Sealing structure of laser radar and laser radar

Abstract

The embodiment of the invention discloses a sealing structure of a laser radar and the laser radar. The sealing structure comprises a first shell, a second shell, a sealing rubber strip and a limiting screw. Wherein the first shell comprises a first joint edge, the second shell comprises a second joint edge, a cavity is defined by the second joint edge and the first joint edge, and the sealant is filled in the cavity and then solidified to form the sealing rubber strip. The first shell and the second shell are connected through a limiting screw. The pressure borne by the sealing rubber strip in the cavity is smaller than a preset threshold value, and durability is good. The sealing rubber strip has conductivity and can be in contact with the shell to conduct electricity to form an electromagnetic shielding cover. The bonding strength of the sealing rubber strip is smaller than 0.1 megapascal, or the surface of the shell is provided with an anti-sticking coating, so that the sealing structure is easy to disassemble, residual glue is not easy to remain on the surface of the shell, and the maintenance and rework cost is reduced. According to the sealing structure disclosed by the embodiment of the invention, the shell is fixed based on the limiting screws, and the shell gap is filled with the sealing rubber strip, so that waterproof sealing and electromagnetic shielding of the laser radar can be realized, and the working stability of the laser radar is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of lidar, and particularly to a sealing structure of a lidar and a lidar. Background Art

[0002] A lidar is a precision instrument with a high-precision ranging function, and is widely used in fields such as machine vision, autonomous driving, and surveying and mapping. The inside of the lidar includes complex electronic components and circuits. Therefore, external environmental factors such as rain, snow, and electromagnetic interference will directly affect the working stability of the lidar, and further affect the detection accuracy of the lidar.

[0003] In order to cope with the influence of water vapor and electromagnetic interference on the internal electronic components and circuits of the lidar, and to avoid the lidar affecting the normal operation of other vehicle-mounted electronic components, it is necessary to perform waterproof sealing and electromagnetic shielding treatment on the lidar, so as to achieve efficient sealing of the overall structure of the lidar. Summary of the Invention

[0004] In order to improve the sealing performance of the lidar, embodiments of the present application disclose a sealing structure of a lidar and a lidar.

[0005] In a first aspect, embodiments of the present application disclose a sealing structure of a lidar, including:

[0006] A first housing, the first housing includes a first joint edge;

[0007] A second housing, the second housing includes a second joint edge, and the second joint edge and the first joint edge enclose a cavity;

[0008] A limit screw, the first housing and the second housing are connected by the limit screw;

[0009] A sealing strip, the sealing strip is attached to the surface of the first housing in the cavity, the sealing strip is attached to the surface of the second housing in the cavity, and the pressure borne by the sealing strip in the cavity is less than a preset threshold.

[0010] In one or more embodiments, the surface of the first housing in the cavity has an anti-adhesive coating, and the surface of the second housing in the cavity has an anti-adhesive coating. In one or more embodiments, the anti-adhesive coating is one or a combination of a graphite coating, a chromium alloy coating, a titanium alloy coating, a polytetrafluoroethylene coating, or an organopolysiloxane coating. Performing a non-bonding treatment on the surface of the housing can make the sealing structure easy to disassemble, and it is not easy to leave residual glue on the surface of the housing during disassembly, reducing the rework and maintenance costs.

[0011] In one or more embodiments, the bonding strength of the sealing strip is less than 0.1 megapascal. By selecting a sealing strip with weak adhesion, the sealing strip can be easily peeled off from the surface of the housing, and there is no residual glue left on the surface of the housing when the sealing structure is disassembled, reducing the rework and maintenance costs.

[0012] In one or more embodiments, the sealing strip has electrical conductivity. By adding conductive materials such as metal powder or graphite to the sealant, after the sealant is cured to form a sealing strip, an electromagnetic shielding function can be achieved by contacting and conducting electricity between the sealing strip and the housing to form a shielding cover.

[0013] In one or more embodiments, the second joint edge includes at least one glue dispensing groove, and the glue dispensing groove and the first joint edge enclose a cavity. The glue dispensing groove is used to accommodate the sealant during the assembly process, and the sealing strip formed by curing the sealant fills the cavity. The effective sealing of the lidar is achieved jointly by the fixation of the housing by the limit screw and the filling of the cavity by the sealing strip.

[0014] In one or more embodiments, the glue dispensing groove includes at least one second boss, and the second boss is used to fix the sealing strip. When the second boss abuts against the first joint edge, the glue dispensing groove is divided into a plurality of non-connected parts, and a multi-layer sealing structure can be achieved in cooperation with the contact sealing of the sealing strip, improving the sealing performance of the lidar.

[0015] In one or more embodiments, the first joint edge includes at least one outward convex portion, and the outward convex portion is used to fix the sealing strip. The surface of the outward convex portion fits with the sealing strip, and can jointly fix the sealing strip with the glue dispensing groove and the second boss to ensure the sealing performance of the sealing structure.

[0016] In one or more embodiments, the outward convex portion includes at least one first boss, and the first boss is used to fix the sealing strip. By providing the first boss on the outward convex portion, the displacement of the sealing strip can be further prevented, ensuring the sealing performance of the sealing structure.

[0017] In a second aspect, embodiments of the present application disclose a lidar, which includes a transmitting module, a receiving module, a processing module, and the sealing structure described in any one of the above. The internal cavity of the lidar including the transmitting module, the receiving module, and the processing module is isolated from the external environment through the sealing structure. IPX7-level (Ingress Protection, IP) waterproof sealing and electromagnetic shielding can be achieved.

[0018] This application discloses a sealing structure for a lidar and the lidar. The sealing structure realizes the effective sealing of the lidar through the fixation of the housing by limit screws and the filling of a sealing rubber strip in the housing gap. The sealing rubber strip is filled first and then cured, and can adapt to the parts to be sealed with various shapes or complex structures. Compared with rubber ring seals, the pressure borne by the sealing rubber strip in the cavity is less than the preset threshold, that is, the sealing rubber strip is in a natural stretching state, and the durability is better. In addition, the surface of the housing in the sealing structure has an anti-sticking coating or the adhesive force of the sealant is weak, so that the housing is easy to disassemble, reducing the maintenance and rework costs. The lidar based on the above sealing structure can achieve IPX7-level waterproof sealing and electromagnetic shielding functions, and can maintain good sealing performance under harsh working conditions such as rainy and snowy weather or temperature changes, thereby effectively improving the working stability of the lidar. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 is a schematic diagram of a lidar sealing structure provided by an embodiment of this application;

[0021] Figure 2 is a schematic diagram of a lidar sealing structure provided by an embodiment of this application;

[0022] Figure 3 is a schematic diagram of a lidar sealing structure provided by an embodiment of this application;

[0023] Figure 4 is a schematic diagram of a lidar sealing structure provided by an embodiment of this application and its partial enlarged view;

[0024] Figure 5 is a cross-sectional view of a lidar housing gap provided by an embodiment of this application;

[0025] Figure 6 is a cross-sectional view of a lidar housing gap provided by an embodiment of this application;

[0026] Figure 7 is a cross-sectional view of a lidar housing gap provided by an embodiment of this application;

[0027] Figure 8 is a cross-sectional view of a lidar housing gap provided by an embodiment of this application;

[0028] Figure 9It is a sectional view of the gap of the lidar housing provided by an embodiment of the present application;

[0029] Figure 10 It is a sectional view of the gap of the lidar housing provided by an embodiment of the present application;

[0030] Figure 11 It is a sectional view of the gap of the lidar housing provided by an embodiment of the present application.

[0031] Among them, the reference numerals in the figure: 100, the first housing; 110, the first joint edge; 111, the convex part; 1111, the first boss; 200, the second housing; 200a, the bottom second housing; 200b, the side second housing; 210, the second joint edge; 211, the glue application groove; 2111, the second boss; 300, the sealing strip; 300a, the bottom sealing strip; 300b, the side sealing strip; 410, the first limit screw hole; 420, the second limit screw hole. Detailed implementation manners

[0032] To make the purpose, technical solutions and advantages of the present application clearer, the following will further describe in detail the embodiments of the present application in conjunction with the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are only examples of structures consistent with some aspects of the present application as detailed in the appended claims.

[0033] LiDAR is a precision instrument that uses laser pulses for ranging and sensing. It calculates the distance between the LiDAR and the target object by emitting laser pulses and measuring the time difference between the emitted laser pulses and the echo laser pulses, achieving high-precision perception of the external environment. Currently, LiDARs with advantages such as high precision, high resolution, and real-time performance have been widely used in fields such as autonomous driving, robotics, and high-precision mapping. However, the sealing performance of LiDARs remains an important factor affecting their working stability. To address the impacts of water vapor and electromagnetic interference on the internal electronic components and circuits of LiDARs, waterproof sealing and electromagnetic shielding treatments need to be carried out on LiDARs. In terms of waterproof sealing, existing technical solutions generally achieve the isolation of the internal chamber of the LiDAR from the external environment by adhesive sealing or filling the sealing parts in the gaps of the housing. Among them, adhesive sealing is achieved based on the bonding between the sealant and the housing surface. When disassembling the housing, this sealing method is likely to leave residual glue on the housing surface, affecting the reuse of the housing and related components, with high rework and maintenance costs. Moreover, when the housing deforms due to the influence of the external environment, it is easy to cause the sealant to peel off from the housing surface, resulting in poor sealing performance. Sealing parts are generally divided into gaskets and rubber rings. Gaskets achieve sealing based on the principle of contact sealing, and their size and shape match the gaps between the housing. This sealing method requires customizing molds according to different housings or strictly controlling the processing accuracy of the sealing parts to fully fit the housing contour and gaps to ensure the sealing performance of the LiDAR. The rubber ring sealing method is in close contact with the housing surface based on the principle of compression contact sealing. However, the long-term extrusion force of the housing or fasteners on the rubber ring is likely to cause permanent deformation of the rubber ring, resulting in sealing failure. To ensure the sealing performance of the LiDAR, this rubber ring-based sealing method has high requirements for the material composition and durability of the rubber. Therefore, there are still significant challenges for existing technical solutions to achieve efficient sealing of the overall structure of LiDARs.

[0034] To solve the above problems, the embodiments of the present application provide a sealing structure for a LiDAR. This sealing structure fixes the housing through limit screws and fills the gaps of the housing with sealant strips, achieving non-bonding and non-compression type contact sealing, and enabling electromagnetic shielding and IPX7-level waterproofing.

[0035] Figure 1 FIG. is a schematic diagram of a sealing structure of a LiDAR disclosed in this embodiment. The first housing 100 and the second housing 200 enclose to form the internal chamber of the LiDAR. The internal chamber of the LiDAR is isolated from the external environment based on the non-compression contact sealing of the sealant strip 300. In one embodiment, the sealing structure of the LiDAR includes a first housing 100, a second housing 200, a sealant strip 300, and multiple limit screws. The limit screws are at Figure 1It is not shown in the figure. The second housing 200 includes a dispensing groove on the side facing the first housing 100. The limit screw is used to prevent misalignment between the housings and limit the displacement of the sealing strip 300, and cooperate with the contact sealing effect of the sealing strip 300 to jointly ensure the sealing effect of the lidar. During the housing assembly process, the sealant is filled in the dispensing groove of the second housing 200, and the first housing 100 is connected to the second housing 200 through the limit screw, and the sealant is cured to form the sealing strip 300. That is, the sealing strip 300 is filled in the housing gap formed after the first housing 100 and the second housing 200 are connected. The sealing strip 300 is attached to the surfaces of the first housing 100 and the second housing 200 in the housing gap to form a contact seal. The size and profile of the sealing strip 300 formed by first filling and then curing fit well with the gap height between the housings, and it is not squeezed by the housings or the pressure it bears is less than a preset threshold in the housing gap. In one or more embodiments, the preset threshold can be 50, 100, 500 or 1000 pascals, that is, the sealing strip 300 is in a natural stretching state (non-compressed state). Compared with compression contact seals (such as rubber rings), this non-compressed contact sealing method can effectively improve the durability of the seal. In addition, compared with preformed gaskets with limited size and general sealing performance, this sealing strip 300 formed by first filling and then curing occupies less space, can adapt to sealed parts with various shapes or complex structures, fill larger gaps, and has better waterproof performance.

[0036] In one or more embodiments, Figure 1 The sealing strip 300 in the shown sealing structure is formed after the silicone glue is cured. In one example, the sealant can also be non-bonding, and the bonding strength of the sealing strip 300 formed by curing this type of sealant is less than 0.1 megapascal. It can make the lidar easily peel off the sealing strip 300 during disassembly, and it is not easy to leave residual glue, thereby reducing the rework and maintenance costs.

[0037] In one or more embodiments, Figure 1 The sealing strip 300 in the shown sealing structure has electrical conductivity. In one example, by adding conductive materials such as metal powder or graphite to the sealant, the sealing strip 300 formed by curing the sealant has electrical conductivity. While achieving waterproof sealing, the sealing strip 300 can form a shielding cover by contacting and conducting electricity with the housing, thereby realizing the electromagnetic shielding function. In one example, the sealing strip 300 also has elasticity. When the housing deforms under external stress, the sealing strip 300 is squeezed by the housing and is in a compressed state. At this time, the sealing effect of the sealing strip 300 is better. And it can effectively disperse stress and absorb and relieve the energy generated by impact or vibration.

[0038] In some embodiments, Figure 1The first shell 100 and the second shell 200 in the sealing structure are connected by limiting screws passing through limiting screw holes. Figure 2 is a schematic diagram of a laser radar sealing structure disclosed in this embodiment. In this example, the components inside the laser radar shell are not shown. The first shell 100 includes a first joint edge 110 and at least one first limiting screw hole 410 on the side facing the second shell 200. The second shell 200 includes a second joint edge 210 and at least one second limiting screw hole 420 on the side facing the first shell 100, and a dispensing groove for accommodating sealant is located on the second joint edge 210. The first limiting screw hole 410 is opened at the edge of the first shell 100 and is distributed around the first joint edge 110. The second limiting screw hole 420 is opened at the edge of the second shell 200 and is distributed around the second joint edge 210. When the shell is assembled, the sealant is first filled in the dispensing groove on the second joint edge 210, and then the limiting screw is passed through the second limiting screw hole 420 and the first limiting screw hole 410 from bottom to top in sequence to connect the first shell 100 and the second shell 200. After the first shell 100 and the second shell 200 are connected by the limit screws, the sealant is solidified in the cavity formed by the first joint edge 110 and the second joint edge 210 to form a sealing strip, and the sealing strip is attached to the surface of the first shell 100 and the surface of the first shell 200 in the cavity to form a contact seal. The sealing strip is in an uncompressed state and has good durability. The bonding strength of the sealing strip is less than 0.1 MPa, and it is easy to peel off, which can reduce rework and maintenance costs.

[0039] In one or more embodiments, Figure 2 The shape of the first limiting screw hole 410 and the second limiting screw hole 420 in the sealing structure shown can be a combination of one or more of a hexagonal hole, a square hole, an elliptical hole or a round hole, and the shape of the limiting screw matches the shape of the limiting screw hole. In one example, the limiting screw is a hexagonal screw and the limiting screw hole is a hexagonal hole.

[0040] In one or more embodiments, for Figure 2 ​The surfaces of the first joint edge 110 and the second joint edge 210 in the shown sealing structure are also treated to be non - adhesive, so that the sealing strip can be easily peeled off without leaving residual glue on the surface of the housing, reducing the rework and maintenance costs. In one example, there is an anti - sticking coating on the surfaces of the first joint edge 110 and the second joint edge 210. The anti - sticking coating is one or a combination of common anti - sticking coatings such as a graphite coating, a ceramic coating, a chromium alloy coating, a titanium alloy coating, a fluorinated rubber coating, a polytetrafluoroethylene coating, or an organopolysiloxane coating, etc., which is used to form an isolation layer on the surface of the housing to reduce the adhesiveness of the housing surface. In another example, an anodizing treatment is performed on the surfaces of the first joint edge 110 and the second joint edge 210 so that the surface of the housing is not easily adhered to the sealant. For example, for a metal aluminum housing, an anodizing treatment is performed to form an oxide film on the surface of the housing, reducing the adhesiveness between the housing and the sealant. In another example, a sandblasting or etching treatment is performed on the surfaces of the first joint edge 110 and the second joint edge 210 to form a fine concavo - convex structure on the surface of the housing, reducing the contact area between the housing surface and the sealing strip, and thus reducing the adhesiveness between the housing and the sealing strip.

[0041] In some embodiments, different from Figure 1 and Figure 2 the sealing structure shown, the sealing structure of the lidar includes at least three housings. Figure 3 is a schematic diagram of a lidar sealing structure disclosed in this embodiment. In one example, the first housing 100, the second bottom housing 200a, and the second side housing 200b enclose to form an internal chamber of the lidar.

[0042] In some embodiments, the sealing structure of the lidar includes at least two sealing strips, which are respectively filled in the gaps between the first housing 100 and the second bottom housing 200a and between the first housing 100 and the second side housing 200b as shown in Figure 3 to isolate the internal chamber of the lidar from the external environment. In one example, as shown in Figure 4 the sealing structure of the lidar includes the first housing 100, the second bottom housing 200a, the bottom sealing strip 300a, the second side housing 200b, the side sealing strip 300b, and a limit screw. Among them, the limit screw is in Figure 4It is not shown in the figure. The first housing 100 covers the upper part of the second housing 200a at the bottom end, and the first housing 100 and the second housing 200a at the bottom end are connected by limit screws. One side of the first housing 100 facing the second housing 200a at the bottom end includes a first joint edge and a plurality of first limit screw holes. The second housing 200a at the bottom end includes a second joint edge 210 and a plurality of second limit screw holes 420, and the second joint edge 210 includes a glue dispensing groove. The bottom end sealing strip 300a is filled in the cavity formed by enclosing the first joint edge 110 on the first housing 100 and the glue dispensing groove on the second housing 200. The second housing 200b at the side end covers the side of the first housing 100, and the first housing 100 and the second housing 200b at the side end are connected by limit screws. The second housing 200b at the side end includes a first joint edge and a plurality of second limit screw holes 420. One side of the first housing 100 facing the second housing 200b at the side end includes a second joint edge 210 and a plurality of first limit screw holes 410, and the second joint edge 210 includes a glue dispensing groove. The side end sealing strip 300b is filled in the cavity formed by enclosing the glue dispensing groove on the first housing 100 and the first joint edge on the second housing 200b at the side end. In another example, one side of the first housing 100 facing the second housing 200b at the side end includes a first joint edge and a plurality of first limit screw holes 410. One side of the second housing 200b at the side end facing the first housing 100 includes a second joint edge 210 and a plurality of second limit screw holes 420, and the second joint edge 210 includes a glue dispensing groove. The side end sealing strip is filled in the cavity formed by enclosing the glue dispensing groove on the second housing 200b at the side end and the first joint edge of the first housing 100. In the above embodiments, the bottom end sealing strip 300a and the side end sealing strip 300b are both in a natural stretching state. Compared with the compression contact sealing of the rubber ring, the durability is better. And the bonding strength of both the bottom end sealing strip 300a and the side end sealing strip 300b is less than 0.1 megapascal, which can achieve the effect of easy disassembly of the sealing structure and reduce the rework and maintenance costs.

[0043] In some embodiments, such as Figure 2 and Figure 4 the first joint edge 110 in the sealing structure shown also includes an outward convex part with a boss-type structure for fixing the sealing strip to prevent the sealing strip from sliding and affecting the sealing effect. Figures 5 to 8 is a cross-sectional view of the gap of the lidar housing disclosed in some embodiments of the present application, and the sealing strip 300 is in an uncompressed state in the cavity. In one example, such as Figure 5As shown, the first joint edge 110 includes an outward protrusion 111, and the outward protrusion 111 is a boss-type structure. The second joint edge 210 includes a dispensing groove 211, and the sealing strip 300 is filled in the cavity formed by enclosing the dispensing groove 211 and the first joint edge 110. The left and right sides of the first joint edge 110 are in contact with the left and right sides of the second joint edge 210, and the outward protrusion 111 in the cavity is in contact with the sealing strip 300. The cooperation of the outward protrusion 111 and the dispensing groove 211 can fix the sealing strip. Combining with the limiting effect of the limiting screw, it can further prevent the relative displacement between the sealing strip 300 and the housing, thereby ensuring the filling effect of the sealing strip 300 in the cavity and effectively improving the sealing performance of the lidar. In one example, as Figure 6 shown, the first joint edge 110 is in partial contact with the second joint edge 210. Compared with Figure 5 the first joint edge 110 and the second joint edge 210 in the embodiment where both the left and right sides are in contact, this structural design of unilateral contact can accommodate the excess sealing glue during the assembly process. In one example, as Figure 7 shown, different from the Figure 5 and Figure 6 embodiments, the first joint edge 110 and the second joint edge 210 are not in contact. This symmetric structural design where neither side of the housing is in contact enables the sealing glue to be evenly filled in the cavity when the two housings are forced to close during the housing assembly process, so that the sealing strip 300 formed after the sealing glue cures fits well with the housing surface in the cavity to form a contact seal. In one example, as Figure 8 shown, the outward protrusion 111 on the first joint edge 110 further includes two first bosses 1111. The design of multiple boss-type structures in one cavity can strengthen the limiting effect of the housing structure on the sealing strip 300 and improve the sealing effect of the overall sealing structure.

[0044] In some embodiments, as Figure 2 and Figure 4 shown, the second joint edge 210 in the sealing structure further includes a second boss for fixing the sealing strip to prevent the sealing strip from sliding and affecting the sealing effect. Figures 9 to 11 is a cross-sectional view of the lidar housing gap disclosed in some embodiments of the present application, and the sealing strip 300 is in an uncompressed state in the cavity. In one example, as Figure 9As shown, the first joint edge 110 is a plane on the side facing the second joint edge 210, and the second joint edge 210 includes at least one glue dispensing groove 211, and the glue dispensing groove 211 includes at least one second boss 2111. The sealing strip 300 is filled in the cavity formed by the glue dispensing groove 211 and the first joint edge. The second boss 2111 does not abut against the first joint edge 110 and is used to fix the sealing strip 300. The glue dispensing groove 211 and the second boss 2111 for fixing the sealing strip 300 are both located on the second joint edge 210, which can reduce the requirements in the production and assembly process of the first shell.

[0045] In some embodiments, such as Figure 2 and Figure 4 The first joint edge 110 in the sealing structure shown in includes at least two outer protrusions, and the second joint edge includes at least one second boss. The first boss and the second boss jointly fix the sealing strip to prevent the sealing strip from sliding. In one example, as Figure 10 As shown in , the first joint edge 110 includes two outer protrusions 111, and the second joint edge 210 includes a glue dispensing groove 211, and the glue dispensing groove 211 includes a second boss 2111. The second boss 2111 abuts against the first joint edge 110, dividing the glue dispensing groove 211 into two unconnected parts, that is, the first joint edge 110 and the glue dispensing groove 211 are surrounded to form two cavities, and the two cavities are respectively filled with sealing strips 300 to form a multiple sealing structure, which can effectively improve the sealing performance of the laser radar. In an example, as Figure 11 , and Figure 10 The difference between the embodiment shown is that an outer protrusion 111 on the first joint edge 110 includes two first bosses 1111, and the second boss 2111 in the glue dispensing groove 211 does not abut against the first joint edge 110. Therefore, the two cavities formed by the first joint edge 110 and the glue dispensing groove 211 are interconnected, and the sealing strip 300 is filled in the two interconnected cavities. The first boss 1111 and the second boss 2111 can jointly limit the displacement of the sealing strip 300, and the contact sealing effect of the sealing strip 300 can effectively improve the sealing performance of the laser radar.

[0046] In one or more embodiments, Figure 10 and Figure 11 The cross-sectional shape of the first boss 1111 and the second boss 2111 in the sealing structure shown can also be a combination of one or more of a triangle, a rectangle, a sector, an ellipse or a trapezoid.

[0047] In one embodiment, for example Figure 4The sealing effect of the sealing structure shown was also tested for air tightness. Among them, baking at 105 for 10-20 minutes and then immersing in ice water for 5 minutes is an ice water shock cycle. The test group includes six groups of lidar prototypes based on the sealing structure, from A to F. When the leakage value does not exceed 50Pa, it indicates that the sealing effect of the shell sealing prototype reaches IPX7 level. The test results are shown in Table 1. After 10 cycles of ice water shock, the leakage value of all test groups does not exceed 50Pa, indicating that the sealing performance of the lidar reaches IPX7 level, which is a significant improvement compared to the IP68 waterproof level of the existing lidar sealing structure.

[0048] Table 1

[0049]

[0050] In addition, temperature changes or external stresses in the actual working environment of the laser radar can easily cause relative displacement between the housing and the sealing strip, thereby causing sealing failure. Therefore, in one embodiment, for example Figure 4 The relationship between the relative displacement between the shell and the sealing strip in the sealing structure shown and the contact sealing effect is simulated. Among them, the sealing strip is conductive and contacts the shell to form a shielding cover, so that the sealing structure has an electromagnetic shielding function. According to the simulation results, when the relative displacement between the sealing strip 300 and the shell is less than 0.062mm, the electromagnetic shielding and IPX7 level waterproof are met. When the relative displacement between the sealing strip 300 and the shell is less than 0.086mm, the electromagnetic shielding and IPX7 level waterproof are not met.

[0051] In one embodiment, the laser radar includes a transmitting module, a receiving module, a processing module and a Figures 1 to 11 Any sealing structure shown in the figure. The internal chamber of the laser radar including the transmitting module, receiving module and processing module is isolated from the external environment through the sealing structure, which can achieve IPX7 waterproof sealing and electromagnetic shielding. In harsh working conditions such as rainy and snowy weather or temperature changes, the laser radar can still maintain good sealing performance, thereby effectively improving the working stability of the laser radar.

[0052] ​In the description of the present application, it should be understood that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The terms "and / or" and "and / or" used herein describe the association relationship of associated objects and indicate that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a" and "an" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they specify the presence of the described features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof, that is, they include any and all combinations of one or more of the related listed items. The ordinal numbers such as "first" and "second" cited in the embodiments of the present application are merely identifiers and do not refer to other meanings such as a specific order or imply relative importance.

[0053] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The "one or more embodiments" used herein do not refer to the same embodiments, but are combinations of specific features, structures or characteristics in any suitable manner. The above are only the preferred embodiments of the present application and are not used to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A sealing structure of a laser radar, characterized in that: include: a first housing, the first housing comprising a first engagement edge; A second shell, the second shell comprising a second joint edge, the second joint edge and the first joint edge enclose a cavity; A limit screw, wherein the first shell and the second shell are connected by the limit screw; A sealing strip is formed to fit with the surface of the first shell in the cavity, and the sealing strip is formed to fit with the surface of the second shell in the cavity, and the pressure borne by the sealing strip in the cavity is less than a preset threshold.

2. The sealing structure according to claim 1, characterized in that: The surface of the first shell in the cavity has an anti-stick coating, and the surface of the second shell in the cavity has the anti-stick coating.

3. The sealing structure according to claim 2, characterized in that: The anti-stick coating is a combination of one or more of a graphite coating, a chromium alloy coating, a titanium alloy coating, a polytetrafluoroethylene coating or an organic polysiloxane coating.

4. The sealing structure according to claim 1, characterized in that: The adhesive strength of the sealing strip is less than 0.1 MPa.

5. The sealing structure according to claim 1, characterized in that: The sealing rubber strip is conductive.

6. The sealing structure according to claim 1, characterized in that: The second joint edge includes at least one glue dispensing groove, and the glue dispensing groove and the first joint edge are combined to form the cavity.

7. The sealing structure according to claim 6, characterized in that: The glue dispensing groove includes at least one second boss, and the second boss is used to fix the sealing strip.

8. The sealing structure according to claim 6, characterized in that: The first joint edge includes at least one outer protrusion, and the outer protrusion is used to fix the sealing strip.

9. The sealing structure according to claim 8, characterized in that: The outer protrusion includes at least one first boss, and the first boss is used to fix the sealing strip.

10. A laser radar, characterized in that: The laser radar includes a transmitting module, a receiving module, a processing module and a sealing structure as described in any one of claims 1-9.

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