LiDAR, Autonomous Driving System and Mobile Device

Abstract

An embodiment of the present application discloses a lidar, an autonomous driving system, and a movable device. The lidar includes a housing, a light-transmitting plate, a transmitting component, a receiving component, and a functional board. The transmitting plate of the transmitting component is located on the side of the transmitting lens away from the light-transmitting plate, the receiving plate of the receiving component is located on the side of the receiving lens away from the light-transmitting plate, the functional board is located on the side of the transmitting plate close to the light-transmitting plate, the functional board is located on the side of the receiving plate close to the light-transmitting plate, the functional board avoids the optical path transmission path between the transmitting plate and the transmitting lens, the functional board also avoids the optical path transmission path between the receiving lens and the receiving plate, and the functional board is in contact with the housing. This application is conducive to the heat generated by the electronic components of the functional board to dissipate towards the side of the housing close to the light-transmitting plate, while the heat generated by the transmitting plate and the receiving plate dissipates towards the side of the housing away from the light-transmitting plate, making the thermal power distribution of the lidar relatively uniform and improving the heat dissipation efficiency of the lidar.

Description

Technical Field

[0001] The present application relates to the field of laser ranging technology, and in particular to a laser radar, an automatic driving system and a movable device. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target characteristics such as position and speed. Its working principle is to first emit detection light to the target, and then compare the received echo light reflected from the target with the local oscillator light. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] In order to achieve a longer distance measurement capability and obtain a higher point cloud scanning frame rate, the transmitting sensor of the transmitting board in the laser radar is usually designed to operate according to the maximum transmission power and frequency, so its heat power is relatively large. At the same time, the receiving sensor, power board, and main control board of the receiving board of the attached laser radar will also increase the output power to cooperate with the transmitting sensor to meet the ranging needs of the whole machine. However, during the operation of the laser radar, each device continues to emit heat. If the heat cannot be exported in time, as the laser radar heats up, the device resistance and current increase, the efficiency will decrease, and in severe cases, it may burn out. Summary of the invention

[0004] The embodiments of the present application provide a laser radar, an automatic driving system and a movable device, which are used to solve the problem in the related art that during the operation of the laser radar, each device continues to emit heat. If the heat cannot be discharged in time, as the laser radar heats up, the device resistance and current will increase, the efficiency will decrease, and in severe cases, it may even burn out.

[0005] In a first aspect, an embodiment of the present application provides a laser radar, including:

[0006] A housing, wherein the housing has a receiving cavity and the housing is formed with an opening communicating with the receiving cavity;

[0007] A light-transmitting plate, the light-transmitting plate covers the opening and is connected to the housing;

[0008] A transmitting assembly, the transmitting assembly is located in the accommodating cavity, the transmitting assembly comprises a transmitting lens and a transmitting plate, and the transmitting plate is located on a side of the transmitting lens away from the light-transmitting plate;

[0009] A receiving assembly, the receiving assembly is located in the accommodating cavity, the receiving assembly includes a receiving lens and a receiving plate, the receiving plate is located on a side of the receiving lens away from the light-transmitting plate; and

[0010] A functional board, which is located in the accommodation cavity, on the side of the emission board close to the light-transmitting board, and on the side of the receiving board close to the light-transmitting board. The functional board avoids the optical path transmission path between the emission board and the emission lens, and also avoids the optical path transmission path between the receiving lens and the receiving board. The functional board is in contact with the housing.

[0011] In a second aspect, an embodiment of the present application provides an autonomous driving system, including a lidar.

[0012] In a third aspect, an embodiment of the present application provides a movable device, including a lidar; or, including an autonomous driving system.

[0013] In the lidar, autonomous driving system and movable device of the present application, the functional board is arranged on the side of the emission board close to the light-transmitting board and on the side of the receiving board close to the light-transmitting board, which is beneficial for the heat generated by the electronic components of the functional board to dissipate towards the side of the housing close to the light-transmitting board, while the heat generated by the emission board and the receiving board dissipates towards the side of the housing away from the light-transmitting board. Compared with the related art where the functional board is usually arranged on the side of the emission board away from the light-transmitting board or on the side of the receiving board away from the light-transmitting board, resulting in the heat of heat-generating components such as the emission board, receiving board, and functional board being mainly concentrated on the side of the housing away from the light-transmitting board, the thermal power distribution of the lidar can be made relatively uniform, improving the heat dissipation efficiency of the lidar. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0015] Figure 1 It is a schematic structural diagram of a movable device provided by an embodiment of the present application;

[0016] Figure 2 It is a schematic block diagram of the structure of a movable device provided by an embodiment of the present application;

[0017] Figure 3 It is a schematic cross-sectional structural diagram of a lidar provided by the first embodiment of the present application;

[0018] Figure 4 It is a schematic cross-sectional structural diagram of a lidar provided by the second embodiment of the present application;

[0019] Figure 5 It is Figure 4Schematic diagram of the three-dimensional explosion structure of the lidar shown from a perspective;

[0020] Figure 6 is Figure 4 Schematic diagram of the three-dimensional explosion structure of the lidar shown from another perspective;

[0021] Figure 7 Schematic diagram of the three-dimensional structure of the first shell, emission board, receiving board, power board and adapter board in the lidar provided by the third embodiment of the present application;

[0022] Figure 8 is Figure 7 Schematic diagram of the cross-sectional structure of the lidar shown;

[0023] Figure 9 is Figure 7 Schematic diagram of the three-dimensional structure of the emission board, receiving board, power board and adapter board in the lidar shown;

[0024] Figure 10 is Figure 7 Front view structure diagram of the emission board and receiving board in the lidar shown;

[0025] Figure 11 is Figure 7 Schematic diagram of the cross-sectional structure of the emission board, receiving board, power board and adapter board in the lidar shown;

[0026] Figure 12 Schematic diagram of the structure of the emission board, receiving board and main control board in the lidar provided by the fourth embodiment of the present application;

[0027] Figure 13 Schematic diagram of the structure of the lidar provided by the fifth embodiment of the present application;

[0028] Figure 14 Schematic diagram of the cross-sectional structure of the lidar provided by the sixth embodiment of the present application.

[0029] Description of the reference numerals in the drawings: 1. Movable device; 2. Autopilot system; 3. Lidar; 31. Housing; 311. Accommodation cavity; 312. Opening; 313. First shell; 3131. First cavity; 3132. First step; 3133. First surface; 314. Second shell; 3141. Second cavity; 3151. First boss; 3152. Second boss; 3153. Third boss; 316. Heat dissipation fins; 317. Sealing ring; 318. First fixing post; 3181. First adhesive layer; 319. Second fixing post; 3191. Second adhesive layer; 310. Reinforcing rib; 32. Transmitting component; 321. Transmitting lens; 3211. First end face; 3212. Second end face; 3213. Transmitting lens barrel; 3214. Transmitting lens; 322. Transmitting board; 3221. First mounting hole; 3222. First heat dissipation hole; 323. Transmitting shielding cover; 3231. First light transmission path; 33. Receiving component; 331. Receiving lens; 3311. Third end face; 3312. Fourth end face; 3313. Receiving lens barrel; 3314. Receiving lens; 332. Receiving board; 3321. Second mounting hole; 3322. Second heat dissipation hole; 333. Receiving shielding cover; 3331. Second light transmission path; 34. Translucent board; 35. Function board; 351. First avoidance area; 352. Second avoidance area; 353. Substrate; 3531. First board surface; 3532. Second board surface; 354. Electronic component; 355. Power board; 356. Main control board; 36. Flexible circuit board; 361. First bending part; 3611. First area; 362. Second bending part; 3621. Second area; 363. First structure part; 37. First positioning part; 371. First positioning portion; 38. Second positioning part; 381. Second positioning portion; 39. Adapter board; 41. First rigid circuit board; 411. First side wall; 42. Second rigid circuit board; 421. Second side wall; 43. Third rigid circuit board; 44. Bracket; 45. Mounting bracket; x. First direction. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe in detail the embodiments of this application with reference to the drawings.

[0031] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] Embodiment 1

[0033] Please refer to Figure 1 andFigure 2 In an embodiment of the present application, a movable device 1 is provided. The movable device 1 includes a lidar 3; alternatively, the movable device 1 includes an autonomous driving system 2. Among them, the movable device 1 can be any device including a lidar 3 or an autonomous driving system 2, such as a vehicle, a drone, a robot, etc. Among them, when the movable device 1 includes an autonomous driving system 2, the autonomous driving system 2 includes a lidar 3.

[0034] Refer to Figure 3 The lidar 3 includes a transmitting component 32 and a receiving component 33. The transmitting component 32 is used to output detection light to detect target objects in the detection area. The receiving component 33 is used to receive the reflected light waves reflected by the target objects from the detection light. Then, corresponding electrical signals are output according to the reflected light waves. After that, the signal processing unit in the lidar 3 appropriately processes the electrical signals to form a point cloud map. Next, by further processing the point cloud map, parameters such as the distance, azimuth, height, speed, attitude, and shape of the target object can be obtained, so as to realize the lidar detection function, and it can be applied to navigation avoidance, obstacle recognition, ranging, speed measurement, autonomous driving and other scenarios of products such as vehicles, robots, logistics vehicles, and inspection vehicles.

[0035] According to actual needs, in addition to being used in the field of lidar detection technology, the lidar 3 can also be used in other application scenarios, such as the technical fields of part diameter detection, surface roughness detection, strain detection, displacement detection, vibration detection, speed detection, distance detection, acceleration detection, and object shape detection.

[0036] Please refer to Figures 3 to 6 The lidar 3 includes a housing 31, a transmitting component 32, a receiving component 33, a light-transmitting plate 34, and a functional plate 35.

[0037] The housing 31 has a receiving cavity 311, and the housing 31 is formed with an opening 312 communicating with the receiving cavity 311; the light-transmitting plate 34 covers the opening 312, and the light-transmitting plate 34 is connected to the housing 31; the transmitting assembly 32 is located in the receiving cavity 311, and the transmitting assembly 32 includes a transmitting lens 321 and a transmitting plate 322, and the transmitting plate 322 is located on the side of the transmitting lens 321 away from the light-transmitting plate 34; the receiving assembly 33 is located in the receiving cavity 311, and the receiving assembly 33 includes a receiving lens 331 and a receiving plate 332, and the receiving plate 332 is located on the side of the receiving lens 331 away from the light-transmitting plate 34; the functional board 35 is located in the receiving cavity 311, the functional board 35 is located on the side of the transmitting plate 322 close to the light-transmitting plate 34, the functional board 35 is located on the side of the receiving plate 332 close to the light-transmitting plate 34, the functional board 35 avoids the optical path transmission path between the transmitting plate 322 and the transmitting lens 321, the functional board 35 also avoids the optical path transmission path between the receiving lens 331 and the receiving plate 332, and the functional board 35 is in contact with the housing 31. Among them, the functional board 35 avoiding the optical path transmission path between the transmitting plate 322 and the transmitting lens 321 can ensure that the detection light emitted by the transmitting plate 322 smoothly reaches the transmitting lens 321; the functional board 35 avoiding the optical path transmission path between the receiving lens 331 and the receiving plate 332 can ensure that the reflected light output by the receiving lens 331 smoothly reaches the receiving plate 332; the functional board 35 being in contact with the housing 31 is beneficial to the heat generated by the electronic components 354 of the functional board 35 to be transferred towards the housing 31.

[0038] In the related art, due to the limitation of the overall machine structure, there cannot be any obstruction in the optical path between the transceiver sensor and the transceiver lens. Therefore, most of the heat-generating components on the circuit board are concentrated on the side of the housing away from the light-transmitting plate. To shorten the heat dissipation path, the heat-generating components often directly dissipate heat to the side of the housing away from the light-transmitting plate, resulting in a concentrated local thermal power density, a large heat dissipation load on the side of the housing away from the light-transmitting plate, and uneven temperatures at the front and back of the whole machine. In the embodiments of the present application, the functional board 35 is arranged on the side of the transmitting plate 322 close to the light-transmitting plate 34 and on the side of the receiving plate 332 close to the light-transmitting plate 34, which is beneficial to the heat generated by the electronic components of the functional board 35 to be dissipated towards the side of the housing 31 close to the light-transmitting plate 34, while the heat generated by the transmitting plate 322 and the receiving plate 332 is dissipated towards the side of the housing 31 away from the light-transmitting plate 34, making the thermal power distribution of the lidar 3 relatively uniform and improving the heat dissipation efficiency of the lidar 3.

[0039] Among them, the functional board 35 can be any circuit board in the lidar 3 except the transmitting plate 322 and the receiving plate 332; for example, the functional board 35 can include at least one of a power supply board 355 and a main control board 356, etc., and no limitation is made thereto.

[0040] In the embodiments of the present application, the functional board 35 is selected as the power board 355. The size of the power board 355 can be designed to be substantially adapted to the size of the transmitting board 322 in the housing 31 close to the light-transmitting board 34, or the size of the power board 355 can be designed to be substantially adapted to the size of the receiving board 332 in the housing 31 close to the light-transmitting board 34. Such that the power board 355 is arranged forward, which can be carried out on the basis of the lidar 3 maintaining its original size. Even when the power board 355 is arranged forward, the size of the lidar 3 in the direction perpendicular to the light-transmitting board 34 can be compressed, realizing the miniaturization of the lidar 3.

[0041] Among them, the power board 355 is provided with a power circuit. It should be noted that the power board 355 can be provided with all the power circuits in the lidar 3, or the power board 355 can be provided with some of the power circuits in the lidar 3, and there is no limitation in this regard.

[0042] It should be noted that the functional board 35 and the transmitting board 322 can be spaced apart in the direction perpendicular to the light-transmitting board 34 and / or in the direction parallel to the light-transmitting board 34, and the functional board 35 and the receiving board 332 can be spaced apart in the direction perpendicular to the light-transmitting board 34 and / or in the direction parallel to the light-transmitting board 34 to improve the heat dissipation performance of the lidar 3. Among them, the distance between the functional board 35 and the transmitting board 322 and the distance between the functional board 35 and the receiving board 332 can be flexibly adjusted according to actual needs, and there is no limitation in this regard.

[0043] If the functional board 35 is located on the side of the transmitting board 322 close to the light-transmitting board 34, the functional board 35 can be located between the transmitting board 322 and the transmitting lens 321, or the functional board 35 can be located between the first end face 3211 of the transmitting lens 321 facing the light-transmitting board 34 and the second end face 3212 of the transmitting lens 321 facing the transmitting board 322. If the functional board 35 is located between the first end face 3211 and the second end face 3212 of the transmitting lens 321, the space utilization rate of the inside of the housing 31 around the transmitting lens 321 can be improved, and the volume of the lidar 3 can be reduced.

[0044] If the functional board 35 is located on the side of the transmitting board 322 close to the light-transmitting board 34, the projection of the functional board 35 on the light-transmitting board 34 can be located on one side of the projection of the transmitting lens 321 on the light-transmitting board 34. At this time, the functional board 35 will not block the optical path transmission path between the transmitting board 322 and the transmitting lens 321; in addition, if the functional board 35 is located on the side of the transmitting board 322 close to the light-transmitting board 34, the projection of the functional board 35 on the light-transmitting board 34 can also enclose at least part of the projection of the transmitting lens 321 on the light-transmitting board 34. At this time, the functional board 35 forms a first avoidance interval 351. Specifically, if the functional board 35 is located between the transmitting board 322 and the transmitting lens 321, the setting of the first avoidance interval 351 facilitates the detection light emitted by the transmitting board 322 to pass through, so that the detection light can reach the transmitting lens 321 smoothly; if the functional board 35 is located between the first end face 3211 and the second end face 3212 of the transmitting lens 321, the setting of the first avoidance interval 351 facilitates the assembly of the functional board 35 and the transmitting lens 321 in the housing 31. For example, the transmitting lens 321 can pass through the first avoidance interval 351 of the functional board 35.

[0045] Among them, the first avoidance interval 351 can be a notch located at the edge of the functional board 35, or can also be a through hole located inside the functional board 35, and there is no limitation on this.

[0046] If the functional board 35 is located on the side of the transmitting board 322 close to the light-transmitting board 34, the transmitting lens 321 can be in contact with the functional board 35 to be able to position the installation position of the transmitting lens 321 through the functional board 35. Specifically, if the functional board 35 is located between the transmitting board 322 and the transmitting lens 321, the side of the transmitting lens 321 facing the transmitting board 322 can be in contact with the functional board 35; if the functional board 35 is located between the first end face 3211 and the second end face 3212 of the transmitting lens 321, a stepped surface (not shown in the figure) can be provided on the periphery of the transmitting lens 321, and the stepped surface of the transmitting lens 321 can be in contact with the functional board 35.

[0047] The transmitting lens 321 can include a transmitting lens barrel 3213 and at least one transmitting lens 3214 arranged in the transmitting lens barrel 3213. The contact between the transmitting lens 321 and the functional board 35 can be the contact between the transmitting lens barrel 3213 and the functional board 35.

[0048] The emission lens barrel 3213 is used to mount the emission lens 3214. The emission lens barrel 3213 and a part of the housing 31 can be integrally formed structures, so as to simplify the assembly process of the emission lens barrel 3213 and the housing 31, improve the assembly efficiency, reduce the distance between the emission lens barrel 3213 and the receiving lens barrel 3313, and reduce the volume of the lidar 3, etc. Among them, the emission lens 3214 can be any lens with refractive power. For example, the emission lens 3214 can be a convex lens, a concave lens, etc., and no limitation is made thereto. The emission lens 321 can also include a spacer ring, a locking ring, etc. Among them, the spacer ring is used to support the emission lens 3214 and control the distance between two adjacent emission lenses 3214, and the locking ring is used to lock and fix the emission lens 3214.

[0049] The emission lens barrel 3213 can be in contact with the light-transmitting plate 34 to improve the installation stability of the light-transmitting plate 34.

[0050] The emission assembly 32 can also include an emission shielding cover 323 covering the emission plate 322, and the emission shielding cover 323 has a first light-passing path 3231. If the function board 35 is located between the emission lens 321 and the emission plate 322, the emission shielding cover 323 can be connected between the function board 35 and the emission plate 322, and the first light-passing path 3231 can be communicated with the first avoidance area 351, so that the detection light emitted by the emission plate 322 enters the emission lens 321 after passing through the first light-passing path 3231 and the first avoidance area 351, and is not easily scattered outwards, which can reduce light loss; among them, the emission shielding cover 323 and the emission plate 322 can be connected by an adhesive, and the emission shielding cover 323 and the function board 35 can be in contact connection; at this time, the emission shielding cover 323 can be a light-shielding foam, so that the emission shielding cover 323 can be pressed and deformed to be connected with the function board 35 to ensure sufficient assembly space. If the function board 35 is located between the first end face 3211 and the second end face 3212, the emission shielding cover 323 can be connected between the emission plate 322 and the emission lens 321, and the first light-passing path 3231 can be directly communicated with the light-incident hole of the emission lens 321, so that the detection light emitted by the emission plate 322 directly enters the emission lens barrel 3213 through the first light-passing path 3231; among them, the emission shielding cover 323 and the emission plate 322 can be connected by welding and a sealant is provided at the connection part between them to prevent light leakage, and the emission shielding cover 323 and the emission lens 321 can be connected by a sealant to ensure sufficient assembly space.

[0051] In the embodiment of the present application, the function board 35 is located between the emission lens 321 and the emission plate 322, and the second end face 3212 of the emission lens 321 abuts against the function board 35.

[0052] If the functional board 35 is located on the side of the receiving board 332 close to the light-transmitting board 34, the functional board 35 can be located between the receiving board 332 and the receiving lens 331, or the functional board 35 can also be located between the third end face 3311 of the receiving lens 331 facing the light-transmitting board 34 and the fourth end face 3312 of the receiving lens 331 facing the receiving board 332. If the functional board 35 is located between the third end face 3311 and the fourth end face 3312 of the receiving lens 331, the space utilization rate around the receiving lens 331 inside the housing 31 can be improved, and the volume of the lidar 3 can be reduced.

[0053] If the functional board 35 is located on the side of the receiving board 332 close to the light-transmitting board 34, the projection of the functional board 35 on the light-transmitting board 34 can be located on one side of the projection of the receiving lens 331 on the light-transmitting board 34. At this time, the functional board 35 will not block the optical path transmission path between the receiving board 332 and the receiving lens 331; in addition, when the functional board 35 is located on the side of the receiving board 332 close to the light-transmitting board 34, the projection of the functional board 35 on the light-transmitting board 34 can also enclose at least part of the projection of the receiving lens 331 on the light-transmitting board 34. At this time, the functional board 35 forms a second avoidance area 352. If the functional board 35 is located between the receiving board 332 and the receiving lens 331, the setting of the second avoidance area 352 facilitates the return light output by the receiving lens 331 to pass through and reach the receiving board 332 smoothly; if the functional board 35 is located between the third end face 3311 and the fourth end face 3312 of the receiving lens 331, the setting of the second avoidance area 352 facilitates the assembly of the functional board 35 and the receiving lens 331 inside the housing 31.

[0054] Among them, the second avoidance area 352 can be a notch located at the edge of the functional board 35, or the second avoidance area 352 can also be a through hole located inside the functional board 35, and there is no limit to this.

[0055] If the functional board 35 is located on the side of the receiving board 332 close to the light-transmitting board 34, the receiving lens 331 can be in contact with the functional board 35 so as to be able to position the installation position of the receiving lens 331 through the functional board 35. Specifically, if the functional board 35 is located between the receiving board 332 and the receiving lens 331, the side of the receiving lens 331 facing the receiving board 332 can be in contact with the functional board 35; if the functional board 35 is located between the third end face 3311 and the fourth end face 3312 of the receiving lens 331, a stepped surface can be provided on the periphery of the receiving lens 331, and the stepped surface of the receiving lens 331 can be in contact with the functional board 35.

[0056] The receiving lens 331 can include a receiving lens barrel 3313 and at least one receiving lens 3314 disposed inside the receiving lens barrel 3313. The contact between the receiving lens 331 and the functional board 35 can be the contact between the receiving lens barrel 3313 and the functional board 35.

[0057] The receiving lens barrel 3313 is used to mount the receiving lens 3314. The receiving lens barrel 3313 and a part of the housing 31 can be integrally formed structures, so as to simplify the assembly process of the receiving lens barrel 3313 and the housing 31, improve the assembly efficiency, and reduce the distance between the transmitting lens barrel 3213 and the receiving lens barrel 3313, and reduce the volume of the lidar 3, etc. Among them, the receiving lens 3314 can be any lens with refractive power. For example, the receiving lens 3314 can be a convex lens, a concave lens, etc., and no limitation is made thereto. The receiving lens 331 can also include a spacer ring, a lock ring, etc. Among them, the spacer ring is used to achieve the bearing of the receiving lens 3314 and control the distance between two adjacent receiving lenses 3314, and the lock ring is used to lock and fix the receiving lens 3314.

[0058] Among them, the first end face 3211 of the transmitting lens barrel 3213 facing the light-transmitting plate 34, the third end face 3311 of the receiving lens barrel 3313 facing the light-transmitting plate 34, and the surface of the housing 31 facing the light-transmitting plate 34 can be located in the same plane and connected to each other, so as to increase the path width of the sealant bonding between this plane and the light-transmitting plate 34, reduce the possibility of water vapor permeation, and reduce the risk of condensation. In addition, the lidar 3 can also be provided with a waterproof breathable valve, which can timely dissipate the water vapor accumulated inside the lidar 3 and balance the internal and external air pressures. The waterproof breathable valve can be attached to the second housing 314 through a pressure-sensitive adhesive.

[0059] The receiving lens barrel 3313 can be in contact with the light-transmitting plate 34 to improve the installation stability of the light-transmitting plate 34.

[0060] The receiving component 33 may further include a receiving shield 333 covering the receiving board 332, and the receiving shield 333 has a second light passing path 3331. If the functional board 35 is located between the receiving lens 331 and the receiving board 332, the receiving shield 333 may be connected between the functional board 35 and the receiving board 332, and the second light passing path 3331 may communicate with the second avoidance area 352, so that the return light output by the receiving lens 331 reaches the receiving board 332 after passing through the second avoidance area 352 and the second light passing path 3331, so as to avoid interference between the return light and other stray light; wherein, the receiving shield 333 and the receiving board 332 may be connected by an adhesive, and the receiving shield 333 and the functional board 35 may be in abutting connection; at this time, the receiving shield 333 may be a light-shielding foam, so that the receiving shield 333 can be pressed and deformed to be connected to the functional board 35 to ensure sufficient assembly space. If the functional board 35 is located between the third end face 3311 and the fourth end face 3312, the receiving shield 333 may be connected between the receiving board 332 and the receiving lens 331, and the second light passing path 3331 may be directly communicated with the light-emitting hole of the receiving lens 331, so that the return light output by the receiving lens 331 directly reaches the receiving board 332 after passing through the second light passing path 3331; wherein, the receiving shield 333 and the receiving board 332 may be connected by welding and a sealant is provided at the connection between the two to prevent light leakage, and the receiving shield 333 and the receiving lens 331 may be connected by a sealant to ensure sufficient assembly space.

[0061] In the embodiment of the present application, the functional board 35 is located between the third end face 3311 and the fourth end face 3312, the receiving lens barrel 3313 of the receiving lens 331 passes through the second avoidance area 352 of the functional board 35, the receiving lens barrel 3313 abuts against the light-transmitting plate 34, and the receiving lens 331 is provided with a stepped surface facing away from the light-transmitting plate 34, and the stepped surface abuts against the functional board 35.

[0062] The housing 31 includes a first housing 313 and a second housing 314. The first housing 313 is formed with an opening 312, and the functional board 35 is in contact with the first housing 313; the second housing 314 is connected to the side of the first housing 313 away from the opening 312, and both the transmitting board 322 and the receiving board 332 are in contact with the second housing 314. Wherein, the housing 31 is split into a first housing 313 and a second housing 314, which is convenient for the assembly of internal components such as the transmitting component 32, the receiving component 33, and the functional board 35. The functional board 35 is in contact with the first housing 313, which is convenient for the heat generated by the heating elements on the functional board 35 to be transferred towards the first housing 313. Both the transmitting board 322 and the receiving board 332 are in contact with the second housing 314, which is convenient for the heat generated by the transmitting board 322 and the receiving board 332 to be transferred towards the second housing 314, which is beneficial to the uniform distribution of the thermal power of the lidar 3 and improves the heat dissipation efficiency.

[0063] The first shell 313 may have a first cavity 3131, the second shell 314 may have a second cavity 3141 connected to the first cavity 3131, the transmitting plate 322 and the receiving plate 332 may both be located in the second cavity 3141, and the accommodating cavity 311 includes the first cavity 3131 and the second cavity 3141. The function board 35 may be located in the first cavity 3131 or at the junction of the first cavity 3131 and the second cavity 3141, and this is not limited. It is only necessary that the function board 35 is in contact with the first shell 313. It should be noted that the first shell 313 or the second shell 314 may also be roughly plate-shaped without forming a cavity, and this is not limited.

[0064] The transmitting lens barrel 3213 and part of the shell 31 are integrally formed structures, which may be the transmitting lens barrel 3213 and the first shell 313 are integrally formed structures, and the receiving lens 331 and part of the shell 31 are integrally formed structures, which may be the receiving lens barrel 3313 and the first shell 313 are integrally formed structures.

[0065] The first shell 313 is formed with a first step 3132, and the function board 35 is located at the first step 3132, so as to facilitate the installation and positioning between the function board 35 and the first shell 313. Further, the function board 35 can abut against the step wall of the first step 3132, thereby improving the connection stability between the function board 35 and the first shell 313.

[0066] Optionally, the first shell 313 has a first surface 3133 facing the second shell 314, and the first step 3132 can be formed on the first surface 3133, so as to realize the installation of the function board 35 on the first step 3132 from the side of the second shell 314 facing the first shell 313. The thickness of the function board 35 in the direction perpendicular to the first surface 3133 can be greater than, less than or equal to the thickness of the first step 3132 in the direction perpendicular to the first surface 3133.

[0067] Among them, combined Figure 5 and Figure 6 The functional board 35 may include a substrate 353 and an electronic component 354, etc. The substrate 353 has a first board surface 3531 facing the light-transmitting board 34 and a second board surface 3532 away from the first board surface 3531. The electronic component 354 may be installed on the first board surface 3531 and / or the second board surface 3532. The substrate 353 and the electronic component 354 avoid the optical transmission path between the transmitting board 322 and the transmitting lens 321, and the optical transmission path between the receiving lens 331 and the receiving board 332.

[0068] At least some of the electronic components 354 of the functional board 35 can be in contact with the housing 31 through a thermal conductive gel, so that the heat generated by at least some of the electronic components 354 can be directly transferred to the housing 31 through the thermal conductive gel, shortening the heat transfer path and helping to enhance the heat dissipation effect. Specifically, at least some of the electronic components 354 of the functional board 35 can be in contact with the first housing 313 through a thermal conductive gel, facilitating the transfer of the heat generated by the electronic components 354 on the functional board 35 towards the first housing 313. Among them, the thermal conductive gel can achieve heat transfer with a relatively high thermal conductivity; and after curing, the thermal conductive gel has good elasticity and compression deformation effect, and will not generate great thermal stress, which can avoid the position change of the functional board 35 caused by thermal stress deformation.

[0069] Optionally, the housing 31 is formed with a first boss 3151 at the position of the electronic component 354 that requires heat conduction, and the first boss 3151 is in contact with the corresponding electronic component 354 through a thermal conductive gel. During actual assembly, the thermal conductive gel can be first applied to the electronic component 354 that requires heat conduction on the functional board 35, and then the functional board 35 is installed on the housing 31, so that the thermal conductive gel on the electronic component 354 that requires heat conduction is in contact with the corresponding first boss 3151. Among them, the first boss 3151 can be provided on the first housing 313. The first boss 3151 facilitates contact with the electronic component 354 that requires heat conduction on the functional board 35, without the need for the entire housing 31 to be in contact with the functional board 35.

[0070] It should be noted that among the electronic components 354 of the functional board 35, the electronic components 354 in contact with the housing 31 through the thermal conductive gel can be the electronic components 354 that are prone to generating heat, or can be any electronic components 354, and there is no limitation in this regard.

[0071] To increase the thermal conductivity of the receiving board 332 / transmitting board 322 in the thickness direction, the receiving board 332 / transmitting board 322 can be provided with vias, and the vias can be embedded with a thermal conductive material with better thermal conductivity. The thermal conductive material can quickly absorb and disperse the heat, preventing the heat from accumulating at the receiving board 332 / transmitting board 322, resulting in device damage or low-power operation. Among them, the thermal conductive material can be copper with a relatively high thermal conductivity, etc., and there is no limitation in this regard.

[0072] Among them, the receiving board 332 / transmitting board 322 being provided with vias can be, for example, providing vias in the central area of the receiving board 332 / transmitting board 322, etc. The vias can be composed of multiple small holes, and there is no limitation in this regard.

[0073] The receiving board 332 / transmitting board 322 can be in contact with the housing 31 through a thermal conductive gel, so that the heat-absorbing thermal conductive material in the via hole can transfer heat to the housing 31 through the thermal conductive gel. Specifically, the receiving board 332 / transmitting board 322 can be in contact with the second housing 314 through the thermal conductive gel, facilitating the transfer of the heat generated by the receiving board 332 / transmitting board 322 towards the second housing 314. The thermal conductive gel can achieve heat transfer with a high thermal conductivity coefficient; and after curing, the thermal conductive gel has good elasticity and compression deformation effects, will not generate great thermal stress, and can avoid the position change of the receiving board 332 / transmitting board 322 caused by thermal stress deformation.

[0074] Refer to Figures 3 to 5 , a boss can be formed on the housing 31 (for example, the second housing 314) at the position of the transmitting board 322 and / or the receiving board 332, and a thermal conductive gel is arranged on the boss, so that the transmitting board 322 and / or the receiving board 332 can transfer heat to the housing 31 through the thermal conductive gel on the corresponding boss. Further, a first heat dissipation hole 3222 can be arranged at the position of the transmitting board 322 corresponding to the transmitting sensor, the housing 31 can be provided with a second boss 3152 at the position of the transmitting sensor, and the second boss 3152 can pass through the first heat dissipation hole 3222 to be in contact with the transmitting sensor, facilitating the direct transfer of the heat generated by the transmitting sensor to the housing 31. A second heat dissipation hole 3322 can be arranged at the position of the receiving board 332 corresponding to the receiving sensor, the housing 31 can be provided with a third boss 3153 at the position of the receiving sensor, and the third boss 3153 can pass through the second heat dissipation hole 3322 to be in contact with the receiving sensor, facilitating the direct transfer of the heat generated by the receiving sensor to the housing 31.

[0075] To save costs, thermal conductive gels with different thermal conductivity coefficients can be used for different heat-generating devices; for example, for devices with a larger thermal power (such as the receiving board 332, etc.), a thermal conductive gel with a high thermal conductivity is used for heat conduction to timely export the heat; for devices with a smaller thermal power (such as the function board 35, etc.), a thermal conductive gel with a low thermal conductivity is selected for heat conduction to save costs. Among them, the thermal conductivity coefficient of the thermal conductive gel with a high thermal conductivity can be greater than 10 W / (m·k), and the thermal conductivity coefficient of the thermal conductive gel with a low thermal conductivity can be greater than 3 W / (m·k), and there is no limitation on this.

[0076] The housing 31 can be made of aluminum material with a thermal conductivity greater than 160 W / (m·k) (watts per meter per degree); for example, the housing 31 can be made of die-cast aluminum material. Among them, die-casting is a processing method with relatively low processing costs. In the embodiment of the present application, the housing 31 is made of high thermal conductivity die-cast aluminum HA160X material. Compared with the ADC12 material in the related art, it has a high thermal conductivity, which can enhance the heat equalization ability of the housing 31 and improve the heat dissipation efficiency. It should be noted that the housing 31 can also adopt the CNC processing method, and the material can be Al6061, which is not limited herein.

[0077] The housing 31 can be provided with heat dissipation fins 316 to expand the heat dissipation area of the housing 31 and improve the heat dissipation effect. Specifically, the heat dissipation fins 316 can be provided at multiple positions such as on the side of the first housing 313 facing away from the second housing 314 and on the side of the second housing 314 facing away from the first housing 313 to increase the heat dissipation area and improve the heat dissipation efficiency. Among them, the height and setting density of the heat dissipation fins 316 can be flexibly adjusted according to actual needs, which is not limited herein.

[0078] Among them, the first housing 313 and the second housing 314 can be hermetically connected to improve the sealing performance of the lidar 3; for example, a sealing ring 317 can be provided between the first housing 313 and the second housing 314 and connected by means of screws or the like. Among them, the sealing ring 317 can be an integrally formed structure with the first housing 313 or the second housing 314 to simplify the assembly process and improve the connection reliability between the sealing ring 317 and the integrally formed first housing 313 or second housing 314. The sealing ring 317 being an integrally formed structure with the first housing 313 or the second housing 314 can be realized by processes such as two-color injection molding. Among them, the sealing ring 317 can also be connected to the first housing 313 or the second housing 314 by means of dotting or welding. The sealing ring 317 can be a silicone ring, and the sealing ring 317 can also be replaced with a sealant or the like, and the sealant can be formed by dotting.

[0079] Combined Figure 3 and Figure 4 , the transmitting plate 322 and the receiving plate 332 can be separately arranged. For example, the transmitting plate 322 and the receiving plate 332 can be arranged at intervals in a direction perpendicular to the light-transmitting plate 34, and the partial projection of the transmitting plate 322 on the light-transmitting plate 34 overlaps with the partial projection of the receiving plate 332 on the light-transmitting plate 34, so as to reduce the dimensions of the transmitting plate 322 and the receiving plate 332 in the direction parallel to the light-transmitting plate 34, make full use of the internal space of the lidar 3, and reduce the volume of the lidar 3.

[0080] The outer contour line of the projection of the emission board 322 on the light-transmitting board 34 may be located inside the outer contour line of the projection of the functional board 35 on the light-transmitting board 34, and the outer contour line of the projection of the receiving board 332 on the light-transmitting board 34 may be located inside the outer contour line of the projection of the functional board 35 on the light-transmitting board 34. That is, the projection of the functional board 35 on the light-transmitting board 34 may include a first part located outside the projection of the emission board 322 on the light-transmitting board 34, and the projection of the functional board 35 on the light-transmitting board 34 may include a second part located outside the projection of the receiving board 332 on the light-transmitting board 34. Wherein, the first part and the second part may at least partially overlap. A floating connector may be provided at a position corresponding to the first part or the second part of the functional board 35 for connecting power, signals, etc. to the outside.

[0081] Refer to Figure 6 and Figure 7 , the lidar 3 may further include an adapter board 39 located inside the housing 31. At least part of the adapter board 39 may be provided corresponding to the first part and / or corresponding to the second part to make full use of the installation space inside the housing 31 and achieve a miniaturized design of the lidar 3. Optionally, in a direction perpendicular to the light-transmitting board 34, the adapter board 39 may be located between the emission board 322 and the receiving board 332. Optionally, a part of the projection of the adapter board 39 on the functional board 35 may overlap with a part of the projection of the emission board 322 on the functional board 35, and / or a part of the projection of the adapter board 39 on the functional board 35 may overlap with a part of the projection of the receiving board 332 on the functional board 35. The adapter board 39 may be connected to the power board 355 through a floating connector. Wherein, the floating connector includes a male seat and a female seat used in cooperation, and the male seat may be provided on the power board 355, and the female seat may be provided on the adapter board 39.

[0082] Optionally, the receiving sensor on the receiving board 332 and the main control chip may be integrated into one body, so that the total thermal power of the lidar 3 is reduced and the volume of the lidar 3 is reduced. Wherein, the integration of the receiving sensor and the main control chip may be that the receiving chip has the function of the main control chip. Compared with the related art where the lidar includes both a receiving board and a main control board, the main control board may be omitted. It should be noted that the embodiments of the present application are not limited thereto. The receiving sensor on the receiving board 332 and the main control chip may also not be integrated into one body. For example, in combination Figure 12, the lidar 3 may also include both a receiving board 332 and a main control board 356, and there is no limitation in this regard; among them, when the lidar 3 includes a main control board 356, the functional board 35 may include the main control board 356, that is, the main control board 356 may be provided on the side of the transmitting board 322 close to the light-transmitting board 34 and on the side of the receiving board 332 close to the light-transmitting board 34. The main control board 356 may be in contact with the first housing 313 so as to be able to dissipate heat through the first housing 313. Of course, the main control board 356 may also be provided on the side of the transmitting board 322 away from the light-transmitting board 34 and on the side of the receiving board 332 away from the light-transmitting board 34. The main control board 356 may be in contact with the second housing 314 to dissipate heat through the second housing 314.

[0083] The lidar 3 includes multiple rigid circuit boards. For example, a transmitting board 322, a receiving board 332, a functional board 35, an adapter board 39, etc. These rigid circuit boards may be fixedly connected to the housing 31 to avoid the problem that the rigid circuit board moves relative to the housing 31 during the movement of the lidar 3.

[0084] Among them, the fixed connection between the rigid circuit board and the housing 31 may be a screw connection, a snap connection, etc., and there is no limitation in this regard.

[0085] Refer to Figures 6 to 8 , the housing 31 is provided with a first fixing post 318, and the transmitting board 322 is provided with a first mounting hole 3221 corresponding to the first fixing post 318. The transmitting board 322 is mounted on the first fixing post 318 of the housing 31 through the first mounting hole 3221. Among them, the first fixing post 318 and the first mounting hole 3221 may be in an interference fit or a clearance fit. If the first fixing post 318 and the first mounting hole 3221 are in a clearance fit, a first bonding layer 3181 may also be provided in the gap between the first fixing post 318 and the first mounting hole 3221 to fix the relative position between the transmitting board 322 and the housing 31, and further fix the relative position between the transmitting board 322 and the transmitting lens 321.

[0086] The first bonding layer 3181 may be a UV thermosetting composite glue layer. After the first fixing post 318 and the first mounting hole 3221 are assembled, it can be pre-fixed by UV irradiation first, and then thermoset to enhance the strength. The first bonding layer 3181 may also be two or more glue layers. After the first fixing post 318 and the first mounting hole 3221 are assembled, the UV glue can be fixed by UV irradiation first, and then another glue can be thermoset to strengthen the fixation.

[0087] The housing 31 may be provided with a first fixing post 318, or may be provided with a plurality of first fixing posts 318. For example, three, four, five first fixing posts 318, etc., and there is no limitation thereto. In the embodiment of the present application, the housing 31 may be provided with four first fixing posts 318, and the emitting plate 322 is provided with first mounting holes 3221 equal in number to the first fixing posts 318. The four first mounting holes 3221 may be distributed approximately evenly around the emitting plate 322 to improve the connection stability between the emitting plate 322 and the housing 31.

[0088] Among them, the housing 31 is provided with a first fixing post 318, which may be that the first housing 313 is provided with a first fixing post 318 so that the emitting lens 321 and the emitting plate 322 are fixedly installed on the first housing 313. The emitting plate 322 is fixedly installed on the first housing 313 through the first fixing post 318, which is also conducive to the heat generated by the emitting plate 322 being guided to the first housing 313 through the first fixing post 318. That is, the emitting plate 322 can not only conduct heat directly to the second housing 314 by contacting the second housing 314, but also conduct heat to the first housing 313 through the first fixing post 318, making the heat generated by the emitting plate 322 more evenly distributed, which is beneficial to improving the heat dissipation efficiency of the lidar 3.

[0089] The cross-section of the first fixing post 318 may be approximately circular, polygonal, etc., and the shape of the first mounting hole 3221 may be approximately adapted to the shape of the first fixing post 318.

[0090] It should be noted that the functional board 35 is provided with an avoidance section for avoiding the first fixing post 318.

[0091] The housing 31 is provided with a second fixing post 319, and the receiving plate 332 is provided with a second mounting hole 3321 corresponding to the second fixing post 319. The receiving plate 332 is installed on the second fixing post 319 of the housing 31 through the second mounting hole 3321. Among them, the second fixing post 319 and the second mounting hole 3321 may be in an interference fit or a clearance fit. If the second fixing post 319 and the second mounting hole 3321 are in a clearance fit, a second adhesive layer 3191 may be provided in the gap between the second fixing post 319 and the second mounting hole 3321 to fix the relative position between the receiving plate 332 and the housing 31, and further fix the relative position between the receiving plate 332 and the receiving lens 331.

[0092] The second adhesive layer 3191 may be selected as a UV thermosetting composite adhesive layer. After the second fixing post 319 and the second mounting hole 3321 are assembled, it can be pre-fixed by UV irradiation first, and then thermoset to strengthen the strength. The second adhesive layer 3191 may also be selected as two or more adhesive layers. After the second fixing post 319 and the second mounting hole 3321 are assembled, the UV adhesive can be fixed by UV irradiation first, and then another glue can be thermoset to strengthen the fixation.

[0093] The housing 31 may be provided with a second fixing post 319, or may be provided with a plurality of second fixing posts 319. For example, three, four, five second fixing posts 319, etc., and there is no limit to this. In the embodiment of the present application, the housing 31 may be provided with four second fixing posts 319, and the receiving plate 332 is provided with second mounting holes 3321 equal in number to the second fixing posts 319. The four second mounting holes 3321 may be distributed approximately evenly around the periphery of the receiving plate 332 to improve the connection stability between the receiving plate 332 and the housing 31.

[0094] Among them, the housing 31 is provided with the second fixing post 319, and the first housing 313 may be provided with the second fixing post 319 so that the receiving lens 331 and the receiving plate 332 are fixedly installed on the first housing 313. The receiving plate 332 is fixedly installed on the first housing 313 through the second fixing post 319, which is beneficial to guiding the heat generated by the receiving plate 332 to the first housing 313 through the second fixing post 319. That is, the receiving plate 332 can not only conduct heat directly to the second housing 314 by contacting the second housing 314, but also conduct heat to the first housing 313 through the second fixing post 319, making the heat generated by the receiving plate 332 more evenly distributed, which is beneficial to improving the heat dissipation efficiency of the lidar 3.

[0095] The cross-section of the second fixing post 319 may be approximately circular, polygonal, etc., and the shape of the second mounting hole 3321 may be approximately adapted to the shape of the second fixing post 319.

[0096] If the partial projection of the emitting plate 322 on the light-transmitting plate 34 overlaps with the partial projection of the receiving plate 332 on the light-transmitting plate 34, some of the first fixing posts 318 and some of the second fixing posts 319 may be the same fixing post to save the internal space of the lidar 3.

[0097] A plurality of first fixing posts 318 included in the lidar 3 may be symmetric about a first straight line, a plurality of second fixing posts 319 included in the lidar 3 may be symmetric about the first straight line, and the housing 31 may also be symmetric about the first straight line. Further, referring to Figure 5 , the periphery of the housing 31 at the first opening 312 may protrude outward from the housing 31, specifically, it may protrude vertically. The housing 31 may be provided with reinforcing ribs at the first fixing posts 318 and / or the second fixing posts 319 to provide sufficient support strength to prevent the housing 31 from deforming and prevent the first fixing posts 318 and / or the second fixing posts 319 from deforming.

[0098] It should be noted that the functional board 35 is provided with an avoidance area for avoiding the second fixing post 319.

[0099] The functional board 35, the adapter board 39 and the housing 31 can be directly connected by screws. Specifically, the functional board 35 can be connected to the first housing 313 by screws, and the adapter board 39 can be connected to the second housing 314 by screws, but this is not limited. The lidar 3 can also include connectors. The connectors can be welded to the adapter board 39 and can be connected to the housing by screws.

[0100] To facilitate the signal interaction between the lidar 3 and the outside world, the rigid circuit boards such as the transmitting board 322, the receiving board 332, and the functional board 35 can be electrically connected, so that the signals of the lidar 3 can be aggregated and then interact with the outside world through an electrical interface. Among them, the electrical connection between the rigid circuit boards can be achieved by means of the cooperation of the flexible circuit board 36, the electrical plug and the electrical socket.

[0101] If two rigid circuit boards are electrically connected through the flexible circuit board 36, for the convenience of description, the two rigid circuit boards can be respectively defined as the first rigid circuit board 41 and the second rigid circuit board 42. Please refer to Figures 9 to 11 , the flexible circuit board 36 includes a first bending portion 361 and a second bending portion 362. The first bending portion 361 and the second bending portion 362 are arranged along the extending direction of the flexible circuit board 36, and the bending directions of the first bending portion 361 and the second bending portion 362 are opposite. In this way, during the assembly process of the first rigid circuit board 41, the second rigid circuit board 42 and the housing, the reciprocally bent first bending portion 361 and the second bending portion 362 can provide a certain amount of movement space for the assembly of the first rigid circuit board 41, the second rigid circuit board 42 and the housing 31, making the assembly more convenient.

[0102] Furthermore, the first bending portion 361 defines a first interval 3611, and the second bending portion 362 defines a second interval 3621. The lidar 3 can also include a first positioning member 37 and a second positioning member 38 connected to the housing 31. The first positioning member 37 is located in the first interval 3611 and contacts the first bending portion 361 to position the first bending portion 361; the second positioning member 38 is located in the second interval 3621 and contacts the second bending portion 362 to position the second bending portion 362. The settings of the first positioning member 37 and the second positioning member 38 are beneficial to the controllable bending and fixing of the flexible circuit board 36, ensure the stacked form of the first rigid circuit board 41 and the second rigid circuit board 42, and can avoid the flexible circuit board being easily affected by vibration and generating large excitation, improving the installation stability of the flexible circuit board 36 in the lidar 3 and the connection stability between the flexible circuit board 36 and the first rigid circuit board 41 and the second rigid circuit board 42.

[0103] The first positioning member 37 and / or the second positioning member 38 may be elastic, so that the first positioning member 37 and the second positioning member 38 may be deformed to improve the installation stability of the flexible circuit board 36. The first positioning member 37 and / or the second positioning member 38 may be made of materials such as silicone, silicone foam, etc., which are not limited.

[0104] The first positioning member 37 contacts the first curved portion 361, and the first positioning member 37 and the first curved portion 361 are connected, for example, the two are connected by an adhesive, etc.; the first positioning member 37 contacts the first curved portion 361, and the first curved portion 361 is placed on the first positioning member 37, and there is no connection constraint between the two. It should be noted that the first positioning member 37 can contact part of the first curved portion 361, so that the part of the first curved portion 361 that is not in contact with the first positioning member 37 can be deformed to a certain extent, so as to release the stress generated when the first rigid circuit board 41 or the second rigid circuit board 42 shakes.

[0105] The second positioning member 38 contacts the second curved portion 362, and the second positioning member 38 and the second curved portion 362 are connected, for example, the two are connected by an adhesive, etc.; the second positioning member 38 contacts the second curved portion 362, or the second curved portion 362 is placed on the second positioning member 38, and there is no connection constraint between the two. It should be noted that the second positioning member 38 can contact part of the second curved portion 362, so that the part of the second curved portion 362 that is not in contact with the second positioning member 38 can be deformed to a certain extent, so as to release the stress generated when the first rigid circuit board 41 or the second rigid circuit board 42 shakes.

[0106] The flexible circuit board 36 includes a first structure portion 363, and the first positioning member 37 and the second positioning member 38 also respectively abut against two opposite sides of the first structure portion 363. Under the joint abutment of the first positioning member 37 and the second positioning member 38, the position of the first structure portion 363 in the housing 31 is fixed, which is more conducive to the controllable bending and fixation of the flexible circuit board 36 compared to the staggered arrangement of the contact portion between the first positioning member 37 and the flexible circuit board 36 and the contact portion between the second positioning member 38 and the flexible circuit board 36.

[0107] The first structural portion 363 can satisfy at least two of the following conditions: 1. Figure 10 , along the extension direction of the flexible circuit board 36, the first structure portion 363 is located between the first bending portion 361 and the second bending portion 362, that is, the first structure portion 363 is independent of the first bending portion 361 and the second bending portion 362; 2. Referring to Figure 11 , the first structure portion 363 can constitute at least a part of the first curved portion 361; 3. The first structure portion 363 can constitute at least a part of the second curved portion 362.

[0108] The first positioning member 37 can be located between the first rigid circuit board 41 and the second rigid circuit board 42 along the first direction x, and the second positioning member 38 can be located between the first rigid circuit board 41 and the second rigid circuit board 42 along the first direction x. Among them, the first rigid circuit board 41 and the second rigid circuit board 42 are arranged at intervals along the first direction x. Through the reasonable layout of the first positioning member 37, the second positioning member 38, the first rigid circuit board 41 and the second rigid circuit board 42, the size of the lidar 3 in the first direction x can be compressed.

[0109] The positioning surface of the first positioning member 37 for contacting the first bending portion 361 can be generally curved, flat, a combination of curved and flat, etc., and there is no limitation on this. The positioning surface of the second positioning member 38 for contacting the second bending portion 362 can be generally curved, flat, a combination of curved and flat, etc., and there is no limitation on this.

[0110] The first positioning member 37 is connected to the housing 31. It can be a direct connection between the first positioning member 37 and the housing 31, or an indirect connection between the first positioning member 37 and the housing 31. For example, the first positioning member 37 is connected to any device installed in the housing 31, thereby realizing the connection between the first positioning member 37 and the housing 31; the second positioning member 38 is connected to the housing 31. It can be a direct connection between the second positioning member 38 and the housing 31, or an indirect connection between the second positioning member 38 and the housing 31. For example, the second positioning member 38 is connected to any device installed in the housing 31, thereby realizing the connection between the second positioning member 38 and the housing 31.

[0111] Among them, the connection between the first positioning member 37 and the housing 31 or the connection between the first positioning member 37 and the device installed in the housing 31 can be by adhesive connection. The connection between the second positioning member 38 and the housing 31 or the connection between the second positioning member 38 and the device installed in the housing 31 can be by adhesive connection, and there is no limitation on this.

[0112] If the first positioning member 37 is connected to a device installed in the housing 31 and the second positioning member 38 is connected to a device installed in the housing 31, in an exemplary solution, refer to Figure 10 , the first positioning member 37 can be connected to the first rigid circuit board 41 installed in the housing 31, and the second positioning member 38 can be connected to the second rigid circuit board 42 installed in the housing 31. In this way, after the positions of the first rigid circuit board 41 and the second rigid circuit board 42 in the housing 31 are fixed, the positions of the first positioning member 37 and the second positioning member 38 in the housing 31 will also be fixed, and the assembly is more convenient.

[0113] In this exemplary solution, the first rigid circuit board 41 may be one of the transmitting board 322 and the receiving board 332 , and the second rigid circuit board 42 may be the other one of the transmitting board 322 and the receiving board 332 .

[0114] In this exemplary solution, the first positioning member 37 can be first fixed to the first rigid circuit board 41, and the second positioning member 38 can be fixed to the second rigid circuit board 42. Then, when the first rigid circuit board 41 and the second rigid circuit board 42 are roughly formed into a stacked shape in the shell 31, the flexible circuit board 36 is bent to achieve controllable bending and fixation of the flexible circuit board 36.

[0115] In this exemplary solution, the first positioning member 37 may be silicone foam, and the second positioning member 38 may be silicone foam, which is not limited.

[0116] In this exemplary embodiment, the first rigid circuit board 41 may also be one of the receiving board 332 and the functional board 35, and the second rigid circuit board 42 may also be another one of the receiving board 332 and the functional board 35, and so on, without limitation.

[0117] If the first positioning member 37 is connected to the device installed in the housing 31, and the second positioning member 38 is connected to the device installed in the housing 31, in another exemplary solution, refer to Figure 11 The first positioning member 37 can be connected to the first rigid circuit board 41 or the second rigid circuit board 42 installed in the shell 31, and the second positioning member 38 can be connected to other devices in the shell 31 except the first rigid circuit board 41 and the second rigid circuit board 42, for example, connected to the third rigid circuit board 43 installed in the shell 31.

[0118] In this exemplary embodiment, the first rigid circuit board 41 can be one of the receiving board 332 and the functional board 35, the second rigid circuit board 42 can be the other of the receiving board 332 and the functional board 35, and the third rigid circuit board 43 can be the adapter board 39, wherein the adapter board 39 will be described in more detail below.

[0119] In this exemplary solution, the first positioning member 37 may be silicone foam, and the second positioning member 38 may be shoreA silicone with a hardness of about 30 degrees, so as to more accurately control the bending shape of the FPC.

[0120] If the first positioning member 37 is connected to the device installed in the housing 31, and / or the second positioning member 38 is connected to the device installed in the housing 31, and the first positioning member 37 and the second positioning member 38 respectively abut against opposite sides of the first structural portion 363, at this time, the first positioning member 37 and / or the second positioning member 38 may be in a compressed state. That is, the device (for example, the first rigid circuit board 41) connected to the first positioning member 37 in the housing 31 and the device (for example, the second rigid circuit board 42) connected to the second positioning member 38 in the housing 31 will squeeze the first positioning member 37 and the second positioning member 38, which can improve the fixing stability of the first positioning member 37 and the second positioning member 38 to the flexible circuit board 36.

[0121] The first rigid circuit board 41 has a first side wall 411. The flexible circuit board 36 can be connected to the first side wall 411 of the first rigid circuit board 41. The first positioning member 37 can include a first positioning portion 371. The first positioning portion 371 is located on the side where the first side wall 411 of the first rigid circuit board 41 is located. The flexible circuit board 36 bypasses the side of the first positioning portion 371 away from the first side wall 411 to prevent the flexible circuit board 36 from being easily broken at the connection portion between the flexible circuit board 36 and the first rigid circuit board 41 due to excessive bending.

[0122] The second rigid circuit board 42 has a second side wall 421. The flexible circuit board 36 can be connected to the second side wall 421 of the second rigid circuit board 42. The second positioning member 38 can include a second positioning portion 381. The second positioning portion 381 is located on the side where the second side wall 421 of the second rigid circuit board 42 is located. The flexible circuit board 36 bypasses the side of the second positioning portion 381 away from the second side wall 421 to prevent the flexible circuit board 36 from being easily broken at the connection portion between the flexible circuit board 36 and the second rigid circuit board 42 due to excessive bending.

[0123] Wherein, the bending angle of the first bending portion 361 can be greater than or equal to 160°, and the bending angle of the second bending portion 362 can be greater than or equal to 160°, so that the first bending portion 361 and the second bending portion 362 can generate sufficient deformation for the assembly of the first rigid circuit board 41 and the second rigid circuit board 42 with the housing 31.

[0124] Optionally, the flexible circuit board 36 and the first rigid circuit board 41 and / or the second rigid circuit board 42 are of an integrally formed structure. For example, a flexible substrate layer is included in the multi-layer structure of the first rigid circuit board 41 and / or the second rigid circuit board 42. This flexible substrate layer shares the same flexible substrate with the flexible circuit board 36. Compared with the related art where the flexible circuit board 36 is connected to the first rigid circuit board 41 and / or the second rigid circuit board 42 through an interface, the volume required for the interface can be saved, and the operation cost can be reduced.

[0125] In the embodiment of the present application, an electrical connection is achieved between the transmitting board 322 and the receiving board 332 through a flexible circuit board 36, and the transmitting board 322, the receiving board 332, and the flexible circuit board 36 are of an integrally formed structure; an electrical connection is achieved between the receiving board 332 and the functional board 35 through another flexible circuit board 36, and the receiving board 332, the functional board 35, and the flexible circuit board 36 are of an integrally formed structure, realizing high integration of the whole machine, simple overall material control, and being beneficial to production, assembly, and cost reduction.

[0126] It should be noted that an electrical connection can also be achieved between the flexible circuit board 36 and the first rigid circuit board 41 and / or the second rigid circuit board 42 through an interface, and no limitation is made thereto.

[0127] The lidar 3 in the embodiment of the present application can include a transmitting component 32 and a receiving component 33, or include a transmitting component 32 and multiple receiving components 33, or include multiple transmitting components 32 and multiple receiving components 33, or include multiple transmitting components 32 and a receiving component 33, etc. There are various situations, and no limitation is made thereto.

[0128] For the lidar 3 in the embodiment of the present application, during assembly, the light-transmitting plate 34, the first housing 313, the transmitting component 32, the receiving component 33, the functional board 35, etc. can be first assembled to form a first assembled component, and the second housing 314, the waterproof and breathable valve, the connector, the adapter board 39, etc. can be assembled to form a second assembled component, and then the first assembled component and the second assembled component are assembled. The assembly is very convenient and reduces the material management cost; among them, when the functional board 35 is the power supply board 355, the first assembled component can include all the optomechanics and the power supply, and certain tests and detections can already be carried out, which is beneficial to production and manufacturing. Among them, in the lidar 3, only the first housing 313 and the second housing 314 can be formed by die-casting and machining, greatly reducing the production cost and the material management cost.

[0129] It should be noted that when the lidar 3 is installed on a carrier such as a vehicle body, the lidar 3 and the carrier can be installed through a mounting member. Among them, the mounting member can include a mounting bracket 45 and locking members such as screws. The mounting bracket 45 can be formed on the lidar 3 or on the carrier; if the mounting bracket 45 is formed on the lidar 3, combined Figure 5 and Figure 6 , the mounting bracket 45 can be formed on the housing 31 of the lidar 3. Further, the number of the mounting brackets 45 can be at least two, and at least two mounting brackets 45 are respectively arranged on opposite sides of the housing 31 to achieve reliable installation between the lidar 3 and the carrier. Further, the mounting bracket 45 can be formed on the second housing 314 and / or the first housing 313 of the housing 31.

[0130] Embodiment 2

[0131] Please refer to Figure 13 and Figure 14 For the lidar 3 provided in the embodiment of the present application, it is different from the lidar 3 in Embodiment 1. In Embodiment 1, the transmitting board 322 and the receiving board 332 are separately arranged. In this embodiment, the transmitting board 322 and the receiving board 332 can share the same substrate, as long as it is ensured that the transmitting board 322 can emit detection light to the transmitting lens 321 and the receiving board 332 can receive the reflected light output by the receiving lens 331.

[0132] The structure of the lidar 3 in this embodiment can be substantially the same as that of the lidar 3 in Embodiment 1. For example, in combination with Figure 13 In this embodiment, the receiving sensor on the receiving board 332 can also be integrated with the main control chip. Compared with the lidar in the related art that includes both a receiving board and a main control board, the main control board can be omitted, so that the total thermal power of the lidar 3 is reduced and the volume of the lidar 3 is reduced. Further, the transmitting board 322 and the receiving board 332 can be in contact with the second shell 314 of the housing 31 for heat dissipation. For example, the substrate shared by the transmitting board 322 and the receiving board 332 can be provided with a first heat dissipation hole 3222 at the setting position of the transmitting sensor, and the second shell 314 is provided with a second boss 3152 at the transmitting sensor. The second boss 3152 can pass through the first heat dissipation hole 3222 to contact the transmitting sensor, facilitating the heat generated by the transmitting sensor to be directly transferred to the second shell 314. The substrate shared by the transmitting board 322 and the receiving board 332 can be provided with a second heat dissipation hole 3322 at the setting position of the receiving sensor, and the second shell 314 is provided with a third boss 3153 at the receiving sensor. The third boss 3153 can pass through the second heat dissipation hole 3322 to contact the receiving sensor, facilitating the heat generated by the receiving sensor to be directly transferred to the second shell 314.

[0133] It should be noted that in combination with Figure 13 the transmitting board 322 and the receiving board 332 can also be in contact with the first shell 313 of the housing 31 for heat dissipation. For example, Figure 13 as shown in

[0134] Figure 14 Figure 14, the receiving sensor and the main control chip on the receiving board 332 can also be separately arranged. In this solution, the lidar 3 further includes a main control board 356. At this time, the functional board 35 can include the main control board 356 and / or the power board 355, and this is not limited. If the functional board 35 includes the main control board 356, the main control board 356 is arranged on the side of the transmitting board 322 close to the light-transmitting board 34 and the side of the receiving board 332 close to the light-transmitting board 34. The main control board 356 can be in contact with the first housing 313 to dissipate heat through the first housing 313.

[0135] Figure 14 The situation where the functional board 35 includes the power board 355 is shown. That is, the power board 355 is arranged on the side of the transmitting board 322 close to the light-transmitting board 34 and the side of the receiving board 332 close to the light-transmitting board 34, while the main control board 356 is arranged on the side of the transmitting board 322 away from the light-transmitting board 34 and the side of the receiving board 332 away from the light-transmitting board 34. The main control board 356 can be in contact with the second housing 314 to dissipate heat through the second housing 314; and the transmitting board 322 and the receiving board 332 can be connected to the housing 31 through means such as the bracket 44 to realize the assembly of the transmitting board 322 and the receiving board 332 in the housing 31, and facilitate the transmitting board 322 and the receiving board 332 to transfer heat to the housing 31 through the bracket 44. It should be noted that the transmitting board 322 and the receiving board 332 can also be connected to the main control board 356 through the bracket 44, and then connected to the housing 31, and this is not limited.

[0136] In the description of the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, in the description of the present application, unless otherwise specified, "a plurality" means at least two, for example, two, three, four, etc. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0137] The above-disclosed are only the preferred embodiments of the present application. Of course, the scope of the rights of the present application cannot be limited by this. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A lidar, characterized in that, Comprising: A housing having a receiving cavity, and an opening formed in the housing and communicating with the receiving cavity; A light-transmitting plate covering the opening and connecting to the housing; A transmitting assembly located in the receiving cavity, the transmitting assembly including a transmitting lens and a transmitting plate, the transmitting plate being located on a side of the transmitting lens away from the light-transmitting plate; A receiving assembly located in the receiving cavity, the receiving assembly including a receiving lens and a receiving plate, the receiving plate being located on a side of the receiving lens away from the light-transmitting plate; And A functional board located in the receiving cavity, the functional board being located on a side of the transmitting plate close to the light-transmitting plate, the functional board being located on a side of the receiving plate close to the light-transmitting plate, the functional board avoiding the optical path transmission path between the transmitting plate and the transmitting lens, the functional board also avoiding the optical path transmission path between the receiving lens and the receiving plate, and the functional board being in contact with the housing; The functional board forms a first avoidance interval corresponding to the transmitting lens; the functional board forms a second avoidance interval corresponding to the receiving lens, and the first avoidance interval and the second avoidance interval are through holes provided on the functional board.

2. The lidar according to claim 1, wherein The functional board is located between the transmitting lens and the transmitting plate, and the first avoidance interval is for the detection light emitted by the transmitting plate to pass through so that the detection light reaches the transmitting lens; or, the functional board is located between a first end face of the transmitting lens facing the light-transmitting plate and a second end face of the transmitting lens facing the transmitting plate, and the first avoidance interval is for the transmitting lens to pass through.

3. The lidar according to claim 2, wherein, The transmitting assembly further includes a transmitting shielding cover covering the transmitting plate, and the transmitting shielding cover has a first light-passing path; If the functional board is located between the transmitting lens and the transmitting plate, the transmitting shielding cover is connected between the transmitting plate and the functional board, and the first light-passing path communicates with the first avoidance interval; Or If the functional board is located between the first end face and the second end face, the transmitting shielding cover is connected between the transmitting plate and the transmitting lens, and the first light-passing path communicates with the light-incident hole of the transmitting lens.

4. The lidar according to claim 1, wherein, The functional board is located between the receiving lens and the receiving plate, and the second avoidance interval is for the return light received by the receiving lens to pass through so that the return light reaches the receiving plate; or, the functional board is located between a third end face of the receiving lens facing the light-transmitting plate and a fourth end face of the receiving lens facing the receiving plate, and the second avoidance interval is for the receiving lens to pass through.

5. The lidar according to claim 4, wherein The receiving assembly further includes a receiving shielding cover covering the receiving plate, and the receiving shielding cover has a second light-passing path; If the functional board is located between the receiving lens and the receiving plate, the receiving shielding cover is connected between the receiving plate and the functional board, and the second light-passing path communicates with the second avoidance interval; or If the functional board is located between the third end face and the fourth end face, the receiving shielding cover is connected between the receiving board and the receiving lens, and the second light path is communicated with the light outlet hole of the receiving lens.

6. The lidar according to claim 1, characterized in that, The transmitting lens abuts against the functional board; and / or, the receiving lens abuts against the functional board.

7. The lidar according to claim 1, wherein, The housing includes: a first housing, the first housing forming the opening, the functional board being in contact with the first housing; and a second housing, the second housing connecting a side of the first housing away from the opening, both the transmitting board and the receiving board being in contact with the second housing.

8. The lidar according to claim 7, characterized in that, The first housing forms a first step, and the functional board is located on the first step and abuts against the step wall of the first step.

9. The lidar according to claim 7, characterized in that, The transmitting lens includes a transmitting lens barrel and at least one transmitting lens disposed in the transmitting lens barrel, and the transmitting lens barrel and the first housing are of an integrally formed structure; The receiving lens includes a receiving lens barrel and at least one receiving lens disposed in the receiving lens barrel, and the receiving lens barrel and the first housing are of an integrally formed structure.

10. The lidar according to claim 1, wherein, The functional board includes at least one of a power board and a main control board.

11. The lidar according to claim 1, wherein, The transmitting board and the receiving board are spaced apart in a direction perpendicular to the light-transmitting board, and a partial projection of the transmitting board on the light-transmitting board overlaps with a partial projection of the receiving board on the light-transmitting board; or The transmitting board and the receiving board share the same substrate.

12. An autonomous driving system, characterized in that, Including the lidar according to any one of claims 1 to 11.

13. A mobile device, characterized in that, Including the lidar according to any one of claims 1 to 11; or, including the autonomous driving system according to claim 12.

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