A multi-line laser radar system for automobiles

Abstract

The present invention relates to the field of environmental perception technology, and discloses a multi-line laser radar system for automobiles, comprising a mounting base and a protective shell that can be assembled and combined, a radar assembly is arranged on the top of the mounting base, a window is arranged on the front of the protective shell, and the radar assembly comprises a servo motor fixedly mounted on the top of the mounting base, and a rotating mirror tube frame is fixedly connected to the output shaft of the servo motor, an adjustable rotating mirror is hinged on the outside of the rotating mirror tube frame, and a lower locking plate is rotatably installed on the top. The multi-line laser radar system for automobiles reduces the requirements for processing accuracy and cost by designing the rotating mirror tube frame and the adjustable rotating mirror separately, and at the same time, the adjustable rotating mirror is hinged on the rotating mirror tube frame through a plug-in rod and a plug-in seat, and the lower locking plate is rotated to drive the transmission gear to rotate, and the angle between the adjustable rotating mirror and the rotating axis of the rotating mirror tube frame can be adjusted until the adjustable rotating mirror is adjusted to the assembly requirements, and the adjustment process is easy.

Description

Technical Field

[0001] The present invention relates to the field of environmental perception technology, and in particular to a multi-line laser radar system for an automobile. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, the relevant information of the target can be obtained.

[0003] The multi-beam rotating mirror laser radar is a widely used solution in autonomous driving. The rotating mirror laser radar includes a rotating mirror. The transmitter of the laser radar emits laser light to the rotating mirror, and the rotating mirror reflects the laser light to the object being measured. The accuracy of the rotating mirror structure in the laser radar, especially the angular accuracy of the rotating mirror, has a direct impact on the measurement accuracy and distance measurement capability of the laser radar. Accurate rotating mirror accuracy has become the main performance indicator of this type of laser radar. In the prior art, in order to fix the rotating mirror, a gluing method is usually adopted, that is, the reflector is pasted to the fixed rotating mirror bracket with glue. Not only is the efficiency and reliability low, but also the angle needs to be determined once during production, the accuracy is poor, and it is difficult to adjust when the angle changes later. In addition, there are rotating mirrors in which the reflector and the rotating mirror bracket are integrated, but this type of rotating mirror has high requirements on processing accuracy, resulting in a surge in processing costs. In addition, the rotating mirror in the prior art is a conventional motor plus a mounting base structure, and it is impossible to simultaneously limit the stability of the bottom and top of the rotating mirror. The higher the rotating speed of the rotating mirror, the greater the centrifugal force generated at the top. In the long run, it is easy to cause the motor rotating shaft to bend, resulting in the accuracy of the rotating mirror cannot be guaranteed. For this reason, we propose an automotive multi-line laser radar system to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a multi-line laser radar system for an automobile to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automotive multi-line laser radar system, comprising a mounting base and a protective shell that can be assembled and combined, a radar assembly is arranged on the top of the mounting base, a window is arranged on the front of the protective shell, the radar assembly comprises a servo motor fixedly mounted on the top of the mounting base, and a rotating mirror tube frame is fixedly connected to the output shaft of the servo motor, an adjustable rotating mirror is hinged on the outside of the rotating mirror tube frame, a lower locking plate is rotatably mounted on the top, and a transmission connection is formed between the lower locking plate and the adjustable rotating mirror, and when the lower locking plate rotates, the adjustable rotating mirror can be driven to rotate with the hinge position between the lower locking plate and the rotating mirror tube frame as the axis point;

[0006] An auxiliary positioning rod is provided in the middle of the rotating mirror tube frame, and an upper locking plate and an auxiliary positioning sleeve are sleeved on the outside of the auxiliary positioning rod, and the auxiliary positioning sleeve is fixedly installed on the protective shell, and the upper locking plate can slide upward or downward outside the auxiliary positioning rod, and the upper locking plate can be clamped on the top of the lower locking plate when sliding downward outside the auxiliary positioning rod, and the top of the lower locking plate is a locking part;

[0007] A plurality of ball mechanisms cooperating with the auxiliary positioning sleeve are arranged above the outside of the auxiliary positioning rod. After the auxiliary positioning sleeve is sleeved on the outside of the auxiliary positioning rod, one end of the ball mechanism away from the auxiliary positioning rod abuts against the inner wall of the auxiliary positioning sleeve.

[0008] Preferably, the radar component also includes a laser transmitter, a transmitting lens group, a receiving lens group, a filter component and an avalanche diode. The transmitting lens group and the receiving lens group are arranged in front of the top of the mounting base, and the filter component and the avalanche diode are arranged in sequence behind the receiving lens group. The radar component is a common existing technology, and the combination of each other can realize the emission and reception of lasers, thereby obtaining relevant information about the target.

[0009] Preferably, the servo motor and the rotating mirror tube rack are located on one side of the laser transmitter, and the servo motor and the rotating mirror tube rack are located behind the transmitting lens group. The radar assembly also includes a mounting bracket, and the mounting bracket is fixedly mounted on the top of the mounting base. The servo motor is fixedly mounted inside the mounting bracket. The servo motor is restricted by the mounting bracket to ensure the firmness of the servo motor after installation, and the restriction of the bottom end of the rotating mirror tube rack can also be achieved.

[0010] Preferably, a connecting frame is glued to one side of the adjustable rotating mirror close to the rotating mirror tube frame, and a plurality of plug-in rods are arranged on the connecting frame, and a plug-in socket cooperating with the plug-in rods is arranged on the outside of the rotating mirror tube frame, and a plurality of the plug-in rods are correspondingly plugged into the plug-in sockets, and a group of connecting frames close to the top of the rotating mirror tube frame are fixedly connected with transmission gears, and the transmission gears can transmit power to the lower locking disk to ensure that the lower locking disk can adjust the connecting frame and the adjustable rotating mirror when rotating.

[0011] Preferably, the lower locking plate also includes an adjusting part, a transmission part and a mounting part. A mounting bearing that cooperates with the mounting part is nested on the top of the rotating mirror tube rack. The transmission part is a ring gear. After the lower locking plate is assembled on the top of the rotating mirror tube rack, the transmission part and the transmission gear therein are meshed with each other. Rotating the lower locking plate drives the transmission gear to rotate, and the angle between the adjustable rotating mirror and the rotating axis of the rotating mirror tube rack can be adjusted until the adjustable rotating mirror is adjusted to the assembly requirements.

[0012] Preferably, the inner ring of the upper locking plate is provided with a plurality of key slots, the outside of the auxiliary positioning rod is provided with splines matching the key slots, the outside of the auxiliary positioning rod is sleeved with a compression spring, the compression spring is located below the upper locking plate, and the compression spring continuously applies elastic force to the upper locking plate. The compression spring applies an upward elastic force to the upper locking plate, so as to avoid interference of the upper locking plate with the adjustment of the lower locking plate when the auxiliary positioning sleeve is not assembled with the auxiliary positioning rod.

[0013] Preferably, the inner side surfaces of the locking portion and the upper locking plate are both conical surfaces, and rubber pads are glued to the inner side surfaces of the locking portion and the upper locking plate. By providing the rubber pads, the locking effect of the upper locking plate on the lower locking plate is improved, thereby improving the locking effect of the adjustable mirror.

[0014] Preferably, the ball mechanism includes a mounting seat fixedly mounted on the auxiliary positioning rod, a positioning ball arranged at the end of the mounting seat, and a positioning end head threadedly connected to the end of the mounting seat. The mounting seat and the positioning end head are both provided with a concave surface that cooperates with the positioning ball. The positioning ball can rotate at the end of the mounting seat. The positioning ball is restricted by the positioning end head to ensure the stability of the positioning ball when rotating at the end of the mounting seat.

[0015] Preferably, a retaining ring is provided on the outside of the auxiliary positioning sleeve, and a plane bearing located below the retaining ring is sleeved on the outside of the auxiliary positioning sleeve, and the bottom of the plane bearing is abutted against the top of the upper locking plate, thereby ensuring that the auxiliary positioning sleeve can apply pressure to the upper locking plate while reducing the friction between the auxiliary positioning sleeve and the upper locking plate when the rotating mirror tube frame drives the auxiliary positioning rod and the upper locking plate to rotate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The automotive multi-line laser radar system reduces the requirements for processing accuracy and costs by splitting the rotating mirror tube frame and the adjustable rotating mirror. At the same time, the adjustable rotating mirror is hinged to the rotating mirror tube frame through a plug-in rod and a plug-in seat. The lower locking plate is rotated to drive the transmission gear to rotate, and the angle between the adjustable rotating mirror and the rotating axis of the rotating mirror tube frame can be adjusted until the adjustable rotating mirror is adjusted to the assembly requirements. The adjustment process is easy, thereby improving the installation accuracy of the adjustable rotating mirror and meeting the laser radar's requirements for measurement accuracy and distance measurement capability.

[0018] 2. The automotive multi-line laser radar system is provided with an auxiliary positioning rod in the rotating mirror tube frame, and an auxiliary positioning sleeve that cooperates with the auxiliary positioning rod is provided on the inner wall of the protective shell. After the rotating mirror tube frame and the protective shell are assembled, the auxiliary positioning rod can be inserted into the auxiliary positioning sleeve. On the basis of the bottom positioning of the rotating mirror tube frame, the top of the rotating mirror tube frame is restricted again, thereby improving the stability of the rotating mirror tube frame when driving the adjustable rotating mirror to rotate, thereby ensuring the measurement accuracy of the laser radar again.

[0019] 3. In the automotive multi-line laser radar system, when the auxiliary positioning sleeve and the auxiliary positioning rod are assembled, the auxiliary positioning sleeve applies downward pressure to the upper locking plate so that the upper locking plate is clamped to the top of the locking part. Since the upper locking plate is mounted on the outside of the auxiliary positioning rod through the keyway and the spline, the lower locking plate and the transmission gear are locked, thereby ensuring the stability of the adjustable rotating mirror after adjustment and ensuring the accuracy of the adjustable rotating mirror during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure after the installation base and the protective shell are combined in the present invention;

[0021] Figure 2 It is a structural schematic diagram of the top of the installation base in the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the inner and outer sides of the mounting bracket in the present invention;

[0023] Figure 4 It is a structural schematic diagram of the connection between the rotating mirror tube frame and the adjustable rotating mirror in the present invention;

[0024] Figure 5 It is a structural schematic diagram of the cross section of the transfer mirror tube rack and its top component in the present invention;

[0025] Figure 6 It is a structural schematic diagram of the lower locking plate in the present invention;

[0026] Figure 7 It is a structural schematic diagram of the top of the transfer mirror tube rack of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the external part of the auxiliary positioning rod in the present invention;

[0028] Fig. 9 It is a schematic diagram of the exploded structure of the ball mechanism in the present invention;

[0029] Fig.10 It is a schematic diagram of the explosion structure of the lower locking plate and the upper locking plate in the present invention.

[0030] In the figure: 1. mounting base; 2. protective shell; 3. window; 4. laser transmitter; 5. transmitting lens group; 6. receiving lens group; 7. filter assembly; 8. avalanche diode; 9. mounting bracket; 10. servo motor; 11. rotating mirror tube rack; 12. connecting frame; 13. adjustable rotating mirror; 14. plug-in rod; 15. plug-in seat; 16. transmission gear; 17. mounting bearing; 18. lower locking plate; 181. adjustment part; 182. locking part; 183. transmission part; 184. mounting part; 19. auxiliary positioning rod; 20. compression spring; 21. ball mechanism; 211. mounting seat; 212. positioning ball; 213. positioning end; 22. upper locking plate; 23. plane bearing; 24. auxiliary positioning sleeve; 25. keyway. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figures 1 to 10 In an embodiment of the present invention, a multi-line laser radar system for an automobile includes a mounting base 1 and a protective shell 2 that can be assembled and combined. A radar component is arranged on the top of the mounting base 1, and a window 3 is arranged on the front of the protective shell 2. The radar component includes a servo motor 10 fixedly mounted on the top of the mounting base 1, and a rotating mirror tube frame 11 is fixedly connected to the output shaft of the servo motor 10. An adjustable rotating mirror 13 is hinged on the outside of the rotating mirror tube frame 11, and a lower locking plate 18 is rotatably installed on the top, and a transmission connection is formed between the lower locking plate 18 and the adjustable rotating mirror 13. When the lower locking plate 18 rotates, it can drive the adjustable rotating mirror 13 to rotate with the hinged position between it and the rotating mirror tube frame 11 as the axis point. By designing the rotating mirror tube frame 11 and the adjustable rotating mirror 13 separately, the requirements for processing accuracy and cost are reduced. At the same time, the adjustable rotating mirror 13 is hinged to the rotating mirror tube frame 11 through the plug-in rod 14 and the plug-in seat 15. The lower locking plate 18 is rotated to drive the transmission gear 16 to rotate, and the angle between the adjustable rotating mirror 13 and the rotating axis of the rotating mirror tube frame 11 can be adjusted until the adjustable rotating mirror 13 is adjusted to the assembly requirements. The adjustment process is easy;

[0033] An auxiliary positioning rod 19 is provided in the middle of the rotating mirror tube frame 11, and an upper locking plate 22 and an auxiliary positioning sleeve 24 are sleeved on the outside of the auxiliary positioning rod 19. The auxiliary positioning sleeve 24 is fixedly installed on the protective shell 2, and the upper locking plate 22 can slide upward or downward on the outside of the auxiliary positioning rod 19. When the upper locking plate 22 slides downward on the outside of the auxiliary positioning rod 19, it can be clamped on the top of the lower locking plate 18, and the top of the lower locking plate 18 is a locking portion 182; when the auxiliary positioning sleeve 24 is assembled with the auxiliary positioning rod 19, the auxiliary positioning sleeve 24 applies downward pressure to the upper locking plate 22 so that the upper locking plate 22 is clamped to the top of the locking portion 182. Since the upper locking plate 22 is sleeved on the outside of the auxiliary positioning rod 19 through the keyway 25 and the spline, the lower locking plate 18 and the transmission gear 16 are locked, thereby ensuring the stability of the adjustable rotating mirror 13 after adjustment;

[0034] A plurality of ball mechanisms 21 cooperating with the auxiliary positioning sleeve 24 are arranged above the outside of the auxiliary positioning rod 19. After the auxiliary positioning rod 19 and the auxiliary positioning sleeve 24 are assembled, the positioning balls 212 in the ball mechanism 21 can be abutted against the inner wall of the auxiliary positioning sleeve 24, so as to realize the restriction of the auxiliary positioning sleeve 24 on the auxiliary positioning rod 19 and at the same time make rolling friction between the two. After the auxiliary positioning sleeve 24 is sleeved on the outside of the auxiliary positioning rod 19, the end of the ball mechanism 21 away from the auxiliary positioning rod 19 abuts against the inner wall of the auxiliary positioning sleeve 24. After the protective shell 2 is assembled, the auxiliary positioning rod 19 can be plugged into the auxiliary positioning sleeve 24. On the basis of the bottom positioning of the rotating mirror tube frame 11, the top of the rotating mirror tube frame 11 is restricted again, so as to improve the stability of the rotating mirror tube frame 11 when driving the adjustable rotating mirror 13 to rotate, thereby ensuring the measurement accuracy of the laser radar again.

[0035] As a further implementation scheme of the above invention: the radar assembly also includes a laser transmitter 4, a transmitting lens group 5, a receiving lens group 6, a filter assembly 7 and an avalanche diode 8. The transmitting lens group 5 and the receiving lens group 6 are arranged in front of the top of the mounting base 1, and the filter assembly 7 and the avalanche diode 8 are arranged in sequence behind the receiving lens group 6. The radar assembly is a common existing technology, and the combination of each other can realize the emission and reception of lasers, and obtain relevant information of the target.

[0036] As a further implementation scheme of the above invention: the servo motor 10 and the rotating mirror tube rack 11 are located on one side of the laser transmitter 4, and the servo motor 10 and the rotating mirror tube rack 11 are located behind the transmitting lens group 5, the radar assembly also includes a mounting bracket 9, and the mounting bracket 9 is fixedly mounted on the top of the mounting base 1, and the servo motor 10 is fixedly mounted inside the mounting bracket 9. The servo motor 10 is restricted by the mounting bracket 9 to ensure the firmness of the servo motor 10 after installation, and the bottom end of the rotating mirror tube rack 11 can also be restricted to ensure the stability of the rotating mirror tube rack 11 when driving the adjustable rotating mirror 13 to rotate.

[0037] As a further implementation scheme of the above invention: a connecting frame 12 is glued to one side of the adjustable rotating mirror 13 close to the rotating mirror tube frame 11, and a plurality of plug-in rods 14 are arranged on the connecting frame 12, and a plug-in seat 15 cooperating with the plug-in rod 14 is arranged on the outside of the rotating mirror tube frame 11, and a plurality of plug-in rods 14 are correspondingly plugged into the plug-in seat 15, and the plug-in rods 14 cooperate with the plug-in seat 15 to ensure the stability of the connecting frame 12 and the adjustable rotating mirror 13 after installation, and the connecting frame 12 and the adjustable rotating mirror 13 are installed by plugging at the same time, and the assembly is simple, and a transmission gear 16 is fixedly connected to a group of connecting frames 12 close to the top of the rotating mirror tube frame 11, and the transmission gear 16 can transmit power to the lower locking plate 18 to ensure that the lower locking plate 18 can adjust the connecting frame 12 and the adjustable rotating mirror 13 when rotating.

[0038] As a further implementation scheme of the above invention: the lower locking plate 18 also includes an adjusting portion 181, a transmission portion 183 and a mounting portion 184. A mounting bearing 17 that cooperates with the mounting portion 184 is nested on the top of the rotating mirror tube frame 11. The mounting portion 184 is inserted into the mounting bearing 17 to achieve the installation of the lower locking plate 18 as a whole, ensuring that the lower locking plate 18 is firmly installed on the top of the rotating mirror tube frame 11 and can rotate stably. The transmission portion 183 is a ring gear. After the lower locking plate 18 is assembled on the top of the rotating mirror tube frame 11, the transmission portion 183 therein is meshed with the transmission gear 16. Rotating the lower locking plate 18 drives the transmission gear 16 to rotate, and the angle between the adjustable rotating mirror 13 and the rotating axis of the rotating mirror tube frame 11 can be adjusted until the adjustable rotating mirror 13 is adjusted to the assembly requirements. The adjustment process is easy, and the installation accuracy of the adjustable rotating mirror 13 can be improved.

[0039] As a further implementation scheme of the above invention: the inner ring of the upper locking disk 22 is provided with a plurality of key slots 25, and the outside of the auxiliary positioning rod 19 is provided with splines that cooperate with the key slots 25. The key slots 25 cooperate with the splines to limit the upper locking disk 22 from rotating outside the auxiliary positioning rod 19. When the upper locking disk 22 cooperates with the lower locking disk 18, the lower locking disk 18 can be locked, thereby achieving the locking of the position of the adjustable rotating mirror 13. The outside of the auxiliary positioning rod 19 is sleeved with a compression spring 20, which is located below the upper locking disk 22, and the compression spring 20 continuously applies an elastic force to the upper locking disk 22. The compression spring 20 applies an upward elastic force to the upper locking disk 22, and when the auxiliary positioning sleeve 24 is not assembled with the auxiliary positioning rod 19, the upper locking disk 22 is prevented from interfering with the adjustment of the lower locking disk 18.

[0040] As a further implementation scheme of the above invention: the inner side surfaces of the locking portion 182 and the upper locking plate 22 are both conical surfaces, which facilitates the upper locking plate 22 to be stuck on the top of the locking portion 182 when it moves downward, and rubber pads are glued to the inner side surfaces of the locking portion 182 and the upper locking plate 22. By providing the rubber pads, the locking effect of the upper locking plate 22 on the lower locking plate 18 is improved, thereby improving the locking effect of the adjustable rotating mirror 13.

[0041] As a further implementation scheme of the above invention: the ball mechanism 21 includes a mounting seat 211 fixedly mounted on the auxiliary positioning rod 19, a positioning ball 212 arranged at the end of the mounting seat 211 and a positioning terminal 213 threadedly connected to the end of the mounting seat 211. After the auxiliary positioning rod 19 cooperates with the auxiliary positioning sleeve 24, one end of the ball mechanism 21 abuts against the inner wall of the auxiliary positioning sleeve 24. The auxiliary positioning sleeve 24 can limit the position of the auxiliary positioning rod 19, and limit the top of the rotating mirror tube frame 11 again on the basis of positioning the bottom of the rotating mirror tube frame 11, so as to improve the stability of the rotating mirror tube frame 11 when driving the adjustable rotating mirror 13 to rotate. The mounting seat 211 and the positioning terminal 213 are both provided with concave surfaces that cooperate with the positioning ball 212. The positioning ball 212 can rotate at the end of the mounting seat 211. The positioning ball 212 is limited by the positioning terminal 213 to ensure the stability of the positioning ball 212 when rotating at the end of the mounting seat 211.

[0042] As a further implementation scheme of the above invention: a retaining ring is provided on the outside of the auxiliary positioning sleeve 24, and a plane bearing 23 located below the retaining ring is sleeved on the outside of the auxiliary positioning sleeve 24. The retaining ring can limit the position of the plane bearing 23, and the bottom of the plane bearing 23 is against the top of the upper locking plate 22, so as to ensure that the auxiliary positioning sleeve 24 can apply pressure to the upper locking plate 22 while reducing the friction between the auxiliary positioning sleeve 24 when the rotating mirror tube frame 11 drives the auxiliary positioning rod 19 and the upper locking plate 22 to rotate.

[0043] During the specific implementation: the adjustable rotating mirror 13 is pre-glued to the connecting frame 12, and the multiple groups of plug-in rods 14 on the connecting frame 12 are correspondingly plugged into the plug-in seats 15 on the rotating mirror tube frame 11, and the lower locking plate 18 is integrally mounted on the top of the rotating mirror tube frame 11 by installing the bearing 17 and the mounting portion 184, and the auxiliary positioning sleeve 24 is installed on the top inner wall of the protective shell 2, and the auxiliary positioning sleeve 24 and the auxiliary positioning rod 19 correspond to each other after the protective shell 2 is assembled; after the adjustable rotating mirror 13 and the lower locking plate 18 are installed, the hand-held adjustment portion 181 drives the transmission portion 183 and the transmission gear 16 to rotate, thereby driving the plug-in rod 14, the connecting frame 12 and the adjustable rotating mirror 13 is rotated to adjust the included angle between the rotation axis of the adjustable rotating mirror 13 and the rotating mirror tube frame 11 until the included angle between the rotation axis of the adjustable rotating mirror 13 and the rotating mirror tube frame 11 meets the requirements, thereby improving the installation accuracy of the adjustable rotating mirror 13, and the adjustable rotating mirror 13 is plugged and installed through the plug-in rod 14 on the connecting frame 12, and the installation is simple. At the same time, the bottom of the adjusting part 181 of the lower locking plate 18 is abutted against the top of the transmission gear 16 after installation, which can limit the connecting frame 12 and the adjustable rotating mirror 13 to prevent the connecting frame 12 and the adjustable rotating mirror 13 from falling off along the outside of the rotating mirror tube frame 11; when the protective housing 2 is assembled on the top of the mounting base 1, the auxiliary positioning sleeve 24 inside the protective housing 2 corresponds to the sleeve The positioning balls 212 in the plurality of ball mechanisms 21 mounted on the outside of the auxiliary positioning rod 19 and above the outside of the auxiliary positioning rod 19 are against the inner wall of the auxiliary positioning sleeve 24, so that the auxiliary positioning rod 19 and the auxiliary positioning sleeve 24 are in rolling connection. On the basis of positioning the bottom of the rotating mirror tube frame 11, the top of the rotating mirror tube frame 11 is restricted again, so as to improve the stability of the rotating mirror tube frame 11 when driving the adjustable rotating mirror 13 to rotate, and to ensure the measurement accuracy of the laser radar again; when the auxiliary positioning sleeve 24 is assembled with the auxiliary positioning rod 19, the auxiliary positioning sleeve 24 moves downward to squeeze the upper locking plate 22, and the upper locking plate 22 overcomes the elastic force of the compression spring 20 and is clamped on the outside of the locking portion 182 , the lower locking plate 18 is locked as a whole. Since the upper locking plate 22 is restricted by the keyway 25 and the spline and cannot rotate, the lower locking plate 18 and the transmission gear 16 can be locked to ensure the stability of the connecting frame 12 and the adjustable rotating mirror 13 after position adjustment. At the same time, the inside of the upper locking plate 22 and the outside of the locking portion 182 are glued with rubber pads to improve the locking effect of the adjustable rotating mirror 13; a plane bearing 23 is arranged between the auxiliary positioning sleeve 24 and the upper locking plate 22 to ensure that the auxiliary positioning sleeve 24 can apply pressure to the upper locking plate 22 while reducing the friction between the auxiliary positioning sleeve 24 when the rotating mirror tube frame 11 drives the auxiliary positioning rod 19 and the upper locking plate 22 to rotate.

[0044] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automotive multi-line laser radar system, comprising a mounting base (1) and a protective housing (2) that can be assembled and combined, a radar component is arranged on the top of the mounting base (1), and a window (3) is arranged on the front of the protective housing (2), characterized in that: The radar assembly comprises a servo motor (10) fixedly mounted on the top of a mounting base (1), and a rotating mirror tube frame (11) is fixedly connected to the output shaft of the servo motor (10), an adjustable rotating mirror (13) is hingedly mounted on the outside of the rotating mirror tube frame (11), a lower locking plate (18) is rotatably mounted on the top, and the lower locking plate (18) and the adjustable rotating mirror (13) are in transmission connection, and when the lower locking plate (18) rotates, it can drive the adjustable rotating mirror (13) to rotate with the hinged position between the lower locking plate (18) and the rotating mirror tube frame (11) as the axis point; An auxiliary positioning rod (19) is provided in the middle of the rotating mirror tube frame (11), and an upper locking plate (22) and an auxiliary positioning sleeve (24) are sleeved on the outside of the auxiliary positioning rod (19), the auxiliary positioning sleeve (24) is fixedly mounted on the protective housing (2), the upper locking plate (22) can slide upward or downward outside the auxiliary positioning rod (19), and the upper locking plate (22) can be clamped on the top of the lower locking plate (18) when sliding downward outside the auxiliary positioning rod (19), and the top of the lower locking plate (18) is a locking portion (182); A plurality of ball mechanisms (21) cooperating with the auxiliary positioning sleeve (24) are arranged above the outside of the auxiliary positioning rod (19); after the auxiliary positioning sleeve (24) is sleeved onto the outside of the auxiliary positioning rod (19), one end of the ball mechanism (21) away from the auxiliary positioning rod (19) abuts against the inner wall of the auxiliary positioning sleeve (24).

2. The automotive multi-line laser radar system according to claim 1, characterized in that: The radar assembly further comprises a laser transmitter (4), a transmitting lens group (5), a receiving lens group (6), a filter assembly (7) and an avalanche diode (8); the transmitting lens group (5) and the receiving lens group (6) are arranged in front of the top of the mounting base (1); and the filter assembly (7) and the avalanche diode (8) are arranged in sequence behind the receiving lens group (6).

3. The automotive multi-line laser radar system according to claim 1, characterized in that: The servo motor (10) and the rotating mirror tube frame (11) are located on one side of the laser transmitter (4), and the servo motor (10) and the rotating mirror tube frame (11) are located behind the transmitting lens group (5). The radar component also includes a mounting bracket (9), and the mounting bracket (9) is fixedly mounted on the top of the mounting base (1), and the servo motor (10) is fixedly mounted inside the mounting bracket (9).

4. The automotive multi-line laser radar system according to claim 1, characterized in that: A connecting frame (12) is glued to one side of the adjustable rotating mirror (13) close to the rotating mirror tube frame (11), and a plurality of plug-in rods (14) are arranged on the connecting frame (12). A plug-in seat (15) cooperating with the plug-in rods (14) is arranged outside the rotating mirror tube frame (11), and a plurality of the plug-in rods (14) are correspondingly plugged into the plug-in seat (15). A transmission gear (16) is fixedly connected to a group of connecting frames (12) close to the top of the rotating mirror tube frame (11).

5. The automotive multi-line laser radar system according to claim 4, characterized in that: The lower locking plate (18) further comprises an adjusting portion (181), a transmission portion (183) and a mounting portion (184); a mounting bearing (17) cooperating with the mounting portion (184) is nested on the top of the rotating mirror tube frame (11); the transmission portion (183) is a ring gear; after the lower locking plate (18) is assembled on the top of the rotating mirror tube frame (11), the transmission portion (183) and the transmission gear (16) therein mesh with each other.

6. The automotive multi-line laser radar system according to claim 1, characterized in that: The inner ring of the upper locking plate (22) is provided with a plurality of key slots (25), the outer portion of the auxiliary positioning rod (19) is provided with splines that cooperate with the key slots (25), and the outer portion of the auxiliary positioning rod (19) is sleeved with a compression spring (20), the compression spring (20) is located below the upper locking plate (22), and the compression spring (20) continuously applies elastic force to the upper locking plate (22).

7. The automotive multi-line laser radar system according to claim 1, characterized in that: The inner side surfaces of the locking portion (182) and the upper locking plate (22) are both conical surfaces, and rubber pads are glued onto the inner side surfaces of the locking portion (182) and the upper locking plate (22).

8. The automotive multi-line laser radar system according to claim 1, characterized in that: The ball mechanism (21) comprises a mounting seat (211) fixedly mounted on the auxiliary positioning rod (19), a positioning ball (212) arranged at the end of the mounting seat (211), and a positioning end head (213) threadedly connected to the end of the mounting seat (211); the mounting seat (211) and the positioning end head (213) are both provided with a concave surface that cooperates with the positioning ball (212); and the positioning ball (212) can rotate at the end of the mounting seat (211).

9. The automotive multi-line laser radar system according to claim 1, characterized in that: A retaining ring is arranged on the outside of the auxiliary positioning sleeve (24), and a plane bearing (23) located below the retaining ring is sleeved on the outside of the auxiliary positioning sleeve (24), and the bottom of the plane bearing (23) abuts against the top of the upper locking plate (22).

Images