Laser radar and mobile device

Abstract

The embodiment of the invention discloses a laser radar and a mobile device, the laser radar comprises a shell and a circuit board assembly, the shell comprises a front shell and a rear shell, the front shell comprises a shielding part and a shell part, the shell part is connected with the rear shell, an inner cavity is defined between the shell part and the rear shell, the shielding part is located in the inner cavity, the shielding part is a metal piece, the rear shell is a metal piece, and the circuit board assembly is located in the inner cavity. The shielding part is connected with the rear shell, and a shielding cavity is formed between the shielding part and the rear shell; the shell part is a plastic part, and the circuit board assembly is located in the shielding cavity. According to the laser radar, the front shell is designed into the shell part comprising the plastic part, compared with the front shell made of a metal part, the weight of the plastic material is lighter, and the weight of the laser radar can be reduced. The plastic part can be formed through injection molding and other processes, compared with a metal part formed through die casting and other processes, the manufacturing cost is lower, the manufacturing flexibility is higher, and more complex free-form surfaces can be manufactured easily; and the injection molding machining precision is higher, and the manufacturing yield is higher.

Description

Technical Field

[0001] The present application relates to the technical field of laser detection equipment, and in particular to a laser radar 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] The laser radar includes a front shell. In the related art, the front shell is generally a metal part with good rigidity and strength, which can provide good support for the optical machine in the laser radar, and can be electrically connected to the circuit board in the laser radar to play an electromagnetic shielding effect, etc. However, the metal front shell is usually formed by a die-casting process, which has a high processing cost and low processing accuracy. Summary of the invention

[0004] The embodiments of the present application provide a laser radar and a movable device, which are used to improve the problem that the front shell of the metal part in the related art is usually formed by a die-casting process, which has high processing cost and low processing accuracy.

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

[0006] A shell, wherein the shell comprises a front shell and a rear shell, the front shell comprises a shielding portion and a shell portion, the shell portion is connected to the rear shell, an inner cavity is formed between the shell portion and the rear shell, the shielding portion is located in the inner cavity, the shielding portion is a metal part, the rear shell is a metal part, the shielding portion is connected to the rear shell, a shielding cavity is formed between the shielding portion and the rear shell, and the shell portion is a plastic part;

[0007] A circuit board assembly is located in the shielding cavity.

[0008] The laser radar of the present application designs the front shell to include a shell part of a plastic part. Compared with the front shell made of metal parts in the related art, the plastic material is lighter in weight, which is beneficial to reducing the weight of the laser radar. In addition, the plastic parts can be formed by processes such as injection molding. Compared with the metal parts formed by processes such as die casting in the related art, the manufacturing cost is lower and the manufacturing flexibility is higher, which is conducive to manufacturing more complex free-form surfaces, making the shape of the shell part more diversified and meeting the needs of more users. In addition, the injection molding machine used in the injection molding process has higher processing accuracy than metal die casting, thereby improving the manufacturing yield of the product.

[0009] In addition, the front shell also includes a shielding part of a metal part, and a shielding cavity can be formed between the shielding part of the metal part and the rear shell. The circuit board assembly is located in the shielding cavity, which can shield the influence of electromagnetic radiation outside the shielding cavity on the circuit board assembly in the shielding cavity, and at the same time avoid the interference generated by the circuit board assembly from being transmitted to the outside of the shielding cavity, thereby ensuring the electromagnetic shielding performance of the laser radar.

[0010] In a second aspect, an embodiment of the present application provides a laser radar, including:

[0011] An optical assembly, wherein the optical assembly comprises a lens, wherein the lens comprises a lens barrel and a lens group, wherein the lens barrel is formed with a lens cavity, wherein at least a portion of the lens group is installed in the lens cavity, and wherein the lens barrel is a plastic part;

[0012] A housing, the housing comprising a front housing and a rear housing, the front housing comprising a shielding portion, the shielding portion being a metal part, the rear housing being a metal part, the shielding portion being connected to the rear housing, a shielding cavity being formed between the shielding portion and the rear housing, the lens barrel being connected to the front housing and at least a portion of the lens protruding from the front housing, the lens cavity being in communication with the shielding cavity;

[0013] A circuit board assembly is located in the shielding cavity.

[0014] The laser radar of the present application arranges the lens to at least partially protrude from the front shell. Compared with the solution in the related art in which the lens is completely placed inside the shell, the size of the shell can be reduced, making the structure of the laser radar more compact.

[0015] The lens barrel is made of plastic parts, which are made of plastic materials. Compared with the metal parts made of metal materials in the related art, the weight of plastic materials is lighter, which is conducive to reducing the weight of the laser radar. In addition, plastic parts can be formed by injection molding and other processes. Compared with the metal parts formed by die casting and other processes in the related art, the manufacturing cost is lower and the manufacturing flexibility is higher, which is conducive to the manufacture of more complex free-form surfaces, making the shape of the lens barrel more diversified and meeting the needs of more users. In addition, the injection molding machine used in the injection molding process has higher processing accuracy than metal die casting, which can improve the manufacturing yield of the product. In addition, compared with metal materials, plastic materials can achieve lower reflectivity to lasers by adding masterbatches, which can reduce the risk of stray light; and compared with metal materials, plastic materials are easier to form matte patterns. For example, matte patterns can be formed on the inner wall of the lens barrel to eliminate stray light.

[0016] The front shell is designed to include a shielding part of a metal part, and a shielding cavity is formed between the shielding part of the metal part and the rear shell of the metal part. The circuit board assembly is located in the shielding cavity, which can shield the influence of electromagnetic radiation outside the shielding cavity on the circuit board assembly in the shielding cavity, and at the same time avoid the interference generated by the circuit board assembly from being transmitted to the outside of the shielding cavity, thereby ensuring the electromagnetic shielding performance of the laser radar.

[0017] In summary, in the embodiments of the present application, for a laser radar in which at least part of the lens protrudes from the front shell, by designing the lens barrel to be a plastic part made of plastic material, it is beneficial to improve the molding accuracy of the lens barrel, improve the manufacturing yield, reduce the manufacturing cost, reduce the risk of stray light, etc. And because the shielding part of the front shell is made of metal parts and a shielding cavity is formed between it and the rear shell, it can have the electromagnetic shielding performance of the laser radar.

[0018] In a third aspect, an embodiment of the present application provides a movable device, including the above-mentioned laser radar.

[0019] The movable device of the present application includes the above-mentioned laser radar, and therefore includes all the advantages of the above-mentioned laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the laser radar provided in the first embodiment of the present application;

[0022] Figure 2 yes Figure 1 A schematic diagram of the cross-sectional structure of the laser radar shown;

[0023] Figure 3 yes Figure 1 A schematic diagram of an exploded structure of a laser radar is shown;

[0024] Figure 4 yes Figure 1 Another exploded schematic diagram of the laser radar is shown;

[0025] Figure 5 is a schematic diagram of the structure of a mobile device provided in an embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of the cross-sectional structure of the laser radar provided in the second embodiment of the present application.

[0027] Description of reference numerals:

[0028] 1. LiDAR;

[0029] 10. Optical assembly; 11. Lens; 11a. Transmitting lens; 11b. Receiving lens; 111. Lens barrel; 1111. Lens cavity; 112. Lens group; 1121. First lens; 1122. Second lens; 113. Spacer ring; 1131. First spacer ring; 114. Pressing ring;

[0030] 20. Shell; 21. Front shell; 211. Shielding part; 2111. Through hole; 2112. Annular groove; 212. Shell part; 2121. Annular groove; 22. Rear shell; 221. Annular protrusion; 222. Annular protrusion; 23. Shielding cavity; 24. Inner cavity;

[0031] 30. Circuit board assembly; 31. Circuit board; 31a. Transmitting circuit board; 31b. Receiving circuit board; 31c. Power supply circuit board; 311. First light through hole; 312. Second light through hole; 313. Chamber; 314. Positioning hole; 315. Notch;

[0032] 40. Positioning column;

[0033] 2. Removable device. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0035] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0036] Embodiment 1

[0037] First, see Figure 1 The embodiment of the present application provides a laser radar 1, and the laser radar 1 can be a flash laser radar, etc., which is not limited to this.

[0038] Combination Figure 1 and Figure 2 The laser radar 1 includes an optical component 10, a shell 20 and a circuit board component 30.

[0039] The optical assembly 10 includes a lens 11, which includes a lens barrel 111 and a lens group 112. The lens barrel 111 forms a lens cavity 1111, and at least a portion of the lens group 112 is installed in the lens cavity 1111. The housing 20 includes a front housing 21 and a rear housing 22, the front housing 21 is connected to the rear housing 22, an inner cavity 24 is formed between the front housing 21 and the rear housing 22, the lens barrel 111 of the lens 11 is connected to the front housing 21, the lens cavity 1111 of the lens 11 is connected to the inner cavity 24, and the circuit board assembly 30 is located in the inner cavity 24.

[0040] Next, the optical assembly 10 will be described in detail.

[0041] See also Figures 1 to 3 The lens group 112 of the embodiment of the present application includes a first lens 1121 located on the outside, and at least part of the outer surface of the first lens 1121 participates in constituting the appearance surface of the laser radar 1, that is, no window is provided on the outside of the lens 11, and at least part of the outer surface of the first lens 1121 is directly exposed. Since the outer surface of the first lens 1121 is in direct contact with the outside, the outer surface of the first lens 1121 can be subjected to physical hardening, chemical hardening, anti-fingerprint coating, etc., which is not limited.

[0042] Since no window piece is provided on the outside of the lens 11, the lens 11 will not be blocked by the window piece, which can reduce the attenuation of light, enhance the light transmittance, and improve the product detection performance; at the same time, not providing a window piece can avoid the reflection of incident light at a large angle, thereby avoiding optical crosstalk between different lenses 11, for example, avoiding optical crosstalk between the transmitting lens 11a and the receiving lens 11b.

[0043] There is no window piece on the outside of the lens 11. Compared with the large-area window piece solution, a large amount of space can be reserved around the lens 11, which is conducive to decoration and design. When heating and decondensation removal are required, the lens is smaller in area than the large-area window, and the required heating power is smaller, and the heating efficiency is higher. In addition, compared with the window piece, the lens is smaller in area, which can reduce the risk of being impacted by gravel, and there is only a very small probability of being impacted by gravel. The first lens 1121 of the lens 11 is exposed. The first lens 1121 can be made of glass. The edge of the glass is prone to stress concentration when impacted. The lens itself has edge protection and does not require additional edge protection design. It should be noted that the lens in the lens 11 can be made of glass or plastic, and there is no limitation on this.

[0044] Among them, the first lens 1121 is a lens located on the outside of the lens group 112. It should be noted that the lens group 112 may include one lens or multiple lenses. If the lens group 112 includes one lens, the lens is the first lens 1121. If the lens group 112 includes multiple lenses, the outermost lens among the multiple lenses is the first lens 1121.

[0045] Furthermore, the first lens 1121 is sealed and connected to the lens barrel 111. The first lens 1121 is sealed and connected to the lens barrel 111, so that the outer port of the lens cavity 1111 can be sealed, so as to prevent water vapor from entering the lens cavity 1111 from the outer port of the lens cavity 1111, and further prevent water vapor from contacting the lenses of the lens group 112 after entering the lens cavity 1111, and the water vapor forms condensation (water droplets formed by pre-condensation of water vapor) on the lenses, so that the light will be refracted and deviate from the original light path when passing through the condensation, affecting the detection effect when using light (such as laser) for detection.

[0046] In the embodiment of the present application, the first lens 1121 is sealed to the lens barrel 111 . Compared with the related art in which the window piece is sealed to the front shell, the sealing path is shorter and the sealing performance can be better.

[0047] When the lens group 112 includes a plurality of lenses, the lens 11 may further include a spacer ring 113 located between two adjacent lenses, so that the assembly distance between the two adjacent lenses can be positioned through the spacer ring 113, which is beneficial to improving the assembly accuracy of the lenses.

[0048] Furthermore, when the lens 11 includes a spacer ring 113, the spacer ring 113 located inside the first lens 1121 and used to position the first lens 1121 can be defined as a first spacer ring 1131, and the first spacer ring 1131 can also be sealed and connected to the lens barrel 111. In this way, sealing of multiple locations on the path where external water vapor enters the lens cavity 1111 can be achieved, so as to further increase the difficulty of external water vapor entering the lens cavity 1111 through the outer port of the lens cavity 1111, thereby better isolating water vapor.

[0049] It should be noted that when the lens group 112 includes a plurality of lenses, the lens group 112 may further include a second lens 1122, the second lens 1122 being the innermost lens among the plurality of lenses, and the second lens 1122 is sealedly connected to the lens barrel 111. That is, the inner port of the lens cavity 1111 is sealed to prevent moisture in the housing 20 from entering the lens cavity 1111. The inner port is a port through which the lens cavity 1111 is connected to the housing 20, and the outer port is a port through which the lens cavity 1111 is connected to the outside.

[0050] It should be noted that if the lens group 112 includes a third lens located between the first lens 1121 and the second lens 1122 in addition to the first lens 1121 and the second lens 1122, the third lens and the lens barrel 111 can also be sealed and connected, so that the sealing performance of the lens cavity 1111 can be gradually improved from the two side ports to the middle. Further, all the spacer rings 113 located between the first lens 1121 and the second lens 1122 can also be sealed and connected to the lens barrel 111.

[0051] Of course, at least one third lens between the first lens 1121 and the second lens 1122 may not be sealed to the lens barrel 111, and at least one spacer ring 113 between the first lens 1121 and the second lens 1122 may not be sealed to the lens barrel 111, and this is not limited.

[0052] It should be noted that if only the first lens 1121 in the lens group 112 is sealed and connected to the lens barrel 111, that is, only the outer port of the lens cavity 1111 is sealed, then in order to prevent water vapor from entering the lens cavity 1111, the two adjacent parts of the shell 20 can be sealed and connected to prevent water vapor from entering the shell 20, thereby preventing water vapor from entering the lens cavity 1111 from the inner port of the lens cavity 1111. This will be explained in more detail below.

[0053] Wherein, the sealing connection between the two components recorded above can be a glue-pointing sealing connection for the two components. It is also possible to provide a glue-pointing groove for at least one of the two components, and to achieve a sealing connection between the two by dispensing glue in the glue-pointing groove. Wherein, the design of the glue-pointing groove can accommodate more glue, and can play the effect of glue positioning, which is conducive to improving the connection stability of the two components after the glue is cured, and then improves the sealing performance between the two components. For example, the first lens 1121 and the lens barrel 111, the second lens 1122 and the lens barrel 111, and the spacer ring 113 and the lens barrel 111 can be glue-pointing and sealed. Further, at least one of the outer peripheral surface of the first lens 1121 and the inner peripheral surface of the lens barrel 111, the outer peripheral surface of the second lens 1122 and the inner peripheral surface of the lens barrel 111, and the outer peripheral surface of the spacer ring 113 and the inner peripheral surface of the lens barrel 111 can be provided with a glue-pointing groove, and the sealing connection of the two components is achieved by dispensing glue in the glue-pointing groove.

[0054] The optical component 10 may include multiple lenses 11, and the multiple lenses 11 include a transmitting lens 11a and a receiving lens 11b, wherein the lens group 112 of the transmitting lens 11a is used to emit the detection light to the outside of the laser radar 1 to detect the target object in the target area, and the lens group 112 of the receiving lens 11b is used to receive the echo light reflected by the target object in the target area.

[0055] It should be noted that, in the embodiment of the present application, the optical component 10 may include a transmitting lens 11a and a receiving lens 11b, and the transmitting field of view of the transmitting lens 11a matches the receiving field of view of the receiving lens 11b, or the optical component 10 includes a transmitting lens 11a and multiple receiving lenses 11b, and the transmitting field of view of the transmitting lens 11a matches the combined receiving field of view of multiple receiving lenses 11b, or the optical component 10 includes multiple transmitting lenses 11a and a receiving lens 11b, and the combined transmitting field of view of multiple transmitting lenses 11a matches the receiving field of view of one receiving lens 11b, or the optical component 10 includes multiple transmitting lenses 11a and multiple receiving lenses 11b, for example, the transmitting field of view of each transmitting lens 11a matches the receiving field of view of a receiving lens 11b, and so on. The embodiment of the present application does not limit the number of transmitting lenses 11a and receiving lenses 11b included in the optical component 10.

[0056] It is understandable that the sealing design of the lens cavity 1111 described above can be applicable to at least one of the transmitting lens 11a and the receiving lens 11b, and this is not limited.

[0057] When the lenses in the lens group 112 are assembled in the lens cavity 1111 of the lens barrel 111, the lenses can be assembled at at least one port of the lens barrel 111. For example, the lenses are assembled in the lens cavity 1111 at the outer port of the lens barrel 111, or the lenses are assembled in the lens cavity 1111 at the inner port of the lens barrel 111, or some of the lenses are assembled in the lens cavity 1111 at the outer port of the lens barrel 111, and the remaining lenses are assembled in the lens cavity 1111 at the inner port of the lens barrel 111, which is not limited in the embodiment of the present application.

[0058] After the lens is assembled in the lens cavity 1111 at at least one port of the lens barrel 111, a pressure ring 114 needs to be provided at the port, and the lens assembled in the lens cavity 1111 can be blocked by the pressure ring 114 to prevent the lens from falling out of the port. The pressure ring 114 and the lens barrel 111 can be connected by a threaded connection or the like to block the lens. Optionally, the pressure ring 114 and the lens barrel 111 can also be sealed and connected, which is not limited.

[0059] It should be noted that a window piece may also be provided on the front side of the lens 11 of the embodiment of the present application, for example, a window piece is provided on the front side of the first lens 1121, wherein, when the laser radar 1 includes multiple lenses 11, each lens 11 may correspond to a window piece, or at least two lenses 11 may correspond to the same window piece, and this is not limited. Of course, when the laser radar 1 includes multiple lenses 11, a window piece may be provided on the front side of the first lens 1121 of some lenses 11, and no window piece may be provided on the front side of some lenses 11, so as to reduce the manufacturing cost of the laser radar 1 and simplify the assembly process, and this is not limited in the embodiment of the present application.

[0060] The lens barrel 111 of the lens 11 may be made of a plastic material or a metal material, which is not limited.

[0061] In the embodiment of the present application, the lens barrel 111 is a plastic part made of plastic material. The lens barrel 111 of the lens 11 is a plastic part made of plastic material. Compared with metal parts made of metal materials, the weight of plastic materials is lighter, which is conducive to reducing the weight of the laser radar 1. And the plastic parts can be formed by processes such as injection molding. Compared with the metal parts formed by processes such as die casting in the related art, the manufacturing cost is lower and the manufacturing flexibility is higher, which is conducive to manufacturing more complex free-form surfaces, so that the shape of the lens barrel 111 can be more diversified to meet the needs of more users. And the injection molding machine used in the injection molding process has higher processing accuracy than metal die casting, so as to improve the manufacturing yield of the product. In addition, compared with metal materials, plastic materials can achieve lower reflectivity to lasers by adding masterbatches, which can reduce the risk of stray light; and plastic materials are easier to form extinction lines than metal materials. For example, extinction lines can be formed on the inner wall surface of the lens barrel 111 to eliminate stray light.

[0062] In the embodiment of the present application, at least a portion of the lens 11 may protrude from the front shell 21. Compared with the solution in the related art in which the lens is completely placed in the shell, the size of the shell 20 may be reduced, making the structure of the laser radar 1 more compact. Specifically, at least a portion of the lens 11 may protrude from the front shell 21, for example, at least a portion of the lens barrel 111 of the lens 11 may protrude from the front shell 21, and / or at least a portion of the lens group 112 of the lens 11 may protrude from the front shell 21, and the like, without limitation.

[0063] Next, the housing 20 will be described in detail.

[0064] The front shell 21 includes a shielding portion 211 and a shell portion 212. The shell portion 212 is connected to the rear shell 22. The shell portion 212 and the rear shell 22 enclose an inner cavity 24. The shielding portion 211 is located in the inner cavity 24. The shielding portion 211 is a metal part. The rear shell 22 is a metal part. The shielding portion 211 is connected to the rear shell 22. A shielding cavity 23 is formed between the shielding portion 211 and the rear shell 22. The shielding portion 211 has a through hole 2111 corresponding to the lens 11. It should be noted that when the optical assembly 10 includes a plurality of lenses 11, the shielding portion 211 may include a plurality of through holes 2111, and each through hole 2111 corresponds to a lens 11. The lens barrel 111 is a plastic part, the shell portion 212 is a plastic part, and the lens barrel 111 and the shell portion 212 are an integrally formed structure.

[0065] The front shell 21 is designed to include a shielding part 211 of a metal part, and a shielding cavity 23 is formed between the shielding part 211 of the metal part and the rear shell 22 of the metal part. In this way, the circuit board assembly 30 in the laser radar 1 can be located in the shielding cavity 23, which can shield the influence of electromagnetic radiation outside the shielding cavity 23 on the circuit board assembly 30 in the shielding cavity 23, and at the same time avoid the interference generated by the circuit board assembly 30 during operation from being transmitted to the outside of the shielding cavity 23, thereby ensuring the electromagnetic shielding performance of the laser radar 1.

[0066] The front shell 21 is designed to also include a shell portion 212, which is a plastic part made of plastic material. The shell portion 212 is connected to the lens barrel 111 made of plastic material. Since the shell portion 212 and the lens barrel 111 are both made of plastic material, the connection between the shell portion 212 and the lens barrel 111 is tighter and more reliable than the connection between a plastic part and a metal part, which is beneficial to improving the structural stability of the laser radar 1.

[0067] The plastic part of the lens barrel 111 of the lens 11 can be made of any plastic material. In the embodiment of the present application, the lens barrel 111 is made of a plastic material with a thermal expansion coefficient close to that of the metal part, so that the lens barrel 111 has good thermal stability, and the connection between the lens barrel 111 and the shielding part 211 of the metal part is more reliable when they are connected, and the deformation occurring under high temperature is roughly similar, and the connection position is not easy to fall off.

[0068] Specifically, the thermal expansion coefficient of the plastic part selected for the lens barrel 111 is Z, the thermal expansion coefficient of the metal part selected for the shielding part 211 is Y, and the laser radar 1 satisfies the following conditional formula: |ZY|≤4*e -6 / k. By reasonably designing the difference between the thermal expansion coefficient of the lens barrel 111 and the thermal expansion coefficient of the shielding part 211, the thermal expansion coefficients of the two are close to each other. In this way, the deformation of the lens barrel 111 and the shielding part 211 after long-term use is roughly similar, which can ensure the reliability of the connection between the two and make the connection part difficult to separate. And design |ZY|≤4*e-6 / k, which can ensure a wide range of options for the lens barrel 111 and the shielding part 211 while taking into account the advantage of reliable connection between the lens barrel 111 and the shielding part 211. Optionally, |ZY| can be less than or equal to 1*e -6 / k, 2*e -6 / k, 3*e -6 / k, 4*e -6 / k, etc., there is no limitation on this.

[0069] The thermal expansion coefficient Z of the lens barrel 111 may satisfy: 20*e -6 / k≤X≤27*e -6 / k, specifically, the thermal expansion coefficient X of the lens barrel 111 may be 20*e -6 / k, 22*e -6 / k, 24*e -6 / k, 25*e -6 / k, 27*e -6 / k, etc. The thermal expansion coefficient Y of the shielding portion 211 may satisfy: 23*e -6 / k≤Y≤24*e -6 / k, specifically, the thermal expansion coefficient Y of the shielding portion 211 may be 23*e -6 / k, 23.3*e -6 / k、23.5*e -6 / k、23.8*e -6 / k, 24*e -6 / k and so on.

[0070] It should be noted that the embodiment of the present application does not limit the specific selected values ​​of the thermal expansion coefficient Z of the lens barrel 111 and the specific selected values ​​of the thermal expansion coefficient Y of the shielding portion 211. It only needs to ensure that the deformation of the two can remain roughly similar after long-term use and the connection is relatively reliable. It can be flexibly designed in combination with actual usage requirements.

[0071] In the embodiment of the present application, the plastic part selected for the lens barrel 111 is polyetherimide (PEI), which has the best high temperature resistance, dimensional stability, high strength, high rigidity and other characteristics. The glass transition temperature of polyetherimide is as high as 170°C, and it has good thermal stability. Among them, when the lens barrel 111 is made of polyetherimide, the shielding part 211 can be made of aluminum alloy with a similar thermal expansion coefficient, etc., and there is no limitation on this.

[0072] It should be noted that when the optical assembly 10 includes a transmitting lens 11a and a receiving lens 11b, the lens barrels 111 of the transmitting lens 11a and the receiving lens 11b can be made of plastic parts made of the same plastic material, for example, the above-mentioned polyetherimide can be selected. Of course, the lens barrels 111 of the transmitting lens 11a and the receiving lens 11b can also be made of plastic parts made of different materials, which is not limited to this. Among them, when the lens barrels 111 of the transmitting lens 11a and the receiving lens 11b are made of plastic parts made of different materials, the difference in thermal expansion coefficients of the plastic parts and metal parts selected by the lens barrels 111 of the transmitting lens 11a and the receiving lens 11b are all less than or equal to the first preset value. At this time, one of the plastic parts can be selected as polyetherimide, which is not limited to this.

[0073] It is understandable that the shell 212 and the lens barrel 111 can be made of the same plastic material or different plastic materials. When the shell 212 and the lens barrel 111 are made of the same plastic material, the above-mentioned polyetherimide can be used. When the shell 212 and the lens barrel 111 are made of different plastic materials, the thermal expansion coefficient of the plastic part of the shell 212 is X, and the thermal expansion coefficient of the metal part of the shielding part 211 is Y, and the laser radar 1 satisfies the following condition: |XY|≤4*e -6 / k. By reasonably designing the difference between the thermal expansion coefficient of the shell 212 and the thermal expansion coefficient of the shielding part 211, the thermal expansion coefficients of the two are close. In this way, the deformation of the shell 212 and the shielding part 211 after long-term use is roughly similar, which can ensure the reliability of the connection between the two and make the connection part not easy to separate. And design |XY|≤4*e -6 / k, which can ensure a wide range of options for the housing portion 212 and the shielding portion 211 while taking into account the advantages of reliable connection between the housing portion 212 and the shielding portion 211. Optionally, |XY| can be less than or equal to 1*e -6 / k, 2*e -6 / k, 3*e -6 / k, 4*e -6 / k, etc., there is no limitation on this.

[0074] The thermal expansion coefficient X of the housing 212 may satisfy: 20*e -6 / k≤X≤27*e -6 / k, specifically, the thermal expansion coefficient X of the housing portion 212 may be 20*e -6 / k, 22*e -6 / k, 24*e -6 / k, 25*e -6 / k, 27*e -6 / k, etc. The thermal expansion coefficient Y of the shielding portion 211 may satisfy: 23*e-6 / k≤Y≤24*e -6 / k, specifically, the thermal expansion coefficient Y of the shielding portion 211 may be 23*e -6 / k, 23.3*e -6 / k、23.5*e -6 / k、23.8*e -6 / k, 24*e -6 / k and so on.

[0075] It should be noted that the embodiment of the present application does not limit the specific selected value of the thermal expansion coefficient X of the shell portion 212 and the specific selected value of the thermal expansion coefficient Y of the shielding portion 211. It only needs to ensure that the deformation of the two can remain roughly similar after long-term use and the connection is relatively reliable. It can be flexibly designed according to actual usage requirements.

[0076] It should be noted that the test standard of the thermal expansion coefficient in the embodiments of the present application can refer to ISO standards and the like.

[0077] In the embodiment of the present application, the shell 212 and the lens barrel 111 are made of the same plastic material - polyetherimide, and the metal material of the shielding portion 211 is aluminum alloy, etc., so that the thermal expansion coefficients of the shell 212, the lens barrel 111 and the shielding portion 211 are relatively close, and the deformations that occur under high temperature conditions are roughly similar, and the connection position is not easy to fall off.

[0078] The housing 212 and the lens barrel 111 are integrally formed structures, and the interface sealing step between the housing 212 and the lens barrel 111 can be omitted. The housing 212 and the lens barrel 111 can be integrally formed by a process such as injection molding, which is not limited. The housing 212 and the lens barrel 111 are integrally formed by a process such as injection molding, which can make the housing 212 and the lens barrel 111 have a relatively tight connection, and the injection molding process has a low manufacturing cost and a higher manufacturing flexibility, which is conducive to manufacturing more complex free-form surfaces to meet the needs of more users. In addition, the injection molding machine used in the injection molding process has a higher processing accuracy than metal die casting, thereby improving the manufacturing yield of the product.

[0079] Specifically, when the housing 212 and the lens barrel 111 are made of the same plastic material, the housing 212 and the lens barrel 111 can be directly molded in one step by an injection molding process. When the housing 212 and the lens barrel 111 are made of different plastic materials, one of the housing 212 and the lens barrel 111 can be molded first, and then the molded one is placed in a mold and together with the mold, a cavity for molding the other can be constructed, and then the other can be molded by an injection molding process. Among them, one of the housing 212 and the lens barrel 111 that are molded first can also be molded by an injection molding process, which is not limited to this.

[0080] The shell part 212 is connected to the shielding part 211 by injection molding. Since the shell part 212 is a plastic part and the shielding part 211 is a metal part, the shell part 212 is connected to the shielding part 211 by injection molding as follows: first, the shielding part 211 is molded, and then the molded shielding part 211 is placed in a mold and a cavity for molding the shell part 212 is constructed together with the mold, and then plastic material is injected into the cavity to form the shell part 212 connected to the shielding part 211. Since the shell part 212 is formed by the injection molding process, it has the advantages of high molding accuracy, high manufacturing yield, low manufacturing cost, etc.; and the shell part 212 and the shielding part 211 are tightly connected.

[0081] It should be noted that when the housing 212 and the lens barrel 111 are made of the same plastic material and are an integrally formed structure, the molding process of the housing 212, the lens barrel 111 and the shielding portion 211 can be: first, the shielding portion 211 is molded, and then the molded shielding portion 211 is placed in a mold and a cavity for molding the housing 212 and the lens barrel 111 is constructed together with the mold, and then a plastic material is injected into the cavity to mold the housing 212 and the lens barrel 111 connected to the shielding portion 211. Since the housing 212 and the lens barrel 111 are formed by an injection molding process, they have the advantages of high molding accuracy, high manufacturing yield, low manufacturing cost, etc. The above-mentioned housing 212 and the lens barrel 111 are injection molded at one time. Of course, the housing 212 and the lens barrel 111 in the above steps can also be divided into two steps of injection molding, which is not limited to this.

[0082] It is worth mentioning that when the shielding portion 211 participates in constructing the cavity for forming the shell portion 212, at least one side wall of the shielding portion 211 will be closely connected with the shell portion 212. For example, Figure 2 The shielding part 211 shown in the figure is closely connected to the shell part 212 by a side wall thereof. At this time, the inner cavity 24 formed between the shell part 212 and the rear shell 22 may only have one more space where the shielding part 211 is located, compared with the shielding cavity 23 formed between the shielding part 211 and the rear shell 22.

[0083] It should be noted that the housing portion 212 and the lens barrel 111 may also be formed separately and then connected by welding, bolt connection, glue connection, etc., instead of being integrally formed, and this is not limited to this.

[0084] In order to improve the sealing performance of the connection between the housing portion 212 and the rear shell 22, the housing portion 212 and the rear shell 22 can be sealed and connected. In combination with the above description, the sealed connection between the housing portion 212 and the rear shell 22 can prevent water vapor from entering the housing 20 through the connection between the housing portion 212 and the rear shell 22, and further prevent water vapor from entering the lens cavity 1111 from the inner port of the lens cavity 1111, and prevent water vapor from condensing on the lens to affect the detection effect.

[0085] The housing portion 212 and the rear housing 22 may be connected via a sealant. Further, one of the housing portion 212 and the rear housing 22 may be provided with an annular groove 2121, and the other may be provided with an annular protrusion 221, the annular protrusion 221 is provided in the annular groove 2121, and the annular protrusion 221 is sealed and connected to the inner wall surface of the annular groove 2121, for example, the annular protrusion 221 is sealed and connected to the inner wall surface of the annular groove 2121 via a sealant or the like.

[0086] It is understandable that the housing portion 212 may be provided with an annular groove 2121, and the rear shell 22 may be provided with an annular protrusion 221 located in the annular groove 2121, and / or, the housing portion 212 may be provided with an annular protrusion, and the rear shell 22 may be provided with an annular groove in which the annular protrusion is embedded. The number of annular grooves 2121 and annular protrusions 221 may be flexibly designed in combination with actual needs, and there is no limitation on this. It should be noted that when there are multiple annular protrusions 221, the annular protrusions 221 may be arranged at intervals from the outside to the inside, and the annular grooves 2121 and the annular protrusions 221 may be arranged one by one to achieve multi-level sealing performance from the outside to the inside between the housing portion 212 and the rear shell 22.

[0087] The annular protrusion 221 can be an integrally formed structure with one of the housing portion 212 and the rear shell 22, which can not only better ensure the sealing effect, but also facilitate processing. In other optional embodiments, the annular protrusion 221 and the housing portion 212 and the rear shell 22 can also be independently formed components, and the annular protrusion 221 can be connected to the housing portion 212 or the rear shell 22 by welding or gluing to ensure the sealing effect.

[0088] Furthermore, the annular protrusion 221 can be made of an opaque material. In a specific embodiment, the rear shell 22 is made of an opaque material, and accordingly, the annular protrusion 221 integrally formed with the rear shell 22 is also made of an opaque material. The annular protrusion 221 is made of an opaque material, which can improve the light-blocking performance of the laser radar 1 and reduce the probability of stray light entering the housing 20.

[0089] Next, the circuit board assembly 30 will be described in detail.

[0090] Combination Figure 2 and Figure 3The circuit board assembly 30 includes a plurality of circuit boards 31; for example, the plurality of circuit boards 31 include a transmitting circuit board 31a and a receiving circuit board 31b. The transmitting circuit board 31a is arranged corresponding to the transmitting lens 11a, and the transmitting circuit board 31a is used to emit detection light. The transmitting lens 11a is located on the light exit path of the detection light emitted by the transmitting circuit board 31. The receiving circuit board 31b is arranged corresponding to the receiving lens 11b, and the receiving circuit board 31b is located on the light exit path of the echo light output by the receiving lens 11b, and is used to receive the echo light output by the receiving lens 11b.

[0091] Among them, the transmitting circuit board 31a may include but is not limited to a planar array laser unit composed of a vcsel (Vertical-Cavity Surface-Emitting Laser) and its driving circuit, and the receiving circuit board 31b includes but is not limited to a planar array photoelectric conversion unit composed of a spad (Single Photon Avalanche Diode) and its driving circuit.

[0092] The transmitting circuit board 31a and the receiving circuit board 31b can be separately arranged and can be combined with each other. Figure 2 and Figure 3 The transmitting circuit board 31 a and the receiving circuit board 31 b may also share the same substrate to simplify the assembly steps of the transmitting circuit board 31 a and the receiving circuit board 31 b in the housing 20 .

[0093] The transmitting circuit board 31a can be conductively connected to the rear shell 22 to achieve grounding of the transmitting circuit board 31a. The transmitting circuit board 31a can be conductively connected to the rear shell 22 by means of conductive foam or the like. The receiving circuit board 31b can be conductively connected to the rear shell 22 to achieve grounding of the receiving circuit board 31b. The receiving circuit board 31b can be conductively connected to the rear shell 22 by means of conductive foam or the like.

[0094] The multiple circuit boards 31 of the circuit board assembly 30 may further include a power circuit board 31 c , and both the transmitting circuit board 31 a and the receiving circuit board 31 b may be conductively connected to the power circuit board 31 c to receive a power supply signal and the like.

[0095] The power circuit board 31c can be located on a side of the transmitting circuit board 31a close to the front shell 21; for example, the power circuit board 31c is located between the transmitting circuit board 31a and the transmitting lens 11a, or the power circuit board 31c is arranged on the periphery of the transmitting lens 11a. The power circuit board 31c is provided with a first light hole 311 corresponding to the transmitting lens 11a. And / or, the power circuit board 31c can be located on a side of the receiving circuit board 31b close to the front shell 21; for example, the power circuit board 31c is located between the receiving circuit board 31b and the receiving lens 11b, or the power circuit board 31c is arranged on the periphery of the receiving lens 11b. The power circuit board 31c is provided with a second light hole 312 corresponding to the receiving lens 11b.

[0096] The above-mentioned arrangement of the power circuit board 31c on the side of the transmitting circuit board 31a and / or the receiving circuit board 31b close to the front shell 21 is beneficial for the heat generated by the electronic components of the power circuit board 31c to be dissipated toward the side where the front shell 21 is located, while the heat generated by the transmitting circuit board 31a and the receiving circuit board 31b is dissipated toward the side where the rear shell 22 is located, so that the thermal power distribution of the laser radar 3 is relatively uniform, which is beneficial to improving the heat dissipation efficiency of the laser radar 3.

[0097] The power circuit board 31c can be conductively connected to the rear shell 22 and / or the shielding part 211 to achieve grounding of the power circuit board 31c. The power circuit board 31c can be conductively connected to the rear shell 22 and / or the shielding part 211 by means of conductive foam or the like.

[0098] Among them, the conductive connection between the power circuit board 31c and the shielding part 211 can be: the shielding part 211 is conductively connected to the power circuit board 31c at the edge of the power circuit board 31c, and the shielding part 211 is conductively connected to the power circuit board 31c at the edge of the light-through hole (such as the first light-through hole 311 and the second light-through hole 312) of the power circuit board 31c.

[0099] Specifically, the shielding portion 211 may be bent and extended at the edge of the power circuit board 31c toward the direction close to the power circuit board 31c, and be conductively connected to the edge of the power circuit board 31c. The shielding portion 211 may be bent and extended at the edge of the light through hole (e.g., the first light through hole 311 and the second light through hole 312) of the power circuit board 31c toward the direction close to the power circuit board 31c, and be conductively connected to the edge of the light through hole of the power circuit board 31c.

[0100] Among them, the shielding part 211 is bent and extended at the edge of the power circuit board 31c toward the direction close to the power circuit board 31c, and the shielding part 211 is bent and extended at the edge of the light-through hole of the power circuit board 31c toward the direction close to the power circuit board 31c, so that a chamber 313 can be formed between the shielding part 211 and the power circuit board 31c, and the electronic devices on the power circuit board 31c can be located in the chamber 313, so that the electronic devices located in the chamber 313 can better achieve electromagnetic shielding with the outside of the chamber 313.

[0101] In the embodiment of the present application, the shielding portion 211 is conductively connected to the power circuit board 31 c and the rear shell 22 to form a closed metal chamber, which can provide a better electromagnetic shielding effect.

[0102] It should be noted that in addition to being located on the side of the transmitting circuit board 31a and / or the receiving circuit board 31b close to the front shell 21, the power circuit board 31c can also be located on the side of the transmitting circuit board 31a and / or the receiving circuit board 31b close to the rear shell 22, and there is no limitation on this.

[0103] It can be understood that the multiple circuit boards 31 in the circuit board assembly 30 may include other circuit boards such as a main control circuit board in addition to the transmitting circuit board 31a, the receiving circuit board 31b and the power supply circuit board 31c, wherein the design method of the main control circuit board and other circuit boards may be the same as the power supply circuit board 31c, that is, they may be arranged on the side of the transmitting circuit board 31a and / or the receiving circuit board 31b close to the front shell 21, or, they may be arranged on the side of the transmitting circuit board 31a and / or the receiving circuit board 31b close to the rear shell 22, which will not be repeated here.

[0104] See also Figures 2 to 4 The laser radar 1 of the present application may also include a positioning column 40 for assembling and positioning the circuit board 31 in the circuit board assembly 30 in the housing 20. The positioning column 40 is described in detail below.

[0105] The laser radar 1 further includes a positioning column 40, which is located in the housing 20, one end of which is connected to the front housing 21 (for example, connected to the shielding portion 211 and / or the housing portion 212 of the front housing 21), and the other end of which is located in the shielding cavity 23. The positioning column 40 is connected to the front housing 21, and the lens 11 is also connected to the front housing 21. In this way, during the assembly process of the laser radar 1, the lens 11 with adjusted light, the transmitting circuit board 31a connected to the positioning column 40, and the receiving circuit board 31b can be assembled and fixed first through the front housing 21, as shown in FIG. Figure 4The transmitting circuit board 31a, receiving circuit board 31b, lens 11 and front shell 21 shown can be assembled and fixed first, and then connected to the rear shell 22, so that the transmitting circuit board 31a and receiving circuit board 31b will not be hindered by the rear shell 22 during the assembly process, and the assembly is more convenient.

[0106] It should be noted that if the power circuit board 31c is also assembled and fixed by the positioning column 40, the transmitting circuit board 31a, the receiving circuit board 31b, the power circuit board 31c, the lens 11 and the front shell 21 can be assembled into an integrated structure first. The integrated structure can include all the optical machines and power supplies in the laser radar 1, and certain tests and inspections can be carried out, which is conducive to production and manufacturing.

[0107] It is understandable that the number of positioning posts 40 can be multiple, and the transmitting circuit board 31a, the receiving circuit board 31b, and the power supply circuit board 31c can all be assembled and positioned through at least one positioning post 40. It should be noted that when multiple circuit boards 31 are assembled and positioned through positioning posts 40, the positioning posts 40 connected to each circuit board 31 can be the same or different, and there is no limitation on this. Among them, at least some of the positioning posts 40 connected to at least some of the circuit boards 31 can be the same, for example, at least one positioning post 40 connected to the transmitting circuit board 31a and at least one positioning post 40 connected to the receiving circuit board 31b can be the same positioning post 40.

[0108] It should be noted that, in order to realize the assembly positioning of the positioning column 40 on the circuit board 31, a positioning portion corresponding to the positioning column 40 may be provided on the circuit board 31, wherein the positioning portion may be a positioning hole 314 and / or a notch 315. Among them, one positioning portion may be provided on each circuit board 31, or multiple positioning portions may be provided. Optionally, at least three positioning portions are provided on each circuit board 31, and each positioning portion corresponds to a positioning column 40. By providing at least three positioning portions and at least three positioning columns 40 corresponding to each circuit board 31, a more reliable positioning between the circuit board 31 and the front shell 21 can be achieved.

[0109] The cross-section of each part of the positioning column 40 in the length direction can remain unchanged, and the cross-section of each part of the positioning column 40 in the length direction can also be changed. For example, the positioning column 40 includes a first section close to the front shell 21 and a second section connected to the first section at one end away from the front shell 21. The cross-section of the second section can be smaller than the cross-section of the first section, so that a step surface away from the front shell 21 is formed between the second section and the first section, and the circuit board 31 can abut against the step surface. The setting of the step surface can locate the assembly spacing between the circuit board 31 and the front shell 21, which is conducive to improving the assembly accuracy of the circuit board 31 in the housing 20.

[0110] Among them, the positioning column 40 can be made of plastic or metal, and can be flexibly designed in combination with actual needs. In the embodiment of the present application, the positioning column 40 is a metal part, the positioning column 40 is conductively connected to the shielding portion 211, and the positioning column 40 is conductively connected to the transmitting circuit board 31a and / or the receiving circuit board 31b. The transmitting circuit board 31a and / or the receiving circuit board 31b are conductively connected to the positioning column 40, and the grounding of the transmitting circuit board 31a and / or the receiving circuit board 31b can be achieved, so that when the rear shell 22 is not connected, that is, when the transmitting circuit board 31a, the receiving circuit board 31b, the power supply circuit board 31c, the lens 11 and the front shell 21 are assembled into an integrated structure, the laser radar 1 can perform almost all test operations, which is conducive to production and manufacturing.

[0111] It should be noted that if the transmitting circuit board 31a is conductively connected to the positioning post 40, the transmitting circuit board 31a and the rear housing 22 may be conductively connected or non-conductively connected, and there is no limitation on this. If the receiving circuit board 31b is conductively connected to the positioning post 40, the receiving circuit board 31b and the rear housing 22 may be conductively connected or non-conductively connected, and there is no limitation on this.

[0112] If the positioning column 40 is a metal part, the positioning column 40 of the metal part and the shielding part 211 of the metal part can be connected by riveting, welding, riveting, etc. In the embodiment of the present application, the positioning column 40 is connected to the shielding part 211 by riveting. Riveting means that during the riveting process, under external pressure, the riveted part causes the base material to undergo plastic deformation and squeezes into a prefabricated groove specially provided in the riveting screw and nut structure, thereby realizing a reliable connection between the two parts with low connection cost.

[0113] If the positioning column 40 is a metal part, the metal positioning column 40 and the plastic housing part 212 can be connected by injection molding, screw connection, etc. In the embodiment of the present application, the positioning column 40 and the housing part 212 are injection molded to make the connection between the positioning column 40 and the housing part 212 tight.

[0114] In summary, in the embodiment of the present application, the positioning column 40 of the metal part is riveted to the shielding part 211 of the metal part, the positioning column 40 of the metal part is injection molded to the shell part 212 of the plastic part, and the shielding part 211 of the metal part is injection molded to the shell part 212 of the plastic part. The three form a whole. The material properties are similar to those of composite materials, so it has good rigidity and strength, ensuring the high rigidity and high strength of the front shell 21 as a whole.

[0115] Among them, the positioning column 40 of the metal part is riveted to the shielding part 211 of the metal part, the positioning column 40 of the metal part is injection-molded to the shell part 212 of the plastic part, and the shielding part 211 of the metal part is injection-molded to the shell part 212 of the plastic part. Specifically, the positioning column 40 of the metal part and the shielding part 211 of the metal part are riveted together as a whole, and then they are put into the mold together and together with the mold, a cavity for molding the shell part 212 is constructed, and then the plastic part is injected into the cavity to complete the molding of the shell part 212 and the assembly of the shell part 212 with the positioning column 40 and the shielding part 211 is completed.

[0116] It should be noted that since the shell part 212 is connected to the positioning column 40 and the shielding part 211 by riveting through an injection molding process, the gap between the positioning column 40 and the shielding part 211 can be sealed during the molding process of the shell part 212 to achieve better airtightness at low cost.

[0117] Since the positioning column 40 is formed separately and then connected to other structures such as the shielding part 211 and the shell part 212, the positioning column 40 has a higher degree of freedom during molding and is more processable; and it is convenient to connect the positioning column 40 to the transmitting circuit board 31a and the receiving circuit board 31b by welding or the like.

[0118] In an operative solution, the positioning post 40 may also be connected only to the housing portion 212, for example, by injection molding, etc., but not connected to the shielding portion 211. If the positioning post 40 is not connected to the shielding portion 211, the positioning post 40 may also not be conductively connected to the shielding portion 211. In this case, the transmitting circuit board 31a and the receiving circuit board 31b may be conductively connected to the rear housing 22, and this is not limited. In another operative solution, the positioning post 40 may also be connected only to the shielding portion 211, for example, by riveting, etc., but not connected to the housing portion 212. The connection methods of the positioning post 40 are diverse and can meet different usage requirements.

[0119] Second, see Figure 5 An embodiment of the present application provides a movable device 2, which includes a laser radar 1. The specific structure of the laser radar 1 refers to the above embodiment. Since the movable device 2 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0120] Embodiment 2

[0121] See also Figure 6The embodiment of the present application proposes another laser radar 1, which is substantially similar to the laser radar 1 of the first embodiment, except that the front shell 21 is composed of a shielding portion 211. That is, compared with the first embodiment, the front shell 21 of the present embodiment no longer includes the housing portion 212, which can simplify the structure of the front shell 21 and reduce the assembly cost.

[0122] The shielding part 211 can be formed by a sheet metal process. The sheet metal process refers to the process of plastically deforming some metal sheets by hand or die stamping to form a desired shape and size. Since the lens barrel 111 of the lens 11 is a plastic part, it can be formed by injection molding and other processes, and the shielding part 211 has a simple shape and does not need to form a complex structure such as a lens cavity 1111. Therefore, by forming by a sheet metal process, the processing cost of the shielding part 211 can be reduced on the basis of meeting the requirements.

[0123] When the front shell 21 does not include the housing portion 212, the lens 11 can be directly connected to the shielding portion 211. For example, the lens barrel 111 of the lens 11 can be connected to the shielding portion 211 by injection molding, etc., which has been recorded above and will not be repeated here.

[0124] When the front shell 21 does not include the shell portion 212, the rear shell 22 can be directly connected to the shielding portion 211, for example, it can be sealed, such as sealed by a sealant, and even at least one of the shielding portion 211 and the rear shell 22 can be provided with a glue groove, etc., and at least one of the shielding portion 211 and the rear shell 22 can also be provided with an annular protrusion 222, and the other is provided with an annular groove 2112 for providing the annular protrusion 222, etc., without limitation. Among them, if the shielding portion 211 is formed by a sheet metal process, an annular protrusion can be formed on the shielding portion 211, and an annular groove can be formed on the rear shell 22, without limitation. Of course, the rear shell 22 and the shielding portion 211 can be connected by welding, etc., without limitation.

[0125] When the front shell 21 does not include the shell portion 212 , the positioning column 40 can be directly connected to the shielding portion 211 . For example, the positioning column 40 can be connected to the shielding portion 211 by riveting, drawing riveting, welding, etc., which is not limited to this.

[0126] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not 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 the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0127] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A laser radar, characterized in that: include: A shell, wherein the shell comprises a front shell and a rear shell, the front shell comprises a shielding portion and a shell portion, the shell portion is connected to the rear shell, an inner cavity is formed between the shell portion and the rear shell, the shielding portion is located in the inner cavity, the shielding portion is a metal part, the rear shell is a metal part, the shielding portion is connected to the rear shell, a shielding cavity is formed between the shielding portion and the rear shell, and the shell portion is a plastic part; A circuit board assembly is located in the shielding cavity.

2. The laser radar according to claim 1, characterized in that: The thermal expansion coefficient of the shell part is X, the thermal expansion coefficient of the shielding part is Y, and the laser radar satisfies the following conditional formula: |X-Y|≤4*e -6 / k。 3. The laser radar according to claim 1, characterized in that: Also includes: A positioning column, wherein the positioning column is located in the shell, one end of the positioning column is connected to the shielding part and / or the shell part, and the other end of the positioning column is located in the shielding cavity. The circuit board assembly includes a circuit board, and the circuit board is connected to the positioning column.

4. The laser radar according to claim 3, characterized in that: The positioning column is a metal part. The circuit board includes a transmitting circuit board, and the positioning post is conductively connected to the shielding portion and the transmitting circuit board; And / or, the circuit board includes a receiving circuit board, and the positioning post is conductively connected to the shielding portion and the receiving circuit board; And / or, the positioning column is connected to the shielding part by riveting, and the positioning column and the shielding part are both connected to the shell part by injection molding.

5. The laser radar according to claim 1, characterized in that: The circuit board assembly includes a transmitting circuit board, a receiving circuit board and a power supply circuit board, and the transmitting circuit board and the receiving circuit board are both conductively connected to the power supply circuit board; Wherein, the power circuit board is arranged on a side of the transmitting circuit board close to the front shell, and / or the power circuit board is arranged on a side of the receiving circuit board close to the front shell.

6. The laser radar according to claim 5, characterized in that: The shielding portion is conductively connected to the power circuit board at the edge of the power circuit board; The power circuit board is provided with a light-through hole corresponding to the transmitting circuit board and / or the receiving circuit board, and the shielding part is conductively connected to the power circuit board at the edge of the light-through hole.

7. The laser radar according to claim 6, characterized in that: The shielding portion is bent and extended at the edge of the power circuit board toward the direction close to the power circuit board, and is conductively connected to the edge of the power circuit board; The shielding portion is bent and extended at the edge of the light-through hole toward the direction close to the power circuit board, and is conductively connected to the power circuit board; A chamber is formed between the shielding portion and the power circuit board, and the power circuit board includes electronic components arranged in the chamber.

8. The laser radar according to claim 1, characterized in that: One of the housing part and the rear housing is provided with an annular groove, and the other is provided with an annular protrusion, the annular protrusion is arranged in the annular groove, and the annular protrusion is sealed and connected with the inner wall surface of the annular groove; And / or, the circuit board assembly includes a transmitting circuit board, and the transmitting circuit board is conductively connected to the rear housing; And / or, the circuit board assembly includes a receiving circuit board, and the receiving circuit board is conductively connected to the rear shell.

9. The laser radar according to claim 1, characterized in that: Also includes: An optical component, wherein the optical component includes a lens, the lens includes a lens barrel and a lens group, the lens barrel forms a lens cavity, at least part of the lens group is installed in the lens cavity, the lens barrel is a plastic part, the lens barrel is connected to the shell part and at least part of the lens protrudes from the front shell, the shielding part has a through hole corresponding to the lens, and the lens cavity is connected to the shielding cavity.

10. The laser radar according to claim 9, characterized in that: The optical assembly includes a plurality of lenses, the plurality of lenses include a transmitting lens and a receiving lens, the circuit board assembly includes a plurality of circuit boards, the plurality of circuit boards include a transmitting circuit board and a receiving circuit board, the transmitting circuit board is located in the shielding cavity and is arranged corresponding to the transmitting lens, and the receiving circuit board is located in the shielding cavity and is arranged corresponding to the receiving lens; And / or, the lens barrel and the housing portion are an integrally formed structure.

11. The laser radar according to claim 9, characterized in that: The lens group includes a first lens located on the outside, at least a portion of the outer surface of the first lens participates in forming the appearance surface of the laser radar, and the first lens is sealed and connected to the lens barrel.

12. The laser radar according to claim 11, characterized in that: The lens further comprises a first spacer ring located at the inner side of the first lens and used for positioning the first lens, wherein the first spacer ring is sealed and connected to the lens barrel; And / or, the lens group includes multiple lenses, the first lens is the outermost lens among the multiple lenses, the multiple lenses also include a second lens, the second lens is the innermost lens among the multiple lenses, and the second lens is sealed and connected to the lens barrel.

13. A laser radar, characterized in that: include: An optical assembly, wherein the optical assembly comprises a lens, wherein the lens comprises a lens barrel and a lens group, wherein the lens barrel is formed with a lens cavity, wherein at least a portion of the lens group is installed in the lens cavity, and wherein the lens barrel is a plastic part; A housing, the housing comprising a front housing and a rear housing, the front housing comprising a shielding portion, the shielding portion being a metal part, the rear housing being a metal part, the shielding portion being connected to the rear housing, a shielding cavity being formed between the shielding portion and the rear housing, the lens barrel being connected to the front housing and at least a portion of the lens protruding from the front housing, the lens cavity being in communication with the shielding cavity; A circuit board assembly is located in the shielding cavity.

14. The laser radar according to claim 13, characterized in that: The front shell further comprises a shell portion, the shell portion is located at a side of the shielding portion away from the rear shell, the shell portion is connected to the rear shell, the shell portion and the rear shell enclose an inner cavity, the shielding portion and the circuit board assembly are both located in the inner cavity, the shell portion is a plastic part, the lens barrel is connected to the shell portion and at least a portion of the lens protrudes from the shell portion; Alternatively, the front shell is composed of the shielding part.

15. A movable device, characterized in that: A laser radar comprising the laser radar described in any one of claims 1 to 14.

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