Laser radar with rotating mirror structure

Abstract

The application discloses a laser radar with a rotating mirror structure, comprising a base, a transmission cover, a motor assembly, a laser emission and reception assembly and a rotating mirror module, the base and the transmission cover are assembled to form a closed cylindrical space; the motor assembly is arranged in the base, and the central axis of the motor assembly is designed to be penetrating; the laser emission and reception assembly is fixedly connected with the inner bottom of the base through the central axis of the motor assembly; and the rotating mirror module is arranged above the laser emission and reception assembly in alignment and is fixedly connected with the motor assembly. The rotating motor originally arranged at the top of the laser radar is arranged at the bottom of the laser radar, the top of the laser radar is not required to be connected with the bottom through a wire, so that the rotating mirror module is rotatable by 360 degrees without shielding, and complete 360-degree rotation is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser radar, in particular to a laser radar with a rotating mirror structure. BACKGROUND

[0002] As a radar device, laser radar has the advantages of high precision, strong anti-interference ability, fast reaction speed, etc., and is suitable for various use environments. As described above, the laser radar can emit a laser beam as a detection signal to the surrounding three-dimensional space, and the laser beam is reflected by the object in the surrounding space to become a return signal and return. The laser radar compares the received return signal with the emitted detection signal, thereby obtaining relevant information such as distance, speed, etc. about the surrounding object.

[0003] For a rotating laser radar that needs to scan horizontally 360°, the laser radar also needs a rotating mirror structure. For example, a laser radar with a rotating mirror (Patent No. ZL202222467317.9, Name: Laser Radar) of the company, because the rotating motor is arranged at the top position of the laser radar, the rotating mirror module cable needs to pass through the transmission cover and be connected with the bottom power board, therefore the laser radar can only complete nearly 360° scanning, and the actual scanning angle is only about 270°.

[0004] Therefore, it is necessary to provide a new laser radar with a rotating mirror structure to realize complete 360° scanning. SUMMARY

[0005] The laser radar with a rotating mirror structure disclosed by the present application adopts a rotating motor structure with high integration, i.e. the rotating motor is combined with the base, and the rotating motor originally arranged at the top of the laser radar is arranged at the bottom of the laser radar, so that the top of the laser radar does not need to be connected with the bottom through a wire, thereby realizing 360° unobstructed rotation of the rotating mirror module and complete 360° rotation.

[0006] The technical scheme adopted by the present application is specifically: a laser radar with a rotating mirror structure is provided, which comprises a base, a transmission cover, a motor assembly, a laser emission and reception assembly, and a rotating mirror module. The base and the transmission cover are assembled in a top-to-bottom manner to form a closed cylindrical space. The motor assembly is arranged in the base, and the central axis of the motor assembly is designed to be through. The laser emission and reception assembly is fixedly connected with the inner bottom of the base through the central axis of the motor assembly. The rotating mirror module is arranged above the laser emission and reception assembly in alignment and is fixedly connected with the motor assembly.

[0007] As an optional scheme of the technical scheme of the present application, the base comprises a stator, a bottom cover, a power panel, a read head panel and a motor core, the stator is cylindrical and internally recessed, and a fixed shaft with a through hole is arranged at the central axis position; the bottom cover is arranged at the bottom of the stator; the power panel is fixedly arranged at the bottom of the internal recess of the stator; the read head panel is fixedly arranged at the top of the internal recess of the stator; and the motor core is sleeved on the periphery of the fixed shaft.

[0008] As an optional scheme of the technical scheme of the present application, a laser receiver is arranged at the center position of the power panel, and a photoelectric encoder is arranged at the edge of the read head panel.

[0009] As an optional scheme of the technical scheme of the present application, the motor assembly comprises a rotor, a radiation ring, a code disc, an upper bearing and a lower bearing, the rotor is cylindrical and internally recessed, and a rotating shaft with a through hole is arranged at the central axis position; the radiation ring is arranged inside the rotor; the code disc is arranged at the edge of the bottom of the rotor; and the upper bearing and the lower bearing are sleeved on the periphery of the rotating shaft.

[0010] As an optional scheme of the technical scheme of the present application, a rotating mirror mounting groove is arranged at the top of the rotor.

[0011] As an optional scheme of the technical scheme of the present application, the laser emission and reception assembly comprises a receiving lens barrel, a receiving lens, an emitting lens barrel, an emitting lens and an emitting panel, the receiving lens barrel is hollow cylindrical, the receiving lens is fixedly arranged at the top of the receiving lens barrel, and a through hole is arranged at the axis position of the receiving lens; the emitting lens barrel is arranged at the axis position of the receiving lens through the through hole of the receiving lens, and the emitting lens is fixedly arranged at the top of the emitting lens barrel. The emitting panel is arranged at the bottom of the emitting lens barrel through an emitting panel fixing nut.

[0012] As an optional scheme of the technical scheme of the present application, the rotating mirror module comprises a reflecting mirror and a light guide barrel, the reflecting mirror is arranged at an angle of 45° with the horizontal plane and is fixedly arranged at the top of the rotor through a first support and a second support; and the light guide barrel is arranged at the central position of the reflecting mirror, one end of the light guide barrel is along the vertical direction, the other end is along the horizontal direction and forms an angle of 45° with the reflecting mirror.

[0013] The present application has the following beneficial effects: the motor assembly is arranged in the base, the rotating motor is moved from the top of the laser radar to the bottom of the laser radar, the integration degree of the laser radar with the rotating mirror structure is improved, the top of the laser radar does not need to be connected with the bottom through a wire, the rotating mirror module can rotate 360° without being blocked, and complete 360° rotation is realized. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is an explosion schematic view of the laser radar with the rotating mirror structure according to the present application.

[0015] Figure 2 Overall sectional view of the laser radar with rotating mirror structure according to the present application.

[0016] Figure 3 Exploded schematic view of the base structure according to the present application.

[0017] Figure 4 Sectional view of the base structure according to the present application.

[0018] Figure 5 Exploded schematic view of the motor assembly structure according to the present application.

[0019] Figure 6 Sectional view of the motor assembly structure according to the present application.

[0020] Figure 7 Exploded schematic view of the laser emission-receiving assembly structure according to the present application.

[0021] Figure 8 Sectional view of the laser emission-receiving assembly structure according to the present application.

[0022] Figure 9 Schematic view of the rotating mirror module structure according to the present application.

[0023] Wherein, 100 - base; 110 - stator; 111 - fixed shaft; 120 - bottom cover; 130 - power board; 131 - laser receiver; 140 - read head board; 141 - photoelectric encoder; 150 - motor core; 200 - transmission cover; 300 - motor assembly; 310 - rotor; 311 - rotating shaft; 320 - radiation ring; 330 - code disc; 340 - upper bearing; 350 - lower bearing; 360 - rotor nut; 370 - rotating mirror mounting groove; 400 - laser emission-receiving assembly; 410 - receiving mirror tube; 420 - receiving lens; 430 - emission mirror tube; 440 - emission lens; 450 - emission board; 451 - laser emitter; 460 - emission board fixing nut; 470 - gasket; 500 - rotating mirror module; 510 - first support; 520 - second support; 530 - reflecting mirror; 540 - light guide tube. Embodiment

[0024] In order to make the technical problems solved by the present application, technical solutions and beneficial effects more clearly understood, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the following specific embodiments are only used to explain the present application, and are not used to limit the present application. Based on the following embodiments, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0025] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship of the accompanying drawings, and are only for the purpose of simplifying the description of this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0026] In the description of the embodiments, unless otherwise explicitly specified and limited, the terms "set," "connect," etc., should be interpreted broadly. 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 a connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] like Figure 1 The diagram shown is an explosion illustration of a lidar system with a rotating mirror structure. From top to bottom, the components are: a transmission cover 200, a rotating mirror module 500, a motor assembly 300, a laser emission and reception assembly 400, and a base 100. The transmission cover 200 is surrounded by a light-transmitting material. The transmission cover 200 and the base 100 are assembled to form a sealed cylindrical space. Figure 2 The diagram shows the overall cross-sectional view of the lidar with a rotating mirror structure. After assembly, the rotating mirror module 500 is located inside the transmission cover 200 and fixed to the top of the motor assembly 300. The laser emission and reception component 400 passes through the central axis of the motor assembly 300 and is fixed to the bottom of the base 100. The motor assembly 300 is located inside the base 100.

[0028] like Figure 3 The exploded view of the base 100 shown above, from top to bottom, consists of: motor core 150, reading head plate 140, stator 110, power board 130, and bottom cover 120. Figure 4 The cross-sectional view of the base 100 shown indicates that the frame of the base 100 is the stator 110 of the motor structure, and a detachable bottom cover 120 is provided at the bottom for the assembly of the lidar. The stator 110 is cylindrical with a recessed design. A fixed shaft 111 with a through hole is provided at the central axis position. The height of the fixed shaft 111 is less than the height of the stator 110. A read head plate 140 is provided at the top of the recess, and a photoelectric encoder 141 is provided at the upper edge of the read head plate 140. A power board 130 is provided at the bottom of the recess, and a laser receiver 131 is provided at the center of the power board 130, located on the central axis of the fixed shaft 111. The motor core 150 is fixedly sleeved around the fixed shaft 111. A small step is provided around the fixed shaft 111 to prevent the motor core 150 from sliding downward.

[0029] like Figure 5The motor assembly 300 structure explosion diagram shown from top to bottom in turn: rotor 310, radiation ring 320, code disc 330, upper bearing 340, lower bearing 350 and rotor nut 360. The rotor 310 is cylindrical and concave inside, with a rotating shaft 311 with a through hole at the center axis position, and the rotating shaft 311 is higher than the edge height of the rotor 310. As shown in Figure 6 The motor assembly 300 structure section view shown, radiation ring 320 fixedly arranged in the inside edge of the rotor 310 concave, code disc 330 fixedly arranged at the bottom edge of the rotor 310, upper bearing 340 and lower bearing 350 sleeved on the outer periphery of the rotating shaft 311, rotating shaft 311 bottom provided with thread and rotor nut 360 thread cooperation. The top of the rotor 310 is also provided with a rotating mirror installation groove 370 for limiting installation of the rotating mirror module 500.

[0030] As shown in Figure 2 The overall section view of the laser radar with rotating mirror structure is shown. The motor assembly 300 is installed in the base 100 to form a rotating motor. The rotating shaft 311 is inserted into the fixed shaft 111. The upper bearing 340 and the lower bearing 350 are embedded in the inside of the fixed shaft 111. The rotor nut 360 limits the rotating shaft 311 in the fixed shaft 111. The radiation ring 320 is coaxial with the motor core 150 and is on the same plane. The inside of the radiation ring 320 is close to the outside of the motor core 150. The code disc 330 is aligned with the photoelectric encoder 141 to measure the rotation data of the rotor 310.

[0031] As shown in Figure 7 The laser emission and reception assembly 400 structure explosion diagram shown from top to bottom in turn: emission lens 440, emission lens barrel 430, receiving lens 420, gasket 470, emission plate 450, emission plate fixing nut 460 and receiving lens barrel 410. As shown in Figure 8 The laser emission and reception assembly 400 structure section view shown, emission lens 440 set in the top of emission lens barrel 430, emission plate 450 set in the bottom of emission lens barrel 430, emission plate 450 on the position of the central axis of emission lens barrel 430 set with laser emitter 451. The receiving lens 420 is provided with a through hole at the axial position, and the emission lens barrel 430 is fixed to the central axis position of the receiving lens 420 through the through hole by the emission plate fixing nut 460. The gasket 470 is arranged between the emission plate fixing nut 460 and the receiving lens 420 to prevent the emission plate fixing nut 460 from extruding the receiving lens 420 and causing deformation. As shown in Figure 2The laser radar with rotating mirror structure is shown in the overall cross-sectional view. The laser emission receiving assembly 400 is fixed on the power board 130 through the through hole of the rotating shaft 311. The laser receiver 131 is located at the bottom center of the receiving lens barrel 410. The laser emission receiving assembly 400 is not in contact with the rotating shaft 311. As described above, the parameters of the emission lens 440 and the receiving lens 420 are determined by optical design, and the size of the emission lens barrel 430 and the receiving lens barrel 410 is determined. The laser emitter 451 is located at the focal point of the emission lens 440, and the laser receiver 131 is located at the focal point of the receiving lens 420, so that the divergent laser emitted by the laser emitter 451 can be collimated through the emission lens 440, and the reflected laser can be converged through the receiving lens 420.

[0032] As Figure 9 The rotating mirror module 500 structure schematic diagram is shown. The reflecting mirror 530 is fixed on the top platform of the rotor 310 through the longer first support 510 and the shorter second support 520. The first support 510 and the second support 520 are fixed in the rotating mirror installation groove 370. The reflecting mirror 530 is inclined at an angle of 45° with the horizontal plane. A light guide barrel 540 is also arranged at the center of the reflecting surface of the reflecting mirror 530. The light guide barrel 540 is a through barrel with two ends perpendicular to each other. One end is in the vertical direction, and the other end is in the horizontal direction. The horizontal direction end passes through the first support 510. The corner of the light guide barrel 540 is a 45° cutout, that is, the corner inside the light guide barrel 540 is the mirror surface of the reflecting mirror 530. When the laser is emitted from one end of the light guide barrel 540, it can be emitted from the other end of the light guide barrel 540 after being reflected by the reflecting mirror 530. In combination with Figure 2 The laser radar with rotating mirror structure is shown in the overall cross-sectional view. When the rotating mirror module 500 is installed on the top platform of the rotor 310, the light guide barrel 540 is embedded in the top position of the emission lens barrel 430. The light guide barrel 540 does not contact the emission lens barrel 430 and the emission lens. That is, when the rotor 310 drives the rotating mirror module 500 to rotate, the horizontal end of the light guide barrel 540 rotates in the horizontal plane, and the vertical end rotates without contact along the fixed central axis.

[0033] Next, the working principle of the laser radar with rotating mirror structure described in the embodiment is described in detail to further illustrate the embodiment.

[0034] Firstly, the laser is emitted by the laser emitter 451, enters the emitting lens barrel 430 and is collimated by the emitting lens 440, then the collimated laser enters the light guide barrel 540 from the vertical end, is reflected by the reflecting mirror 530 and is emitted from the horizontal end of the light guide barrel 540, the laser passes through the transmission cover 200 and is emitted to a distant object, then the laser reflected by the object passes through the transmission cover 200 and is emitted to the reflecting mirror 530, is reflected by the reflecting mirror 530, is focused by the receiving lens 420 and finally passes through the receiving lens barrel 410 and is emitted on the laser receiver 131 located at the focal point of the receiving lens 420. With the rotation of the reflecting mirror 530 driven by the rotating motor, there is no any shielding object between the transmission cover 200 and the rotating mirror module 500, so that the laser can be emitted and received in all directions, thereby the complete 360° scanning can be realized.

[0035] The above only describes the preferred embodiments of the present application and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of the ordinary skilled in the art; when the combination of the technical solutions appears contradictory or unachievable, it shall be considered that the combination of the technical solutions does not exist and is not within the protection scope required by the present application.

Claims

1. A lidar with a rotating mirror structure, characterized in that, include: The base and the transmission cover are made of light-transmitting material on all sides. The base and the transmission cover are assembled vertically to form a closed cylindrical space. The motor assembly is housed within the base, and the central axis of the motor assembly is designed to pass through. A laser emission and reception assembly, wherein the laser emission and reception assembly passes through the central shaft of the motor assembly and is fixedly connected to the bottom inner side of the base; A rotating mirror module is aligned and positioned above the laser receiving component and fixedly connected to the motor component; the motor component drives the rotating mirror module to rotate, and during the rotation, there are no obstructions between the transmission cover and the rotating mirror module; The rotating mirror module includes: A reflector, which is inclined at 45° to the horizontal plane, is fixed to the top of the rotor of the motor assembly by a first bracket and a second bracket; A light guide tube is positioned at the center of the reflector, with one end of the light guide tube running vertically and the other end running horizontally at a 45° angle to the reflector. The laser emission and reception component includes: A receiving lens barrel and a receiving lens, wherein the receiving lens barrel is a hollow cylindrical shape, the receiving lens is fixedly mounted on the top of the receiving lens barrel, and a through hole is provided at the axial position of the receiving lens; The transmitting lens tube and the transmitting lens are provided, wherein the transmitting lens tube is disposed at the axis position of the receiving lens through hole, and the transmitting lens is fixedly disposed at the top of the transmitting lens tube; The emitter plate is fixed to the bottom of the emitter tube by an emitter plate fixing nut; a laser emitter is installed on the emitter plate at a position on the central axis of the emitter tube. The laser emitter emits a laser beam, which enters the emitting lens tube and is collimated by the emitting lens. The collimated laser beam is guided from the vertical end into the light guide tube, reflected by the reflector, and then emitted from the horizontal end of the light guide tube. The laser beam passes through the transmission cover and is directed toward a distant object. The laser beam reflected by the object then passes through the transmission cover and is directed toward the reflector surface. After being reflected by the reflector and focused by the receiving lens, it finally passes through the receiving lens tube and is directed toward the laser receiver located at the focal point of the receiving lens.

2. The lidar with a rotating mirror structure as described in claim 1, characterized in that, The base includes: The stator is cylindrical with a recessed interior and a fixed shaft with a through hole at the central axis. The bottom cover is located at the bottom of the stator; The power board is fixedly installed at the bottom of the recessed area inside the stator. The head plate is fixedly installed at the top of the recessed part inside the stator; The motor core is sleeved around the fixed shaft.

3. The lidar with a rotating mirror structure as described in claim 2, characterized in that, A laser receiver is located at the center of the power board, and a photoelectric encoder is located at the edge of the read head board.

4. The lidar with a rotating mirror structure as described in claim 1, characterized in that, The motor assembly includes: The rotor is cylindrical with a recessed interior and a rotating shaft with a through hole at the central axis. A radiation ring is located inside the rotor. The encoder disk is located at the bottom edge of the rotor; The upper and lower bearings are fitted around the rotating shaft.

5. The lidar with a rotating mirror structure as described in claim 4, characterized in that, The rotor is provided with a rotating mirror mounting groove on its top.

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