Laser radar

Abstract

The embodiment of the invention discloses a laser radar. The laser radar comprises a machine core module, a shell module and a first vibration reduction structure. The shell module is provided with an inner cavity and comprises a first shell part and a second shell part, and the machine core module is located in the inner cavity and connected with the first shell part. The first vibration reduction structure comprises a first vibration reduction piece, and at least part of the first vibration reduction piece is located between the first shell part and the second shell part so as to attenuate vibration transmission between the first shell part and the second shell part. According to the laser radar, the second shell part of the laser radar is connected with the equipment main body of the mobile equipment, vibration transmission between the machine core module and the equipment main body can be attenuated through the first vibration reduction part, the NVH problem caused by vibration is solved, and the point cloud imaging quality and precision of the laser radar are improved. At least part of the first vibration reduction piece is arranged between the first shell part and the second shell part, vibration transmission between the first shell part and the second shell part is attenuated, the first vibration reduction structure can be assembled before the laser radar leaves a factory, and popularization is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of detection equipment, and in particular to a laser radar. Background Art

[0002] Laser radar refers to a device that transmits light signals to external space targets, then receives echo light signals from the targets, and obtains information such as target distance by analyzing and comparing the transmitted light signals and echo light signals. It has been widely used due to the real-time, stable and rich data.

[0003] In the related art, the laser radar includes not only an optical system but also a scanning system. The scanning system is used to expand the detection field of view of the laser radar. However, in the related art, the driving motor of the scanning system will generate vibration during use, and will also generate vibration when stimulated by external vibration, which is prone to NVH problems. Summary of the invention

[0004] The embodiment of the present application provides a laser radar for improving the scanning system in the related art. The driving motor of the scanning system generates vibration during use, and also generates vibration when stimulated by external vibration, which is prone to cause NVH problems.

[0005] The embodiment of the present application provides a laser radar, which includes a core module, a shell module and a first vibration reduction structure. The shell module has an inner cavity, and the shell module includes a first shell part and a second shell part, the inner cavity is defined between the first shell part and the second shell part, and the core module is located in the inner cavity and connected to the first shell part. The first vibration reduction structure includes a first vibration reduction member, at least part of which is located between the first shell part and the second shell part to attenuate the vibration transmission between the first shell part and the second shell part.

[0006] When the laser radar of the present application is used in a movable device, the second shell part of the laser radar is connected to the device body of the movable device, so that the vibration transmission between the movement module connected to the first shell part and the device body connected to the second shell part can be attenuated by the first vibration damping member, thereby solving the NVH problem caused by vibration and improving the point cloud imaging quality and accuracy of the laser radar.

[0007] In the embodiment of the present application, at least a portion of the first vibration damping member is disposed between the first shell portion and the second shell portion to attenuate the vibration transmission between the first shell portion and the second shell portion. Compared with the related art in which the vibration damping structure is disposed between the laser radar and the device body, the first vibration damping structure can be assembled before the laser radar leaves the factory, which is beneficial to reducing the difficulty of assembly when the laser radar is used, improving the user experience, and facilitating promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] 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.

[0009] Figure 1 is a schematic diagram of the structure of a mobile device provided in an embodiment of the present application;

[0010] Figure 2 is a schematic diagram of the structure of a laser radar provided in the first embodiment of the present application;

[0011] Figure 3 yes Figure 2 A schematic diagram of the exploded structure of the laser radar is shown;

[0012] Figure 4 yes Figure 2 A schematic diagram of a partial cross-sectional structure of a laser radar at a viewing angle is shown;

[0013] Figure 5 yes Figure 2 A schematic diagram of a partial cross-sectional structure of the laser radar shown in another viewing angle;

[0014] Figure 6 yes Figure 5 A magnified schematic diagram of the structure at center A;

[0015] Figure 7 It is a schematic diagram of the exploded structure of the laser radar provided in the second embodiment of the present application;

[0016] Figure 8 yes Figure 7 A schematic diagram of a partial cross-sectional structure of a laser radar at a viewing angle is shown;

[0017] Fig. 9 yes Figure 7 A schematic diagram of a partial cross-sectional structure of the laser radar at another viewing angle is shown;

[0018] Fig.10 yes Fig. 9 A schematic diagram of the partial structure of the second vibration damping structure, the first housing portion, and the movement module;

[0019] Fig.11 is a schematic diagram of a top view structure of a laser radar provided in a third embodiment of the present application;

[0020] Fig.12 yes Fig.11A schematic diagram of the partial structure of the second shell part and the device body in the laser radar shown;

[0021] Fig.13 is a schematic diagram of a partial cross-sectional structure of a laser radar provided in the fourth embodiment of the present application at another viewing angle;

[0022] Fig.14 It is a schematic diagram of the curve of the change of transmissibility with frequency ratio under different damping ratios in a single degree of freedom direction.

[0023] Description of reference numerals:

[0024] 1. laser radar; 2. movable device; 3. device body; 301. second boss;

[0025] 10. Movement module; 11. Transmitting component; 12. Receiving component; 13. Scanning system; 131. Vibrating mirror; 132. Rotating mirror; 14. Second mounting hole; 15. Fixed seat;

[0026] 20. Shell module; 21. Inner cavity; 22. First shell portion; 221. First mounting hole; 222. First boss; 23. Second shell portion; 231. Third mounting hole; 232. Fixing plate;

[0027] 30. first vibration damping structure; 31. first vibration damping member; 311. vibration damping ring; 312. first vibration damping pad; 312e. first vibration damping pad; 312f. first vibration damping pad; 312g. first vibration damping pad; 312h. first vibration damping pad; 3121. first vibration damping column; 3122. first vibration damping end plate; 32. first adjusting member; 321. first screw; 33. first rigid member; 331. first rigid column; 332. first rigid end plate;

[0028] 40. second vibration-damping structure; 41. second vibration-damping pad; 411. second vibration-damping column; 412. second vibration-damping end plate; 42. second adjusting member; 421. second screw; 43. second rigid member; 431. second rigid column; 432. second rigid end plate;

[0029] 50. third vibration-damping structure; 51. third vibration-damping pad; 511. third vibration-damping column; 512. third vibration-damping end plate; 52. third adjusting member; 521. third screw; 53. third rigid member; 531. third rigid column; 532. third rigid end plate;

[0030] a. Support center; b. Elastic center; c. Total center of mass; d. Geometric center of gravity. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] See also Figure 1 , the embodiment of the present application provides a movable device 2, the movable device 2 includes a laser radar 1 and a device body 3 connected to the laser radar 1. In some embodiments, the movable device 2 is a car, the above-mentioned device body 3 is the car body, and the laser radar 1 is mounted on the car body; it can be understood that in other implementations of the present application, the movable device 2 can also be a device other than a car equipped with a laser radar 1, such as a drone, a robot, etc., and the embodiment of the present application does not limit this.

[0034] See also Figures 2 to 5 The laser radar 1 includes a core module 10, a shell module 20 and a first vibration reduction structure 30. The shell module 20 has an inner cavity 21, and the shell module 20 includes a first shell part 22 and a second shell part 23. The inner cavity 21 is defined between the first shell part 22 and the second shell part 23. The core module 10 is located in the inner cavity 21 and connected to the first shell part 22. The first vibration reduction structure 30 includes a first vibration reduction member 31, at least part of which is located between the first shell part 22 and the second shell part 23 to attenuate the vibration transmission between the first shell part 22 and the second shell part 23.

[0035] When the laser radar 1 of the embodiment of the present application is used in a movable device 2, its second shell part 23 is connected to the device body 3 of the movable device 2, so that the vibration transmission between the movement module 10 connected to the first shell part 22 and the device body 3 connected to the second shell part 23 can be attenuated through the first vibration damping member 31, thereby solving the NVH problem caused by vibration and improving the point cloud imaging quality and accuracy of the laser radar 1.

[0036] In the embodiment of the present application, at least a portion of the first vibration damping member 31 is disposed between the first shell portion 22 and the second shell portion 23 to attenuate the vibration transmission between the first shell portion 22 and the second shell portion 23. Compared with the related art in which the vibration damping structure is disposed between the laser radar and the device body, the first vibration damping structure 30 can be assembled before the laser radar 1 leaves the factory, which is beneficial to reducing the difficulty of assembly when the laser radar 1 is used, improving the user experience, and facilitating promotion.

[0037] See also Figure 4The movement module 10 includes an optical system and a scanning system 13. The optical system includes a transmitting component 11 and a receiving component 12. The transmitting component 11 is used to emit detection light, and the receiving component 12 is used to receive echo light. At least part of the echo light is formed by the detection light reflected by the target object. The scanning system 13 is located on the light emitting path of the detection light emitted by the transmitting component 11, and is used to emit the detection light emitted by the transmitting component 11 in multiple directions; the scanning system 13 is also located on the light receiving path of the receiving component 12 for receiving the echo light, and is used to enable the receiving component 12 to receive echo light in multiple directions, thereby improving the detection field of view of the laser radar 1.

[0038] The optical system and the scanning system 13 are both installed on the first shell part 22. In this way, if the driving motor of the scanning system 13 vibrates when the scanning system 13 is working or the movement module 10 is stimulated by external vibration, because the optical system and the scanning system 13 are both installed on the same rigid first shell part 22, the vibration of the optical system and the scanning system 13 can be synchronized, reducing the relative displacement and rotation angle between the optical system and the scanning system 13, solving the NVH problem caused by vibration, and thereby improving the point cloud imaging quality and accuracy of the laser radar 1.

[0039] Specifically, the transmitting assembly 11 may include an optical transmitter, a transmitting board and a transmitting lens, wherein the optical transmitter is used to emit detection light, the optical transmitter is mounted on the transmitting board, the transmitting lens is located on the light-emitting path of the detection light emitted by the optical transmitter, and the transmitting board and the transmitting lens are both mounted on the first housing portion 22. The receiving assembly 12 may include an optical receiver, a receiving board and a receiving lens, the optical receiver is mounted on the receiving board, the receiving lens is located on the light-receiving path of the receiving assembly 12 for receiving the echo light, and is used to transmit the echo light to the optical receiver, and the receiving board and the receiving lens are both mounted on the first housing portion 22.

[0040] The scanning system 13 can scan in the vertical direction and / or the horizontal direction. The scanning system 13 can be any device that can change the light propagation path, such as a galvanometer, a reflector, a projection prism, a rotating mirror, etc., and is not limited to this. In the embodiment of the present application, the scanning system 13 includes a galvanometer 131 and a rotating mirror 132, and the galvanometer 131 and the rotating mirror 132 are both installed on the first housing portion 22.

[0041] It should be noted that, in addition to the optical system and the scanning system 13, if the first structural member is also installed on the first housing portion 22, the movement module 10 may also include the first structural member. The first structural member may be an extinction structure, a spatial optical path structure, etc., which is not limited thereto. It is understandable that all components included in the movement module 10 are installed on the same rigid first housing portion 22. Therefore, if the drive motor of the scanning system 13 vibrates when the scanning system 13 is working or the movement module 10 is stimulated by external factors, all components included in the movement module 10 can maintain roughly synchronous vibration.

[0042] The first housing portion 22 may be substantially a plate structure, in which case the optical system and the scanning system 13 may be installed on the same side of the plate structure. The first housing portion 22 may also be substantially a slot structure having a mounting slot, in which case the optical system and the scanning system 13 may be installed in the mounting slot of the slot structure.

[0043] In the embodiment of the present application, the first housing portion 22 is generally a plate structure, and the second housing portion 23 is generally a slot structure with a mounting slot. The movement module 10 is installed in the first housing portion 22 which is generally a plate structure, so that the movement module 10 and the first housing portion 22 can be assembled with a wider space and more convenient to assemble. The second housing portion 23 can be formed with a window, and the housing module 20 also includes a window sheet arranged at the window.

[0044] The first vibration damping member 31 in the first vibration damping structure 30 may be any device having vibration damping performance, and is not limited thereto.

[0045] See also Figure 5 and Figure 6 In an exemplary solution, the first vibration damping member 31 includes a vibration damping ring 311, which is located between the first housing portion 22 and the second housing portion 23. The vibration damping ring 311 is arranged along the entire circle of the butt joint surface of the first housing portion 22 and the second housing portion 23 to attenuate the vibration transmission between the first housing portion 22 and the second housing portion 23 and to achieve sealing between the first housing portion 22 and the second housing portion 23. The vibration damping ring 311 is an elastic member that can achieve a vibration damping effect; for example, the vibration damping ring 311 can be made of elastic materials such as rubber, which is not limited thereto.

[0046] In this exemplary solution, the vibration damping ring 311 can not only play a vibration damping role between the first shell part 22 and the second shell part 23, but also play a sealing role between the first shell part 22 and the second shell part 23, that is, the vibration damping ring 311 has a dual effect of vibration damping and sealing. Compared with separately setting a vibration damping structure for vibration damping and a sealing structure for sealing, the size of the laser radar 1 can be reduced, thereby realizing the miniaturization of the laser radar 1.

[0047] In this exemplary solution, since the vibration-damping ring 311 needs to play a vibration-damping effect, the relative positions of the first housing portion 22 and the second housing portion 23 on both sides of the vibration-damping ring 311 are not fixed, but may fluctuate relative to each other. The relative fluctuation between the first housing portion 22 and the second housing portion 23 may affect the sealing performance between the first housing portion 22 and the second housing portion 23. For this reason, the laser radar 1 of the embodiment of the present application can be mainly used in an environment where the sealing and waterproof requirements are not high, such as the laser radar 1 is set inside the device body 3 and is not easily exposed to water, etc.

[0048] In this exemplary solution, the connection method between the vibration damping ring 311 and the first housing portion 22 can be any, for example, the connection method between the vibration damping ring 311 and the first housing portion 22 can be bonding, abutting, embedding, etc., which is not limited in this application. The connection method between the vibration damping ring 311 and the second housing portion 23 can be any, for example, the connection method between the vibration damping ring 311 and the second housing portion 23 can be bonding, abutting, embedding, etc., which is not limited in this application.

[0049] In another exemplary solution, the first vibration damping member 31 includes a first vibration damping pad 312, the first housing portion 22 is provided with a first mounting hole 221, a portion of the first vibration damping pad 312 is embedded in the first mounting hole 221, and a portion of the first vibration damping pad 312 is located between the first housing portion 22 and the second housing portion 23 to attenuate the vibration transmission between the first housing portion 22 and the second housing portion 23. The first vibration damping pad 312 is an elastic member that can achieve a vibration damping effect; for example, the first vibration damping pad 312 can be made of elastic materials such as rubber, which is not limited thereto.

[0050] In this exemplary solution, the first vibration damping pad 312 is only provided corresponding to the first mounting hole 221 of the first housing portion 22. Compared with the above-mentioned vibration damping ring 311 provided in a whole circle, the structure is compact and the design is more flexible. Moreover, the first vibration damping pad 312 is partially embedded in the first mounting hole 221 of the first housing portion 22. On the one hand, the connection reliability between the first vibration damping pad 312 and the first housing portion 22 can be improved. On the other hand, the first mounting hole 221 can also position the installation of the first vibration damping pad 312 on the first housing portion 22, which is conducive to improving the assembly positioning accuracy and assembly speed between the first vibration damping pad 312 and the first housing portion 22.

[0051] In this exemplary solution, the first vibration damping pad 312 may include a first vibration damping column 3121 and two first vibration damping end plates 3122, wherein the first vibration damping column 3121 is embedded in the first mounting hole 221. Along the axial direction of the first vibration damping column 3121, the two first vibration damping end plates 3122 are respectively located on opposite sides of the first vibration damping column 3121, and one end of each first vibration damping end plate 3122 is connected to the first vibration damping column 3121, and the other end extends in a direction away from the first vibration damping column 3121 and substantially perpendicular to the axial direction of the first vibration damping column 3121, wherein one first vibration damping end plate 3122 is located between the first housing portion 22 and the second housing portion 23, and the other first vibration damping end plate 3122 is located on the side of the first housing portion 22 away from the second housing portion 23. The first vibration damping pad 312 is designed into the above structure, so that part of the first housing part 22 is embedded in the first vibration damping pad 312, so that the first vibration damping pad 312 can attenuate the impact or vibration of the first housing part 22 and / or the second housing part 23 from multiple degrees of freedom (such as the radial and axial directions of the first vibration damping column 3121) to achieve vibration reduction. In addition, part of the first housing part 22 is embedded in the first vibration damping pad 312, which can increase the contact area between the first housing part 22 and the first vibration damping pad 312, improve the vibration damping effect of the first vibration damping pad 312, and simplify the connection process between the first housing part 22 and the first vibration damping pad 312 without adding auxiliary structure connection. The first vibration damping column 3121 and the two first vibration damping end plates 3122 can be an integrally formed structure to simplify the assembly process of the first vibration damping pad 312.

[0052] In this exemplary embodiment, the first vibration damping member 31 may include one first vibration damping pad 312, or may include a plurality of first vibration damping pads 312. Figure 4 When the first vibration damping member 31 includes a plurality of first vibration damping pads 312, the plurality of first vibration damping pads 312 may be arranged at intervals to attenuate the vibration or impact of various parts between the first housing portion 22 and the second housing portion 23, and the vibration damping effect is more balanced. It should be noted that if the first vibration damping member 31 includes a plurality of first vibration damping pads 312, a plurality of first mounting holes 221 are provided on the first housing portion 22, the plurality of first mounting holes 221 are arranged at intervals, and each first vibration damping pad 312 is arranged in a one-to-one correspondence with each first mounting hole 221.

[0053] In another exemplary embodiment, the first vibration damping member 31 may also include the above-mentioned vibration damping ring 311 and the first vibration damping pad 312. In this case, the first vibration damping pad 312 may be located inside or outside the vibration damping ring 311. When the first vibration damping member 31 includes multiple first vibration damping pads 312, it may be designed that all the first vibration damping pads 312 are located inside the vibration damping ring 311, or it may be designed that all the vibration damping rings 312 are located outside the vibration damping ring 311. It may also be designed that some of the first vibration damping pads 312 are located inside the vibration damping ring 311, and some of the first vibration damping pads 312 are located outside the vibration damping ring 311. The design may be flexibly combined with actual needs and is not limited to this. In the embodiments of the present application, refer to Figure 5 and Figure 6 The first vibration damping pad 312 is located outside the vibration damping ring 311, so that the vibration damping ring 311 can be designed as close as possible to the inner edge line of the interface between the first shell part 22 and the second shell part 23, thereby increasing the distance between the vibration damping ring 311 and the outer edge line of the interface, increasing the difficulty of water vapor entering the vibration damping ring 311, and improving the sealing performance of the laser radar 1.

[0054] See also Figure 6 The first vibration damping structure 30 also includes a first adjusting member 32, which connects the first housing portion 22 and the second housing portion 23. The first adjusting member 32 is adjustably connected to at least one of the first housing portion 22 and the second housing portion 23, so that the distance between the first housing portion 22 and the second housing portion 23 is adjustable, thereby being able to adjust the stiffness of the first vibration damping member 31.

[0055] Since at least part of the first vibration damper 31 is located between the first housing portion 22 and the second housing portion 23, the adjustable spacing between the first housing portion 22 and the second housing portion 23 can achieve adjustable pressure on the first vibration damper 31, and achieve adjustable stiffness of the first vibration damper 31, so that the laser radar 1 can be adapted to more usage scenarios. That is, in the embodiment of the present application, only the first adjustment member 32 is designed to be adjustable with at least one of the first housing portion 22 and the second housing portion 23, so that the stiffness of the first vibration damper 31 can be adjusted, so that the laser radar 1 can be adapted to more usage scenarios, and the structure of the laser radar 1 is simple and the stiffness of the first vibration damper 31 is easy to adjust.

[0056] It is understandable that the spacing between the first housing portion 22 and the second housing portion 23 is adjustable, so that the pressure of the vibration-damping ring 311 and the first vibration-damping pad 312 can be adjusted. That is, by only designing the first adjusting member 32 to be adjustable with at least one of the first housing portion 22 and the second housing portion 23, the stiffness of the vibration-damping ring 311 and the first vibration-damping pad 312 can be adjusted, and the stiffness adjustment speed of the first vibration-damping member 31 can be accelerated.

[0057] It should be noted that the greater the degree of pressure on the vibration-damping ring 311, the tighter the contact between it and the first shell part 22 and the second shell part 23, and the better the sealing effect. At this time, the laser radar 1 can be used in environments with high waterproof requirements or in environments with low waterproof requirements. The smaller the degree of pressure on the vibration-damping ring 311, the looser the contact between it and the first shell part 22 and the second shell part 23, and the general sealing effect. At this time, the laser radar 1 can be used in environments with low waterproof requirements. The first adjustment member 32 can be adjusted in combination with the actual use scenario so that the first vibration-damping member 31 meets the stiffness requirements and the vibration-damping ring 311 meets the sealing requirements.

[0058] The above-mentioned first adjusting member 32 is adjustably connected to at least one of the first shell part 22 and the second shell part 23. The first adjusting member 32 can be adjustably connected to the first shell part 22 of the first shell part 22 and the second shell part 23, or the first adjusting member 32 can be adjustably connected to the second shell part 23 of the first shell part 22 and the second shell part 23, or the first adjusting member 32 can be adjustably connected to both the first shell part 22 and the second shell part 23.

[0059] Among them, when the first adjusting member 32 is adjustably connected to one of the first housing part 22 and the second housing part 23, the first adjusting member 32 and the other of the first housing part 22 and the second housing part 23 can be fixedly connected, etc., and there is no limitation on this. If the first adjusting member 32 is adjustably connected to both the first housing part 22 and the second housing part 23, the adjustment of the first adjusting member 32 relative to the first housing part 22 and the second housing part 23 can be performed synchronously to speed up the stiffness adjustment speed of the first vibration damping member 31; if the first adjusting member 32 is adjustably connected to both the first housing part 22 and the second housing part 23, when adjusting the stiffness of the first vibration damping member 31, the first adjusting member 32 and the first housing part 22 or the second housing part 23 can also be selectively adjusted, and the selection can be flexibly made in combination with actual needs, and the applicability is wider.

[0060] It is understandable that the first adjusting member 32 can be directly connected to the first housing portion 22 and the second housing portion 23, and the first adjusting member 32 can also be connected to the first housing portion 22 and / or the second housing portion 23 through the first vibration damping member 31. For example, when the first vibration damping member 31 includes the first vibration damping pad 312 and the first housing portion 22 is provided with a first mounting hole 221, part of the first adjusting member 32 can be embedded in the first mounting hole 221, and the first vibration damping pad 312 can be sleeved on the periphery of the first adjusting member 32. In this way, the first adjusting member 32 can be connected to the first housing portion 22 by connecting with the first vibration damping pad 312, saving the connection step between the first adjusting member 32 and the first housing portion 22. Moreover, the first adjusting member 32 and the first vibration damping pad 312 are embedded in the same first mounting hole 221, which can simplify the structure of the first housing portion 22. It should be noted that the first adjustment member 32 and the first vibration-damping pad 312 may also be embedded in different first mounting holes on the first housing portion 22 to respectively achieve connection with the first housing portion 22 , and this is not limited.

[0061] It should be noted that the first adjustment member 32 can directly contact the first vibration damping pad 312, and a spacer can also be provided between the first adjustment member 32 and the first vibration damping pad 312 to reduce or even avoid the wear of the first vibration damping pad 312 when the first adjustment member 32 moves relative to at least one of the first housing portion 22 and the second housing portion 23, thereby extending the service life of the first vibration damping pad 312. Specifically, the first vibration damping structure 30 also includes a first rigid member 33, at least part of which is embedded in the first mounting hole 221, the first rigid member 33 is sleeved on the periphery of the first adjustment member 32, and the first vibration damping pad 312 is sleeved on the periphery of the first rigid member 33. The first rigid member 33 is made of a rigid material, has a stable structure and is not easily deformed, and can reduce or even avoid the wear of the first vibration damping pad 312 by the first adjustment member 32.

[0062] Furthermore, the first rigid member 33 includes a first rigid column 331 and a first rigid end plate 332. The first rigid column 331 is sleeved on the periphery of the first adjustment member 32, and the first vibration damping pad 312 is sleeved on the periphery of the first rigid column 331. The first rigid end plate 332 is located on the side of the first vibration damping pad 312 away from the second housing portion 23. One end of the first rigid end plate 332 is connected to the first rigid column 331, and the other end extends in a direction away from the first rigid column 331 and substantially perpendicular to the axial direction of the first rigid column 331. The first rigid column 331 can reduce or even avoid the wear of the inner wall surface of the first vibration damping pad 312 by the first adjustment member 32, and the first rigid end plate 332 can reduce or even avoid the wear of the end surface of the first vibration damping pad 312 away from the second housing portion 23 by the first adjustment member 32, thereby extending the service life of the first vibration damping pad 312.

[0063] Moreover, the first rigid end plate 332 is located on the side of the first vibration damping pad 312 away from the second shell portion 23. When the first adjusting member 32 is adjusted relative to at least one of the first shell portion 22 and the second shell portion 23, a force can also be applied to the first vibration damping pad 312 through the first rigid end plate 332. Compared with the first adjusting member 32, the area of ​​the first rigid end plate 332 can be designed to be larger, and the contact area with the first vibration damping pad 312 is larger, so that the force applied to the first vibration damping pad 312 can be more balanced.

[0064] Optionally, the projection of the end surface of the first vibration damping pad 312 that fits the first rigid end plate 332 within the first rigid end plate 332 can be located inside the first rigid end plate 332, or, the outer contour line of the projection of the end surface of the first vibration damping pad 312 that fits the first rigid end plate 332 within the first rigid end plate 332 can roughly coincide with the outer contour line of the first rigid end plate 332, so that the first rigid end plate 332 is more matched with the first vibration damping pad 312.

[0065] The first rigid end plate 332 and the first rigid column 331 may be detachably connected or integrally formed. In the embodiment of the present application, the first rigid end plate 332 and the first rigid column 331 are integrally formed to simplify the assembly process of the first rigid member 33 .

[0066] The adjustable connection between the first adjusting member 32 and at least one of the first housing portion 22 and the second housing portion 23 may be a snap connection, a threaded connection, etc., which is not limited. In the embodiment of the present application, the adjustable connection is a threaded connection to make the adjustment easy to operate.

[0067] See also Figure 6In an exemplary solution, the first adjusting member 32 may include a first screw 321, the head of the first screw 321 is located on the side of the first housing portion 22 away from the second housing portion 23, and the rod of the first screw 321 passes through the first housing portion 22 and is threadedly connected to the second housing portion 23. In this way, rotating the first screw 321 in one direction can achieve the tightening of the first screw 321 and the second housing portion 23, and under the push of the head of the first screw 321, the distance between the first housing portion 22 and the second housing portion 23 can be shortened, so that the stiffness of the first vibration damping pad 312 can be adjusted; rotating the first screw 321 in another direction can achieve the loosening of the first screw 321 and the second housing portion 23, and the pressure on the first vibration damping pad 312 is reduced so that it can be stretched out, and the stiffness of the first vibration damping pad 312 can also be adjusted. That is, in actual use, by rotating the first screw 321 to tighten or loosen it relative to the second housing portion 23, the first vibration damping pad 312 can be adjusted to the required stiffness. The head of the first screw 321 is arranged at the side of the first housing portion 22 away from the second housing portion 23 , so as to avoid the head of the first screw 321 hindering the connection between the second mounting plate 23 and the device body 3 .

[0068] It should be noted that the number of first adjusting parts 32 and the number of first rigid parts 33 can be equal to the number of first vibration damping pads 312 , and each first rigid part 33 is sleeved on the periphery of each first adjusting part 32 , and each first vibration damping pad 312 is sleeved on the periphery of each first rigid part 33 .

[0069] See also Figures 7 to 9 The laser radar 1 may further include a second vibration reduction structure 40 , at least a portion of which is located between the first housing portion 22 and the movement module 10 to attenuate vibration transmission between the first housing portion 22 and the movement module 10 .

[0070] The second vibration reduction structure 40 may be any device having vibration reduction performance, and is not limited thereto. Fig.10 The second vibration damping structure 40 includes a second vibration damping pad 41. The movement module 10 is provided with a second mounting hole 14. Part of the second vibration damping pad 41 is embedded in the second mounting hole 14. Part of the second vibration damping pad 41 is located between the movement module 10 and the first housing portion 22 to attenuate the vibration transmission between the movement module 10 and the first housing portion 22. The second vibration damping pad 41 is an elastic member that can achieve a vibration damping effect; for example, the second vibration damping pad 41 can be made of elastic materials such as rubber, which is not limited thereto.

[0071] The second vibration damping pad 41 is only arranged corresponding to the second mounting hole 14 of the movement module 10, and has a compact structure and a more flexible design. Moreover, the second vibration damping pad 41 is partially embedded in the second mounting hole 14 of the movement module 10. On the one hand, the connection reliability between the second vibration damping pad 41 and the movement module 10 can be improved. On the other hand, the second mounting hole 14 can also position the installation of the second vibration damping pad 41 on the movement module 10, which is beneficial to improve the assembly positioning accuracy and assembly speed between the second vibration damping pad 41 and the movement module 10. It should be noted that the movement module 10 may include a fixing seat 15, and the optical system, scanning system, etc. can be arranged on the fixing seat 15, and the fixing seat 15 can be provided with a second mounting hole 14.

[0072] Optionally, the second vibration damping pad 41 may include a second vibration damping column 411 and two second vibration damping end plates 412, and the second vibration damping column 411 is embedded in the second mounting hole 14. Along the axial direction of the second vibration damping column 411, the two second vibration damping end plates 412 are respectively located on opposite sides of the second vibration damping column 411, and one end of each second vibration damping end plate 412 is connected to the second vibration damping column 411, and the other end extends in a direction away from the second vibration damping column 411 and substantially perpendicular to the axial direction of the second vibration damping column 411, wherein one second vibration damping end plate 412 is located between the movement module 10 (e.g., the fixing seat 15) and the first housing portion 22, and the other second vibration damping end plate 412 is located on the side of the movement module 10 away from the first housing portion 22. The second vibration damping pad 41 is designed into the above structure, so that part of the movement module 10 is embedded in the second vibration damping pad 41, so that the second vibration damping pad 41 can attenuate the impact or vibration of the movement module 10 and / or the first housing portion 22 from multiple degrees of freedom (such as the radial and axial directions of the second vibration damping column 411) to achieve vibration reduction. In addition, part of the movement module 10 is embedded in the second vibration damping pad 41, which can increase the contact area between the movement module 10 and the second vibration damping pad 41, improve the vibration damping effect of the second vibration damping pad 41, and simplify the connection process between the movement module 10 and the second vibration damping pad 41 without adding auxiliary structure connection. The second vibration damping column 411 and the two second vibration damping end plates 412 can be an integrally formed structure to simplify the assembly process of the second vibration damping pad 41.

[0073] The second vibration damping structure 40 may include one second vibration damping pad 41, or may include a plurality of second vibration damping pads 41. Figure 7 and Figure 8When the second vibration damping structure 40 includes a plurality of second vibration damping pads 41, the plurality of second vibration damping pads 41 can be arranged at intervals to attenuate the vibration or impact of various parts between the movement module 10 and the first housing portion 22, and the vibration damping effect is more balanced. It should be noted that if the second vibration damping structure 40 includes a plurality of second vibration damping pads 41, a plurality of second mounting holes 14 are provided on the movement module 10, and the plurality of second mounting holes 14 are arranged at intervals, and each second vibration damping pad 41 is arranged in a one-to-one correspondence with each second mounting hole 14.

[0074] See also Fig.10 , the second vibration damping structure 40 also includes a second adjusting member 42, the second adjusting member 42 is connected to the movement module 10 and the first housing portion 22, and the second adjusting member 42 is adjustable to at least one of the movement module 10 and the first housing portion 22, so that the distance between the movement module 10 and the first housing portion 22 is adjustable. Since at least part of the second vibration damping pad 41 is located between the movement module 10 and the first housing portion 22, the adjustable distance between the movement module 10 and the first housing portion 22 can achieve the adjustable degree of pressure on the second vibration damping pad 41, and the adjustable stiffness of the second vibration damping pad 41, so that the laser radar 1 can adapt to more usage scenarios. That is, in the embodiment of the present application, only the second adjusting member 42 is designed to be adjustable to at least one of the movement module 10 and the first housing portion 22, so that the stiffness of the second vibration damping pad 41 can be adjusted, so that the laser radar 1 can adapt to more usage scenarios, and the structure of the laser radar 1 is simple and the stiffness of the second vibration damping pad 41 is easy to adjust.

[0075] The above-mentioned second adjustment member 42 is adjustably connected to at least one of the movement module 10 and the first housing portion 22. The second adjustment member 42 can be adjustably connected to the movement module 10 in the movement module 10 and the first housing portion 22, or the second adjustment member 42 can be adjustably connected to the first housing portion 22 in the movement module 10 and the first housing portion 22, or the second adjustment member 42 can be adjustably connected to both the movement module 10 and the first housing portion 22.

[0076] Among them, when the second adjusting member 42 is adjustably connected to one of the movement module 10 and the first housing portion 22, the second adjusting member 42 and the other of the movement module 10 and the first housing portion 22 can be fixedly connected, etc., and there is no limitation on this. If the second adjusting member 42 is adjustably connected to both the movement module 10 and the first housing portion 22, the adjustment of the second adjusting member 42 relative to the movement module 10 and the first housing portion 22 can be performed simultaneously to speed up the stiffness adjustment speed of the second vibration damping pad 41; if the second adjusting member 42 is adjustably connected to both the movement module 10 and the first housing portion 22, when adjusting the stiffness of the second vibration damping pad 41, the second adjusting member 42 and the movement module 10 or the first housing portion 22 can also be selectively adjusted, and can be flexibly selected in combination with actual needs, with wider applicability.

[0077] It can be understood that the second adjusting member 42 can be directly connected to the movement module 10 and the first housing portion 22, and the second adjusting member 42 can also be connected to the movement module 10 and / or the first housing portion 22 through the second vibration damping pad 41. For example, when the second vibration damping structure 40 includes the second vibration damping pad 41 and the movement module 10 is provided with a second mounting hole 14, part of the second adjusting member 42 can be embedded in the second mounting hole 14, and the second vibration damping pad 41 can be sleeved on the periphery of the second adjusting member 42. In this way, the second adjusting member 42 can be connected to the movement module 10 by connecting with the second vibration damping pad 41, saving the connection step between the second adjusting member 42 and the movement module 10. And the second adjusting member 42 and the second vibration damping pad 41 are embedded in the same second mounting hole 14, which can simplify the structure of the movement module 10. It should be noted that the second adjusting member 42 and the second vibration-damping pad 41 may also be embedded in different first mounting holes on the movement module 10 to respectively realize connection with the movement module 10 , and this is not limited.

[0078] It should be noted that the second adjustment member 42 can directly contact the second vibration damping pad 41, and a spacer can also be provided between the second adjustment member 42 and the second vibration damping pad 41 to reduce or even avoid the wear of the second vibration damping pad 41 when the second adjustment member 42 moves relative to at least one of the movement module 10 and the first housing portion 22, thereby extending the service life of the second vibration damping pad 41. Specifically, the second vibration damping structure 40 also includes a second rigid member 43, at least part of which is embedded in the second mounting hole 14, the second rigid member 43 is sleeved on the periphery of the second adjustment member 42, and the second vibration damping pad 41 is sleeved on the periphery of the second rigid member 43. The second rigid member 43 is made of a rigid material, has a stable structure and is not easily deformed, and can reduce or even avoid the wear of the second vibration damping pad 41 by the second adjustment member 42.

[0079] Furthermore, the second rigid member 43 includes a second rigid column 431 and a second rigid end plate 432. The second rigid column 431 is sleeved on the periphery of the second adjustment member 42, and the second vibration damping pad 41 is sleeved on the periphery of the second rigid column 431. The second rigid end plate 432 is located on the side of the second vibration damping pad 41 away from the first housing portion 22. One end of the second rigid end plate 432 is connected to the second rigid column 431, and the other end extends in a direction away from the second rigid column 431 and substantially perpendicular to the axial direction of the second rigid column 431. The second rigid column 431 can reduce or even avoid the wear of the second adjustment member 42 on the inner wall surface of the second vibration damping pad 41, and the second rigid end plate 432 can reduce or even avoid the wear of the second adjustment member 42 on the end surface of the second vibration damping pad 41 away from the first housing portion 22, thereby extending the service life of the second vibration damping pad 41.

[0080] Moreover, the second rigid end plate 432 is located on the side of the second vibration damping pad 41 away from the first housing portion 22. When the second adjusting member 42 is adjusted relative to at least one of the movement module 10 and the first housing portion 22, a force can also be applied to the second vibration damping pad 41 through the second rigid end plate 432. Compared with the second adjusting member 42, the area of ​​the second rigid end plate 432 can be designed to be larger, and the contact area with the second vibration damping pad 41 is larger, so that the force applied to the second vibration damping pad 41 can be more balanced.

[0081] Optionally, the projection of the end surface of the second vibration damping pad 41 that fits into the second rigid end plate 432 within the second rigid end plate 432 can be located inside the second rigid end plate 432, or, the outer contour line of the projection of the end surface of the second vibration damping pad 41 that fits into the second rigid end plate 432 within the second rigid end plate 432 can roughly coincide with the outer contour line of the second rigid end plate 432, so that the second rigid end plate 432 is more matched with the second vibration damping pad 41.

[0082] The second rigid end plate 432 and the second rigid column 431 may be detachably connected or integrally formed. In the embodiment of the present application, the second rigid end plate 432 and the second rigid column 431 are integrally formed to simplify the assembly process of the second rigid member 43 .

[0083] The second adjusting member 42 is adjustable to at least one of the movement module 10 and the first housing portion 22, and the adjustable connection may be a snap connection, a threaded connection, etc., which is not limited thereto. In the embodiment of the present application, the adjustable connection is a threaded connection to make the adjustment easy to operate.

[0084] See also Fig.10In an exemplary solution, the second adjusting member 42 may include a second screw 421, the head of the second screw 421 is located on the side of the movement module 10 away from the first housing portion 22, and the rod of the second screw 421 passes through the movement module 10 and is threadedly connected to the first housing portion 22. In this way, rotating the second screw 421 in one direction can achieve the tightening of the second screw 421 and the first housing portion 22, and under the push of the head of the second screw 421, the distance between the movement module 10 and the first housing portion 22 can be shortened, so that the stiffness of the second vibration damping pad 41 can be adjusted; rotating the second screw 421 in another direction can achieve the loosening of the second screw 421 and the first housing portion 22, and the pressure on the second vibration damping pad 41 is reduced so that it can be stretched out, and the stiffness of the second vibration damping pad 41 can also be adjusted. That is, in actual use, by rotating the second screw 421 to tighten or loosen it relative to the first housing portion 22, the second vibration damping pad 41 can be adjusted to the required stiffness. The head of the second screw 421 is arranged on the side of the movement module 10 away from the first housing portion 22 , so as to avoid the head of the second screw 421 hindering the connection between the second mounting plate 23 and the device body 3 .

[0085] It should be noted that the number of second adjusting members 42 and the number of second rigid members 43 can be equal to the number of second vibration damping pads 41 , and each second rigid member 43 is sleeved on the periphery of each second adjusting member 42 , and each second vibration damping pad 41 is sleeved on the periphery of each second rigid member 43 .

[0086] See also Fig.10 The first housing portion 22 may also be provided with a first boss 222 at the second vibration damping pad 41, and the second adjusting member 42 may be connected to the first housing portion 22. The first boss 222 is provided to facilitate the installation and positioning of the movement module 10 in the first housing portion 22. On the other hand, the second adjusting member 42 is connected to the first boss 222, which can shorten the distance between the two connected structures and make the connection more convenient, compared with the second adjusting member being directly connected to the first housing portion.

[0087] See also Fig.11 and Fig.12 The laser radar 1 may further include a third vibration reduction structure 50 , at least a portion of which is located between the second shell portion 23 and the device body 3 to attenuate vibration transmission between the second shell portion 23 and the device body 3 .

[0088] The third vibration reduction structure 50 may be any device having vibration reduction performance, and is not limited thereto. Fig.12The third vibration damping structure 50 includes a third vibration damping pad 51. The second housing portion 23 is provided with a third mounting hole 231. Part of the third vibration damping pad 51 is embedded in the third mounting hole 231. Part of the third vibration damping pad 51 is located between the second housing portion 23 and the device body 3 to attenuate the vibration transmission between the second housing portion 23 and the device body 3. The third vibration damping pad 51 is an elastic member that can achieve a vibration damping effect; for example, the third vibration damping pad 51 can be made of elastic materials such as rubber, which is not limited thereto.

[0089] The third vibration damping pad 51 is only provided corresponding to the third mounting hole 231 of the second housing portion 23, and has a compact structure and a more flexible design. Moreover, by partially embedding the third vibration damping pad 51 in the third mounting hole 231 of the second housing portion 23, on the one hand, the connection reliability between the third vibration damping pad 51 and the second housing portion 23 can be improved, and on the other hand, the third mounting hole 231 can also position the installation of the third vibration damping pad 51 on the second housing portion 23, which is conducive to improving the assembly positioning accuracy and assembly speed between the third vibration damping pad 51 and the second housing portion 23. It should be noted that a fixing plate 232 may be provided on the periphery of the second housing portion 23, and a third mounting hole 231 may be provided on the fixing plate 232. The fixing plate 232 and the second housing portion 23 may be an integrally formed structure or a detachable connection, and can be flexibly designed in accordance with actual needs.

[0090] Optionally, the third vibration damping pad 51 may include a third vibration damping column 511 and two third vibration damping end plates 512, and the third vibration damping column 511 is embedded in the third mounting hole 231. Along the axial direction of the third vibration damping column 511, the two third vibration damping end plates 512 are respectively located on opposite sides of the third vibration damping column 511, and one end of each third vibration damping end plate 512 is connected to the third vibration damping column 511, and the other end extends in a direction away from the third vibration damping column 511 and substantially perpendicular to the axial direction of the third vibration damping column 511, wherein one third vibration damping end plate 512 is located between the second housing portion 23 (e.g., the fixing plate 232) and the device body 3, and the other third vibration damping end plate 512 is located on the side of the second housing portion 23 away from the device body 3. The third vibration damping pad 51 is designed into the above structure, so that part of the second housing part 23 is embedded in the third vibration damping pad 51, so that the third vibration damping pad 51 can attenuate the impact or vibration of the second housing part 23 and / or the device body 3 from multiple degrees of freedom (such as the radial and axial directions of the third vibration damping column 511) to achieve vibration reduction. In addition, the part of the second housing part 23 is embedded in the third vibration damping pad 51, which can increase the contact area between the second housing part 23 and the third vibration damping pad 51, improve the vibration damping effect of the third vibration damping pad 51, and simplify the connection process between the second housing part 23 and the third vibration damping pad 51 without adding auxiliary structure connection. The third vibration damping column 511 and the two third vibration damping end plates 512 can be an integrally formed structure to simplify the assembly process of the third vibration damping pad 51.

[0091] The third vibration damping structure 50 may include one third vibration damping pad 51, or may include a plurality of third vibration damping pads 51. Fig.11 and Fig.12 When the third vibration damping structure 50 includes a plurality of third vibration damping pads 51, the plurality of third vibration damping pads 51 may be arranged at intervals to attenuate vibration or impact of various parts between the second housing portion 23 and the device body 3, and the vibration damping effect is more balanced. It should be noted that if the third vibration damping structure 50 includes a plurality of third vibration damping pads 51, a plurality of third mounting holes 231 are provided on the second housing portion 23, the plurality of third mounting holes 231 are arranged at intervals, and each third vibration damping pad 51 is arranged in a one-to-one correspondence with each third mounting hole 231.

[0092] See also Fig.12 , the third vibration damping structure 50 also includes a third adjusting member 52, the third adjusting member 52 is connected to the second housing portion 23 and the device body 3, and the third adjusting member 52 is adjustably connected to at least one of the second housing portion 23 and the device body 3, so that the distance between the second housing portion 23 and the device body 3 is adjustable. Since at least part of the third vibration damping pad 51 is located between the second housing portion 23 and the device body 3, the adjustable distance between the second housing portion 23 and the device body 3 can achieve the adjustable degree of pressure on the third vibration damping pad 51, and achieve the adjustable stiffness of the third vibration damping pad 51, so that the laser radar 1 can adapt to more usage scenarios. That is, in the embodiment of the present application, only the third adjusting member 52 is designed to be adjustable with at least one of the second housing portion 23 and the device body 3, so that the stiffness of the third vibration damping pad 51 can be adjusted, so that the laser radar 1 can adapt to more usage scenarios, and the structure of the laser radar 1 is simple and the stiffness of the third vibration damping pad 51 is easy to adjust.

[0093] The third adjusting member 52 may be adjustably connected to at least one of the second shell portion 23 and the device body 3. The third adjusting member 52 may be adjustably connected to the second shell portion 23 and the second shell portion 23 of the device body 3. The third adjusting member 52 may be adjustably connected to the second shell portion 23 and the device body 3. The third adjusting member 52 may be adjustably connected to the device body 3 of the second shell portion 23 and the device body 3. The third adjusting member 52 may also be adjustably connected to both the second shell portion 23 and the device body 3.

[0094] Among them, when the third adjusting member 52 is adjustably connected to one of the second housing portion 23 and the device body 3, the third adjusting member 52 and the other of the second housing portion 23 and the device body 3 can be fixedly connected, etc., and there is no limitation on this. If the third adjusting member 52 is adjustably connected to both the second housing portion 23 and the device body 3, the adjustment of the third adjusting member 52 relative to the second housing portion 23 and the device body 3 can be performed synchronously to speed up the stiffness adjustment speed of the third vibration damping pad 51; if the third adjusting member 52 is adjustably connected to both the second housing portion 23 and the device body 3, when adjusting the stiffness of the third vibration damping pad 51, the third adjusting member 52 and the second housing portion 23 or the device body 3 can also be selectively adjusted, which can be flexibly selected according to actual needs, and has a wider applicability.

[0095] It can be understood that the third adjusting member 52 can be directly connected to the second housing portion 23 and the device body 3, and the third adjusting member 52 can also be connected to the second housing portion 23 and / or the device body 3 through the third vibration damping pad 51. For example, when the third vibration damping structure 50 includes the third vibration damping pad 51 and the second housing portion 23 is provided with a third mounting hole 231, part of the third adjusting member 52 can be embedded in the third mounting hole 231, and the third vibration damping pad 51 can be sleeved on the periphery of the third adjusting member 52. In this way, the third adjusting member 52 can be connected to the second housing portion 23 by connecting with the third vibration damping pad 51, saving the connection step between the third adjusting member 52 and the second housing portion 23. And the third adjusting member 52 and the third vibration damping pad 51 are embedded in the same third mounting hole 231, which can simplify the structure of the second housing portion 23. It should be noted that the third adjusting member 52 and the third vibration damping pad 51 can also be embedded in different first mounting holes on the second housing portion 23 to respectively achieve connection with the second housing portion 23, and this is not limited.

[0096] It should be noted that the third adjusting member 52 can directly contact the third vibration damping pad 51, and a spacer can also be provided between the third adjusting member 52 and the third vibration damping pad 51 to reduce or even avoid the wear of the third vibration damping pad 51 when the third adjusting member 52 is adjusted relative to at least one of the second housing portion 23 and the device body 3, thereby extending the service life of the third vibration damping pad 51. Specifically, the third vibration damping structure 50 also includes a third rigid member 53, at least part of which is embedded in the third mounting hole 231, the third rigid member 53 is sleeved on the periphery of the third adjusting member 52, and the third vibration damping pad 51 is sleeved on the periphery of the third rigid member 53. The third rigid member 53 is made of a rigid material, has a stable structure and is not easily deformed, and can reduce or even avoid the wear of the third vibration damping pad 51 by the third adjusting member 52.

[0097] Further, the third rigid member 53 includes a third rigid column 531 and a third rigid end plate 532, the third rigid column 531 is sleeved on the periphery of the third adjustment member 52, and the third vibration damping pad 51 is sleeved on the periphery of the third rigid column 531. The third rigid end plate 532 is located on the side of the third vibration damping pad 51 away from the device body 3, one end of the third rigid end plate 532 is connected to the third rigid column 531, and the other end extends in a direction away from the third rigid column 531 and substantially perpendicular to the axial direction of the third rigid column 531. The third rigid column 531 can reduce or even avoid the wear of the inner wall surface of the third vibration damping pad 51 by the third adjustment member 52, and the third rigid end plate 532 can reduce or even avoid the wear of the end surface of the third vibration damping pad 51 away from the device body 3 by the third adjustment member 52, thereby extending the service life of the third vibration damping pad 51.

[0098] Moreover, the third rigid end plate 532 is located on the side of the third vibration damping pad 51 away from the equipment main body 3. When the third adjusting member 52 is adjusted relative to at least one of the second shell portion 23 and the equipment main body 3, a force can also be applied to the third vibration damping pad 51 through the third rigid end plate 532. Compared with the third adjusting member 52, the area of ​​the third rigid end plate 532 can be designed to be larger, and the contact area with the third vibration damping pad 51 is larger, so that the force applied to the third vibration damping pad 51 can be more balanced.

[0099] Optionally, the projection of the end surface of the third vibration damping pad 51 that fits the third rigid end plate 532 within the third rigid end plate 532 can be located inside the third rigid end plate 532, or, the outer contour line of the projection of the end surface of the third vibration damping pad 51 that fits the third rigid end plate 532 within the third rigid end plate 532 can roughly coincide with the outer contour line of the third rigid end plate 532, so that the third rigid end plate 532 is more matched with the third vibration damping pad 51.

[0100] The third rigid end plate 532 and the third rigid column 531 may be detachably connected or integrally formed. In the embodiment of the present application, the third rigid end plate 532 and the third rigid column 531 are integrally formed to simplify the assembly process of the third rigid member 53 .

[0101] In the adjustable connection between the third adjusting member 52 and at least one of the second housing portion 23 and the device body 3, the adjustable connection may be a snap connection, a threaded connection, etc., which is not limited. In the embodiment of the present application, the adjustable connection is a threaded connection to make the adjustment easy to operate.

[0102] See also Fig.12In an exemplary solution, the third adjusting member 52 may include a third screw 521, the head of the third screw 521 is located on the side of the second housing portion 23 away from the device body 3, and the rod of the third screw 521 passes through the second housing portion 23 and is threadedly connected to the device body 3. In this way, the third screw 521 can be rotated in one direction to tighten the third screw 521 and the device body 3. Under the push of the head of the third screw 521, the distance between the second housing portion 23 and the device body 3 can be shortened, so that the stiffness of the third vibration damping pad 51 can be adjusted; the third screw 521 can be rotated in another direction to loosen the third screw 521 and the device body 3, and the pressure on the third vibration damping pad 51 is reduced so that it can be stretched out, and the stiffness of the third vibration damping pad 51 can also be adjusted. That is, in actual use, by rotating the third screw 521 to tighten or loosen it relative to the device body 3, the third vibration damping pad 51 can be adjusted to the required stiffness. The head of the third screw 521 is arranged on the side of the second housing portion 23 away from the device body 3 , so as to avoid the head of the third screw 521 hindering the connection between the second mounting plate 23 and the device body 3 .

[0103] It should be noted that the number of third adjusting parts 52 and the number of third rigid parts 53 can be equal to the number of third vibration damping pads 51, and each third rigid part 53 is sleeved on the periphery of each third adjusting part 52, and each third vibration damping pad 51 is sleeved on the periphery of each third rigid part 53.

[0104] See also Fig.12 The device body 3 may also be provided with a second boss 301 at the third vibration damping pad 51, and the third adjusting member 52 may be connected to the device body 3 so that the third adjusting member 52 is connected to the second boss 301. The second boss 301 is provided to facilitate the installation and positioning of the second housing portion 23 in the device body 3, and the third adjusting member 52 is connected to the second boss 301. Compared with the direct connection of the third adjusting member to the device body, the distance between the two connected structures can be shortened, and the connection is more convenient.

[0105] It should be noted that the laser radar 1 of the embodiment of the present application may include at least one of the first vibration reduction structure 30, the second vibration reduction structure 40, and the third vibration reduction structure 50, and may be flexibly designed in combination with actual needs. For example, the laser radar 1 may include only the first vibration reduction structure 30; the laser radar 1 may include only the second vibration reduction structure 40; the laser radar 1 may include only the third vibration reduction structure 50; the laser radar 1 may include the first vibration reduction structure 30 and the second vibration reduction structure 40; the laser radar 1 may include the first vibration reduction structure 30 and the third vibration reduction structure 50; the laser radar 1 may include the second vibration reduction structure 40 and the third vibration reduction structure 50; the laser radar 1 may include the first vibration reduction structure 30, the second vibration reduction structure 40, and the third vibration reduction structure 50, and so on. The more the laser radar 1 includes the first vibration reduction structure 30, the second vibration reduction structure 40, and the third vibration reduction structure 50, the better the vibration reduction effect of the laser radar 1 when it is used.

[0106] Optionally, see Fig.13 , the elastic center b of the first vibration damping structure 30 roughly coincides with the projection of the total center of mass c of the core module 10 and the first housing part 22 on the installation plane of the laser radar 1. Among them, the total center of mass c is the center of mass of the core module 10 and the first housing part 22, and is an imaginary point where the mass of the core module 10 and the first housing part 22 is concentrated. The elastic center b of the first vibration damping structure 30 is determined by the stiffness and geometric distribution position of the first vibration damping member 31. In theory, if the elastic center b of the first vibration damping structure 30 roughly coincides with the projection of the total center of mass c of the core module 10 and the first housing part 22 on the installation plane of the laser radar 1, the vibration of the core module 10 and the first housing part 22 in the direction perpendicular to the movement of the installation plane can be decoupled. Among them, the vibration decoupling of the core module 10 and the first housing part 22 in the direction perpendicular to the movement of the installation plane means that the free vibration of the core module 10 and the first housing part 22 in the direction perpendicular to the installation plane of the laser radar 1 is independent of the free vibration in other directions.

[0107] Furthermore, the elastic center b of the first vibration reduction structure 30 can roughly coincide with the total center of mass c of the movement module 10 and the first housing portion 22. The vibration solution of the movement module 10 and the first housing portion 22 in the six degrees of freedom can be reduced, which can further reduce the relative displacement and rotation angle of the optical system and the scanning system 13, and solve the NVH problem caused by vibration. Among them, the vibration solution of the movement module 10 and the first housing portion 22 in the six degrees of freedom means that the free vibration of the movement module 10 and the first housing portion 22 in any degree of freedom direction is independent of the free vibration in another degree of freedom direction.

[0108] The six degrees of freedom may include a first degree of freedom of movement, a second degree of freedom of movement, a third degree of freedom of movement, a first degree of rotational freedom, a second degree of rotational freedom, and a third degree of rotational freedom; the first degree of freedom of movement, the second degree of freedom of movement, and the third degree of freedom of movement are perpendicular to each other, the first degree of rotational freedom is arranged around the direction of the first degree of freedom of movement, the second degree of rotational freedom is arranged around the direction of the second degree of freedom of movement, and the third degree of rotational freedom is arranged around the direction of the third degree of freedom of movement. The first degree of freedom of movement and the second degree of freedom of movement may be degrees of freedom in a horizontal plane.

[0109] The elastic center b of the first vibration damping structure 30 roughly coincides with the total mass center c of the movement module 10 and the first housing portion 22, and the support center a of the first vibration damping structure 30 and the total mass center c of the movement module 10 and the first housing portion 22 can also be roughly located in the same horizontal plane, thereby optimizing the layout position of the first vibration damping member 31 in the first vibration damping structure 30. The installation plane can be parallel to the horizontal plane.

[0110] It should be noted that simulation methods can be used to determine whether the elastic center b of the first vibration damping structure 30 coincides with the projection of the total center of mass c of the movement module 10 and the first shell part 22 on the installation plane of the laser radar 1, whether the elastic center b of the first vibration damping structure 30 coincides with the total center of mass c of the movement module 10 and the first shell part 22, and whether the support center a of the first vibration damping structure 30 is located in the same horizontal plane as the total center of mass c of the movement module 10 and the first shell part 22.

[0111] Optionally, the elastic center of the second vibration reduction structure 40 roughly coincides with the projection of the center of mass of the movement module 10 on the installation plane of the laser radar 1. Among them, the center of mass of the movement module 10 is the center of mass of the movement module 10, and is an imaginary point where the mass of the movement module 10 is concentrated. The elastic center of the second vibration reduction structure 40 is determined by the stiffness and geometric distribution position of the second vibration reduction pad 41. In theory, if the elastic center of the second vibration reduction structure 40 roughly coincides with the projection of the center of mass of the movement module 10 on the installation plane of the laser radar 1, the vibration of the movement module 10 in the direction perpendicular to the movement direction of the installation plane can be decoupled. Among them, the vibration decoupling of the movement module 10 in the direction perpendicular to the movement direction of the installation plane of the laser radar 1 means that the free vibration of the movement module 10 in the direction perpendicular to the installation plane of the laser radar 1 is independent of the free vibration in other directions.

[0112] Furthermore, the elastic center of the second vibration reduction structure 40 can roughly coincide with the center of mass of the movement module 10. The vibration solution of the movement module 10 in the six degrees of freedom can be reduced, and the relative displacement and rotation angle between the optical system and the scanning system 13 can be further reduced, solving the NVH problem caused by vibration. Among them, the vibration solution of the movement module 10 in the six degrees of freedom means that the free vibration of the movement module 10 in any degree of freedom direction is independent of the free vibration in another degree of freedom direction.

[0113] The elastic center of the second vibration damping structure 40 roughly coincides with the center of mass of the movement module 10 , and the support center of the second vibration damping structure 40 and the center of mass of the movement module 10 can also be roughly located in the same horizontal plane, thereby achieving an optimized design of the layout position of the second vibration damping pad 41 in the second vibration damping structure 40 .

[0114] It should be noted that simulation methods can be used to determine whether the elastic center of the second vibration damping structure 40 coincides with the projection of the center of mass of the movement module 10 on the installation plane of the laser radar 1, whether the elastic center of the second vibration damping structure 40 coincides with the center of mass of the movement module 10, and whether the support center of the second vibration damping structure 40 and the center of mass of the movement module 10 are located in the same horizontal plane.

[0115] Optionally, the elastic center of the third vibration damping structure 50 roughly coincides with the projection of the center of mass of the shell module 20 on the installation plane of the laser radar 1. The center of mass of the shell module 20 is the center of mass of the shell module 20, and is an imaginary point where the mass of the shell module 20 is concentrated. The elastic center of the third vibration damping structure 50 is determined by the stiffness and geometric distribution position of the third vibration damping pad 51. In theory, if the elastic center of the third vibration damping structure 50 roughly coincides with the projection of the center of mass of the shell module 20 on the installation plane of the laser radar 1, the vibration of the shell module 20 in the direction perpendicular to the movement of the installation plane can be decoupled. The vibration decoupling of the shell module 20 in the direction perpendicular to the movement of the installation plane of the laser radar 1 means that the free vibration of the shell module 20 in the direction perpendicular to the installation plane of the laser radar 1 is independent of the free vibration in other directions.

[0116] Furthermore, the elastic center of the third vibration reduction structure 50 can roughly coincide with the center of mass of the housing module 20. This can reduce the vibration angle of the housing module 20 in the six degrees of freedom, further reduce the relative displacement and rotation angle of the optical system and the scanning system 13, and solve the NVH problem caused by vibration. The vibration angle of the housing module 20 in the six degrees of freedom means that the free vibration of the housing module 20 in any degree of freedom direction is independent of the free vibration in another degree of freedom direction.

[0117] The elastic center of the third vibration damping structure 50 roughly coincides with the center of mass of the outer shell module 20. The support center of the third vibration damping structure 50 and the center of mass of the outer shell module 20 can also be roughly located in the same horizontal plane, thereby achieving an optimized design of the layout position of the third vibration damping pad 51 in the third vibration damping structure 50.

[0118] It should be noted that simulation methods can be used to determine whether the elastic center of the third vibration damping structure 50 coincides with the projection of the center of mass of the outer shell module 20 on the installation plane of the laser radar 1, whether the elastic center of the third vibration damping structure 50 coincides with the center of mass of the outer shell module 20, and whether the support center of the third vibration damping structure 50 and the center of mass of the outer shell module 20 are located in the same horizontal plane.

[0119] Further, at least two of the elastic center b of the first vibration damping structure 30, the elastic center of the second vibration damping structure 40, and the elastic center of the third vibration damping structure 50 may be located on the first straight line. It can be understood that, as an optional method, the first straight line is substantially perpendicular to the mounting surface of the laser radar 1 mounted on the device body 3, so that when the vibration of the second housing portion 23 at least in the degree of freedom parallel to the first straight line direction is transmitted to the first housing portion 22 and the movement module 10, the vibration can be in a decoupled state on the movement module 10, or, when the vibration of the movement module 10 at least in the degree of freedom parallel to the first straight line direction is transmitted to the first housing portion 22 and the second housing portion 23, the vibration can be in a decoupled state on the second housing portion 23, so that the vibration damping performance of the first vibration damping structure 30, the second vibration damping structure 40, and the third vibration damping structure 50 in the direction parallel to the first straight line can be designed according to the vibration excitation in the direction parallel to the first straight line, simplifying the design difficulty of the first vibration damping structure 30, the second vibration damping structure 40, and the third vibration damping structure 50.

[0120] It should be noted that the mounting surface on the device body 3 for mounting the laser radar 1 can be a horizontal plane, an inclined plane at an angle to the horizontal plane, a curved surface, etc., and can be flexibly adjusted according to actual needs, and there is no limitation on this. Among them, if the mounting surface is a horizontal plane or an inclined plane at an angle to the horizontal plane, then the mounting surface is the mounting plane of the laser radar 1; if the mounting surface is a curved surface, the mounting plane of the laser radar 1 can be a plane determined by one or more connection points that are roughly perpendicular to the laser radar 1 and the device body 3; for example, there are three connection points between the laser radar 1 and the device body 3, and the three connection points can be roughly located in the same plane, that is, the mounting plane.

[0121] Research has shown that in a single degree of freedom direction, the curve diagram of the change of the transmission rate β with the frequency ratio λ under different damping ratios ξ is as follows: Fig.14 , where the transmissibility β is the ratio of the system’s displacement response amplitude to the input displacement excitation amplitude, and the frequency ratio λ is the ratio of the excitation frequency to the system’s natural frequency, given by Fig.14It can be seen that when λ=1, β will greatly exceed 1, and resonance will occur. Therefore, when designing products, it is necessary to avoid the system's natural frequency being equal to the excitation frequency. When λ is less than 1, the vibration reduction purpose can be achieved. As λ increases, the transmission rate β becomes smaller and smaller, and the vibration reduction effect becomes better and better. Therefore, in each degree of freedom direction, the ratio λ of the excitation frequency to the natural frequency of the system can be selected to be greater than Of course, the ratio of the excitation frequency to the system natural frequency λ should not be too large. Fig.14 It can be seen that when λ>3, the vibration reduction effect increases slowly. Therefore, in each degree of freedom direction, the ratio λ of the excitation frequency to the system natural frequency can be selected to be less than or equal to 3. That is, in each degree of freedom direction, the ratio λ of the excitation frequency to the system natural frequency can be greater than And less than or equal to 3.

[0122] Specifically, for the movement module 10 and the first housing portion 22, the first vibration reduction structure 30 can satisfy: in each degree of freedom direction, the ratio λ1 of the excitation frequency of the movement module 10 and the first housing portion 22 to the system natural frequency of the movement module 10 and the first housing portion 22 can be greater than and is less than or equal to 3. For example, in each degree of freedom, the ratio of the excitation frequency to the natural frequency of the system λ1 can be 1.5, 1.7, 2, 2.5, 3, etc., there is no limitation.

[0123] Generally, in each degree of freedom direction, the excitation frequency of the movement module 10 and the first housing portion 22 can be obtained by evaluating experimental data. In order to make the ratio λ1 of the excitation frequency of the movement module 10 and the first housing portion 22 to the system natural frequency of the movement module 10 and the first housing portion 22 in each degree of freedom direction greater than and is less than or equal to 3, it can be achieved by changing the system natural frequency of the movement module 10 and the first housing portion 22. The change of the system natural frequency of the movement module 10 and the first housing portion 22 can be achieved by changing the first vibration reduction structure 30. For example, the system natural frequency can be changed by changing the stiffness, structure, geometric distribution, etc. of the first vibration reduction structure 30.

[0124] It should be noted that in each degree of freedom direction, the ratio λ1 of the excitation frequency of the movement module 10 and the first housing portion 22 to the system natural frequency of the movement module 10 and the first housing portion 22 can be equal, partially equal, or completely unequal, and can be flexibly adjusted according to actual conditions during design.

[0125] Optionally, when the ratio λ1 of the excitation frequency of the movement module 10 and the first housing portion 22 to the system natural frequency of the movement module 10 and the first housing portion 22 in each degree of freedom direction is not completely equal, it can be designed according to the installation position of the laser radar 1 and the like. For example, when the laser radar 1 is used to be installed on the device body 3 along the first linear degree of freedom direction, the first vibration reduction structure 30 can satisfy: the vibration reduction performance along the first linear degree of freedom direction is better than the vibration reduction performance in other degrees of freedom directions. Specifically, it can be reflected as follows: along the first linear degree of freedom direction, the ratio of the excitation frequency of the movement module 10 and the first housing portion 22 to the system natural frequency of the movement module 10 and the first housing portion 22 is λ11, while along other degrees of freedom directions, the ratio of the excitation frequency of the movement module 10 and the first housing portion 22 to the system natural frequency of the movement module 10 and the first housing portion 22 is λ1n, λ11>λ1n and For example, if the laser radar 1 is used to be installed on the device body 3 along the vertical direction, the first vibration reduction structure 30 can meet the following requirements: the vibration reduction performance along the vertical direction is better than the vibration reduction performance in the directions of other degrees of freedom.

[0126] Specifically, for the movement module 10, the second vibration reduction structure 40 can satisfy: in each degree of freedom direction, the ratio λ2 of the excitation frequency of the movement module 10 to the system natural frequency of the movement module 10 can be greater than and is less than or equal to 3. For example, in each degree of freedom, the ratio of the excitation frequency to the natural frequency of the system λ2 can be 1.5, 1.7, 2, 2.5, 3, etc., there is no limitation.

[0127] Generally, in each degree of freedom direction, the excitation frequency of the movement module 10 can be obtained by evaluating experimental data. In order to make the ratio λ2 of the excitation frequency of the movement module 10 to the system natural frequency of the movement module 10 in each degree of freedom direction greater than and is less than or equal to 3, it can be achieved by changing the system natural frequency of the movement module 10. The change of the system natural frequency of the movement module 10 can be achieved by changing the second vibration reduction structure 40. For example, the system natural frequency can be changed by changing the stiffness, structure, geometric distribution, etc. of the second vibration reduction structure 40.

[0128] It should be noted that in each degree of freedom direction, the ratio λ2 of the excitation frequency of the movement module 10 to the system natural frequency of the movement module 10 can be equal, partially equal, or completely unequal, and can be flexibly adjusted according to actual conditions during design.

[0129] Optionally, when the ratio λ2 of the excitation frequency of the movement module 10 to the system natural frequency of the movement module 10 is not completely equal in each degree of freedom direction, it can be designed according to the installation position of the laser radar 1, etc. For example, when the laser radar 1 is used to be installed on the device body 3 along the first linear degree of freedom direction, the second vibration reduction structure 40 can satisfy: the vibration reduction performance along the first linear degree of freedom direction is better than the vibration reduction performance in other degrees of freedom directions. Specifically, it can be reflected as follows: along the first linear degree of freedom direction, the ratio of the excitation frequency of the movement module 10 to the system natural frequency of the movement module 10 is λ21, and along other degrees of freedom directions, the ratio of the excitation frequency of the movement module 10 to the system natural frequency of the movement module 10 is λ2n, λ21>λ2n and For example, if the laser radar 1 is used to be installed on the device body 3 along the vertical direction, the second vibration reduction structure 40 can meet the following requirements: the vibration reduction performance along the vertical direction is better than the vibration reduction performance in the directions of other degrees of freedom.

[0130] Specifically, for the housing module 20, the third vibration reduction structure 50 can satisfy: in each degree of freedom direction, the ratio λ3 of the excitation frequency of the housing module 20 to the system natural frequency of the housing module 20 can be greater than and is less than or equal to 3. For example, in each degree of freedom, the ratio of the excitation frequency to the natural frequency of the system λ3 can be 1.5, 1.7, 2, 2.5, 3, etc., there is no limitation.

[0131] Generally, in each degree of freedom direction, the excitation frequency of the housing module 20 can be obtained by evaluating experimental data. In order to make the ratio λ3 of the excitation frequency of the housing module 20 to the system natural frequency of the housing module 20 in each degree of freedom direction greater than and is less than or equal to 3, it can be achieved by changing the system natural frequency of the housing module 20. The change of the system natural frequency of the housing module 20 can be achieved by changing the third vibration reduction structure 50. For example, the system natural frequency can be changed by changing the stiffness, structure, geometric distribution, etc. of the third vibration reduction structure 50.

[0132] It should be noted that in each degree of freedom direction, the ratio λ3 of the excitation frequency of the housing module 20 to the system natural frequency of the housing module 20 can be equal, partially equal, or completely unequal, and can be flexibly adjusted according to actual conditions during design.

[0133] Optionally, when the ratio λ3 of the excitation frequency of the shell module 20 to the system natural frequency of the shell module 20 is not completely equal in each degree of freedom direction, it can be designed according to the installation position of the laser radar 1, etc. For example, when the laser radar 1 is used to be installed on the device body 3 along the first linear degree of freedom direction, the third vibration reduction structure 50 can meet the following requirements: the vibration reduction performance along the first linear degree of freedom direction is better than the vibration reduction performance in other degrees of freedom directions. Specifically, it can be reflected as follows: along the first linear degree of freedom direction, the ratio of the excitation frequency of the shell module 20 to the system natural frequency of the shell module 20 is λ31, and along other degrees of freedom directions, the ratio of the excitation frequency of the shell module 20 to the system natural frequency of the shell module 20 is λ3n, λ31>λ3n and For example, if the laser radar 1 is used to be installed on the device body 3 along the vertical direction, the third vibration reduction structure 50 can meet the following requirements: the vibration reduction performance along the vertical direction is better than the vibration reduction performance in the directions of other degrees of freedom.

[0134] It should be noted that, during the design, the damping ratios ξ of the first vibration damping structure 30, the second vibration damping structure 40, and the third vibration damping structure 50 can also be reasonably selected. Fig.14 It can be seen that when When the damping ratio ξ increases, the vibration transmission rate β becomes larger, and the vibration reduction effect becomes worse; when the damping ratio ξ is small and crosses the resonance zone, a large vibration will be generated. Therefore, the design of the damping ratio ξ of the first vibration reduction structure 30, the second vibration reduction structure 40, and the third vibration reduction structure 50 can take into account both the amplification factor at resonance and a satisfactory vibration reduction effect.

[0135] In combination with the above records, the first vibration damping structure 30 may include one first vibration damping pad 312, or may include multiple first vibration damping pads 312, and may be flexibly designed according to actual needs to achieve different vibration damping effects and adapt to more scenarios. For example, the first vibration damping structure 30 may include three, four, five, six, and so on first vibration damping pads 312. Since when the external excitation frequency is large, if the number of first vibration damping pads 312 is large, when the device body 3 is deformed, some of the first vibration damping pads 312 may be misplaced, causing the first vibration damping pads 312 to be damaged due to excessive force. Therefore, the number of first vibration damping pads 312 included in the first vibration damping structure 30 is preferably three or four. When the first vibration damping structure 30 includes three first vibration damping pads 312, it is not easily affected by the deformation of the equipment body 3, and the natural frequency of the system is low, and the effect of anti-torsion vibration is good; when the first vibration damping structure 30 includes four first vibration damping pads 312, it has good stability and can overcome a large torque reaction force. Therefore, in actual manufacturing, the first vibration damping structure 30 can be selected to include three first vibration damping pads 312 or four first vibration damping pads 312 according to specific circumstances. It can be understood that the number of the specific first vibration damping pads 312 is related to the stiffness of the first vibration damping pads 312 and the weight carried by the first vibration damping pads 312.

[0136] The following will take the example that the first vibration-damping structure 30 includes four first vibration-damping pads 312 for detailed description.

[0137] See also Figure 4 The four first vibration damping pads 312 of the first vibration damping structure 30 can be respectively recorded as the first vibration damping pad 312e, the first vibration damping pad 312f, the first vibration damping pad 312g and the first vibration damping pad 312h. The first vibration damping pad 312e, the first vibration damping pad 312f, the first vibration damping pad 312g and the first vibration damping pad 312h can be arranged corresponding to the four vertices of the rectangle respectively, and the line connecting the first vibration damping pad 312e and the first vibration damping pad 312f can correspond to the first side l of the rectangle. 1 The line connecting the first vibration damping pad 312g and the first vibration damping pad 312h may correspond to the second side l of the rectangle. 2 , the second side l 2 With the first side l 1 are two pairs of sides of the rectangle.

[0138] The first vibration damping pad 312e and the first vibration damping pad 312f, and the first vibration damping pad 312g and the first vibration damping pad 312h are symmetrical about the first plane, and the first vibration damping pad 312e and the first vibration damping pad 312g, and the first vibration damping pad 312f and the first vibration damping pad 312h are symmetrical about the second plane. The first plane is the total mass center c passing through the movement module 10 and the first housing portion 22 and is adjacent to the first side l 1The second plane is a vertical plane passing through the geometric center of gravity d of the first vibration damping structure 30 and adjacent to the first side l 1 Parallel vertical planes. Reasonable design of the arrangement positions of the four first vibration damping pads 312 and the first vibration damping structure 30 is helpful to simplify the design difficulty of the subsequent decoupling design in each degree of freedom direction. It should be noted that the geometric center of gravity d of the first vibration damping structure 30 may or may not coincide with the total center of mass c of the movement module 10 and the first housing portion 22.

[0139] Optionally, the support centers of the first vibration damping pad 312e, the first vibration damping pad 312f, the first vibration damping pad 312g and the first vibration damping pad 312h are all located in the same horizontal plane with the total center of mass c of the movement module 10 and the first shell portion 22, thereby achieving that the total support center of the four first vibration damping pads 312 of the first vibration damping structure 30 is located in the same horizontal plane with the total center of mass c of the movement module 10 and the first shell portion 22.

[0140] Optionally, along the same degree of freedom, the ratio of the stiffness of the first vibration damping pad 312e to the stiffness of the first vibration damping pad 312g is a first ratio, the ratio of the stiffness of the first vibration damping pad 312f to the stiffness of the first vibration damping pad 312h is a second ratio, and the first ratio is equal to the second ratio. For example, along the first straight line degree of freedom, the stiffness of the first vibration damping pad 312e is p 1 , the stiffness of the first vibration damping pad 312g is p 3 , along the first straight line degree of freedom, the stiffness of the first vibration damping pad 312f is p 2 , the stiffness of the first vibration damping pad 312h is p 4 , then along the first straight line degree of freedom, the stiffness p of the first vibration damping pad 312e is 1 The stiffness p of the first vibration damping pad 312g 3 The ratio p 1 / p 3 , and the stiffness p of the first vibration damping pad 312f 2 The stiffness p of the first vibration damping pad 312h 4 The ratio p 2 / p 4 For another example, along the second linear freedom direction, the stiffness of the first vibration damping pad 312e is q 1 , the stiffness of the first vibration damping pad 312g is q 3 , along the second straight line degree of freedom, the stiffness of the first vibration damping pad 312f is q 2 , the stiffness of the first vibration damping pad 312h is q 4 , then along the second linear freedom direction, the stiffness q of the first vibration damping pad 312e is 1 The stiffness q of the first vibration damping pad 312g 3 The ratio q 1 / q3 , and the stiffness q of the first vibration damping pad 312f 2 The stiffness q of the first vibration damping pad 312h 4 The ratio q 2 / q 4 equal.

[0141] Optionally, along the same degree of freedom, the stiffness of the first vibration damping pad 312e is equal to the stiffness of the first vibration damping pad 312f, and the stiffness of the first vibration damping pad 312g is equal to the stiffness of the first vibration damping pad 312h, so as to achieve the vibration solution of the first vibration damping structure 30 in the six degrees of freedom directions. For example, along the first linear degree of freedom direction, the stiffness p of the first vibration damping pad 312e is equal to 1 Equal to the stiffness p of the first vibration damping pad 312g 3 , the stiffness p of the first vibration damping pad 312f 2 Equal to the stiffness p of the first vibration damping pad 312h 4 For another example, along the second linear freedom direction, the stiffness q of the first vibration damping pad 312e is 1 Equal to the stiffness q of the first vibration damping pad 312g 3 , the stiffness q of the first vibration damping pad 312f 2 Equal to the stiffness q of the first vibration damping pad 312h 4 .

[0142] Among them, the stiffness of the first vibration damping pad 312 will affect the natural frequency of the system. In each degree of freedom direction, the stiffness of the first vibration damping pad 312e is designed to be equal to the stiffness of the first vibration damping pad 312f, and the stiffness of the first vibration damping pad 312g is designed to be equal to the stiffness of the first vibration damping pad 312h, which is conducive to simplifying the design difficulty of the first vibration damping structure 30 and reducing the design cost.

[0143] Optionally, each first vibration damping pad 312 in the first vibration damping structure 30 may be substantially the same. For example, each first vibration damping pad 312 in the first vibration damping structure 30 may have the same structure, manufacturing material, etc.

[0144] It should be noted that the above is a detailed description of the arrangement and stiffness design of each first vibration damping pad 312 of the first vibration damping structure 30, and the arrangement and stiffness design of each second vibration damping pad 41 of the second vibration damping structure 40 are roughly similar to the arrangement and stiffness design of the above-mentioned first vibration damping pads 312, and the arrangement and stiffness design of each third vibration damping pad 51 of the third vibration damping structure 50 are roughly similar to the arrangement and stiffness design of the above-mentioned first vibration damping pads 312, which will not be repeated here.

[0145] It should be noted that since it is mostly difficult to design the movement module 10 into a regular shape, it is mostly difficult to design the second vibration damping pads 41 connected to the movement module 10 into a regular shape distribution. Therefore, the stiffness of each second vibration damping pad 41 can be designed to be roughly the same, so that the elastic center of the second vibration damping structure 40 is the center of gravity of the geometric shape of the line connecting the second vibration damping pads 41, and the geometric center of gravity of the second vibration damping structure 40 coincides with the elastic center of the second vibration damping structure 40, thereby simplifies the design difficulty.

[0146] 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.

[0147] 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: Movement module; A housing module, wherein the housing module has an inner cavity, the housing module comprises a first housing portion and a second housing portion, the inner cavity is defined between the first housing portion and the second housing portion, and the movement module is located in the inner cavity and connected to the first housing portion; The first vibration damping structure includes a first vibration damping member, at least a portion of which is located between the first shell portion and the second shell portion to dampen vibration transmission between the first shell portion and the second shell portion.

2. The laser radar according to claim 1, characterized in that: The first vibration damping member comprises: A vibration damping ring is located between the first shell portion and the second shell portion, and the vibration damping ring is arranged along the entire circle of the mating surface of the first shell portion and the second shell portion to attenuate the vibration transmission between the first shell portion and the second shell portion and achieve sealing between the first shell portion and the second shell portion.

3. The laser radar according to claim 1, characterized in that: The first vibration damping member comprises: The first vibration-damping pad is provided with a first mounting hole in the first shell part, part of the first vibration-damping pad is embedded in the first mounting hole, and part of the first vibration-damping pad is located between the first shell part and the second shell part to attenuate the vibration transmission between the first shell part and the second shell part.

4. The laser radar according to claim 3, characterized in that: The first vibration damping pad comprises: A first vibration-damping column, wherein the first vibration-damping column is embedded in the first mounting hole; Two first vibration damping end plates are respectively located on opposite sides of the first vibration damping column along the axial direction of the first vibration damping column, and one end of each of the first vibration damping end plates is connected to the first vibration damping column, and the other end extends in a direction away from the first vibration damping column and perpendicular to the axial direction of the first vibration damping column, wherein one of the first vibration damping end plates is located between the first shell portion and the second shell portion, and the other first vibration damping end plate is located on a side of the first shell portion facing away from the second shell portion.

5. The laser radar according to claim 4, characterized in that: The first vibration damping member includes a plurality of the first vibration damping pads, the first shell portion is provided with a plurality of the first mounting holes equal in number to the first vibration damping pads, the plurality of the first mounting holes are arranged at intervals, and each of the first vibration damping pads is arranged in a one-to-one correspondence with each of the first mounting holes.

6. The laser radar according to claim 1, characterized in that: The first vibration damping member comprises: A vibration-damping ring, the vibration-damping ring being located between the first shell portion and the second shell portion, the vibration-damping ring being arranged along the entire circle of the butt joint surface between the first shell portion and the second shell portion to attenuate the vibration transmission between the first shell portion and the second shell portion and to achieve sealing between the first shell portion and the second shell portion; and A first vibration damping pad, the first shell portion is provided with a first mounting hole, a portion of the first vibration damping pad is embedded in the first mounting hole, a portion of the first vibration damping pad is located between the first shell portion and the second shell portion to attenuate vibration transmission between the first shell portion and the second shell portion, and the first vibration damping pad is located outside the vibration damping ring.

7. The laser radar according to claim 1 or 2, characterized in that: The first vibration reduction structure further comprises: A first adjusting member, wherein the first adjusting member is connected to the first shell portion and the second shell portion, and the first adjusting member is adjustably connected to at least one of the first shell portion and the second shell portion, so that the distance between the first shell portion and the second shell portion is adjustable, thereby being able to adjust the stiffness of the first vibration damping member.

8. The laser radar according to claim 7, characterized in that: The first vibration damping member comprises: A first vibration-damping pad, wherein the first shell portion is provided with a first mounting hole, a portion of the first vibration-damping pad is embedded in the first mounting hole, a portion of the first vibration-damping pad is located between the first shell portion and the second shell portion to attenuate vibration transmission between the first shell portion and the second shell portion, a portion of the first adjusting member is embedded in the first mounting hole, and the first vibration-damping pad is sleeved on the periphery of the first adjusting member.

9. The laser radar according to claim 8, characterized in that: The first vibration reduction structure further comprises: A first rigid member, at least a portion of which is embedded in the first mounting hole, the first rigid member is sleeved on the periphery of the first adjusting member, and the first vibration-damping pad is sleeved on the periphery of the first rigid member.

10. The laser radar according to claim 9, characterized in that: The first rigid member comprises: A first rigid column, wherein the first rigid column is embedded in the first mounting hole, the first rigid column is sleeved on the periphery of the first adjusting member, and the first vibration-damping pad is sleeved on the periphery of the first rigid column; A first rigid end plate, the first rigid end plate is located on a side of the first vibration damping pad away from the second shell portion, one end of the first rigid end plate is connected to the first rigid column, and the other end extends in a direction away from the first rigid column and perpendicular to the axial direction of the first rigid column.

11. The laser radar according to claim 7, characterized in that: The first adjusting member comprises: A first screw, wherein the head of the first screw is located at a side of the first housing portion facing away from the second housing portion, and the shaft of the first screw passes through the first housing portion and is threadedly connected with the second housing portion.

12. The laser radar according to claim 1, characterized in that: The core module comprises: An optical system, the optical system comprising a transmitting component and a receiving component, the transmitting component is used to emit a detection light, the receiving component is used to receive an echo light, at least part of the echo light is formed by the detection light being reflected by a target object; and A scanning system, wherein the scanning system is located on the light-emitting path of the detection light emitted by the transmitting component, and the scanning system is also located on the light-receiving path of the echo light received by the receiving component.

Images