Laser radar

Abstract

A laser radar includes: a base housing; a main shaft; a first mainboard; a second main board; the communication assembly comprises a first communication module and a second communication module; at least one of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is located between the first communication module and the second communication module, the surface, intersecting with the axial direction of the main shaft, of the shielding cover is provided with a light-transmitting area, and the light signals are transmitted through the light-transmitting area. At least one of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is located between the first communication module and the second communication module, the surface, intersecting with the axial direction of the main shaft, of the shielding cover is provided with a light-transmitting area, and the light signals are transmitted through the light-transmitting area. In addition, the shielding case can effectively realize electromagnetic shielding to suppress radiation interference, so that the laser radar can give consideration to both wireless communication and radiation interference suppression.

Description

Technical Field

[0001] The present disclosure relates to laser detection, and in particular to a laser radar. Background Art

[0002] LiDAR is a commonly used distance measurement sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in intelligent robots, drones, unmanned driving and other fields. In recent years, autonomous driving technology has developed rapidly, and LiDAR, as its core sensor for distance perception, has become indispensable.

[0003] With the development of automobile intelligence and autonomous driving technology, LiDAR has become the main sensor for autonomous driving. The use of wireless communication technology in LiDAR has many technical advantages, such as reducing wiring and reducing maintenance difficulties. However, the operating frequency of wireless communication is relatively high, and a higher operating frequency will generate greater electromagnetic radiation. LiDAR is used in vehicles, and it is necessary to ensure that the RE (Radiated Emission) test in the EMC test does not exceed the standard so that the LiDAR meets the requirements of vehicle regulations.

[0004] Therefore, how to suppress the radiation interference caused by wireless communication without affecting the wireless communication function is an urgent problem to be solved in laser radars that use wireless communication, especially vehicle-mounted laser radars. Summary of the invention

[0005] The problem solved by the present disclosure is how to deal with the radiation interference generated by wireless communication without affecting the wireless communication function.

[0006] In order to solve the above problems, the present disclosure provides a laser radar, comprising:

[0007] A base shell; a spindle, the spindle is fixed relative to the base shell; a first mainboard, the first mainboard rotates around the spindle; a second mainboard, the second mainboard is fixed relative to the base shell, and along the axial direction of the spindle, the second mainboard is located between the first mainboard and the bottom of the base shell; a communication component, along the axial direction of the spindle, the communication component is located between the first mainboard and the second mainboard; the communication component includes: a first communication module, the first communication module is fixed relative to the first mainboard, and a second communication module, the second communication module is fixed relative to the spindle, and the first communication module and the second communication module realize signal transmission through optical signals; at least one of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is located between the first communication module and the second communication module, and the surface of the shielding cover intersecting with the axial direction of the spindle has a light-transmitting area, and the optical signal is transmitted through the light-transmitting area.

[0008] Optionally, the first communication module includes: at least one light-emitting element, and the second communication module includes: a receiving element corresponding to the light-emitting element of the first communication module; the light-transmitting area and the receiving element of the second communication module are sequentially located on the optical path of the optical signal emitted by the light-emitting element of the first communication module.

[0009] Optionally, the second communication module includes: at least one light-emitting element, and the first communication module includes: a receiving element corresponding to the light-emitting element of the second communication module; the light-transmitting area and the receiving element of the first communication module are sequentially located on the optical path of the optical signal emitted by the light-emitting element of the second communication module.

[0010] Optionally, the number of the light-transmitting areas is equal to the number of the light-emitting elements, and the light-transmitting areas correspond to the light-emitting elements one-to-one.

[0011] Optionally, the light-transmitting area matches the light-emitting surface of the corresponding light-emitting element.

[0012] Optionally, the shape of the light-transmitting area matches the shape of the light-emitting surface of the corresponding light-emitting element.

[0013] Optionally, a light spot formed on the shielding cover by a light signal generated by the light-emitting element is located within the range of a light-transmitting area corresponding to the light-emitting element.

[0014] Optionally, the light-transmitting area has a plurality of light-transmitting holes that penetrate the thickness of the shielding cover and a supplementary piece located between adjacent light-transmitting holes.

[0015] Optionally, the supplementary parts are cross-connected to each other.

[0016] Optionally, the shielding cover further has a closed area surrounding the light-transmitting area, and the supplementary piece is connected to the shielding cover in the closed area.

[0017] Optionally, the supplementary component and the shielding cover of the enclosed area are an integral structure.

[0018] Optionally, the communication component has an operating frequency; and the maximum size of the largest light-transmitting hole is less than or equal to 1 / 20 of the wavelength of the electromagnetic wave corresponding to the operating frequency.

[0019] Optionally, the shielding cover is provided on at least the first communication module.

[0020] Optionally, the shielding cover is fixedly connected to the first main board or the second main board.

[0021] Optionally, the shielding cover is electrically connected to the first main board or the second main board.

[0022] Optionally, the shielding cover is a hollow shell, and along the axial direction of the main axis, one end of the hollow shell is a semi-sealed structure with a bottom surface, and the light-transmitting area is located on the bottom surface; the opposite end of the hollow shell and the semi-sealed structure with a bottom surface is an open structure without a bottom surface, and the end surface of the hollow shell with the open structure is connected to the first main board or the second main board; the internal space of the hollow shell is suitable for accommodating light-emitting elements.

[0023] Optionally, the communication component is an axial communication component, and the communication component and the shielding cover are both located inside the axis of the main shaft; the communication component is an axial communication component, and the communication component is arranged around the main shaft, the shielding cover is an annular column, and the main shaft passes through the annular center through hole.

[0024] Optionally, the communication component is a shaft-side communication component, and in at least one of the first communication module and the second communication module, a plurality of light-emitting elements are arranged around the main axis along the circumference of the main axis.

[0025] Optionally, the shielding cover is made of conductive material.

[0026] Optionally, the laser radar is a vehicle-mounted laser radar.

[0027] Compared with the prior art, the technical solution disclosed in the present invention has the following advantages:

[0028] In the technical solution disclosed in the present invention, a shielding cover is provided on at least one of the first communication module and the second communication module, and the shielding cover is located between the first communication module and the second communication module. The surface of the shielding cover intersecting with the axial direction of the main shaft has a light-transmitting area, and the optical signal is transmitted through the light-transmitting area. The optical signal is transmitted through the light-transmitting area of ​​the shielding cover to realize wireless communication between the first communication module and the second communication module, and the shielding cover can effectively realize electromagnetic shielding to suppress RE interference, so the laser radar can take into account both wireless communication and RE interference suppression. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic cross-sectional structure diagram of an embodiment of the laser radar disclosed herein;

[0030] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the shielding cover in the laser radar embodiment shown;

[0031] Figure 3 yes Figure 2 A schematic diagram of a top view of the shielding cover in the laser radar embodiment shown;

[0032] Figure 4is a schematic cross-sectional structure diagram of another embodiment of the laser radar disclosed in the present invention;

[0033] Figure 5 yes Figure 4 An enlarged structural diagram of the structure within the dashed box 209 in the laser radar embodiment shown;

[0034] Figure 6 yes Figure 5 A schematic diagram of the top view of the shielding cover 232 in the laser radar embodiment shown;

[0035] Figure 7 yes Figure 5 A schematic diagram of the three-dimensional structure of the shielding cover 231 in the laser radar embodiment shown;

[0036] Figure 8 yes Figure 5 A schematic diagram of the three-dimensional structure of the shielding cover 231 in the laser radar embodiment shown;

[0037] Fig. 9 It is a schematic diagram of the three-dimensional structure of the shielding cover in another embodiment of the laser radar disclosed in the present invention. DETAILED DESCRIPTION

[0038] As can be seen from the background technology, laser radars that use wireless communication technology in the prior art need to suppress radiation interference problems.

[0039] To solve the technical problem, the present disclosure provides a laser radar, comprising: a base shell; a main shaft, the main shaft is fixedly arranged relative to the base shell; a first main board, the first main board rotates around the main shaft; a second main board, the second main board is fixedly arranged relative to the base shell, and along the axial direction of the main shaft, the second main board is located between the first main board and the bottom of the base shell; a communication component, along the axial direction of the main shaft, the communication component is located between the first main board and the second main board; the communication component comprises: a first communication module, the first communication module is fixedly arranged relative to the first main board, and a second communication module, the second communication module is fixedly arranged relative to the main shaft, and the first communication module and the second communication module realize signal transmission through optical signals; at least one of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is located between the first communication module and the second communication module, and the surface of the shielding cover intersecting with the axial direction of the main shaft has a light-transmitting area, and the light signal is transmitted through the light-transmitting area.

[0040] In the technical solution disclosed in the present invention, the optical signal is transmitted through the light-transmitting area of ​​the shielding cover to realize wireless communication between the first communication module and the second communication module, and the shielding cover can effectively realize electromagnetic shielding to suppress RE interference. Therefore, the laser radar can take into account both wireless communication and RE interference suppression.

[0041] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0042] refer to Figure 1 , shows a schematic diagram of the cross-sectional structure of an embodiment of the laser radar disclosed in the present invention.

[0043] The laser radar comprises: a base shell 101; a main shaft 102, the main shaft 102 is fixedly arranged relative to the base shell 101; a first main board 111, the first main board 111 rotates around the main shaft 102; a second main board 112, the second main board 112 is fixedly arranged relative to the base shell 101, along the axial direction of the main shaft 102, the second main board 112 is located between the first main board 111 and the bottom of the base shell 101; a communication component, along the axial direction of the main shaft 102, the communication component is located between the first main board 111 and the bottom of the base shell 101. The communication component includes: a first communication module 121, the first communication module 121 is fixedly arranged relative to the first mainboard 111, and a second communication module 122, the second communication module 122 is fixedly arranged relative to the main shaft 102, and the first communication module 121 and the second communication module 122 realize signal transmission through optical signals; at least one of the first communication module 121 and the second communication module 122 is provided with a shielding cover 130, and the shielding cover 130 is located between the first communication module 121 and the second communication module 122.

[0044] Combined with reference Figure 2 , Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the shielding cover in the laser radar embodiment is shown.

[0045] The surface of the shielding cover 130 intersecting the axial direction of the main shaft 102 has a light-transmitting area, and the optical signal is transmitted through the light-transmitting area. The optical signal is transmitted through the light-transmitting area of ​​the shielding cover 130 to achieve wireless communication between the first communication module and the second communication module, and the shielding cover can effectively achieve electromagnetic shielding to suppress RE interference, so the laser radar can take into account both wireless communication and RE interference suppression.

[0046] The specific technical solution of the laser radar embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0047] The laser radar includes: a base shell 101, a main shaft 102 fixed relative to the base shell 101, a first main board 111 rotating around the main shaft 102 relative to the base shell 101, and a second main board 112 fixed relative to the base shell 101.

[0048] In some specific embodiments of the present disclosure, the laser radar is a vehicle-mounted laser radar, that is, the laser radar is a vehicle-grade laser radar, and the various technical standards of the laser radar are vehicle-grade and must meet vehicle use standards. The base housing 101 is fixedly connected to the vehicle to achieve the installation of the laser radar on the vehicle.

[0049] like Figure 1 In some specific embodiments shown, the base shell 102 has a bottom shell (not shown in the figure) and a side wall (not shown in the figure) connected to the edge of the bottom shell, and the side wall encloses a space above a surface of the bottom shell to accommodate some component structures of the laser radar.

[0050] The main shaft 102 is located in the space surrounded by the side walls, and the main shaft 102 is perpendicular to the bottom shell, that is, the circumference of the main shaft 102 is perpendicular to the surface of the bottom shell.

[0051] Along the axial direction of the main shaft 102, the second main board 112 and the first main board 111 are sequentially arranged above the bottom shell of the base housing 101, and are respectively located at two ends of the main shaft 102. Specifically, the second main board 112 and the first main board 111 are parallel to each other and are perpendicular to the axial direction of the main shaft 102.

[0052] In some embodiments of the present disclosure, the main shaft 102 is a hollow structure; the first main board 111 and the second main board 112 both span the main shaft 102 of the hollow structure, that is, along the radial direction of the main shaft 102, the first main board 111 and the second main board 112 both extend from one side of the main shaft 102 to the other side.

[0053] In the communication component, the first communication module 121 is fixed to the surface of the first mainboard 111 facing the second mainboard 112, and the second communication module 122 is fixed to the surface of the second mainboard 112 facing the first mainboard 111. The first communication module 121 and the second communication module 122 realize signal transmission through optical signals, that is, the communication component is a wireless communication component.

[0054] In some specific embodiments, the first communication module 121 includes: at least one light emitting element, and the second communication module 122 includes: a receiving element corresponding to the light emitting element of the first communication module 121 .

[0055] The receiving element of the second communication module 122 is located on the optical path of the optical signal generated by the light-emitting element of the corresponding first communication module 121, and the receiving element of the second communication module 122 receives the optical signal generated by the light-emitting element of the corresponding first communication module 121 to realize the sending of signals from the first communication module 121 to the second communication module 122.

[0056] In some embodiments, the second communication module 122 includes: at least one light emitting element, and the first communication module 121 includes: a receiving element corresponding to the light emitting element of the second communication module 122 .

[0057] The receiving element of the first communication module 121 is located on the optical path of the optical signal generated by the light-emitting element of the corresponding second communication module 122. The receiving element of the first communication module 121 receives the optical signal generated by the light-emitting element of the corresponding second communication module 122 to realize the sending of signals from the second communication module 122 to the first communication module 121.

[0058] like Figure 1 In some embodiments shown, the communication component is an axis communication component, at least part of the communication component is located in the axis of the main shaft 102, and the communication between the first main board and the second main board is realized through the space in the axis. Specifically, the light-emitting element and the receiving element of the first communication module are both located within the projection range of the main shaft 102 on the surface of the first main board 111; and / or the light-emitting element and the receiving element of the second communication module are both located within the projection range of the main shaft 102 on the surface of the second main board 112; the optical signal between the first communication module and the second communication module is transmitted in the internal space of the main shaft 102 of the hollow structure. It can be understood that part of the communication component can also be located outside the axis, for example, the light-emitting element and the receiving element of the first communication module are both located within the projection range of the main shaft 102 on the surface of the first main board 111, and the light-emitting element and the receiving element of the second communication module are both located in the outer space surrounding the main shaft 102; or, the light-emitting element and the receiving element of the first communication module are both located in the outer space surrounding the main shaft 102, and the light-emitting element and the receiving element of the second communication module are both located in the projection range of the main shaft 102 on the surface of the first main board 111.

[0059] The shielding cover 130 is used for EMC shielding (Electromagnetic Compatibility, EMC) to suppress radiated emission (RE).

[0060] In some embodiments of the present disclosure, at least the first communication module 121 is provided with the shielding cover 130. Figure 1 Some of the laser radar embodiments shown have one shielding cover 130 , and the shielding cover 130 is disposed on the periphery of the first communication module 121 , that is, the first communication module 121 is located inside the shielding cover 130 .

[0061] In other embodiments of the present disclosure, the laser radar has two shielding covers, and the two shielding covers are respectively arranged on the periphery of the first communication module 121 and the second communication module 122, that is, the first communication module 121 and the second communication module 122 are respectively located in the two shielding covers.

[0062] The laser radar is an automotive-grade laser radar. In the communication component, the wireless communication between the first communication module 121 and the second communication module 122 also needs to meet automotive-grade requirements, that is, in the EMC test, the RE test of the wireless communication between the first communication module 121 and the second communication module 122 meets automotive-grade requirements.

[0063] In some embodiments of the present disclosure, the shielding cover 130 is made of conductive material to achieve its EMC shielding function. Specifically, the shielding cover 130 can be made of copper, aluminum, iron, stainless steel, etc.

[0064] In some embodiments of the present disclosure, the shielding cover 130 is fixedly connected to the first main board 111 or the second main board 112. Figure 1 In some of the embodiments shown, the laser radar has a shielding cover 130 covering the periphery of the first communication module 121 , and the shielding cover 130 is fixedly connected to the first mainboard 111 .

[0065] In other embodiments of the present disclosure, the laser radar has two shielding covers respectively covering the first communication module and the second communication module. The shielding cover covered on the periphery of the first communication module is fixedly connected to the first mainboard; the shielding cover covered on the periphery of the second communication module is fixedly connected to the second mainboard.

[0066] In some embodiments of the present disclosure, the shielding cover 130 is electrically connected to the first mainboard 111 or the second mainboard 112. Figure 1 In some of the embodiments shown, the laser radar has a shielding cover 130 that is disposed on the periphery of the first communication module 121 , and the shielding cover 130 is electrically connected to the first mainboard 111 .

[0067] In other embodiments of the present disclosure, the laser radar has two shielding covers, which are respectively covered on the periphery of the first communication module and the second communication module. The shielding cover covered on the periphery of the first communication module is electrically connected to the first mainboard; the shielding cover covered on the periphery of the second communication module is electrically connected to the second mainboard.

[0068] like Figure 2 and Figure 3 As shown, the shielding cover 130 is a hollow shell, and along the axial direction of the main shaft 102, one end of the hollow shell is a semi-sealed structure with a bottom surface; the opposite end of the hollow shell and the semi-sealed structure with a bottom surface is an open structure without a bottom surface, and the end surface of the hollow shell with the open structure is connected to the first main board 111 or the second main board 112; the internal space of the hollow shell is suitable for accommodating light-emitting elements.

[0069] Specific as Figure 1 In some embodiments shown, the shielding cover 130 is a cylindrical hollow shell, and the axial direction of the main shaft 102 is parallel to the generatrix of the cylindrical shielding cover 130. In addition, in the hollow shell, one end of the open structure also has an extension 139. From the end of the cylindrical hollow shell, the extension 139 extends in a direction away from the center of the bottom surface. The shielding cover 130 is fixedly connected and electrically connected to the first main board 111 or the second main board 112 through the extension 139.

[0070] The light-transmitting area of ​​the shielding cover 130 is used to enable the light signal to be transmitted through the shielding cover 130. Figures 1 to 3 In some of the embodiments shown, the light-transmitting area is located on the bottom surface to form a semi-enclosed structure, so that the light signal can be transmitted from the bottom surface.

[0071] In some specific embodiments, information is transmitted between the receiving element of the second communication module 122 and the corresponding light-emitting element of the first communication module via an optical signal, and the light-transmitting area is located in the optical path between the receiving element of the second communication module 122 and the corresponding light-emitting element of the first communication module.

[0072] In some specific embodiments, information is transmitted between the receiving element of the first communication module and the corresponding light-emitting element of the second communication module 122 via an optical signal, and the light-transmitting area is located in the optical path between the receiving element of the first communication module and the corresponding light-emitting element of the second communication module 122.

[0073] In some specific embodiments of the present disclosure, the number of the light-transmitting regions is equal to the number of the light-emitting elements, and the light-transmitting regions correspond to the light-emitting elements one by one. Figures 1 to 3In some specific embodiments shown in FIG. 1 , the first communication module 121 and the second communication module 122 each include a light emitting element, which respectively constitutes a light source for downlink communication and uplink communication. Figure 2 and Figure 3 As shown, the shielding cover 130 has two light-transmitting areas, namely, a light-transmitting area 1311 and a light-transmitting area 1312, and the two light-transmitting areas correspond to the light-emitting elements of the first communication module 121 and the light-emitting elements of the second communication module 122. Specifically, the light-transmitting area 1311 corresponds to the light-emitting elements of the first communication module 121, and the light-transmitting area 1312 corresponds to the light-emitting elements of the second communication module 122.

[0074] In some specific embodiments of the present disclosure, the light-transmitting area matches the light-emitting surface of the corresponding light-emitting element. Specifically, the light-transmitting area 1311 corresponds to the light-emitting element of the first communication module 121, so the light-transmitting area 1311 matches the light-emitting surface of the light-emitting element in the first communication module 121; the light-transmitting area 1312 corresponds to the light-emitting element of the second communication module 122, and the light-transmitting area 1312 matches the light-emitting surface of the light-emitting element in the second communication module 122.

[0075] The light-transmitting area matches the light-emitting surface of the corresponding light-emitting element, that is, the light-transmitting area matches the light-emitting surface of the corresponding light-emitting element in shape and area.

[0076] In some specific embodiments, the shape of the light-transmitting area matches the shape of the light-emitting surface of the corresponding light-emitting element. For example, in some embodiments, the shape of the light-transmitting area is the same as the shape of the light-emitting surface of the corresponding light-emitting element.

[0077] Specifically, the light-emitting surface of the light-emitting element in the first communication module 121 is circular, and the shape (outline) of the light-transmitting area 1311 corresponding to the light-emitting element in the first communication module 121 is also circular; the light-emitting surface of the light-emitting element in the second communication module 122 is square, and the shape (outline) of the light-transmitting area 1312 corresponding to the light-emitting element in the second communication module 122 is also square.

[0078] In some specific embodiments, the shape of the light-transmitting area matches the area of ​​the light-emitting surface of the corresponding light-emitting element, which means that the area of ​​the light-transmitting area should be able to transmit the light signal generated by the corresponding light-emitting element as much as possible. For example, in some embodiments, the light spot formed by the light signal generated by the light-emitting element on the shielding cover 130 is located within the range of the light-transmitting area corresponding to the light-emitting element.

[0079] like Figures 1 to 3As shown, the area of ​​the light-transmitting area 1311 needs to satisfy the requirement that the light spot formed on the bottom surface by the light signal generated by the light-emitting element in the first communication module 121 is located within the range of the light-transmitting area 1311; the area of ​​the light-transmitting area 1312 needs to satisfy the requirement that the light spot formed on the bottom surface by the light signal generated by the light-emitting element in the second communication module 122 is located within the range of the light-transmitting area 1312.

[0080] Specifically, Figure 2 and Figure 3 In some embodiments shown, the light spot formed on the bottom surface by the light signal generated by the light-emitting element is related to the distance between the bottom surface and the light-emitting element. Based on the distance between the bottom surface of the shielding cover 130 and the light-emitting elements in the first communication module 121 and the second communication module 122, the diameter of the light-transmitting area 1311 can be D1≥d+0.5, in mm, where d is the diameter of the light-emitting surface of the light-emitting element in the first communication module 121, so that the area of ​​the light-transmitting area 1312 needs to meet the requirement that the light spot formed on the bottom surface by the light signal generated by the light-emitting element in the second communication module 122 is located within the range of the light-transmitting area 1312. In some specific embodiments, the diameter D1 of the light-transmitting area 1311 is about 3.2 mm, and the long side D2 of the light-transmitting area 1322 is about 2 mm.

[0081] like Figures 1 to 3 In some of the illustrated embodiments, the light-transmitting area of ​​the shielding cover 130 has a plurality of light-transmitting holes 131 k that penetrate the thickness of the shielding cover 130 and supplementary pieces 131 b located between adjacent light-transmitting holes 131 k .

[0082] The light-transmitting hole 131 k can achieve transmission of optical signals to meet the communication function requirements of wireless communication between the first communication module 121 and the second communication module 122 .

[0083] In some embodiments of the present disclosure, the communication component has an operating frequency; the maximum size of the largest light-transmitting hole 131k is less than or equal to 1 / 20 of the wavelength λ of the electromagnetic wave corresponding to the operating frequency to ensure the shielding function. Moreover, as the distance between the shielding cover and the light-emitting element decreases, the size of each light-transmitting hole 131k in the light-transmitting area decreases accordingly.

[0084] Based on the communication frequency of the light signal sent by the light-emitting element in the first communication module 121 to the receiving element in the second communication module 122, it can be obtained that the maximum opening size of the light-transmitting hole 131k in the light-transmitting area 1311 is 1.2≥d1≥1.0, in mm; for example, d1 can be 1.2mm, 1.1mm, 1mm, etc.; based on the communication frequency of the light-emitting element in the second communication module 122 to the receiving element in the first communication module 121, it can be obtained that the maximum opening size of the light-transmitting hole 131k in the light-transmitting area 1312 is 1.2≥d2≥1.0, in mm; for example, d2 can be 1.2mm, 1.1mm, 1mm, etc.

[0085] The supplementary component 131 b is used to improve the electromagnetic shielding performance of the light-transmitting area to meet the electromagnetic shielding function requirements of the wireless communication between the first communication module 121 and the second communication module 122 .

[0086] In addition, if Figures 1 to 3 As shown, one side of the bottom surface is a semi-enclosed structure, that is, the shielding cover 130 also has a closed area 132 surrounding the light-transmitting area, and the supplementary member 131b is connected to the closed area 132. The material of the supplementary member 131b is a conductive material, and the supplementary member 131b can effectively improve the electromagnetic shielding performance of the light-transmitting area to ensure the shielding effect of the shielding cover.

[0087] Specifically, the supplementary member 131b and the shielding cover 130 of the enclosed area 132 are an integrated structure. Figure 2 and Figure 3 As shown, the supplementary members 131b are cross-connected with each other. Specifically, the light-transmitting area has a plurality of supplementary members 131b, and the plurality of supplementary members 131b are cross-connected with each other to form a shape such as a well or field.

[0088] It should be noted that Figures 1 to 3 In some of the embodiments shown, the communication component is an axis communication component, and the communication component is located inside the axis of the main shaft 102. In other embodiments of the present disclosure, the communication component may also be an axis side communication component. When the communication component is an axis side communication component, the light emitting elements and the receiving elements in the first communication module and the second communication module are distributed along the circumference of the main shaft and around the main shaft, and the following describes the setting method of the shielding cover adapted to the communication component.

[0089] refer to Figures 4 to 6 , shows a schematic diagram of the structure of another embodiment of the laser radar disclosed in the present invention. Figure 4 is a schematic cross-sectional structure diagram of the laser radar embodiment, Figure 5 yes Figure 4The enlarged structural diagram of the structure within the dashed box 209 in the laser radar embodiment is shown.

[0090] The same as the above embodiment, the present disclosure will not repeat it here. The difference from the above embodiment is that: Figures 4 to 5 In some of the embodiments shown, the communication component is a shaft-side communication component, and the communication component is arranged around the main shaft.

[0091] Specific as Figure 4 As shown, the laser radar includes a base shell 201 and a main shaft 202 fixedly arranged with the base shell 201. The main shaft 202 is a solid shaft, and the main shaft 202 is perpendicular to the bottom shell of the base shell 201 (not shown in the figure). It should be noted that in other embodiments of the present disclosure, the main shaft may not be solid, that is, the main shaft is a hollow shaft. The present disclosure does not limit the specific structure of the main shaft.

[0092] In some embodiments, the main shaft 202 is vertically arranged, and at least one of the first main board 211 and the second main board 212 is arranged around the main shaft. The first main board 211 rotates around the main shaft 202, and the second main board 212 is fixed relative to the base housing 201. In the axial direction of the main shaft 202, the second main shaft 212 is located between the first main shaft 211 and the bottom of the base housing 201.

[0093] In some embodiments, the first main board 211 and the second main board 212 are mounted on the main shaft 202, and the first main board 211 and the second main board 212 surround the main shaft; Figure 4 and Figure 5 As shown, the first main board 211 and the second main board 212 are respectively provided with through holes (not shown in the figure) penetrating the thickness, and the main shaft 202 passes through the through holes of the first main board 211 and the second main board 212.

[0094] As mentioned earlier, Figures 4 to 5 In some embodiments shown, the communication component is a shaft-side communication component, so at least one of the first communication module (not shown) and the second communication module (not shown) has at least one light-emitting element disposed around the main shaft 202 along the circumference of the main shaft 202. For example, the three light-emitting elements 212a (e.g. Figure 6 As shown in FIG. 1 , the three light emitting elements 212a in the second communication module are arranged along the circumference of the main axis 202 and around the main axis 202. The number of the light emitting elements may also be 1, 2, 4, 5 or even more.

[0095] A shielding cover is provided on at least one of the first communication module and the second communication module. Figure 4 and Figure 5 In some specific embodiments shown, the laser radar has two shielding covers, namely, shielding cover 231 and shielding cover 232, and the two shielding covers are respectively arranged on the periphery of the first communication module and the second communication module.

[0096] Specifically, the shielding cover 231 is arranged on the periphery of the first communication module, that is, the first communication module is located in the shielding cover 231, and the shielding cover 231 is fixedly connected and electrically connected to the first mainboard 211; the shielding cover 232 is arranged on the periphery of the second communication module, that is, the second communication module is located in the shielding cover 232, and the shielding cover 232 is fixedly connected and electrically connected to the second mainboard 212.

[0097] like Figure 6 As shown, the shielding cover 232 has a plurality of light-transmitting areas, and the plurality of light-transmitting areas correspond to light-emitting elements and receiving elements, respectively. Specifically, the light-transmitting area 232a corresponds to the light-emitting element 212a of the second communication module, exposing the light-emitting element 212a of the second communication module, and the light-transmitting area 232b corresponds to the receiving element 212b of the second communication module, exposing the receiving element 212b of the second communication module.

[0098] like Figures 5 and 6 In some embodiments shown, the two shielding covers of the laser radar are both mounted on the main shaft 202. Along the axial direction of the main shaft 202, the shielding cover 231 and the shielding cover 232 are sequentially arranged in a direction from the first main board 211 to the second main board 212.

[0099] In some embodiments of the present disclosure, the communication component is an axial communication component, the communication component is arranged around the main shaft, and the shielding cover is sleeved on the main shaft 202, so the shielding cover is an annular column, and the main shaft 202 passes through the annular center through hole.

[0100] Combined with reference Figure 7 and Figure 8 , showing Figure 4 and Figure 5 The three-dimensional structural schematic diagram of the shielding cover 231 in the laser radar embodiment is shown.

[0101] The shielding cover 231 is a hollow shell, along the main axis 202 (such as Figure 4 and Figure 5In the axial direction of the hollow shell, one end of the hollow shell is a semi-sealed structure provided with a bottom surface 231d, and the end of the hollow shell opposite to the semi-sealed structure provided with the bottom surface 231d is an open structure without a bottom surface.

[0102] The shielding cover 231 is an annular column, that is, the bottom surface 231d on one side of the semi-enclosed structure is annular, and the annular bottom surface 231d has the central through hole 207 to fit the main shaft 202. The shielding cover 231 has two side walls, namely an inner side wall and an outer side wall. The inner side wall is located inside the outer side wall and connected to the inner edge of the bottom surface 231d; the outer side wall surrounds the outer periphery of the inner side wall and is connected to the outer edge of the bottom surface 231d.

[0103] like Figure 7 and Figure 8 As shown, the shielding cover 231 has a plurality of light-transmitting areas, which are located on the bottom surface 231d and distributed around the central through hole 207 along the circumferential direction of the main axis 202. The number of light-transmitting areas matches the number of light-emitting elements. Figure 7 and Figure 8 In the example, the number of the light emitting elements of the first communication module and the number of the light emitting elements of the second communication module is 4 in total, and the number of the light-transmitting areas is 4. It can be understood that if the number of the light emitting elements is 1, the number of the light-transmitting areas is 1; if the number of the light emitting elements is 2, the number of the light-transmitting areas is 2.

[0104] Exemplarily, in the communication component based on the laser radar, the light-emitting element of the first communication module and the light-emitting element of the second communication module, the multiple light-transmitting areas on the bottom surface 231d are divided into two types, namely a circular light-transmitting area 2311 and a rounded square light-transmitting area 2312. The light-transmitting area matches the light-emitting surface of the corresponding light-emitting element, that is, the shape and area of ​​the light-transmitting area match the light-emitting surface of the corresponding light-emitting element. In other embodiments, the shape of the light-transmitting area can also be a pentagon, a hexagon, etc.

[0105] It should also be noted that Figure 4 and Figure 5 In some specific embodiments shown, the operating frequency of the first communication module is higher and the electromagnetic shielding requirements are higher, so the light-transmitting area of ​​the shielding cover 231 has light-transmitting holes and supplementary parts, wherein the supplementary parts of the light-transmitting area 2311 are cross-connected to each other to form a cross shape; the supplementary parts of the light-transmitting area 2312 are cross-connected to each other to form a tic-tac-toe shape.

[0106] In the above-mentioned embodiment, the supplementary pieces of the light-transmitting area are in a well-shaped or field-shaped shape, so the light-transmitting holes of the light-transmitting area are square or rectangular. Fig. 9 In one embodiment shown, the light-transmitting hole may also be circular. In other embodiments, the light-transmitting hole may also be hexagonal, pentagonal, triangular, etc. The light-transmitting holes of the above shapes may also be applied to Figure 1-Figure 3 In the embodiment shown.

[0107] In summary, at least one of the first communication module and the second communication module is provided with a shielding cover, the shielding cover is located between the first communication module and the second communication module, and the surface of the shielding cover intersecting with the axial direction of the main shaft has a light-transmitting area, and the optical signal is transmitted through the light-transmitting area. The optical signal is transmitted through the light-transmitting area of ​​the shielding cover to achieve wireless communication between the first communication module and the second communication module, and the shielding cover can effectively achieve electromagnetic shielding to suppress RE interference, so the laser radar can take into account both wireless communication and RE interference suppression.

[0108] Although the disclosure is disclosed as above, the disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, so the protection scope of the disclosure should be based on the scope defined by the claims.

Claims

1. A laser radar, characterized in that: include: Base housing; A main shaft, the main shaft is fixedly arranged relative to the base shell; a first main board, the first main board rotates around the main axis; A second mainboard, the second mainboard is fixed relative to the base shell, and along the axial direction of the main shaft, the second mainboard is located between the first mainboard and the bottom of the base shell; A communication component, located between the first main board and the second main board along the axial direction of the main shaft; The communication component comprises: a first communication module, wherein the first communication module is fixedly arranged relative to the first mainboard, a second communication module, wherein the second communication module is fixedly arranged relative to the main shaft, and the first communication module and the second communication module realize signal transmission through optical signals; A shielding cover is provided on at least one of the first communication module and the second communication module, and the shielding cover is located between the first communication module and the second communication module. The surface of the shielding cover intersecting with the axial direction of the main shaft has a light-transmitting area, and the optical signal is transmitted through the light-transmitting area.

2. The laser radar according to claim 1, characterized in that The first communication module includes: at least one light emitting element, and the second communication module includes: a receiving element corresponding to the light emitting element of the first communication module; The light-transmitting area and the receiving element of the second communication module are sequentially located on an optical path of an optical signal emitted by the light-emitting element of the first communication module.

3. The laser radar according to claim 1, characterized in that The second communication module includes: at least one light emitting element, and the first communication module includes: a receiving element corresponding to the light emitting element of the second communication module; The light-transmitting area and the receiving element of the first communication module are sequentially located on an optical path of an optical signal emitted by the light-emitting element of the second communication module.

4. The laser radar according to claim 2 or 3, characterized in that: The number of the light-transmitting regions is equal to the number of the light-emitting elements, and the light-transmitting regions correspond to the light-emitting elements one by one.

5. The laser radar according to claim 4, characterized in that The light-transmitting area matches the light-emitting surface of the corresponding light-emitting element.

6. The laser radar according to claim 5, characterized in that The shape of the light-transmitting area matches the shape of the light-emitting surface of the corresponding light-emitting element.

7. The laser radar according to claim 4, characterized in that: The light spot formed by the light signal generated by the light emitting element on the shielding cover is located within the range of the light transmission area corresponding to the light emitting element.

8. The laser radar according to claim 1, characterized in that: The light-transmitting area has a plurality of light-transmitting holes penetrating through the thickness of the shielding cover and supplementary pieces located between adjacent light-transmitting holes.

9. The laser radar according to claim 8, characterized in that The complementary pieces are cross-connected to each other.

10. The laser radar according to claim 8, characterized in that: The shielding cover also has a closed area surrounding the light-transmitting area, and the supplementary piece is connected to the shielding cover in the closed area.

11. The laser radar according to claim 10, characterized in that: The supplementary member and the shielding cover of the enclosed area are an integral structure.

12. The laser radar according to claim 8, characterized in that The communication component has an operating frequency; the maximum size of the largest light-transmitting hole is less than or equal to 1 / 20 of the wavelength of the electromagnetic wave corresponding to the operating frequency.

13. The laser radar according to claim 1, characterized in that: The shielding cover is provided on at least the first communication module.

14. The laser radar according to claim 1, characterized in that: The shielding cover is fixedly connected to the first main board or the second main board.

15. The laser radar according to claim 1, characterized in that: The shielding cover is electrically connected to the first main board or the second main board.

16. The laser radar according to claim 1, 14 or 15, characterized in that: The shielding cover is a hollow shell, and along the axial direction of the main shaft, one end of the hollow shell is a semi-sealed structure provided with a bottom surface, and the light-transmitting area is located on the bottom surface; The end of the hollow shell opposite to the semi-sealed structure provided with a bottom surface is an open structure without a bottom surface, and the end surface of the hollow shell of the open structure is connected to the first main board or the second main board; The inner space of the hollow shell is suitable for accommodating a light-emitting element.

17. The laser radar according to claim 1, characterized in that: The communication component is an axis communication component, and the communication component and the shielding cover are both located inside the axis of the main shaft; The communication component is a shaft-side communication component, the communication component is arranged around the main shaft, the shielding cover is in an annular column shape, and the main shaft passes through the annular central through hole.

18. The laser radar according to claim 17, characterized in that: The communication component is a shaft-side communication component, and in at least one of the first communication module and the second communication module, a plurality of light emitting elements are arranged around the main shaft along the circumference of the main shaft.

19. The laser radar according to claim 1, characterized in that: The shielding cover is made of conductive material.

20. The laser radar according to claim 1, characterized in that: The laser radar is a vehicle-mounted laser radar.

Images