodiments, the magnet and the armature can interchange their functional roles as the stator 520 and the rotor 510. For example, the armature can be configured as the rotor 510 and the magnet as the stator 520. In addition, the motor 500 can also be other types of motors 500, not limited to DC motors.

[0076] like Figure 5-Figure 8 As shown, the outer peripheral wall of the second barrier 204 comprises a sleeve segment, a connecting segment, and a stop segment, sequentially connected along a direction parallel to the axis of the main shaft 120. The outer diameter of the sleeve segment is smaller than that of the stop segment. The rotor 510 of the motor 500 is sleeved and fixed to the sleeve segment. The connecting segment is located on a plane perpendicular to the sleeve segment and abuts against the end of the rotor 510 closest to the stop segment. This arrangement increases the contact area between the rotor 510 and the outer peripheral wall of the second barrier 204, thereby improving the stability of the rotor 510 on the second barrier 204.

[0077] Furthermore, in order to improve the electromagnetic conversion efficiency of the wireless communication unit 300 and the wireless power supply unit 400, as shown in FIG. Figure 1 and Figure 8 As shown, an annular magnetic conductor 330 may be used to cover the wireless communication transmitting coil 310 and the wireless communication receiving coil 320 , and an annular magnetic conductor 430 may be used to cover the wireless power transmitting coil 410 and the wireless power receiving coil 420 .

[0078] like Figure 1 and Figure 5-Figure 8 As shown, a glue groove is provided at the bottom of the receiving groove 202 , and glue is dispensed in the glue groove, and then the annular magnetic conductor 430 is embedded in the bottom of the receiving groove 202 and fixed by glue.

[0079] In a specific embodiment, Figure 1 As shown, in the direction parallel to the axis of the main shaft 120, the height of the first cylinder 111 is less than the depth of the accommodating groove 202, and a first accommodating space is formed between one end of the first cylinder 111 facing the bottom of the accommodating groove 202 and the bottom of the accommodating groove 202.

[0080] With the above arrangement, the wireless power supply unit 400 is easily installed by utilizing the first accommodation space formed between the end of the first cylinder 111 facing the bottom of the accommodation groove 202 and the bottom of the accommodation groove 202 .

[0081] Specifically, during the assembly process, the wireless power receiving coil 420 is pre-fixed to the bottom of the accommodating groove 202, and the wireless power transmitting coil 410 is fixed to one end of the first cylinder 111 facing the bottom of the accommodating groove 202. After the rotating bracket 200 and the base 100 are assembled, the wireless power transmitting coil 410 and the wireless power receiving coil 420 are opposite to each other, and power transmission is achieved through electromagnetic principles.

[0082] In a more specific embodiment, Figure 1 As shown, in a direction perpendicular to the axis of the main shaft 120, the first cylinder 111 is arranged in the accommodating groove 202 near the second blocking portion 204, and a first bearing 600 is arranged between the first cylinder 111 and the first blocking portion 203; the end of the rotating bracket 200 away from the base body 110 is provided with a mounting cylinder 210 surrounding the central through hole 201, and the mounting cylinder 210 is sleeved on the main shaft 120 and a second bearing 700 is arranged between the main shaft 120.

[0083] Through the above arrangement, the second bearing 700 is used to realize the rotational cooperation between the rotating bracket 200 and the main shaft 120, and the first bearing 600 is used to realize the rotational cooperation between the rotating bracket 200 and the base body 110. The first bearing 600 and the second bearing 700 cooperate with each other to ensure the concentricity of the rotating bracket 200 and the main shaft 120, thereby ensuring the rotation stability of the rotating bracket 200.

[0084] The first bearing 600 and the second bearing 700 both include but are not limited to deep groove ball bearings and spherical roller bearings.

[0085] Specifically, the inner ring of the first bearing 600 is sleeved and fixed to the end of the first barrier 203 facing the base body 110. The outer ring of the first bearing 600 forms an interference fit with the side of the first cylinder 111 facing the spindle 120. The spindle 120 is a stepped shaft, with a smaller diameter within the mounting cylinder 210 than within the center through-hole 201. The inner ring of the second bearing 700 is sleeved and fixed to the portion of the spindle 120 within the mounting cylinder 210. The outer ring of the second bearing 700 forms an interference fit with the inner circumferential wall of the mounting cylinder 210.

[0086] The mounting tube 210 and the rotating bracket 200 are an integrated structure.

[0087] In some embodiments, as Figure 1 and Figure 7-Figure 8 As shown, the laser radar also includes a support platform 1000, a mounting hole 1001 is provided in the middle of the support platform 1000, the support platform 1000 is fixed to the end of the rotating bracket 200 away from the base body 110, and the mounting tube 210 is positioned in the mounting hole 1001, and the detection device 2000 is fixed to the side of the support platform 1000 away from the rotating bracket 200.

[0088] A support platform 1000 is set as a carrier for installing the detection device 2000. When the support platform 1000 and the rotating bracket 200 are fixed, the mounting tube 210 on the rotating bracket 200 is positioned in the mounting hole 1001. Thus, the concentricity between the detection device 2000 and the rotating bracket 200 can be improved, and then the concentricity between the detection device 2000 and the main shaft 120 can be improved, thereby improving the rotation stability of the detection device 2000.

[0089] Specifically, the mounting cylinder 210 and the mounting hole 1001 can be positioned by interference fit.

[0090] In some specific embodiments, such as Figure 1 and Figure 4-Figure 8 As shown, the end of the rotating bracket 200 away from the base body 110 has a mounting protrusion 205 , and the supporting platform 1000 is fixed on the mounting protrusion 205 .

[0091] It can be understood that the mounting protrusion 205 has a certain height, and the support platform 1000 is fixed on the mounting protrusion 205 so that there is a distance between the end of the rotating bracket 200 away from the base body 110 and the support platform 1000. This distance can be used to install devices such as circuit boards (such as the rotating circuit board 900 in the following embodiment), which is beneficial to improving the integration of the laser radar.

[0092] Specifically, a threaded hole is provided on the mounting protrusion 205, and a through hole corresponding to the threaded hole is provided on the support platform 1000. The support platform 1000 and the mounting protrusion 205 are fixedly connected by screws passing through the through hole and the threaded hole.

[0093] In some embodiments, as Figure 1 and Figure 7-Figure 8 As shown, the laser radar further includes a fixed circuit board 800 and a rotating circuit board 900. The fixed circuit board 800 is mounted on the base body 110 and electrically connected to the wireless communication unit 300, the wireless power supply unit 400, and the motor 500. The rotating circuit board 900 is mounted on the rotating bracket 200 and electrically connected to the wireless communication unit 300 and the wireless power supply unit 400. The detection device 2000 is electrically connected to the rotating circuit board 900.

[0094] The rotating circuit board 900 can rotate with the rotating bracket 200, and is mainly used to process various signals output from various components on the detection device 2000 and transmitted to various components on the detection device 2000. It is understandable that the rotating circuit board 900 may also have other functions and may have other names, and is not limited to this. The fixed circuit board 800 is mainly used to process various signals received from various components on the detection device 2000 and to be sent to various components on the detection device 2000. It is understandable that the fixed circuit board 800 may also have other functions or have other names, and is not limited to this. The wireless communication unit 300 and the wireless power supply unit 400 are respectively used to realize the transmission of signals and electrical energy between the fixed circuit board 800 and the rotating circuit board 900.

[0095] Specifically, if Figure 5-Figure 6 As shown, a cable hole 206 for arranging cables is provided on the rotating bracket 200 at a position corresponding to the accommodating groove 202 , and a cable routing hole 211 for arranging cables is provided on the mounting cylinder 210 .

[0096] In a further specific embodiment, Figure 1 As shown, a receiving chamber 1101 is provided on a side of the base body 110 away from the main shaft 120 , and the fixed circuit board 800 is installed in the receiving chamber 1101 .

[0097] By installing the fixed circuit board 800 in the accommodating compartment 1101, the fixed circuit board 800 is separated from the rotating part (the rotating bracket 200 and the components installed on the rotating bracket 200), which facilitates the assembly and subsequent maintenance of the fixed circuit board 800 and can also reduce the impact of the fixed circuit board 800 on the rotating part during low use.

[0098] In one embodiment, if Figure 2 As shown, the laser radar further includes a light shield assembly 3000 mounted on the base body 110 and covering the detection device 2000 .

[0099] The light shield assembly 3000 is provided to protect the detection device 2000 on the one hand, and to filter stray light on the other hand, thereby improving the protection performance and detection accuracy of the laser radar.

[0100] Specifically, if Figure 3 As shown, the optical mask assembly 3000 includes a filter cover 3100, an adapter sleeve 3200 connected to one axial end of the filter cover 3100, and a top cover 3300 connected to the other axial end of the filter cover 3100. The inner peripheral wall of the adapter sleeve 3200 is provided with an internal thread 3211, correspondingly, as shown in FIG. Figure 4 As shown, an external thread 1121 is provided on the outer peripheral wall of the second cylinder 112 of the base body 110. The connection between the adapter sleeve 3200 and the second cylinder 112 is realized by the mutual screwing of the internal thread 3211 and the external thread 1121, so that the entire mask assembly 3000 is installed on the base body 110.

[0101] During the actual assembly process, thread glue may be applied between the internal thread 3211 and the external thread 1121 to further improve the air tightness between the adapter sleeve 3200 and the second cylinder 112 and enhance the connection strength therebetween.

[0102] Furthermore, if Figure 4 As shown, a stop surface 1102 is provided on the base body 110 at the outer peripheral side of the second cylinder 112, and a first sealing ring (not shown in the figure) is provided on the stop surface 1102. An annular embedded groove 1122 is provided along the circumferential direction on the outer peripheral wall of the second cylinder 112, and a second sealing ring (not shown in the figure) is embedded in the annular embedded groove 1122. Accordingly, as shown in FIG. Figure 3As shown, a stepped surface 3212 is provided on one end of the adapter sleeve 3200 facing the base body 110. When the optical mask assembly 3000 is installed on the base body 110 through the threaded connection between the adapter sleeve 3200 and the second barrel 112, the portion of the second barrel 112 provided with the annular groove 1122 is inserted into the interior of the filter cover 3100, and the first sealing ring seals the gap between the second barrel 112 and the filter cover 3100. At the same time, the end of the adapter sleeve 3200 away from the filter cover 3100 abuts against the stop surface 1102. At the same time, the stepped surface 3212 presses against the second sealing ring and causes it to elastically deform, thereby improving the sealing between the adapter sleeve 3200 and the base body 110, and further improving the sealing of the entire laser radar.

[0103] The base body 110, adapter sleeve 3200, and top cover 3300 can all be made of aluminum. This design can improve structural strength and the overall heat dissipation performance of the LiDAR. In addition, the use of aluminum can also reduce weight, which is conducive to the lightweight design of the LiDAR. Of course, in other embodiments, steel, magnesium alloy, magnesium-aluminum alloy, etc. can also be used, and this is not limited here. The first sealing ring and the second sealing ring can be O-rings.

[0104] In some embodiments, as Figure 1 、 Figure 6-Figure 8 and Figure 10 As shown, the laser radar also includes an encoder 4000, and a plurality of notches 2041 are arranged around the main axis 120 at intervals on one end of the second blocking portion 204 close to the base body 110, and encoding teeth 2042 are formed between two adjacent notches 2041; the encoder 4000 is installed on the base body 110, and the transmitting end and the receiving end of the encoder 4000 are respectively located on opposite sides of the encoding teeth 2042.

[0105] The encoder 4000 is used in conjunction with the encoding tooth 2042 to detect the rotation angle of the detection device 2000. A beam-type encoder 4000 (such as a beam-type photoelectric switch) is used. When the laser radar is exposed to strong light, the beam-type encoder 4000 has a stronger anti-interference ability and is not easily disturbed by light, thereby improving the reliability of angle detection.

[0106] It can be imagined that the coding teeth 2042 are integrally formed on the rotating bracket 200, which enriches the functions of the rotating bracket 200 and is conducive to improving the integration of the laser radar; in addition, it also eliminates the process of separately producing the coding disk and eliminates the assembly process of the coding disk during the production of the laser radar, thereby improving the production efficiency of the laser radar.

[0107] Furthermore, in order to reduce the interference of sunlight and other ambient light on the encoder 4000 and further improve the detection effect of the encoder 4000, a light shielding plate 5000 for shielding the encoder 4000 is provided on the base body 110 located above the encoder 4000.

[0108] In one embodiment, if Figure 9 and Figure 11-12 As shown, the laser emission module 2100 in the detection device 2000 includes a shielding box formed by connecting a rear shell 2110 and a front cover 2120, a light beam emitter 2140 arranged in the shielding box, and a controller 2130 electrically connected to the light beam emitter 2140. The light beam emitter 2140 has an emitting light source 2142 for emitting laser, and a light emitting hole 2121 for emitting laser is provided at a position corresponding to the emitting light source 2142 on the front cover 2120.

[0109] By installing the laser emitting unit, consisting of beam emitter 2140 and controller 2130, within a shielding box, the shielding box not only protects the laser emitting unit but also reduces electromagnetic interference with the photoelectric sensor elements in laser receiving module 2200, thereby improving the detection effectiveness of the laser radar. Furthermore, the laser emitting unit, consisting of beam emitter 2140 and controller 2130, is composed of two parts. Compared to an integrated structure, it is easier to replace the number of beam emitters 2140 emitting light sources 2142 according to the number of lines of the multi-line laser radar, facilitating future updates and optimizations.

[0110] It should be noted that the light beam emitter 2140 includes an emitting circuit board 2141 and m×n emitting light sources 2142, and the m×n emitting light sources 2142 are staggered on the emitting circuit board 2141 in the vertical direction, and at least one of m and n is a natural number greater than 1. When in use, the detection light beam emitted by the emitting light source 2142 is emitted to the space to be measured after passing through the emitting lens assembly 2300. The above-mentioned emitting light source 2142 can be various light-emitting devices. In some application scenarios, the above-mentioned emitting light source 2142 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.

[0111] like Figure 9 and Figure 13-14As shown, the laser receiving module 2200 in the detection device 2000 includes a shielding housing, a light detector 2250, a signal processor 2240, and a filter 2260. The shielding housing includes a housing 2210, a cover 2220, and a partition 2230 disposed between the housing 2210 and the cover 2220. The cover 2220 is provided with a light-transmitting hole 2221. A first installation space is formed between the cover 2220 and the partition 2230, and a second installation space is formed between the housing 2210 and the partition 2230. The light detector 2250 includes a photoelectric sensor element 2252. The light detector 2250 is disposed in the first installation space, and the photoelectric sensor element 2252 corresponds to the light-transmitting hole 2221. The signal processor 2240 is disposed in the second installation space. This design utilizes a shielding shell to reduce electromagnetic interference from the laser emitting module 2100 on the photoelectric sensor element 2252 in the light detector 2250. Furthermore, the light detector 2250 and the signal processor 2240 are separated by a partition 2230, reducing electromagnetic interference from the signal processor 2240 on the photoelectric sensor element 2252 in the light detector 2250. This ensures the performance of the photoelectric sensor element 2252 and enhances the detection effectiveness of the laser radar. A recessed groove for the filter 2260 is provided on the side of the cover 2220 facing away from the photodetector 2250. The filter 2260 is embedded and secured within the recessed groove, making the entire laser receiving module 2200 more compact and compact. The filter 2260 is used to filter out light outside the wavelength band of the laser emitted by the laser emitting module 2100, preventing interference from light in other wavelength bands on the photoelectric sensor element 2252 and ensuring more accurate detection of the optical signal by the light detector 2250.

[0112] The light detector 2250 includes a detection circuit board 2251 and i×j photoelectric sensor elements 2252, which are arranged in an interlaced manner along the vertical direction on the detection circuit board 2251, where at least one of i and j is a natural number greater than 1. The photoelectric sensor elements 2252 are used to receive laser light reflected from multiple locations of the detection target. The detection circuit board 2251 then converts these optical signals into electrical signals and transmits them to the signal processor 2240. The signal processor 2240 calculates the distance information of the multiple locations of the detection target based on the time of laser emission and the time of received reflected laser light, thereby obtaining a three-dimensional point cloud of the detection target. The photoelectric sensing element 2252 can be one or more combinations of a PIN photodiode (Positive-intrinsic-negative diode, PIN diode), an avalanche photodiode (Avalanche Photo Diode, APD), a single photon avalanche diode (Single Photon Avalanche Diode, SPAD), a multi-pixel photon counter (Multi-Pixel Photon Counter, MPPC), a silicon photomultiplier (Silicon photomultiplier, SiPM), etc.

[0113] Furthermore, the rear shell 2110 and the front cover 2120 of the laser emitting module 2100 and the cover body 2220, the shell 2210 and the partition 2230 of the laser receiving module 2200 are all made of metal.

[0114] Metal has good electromagnetic shielding effect and is hard in texture, and can provide reliable protection for the light beam emitter 2140 , the controller 2130 , the light detector 2250 and the signal processor 2240 .

[0115] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of the present invention. Therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. A laser radar, characterized in that: It includes a base, a rotating bracket, a detection device, a wireless communication unit, a wireless power supply unit and a motor; The base includes a base body and a main shaft arranged on the base body; The rotating bracket has a central through hole rotatably connected to the main shaft, the detection device is mounted on an end of the rotating bracket away from the base body, and an end of the rotating bracket close to the base body is provided with a receiving groove surrounding the central through hole; in a direction perpendicular to the main shaft axis, a portion of the rotating bracket located between the central through hole and the receiving groove forms a first blocking portion, and a portion of the rotating bracket located in the receiving groove away from the first blocking portion forms a second blocking portion; the first blocking portion and the second blocking portion are used to reduce electromagnetic interference among the wireless communication unit, the wireless power supply unit, and the motor; One of the wireless communication unit, the wireless power supply unit and the motor is arranged between the main shaft and the central through hole; another one of the wireless communication unit, the wireless power supply unit and the motor is located in the accommodating groove and is arranged between the rotating bracket and the base body; the last one of the wireless communication unit, the wireless power supply unit and the motor is arranged between the side of the second blocking portion facing away from the accommodating groove and the base body.

2. The laser radar according to claim 1, characterized in that The base body has a first cylinder and a second cylinder coaxial with the main shaft. The first cylinder is inserted in the accommodating groove and forms a first accommodating space between the first cylinder and the inner wall of the accommodating groove. The second blocking part is inserted between the first cylinder and the second cylinder and forms a second accommodating space between the first cylinder and the second cylinder.

3. The laser radar according to claim 2, characterized in that The first cylinder and the second cylinder are made of metal.

4. The laser radar according to claim 2, characterized in that The motor is disposed in the second accommodating space.

5. The laser radar according to claim 4, characterized in that The wireless communication unit includes a wireless communication transmitting coil and a wireless communication receiving coil, wherein the wireless communication transmitting coil is fixed to the outer peripheral wall of the main shaft, and the wireless communication receiving coil is fixed to the inner peripheral wall of the central through hole and is electromagnetically coupled to the wireless communication transmitting coil; and / or, The wireless power supply unit includes a wireless power supply transmitting coil and a wireless power supply receiving coil, wherein the wireless power supply transmitting coil is fixed on the first cylinder; the wireless power supply receiving coil is fixed on the inner wall of the accommodating groove and is electromagnetically coupled with the wireless power supply transmitting coil; and / or, The motor includes a rotor and a stator. The rotor is fixed to a side of the second blocking portion facing away from the accommodating groove, and the stator is fixed to a side of the second cylinder facing the rotor.

6. The laser radar according to claim 2, characterized in that In a direction parallel to the main shaft axis, the height of the first cylinder is smaller than the depth of the accommodating groove, and the first accommodating space is formed between one end of the first cylinder facing the bottom of the accommodating groove and the bottom of the accommodating groove.

7. The laser radar according to any one of claims 2 to 6, characterized in that: In a direction perpendicular to the axis of the main shaft, the first cylinder is arranged in the accommodating groove close to the second blocking portion, and a first bearing is arranged between the first cylinder and the first blocking portion; the end of the rotating bracket away from the base body is provided with a mounting cylinder surrounding the central through hole, the mounting cylinder is sleeved on the main shaft and a second bearing is arranged between the main shaft.

8. The laser radar according to claim 7, characterized in that The laser radar also includes a support platform, a mounting hole is provided in the middle of the support platform, the support platform is fixed to one end of the rotating bracket away from the base body, and the mounting tube is positioned in the mounting hole, and the detection device is fixed to the side of the support platform away from the rotating bracket.

9. The laser radar according to any one of claims 1 to 6, characterized in that: The laser radar further includes a fixed circuit board and a rotating circuit board; The fixed circuit board is installed on the base body and is electrically connected to the wireless communication unit, the wireless power supply unit and the motor; the rotating circuit board is installed on the rotating bracket and is electrically connected to the wireless communication unit and the wireless power supply unit; the detection device is electrically connected to the rotating circuit board.

10. The laser radar according to claim 9, characterized in that A accommodating chamber is provided on a side of the base body facing away from the main shaft, and the fixed circuit board is installed in the accommodating chamber.

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