Laser radar and mobile device

Abstract

The embodiment of the invention relates to the technical field of laser detection, and discloses a laser radar and a mobile device. The laser radar comprises a housing, a diaphragm and a vibration element. The diaphragm is installed on the shell, the diaphragm and the shell jointly define a containing cavity, and the diaphragm is elastically connected with the shell. The vibrating element is rigidly connected with the diaphragm, and the vibrating element can vibrate relative to the shell so as to enable the diaphragm to vibrate relative to the shell, so that attachments attached to the outer surface of the diaphragm can be separated. According to the laser radar provided by the embodiment of the invention, the attachments on the surface can be removed in a diaphragm vibration mode, and the current situation that the laser transmittance of the diaphragm is reduced when the current laser radar removes the attachments on the surface of the diaphragm in a heating mode is improved.

Description

Technical Field

[0001] This application relates to the field of lidar detection technology, and particularly to lidar and mobile devices. Background Art

[0002] A lidar is a radar system that emits laser beams to detect the position, speed, and other characteristic quantities of a target. Currently, lidars have been widely used in many fields such as assisted driving, navigation, mapping, and environmental monitoring.

[0003] Generally, a lidar includes a housing, a window sheet, and an optical transceiver module. Among them, the housing is the mounting base for the remaining components and constitutes the protective structure of the lidar. The window sheet is installed on the housing, and together with the housing, it encloses a receiving cavity for accommodating devices such as the optical transceiver module. The optical transceiver module is used to emit detection light and receive the reflected light formed by the target object reflecting the detection light. Among them, the above window sheet is made of a material that can transmit laser, so that the detection light can pass through and exit the lidar for detection, and the reflected light can pass through to enter the lidar.

[0004] The surface state of the window sheet has a great impact on the performance and functional integrity of the lidar. For example, when ice crystals, frost, water droplets, dust, and other attachments adhere to the window due to weather or environmental factors, the point cloud output by the lidar may have point cloud missing or other abnormal phenomena, which will reduce or even invalidate the detection function of the lidar. Summary of the Invention

[0005] In related technologies, some lidar products use heating methods to remove attachments on the surface of the window sheet. For example, an indium tin oxide (ITO) film layer is provided on the inner surface of the window sheet facing the receiving cavity to heat the window sheet through the ITO film layer, and then remove attachments such as ice crystals, frost, and water droplets on the outer surface of the window sheet by melting or evaporation. However, on the one hand, this method will reduce the laser transmittance of the window sheet due to the setting of the ITO film layer, thereby affecting the optical performance of the window sheet itself; on the other hand, it also requires a certain length of time to complete the heating process, and its timeliness is poor, especially in a low-temperature environment, this deficiency will be more obvious; on the other hand, it is also unable to remove solid or certain fluid substances that cannot be melted or evaporated, such as dust or mud.

[0006] The embodiments of this application aim to provide a lidar and a mobile device to improve the current situation where the laser transmittance of the window sheet itself is reduced when the current lidar removes attachments on the surface of the window sheet by heating.

[0007] In a first aspect, an embodiment of the present application provides a lidar, which includes a housing, a window sheet, and a vibration element. The window sheet is mounted on the housing and together with the housing defines an accommodation cavity, and the window sheet is elastically connected to the housing. The vibration element is rigidly connected to the window sheet, and the vibration element can vibrate relative to the housing so that the window sheet vibrates relative to the housing.

[0008] In some embodiments, the window sheet is elastically connected to the housing through an elastic first adhesive layer.

[0009] In some embodiments, the housing has a first surface opposite to the window sheet, and the first surface is provided with a first groove; the first adhesive layer is disposed in the first groove and connected to the window sheet.

[0010] In some embodiments, the elastic modulus of the first adhesive layer is less than 100 MPa, and the elongation rate of the first adhesive layer is higher than 300%.

[0011] In some embodiments, the vibration element is rigidly connected to the window sheet through a second adhesive layer.

[0012] In some embodiments, the elastic modulus of the second adhesive layer is greater than 3 GPa, and the ratio of the elastic modulus of the second adhesive layer to that of the first adhesive layer is greater than 35.

[0013] In some embodiments, the housing has a first surface opposite to the window sheet, and the first surface is provided with a second groove, and the vibration element is mounted in the second groove.

[0014] In some embodiments, the lidar satisfies at least one of the following conditions:

[0015] a) One end of the vibration element facing away from the bottom of the second groove extends beyond the second groove;

[0016] b) The lidar further includes a third adhesive layer disposed in the second groove, and the third adhesive layer is used to fix the vibration element and the housing. The second groove includes a first sink formed by concave inward from the first surface, and a second sink formed by concave inward from the bottom surface of the first sink. The vibration element is mounted in the second sink, and one end of the vibration element facing the window sheet extends beyond the second groove, and the third adhesive layer is provided in the second sink;

[0017] c) The lidar includes a plurality of vibration elements, and the vibration elements are arranged around the center of the window sheet;

[0018] d) The vibration element is a piezoelectric ceramic.

[0019] In some embodiments, the lidar further includes a control circuit board and a conductive member. The control circuit board is received in the accommodation cavity. The conductive member is respectively connected to the control circuit board and the vibration element, and the control circuit board is configured to control the vibration element to vibrate.

[0020] In some embodiments, the control circuit board is configured to control the vibration element to vibrate at the natural frequency of the window sheet, so that the window sheet resonates.

[0021] In some embodiments, the outer surface of the housing is recessed to form a mounting groove, and the first surface is the bottom surface of the mounting groove; there is a gap between the window sheet and the side wall of the mounting groove.

[0022] In a second aspect, an embodiment of the present application provides a movable device, including a movable main body and the above-mentioned lidar, and the lidar is mounted on the main body.

[0023] The lidar provided by the embodiment of the present application includes a housing, a window sheet and a vibration element. Among them, the window sheet is elastically connected to the housing and jointly defines an accommodation cavity. The vibration element is rigidly connected to the window sheet and can vibrate relative to the housing, so that the window sheet vibrates relative to the housing, so that an object attached to the outer surface of the window sheet can be detached.

[0024] Compared with the related art that heats the window sheet, the lidar provided by the embodiment of the present application removes the attachment by vibrating the window sheet through the vibration element, and there is no need to additionally provide a heating material layer on the window sheet, so it will not affect the laser transmittance of the window sheet; at the same time, the timeliness of removing the attachment by vibration is better, and it is less affected by the ambient temperature; in addition, it can also remove attachments such as dust that cannot be melted, and is less affected by the shape of the attachment. Therefore, the lidar provided by the embodiment of the present application can improve the current situation that the laser transmittance of the window sheet is reduced when the attachment on the surface of the window sheet is removed by heating in the current lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 is a perspective schematic diagram of a lidar provided by an embodiment of the present application;

[0027] Figure 2 is Figure 1Explosion schematic diagram of the mid - lidar;

[0028] Figure 3 is Figure 1 Cross - sectional schematic diagram of the mid - lidar along line A - A;

[0029] Figure 4 is Figure 3 Partial enlarged schematic diagram of area B in the middle;

[0030] Figure 5 Schematic diagram of a movable device provided by some embodiments of the present application.

[0031] Explanation of reference numerals in the drawings:

[0032] 1, Lidar;

[0033] 100, Housing; 110, Base housing; 120, Cover; 101, Accommodation cavity; 102, First surface; 103, First groove; 104, Second groove; 105, Communication groove; 109, Installation groove;

[0034] 200, Window piece; 210, First adhesive layer;

[0035] 300, Vibration element;

[0036] 400, Optical transceiver module;

[0037] 500, Control circuit board; 510, Conductive part;

[0038] 2, Movable device; 21, Main body. Detailed implementation manners

[0039] To make the objectives, 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.

[0040] 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. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0041] In the related art, some lidar products use heating to remove the attachments on the surface of the window. For example, an indium tin oxide (ITO) film layer is provided on the inner surface of the window facing the accommodation cavity to heat the window through the ITO film layer, and then remove objects such as ice crystals, frost, and water droplets on the outer surface of the window by melting or evaporation. However, on the one hand, this method will reduce the laser transmittance of the window due to the setting of the ITO film layer, thereby affecting the optical performance of the window; on the other hand, it also requires a certain length of time to complete the heating process, and its timeliness is poor, especially in a low-temperature environment, this shortcoming will be more obvious; on the other hand, it is also impossible to remove solid or certain fluid substances that cannot be melted or evaporated, such as dust or mud.

[0042] In addition, in the related art, some lidar products also use a cleaning device to wash, dry / blow-dry the window of the lidar to remove the attachments on the surface of the window; for example, a water pipeline module is arranged outside the lidar body to supply water to the window to clean the window, and an air-drying module can also be arranged at the same time to dry the surface of the window. However, this method will make the lidar include the lidar body and the supporting cleaning device, with a complex overall structure, a large volume, and a high cost, which is not conducive to the mass production of lidar products.

[0043] Based on this, the embodiments of the present application provide a lidar and a mobile device having the lidar to improve the current situation of reducing the laser transmittance of the window by using the heating method to remove the attachments on the surface of the window.

[0044] Please refer to Figures 1 to 3, which respectively show the three-dimensional schematic diagram, the explosion schematic diagram, and the sectional schematic diagram along the line A-A of the lidar 1 provided in one embodiment of the present application. The lidar 1 includes a housing 100, a window 200, and a vibration element 300. Among them, the housing 100 is the installation base for the window 200 and the vibration element 300, and also constitutes the protection structure for the rest of the components inside the housing 100. The window 200 is installed on the housing 100 and together with the housing 100 defines a receiving cavity 101. The window 200 is elastically connected to the housing 100. The vibration element 300 is rigidly connected to the window 200, and the vibration element 300 can vibrate relative to the housing 100 so that the window 200 vibrates relative to the housing 100. It should be noted that the "elastic connection between two components" in this application document means a connection relationship in which two components maintain a fixed connection while allowing limited relative movement by relying on elastic parts. Among them, the "elastic part" refers to a part that can undergo elastic deformation. This elastic part can be an independent part outside the above two components, or a partial structure of one of the two components. Next, the specific structures of the housing 100, the window 200, and the vibration element 300 will be described in sequence.

[0045] Regarding the above-mentioned housing 100 and window 200, please specifically refer to Figure 4 , which shows Figure 3 a partial enlarged schematic diagram of the area at B in Figures 1 to 3 . In this embodiment, the two are elastically connected through an elastic first adhesive layer 210 so that they maintain a fixed connection and can undergo relative movement within a limited range.

[0046] In some embodiments, the above-mentioned housing 100 includes a base shell 110 and a cover 120. Among them, the base shell 110 has a box-like structure without a top, which includes a flat substrate and side walls extending from the edges of the substrate. The cover 120 includes a flat base and a boss extending from the center position of the base away from the base shell 110. The cover 120 is provided with a through hole penetrating the base and the boss. The cover 120 is covered on one end of the base shell 110 away from the substrate through the base and fixed to each other, so that the cover 120 and the base shell 110 together define a receiving cavity 101 with an open end, and the open end is located at one end of the cover 120 away from the base shell 110. Of course, in other embodiments of the present application, the housing 100 can also be of other shapes, as long as it has an open end to facilitate the installation of the window 200 at this position to realize the transceiver of laser beams. The present application does not specifically limit the specific shape of the housing 100.

[0047] In some embodiments, the window piece 200 is a flat sheet-like structure made of a material that allows laser light to pass through. The window piece 200 can be made of a single material, such as plastic or glass, or can include multiple materials made together. For example, it can include a sheet-like body made of plastic and a coating applied to the sheet-like body, and this coating can have the function of filtering out optical signals outside the laser beam bandwidth. The window piece 200 is provided at the open end of the housing 100 and is installed on the housing 100 to block the above-mentioned opening, thereby jointly defining a sealed accommodation cavity 101 with the housing 100. Specifically, the housing 100 has a first surface 102 disposed opposite to the window piece 200, and a first groove 103 is provided on the first surface 102. The first adhesive layer 210 is disposed in the first groove 103 and is connected to the window piece 200. The first adhesive layer 210 is a soft adhesive, that is, an adhesive layer with a small elastic modulus; its elastic modulus is less than 100 MPa and the elongation rate is higher than 300%, so as to achieve an elastic connection between the window piece 200 and the housing 100. For example, in some alternative embodiments, the elastic modulus of the first adhesive layer 210 can be less than 70 MPa and the elongation rate can be higher than 400%. The first adhesive layer 210 extends in a closed shape around the center of the window piece 200, so that the first adhesive layer 210 seals the connection position between the window piece 200 and the housing 100 in a manner similar to a sealing ring. Optionally, at least a part of the first adhesive layer 210 extends beyond the first groove 103 and is exposed relative to the first surface 102, so that on the one hand, it is convenient to connect with the window piece 200, and on the other hand, it is also beneficial to form a seal for the accommodation cavity 101.

[0048] Please continue to refer to Figure 4, in this embodiment, the outer surface of the housing 100 is concaved to form an installation groove 109, which corresponds to and communicates with the above-mentioned open position, and the first surface 102 is the bottom surface of the installation groove 109; the window piece 200 is installed in the installation groove 109 and is disposed opposite to the first surface 102. There is a gap between the window piece 200 and the side wall of the installation groove 109. This setting is intended to provide a moving space for the vibration of the window piece 200 and prevent the window piece 200 from interfering with the housing 100 and affecting the vibration effect of the window piece 200. Of course, even in this embodiment, it is taken as an example that the installation groove 109 is provided in the housing 100, the first surface 102 is the bottom surface of the installation groove 109, and the window piece 200 extends into the installation groove 109 for illustration; however, it should be understood that the present application is not limited thereto. In other embodiments of the present application, the first surface 102 may also be a surface structure that is not located in the groove. For example, in some other embodiments of the present application, the housing 100 may not be provided with an installation groove. Correspondingly, the window piece 200 is provided with an installation groove, and the housing 100 is inserted into the installation groove of the window piece 200; the first surface 102 is the surface of the housing 100 facing the window piece 200, and the first groove 103 is provided thereon. The first adhesive layer 210 is disposed in the first groove 103 and is connected to the window piece 200. Another example is that in some other embodiments of the present application, neither the housing 100 nor the window piece 200 is provided with an installation groove; the first surface 102 is the surface of the housing 100 facing the window piece 200, and the first groove 103 is provided thereon. The first adhesive layer 210 is disposed in the first groove 103 and is connected to the window piece 200.

[0049] Regarding the above-mentioned vibration element 300, please refer to Figure 2 and Figure 4 , the vibration element 300 is an element that can vibrate. It is installed on the housing 100 and is connected to the window piece 200 in a rigid connection manner. In this way, when the vibration element 300 vibrates relative to the housing 100, the window piece 200 will also vibrate relative to the housing 100, so that the objects attached to the surface of the window piece 200 can be removed. Optionally, the vibration element 300 is a piezoelectric ceramic; the vibration frequency range of the piezoelectric ceramic is generally 40KHz - 300KHz, while the audible frequency range of the human ear is 20Hz - 20KHz. Therefore, the piezoelectric ceramic driving method will not introduce additional noise. Of course, in other embodiments of the present application, the vibration element may also be a motor vibrator or an electromagnetic vibrator, etc., which are elements that achieve vibration through other excitation methods, and the present application does not limit this. Preferably, the vibration frequency of the vibration element 300 can be controlled to be the same as the natural frequency of the window piece 200, so that the window piece 200 generates strong resonance in amplitude, and then the objects such as ice crystals, frost, water droplets, and dust attached to the window piece 200 can be efficiently removed.

[0050] In this embodiment, the vibration element 300 and the window sheet are rigidly connected through the second adhesive layer. The second adhesive layer is a hard adhesive, that is, an adhesive layer with a large elastic modulus, whose elastic modulus is greater than 3GPa, and the ratio of its elastic modulus to the elastic modulus of the first adhesive layer 210 is greater than 35; for example, in some optional embodiments, the elastic modulus of the second adhesive layer can be 3.2GPa, 3.4GPa, 3.6GPa, 3.8GPa. This setting is intended to ensure that compared with the connection between the window sheet 200 and the housing 100, the window sheet 200 and the vibration element 300 are rigidly fixedly connected and basically cannot move relative to each other, and the relative fixing effect of the two is more stable, so the window sheet 200 can vibrate with the vibration of the vibration element 300.

[0051] Next, the installation method of the vibration element 300 is further explained. In this embodiment, the first surface 102 is further provided with a second groove 104, and the vibration element 300 is installed in the second groove 104. The laser radar also includes a third adhesive layer provided in the second groove 104, and the third adhesive layer is used to fix the vibration element 300 to the shell 100. The third adhesive layer is a hard glue, that is, an adhesive layer with a large elastic modulus. Its specific selection can refer to the selection method of the second adhesive layer, which is not repeated here; this setting is intended to ensure that the vibration element 300 and the shell 100 remain relatively fixed, and the vibration element 300 itself only vibrates without moving relative to the shell 100, so that the window piece 200 can be stably and effectively controlled to vibrate in a controllable and regular manner. Of course, as far as the selection of the third adhesive layer and the second adhesive layer is concerned, the materials of the two can be the same or different, and this application does not limit this. Preferably, the end of the vibration element 300 that is away from the bottom of the second groove 104 extends beyond the second groove 104 and enters the first groove 103; this not only makes the end of the vibration element 300 facing the window piece 200 extend out of the second groove 104, that is, exposed relative to the first surface 102, thereby facilitating the fixation of the vibration element 300 and the window piece 200 by glue dispensing, but also avoids the window piece 200 from contacting with the first surface 102 during vibration and causing interference, thereby affecting the vibration effect of the window piece 200.

[0052] It should be understood that even though the present embodiment is described by taking the installation of the vibration element 300 on the first surface 102, specifically the second groove 104 provided on the first surface 102 as an example, the present application is not limited thereto, and the installation position and fixing method of the vibration element 300 are actually various, as long as it is ensured to be rigidly connected to the window sheet 200. For example, in some other embodiments of the present application, the vibration element 300 can also be installed on the side of the above-mentioned installation groove 109 and fixedly connected to the window sheet 200, which can realize vibration along the thickness direction and / or surface direction of the window sheet 200 to drive the window sheet 200 to vibrate.

[0053] In this embodiment, the lidar 1 includes a plurality of vibration elements 300, and the plurality of vibration elements 300 are arranged around the center of the first groove 103. This arrangement makes each vibration element 300 approximately form a structure extending around the center of the window sheet 200. Therefore, along the direction in which the edge contour of the window sheet 200 extends, good vibration effects can be achieved in each area of the window sheet 200. In this way, no matter where the attachments such as ice crystals, frost, water droplets, and dust are located on the window sheet, these vibration elements 300 can achieve better vibration effects on the attachments. In addition, the arrangement of the multiple vibration elements 300 also enables the lidar 1 to drive the vibration elements 300 in the nearby area for vibration in the area where the window sheet 200 has attachments, and the vibration elements in other positions can not vibrate or vibrate with a low amplitude, so as to make this process more efficient and energy-saving.

[0054] It is worth mentioning that the above-mentioned second groove 104 is closer to the center position of the window sheet 200 than the first groove 103. In this way, the first adhesive layer 210 forms the first sealing structure between the window sheet 200 and the housing 100, and also forms protection for the vibration elements 300. In addition, it should be noted that since a part of the vibration element 300 extends out of the second groove 104, there is a gap between the first surface 102 and the window sheet 200 in the part of the first surface 102 outside the second groove 104, such as between two adjacent vibration elements 300; if the sealing reliability of the first adhesive layer 210 is very high, no additional treatment needs to be done to the above gap. If the sealing reliability of the first adhesive layer 210 may fail within the expected service life, a soft adhesive can be additionally provided to fill the gap between two adjacent vibration elements 300.

[0055] In this embodiment, the lidar 1 further includes an optical transceiver module 400. The optical transceiver module 400 is received in the accommodation cavity 101. It is used to emit detection light so that the detection light passes through the window sheet 200 and exits outside the lidar 1 to detect a target object, and is also used to receive the echo light formed by the target object reflecting the detection light. In some embodiments, the optical transceiver module 400 includes a light emitting unit, a transmitting optical system, a receiving optical system, and a light receiving unit. Among them, the light emitting unit is used to emit detection light, the transmitting optical system is used to perform optical processing on the detection light emitted by the light emitting unit and emit it outside the lidar, the receiving optical system is used to perform optical processing on the echo light so that the processed echo light falls on the light receiving unit, and the light receiving unit is used to receive the echo light and perform photoelectric conversion.

[0056] In this embodiment, the lidar 1 further includes a control circuit board 500 and a conductive member 510. Among them, the control circuit board 500 is housed in the above-mentioned accommodation cavity 101, and it is the control module of the lidar; the control circuit board 500 is communicatively connected to the above-mentioned optical transceiver module to control the light emitting unit of the optical transceiver module to emit detection light and receive the electrical signal output by the light receiving unit. In addition, the control circuit board 500 is also connected to the above-mentioned vibration element 300 to control the vibration of the vibration element 300. Specifically, the conductive member 510 is respectively connected to the control circuit board 500 and the vibration element 300 to realize the electrical connection between the control circuit board 500 and the vibration element 300. More specifically, the housing 100 is provided with a communication groove 105 that communicates with the second groove 104 and the accommodation cavity 101 respectively, and the conductive member 510 passes through the communication groove 105 and is respectively connected to the vibration element 300 and the control circuit board 500. In the specific use process of the lidar 1, in order to make the window sheet 200 have better vibration intensity, the control circuit board 500 can control the vibration element 300 to vibrate at the natural frequency of the window sheet 200 to make the window sheet 200 resonate. Regarding the driving method of the control circuit board 500 for each vibration element 300, it can be driven together or independently, depending on the actual situation; when the control circuit board 500 independently drives each vibration element 300, it can achieve the vibration control of the nearby vibration element 300 for the area where the attachment is located as mentioned above.

[0057] Considering that the setting of the communication groove 105 makes the accommodation cavity 101 communicate with the second groove 104, if the second groove 104 communicates with the outside atmosphere, the sealing performance of the accommodation cavity 101 will also fail. Based on this, the present application further improves the above-mentioned second groove 104 to reduce the risk of the sealing failure of the accommodation cavity 101 when the second communication groove 105 communicates with the outside atmosphere. Specifically, the second groove 104 includes a first sink formed by concave inward from the first surface 102 and a second sink formed by concave inward from the bottom surface of the first sink. The above-mentioned vibration element 300 is installed in the second sink, and one end thereof facing the window sheet 200 extends beyond the second groove 104, that is, it is exposed relative to the first surface 102. Thus, when installing the vibration element 300, a third adhesive layer can be provided at one end of the vibration element 300 facing away from the window sheet 200 to initially fix the vibration element 300 to the housing 100; then another third adhesive layer is provided in the second sink to further fix the vibration element 300 to the housing 100. Thus, even if the third adhesive layer between the vibration element and the bottom surface of the second sink fails to effectively block the port of the communication groove 105 close to the second groove 104, the third adhesive layer provided in the second sink will also seal the communication groove 105. Of course, in some other embodiments, the above-mentioned third adhesive layer can also be provided only in the second sink, as long as it is ensured that at least the second sink is provided with the third adhesive layer.

[0058] In summary, the lidar 1 provided by the embodiment of the present application includes a housing 100, a window piece 200, and a vibration element 300. Among them, the window piece 200 is elastically connected to the housing 100, and together they define an accommodation cavity 101. The vibration element 300 is rigidly connected to the window piece 200, and it can vibrate relative to the housing 100, thereby causing the window piece 200 to vibrate relative to the housing 100, so that the object attached to the outer surface of the window piece 200 can be detached.

[0059] Compared with the related art in which the window piece is heated, the lidar 1 provided by the embodiment of the present application removes the attachment by vibrating the window piece 200 through the vibration element 300, without additionally arranging a heating material layer on the window piece 200, so it will not affect the laser transmittance of the window piece 200; at the same time, the timeliness of removing the attachment by vibration is better, and it is less affected by the ambient temperature; in addition, it can also remove attachments such as dust that cannot be melted, and is less affected by the shape of the attachment.

[0060] Compared with the related art in which the lidar is cleaned by a cleaning device, the lidar 1 provided by the embodiment of the present application does not need to additionally arrange a device with a water delivery pipeline outside the lidar body, and will not increase the volume additionally, so the overall volume is small and the structure is relatively simple.

[0061] Therefore, the lidar 1 provided by the embodiment of the present application can improve the current situation that the laser transmittance of the window piece is reduced when the current lidar removes the attachment on the surface of the window piece by heating.

[0062] In addition, it is worth mentioning that in the related art, for the solution of heating the window piece to remove the attachment, when dealing with window pieces of different shapes (such as flat shapes, curved shapes with flat edges and spherical / aspherical surfaces in the middle, etc.), it is necessary to adaptively adjust and design the shape and / or material of the coated film layer according to the different shapes and / or materials of the window piece; and the uniformity of the coating effect also has a great impact on the cleaning effect of the window piece, and the coating uniformity of window pieces of different shapes may also be inconsistent. Similarly, in the related art, for the solution of using a cleaning device to clean the lidar, when dealing with window pieces of different shapes, it is also necessary to adaptively adjust and design the water outlet position and water outlet direction of the water delivery pipeline of the cleaning device. In other words, the solutions of using a heating film layer or a cleaning device in the related art have poor compatibility with window pieces of different shapes.

[0063] In contrast, in the solution provided by the embodiment of the present application for removing the attached substances by using the vibration element 300, when dealing with window sheets 200 of different shapes (such as flat shapes, curved shapes with flat edges and spherical / aspherical surfaces in the middle, etc.), it is not necessary to adjust the shape, material, arrangement position, etc. of the vibration element 300. Instead, according to the change in the natural frequency of the window sheet 200, parameters such as the waveform, amplitude, and frequency of the driving signal used to drive the vibration of the vibration element 300 can be adjusted to adapt to window sheets 200 of different shapes. Therefore, the solution of using the vibration element 300 in the embodiment of the present application has strong compatibility with window sheets 200 of different shapes, and the same setting solution of the vibration element 300 can be adopted for lidars of different models.

[0064] Regarding the lidar 1, finally, it should be noted that the "window sheet" described in the embodiment of the present application refers to a structure in the lidar through which the laser beam can pass to enable the above-mentioned detection light or echo light to enter and exit the lidar; this "window sheet" can be a sheet-like structure independent of the optical transceiver module in the lidar, or can be set as the protective glass of the above-mentioned optical transceiver module. The present application does not specifically limit the positional relationship or functional connection between the "window sheet" and the devices inside the accommodation cavity. Correspondingly, the shape of the "window sheet" is not limited to flat shapes, and it can also be spherical or aspherical, etc.

[0065] Please refer to Figure 5 , based on the same inventive concept, the present application also provides a movable device 2, which includes a movable main body 21 and the above-mentioned lidar 1, and the lidar 1 is mounted on the main body 21. In this embodiment, the movable device 2 is an automobile; wherein, the main body 21 is the body of the automobile, and the lidar is mounted on the body. Of course, in other embodiments of the present application, the movable device can also be any moving tool equipped with the above-mentioned lidar 1, such as an electric vehicle, a drone, a robot, etc.

[0066] Since it includes the lidar 1 in the above embodiment, the movable device 2 provided by the embodiment of the present application can also improve the current situation where the laser transmittance of the window sheet is reduced when the current lidar removes the attached objects on the surface of the window sheet by heating.

[0067] In the description of the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed 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 specific circumstances. In addition, in the description of the present application, unless otherwise specified, "a plurality of" means two or more. "And / or" describes the associated relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0068] The above-disclosed are only the preferred embodiments of the present application. Of course, the scope of the rights of the present application cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A lidar, characterized in that, comprising: a housing; a window pane, installed on the housing and jointly defining a receiving cavity with the housing, the window pane being elastically connected to the housing; and a vibration element, rigidly connected to the window pane, the vibration element being capable of vibrating relative to the housing so that the window pane vibrates relative to the housing.

2. The lidar according to claim 1, characterized in that, the window pane is elastically connected to the housing through an elastic first adhesive layer.

3. The lidar according to claim 2, characterized in that, the housing has a first surface opposite to the window pane, and a first groove is provided on the first surface; the first adhesive layer is provided in the first groove and connected to the window pane.

4. The lidar according to claim 2, characterized in that, the elastic modulus of the first adhesive layer is less than 100 MPa, and the elongation rate of the first adhesive layer is higher than 300%.

5. The lidar according to claim 2, characterized in that, the vibration element is rigidly connected to the window pane through a second adhesive layer.

6. The lidar according to claim 5, characterized in that, the elastic modulus of the second adhesive layer is greater than 3 GPa, and the ratio of the elastic modulus of the second adhesive layer to that of the first adhesive layer is greater than 35.

7. The lidar according to claim 5, characterized in that, the housing has a first surface opposite to the window pane, and a second groove is provided on the first surface, and the vibration element is installed in the second groove.

8. The lidar according to claim 7, characterized in that, the lidar satisfies at least one of the following conditions: a) One end of the vibration element away from the bottom of the second groove extends beyond the second groove; b) The lidar further includes a third adhesive layer provided in the second groove, the third adhesive layer is used to fix the vibration element and the housing, the second groove includes a first sink formed by concave inward from the first surface, and a second sink formed by concave inward from the bottom surface of the first sink, the vibration element is installed in the second sink, one end of the vibration element facing the window pane extends beyond the second groove, and the third adhesive layer is provided in the second sink; c) The lidar includes a plurality of vibration elements, and the vibration elements are arranged around the center of the window pane; d) The vibration element is a piezoelectric ceramic.

9. The lidar according to claim 1, characterized in that, the lidar further includes: a control circuit board, received in the receiving cavity; and a conductive member, respectively connected to the control circuit board and the vibration element, and the control circuit board is used to control the vibration of the vibration element.

10. The lidar according to claim 9, characterized in that, the control circuit board is used to control the vibration element to vibrate at the natural frequency of the window pane so that the window pane resonates.

11. The lidar according to claim 3, characterized in that, an installation groove is formed by concave inward on the outer surface of the housing, and the first surface is the bottom surface of the installation groove; There is a gap between the window piece and the side wall of the mounting groove.

12. A movable device, characterized in that it includes a movable main body and the lidar according to any one of claims 1 to 11, and the lidar is mounted on the main body.

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