Laser radar and detection device thereof

Abstract

The invention discloses a laser radar. The laser radar comprises a main shaft, a radar rotor, an upper bin plate, a top cover and a base, the upper bin plate is fixedly arranged relative to the radar rotor, and the upper bin plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar; the main shaft is perpendicular to the base and located between the upper bin plate and the base. Wiring of each module can be shortened, installation and maintenance are convenient, and mechanical reliability of the laser radar is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ranging, in particular to a laser radar. BACKGROUND

[0002] LiDAR is a kind of active detection sensor equipment, and its working principle is roughly as follows: the transmitter of the laser radar emits a laser beam, the laser beam encounters an object, is diffusely reflected, and returns to the laser receiver, and the radar module can calculate the distance between the transmitter and the object according to the time interval between the transmission and the reception of the laser beam, multiplied by the speed of light, and then divided by 2.

[0003] The existing laser radar mainly adopts a through shaft structure design on the structure of the main shaft system, and the so-called through shaft refers to the structure of the main shaft extending from the top to the bottom of the laser radar. The main shaft from the bottom to the top occupies the space inside the laser radar, which increases the difficulty of designing the ranging assembly or radar rotor located above the laser radar. Moreover, the through shaft design has high cost, complex mechanical structure, and tight shaft system design.

[0004] In addition, the current multi-line laser radar has a one-to-one transceiver channel, for example, 32-line radar needs 32 pairs of transmitting light sources and receiving channels. Moreover, the rotating scanning laser radar has a trend of developing towards a larger and larger longitudinal (vertical) field of view and a larger and larger number of scanning lines. This development trend requires a larger and larger number of channels of the laser radar. The increasing number of channels may increase the cost of the laser radar, make the internal space tight, increase the volume, and increase the difficulty of arranging the transmitting end space.

[0005] The existing laser radar mainly adopts a through shaft structure design on the structure of the main shaft system, and the main shaft extends from the top to the bottom of the laser radar. In this way, when designing the detection device, a transmitting mirror needs to be used to turn the light path to avoid the main shaft, and the structure design of the detection device is relatively complex. Moreover, the multi-line laser radar has a one-to-one transceiver channel, that is, each transmitting light source has a photoelectric sensing element corresponding thereto, and each pair of transmitting light source and photoelectric sensing element needs to be manually aligned and adjusted in use, which may increase the difficulty of using the laser radar and reduce the use efficiency.

[0006] In addition, the early laser radar is a single-line laser radar, that is, there is only one laser and detector, and the target range scanned by the single-line laser radar is limited, which is easy to cause the omission of the detected target. In order to make up for the shortcomings of the single-line laser radar, the multi-line laser radar has become the focus of research and commercialization. The existing multi-line laser radar often has problems of high cost and high energy consumption.

[0007] The contents of the background technology section are merely technologies known to the public and do not necessarily represent the existing technologies in this field.

[0008] Public content

[0009] The purpose of this application is to provide a laser radar that can reduce the space occupied by the main shaft running through the entire radar from top to bottom, thereby facilitating and simplifying the structural arrangement of various components on the radar rotor above the main shaft.

[0010] To solve the above technical problems, the embodiments of the present application disclose a laser radar, comprising a main shaft, a radar rotor, an upper compartment plate, a top cover and a base;

[0011] The upper storage plate is fixed relative to the radar rotor, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar;

[0012] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base.

[0013] Optionally, the laser radar further includes a rotating bracket and a driving motor;

[0014] The rotating bracket includes a first part and a second part. The first part is a hollow structure and is suitable for being mounted on the main shaft. The second part is a disk surface structure perpendicular to the first part and is suitable for coupling with the radar rotor. The second part includes at least three rotating sub-brackets. The first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disk surface of the second part. The drive motor is suitable for driving the radar rotor to rotate through the rotating bracket.

[0015] Optionally, a support flange is further provided at the coupling point between the second end of each rotating sub-bracket and the edge of the disk surface, and the protruding direction of the support flange is away from the base, and the radar rotor is suitable for being coupled to the rotating bracket through the support flange.

[0016] Optionally, the laser radar further includes a lower storage plate, which is located between the upper storage plate and the base and is arranged around the main axis.

[0017] Optionally, the laser radar further includes a wireless power supply component located between the upper compartment plate and the lower compartment plate, wherein the wireless power supply component includes a wireless transmitting coil, a wireless receiving coil, a transmitting circuit board, and a receiving circuit board;

[0018] The wireless transmitting coil, the wireless receiving coil, the transmitting circuit board and the receiving circuit board are all arranged around the main axis;

[0019] The wireless transmitting coil and the transmitting circuit board are fixedly arranged relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixedly arranged relative to the radar rotor;

[0020] The wireless transmitting coil is electrically connected to the transmitting circuit board, and the wireless receiving coil is electrically connected to the transmitting circuit board.

[0021] Optionally, the laser radar also includes a drive motor, which includes a magnet and an armature, and the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature, and the magnet is coupled to the transmitting circuit board.

[0022] Optionally, the laser radar also includes a drive motor, which includes a magnet and an armature, and the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft relative to the armature, and the transmitting circuit board is electrically connected to the armature to supply power to the armature.

[0023] Optionally, the drive motor is a DC motor.

[0024] Optionally, the laser radar further includes an angle measurement component, which is disposed around the main axis and is farther away from the main axis than the wireless power supply component.

[0025] Optionally, the laser radar further includes a cable interface, which is used to connect the laser radar with an external device outside the laser radar.

[0026] The embodiments of the present application include, but are not limited to, the following effects:

[0027] 1) A non-through spindle structure is adopted. By compressing and stacking components such as the upper and lower panels, transmitting and receiving circuit boards, and the spindle and placing them slightly below the lidar to form a flat platform, the space occupied by the spindle running through the entire radar from top to bottom is reduced, and the arrangement of the ranging components and other structures above or below the spindle is facilitated and simplified.

[0028] 2) The support flange on the rotating bracket improves the stability of the rotation of the radar rotor part above the main shaft, reducing the impact of rotation on the life of the entire machine and the radar imaging quality.

[0029] 3) Since the hollow lower compartment plate is sleeved on the main shaft, that is, the main shaft passes through the lower compartment plate, the main shaft can provide better support for the rotating bracket and improve the stability of the radar.

[0030] 4) Existing laser radars mostly use relatively complex disc motors to drive the radar rotor, while this application uses a DC motor to drive the radar rotor. The DC motor has the characteristics of simple structure and low cost, so it can reduce the cost and complexity of the laser radar.

[0031] 5) Placing an angle measurement component such as a code disk on the outermost side of the housing close to the laser radar can improve the accuracy of the measured angle, thereby improving the measurement accuracy of the laser radar.

[0032] 6) The drive motor uses a magnet as a rotor and an armature as a stator. The magnet does not require power supply, and the armature is electrically connected to the transmitting circuit board. The armature is powered by the lower compartment plate, reducing the power supply pressure of the wireless power supply component.

[0033] The purpose of this application is also to provide a laser radar and a detection device thereof, in which the extension directions of the transmitting support body and the receiving support body in the laser radar are parallel to each other, that is, they are basically arranged relatively symmetrically, and the positions of the components on the optical path are relatively fixed and the structure is simple, thereby reducing or avoiding alignment of the optical path.

[0034] To solve the above technical problems, one aspect of the present application discloses a laser radar detection device, comprising a lens barrel, a beam emitting device, a transmitting lens assembly, a receiving lens assembly, and a photoelectric processing device;

[0035] The lens barrel includes a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other;

[0036] The emitting lens assembly is located inside the emitting support body and on the optical path of the detection beam emitted by the beam emitting device; the receiving lens assembly is located inside the receiving support body and on the optical path of the echo beam received by the photoelectric processing device.

[0037] It can be understood that the transmitting support body and the receiving support body can be integrated, that is, two support bodies obtained by separating a lens barrel by a light-isolating plate, or they can be two independent support bodies, and the side walls of the support bodies are made of light-isolating material.

[0038] By arranging the transmitting and receiving lens assemblies in a lens barrel with mutually parallel extension directions, the emission direction of the detection beam and the incident direction of the echo beam can be made approximately parallel, without the need to deflect the beam. The structural arrangement of each optical device is relatively simple, reducing or avoiding the need for alignment of the optical path.

[0039] In another aspect of the present application, the light beam emitting device comprises an emitting circuit board, which is located outside the emitting support body and arranged at the rear end of the emitting support body, wherein the rear end of the emitting support body is the end opposite to the end from which the probe light beam is emitted by the emitting support body; the photoelectric processing device comprises a receiving circuit board, which is located outside the receiving support body and arranged at the rear end of the receiving support body, wherein the rear end of the receiving support body is the end opposite to the end at which the echo light beam is received by the receiving support body. An emitting magnetic shielding member is arranged at the rear end of the emitting circuit board for shielding the electromagnetic signals emitted by the emitting circuit board; a receiving magnetic shielding member is arranged at the rear end of the receiving circuit board for shielding the electromagnetic signals emitted by the receiving circuit board. The emitting magnetic shielding member and the receiving magnetic shielding member can be two separate components or an integral part, which is not limited herein, and can block the electromagnetic crosstalk between the emitting circuit board and the receiving circuit board and reduce the noise of the circuit.

[0040] In another aspect of the present application, the front end face of the emitting support body has an emitting hole, and the probe light beam is adapted to be emitted from the emitting support body via the emitting hole; the front end face of the receiving support body has a receiving hole, and the echo light beam is adapted to be incident to the receiving support body via the receiving hole; and the lens barrel further comprises an emitting light shield plate and a receiving light shield plate, the emitting light shield plate is located outside the end face of the front end of the emitting support body and perpendicular to the end face of the front end of the emitting support body, and the receiving light shield plate is located outside the end face of the front end of the receiving support body and perpendicular to the end face of the front end of the receiving support body. The emitting light shield plate and the receiving light shield plate can respectively isolate the probe light beam emitted by the emitting hole and the echo light beam received by the receiving hole, so as to avoid the interference between the probe light beam emitted by the emitting hole and the echo light beam received by the receiving hole as much as possible, and reduce the noise points in the point cloud map.

[0041] Another aspect of the present application discloses a laser radar, which comprises a detection device, a main shaft, an upper warehouse plate, a top cover, and a base;

[0042] The upper warehouse plate is fixedly arranged below the support platform of the detection device and relatively closer to the base and farther away from the top cover in the axial direction of the detection device;

[0043] The main shaft is arranged perpendicularly to the base and between the upper warehouse plate and the base;

[0044] The detection device can rotate 360° around the main shaft to realize scanning in the horizontal direction.

[0045] The laser radar adopts a non-through main shaft structure. A flat platform is formed by compressing and stacking the upper and lower warehouse plates, transmitting and receiving circuit boards, main shaft and other components and arranging them slightly below the laser radar. This reduces the space occupied by the main shaft running through the entire laser radar from top to bottom. Therefore, the detection device disclosed in various aspects of this application can be installed on the flat platform for easy use. This design is conducive to independent maintenance and independent upgrading of the detection device and the devices in the flat platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which constitute part of this disclosure, are used to provide a further understanding of the disclosure. The exemplary embodiments of the disclosure and their descriptions are used to explain the disclosure and do not constitute an improper limitation of the disclosure. In the accompanying drawings:

[0047] Figure 1 According to some embodiments of the present application, a cross-sectional schematic diagram of a laser radar is shown;

[0048] Figure 2 According to some embodiments of the present application, a schematic structural diagram of a flattened platform of a laser radar is shown;

[0049] Figure 3 According to some embodiments of the present application, a cross-sectional schematic diagram of a flattened laser radar platform is shown; Figure 3A According to some embodiments of the present application, a schematic diagram of a code wheel is shown; Figure 3B A schematic diagram showing uplink communication and downlink communication;

[0050] Figure 4 According to some embodiments of the present application, a schematic structural diagram of a rotating bracket is shown;

[0051] Figure 5 According to some embodiments of the present application, a schematic structural diagram of a main shaft is shown.

[0052] Figure 6 According to some embodiments of the present application, a schematic structural diagram of a laser radar detection device is shown;

[0053] Figure 7 According to some embodiments of the present application, an exploded view of a detection device is shown;

[0054] Figure 7A According to some embodiments of the present application, a cross-sectional view of a launch support is shown;

[0055] Figure 7B According to some embodiments of the present application, a cross-sectional view of a receiving support is shown;

[0056] Figure 8 According to some embodiments of the present application, a schematic diagram of a light beam emitting device and a photoelectric processing device is shown.

[0057] Figure 9 According to some embodiments of the present application, a cross-sectional schematic diagram of a flattened laser radar platform is shown;

[0058] Figure 10 According to some embodiments of the present application, a cross-sectional schematic diagram of a laser radar is shown;

[0059] Figure 11 According to some embodiments of the present application, a schematic diagram of the structure of a communication component in a spindle is shown;

[0060] Figure 12 An exploded view of a detection device of a laser radar according to the third aspect of the present application is shown;

[0061] Figure 12A An exploded schematic diagram of the transmitting lens assembly, the receiving lens assembly, the light beam transmitting device, and the light beam receiving device is shown;

[0062] Figure 13 Schematic diagrams of a transmitting lens assembly and a receiving lens assembly are shown;

[0063] Figure 14A A schematic diagram showing a transmitting lens assembly disposed in a groove inside a transmitting support body;

[0064] Figure 14B A schematic diagram showing a receiving lens assembly disposed in a groove of a receiving support body is shown;

[0065] Figure 15 A schematic diagram of the optical path for laser radar detection is shown;

[0066] Figure 16 The figure shows the change of the optical path of a light beam emitted from a group of emission light sources after passing through the emission lens assembly;

[0067] Figure 17 The diagram schematically shows the field of view formed by four groups of emitting light sources;

[0068] Figure 18 shows the scan line distribution of the field of view formed by four groups of emitting light sources;

[0069] Figure 19 A laser radar detection device according to an embodiment of the present application is shown;

[0070] Figure 20 This is a schematic diagram of the principle of a driving circuit for a signal transmitter of a laser radar in the prior art;

[0071] Figure 21 A schematic diagram of the structure of the transmitting circuit of the laser radar provided in an embodiment of the present application;

[0072] Figure 22 Another schematic diagram of the structure of the transmitting circuit of the laser radar provided in an embodiment of the present application;

[0073] Figure 23 A schematic diagram of another structure of the transmitting circuit of the laser radar provided in an embodiment of the present application;

[0074] Figure 24 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application;

[0075] Figure 25 A flowchart of a laser radar-based ranging method provided in an embodiment of the present application.

[0076] Figure 26 This is a schematic diagram of the principle structure of a signal receiver used for laser radar in the prior art;

[0077] Figure 27 A schematic diagram of the structure of a receiving circuit of a laser radar provided in an embodiment of the present application;

[0078] Figure 28 Another structural diagram of a receiving circuit of a laser radar provided in an embodiment of the present application;

[0079] Figure 29 A flowchart of a laser radar ranging method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0080] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0081] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely for the purpose of facilitating the description of the present disclosure and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0082] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0083] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly above or diagonally above the second feature, or simply means that the first feature is at a lower level than the second feature.

[0084] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0085] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0086] Illustrative embodiments of the present application include, but are not limited to, a lidar.

[0087] This application will use the terms commonly used by those skilled in the art to describe the various aspects of the illustrative embodiments, so that the essence of their work is conveyed to other persons skilled in the art. However, it will be apparent to those skilled in the art that some alternative embodiments may be put into practice using portions of the described aspects. For purposes of explanation, specific numbers, materials, and configurations are described to provide a thorough understanding of the illustrative embodiments. However, it will be apparent to those skilled in the art that alternative embodiments may be implemented without the specific details. In other cases, some well-known features have been omitted or simplified in order not to confuse the illustrative embodiments.

[0088] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0089] First aspect

[0090] According to some embodiments of the first aspect of the present application, a laser radar is disclosed. Figure 1 This is a schematic diagram of the cross-sectional structure of the laser radar. Figure 2 and Figure 3 The structural diagram and cross-sectional diagram of the flat platform of the laser radar are shown respectively. Figure 1 As shown, the main axis 2 of the laser radar is located in the lower half of the entire radar, rather than axially passing through the entire laser radar, thereby reducing the space occupied by the main axis passing through the entire radar from top to bottom, and facilitating and simplifying the structural setting of the ranging components above the main axis.

[0091] Specifically, refer to Figure 1 、 Figure 2 and Figure 3 The laser radar may include a base 1, a main shaft 2, a housing 16, a radar rotor (detection device) 17, a rotating bracket 3, a top cover 15, an upper plate 7, a lower plate 8, a bearing 6, a wireless power supply component, a DC motor, a communication component (not shown), a code disk 13, and a cable interface 14. The main shaft 2 is located in the space formed by the upper plate 7 and the base 1 and is perpendicular to the base 1. Figure 4 and Figure 5 The detailed structures of the rotating bracket 3 and spindle 2, shown separately, demonstrate that after the spindle 2 penetrates the lower compartment plate 8, its lower end 2B is secured to the spindle base 1A, thereby enhancing the stability of the LiDAR. Furthermore, the upper end 2A of the spindle 2 can be sleeved within the hollow first portion 3A of the rotating bracket 3. Furthermore, it will be appreciated that in other embodiments of the present invention, the spindle 1 may be positioned above the lower compartment plate 8, rather than through it, i.e., positioned below the lower end of the spindle base 1A.

[0092] like Figure 4 As shown, the first portion 3A of the rotating bracket 3 is perpendicular to the second portion 3B of the circular disc structure. The first portion 3A is sleeved onto the main shaft 2. The second portion 3B is coupled to the radar rotor 17. In one exemplary embodiment, the second portion 3B includes three rotating sub-brackets 3c. Each rotating sub-bracket 3c has a first end coupled to the first portion 3A, and a second end coupled to the edge of the circular disc of the second portion 3B. Each rotating sub-bracket 3c is also provided with a support flange 3d at the junction of its second end and the edge of the circular disc. The support flange 3d protrudes away from the base 1. The radar rotor 17 can be coupled to the rotating bracket 3 via a through-hole in the support flange 3d, thereby improving the rotational stability of the radar rotor 17 above the main shaft 2 and reducing the impact of rotation on the radar rotor 17's overall lifespan and radar imaging quality. It is understood that the number of rotating sub-brackets can be more than three, and can be any number greater than three. Furthermore, the number of support flanges can also be any number greater than three. In addition, the rotating bracket may also adopt other structures suitable for being sleeved on the main shaft and supporting the radar rotor, which is not limited here.

[0093] The upper storage plate 7 is located axially closer to the base of the laser radar and above the circular surface of the rotating bracket 3. The upper storage plate 7 is fixed relative to the radar rotor 17, meaning it rotates with the rotating bracket 3. Its primary function is to process various signals transmitted to and from various components on the radar rotor 17. It is understood that the upper storage plate 7 may have other functions and may be named differently, and is not limited to these. The lower storage plate 8 is primarily used to process various signals received from and transmitted to various components on the radar rotor 17. It is understood that the lower storage plate 8 may have other functions and may be named differently, and is not limited to these. It should be noted that the specific internal structure of the radar rotor 17 is not relevant to the implementation of the solution presented in this embodiment; as long as the radar rotor 17 can rotate and perform distance detection, the internal structure of the radar rotor 17 is not shown.

[0094] In a specific implementation, the communication component may include a first communication module and a second communication module. The first communication module is fixed relative to the radar rotor 17 and electrically connected to the upper storage plate 7 , and the second communication module is fixed relative to the main shaft 2 and electrically connected to the lower storage plate 8 .

[0095] In one embodiment of the present invention, the wireless power supply component can be located between the upper warehouse plate 7 and the lower warehouse plate 8, and can specifically include a wireless transmitting coil 12, a wireless receiving coil 11, a transmitting circuit board 10 and a receiving circuit board 9. The wireless transmitting coil 12, the wireless receiving coil 11, the transmitting circuit board 10 and the receiving circuit board 9 are all arranged around the main shaft 2. The wireless transmitting coil 12 and the transmitting circuit board 10 are fixed relative to the main shaft 2, and the wireless receiving coil 11 and the receiving circuit board 9 are fixed relative to the radar rotor 17. The wireless transmitting coil 12 and the wireless receiving coil 11 move relative to each other and are used to supply power to the drive motor and various devices on the radar rotor 17, such as a ranging component arranged in the radar rotor 17 and fixed relative to the radar rotor 17.

[0096] The drive motor is disposed around the main shaft 2 and, by rotating the rotating bracket 3, drives the radar rotor 17 mounted on the rotating bracket 3 to rotate relative to the main shaft 2 or base 1. The drive motor can be a DC motor, comprising a magnet 5 and an armature 4. The magnet 5 and armature 4, both disposed around the main shaft 2, can interchangeably serve as stator and rotor. For example, the magnet 5 can serve as the rotor, and the armature 4 as the stator. The magnet 5 is positioned outside the armature 4, relatively farther from the main shaft 2. Since the magnet 5 does not require power, the lower compartment plate 8 is electrically connected to the armature 4 via a wired connection to provide power to the armature 4, thereby reducing the power supply pressure on the wireless power supply assembly. It is understood that in other embodiments of the present invention, the magnet 5 and armature 4 of the DC motor can also be configured in different functional roles. For example, the magnet 5 can serve as the motor stator, coupled to the transmitting circuit board 10, and the armature 4 can serve as the motor rotor, which can be powered by the wireless power supply assembly. Furthermore, the drive motor in this application can also employ other types of drive motors, not limited to DC motors. Most existing laser radars use disk motors, which have a complex structure. The laser radar of this application uses a DC motor, which has the characteristics of simple structure and low cost, so it can reduce the complexity of the laser radar.

[0097] In a specific implementation, a code disk 13 can be used as an angle measurement component. The code disk 13 is arranged around the main shaft 2 and is farther away from the main shaft 2 than the wireless power supply component. That is, the code disk 13 is arranged at the farthest distance from the main shaft 2 in the circumferential direction, close to the peripheral wall of the housing of the base 1. By placing the code disk 13 at the outermost side, or close to the housing 16, the accuracy of the code disk in measuring angles can be improved.

[0098] Figure 3A FIG. 1 shows a code wheel 13 according to an embodiment of the present invention. Figure 3A As shown, the code disk 13 is generally annular and can be disposed around the main shaft 2. For example, the code disk 13 has a plurality of regularly distributed gaps or coded marks for use by the photoelectric element for measurement. The code disk 13 can, for example, rotate synchronously with the upper deck 7 and the radar rotor 17. During its rotation, the photoelectric component (not shown) can, for example, identify or determine the rotation angle of the radar rotor 17 through the gaps or coded marks on the code disk 13, thereby angularly orienting the radar rotor 17 and determining the horizontal scanning angle of the laser radar.

[0099] In addition, the cable interface 14 is used to connect the laser radar with other electronic devices, such as other laser radars or electronic devices, so that the signal inside the current laser radar can be transmitted to the outside of the current laser radar. The cable interface 14 is waterproof and can prevent the laser radar from being affected by water when it enters the signal transmission, thereby improving the radar's waterproof capability. The working process of the above laser radar is as follows:

[0100] The second communication module transmits the ranging instruction information issued by the lower panel 8 to the first communication module, for example, in the form of an optical signal, i.e., the so-called uplink optical signal transmission or uplink communication. The first communication module transmits the ranging instruction information to the ranging component disposed inside the radar rotor 17 via the upper panel 7. After receiving the ranging instruction information, the ranging component starts the ranging task.

[0101] The ranging result information generated by the ranging component during the ranging task is processed by the upper warehouse board 7 and then sent to the second communication module through the first communication module. For example, it is sent in the form of an optical signal, which is the so-called downlink optical signal transmission or downlink communication. The lower warehouse board receives the ranging result information through the second communication module control component and performs relevant analysis and processing on it.

[0102] According to a preferred embodiment of the present invention, to avoid crosstalk between uplink and downlink communications, uplink and downlink communications use different wavelengths. Downlink communications transmit larger amounts of data and are faster than uplink communications. In one example, downlink communications can use a laser with a wavelength of approximately 904 nm as the optical transmission element, while uplink communications use a red LED. Figure 3B Schematic diagram of uplink communication and downlink communication is shown, wherein a downward arrow indicates downlink communication; an upward arrow indicates uplink communication. Figure 3B As shown, for downlink communication, a first optical communication transmitting unit L1 is provided on the upper warehouse plate 7, such as a laser with a wavelength of about 904nm, and a first optical communication receiving unit R1 is provided on the lower warehouse plate 8, which can receive or process optical signals with a wavelength corresponding to the first optical communication transmitting unit L1; for uplink communication, a second optical communication transmitting unit L2 is provided on the lower warehouse plate 8, such as a red light LED, and a second optical communication receiving unit R2 is provided on the upper warehouse plate 7, which can receive or process optical signals with a wavelength corresponding to the second optical communication transmitting unit L2. Therefore, the first communication module includes the first optical communication transmitting unit L1 and the second optical communication receiving unit R2, and the second communication module includes the second optical communication transmitting unit L2 and the first optical communication receiving unit R1. In addition, as Figure 3B As shown, according to a preferred embodiment of the present invention, the first communication module and the second communication module are both arranged inside the main shaft 2 to save space.

[0103] Since the divergence angle of the light emitted by the optical communication transmitting unit of the uplink and downlink communication modules is relatively large, basically one-to-one transmission and reception is sufficient, that is, the first communication module and the second communication module can each include an optical communication transmitting unit and an optical communication receiving unit, so the structure of the communication component is relatively simple. The different wavelengths used for up and down communications can also reduce interference and improve communication efficiency. In addition, in terms of position, the modules for up and down communications are both set at the axis center position. Specifically, whether on the upper warehouse plate or on the lower warehouse plate, the first communication module and the second communication module are both set at a position relatively close to the center of the circumferential cross section of the main shaft 2. The communication device itself is not large in size, and the center position of the circumferential cross section is sufficient for placement, so the space can be effectively utilized.

[0104] Furthermore, during the operation of the aforementioned laser radar, the wireless transmitting coil 12 and the wireless receiving coil 11 rotate relative to each other, and the wireless power supply assembly can supply power to the ranging assembly within the radar rotor 17, enabling the ranging assembly to perform its ranging task. Simultaneously, the angle-measuring code disk 13 measures the radar's rotation angle (i.e., the radar's horizontal scanning angle) during operation.

[0105] Further technical solutions of the present application are summarized in the following examples:

[0106] Example 1: A laser radar, comprising a main shaft, a radar rotor, an upper compartment plate, a top cover, and a base;

[0107] The upper storage plate is fixed relative to the radar rotor, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the laser radar;

[0108] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base.

[0109] Embodiment 2: The laser radar according to embodiment 1, further comprising a rotating bracket and a drive motor;

[0110] The rotating bracket includes a first part and a second part. The first part is a hollow structure and is suitable for being mounted on the main shaft. The second part is a disk surface structure perpendicular to the first part and is suitable for coupling with the radar rotor. The second part includes at least three rotating sub-brackets. The first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disk surface of the second part. The drive motor is suitable for driving the radar rotor to rotate through the rotating bracket.

[0111] Example 3: According to the laser radar described in Example 2, a support flange is further provided at the coupling point between the second end of each rotating sub-bracket and the edge of the disk surface, and the protruding direction of the support flange is away from the base, and the radar rotor is suitable for coupling with the rotating bracket through the support flange.

[0112] Example 4: The laser radar according to Example 1 or 2 further includes a lower storage plate, which is located between the upper storage plate and the base and is arranged around the main axis.

[0113] Embodiment 5: The laser radar according to embodiment 4 further includes a wireless power supply component located between the upper and lower compartment plates, wherein the wireless power supply component includes a wireless transmitting coil, a wireless receiving coil, a transmitting circuit board, and a receiving circuit board;

[0114] The wireless transmitting coil, the wireless receiving coil, the transmitting circuit board and the receiving circuit board are all arranged around the main axis;

[0115] The wireless transmitting coil and the transmitting circuit board are fixedly arranged relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixedly arranged relative to the radar rotor;

[0116] The wireless transmitting coil is electrically connected to the transmitting circuit board, and the wireless receiving coil is electrically connected to the receiving circuit board.

[0117] Example 6: The laser radar according to any one of Examples 2 to 5 further includes a drive motor, the drive motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature, and the magnet is coupled to the transmitting circuit board.

[0118] Example 7: According to any one of Examples 2 to 5, the laser radar also includes a drive motor, the drive motor includes a magnet and an armature, the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft relative to the armature, and the transmitting circuit board is electrically connected to the armature to supply power to the armature.

[0119] Example 8: According to the laser radar described in any one of Examples 2 to 7, the driving motor is a DC motor.

[0120] Embodiment 9: The laser radar according to any one of embodiments 5 to 8 further includes an angle measurement component, which is arranged around the main axis and is farther away from the main axis than the wireless power supply component.

[0121] Embodiment 10: The laser radar according to any one of embodiments 1 to 9 further includes a cable interface, which is used to connect the laser radar with an external device outside the laser radar.

[0122] Second aspect

[0123] The illustrative embodiments of the second aspect of the present application include but are not limited to a laser radar detection device and a laser radar thereof.

[0124] According to some embodiments of the present application, a laser radar is disclosed. The cross-sectional structure of the laser radar is as follows: Figure 1 As shown, Figure 6 and Figure 7 The structure diagram and exploded view of the laser radar detection device are shown. Figure 2 The schematic diagram of the structure of the flat platform of the laser radar is shown. Figure 9 FIG shows a cross-sectional schematic diagram of the flattened platform of the laser radar. Figure 1 As shown, the main axis 2 of the laser radar is located in the lower half of the entire radar, rather than axially passing through the entire laser radar, thereby reducing the space occupied by the main axis passing through the entire radar from top to bottom, and facilitating and simplifying the structural setting of the detection device above the main axis.

[0125] Specifically, refer to Figure 1 、 Figure 6 、 Figure 7 、 Figure 2 、 Figure 9 and Figure 10 The laser radar may include a base 1, a main shaft 2, a rotating bracket 3, a supporting platform 18, a detection device (radar rotor) 17, a top cover 15, a shell 16, an upper compartment plate 7, a lower compartment plate 8, a bearing 6, a wireless power supply component (11 and 12), a DC motor, a communication component 19, a code disk 13 and a cable interface 14.

[0126] The main shaft 2 extends between the upper deck 7 and the base 1 and is perpendicular to the base 1. The main shaft 2 is a hollow structure, and the communication component 19 is disposed within the main shaft 2. The detection device 17 is located in the space formed by the upper deck 7, the top cover 15, and the outer shell 16. Driven by a DC motor, in one embodiment of the present invention, the upper deck 7, the detection device 17, and the outer shell 16 can rotate 360 ​​degrees around the main shaft 2 to achieve horizontal scanning of the laser radar.

[0127] In another embodiment of the present invention, driven by a DC motor, the upper plate 7 and the detection device 17 can also rotate inside the housing 16 to achieve horizontal scanning of the laser radar. It should be understood that in this application, the horizontal direction refers to the direction perpendicular to the main axis 2.

[0128] like Figure 6 and Figure 7 As shown, the detection device 17 includes: a support platform 18 located above the upper chamber plate 7, a lens barrel located above and fixed relative to the support platform 18, a light beam emitting device 703, an emitting lens assembly, a receiving lens assembly, a photoelectric processing device 704, a light barrier 711, an emitting magnetic shield 705, and a receiving magnetic shield 706. The lens barrel includes an emitting support body 701 and a receiving support body 702 separated by the light barrier 711. The emitting support body 701 and the receiving support body 702 extend in parallel with each other and are symmetrically arranged relative to the light barrier 711.

[0129] In a specific implementation, the transmitting support body 701 and the receiving support body 702 may also be an integral structure, as long as they can be used to mount and secure the transmitting lens assembly and the receiving lens assembly. It is understood that the top cover 15 and the housing 16 may be separate or integral, and to facilitate the emission of the transmitted light beam and the reception of the echo light beam, the housing 16 may be at least partially transparent.

[0130] In the specific implementation, refer to Figure 7 and Figure 7B The front end surface of the emission support body 701 is provided with an emission hole 707 and an emission light shielding plate 709. The top of the emission support body 701 is provided with a stepped structure 713. The stepped structure 713 can be used to reduce the weight of the emission support body 701. In addition, the inner wall of the emission support body 701 is provided with a groove 712. The groove 712 is used to install the emission lens assembly. In detail, the emission lens assembly can include optical devices such as a collimator and a converging lens. Figure 8 The rear end of the emitting support 701 is provided with a light beam emitting device 703, which includes an emitting circuit board 703A and m×n emitting light sources 703B. The m×n emitting light sources 703B are staggered on the emitting circuit board 703A in the vertical direction. Figure 8 As shown, for example, 4×16 light sources 703B are arranged in a vertical row, with each 16 light sources 703B arranged in a row. At least one of mn is a natural number greater than 1. During use, the detection beam emitted by the multiple light sources 703B passes through the emission lens group and then exits through the emission aperture 707 to the space to be measured. The emission light shielding plate 709 is perpendicular to the front end face of the emission support 701 and is located on one side of the light isolation plate 711 along with the emission aperture 707. This prevents the detection beam from exiting the emission aperture 707 and being reflected by the housing 16 before entering the receiving aperture 708, thereby preventing interference with the echo beam received by the receiving aperture 708 and reducing noise points in the scanned point cloud image.

[0131] Similarly, reference Figure 7 as well as Figure 7A It can be seen that a receiving hole 708 and a receiving shading plate 710 are provided on the front end face of the receiving support body 702, and a stepped structure 714 is provided on the top of the receiving support body 702. The stepped structure 714 can be used to reduce the weight of the receiving support body 702. In addition, a groove 712* is provided on the inner wall of the receiving support body 702, and the groove 712* is used to install a receiving lens assembly. In detail, the receiving lens assembly may include optical devices such as a converging lens. A photoelectric processing device 704 is provided on the outside of the rear end of the receiving support body 702. The photoelectric processing device 704 includes a receiving circuit board 704A and a plurality of photoelectric sensor elements 704B. i×j photoelectric sensor elements 704B are provided on the receiving circuit board 704A, and at least one of i and j is a natural number greater than 1. For example, Figure 8 The receiving circuit board shown has m×n photoelectric sensing elements 704B corresponding to m×n emitting light sources 703B, i.e., i = m, j = n. Furthermore, it is understood that in other embodiments, the relationship between the photoelectric sensing elements 704B and the emitting light sources 703B may not be one-to-one, for example, a one-to-many relationship or a many-to-one relationship.

[0132] When in use, the echo light beam is incident on the receiving support body 702 through the receiving hole 708, and is converged by the receiving lens assembly and then incident on the photoelectric sensor element 704B on the receiving circuit board 704A, wherein the receiving shading plate 710 is located on the end face of the front end of the receiving support body 702 and is perpendicular to the end face. The receiving shading plate 710 and the receiving hole 708 are both located on one side of the light isolation plate 711, which can block the detection light beam emitted from the transmitting hole 707 from entering the receiving hole 708 after being reflected by the outer shell 16, thereby avoiding interference with the echo light beam received by the receiving hole 708 and reducing the noise points in the point cloud image obtained by scanning.

[0133] It can be understood that in the embodiments of the present application, the positions of the various optical devices in the receiving lens assembly and the transmitting lens assembly are fixed inside the receiving support body 702 and the transmitting support body 701, and the positions of the receiving circuit board 704A and the transmitting circuit board 703A can be precisely determined (i.e., located at the rear end of the receiving support body 702 and the transmitting support body 701), thereby reducing the assembly and adjustment of the entire machine to a certain extent.

[0134] It will be appreciated that in the embodiments of the present application, the photoelectric sensor elements 704B and the emitting light sources 703B can be provided in a one-to-one correspondence, or in different quantities, without limitation. Furthermore, to facilitate alignment of the photoelectric sensor elements 704B and the emitting light sources 703B, one of the photoelectric sensor elements 704B and the emitting light sources 703B can be fixed, while the other can be adjustable. Furthermore, during operation, the multiple emitting light sources 703B can emit light beams sequentially or simultaneously.

[0135] As described above, the positions of the transmitting circuit board 703A and the receiving circuit board 704A can be accurately determined at the rear ends of the transmitting support body 701 and the receiving support body 702 respectively, thereby reducing the assembly and adjustment of the entire machine.

[0136] The transmitting magnetic shielding member 705 is arranged on a side surface of the transmitting circuit board 703A, which side surface is opposite to the rear end of the transmitting support body 701, and the transmitting magnetic shielding member 705 is used to shield the electromagnetic signal generated by the transmitting circuit board 703A; the receiving magnetic shielding member 706 is arranged on a side surface of the receiving circuit board 704A, which side surface is opposite to the rear end of the receiving support body 702, and is used to shield the electromagnetic signal generated by the receiving circuit board 704A.

[0137] The following combination Figure 2 、 Figure 4 、 Figure 5 、 Figure 9 The flattened platform of the present application is described below. As shown in the figure, after the spindle 2 penetrates the lower storage plate 8, the lower end portion 2B is fixed to the spindle seat 1A, thereby improving the stability of the laser radar. In addition, the upper end portion 2A of the spindle 2 can be mounted on the hollow first portion 3A of the rotating bracket 3. Furthermore, it is understood that in other embodiments of the present invention, the spindle 2 may not be arranged to pass through the lower storage plate 8, but may be located above the lower storage plate 8, that is, the lower storage plate 8 is arranged at the lower end of the spindle seat 1A.

[0138] like Figure 4As shown, the first portion 3A of the rotating bracket is perpendicular to the second portion 3B of the disc-shaped structure. The first portion 3A is sleeved onto the main shaft 2. The second portion 3B is coupled to the housing 16. In one exemplary embodiment, the second portion 3B includes three rotating sub-brackets 3c. Each rotating sub-bracket 3c has a first end coupled to the first portion 3A, and a second end coupled to the edge of the disc-shaped surface of the second portion 3B. Each rotating sub-bracket 3c is also provided with a support flange 3d at the junction of its second end and the edge of the disc-shaped surface. The support flange 3d protrudes away from the base 1. The upper compartment plate 7 can be coupled to the rotating bracket 3 via a through-hole in the support flange 3d, thereby improving the stability of the rotation of the detection device 17 and reducing the impact of rotation on the overall lifespan and radar imaging quality. It is understood that the number of rotating sub-brackets can be more than three, and any number greater than three can also be provided. Furthermore, the rotating bracket can also adopt other structures suitable for sleeved onto the main shaft and supporting the upper compartment plate 7, and this is not a limitation here.

[0139] The upper storage plate 7 is arranged in the part closer to the base in the axial direction of the laser radar and is located above the disc surface of the rotating bracket 3. The upper storage plate 7 is fixed relative to the rotating bracket 3, that is, the upper storage plate 7 can rotate with the rotating bracket 3. It is mainly used to process the various signals output from the various components on the detection device 17 and transmitted to the various components on the detection device 17. It is understood that the upper storage plate 7 can also have other functions and can be called other names, and is not limited to these. The lower storage plate 8 is mainly used to process the various signals received from the various components on the detection device 17 and to be sent to the various components on the detection device 17. It is understood that the lower storage plate 8 can also have other functions or be called other names, and is not limited to these.

[0140] In specific implementation, Figure 11As shown, the communication component 19 may include a light emitting element 19A and a photoelectric sensor element 19D constituting a first communication module, and a light emitting element 19C and a photoelectric sensor element 19B constituting a second communication module. The light emitting element 19A and the photoelectric sensor element 19D of the first communication module are fixed relative to the rotating bracket 3 and electrically connected to the upper warehouse plate 7, and the light emitting element 19C and the photoelectric sensor element 19B of the second communication module are fixed relative to the main shaft 2 and electrically connected to the lower warehouse plate 8. The wavelength of the light beam emitted by light-emitting element 19A differs from the wavelength of the light beam emitted by light-emitting element 19C. Specifically, light-emitting element 19C emits a light beam with a wavelength of λ1. Light-emitting element 19C and photoelectric sensor element 19D can use this wavelength of λ1 for uplink communication, that is, to transmit certain instructions and information from lower warehouse board 8 to upper warehouse board 7. Light-emitting element 19A emits a light beam with a wavelength of λ2. Light-emitting element 19A and photoelectric sensor element 19B can use this wavelength of λ2 for downlink communication, that is, to transmit certain information detected by detection device 17 to lower warehouse board 8 via upper warehouse board 7. Because the laser radar has main shaft 2 positioned below the detection device and a large number of components are installed in the flat platform, placing communication component 19 in the hollow main shaft 2 can effectively save space in the flat platform and facilitate the placement of other components on the platform.

[0141] It can be understood that in actual application, it can be set Figure 11 Communication components with different numbers of light emitting elements and photoelectric sensing elements are not limited here. For example, considering that the amount of downlink data transmission is greater than the amount of uplink data transmission, the number of light emitting elements set in the second communication module can be greater than the number of light emitting elements set on the first communication module. It can be understood that the light emitting element can be any device that can emit light, including but not limited to laser diodes, light emitting diodes, organic light emitting diodes, laser transmitters, etc. Photoelectric sensing elements refer to any sensors that can convert photoelectric information, including but not limited to phototubes, photomultiplier tubes, photoresistors, photodiodes, phototransistors, photocells, avalanche diodes, etc.

[0142] In one embodiment of the present invention, the wireless power supply component can be located between the upper warehouse plate 7 and the lower warehouse plate 8, and can specifically include a wireless transmitting coil 12, a wireless receiving coil 11, a transmitting circuit board 10 and a receiving circuit board 9. The wireless transmitting coil 12, the wireless receiving coil 11, the transmitting circuit board 10 and the receiving circuit board 9 are all arranged around the main shaft 2. The wireless transmitting coil 12 and the transmitting circuit board 10 are fixed relative to the main shaft 2, and the wireless receiving coil 11 and the receiving circuit board 9 are fixed relative to the rotating bracket 3. The wireless transmitting coil 12 and the wireless receiving coil 11 move relative to each other and are used to supply power to the drive motor and the detection device 17.

[0143] The driving motor is arranged around the main shaft 2 and drives the rotating bracket 3 to rotate by driving the shell 16, the detection device 17 and the upper warehouse plate 7 sleeved on the rotating bracket 3 to rotate relative to the main shaft 2 or the base 1. The driving motor can be a direct current motor, which includes a magnet 5 and an armature 4, and both are arranged around the main shaft 2. Referring to Figure 9 , the magnet 5 is arranged around the main shaft 2 and fixedly connected with the rotating bracket 3, and the armature 4 is also arranged around the main shaft 2 and formed by winding a coil on a silicon steel sheet, so that the cross section of the armature 4 is similar to a cross, and there is a certain gap between the armature 4 and the magnet 5. In addition, the armature fixing ring 41 is arranged around the main shaft 2 and connected with the armature 4 and the wireless power transmission plate 10 respectively, so as to fix the armature 4 to the wireless power transmission plate 10. The magnet 5 and the armature 4 can be interchangeable in the functional role of the stator and the rotor, for example, the magnet 5 can be arranged as the rotor and the armature 4 can be arranged as the stator. The magnet 5 is sleeved outside the armature 4 and is farther away from the main shaft 2. Since the magnet 5 does not need to be powered, the lower warehouse plate 8 is electrically connected with the armature 4 to supply power to the armature 4 in a wired connection mode, so as to reduce the power supply pressure of the wireless power supply assembly. It can be understood that in other embodiments of the application, the magnet 5 and the armature 4 of the direct current motor can also be arranged in another functional role, for example, the magnet 5 is coupled with the transmission circuit board 10 as a motor stator, and the armature 4 is a motor rotor and can be powered by a wireless power supply assembly. In addition, the driving motor in the application can also use other types of driving motors, not limited to direct current motors. The existing laser radar mostly uses disc motors, and the structure of the disc motor is complex. The laser radar of the application uses a direct current motor, which has the characteristics of simple structure and low cost, so as to reduce the complexity of the laser radar.

[0144] In specific implementation, the code disc 13 can be used as an angle measurement assembly, which is arranged around the main shaft 2 and farther away from the main shaft 2 relative to the wireless power supply assembly, that is, the code disc 13 is arranged at the farthest position from the main shaft 2, close to the peripheral wall of the shell of the base 1. By arranging the code disc at the outermost position close to the shell, the accuracy of the code disc in measuring the angle can be improved. Figure 3A As shown in the figure, details are not repeated here.

[0145] In addition, the cable interface 14 is used to connect the laser radar with other electronic devices, such as other laser radars or electronic devices, so that the signals inside the current laser radar can be transmitted to the outside of the current laser radar, and the cable interface 14 can be waterproof, which can prevent the influence of water entering the laser radar on signal transmission, thereby improving the waterproof ability of the radar.

[0146] The working process of the above laser radar is as follows:

[0147] The light emitting element 19C sends the detection instruction information issued by the lower warehouse plate 8 to the photoelectric sensor element 19D in the form of an optical signal, which is the so-called uplink optical signal transmission or uplink communication. After the photoelectric sensor element 19D performs photoelectric conversion on the detection instruction information, it sends the detection instruction information to the detection device 17 through the upper warehouse plate 7. After receiving the detection instruction information, the detection device 17 starts to perform the detection task; specifically, after receiving the detection instruction information, the transmitting circuit board 703A controls multiple transmitting light sources 703B to emit detection light beams to the space to be tested, and the photoelectric sensor element 704B on the receiving circuit board 704A receives the echo light beam incident from the receiving hole 708 and performs photoelectric conversion to generate detection result information.

[0148] The detection result information is processed by the upper warehouse board 7 and sent to the photoelectric sensor element 19B in the form of an optical signal through the light emitting element 19A, which is the so-called downlink optical signal transmission. The photoelectric sensor element 19B performs photoelectric conversion on the detection result information and sends it to the lower warehouse board. The lower warehouse board sends the received detection result information to the control component so that the control component can perform relevant analysis and processing on the detection result information.

[0149] According to a preferred embodiment of the present invention, uplink communication and downlink communication use different wavelengths for communication. Compared with uplink communication, downlink communication transmits a larger amount of data and is faster. According to an example, downlink communication can use a laser of about 904nm as an optical communication transmitting unit, and uplink communication can use LED red light as an optical communication transmitting unit. The specific structures of uplink communication and downlink communication are similar. Figure 3B The above is similar to that shown in the figure and will not be repeated here.

[0150] Furthermore, during the operation of the laser radar, the wireless transmitting coil 12 and the wireless receiving coil 11 rotate relative to each other, and the wireless power supply assembly can supply power to the detection device 17, enabling the detection device 17 to perform its detection task. Simultaneously, the angle-measuring code disk 10 measures the rotation angle of the laser radar during its operation.

[0151] The through-axis configuration of existing LiDARs requires reflectors to be installed in the transmitting and receiving optical paths to avoid the axis. However, the non-through-axis structure of the present application forms a flat platform below the LiDAR, eliminating the optical path obstruction caused by the axis and eliminating the need for reflectors to fold the optical path. This means that the transmitting and receiving optical paths can be basically parallel. For example, for the aforementioned 4×16 transmitting light sources 703B and the corresponding 4×16 photoelectric sensor elements 704B, two sets of reflectors can be eliminated. Multi-line LiDARs can eliminate the complex alignment process of one-to-one correspondence between transmitting and receiving beams, thereby reducing or eliminating optical alignment.

[0152] Further technical solutions of the present application are summarized in the following examples:

[0153] Embodiment 1 may include a laser radar detection device, including a lens barrel, a light beam emitting device, a transmitting lens assembly, a receiving lens assembly, and a photoelectric processing device;

[0154] The lens barrel includes a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other;

[0155] The emission lens assembly is located inside the emission support body and is located on the optical path of the detection light beam emitted by the light beam emitting device;

[0156] The receiving lens assembly is located inside the receiving support body and on the optical path of the echo light beam received by the photoelectric processing device.

[0157] Example 2 may include the detection device of the laser radar described in Example 1, which further includes a light-isolating plate, which is arranged between the emitting support body and the receiving support body and is parallel to the extension direction of the emitting support body and the receiving support body.

[0158] Embodiment 3 may include the detection device of the laser radar described in embodiment 1 or 2, wherein the light beam emitting device includes a transmitting circuit board, the transmitting circuit board is located outside the transmitting support body and is provided at the rear end of the transmitting support body, wherein the rear end of the transmitting support body is the other end opposite to the end of the transmitting support body that emits the detection light beam;

[0159] The photoelectric processing device includes a receiving circuit board, which is located outside the receiving support body and is arranged at the rear end of the receiving support body, wherein the rear end of the receiving support body is the other end opposite to the end of the receiving support body that receives the echo light beam.

[0160] Embodiment 4 may include the detection device of any one of embodiments 1 to 3, wherein the detection device further includes:

[0161] a transmitting magnetic shielding member, provided at the rear end of the transmitting circuit board, for shielding electromagnetic signals generated by the transmitting circuit board; and

[0162] The receiving magnetic shielding member is arranged at the rear end of the receiving circuit board and is used for shielding the electromagnetic signal generated by the receiving circuit board.

[0163] Embodiment 5 may include the detection device of any one of embodiments 1 to 4, wherein the light beam emitting device further includes a light source, and the photoelectric processing device further includes a photoelectric sensor element, wherein:

[0164] m×n emitting light sources are arranged on the emitting circuit board; and

[0165] i×j photoelectric sensing elements are arranged on the receiving circuit board;

[0166] Wherein, m, n, i, and j are natural numbers greater than 1.

[0167] Embodiment 6 may include the detection device of the laser radar according to any one of embodiments 1 to 5, wherein the front end surface of the emitting support body has an emitting hole, and the detection beam is suitable for being emitted from the emitting support body through the emitting hole; the front end surface of the receiving support body has a receiving hole, and the echo beam is suitable for being incident on the receiving support body through the receiving hole; and

[0168] The lens barrel also includes an emitting light shielding plate and a receiving light shielding plate. The emitting light shielding plate is located outside the end surface of the front end of the emitting support body and is perpendicular to the end surface of the front end of the emitting support body. The receiving light shielding plate is located outside the end surface of the front end of the receiving support body and is perpendicular to the end surface of the front end of the receiving support body.

[0169] Embodiment 7 may include the detection device of the laser radar described in any one of embodiments 1 to 6, wherein at least one groove is provided on the inner wall of the emitting support body for fixing the emitting lens assembly; and

[0170] At least one groove is provided on the inner wall of the receiving support body for fixing the receiving lens assembly.

[0171] Example 8 may include the detection device of the laser radar described in Example 1, the detection device also includes a supporting platform, the lens barrel, beam emitting device, emitting lens assembly, receiving lens assembly, and optoelectronic processing device are located above the supporting platform and fixed relative to the supporting platform.

[0172] Embodiment 9 may include a laser radar, comprising: the detection device as described in embodiment 8, a main shaft, an upper storage plate, a top cover, and a base;

[0173] The upper storage plate is fixed relative to the detection device and is located below the support platform of the detection device, and the upper storage plate is relatively closer to the base and farther away from the top cover in the axial direction of the detection device;

[0174] The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base;

[0175] The detection device can be rotated 360° in a horizontal direction relative to the main axis.

[0176] Embodiment 10 may include the laser radar described in embodiment 9, wherein the laser radar further includes a rotating bracket and a driving motor;

[0177] The rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for being mounted on the main shaft, the second part is a disc surface structure perpendicular to the first part and is suitable for supporting the support platform, the second part includes at least three rotating sub-brackets, the first end of each rotating sub-bracket is coupled to the first part, and the second end of each rotating sub-bracket is coupled to the edge of the disc surface of the second part, and the driving motor is suitable for driving the support platform to rotate through the rotating bracket.

[0178] Example 11 may include the laser radar described in Example 9 or 10, and further include a housing, which is located above the base and connected to the periphery of the support platform of the detection device.

[0179] Embodiment 12 may include the laser radar of embodiment 10, further comprising a communication component;

[0180] The main shaft is configured as a hollow structure, and the communication component is disposed inside the main shaft.

[0181] Embodiment 13 may include the laser radar of embodiment 12, wherein the communication component includes a first communication module and a second communication module, the first communication module is fixed relative to the detection device, and the second communication module is fixed relative to the base;

[0182] The first communication module includes at least one light emitting element, and the second communication module includes at least one photoelectric sensing element. The at least one photoelectric sensing element of the second communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the first communication module.

[0183] Example 14 may include the laser radar described in Example 13, wherein the second communication module further includes at least one light emitting element, the first communication module further includes at least one photoelectric sensing element, and the at least one photoelectric sensing element of the first communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the second communication module.

[0184] Example 15 may include the laser radar described in Example 14, wherein the wavelength of the light beam emitted by the at least one light emitting element of the first communication module is different from the wavelength of the light beam emitted by the at least one light emitting element of the second communication module.

[0185] The third aspect

[0186] Illustrative embodiments of the third aspect of the present application include, but are not limited to, a laser radar detection device and a laser radar therefor. The third aspect of the present application is primarily based on the second aspect described above, and therefore the following description will focus on the differences from the second aspect, while the similarities or similarities will not be repeated.

[0187] Figure 12 The detection device (radar rotor) 17 of the laser radar according to the third aspect of the present application is shown, which is for example arranged at Figure 1 The housing 16 is shown. Figure 12 and Figure 7 The structures shown are similar, with the addition of a transmitting lens assembly 715 and a receiving lens assembly 716. Each is described in detail below.

[0188] like Figure 12 As shown, the transmitting support body 701 and the receiving support body 702 are basically symmetrical structures, and both are arranged on the support platform 18. The support platform 18 is, for example, roughly circular. Therefore, the junction of the transmitting support body 701 and the receiving support body 702 (such as the position of the light-isolating plate 711) can be roughly located on a diameter of the support platform 18, thereby evenly distributing the weight of the detection device 17 on the support platform 18 as much as possible, thereby minimizing the imbalance that may occur during high-speed rotation.

[0189] like Figure 12 As shown, the emission lens assembly 715 includes, for example, a plurality of lenses, which are arranged in a groove 712 inside the emission support 701 (as shown in FIG. Figure 7B As shown in FIG. 7 ). The emission lens assembly 715 may include, for example, optical devices such as a collimator and a converging lens. A light beam emitting device 703 is provided at the rear end of the emission support 701. During operation, the detection light beam emitted by the light beam emitting device 703 is modulated and shaped by the emission lens assembly 715 before being emitted through the emission aperture 707 to the space to be measured.

[0190] like Figure 12 As shown, the receiving lens assembly 716 may include, for example, a plurality of lenses, which are disposed in the groove 712* of the receiving support 702 (eg, Figure 7A The receiving lens assembly 716 includes, for example, an optical device such as a converging lens. During use, the echo beam enters the receiving support 702 through the receiving hole 708, is converged by the receiving lens assembly 716, and then is incident on the photoelectric sensor element 704B on the receiving circuit board 704A. Figure 12A A schematic diagram of an exploded view of the emitting lens assembly 715, the receiving lens assembly 716, the light beam emitting device 703, and the light beam receiving device 704 is shown.

[0191] Figure 13 A schematic diagram of a transmitting lens assembly 715 and a receiving lens assembly 716 is schematically shown. Figure 14A FIG. 7 is a schematic diagram showing that the emission lens assembly 715 is disposed in the groove 712 inside the emission support 701. Figure 14B A schematic diagram showing a receiving lens assembly 716 disposed in a groove 712 * of a receiving support body 702 is shown.

[0192] refer to Figure 13 、 Figure 14A and Figure 14B As shown, the emitting lens assembly 715 includes two plano-convex lenses (preferably plano-convex lenses of the same specifications, i.e., lenses 715c and 715d), a symmetrical biconvex lens (i.e., lens 715b), and an aperture (close to the emitting hole 707, i.e., lens 715a); the receiving lens assembly 716 includes lens 716a, lens 716b, and lens 716c, and further includes a filter (i.e., filter 716d) on the side away from the receiving hole 708 for filtering out stray light. According to one embodiment of the present application, the emitting lens assembly 715 is a telecentric lens group, wherein lens 715d is arranged close to the light beam emitting device 703, can receive the laser beam from the light beam emitting device 703, deflect it, and then direct the light beam into other lens assemblies, such as a collimating lens, configured to collimate the deflected laser beam and emit it.

[0193] In addition, according to a preferred embodiment of the present invention, the lens 716d closest to the light beam receiving device 704 in the receiving lens assembly 716 and the lens 715d closest to the light beam emitting device 703 in the transmitting lens assembly 715 are located in the middle of the support platform, are approximately located on the same plane, and the line connecting the two or the center of gravity of the entire lens passes through the center of the support platform 18. Generally, the size and weight of the lens 716d and the lens 715d are relatively large, so locating them in the middle of the support platform is beneficial to reducing the rotational inertia of the detection device 17 during high-speed rotation.

[0194] In addition with Figure 7 Similarly, the stepped structure 713 arranged on the outer end of the launching support body 701 and the stepped structure 714 arranged on the outer end of the receiving support body 702 can reduce the weight of the launching support body 701 and the receiving support body 702. At the same time, since the stepped structure is located at the outer end, it can also reduce the rotational inertia of the detection device 17 during high-speed rotation.

[0195] Figure 8 It is shown that the light beam emitting device 703 includes four groups of emitting light sources 703B, with 16 emitting light sources 703B in each group, for example, arranged in a row in the vertical direction; the light beam receiving device 704 also includes four groups of photoelectric sensor elements 704B, with 16 photoelectric sensor elements 704B in each group preferably arranged in a row in the vertical direction. Figure 15A schematic diagram of the optical path for laser radar detection is shown, in which the transmitting lens assembly and the receiving lens assembly are omitted for clarity.

[0196] Figure 15 In , OB represents the object to be detected. Figure 15 As shown, after a portion of the light beam emitted from light source 703B is incident on object OB to be detected (the square on object OB represents the light spot produced by the light beam from light source 703B on object OB), diffuse reflection occurs, and part of the light beam is reflected back to photoelectric sensor element 704B. For example, emitted light beam 190at is incident on object OB to be detected, generating light spot a. This diffusely reflected portion of light beam 190ar is received by one of the receiving units of photoelectric sensor element 704B. For another example, emitted light beam 190bt is incident on object OB to be detected, generating light spot b. This diffusely reflected portion of light beam 190br is received by another receiving unit of photoelectric sensor element 704B. The signal generated by photoelectric sensor element 704B undergoes signal processing such as amplification and filtering, and further processing to determine parameters such as the distance and orientation of object OB to be detected. It should be noted that the quantitative correspondence between the transmitting and receiving units in this application can be various, such as a one-to-one correspondence, or one transmitting unit corresponding to multiple receiving units, or multiple transmitting units corresponding to one receiving unit. In addition, the relative positions of the transmitting and receiving units that basically correspond to each other are consistent. For example, the transmitting unit that transmits the light beam 190at is located at a relatively bottom position of the column formed by the entire transmitting light source 703B, and the receiving unit that receives the light beam 190ar is also basically located at a relatively bottom position of the column formed by the entire photoelectric sensor element 704B. The transmitting unit that transmits the light beam 190bt is located at a relatively top position of the column formed by the entire transmitting light source 703B, and the receiving unit that receives the light beam 190br is also basically located at a relatively top position of the column formed by the entire photoelectric sensor element 704B.

[0197] Figure 16 It shows the light path change of a light beam emitted from a group of emission light sources 703B after passing through the emission lens assembly. Figure 17 The field of view formed by four groups of emission light sources 703B is schematically shown. Figure 17 The yellow, red, green and blue colors correspond to the emitted lights of the four light sources 703B. Figure 16 The purple outgoing light in Figure 17 The red light on the right side of the image. Figure 17 As shown, the longitudinal field of view of the laser radar detection device 17 is about 106°. At the center of the field of view, the angular resolution is the smallest, which is 1.5°. At the edge of the field of view, the angular resolution is the largest, which is 2.3°. The average angular resolution of the entire field of view is about 1.7°. The scanning line distribution is as follows: Figure 18 shown.

[0198] Figure 19 FIG. 1 shows a detection device 17 of a laser radar according to an embodiment of the present application. Figure 6 structure, Figure 19 In the detection device 17, an optical fiber 717 is provided in front of the emission hole 707 for scattering a portion of the emitted light energy or light beam, so as to provide a supplementary solution for the near-field detection blind zone, thereby not increasing the background noise of the detector. Specifically, the optical fiber 717 can be provided at a position relatively outside the center of the emission hole 707, so as to avoid too much of the emitted light beam being scattered by the optical fiber 717. This method of compensating for the near-field detection blind zone is particularly advantageous when the photoelectric sensor element 704B adopts a SiPM detector. The power response lower limit of the SiPM detector is very low, and it is usually necessary to avoid using a method of supplementing the lateral field of view of the receiving end to supplement the blind zone. Therefore, a blind zone supplementary solution is designed at the emission front end to scatter a portion of the light energy into the receiving line of sight through a single optical fiber, thereby not increasing the background noise of the detector. By adding the optical fiber 717, the blind zone can be shortened from 0.4m to 0.01m.

[0199] The fourth aspect

[0200] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The fourth aspect of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0201] Please refer to Figure 20 , which shows Figure 20 The figure is a schematic diagram of a single-line signal transmission circuit of a laser radar in the prior art.

[0202] like Figure 20 As shown, the single-line signal transmission circuit 100 of the laser radar includes: a switching device driver 101, a switching device 102, a light-emitting device 103 and an energy storage capacitor 104. Among them, the input end of the switching device driver 101 inputs a pulse signal. The output of the switching device driver 101 is electrically connected to the switching device 102. The switching device 102 can be a switching transistor. The output end of the switching device driver 101 can be electrically connected to the gate of the switching transistor 102. The source of the switching transistor is connected to the ground. The positive electrode of the light-emitting device 103 is electrically connected to the high-level signal line (HV), and the negative electrode of the light-emitting device is electrically connected to the drain of the switching transistor 102. In addition, the energy storage capacitor 104 serves as an energy storage element, one end of which inputs a high-level signal and the other end is connected to the ground. In addition, the end of the energy storage capacitor that inputs the high-level signal is electrically connected to the input end of the light-emitting device 103.

[0203] When the voltage of the pulse signal output by the switching device driver 101 is greater than the turn-on voltage of the switching transistor 102, conduction occurs between the drain and source of the switching transistor 102. Current flows from the high-voltage signal line through the light-emitting device 103 and the drain and source of the switching transistor 102, causing the light-emitting device 103 to emit a transmittable light signal. The intensity of the light signal can be controlled by the signal voltage output by the high-level signal line HV. Furthermore, the duration of the light signal emitted by the light-emitting device 103 can be controlled by the pulse signal output by the switching device driver 101.

[0204] A multi-line LiDAR typically includes multiple light-emitting devices. Conventional technology uses a switch driver for each light-emitting device. This hinders the size of the LiDAR and, due to the high cost of the switch driver, also increases the cost of the multi-line LiDAR.

[0205] To address the aforementioned issues, this application employs a signal distributor in the laser radar's transmitting circuit. This allows fewer switching device drivers to drive a larger number of switching devices, thereby reducing the number of components included in the laser radar's transmitting circuit and facilitating a reduction in the size of the laser radar. Furthermore, because the cost of the signal distributor is lower than that of the switching device driver, this can reduce the cost of the laser radar, facilitating further promotion of laser radar.

[0206] Please refer to Figure 21 , Figure 21 A structural schematic diagram 160 of a transmitting circuit of a laser radar provided in an embodiment of the present application is shown.

[0207] like Figure 21 As shown, the transmitting circuit 200 of the laser radar includes a control signal generator 201, a switching device driver 202, a first signal distributor 203, multiple switching devices 204 and multiple light-emitting devices 205.

[0208] In this embodiment, the number of the light emitting devices 205 may be any integer greater than 1, such as 16, 26, 32, 64, etc.

[0209] The number of the switch devices 204 may be equal to the number of the light emitting devices, and each switch device 204 corresponds to each light emitting device 205 on a one-to-one basis.

[0210] The switching device driver 202 is adapted to drive the switching device 204 .

[0211] The output end of the control signal generator 201 is electrically connected to the input end of the switching device driver 202. The output end of the switching device driver 202 is electrically connected to the signal input end of the first signal distributor 203. The first signal distributor 203 includes multiple output ends. Each output end of the first signal distributor 203 corresponds one-to-one to a switching device 204. Each output end of the first signal distributor 203 is electrically connected to the input end (e.g., the gate of a switching transistor) of the switching device 204 corresponding to the output end. Each switching device 204 corresponds one-to-one to a light-emitting device 205. For each switching device 204, the drain of the switching device 204 is electrically connected to the cathode of the light-emitting device 205 corresponding to the switching device 204, and the anode of the light-emitting device 205 corresponding to the switching device 204 is electrically connected to the high-level signal line (HV).

[0212] The control signal generator 201 is used to generate a trigger signal. Generally, the positive amplitude and negative amplitude of the trigger signal may not match the turn-on voltage and pinch-off voltage of the switching device.

[0213] The function of the switching device driver 202 is to turn on and drive the switching device 204 in response to the trigger signal generated by the control signal generator 201. The width of the pulse output by the switching device driver 202 is used to control the on-time of the switching device 204, thereby controlling the duration of the light signal emitted by the light-emitting device. The signal output by the switching device driver 202 can control the on and off state of the switching device 204.

[0214] In some application scenarios, the aforementioned switching device driver can be a GaN switching device driver. GaN switching device drivers are simple to design and can achieve extremely fast propagation delays of 2.5 nanoseconds and a minimum pulse width of 1 nanosecond. Using a GaN switching device driver ensures more accurate control signals for switching devices and can be used to control a variety of switching devices.

[0215] The first signal distributor 203 includes a signal input terminal, multiple output terminals, and at least one address selection signal input terminal. The number of output terminals of the first signal distributor 203 can match the number of light-emitting devices 205 used in the laser radar's transmitting circuit. The number of output terminals of the first signal distributor 203 can be greater than or equal to the number of the aforementioned light-emitting devices 205. The at least one address selection signal input terminal of the first signal distributor 203 can receive an address selection signal. The output terminal corresponding to the address selection signal can be determined based on the address selection signal. The first signal distributor 203 can transmit the pulse signal input to the first signal distributor 203, after conversion by the switching device driver, to the output terminal determined by the address selection signal.

[0216] In this embodiment, the switch device 204 may be various types of switch transistors, such as silicon-based field effect transistors, silicon-based MOS transistors, and the like.

[0217] In some application scenarios, the switching device 204 may be a GaN switching device, such as a silicon-based GaN field-effect transistor, a GaN-based field-effect transistor, etc.

[0218] GaN switching devices have the advantages of high temperature resistance, easy integration, and fast response speed, and are suitable as switching devices for multi-line lidar.

[0219] Corresponding to these application scenarios, the switching device driver 202 may be a GaN switching device driver.

[0220] The above-mentioned light-emitting device 205 can be various light-emitting devices. In some application scenarios, the above-mentioned light-emitting device can be an inorganic semiconductor light-emitting device, such as a semiconductor light-emitting diode (LED), a vertical cavity surface emitting laser (Vcsel), an edge emitting laser (Edge Emitting Lasers, EEL), etc.

[0221] In this embodiment, the number of switching device drivers 202 can be one. The number of output terminals of the first signal distributor 203 can match the number of switching devices 204. This allows a single switching device driver to drive all switching devices. Compared to providing a corresponding switching device driver for each switching device 204, the number of switching device drivers in the above embodiment is significantly reduced. This can reduce the cost of the laser radar's transmitting circuit and the number of components used in the laser radar's transmitting circuit, thereby reducing the volume occupied by the laser radar's transmitting circuit.

[0222] Please refer to Figure 22 , Figure 22 Another structural schematic diagram 260 of the transmitting circuit of the laser radar provided in an embodiment of the present application is shown.

[0223] like Figure 22 As shown, the transmitting circuit 300 of the laser radar includes a control signal generator 301, at least two switching device drivers 302, at least two first signal distributors 303, multiple switching devices 304 and multiple light-emitting devices 305, and a second signal distributor 306.

[0224] In this embodiment, the number of the light emitting devices 305 may be any integer greater than 1, such as 16, 26, 32, 64, etc.

[0225] The number of the switch devices 304 may be equal to the number of the light emitting devices, and each switch device 304 corresponds to each light emitting device 305 on a one-to-one basis.

[0226] The switching device driver 302 is adapted to drive the switching device 304. The number of the switching device drivers 302 is greater than or equal to 2. The number of the switching device drivers 302 may be equal to the number of the first signal distributors 303. Each switching device driver 302 corresponds to each first signal distributor 303 on a one-to-one basis.

[0227] The connection relationship between the switch device 304 and the light emitting device 305 can be referred to Figure 21 The description of the illustrated embodiment will not be repeated here.

[0228] In this embodiment, the number of the first signal distributors 303 may be greater than or equal to 2.

[0229] Each first signal distributor 303 may include a signal input terminal, at least one address selection signal input terminal, and at least two output terminals. The sum of the output terminals of the at least two first signal distributors 303 may match the number of switch devices 304. For example, the sum of the output terminals of each first signal distributor 303 may equal the number of switch devices 304. Each switch device 304 may correspond one-to-one with one output terminal of a first signal distributor 303.

[0230] For each first signal distributor 303, the signal input terminal of the first signal distributor 303 is electrically connected to the signal output terminal of the switch device driver 302 corresponding to the first signal distributor 303; the address selection signal input terminal is electrically connected to the address selection signal line. For each output terminal of the first signal distributor 303, the output terminal is electrically connected to the input terminal of the switch device 304 corresponding to the output terminal.

[0231] The control signal generator 301 and the at least two switching device drivers 302 are electrically connected via the second signal distributor 306 .

[0232] The second signal distributor 306 includes a first input terminal, at least one second input terminal, and at least two first output terminals; wherein the first input terminal is electrically connected to the control signal output terminal of the control signal generator 301. At least one second input terminal is electrically connected to a first address selection signal line. The number of first address selection signal lines can be greater than or equal to one. At each moment, a first output terminal of the second signal distributor 306 can be determined based on the signal transmitted on each first address selection signal line. Each first output terminal can be electrically connected to the input terminal of a switching device driver corresponding to the first output terminal. In this embodiment, each switching device driver 302 corresponds to each first output terminal.

[0233] The number of output terminals of each first signal distributor 303 may be less than Figure 22 The number of switching devices used in the transmitting circuit 300 of the laser radar shown.

[0234] The number of the first output terminals of the second signal distributor 306 may be Figure 22 The number of the switching device drivers 302 used in the transmitting circuit 300 of the laser radar is matched. For example, the number of the first output terminals of the second signal distributor 306 can be equal to the number of the switching device drivers 302 used in the transmitting circuit 300 of the laser radar.

[0235] For example, the number of light-emitting devices 305 is 64. The number of first output terminals of the second signal distributor 306 can be 2, and the number of output terminals of the first signal distributor can be 32. Alternatively, the number of first output terminals of the first signal distributor can be 4, and the number of output terminals of the first signal distributor can be 16. Alternatively, the number of first output terminals of the second signal distributor can be 8, and the number of output terminals of the first signal distributor can be 8, etc.

[0236] The laser radar transmitting circuit provided in this embodiment achieves the goal of reducing the number of switch device drivers used to drive multiple switching devices by providing a first signal distributor and a second signal distributor within the laser radar transmitting circuit. This can reduce the cost of the laser radar transmitting circuit and help reduce the size of the transmitting circuit.

[0237] Please refer to Figure 23 , Figure 23 Another structural schematic diagram 400 of the transmitting circuit of the laser radar provided in an embodiment of the present application is shown.

[0238] In this embodiment, the transmitting circuit 400 of the laser radar includes a control signal generator 401, at least two switching device drivers 402, at least two first signal distributors 403, multiple switching devices 404 and multiple light-emitting devices 405, and at least two third signal distributors 406.

[0239] In this embodiment, the number of the light emitting devices 405 may be any integer greater than 1, such as 16, 26, 32, 64, etc.

[0240] The number of the switching devices 404 may be equal to the number of the light emitting devices 405. Each switching device 404 corresponds to each light emitting device 405 on a one-to-one basis.

[0241] The switching device driver 402 is adapted to drive the switching device 404. The number of the switching device drivers 402 is greater than or equal to 2. The number of the switching device drivers 402 may be equal to the number of the first signal distributors 403. Each switching device driver 402 corresponds to each first signal distributor 403 on a one-to-one basis.

[0242] The connection relationship between the switch device 404 and the light emitting device 405 can be referred to Figure 21 The connection relationship between the first signal distributor 403 and the switch driver can be referred to in Figure 22 The description of the illustrated embodiment will not be repeated here.

[0243] In this embodiment, the third signal distributor 406 includes a third input terminal, at least one fourth input terminal, and at least two second output terminals.

[0244] The control signal generator 401 may include at least two groups of control signal output terminals. Of the at least two groups of control signal output terminals of the control signal generator, only one group of control signal output terminals is in an effective working state at any given moment. Each group of control signal output terminals corresponds one-to-one with a third signal distributor. A group of control signal output terminals of the control signal generator 401 is electrically connected to the third input terminal of the third signal distributor corresponding to the control signal output terminal.

[0245] At least one fourth input terminal of the third signal distributor 406 is electrically connected to the second address selection signal line. The address signal on the second address selection signal line is used to instruct the third distributor to transmit the input signal to the output terminal of the third distributor specified by the address selection signal.

[0246] The total number of the second output terminals corresponding to the at least two third signal distributors 406 may be equal to the total number of the switch devices 402 .

[0247] Each second output terminal corresponds to a switching device driver 402 on a one-to-one basis.

[0248] Each second output terminal is electrically connected to an input terminal of a switching device driver 402 corresponding to the second output terminal.

[0249] In this embodiment, the number of output terminals of each first signal distributor 403 may be less than Figure 23 The number of switching devices used in the transmitting circuit 400 of the laser radar shown.

[0250] The total number of output terminals of each third signal distributor 406 can be Figure 23The number of switch device drivers used in the transmitter circuit 400 of the laser radar shown matches. For example, the total number of third output terminals of each third signal distributor 406 can be equal to the number of switch device drivers 402 used in the transmitter circuit 400 of the laser radar.

[0251] like Figure 23 As shown, in this embodiment, the control signal output terminals of the control signal generator 401 may be 4 groups, the number of the third signal distributors may be 4, and the number of the first signal distributors may be 8.

[0252] In some application scenarios of this embodiment, the number of light-emitting devices used in the transmitting circuit 400 of the laser radar is 64. In these application scenarios, the third signal distributor can be a 2-way signal distributor. The first signal distributor can be an 8-way signal distributor.

[0253] The following describes the specific operation process. The four control signal output terminals of the control signal generator can be T-AP / N, T-BP / N, T-CP / N, and T-DP / N, respectively. The four third signal distributors 406 can be A, B, C, and D, respectively. The trigger signals output by T-AP / N, T-BP / N, T-CP / N, and T-DP / N are transmitted to the third input terminals of A, B, C, and D at different times. Here, T-AP / N represents the T-AP signal (positive signal) output terminal and the T-AN signal (negative signal) output terminal. The same applies to T-BP / N, T-CP / N, and T-DP / N. After the trigger signal is transmitted to the third signal distributor (e.g., A, B, C, or D), for example, A has two possible output terminals: O-AP / N1 and O-AP / N2. The address selection signal input to A's fourth input terminal can control A to transmit the trigger signal to either O-AP / N1 or O-AP / N2. If the trigger signal is transmitted to the O-AP / N1 terminal, the switching device driver electrically connected to the output terminal of O-AP / N1 will be triggered to enter the working state. The driving signal emitted by the switching device driver 402 is distributed to a switching device 404 after passing through the first signal distributor 403. The length of the above-mentioned driving signal can be determined by the time interval between O-AP1 and O-AN1 acting on the above-mentioned switching device 404. The length of the driving signal emitted by the above-mentioned switching device driver 402 can determine the length of time that the above-mentioned switching device 404 is turned on. When the switching device 404 is turned on, the light-emitting device 405 emits light under the action of the HV signal. The above-mentioned driving signal and the HV signal determine the energy of the detection signal emitted by the light-emitting device 405. At the same time, only one of the trigger signals output by T-AP / N, T-BP / N, T-CP / N, and T-DP / N has a signal.

[0254] In addition, the number of control signal output ends of the control signal generator 401 can be 4, the third signal distributor 406 can be a 4-way signal distributor, and the number of third signal distributors 406 can be 4. The first signal distributor 403 can be a 4-way signal distributor. The number of first signal distributors 403 can be 16.

[0255] In addition, the number of control signal output ends of the control signal generator 401 can be 2, the third signal distributor 406 can be a 4-way signal distributor, and the number of third signal distributors 406 can be 2. The first signal distributor 403 can be an 8-way signal distributor, and the number of first signal distributors 403 can be 8.

[0256] As can be seen from the above, the product of the number of output ends of the first signal distributor 403, the number of control signal ends of the control generator 401, and the number of output ends of the third signal distributor 406 can be equal to the number of light emitting devices used by the emission circuit of the laser radar, and the use of fewer switch device drivers 402 to drive more switch devices can achieve the purpose of reducing the number of devices used by the signal emission circuit and reducing the cost of the laser radar.

[0257] The emission circuit of the laser radar provided by the embodiment achieves the purpose of reducing the switch device driver for driving multiple switch devices by providing the first signal distributor and the second signal distributor in the emission circuit of the laser radar. The cost of the emission circuit of the laser radar can be reduced, which helps to reduce the volume of the emission circuit. Thus, the purpose of reducing the cost of the laser radar and reducing the volume of the laser radar is achieved.

[0258] Please refer to Figure 24 , Figure 24 A structure diagram 500 of the laser radar provided by the embodiment of the application is shown.

[0259] As Figure 24 shown, the laser radar 500 includes a signal emission device and a signal receiving device. The signal emission device includes an emission circuit of the laser radar as shown in Figure 21 , Figure 22 , or Figure 23 .

[0260] The above laser radar can be used for distance measurement, obstacle identification, etc. The laser radar can include other features mentioned in the first aspect, the second aspect, and the third aspect of the application.

[0261] Please refer to Figure 25 , Figure 25 A schematic flowchart 600 of the ranging method of the laser radar provided by the embodiment of the application is shown.

[0262] In this embodiment, the laser radar can be Figure 24 The laser radar shown in FIG. The laser radar signal transmitting device may include Figure 21 、 Figure 22 or Figure 23 The signal transmitting circuit shown.

[0263] The signal transmitting device includes multiple light-emitting devices. The laser radar can control the multiple light-emitting devices to emit detection signals in sequence.

[0264] For each two adjacent light-emitting devices among the plurality of light-emitting devices, the two adjacent light-emitting devices are sequentially regarded as the first light-emitting device and the second light-emitting device according to the order in which they emit the detection signal. The first detection signal emitted by the first light-emitting device corresponds to the first flight time.

[0265] like Figure 25 As shown, the ranging method of the laser radar may include:

[0266] In step 601, a signal transmitting device controls a plurality of light emitting devices to transmit detection signals in sequence. For every two adjacent light emitting devices, the time interval between the first and second detection signals transmitted in sequence by the first and second light emitting devices is controlled to be greater than the first flight time.

[0267] In step 602, the signal receiving device receives echo signals generated by each detection signal encountering an obstacle.

[0268] Step 603: Determine the flight time of each detection signal based on the transmission time of each detection signal and the reception time of each echo signal.

[0269] Step 604: Determine the distance between the obstacle and the laser radar based on the flight time.

[0270] In this embodiment, the two adjacent light emitting devices here refer to two light emitting devices that are adjacent in the light emitting sequence. In some application scenarios, the two adjacent light emitting devices may also be two light emitting devices that are adjacent in space.

[0271] In this embodiment, for each light-emitting device, the signal transmitting apparatus may control the on-time of the switch device corresponding to the light-emitting device to control the time when the light-emitting device emits the detection signal.

[0272] In addition, the signal emitting device can also control the intensity of the light emitted by each light emitting device by controlling the intensity of the HV signal input to the positive electrode of each light emitting device.

[0273] For each pair of adjacent light-emitting devices in terms of emission time, the light-emitting device that emits the detection signal first can be considered the first light-emitting device, and the light-emitting device that emits the detection signal later can be considered the second light-emitting device. The detection signal emission time corresponding to the first light-emitting device can be the first time, and the detection signal emission time corresponding to the second light-emitting device can be the second time. The time difference between the second time and the first time can be greater than the first flight time of the detection signal emitted by the first light-emitting device.

[0274] The time of flight (ToF) of each detection signal can be considered as the time interval between the moment the detection signal is sent and the moment the echo signal generated by the detection signal encountering an obstacle is received.

[0275] The time interval between two adjacent light-emitting devices sequentially emitting detection signals is set to be greater than the flight time of the earlier detection signal emitted by the two adjacent light-emitting devices, thereby reducing crosstalk between the two adjacent light-emitting devices.

[0276] For each detection signal, the product of the flight time of the detection signal and the speed of light can be regarded as the distance between the lidar and the obstacle.

[0277] When using a laser radar with multiple light-emitting devices to measure an obstacle, the multiple light-emitting devices can obtain multiple initial distances between the laser radar and the obstacle. Each initial distance corresponds to a detection signal emitted by a light-emitting device.

[0278] The above multiple initial distances can be combined to determine a more accurate distance between the lidar and the above obstacles.

[0279] In some optional implementations, the above step 603 may further include: for each detection signal, determining the flight time of the detection signal based on the transmission time of the detection signal, the reception time of the echo signal corresponding to the detection signal, and a pre-determined compensation time.

[0280] The above compensation time is mainly used to compensate for the deviation of flight time caused by parasitic capacitance in the transmitting circuit of the laser radar.

[0281] The transmitting circuit of the laser radar can generate a parasitic capacitance. The parasitic capacitance can consume the driving pulse signal inputted by the gate of the switching device. Taking the time when the driving pulse signal outputted by the switching device driver reaches the turn-on voltage of the light emitting device as a reference time, the presence of the parasitic capacitance makes the actual turn-on time of the light emitting device later than the reference time. If the time of flight of the probe signal is calculated based on the reference time, the actual time of flight of the probe signal will be less than the measured time of flight of the probe signal, so that the measured distance between the laser radar and the obstacle measured by the laser radar is inaccurate.

[0282] The time difference between the actual turn-on time of the light emitting device and the reference time can be measured using a calibration test method, and the time difference is taken as a compensation time. When calculating the time of flight of the probe signal, the difference between the time interval between the reference time when the probe signal is emitted by the light emitting device and the time when the echo signal generated by the probe signal encountering the obstacle is received and the compensation time is determined as the time of flight of the probe signal for calculating the distance

[0283] By compensating the time of flight of the probe signal, the time of flight of the probe signal for calculating the distance is closer to the actual time of flight of the probe signal, so that the measured distance between the laser radar and the obstacle is more accurate.

[0284] The embodiment of the present application also provides a signal processing method for a laser radar, comprising:

[0285] The signal generator outputs a trigger signal to the switching device driver through control;

[0286] The first signal distributor outputs the driving signal outputted by each of the at least one switching device driver to the switching device in sequence to control the opening and closing of the switching device; and

[0287] The light emitting device emits light through the opening and closing of the switching device.

[0288] The fourth aspect of the present application relates to the transmitting circuit of the laser radar and the signal processing method of the transmitting end. The transmitting circuit 200, 300 and 400 and the signal processing method can be combined with the laser radar of the first aspect, the second aspect and the third aspect of the present application, for example, as the transmitting circuit of the laser radar and the signal processing method thereof. For example, referring to Figure 7 and Figure 8 The outer part of the rear end of the transmitting support body 701 is provided with a light beam emitting device 703, and the light beam emitting device 703 comprises a transmitting circuit board 703A and m×n emitting light sources 703B. The light emitting device 205, 305 and 405 in the transmitting circuit of the fourth aspect of the present application can be used as Figure 8The transmitting light source 703B in the fourth aspect of the present application can also be integrated on the transmitting circuit board 703A, for example, other components of the transmitting circuit of the fourth aspect of the present application, such as a control signal generator, a switching device driver, a first signal distributor, a second signal distributor, a third signal distributor, a plurality of switching devices, etc., so that the technical solution and signal processing method of the laser radar transmitting circuit of the fourth aspect of the present application can be combined with the aforementioned laser radar. This combination is easy to understand for those skilled in the art and does not require creative work, so it will not be repeated here.

[0289] The fifth aspect

[0290] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0291] Please refer to Figure 26 , which shows a schematic diagram of the principle structure of a signal receiver used for lidar in the prior art.

[0292] The laser radar signal receiver may include multiple photoelectric signal receivers, which are used to convert received optical signals into electrical signals.

[0293] like Figure 26 As shown, the signal receiving circuit in the existing laser radar includes a plurality of signal receiving subunits 70. Each signal receiving subunit 70 includes a photoelectric signal receiver 71, a signal amplifier 72 and a voltage comparator 73.

[0294] Each signal receiving subunit 70 can correspond to a light-emitting device in the laser radar transmitting device. For each signal receiving subunit 70, the photoelectric signal receiver 71 in the signal receiving subunit 70 can receive the echo signal returned by the detection signal emitted by the light-emitting device corresponding to the signal receiving subunit 70 when it encounters an obstacle. The echo signal here is a relatively weak light signal. The echo signal is converted into an electrical signal. The signal amplifier 72 in the signal receiving subunit 70 amplifies the above electrical signal. The amplified electrical signal is a continuous voltage signal. The voltage comparator 73 in the signal receiving subunit 70 is used to convert the above continuous voltage signal into a pulse voltage signal.

[0295] The echo signal can be further analyzed based on the pulse voltage signal.

[0296] Existing LiDARs are multi-line LiDARs. The transmitting end includes multiple light-emitting devices, and correspondingly, the signal receiving end may include multiple photoelectric signal receivers. Each photoelectric signal receiver requires a corresponding signal amplifier. This results in a large number of components and high costs, hindering the widespread adoption of LiDARs.

[0297] To address the above-mentioned problems, the technical solutions provided in the embodiments of this application can be adopted.

[0298] Please refer to Figure 27 , Figure 27 A structural schematic diagram of the receiving circuit of the laser radar provided in an embodiment of the present application is shown.

[0299] like Figure 27 As shown, the receiving circuit 800 of the laser radar includes multiple photoelectric signal receivers 801, a first signal selector 802, a signal amplifier 803 and a voltage comparator 804.

[0300] The number of photoelectric signal receivers 801 can be any natural number greater than or equal to 1, such as 8, 16, 24, or 64. The number of photoelectric signal receivers can be set according to the specific application scenario. The above-mentioned photoelectric signal receivers can be, for example, phototubes, photomultiplier tubes, silicon photocells, photodiodes, avalanche photodiodes, PIN photodiodes, silicon photomultipliers (SiPMs), single photon avalanche diodes (SPADs), etc.

[0301] For each photoelectric signal receiver, the operating time of the photoelectric signal receiver can be controlled to match the time when the light-emitting device at the signal transmitting end of the laser radar corresponding to the photoelectric signal receiver emits a detection signal. For example, the operating time of a photoelectric signal receiver can be controlled to start from the time when the light-emitting device at the signal transmitting end of the laser radar corresponding to the photoelectric signal receiver emits a detection signal and end when the photoelectric signal receiver receives an echo signal of the detection signal.

[0302] In this embodiment, the output of each photoelectric signal receiver 801 can correspond one-to-one with a signal input of the first signal selector 802. The output of each photoelectric signal receiver 801 can be electrically connected to the signal input of the first signal selector 802 corresponding to the output of the photoelectric signal receiver 801. The first signal selector 802 can have an address signal input. The address signal input can be electrically connected to an address signal line. The address signal inputted via the address signal input can control which signal input of the first signal selector 802 transmits to the output of the first signal selector 802. The address signal on the address signal line and the control signal that controls the operating time of each photoelectric signal receiver can match each other.

[0303] The output end of the first signal selector 802 is electrically connected to the signal input end of the signal amplifier 803. In some application scenarios, the signal output by the photoelectric signal receiver 801 may be a current signal, and the signal amplifier 803 may convert the current signal input thereto into a voltage signal and amplify the voltage signal. In other application scenarios, the signal output by the photoelectric signal receiver 801 may be a voltage signal, and the signal amplifier 803 may amplify the voltage signal input thereto and output by the photoelectric signal receiver. Typically, the voltage signal output by the signal amplifier 803 is a continuous voltage signal.

[0304] The voltage comparator 804 is configured to convert the continuous voltage signal output by the signal amplifier 803 into a pulsed voltage signal. The voltage comparator 804 has a first input terminal and a second input terminal. The output terminal of the signal amplifier 803 is electrically connected to the first input terminal of the voltage comparator 804, and the second input terminal of the voltage comparator 804 is electrically connected to a preset threshold voltage signal line. The threshold voltage transmitted on the preset threshold voltage signal line can vary depending on the application scenario.

[0305] In some application scenarios, multiple photoelectric signal receivers 801 can be disposed on the same carrier. Two first signal selectors 802, two signal amplifiers 803, and two voltage comparators 804 can also be disposed on the carrier. In these application scenarios, the multiple photoelectric signal receivers 801 can be divided into two groups. Each group of photoelectric signal receivers 801 corresponds to one first signal selector 802. For example, if the total number of photoelectric signal receivers 801 is 16, the 16 photoelectric signal receivers 801 can be divided into two groups, each with eight photoelectric signal receivers 801. Each group of eight photoelectric signal receivers 801 corresponds to one first signal selector 802. The output of each photoelectric signal receiver 801 in each group is connected one-to-one to the signal input of the first signal selector 802 corresponding to that group of photoelectric receivers 801. The output of the first signal selector 802 can be electrically connected to the signal input of a signal amplifier 803. The signal amplifier 803 can have an enable signal input. The output terminal of each signal amplifier 803 may be electrically connected to the first input terminal of the voltage comparator 804. The second input terminal of the voltage comparator 803 is electrically connected to the preset threshold voltage signal line.

[0306] In this way, in the laser radar's signal receiving circuit, a first signal selector is used between multiple photoelectric signal receivers and signal amplifiers to input the electrical signals output by different photoelectric signal receivers into a smaller number of signal amplifiers in a predetermined order. Compared to providing a signal amplifier for each photoelectric signal receiver in the laser radar, the solution provided by this embodiment reduces the number of signal amplifiers used, lowers the cost of the laser radar, and promotes the further promotion of laser radar.

[0307] Please refer to Figure 28 , which shows another structural schematic diagram of the receiving circuit of the laser radar provided in an embodiment of the present application.

[0308] and Figure 27 The same thing as the embodiments shown is that Figure 28 The receiving circuit 900 of the laser radar shown includes multiple photoelectric signal receivers 901, a first signal selector, a signal amplifier, and a voltage comparator 904.

[0309] and Figure 27 The difference is that, in this embodiment, the plurality of photoelectric signal receivers 901 , at least one signal amplifier and at least one voltage comparator are divided into at least two receiving circuit subgroups.

[0310] For each receiving circuit subgroup, the receiving circuit subgroup may include at least two photoelectric signal receivers 901, at least one signal amplifier, and a voltage comparator 905, wherein the at least two photoelectric signal receivers 901 and the at least one signal amplifier are electrically connected via at least one first signal selector.

[0311] In this embodiment, the number of the first signal selectors may be 2, 3, or other numbers. The number of the first signal selectors may be smaller than the number of the photoelectric signal receivers.

[0312] For each receiving circuit subgroup, the connection relationship between the photoelectric signal receiver, the first signal selector, the signal amplifier, and the voltage comparator thereon can be referred to Figure 27 The description of the illustrated embodiment will not be repeated here.

[0313] In some application scenarios, the multiple photoelectric signal receivers 901, at least one signal amplifier and at least one voltage comparator 905 are divided into four receiving circuit subgroups (eg Figure 28 Each receiving circuit subgroup (e.g., BANKA, BANKB, BANKC, and BANKD) includes at least two photoelectric signal receivers 901, at least one signal amplifier, and a voltage comparator 905. The at least two photoelectric signal receivers 901 are electrically connected to the at least one signal amplifier via at least one first signal amplifier. The number of signal amplifiers can be one, two, or more. The number of signal amplifiers can be less than the number of photoelectric signal receivers 901.

[0314] In this embodiment, each of the above receiving circuit subgroups (such as Figure 28The BANKA shown may also include a second signal selector 904. The output terminals of the signal amplifiers included in the receiving circuit subgroup (such as BANKA) are electrically connected to the signal input terminals of the second signal selector 904 in a one-to-one correspondence. The output terminal of the second signal selector 904 is electrically connected to the first input terminal of the voltage comparator 905 of the receiving circuit subgroup. The second input terminal of the voltage comparator 905 is electrically connected to the preset threshold voltage signal line VTHA. It can be understood that for the receiving circuit subgroup BANKB, the corresponding preset threshold voltage signal line is VTHB; for the receiving circuit subgroup BANKC, the corresponding preset threshold voltage signal line is VTHC; for the receiving circuit subgroup BANKD, the corresponding preset threshold voltage signal line is VTHD. However, since BANKB, BANKC, and BANKD are blocked by BANKA, they are not illustrated one by one. However, those skilled in the art can refer to the schematic diagram of BANKA to understand the specific solution. The structural diagrams of BANKB, BANKC, and BANKD are the same as those of BANKA. In addition, since the receiving circuit subgroups BANKA, BANKB, BANKC, and BANKD are arranged in sequence in the vertical direction, and the receiving circuit subgroups at different vertical directions may have different requirements for obstacle detection, VTHA, VTHB, VTHC, and VTHD may be different.

[0315] In some application scenarios, the number of photoelectric signal receivers 901 included in the above-mentioned laser radar signal receiving circuit is 64. For each receiving circuit subgroup, the receiving circuit subgroup may include 16 photoelectric signal receivers 901, two first signal selectors, two signal amplifiers, one second signal selector 904, and one voltage comparator 905. The output terminals of the first eight of the 16 photoelectric signal receivers 901 are electrically connected to the signal input terminals of the first first signal selector 9021 in a one-to-one correspondence; the output terminals of the last eight photoelectric signal receivers 901 are electrically connected to the signal input terminals of the second first signal selector 9022 in a one-to-one correspondence. The first first signal selector 9021 and the second first signal selector 9022 both have address signal input terminals. In some application scenarios, the address signal input terminals of the first first signal selector 9021 and the second first signal selector 9022 can both be electrically connected to address signal lines A0, A1, and A2. The signals transmitted on the address signal lines A0, A1, and A2 are used to determine which input signal the first and second first signal selectors select as output. In other application scenarios, the address signal lines corresponding to the address signal input terminals of the first and second first signal selectors 9021 and 9022 can be independent of each other. This allows for more independent selection.

[0316] The output of the first signal selector 9021 is electrically connected to the signal input of the first signal amplifier 9031. The output of the second signal selector 9022 is electrically connected to the signal input of the second signal amplifier 9032. The output of the first signal amplifier 9031 and the output of the second signal amplifier 9032 are electrically connected to the signal input of the second signal selector 904, respectively.

[0317] The first signal amplifier 9031 and the second signal amplifier 9032 both have an enable signal input terminal. The enable signal input terminal is electrically connected to the enable signal line. Figure 28 ENA shown; for BANKB, the enable signal line is as follows Figure 28 ENB shown; for BANKC, the enable signal line is as follows Figure 28 ENC shown; for BANKD, the enable signal line is as follows Figure 28 The second signal selector 904 has an address signal input terminal, which is electrically connected to the address signal line A3.

[0318] The output terminal of the second signal selector 904 is electrically connected to the first input terminal of the voltage comparator 905. The second input terminal of the voltage comparator 905 is electrically connected to the preset threshold voltage signal line VTHA. After the voltage comparator 905, the above-mentioned BANKA outputs the pulse voltage signal PA, BANKA outputs the pulse voltage signal PB, BANKC outputs the pulse voltage signal PC, and BANKD outputs the pulse voltage signal PD.

[0319] For each BANK (such as BANKA), the multiple photoelectric signal receivers 901 of the BANK can be arranged into a photoelectric signal receiver array (such as Figure 28 The 16-channel photoelectric signals from the photoelectric signal receiver array first pass through two 8-channel signal selectors 9021 and 9022, then enter two broadband signal amplifiers 9031 and 9032, and then pass through a 2-channel signal selector 904 to combine or select one of the channels. The signals then enter a voltage comparator 905 for comparison with a threshold value VTHA. If the value is greater than the threshold VTHA, a pulse signal is output and converted into a low-voltage differential signal for subsequent analysis and processing.

[0320] In addition, for each path formed by the photoelectric signal receiver 901, the threshold VTHA can be different, because different paths may correspond to different detection requirements. In each photoelectric signal receiver array, only the signal generated by one of the photoelectric signal receivers can be selected at any time for amplification and comparison, and the threshold VTHA of the comparator can be adjusted dynamically. The threshold VTHA can be related to the preset detection distance of the laser radar, for example. For nearby targets or highly reflective targets, the echo signal is so strong that the pulse width of the signal amplifier cannot reflect the echo signal intensity. At this time, the threshold needs to be appropriately lowered to obtain reflectivity information. In other words, the lower the preset detection distance, the higher the threshold; the higher the preset detection distance, the lower the threshold.

[0321] refer to Figure 28 The photoelectric signal receivers of BANKA, BANKB, BANKC, and BANKD are arranged vertically in sequence. For the photoelectric signal receiver in BANKA at the relative edge, the detection requirement may be long-distance measurement, that is, detecting as far as possible, so the threshold voltage VTHA in BANKA is lower; similarly, for the photoelectric receiving unit in BANKB at the relatively center, the detection requirement may be high density but close distance, so the threshold voltage VTHB in BANKB is higher.

[0322] The signal amplifier has an enable signal input terminal (control switch). Figure 28 The enable signal lines ENA, ENB, and EBC shown in the figure can be controlled to shut down when detection is not needed, thereby reducing power consumption. Because the signal amplifier takes 1-2µs to recover from a low-power state, the enable signal needs to be provided in advance. For example, if the signal amplifier is required to start operating at time t2, the enable signal design can send the enable signal to the signal amplifier at the time (t2-[1-2µs]), so that the signal amplifier can enter the operating state at t2.

[0323] and Figure 27 Compared to the previously described embodiment, this embodiment divides the laser radar's signal receiving circuit into at least two receiving circuit subgroups. Each subgroup includes at least two photoelectric signal receivers, at least one first signal selector, and at least one voltage comparator. This improves the speed of the echo signal from the received detection signal. This reduces the cost of the laser while ensuring the laser radar's response speed. This is conducive to the further promotion of laser radar.

[0324] In addition, the embodiment of the present application also provides a laser radar. The laser radar includes a signal transmitting device and a signal receiving device. The signal receiving device includes Figure 27 or Figure 28The signal receiving circuit of the laser radar provided in the embodiment shown may include, for example, the other features mentioned in the first, second, third, and fourth aspects of the present application.

[0325] Please refer to Figure 29 , which shows a flow chart of the laser radar ranging method provided in an embodiment of the present application.

[0326] like Figure 29 As shown, the laser radar ranging method 1000 includes the following steps:

[0327] Step 1001: A signal transmitting device controls a plurality of light-emitting devices to transmit detection signals in sequence.

[0328] Step 1002: Each photoelectric signal receiver included in the signal receiving device sequentially receives the echo signals generated when each detection signal encounters an obstacle.

[0329] Step 1003: Based on the emission time of each detection signal, the reception time of each echo signal and the pre-determined compensation time, the flight time of each detection signal is calculated in turn.

[0330] Step 1004: Determine the distance between the obstacle and the laser radar based on the flight time.

[0331] Here, the time of flight (ToF) of each detection signal can be considered as the time interval between the moment when the detection signal is sent and the moment when the echo signal generated by the detection signal encountering an obstacle is received.

[0332] For each detection signal, the product of the flight time of the detection signal and the speed of light can be regarded as the distance between the lidar and the obstacle.

[0333] The compensation time is mainly used to compensate for the deviation of the flight time caused by the parasitic capacitance in the receiving circuit of the laser radar. The parasitic capacitance can be caused by the first signal selector and / or the second signal selector.

[0334] The LiDAR receiver circuit generates parasitic capacitance. Parasitic capacitance consumes voltage, causing the rising edge of the pulse signal voltage output by the voltage comparator to rise later than the theoretical rising edge of the pulse voltage signal generated by the echo signal when the signal receiving circuit lacks parasitic capacitance. Consequently, the actual flight time of the detection signal will be shorter than the measured flight time of the detection signal, resulting in inaccurate distance measurements between the LiDAR and the obstacle.

[0335] A calibration test method can be used to measure the time difference between the rising edge of the pulse signal voltage output by the voltage comparator and the theoretical rising edge of the pulse voltage signal generated by the echo signal when the signal receiving circuit has no parasitic capacitance. This time difference is used as the compensation time. When calculating the flight time of the detection signal, the difference between the reference time when the detection signal is emitted by the optical emitting device and the time when the echo signal generated by the detection signal encountering an obstacle is received, and the compensation time is used to determine the flight time of the detection signal used to calculate the distance.

[0336] The present application also provides a signal processing method that can be used for a laser radar, including:

[0337] The received optical signals are converted into electrical signals through multiple photoelectric signal receivers;

[0338] outputting the electrical signal output by each of the plurality of photoelectric signal receivers to the signal amplifier in sequence through the first signal selector;

[0339] amplifying the received electrical signal by the amplifier; and

[0340] The amplified electrical signal is compared with a threshold voltage through a voltage comparator, and a pulse voltage signal is output according to the comparison result.

[0341] The threshold voltage is related to the detection requirements of the lidar.

[0342] The fifth aspect of the present application relates to a receiving circuit of a laser radar and a signal processing method at the receiving end. The receiving circuits 800, 900 and the signal processing method therein can be combined with the laser radars of the first, second, third and fourth aspects of the present application, for example, as the receiving circuit of the laser radar and the signal processing method therein. For example, refer to Figure 7 and Figure 8 The photoelectric processing device 704 is provided on the outside of the rear end of the receiving support body 702. The photoelectric processing device 704 includes a receiving circuit board 704A and a plurality of photoelectric sensing elements 704B provided on the receiving circuit board. The photoelectric signal receivers 801 and 901 in the receiving circuit of the fifth aspect of the present application can be used as Figure 8The photoelectric sensing element 704B in the embodiment of the present invention can also be integrated on the receiving circuit board 704A, for example, other components of the receiving circuit of the fifth aspect of the present application, such as a signal developer, a first signal selector, a second signal selector, a voltage comparator, etc., so that the technical solution and signal processing method of the laser radar receiving circuit of the fifth aspect of the present application can be combined with the aforementioned laser radar. In addition, the technical solution and signal processing method of the laser radar receiving circuit of the fifth aspect of the present application can be easily combined with the technical solution and signal processing method of the laser radar transmitting circuit of the fourth aspect of the present application. This combination is easy to understand for those skilled in the art and does not require creative work, so it will not be repeated here.

[0343] In the accompanying drawings, some structural or method features may be shown in a particular arrangement and / or order. However, it should be understood that such a particular arrangement and / or order may not be required. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of a structural or method feature in a particular figure does not imply that such feature is required in all embodiments, and in some embodiments, such features may not be included or may be combined with other features.

[0344] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0345] It should be noted that in the examples and description of this patent, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0346] Although the present application has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the application.

Claims

1. A flat platform for laser radar, comprising: Spindle, upper plate, lower plate, and base, wherein: The main shaft is arranged perpendicular to the base and is located between the upper storage plate and the base; The lower storage plate is located between the upper storage plate and the base; The flat platform includes a wireless power supply assembly located between the upper and lower decks; and The flattening platform also includes a rotating bracket for detecting the device and capable of rotating around the main axis, wherein the rotating bracket includes a first part and a second part, the first part is a hollow structure and is suitable for being mounted on the main axis, and the second part is a disc surface structure perpendicular to the first part.

2. The platform according to claim 1, characterized in that The wireless power supply component includes a wireless transmitting coil and a wireless receiving coil. The wireless transmitting coil and the wireless receiving coil are arranged around the main axis, The wireless transmitting coil is fixed relative to the main shaft, and the wireless receiving coil is fixed relative to the detection device.

3. The platform according to claim 2, characterized in that The wireless power supply assembly further includes a transmitting circuit board, wherein the transmitting circuit board is arranged around the main axis. The transmitting circuit board is fixed relative to the main shaft, and The wireless transmitting coil is electrically connected to the transmitting circuit board.

4. The platform according to claim 2 or 3, characterized in that The wireless power supply assembly further includes a receiving circuit board, wherein the receiving circuit board is arranged around the main shaft. The receiving circuit board is fixed relative to the detection device, and The wireless receiving coil is electrically connected to the receiving circuit board.

5. The platform according to any one of claims 1 to 4, characterized in that The rotating bracket includes a plurality of supporting flanges, the supporting flanges are arranged on the second portion, the protruding directions of the supporting flanges are away from the base, and the detection device is suitable for being coupled to the rotating bracket through the supporting flanges.

6. The platform according to claim 5, characterized in that The rotating bracket includes a plurality of rotating sub-brackets, wherein a first end of the rotating sub-bracket is coupled to the first portion, and a second end of the rotating sub-bracket is coupled to an edge of a disk surface of the second portion.

7. The platform according to claim 1, characterized in that The invention also includes a drive motor, wherein the drive motor is suitable for driving the detection device to rotate through the rotating bracket, and the drive motor includes a magnet and an armature, wherein the magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature, and the magnet is coupled to the transmitting circuit board. or, The platform also includes a drive motor, which is suitable for driving the detection device to rotate through the rotating bracket. The drive motor includes a magnet and an armature. The magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature. The transmitting circuit board is electrically connected to the armature to supply power to the armature.

8. The platform according to claim 7, characterized in that The driving motor is a DC motor.

9. The platform according to claim 1, characterized in that It also includes a communication component, wherein the main shaft is configured as a hollow structure, and the communication component is disposed inside the main shaft.

10. The platform according to claim 9, characterized in that The communication component includes a first communication module and a second communication module. The first communication module is fixed relative to the detection device, and the second communication module is fixed relative to the base.

11. The platform according to claim 10, characterized in that The first communication module includes at least one light emitting element, and the second communication module includes at least one photoelectric sensing element, wherein the at least one photoelectric sensing element of the second communication module is located on the light path of the light beam emitted by the at least one light emitting element of the first communication module. and / or The second communication module includes at least one light emitting element, the first communication module includes at least one photoelectric sensing element, and the at least one photoelectric sensing element of the first communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the second communication module.

12. The platform according to claim 11, characterized in that The wavelength of the light beam emitted by the at least one light emitting element of the first communication module is different from the wavelength of the light beam emitted by the at least one light emitting element of the second communication module.

13. A laser radar comprising: A platform, the platform according to any one of claims 1 to 12, and Detection device.

14. The laser radar according to claim 13, characterized in that The detection device includes: a lens barrel, a light beam emitting device, a transmitting lens assembly, a receiving lens assembly, and a photoelectric processing device, wherein The lens barrel includes a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other. The emitting lens assembly is located inside the emitting support body and on the optical path of the detection light beam emitted by the light beam emitting device. The receiving lens assembly is located inside the receiving support body and on the optical path of the echo light beam received by the photoelectric processing device. The light beam emitting device includes an emitting circuit board located outside the emitting support body and arranged at the rear end of the emitting support body, and a plurality of emitting light sources arranged on the emitting circuit board, wherein the rear end of the emitting support body is the other end opposite to the end of the emitting support body from which the detection light beam is emitted; The photoelectric processing device includes a receiving circuit board located outside the receiving support body and arranged at the rear end of the receiving support body, and a plurality of photoelectric sensing elements arranged on the receiving circuit board, wherein the rear end of the receiving support body is the other end opposite to the end of the receiving support body that receives the echo light beam.

15. A laser radar, characterized in that: Including spindle, detection device, upper plate, lower plate and base, The upper compartment plate is fixed relative to the radar rotor. The main shaft is arranged perpendicular to the base, has a hollow structure, and is located between the upper plate and the base. The lower storage plate is located between the upper storage plate and the base. The laser radar further includes a communication component, which is disposed in the main shaft. The laser radar further includes a rotating bracket, which includes a first part and a second part. The first part includes a hollow structure, and the hollow structure of the first part is sleeved on the upper end of the main shaft. The second part includes a plurality of rotating sub-brackets, one end of the rotating sub-bracket is coupled to the first part, and the second end of the rotating sub-bracket is provided with a supporting flange, and the protruding direction of the supporting flange is away from the base. The detection device is suitable for coupling with the rotating bracket through the supporting flange. The detection device includes a light beam emitting device, which includes an emitting circuit board and a plurality of emitting light sources. The plurality of emitting light sources are staggered on the emitting circuit board along a vertical direction.

16. The laser radar according to claim 15, characterized in that The communication component includes a first communication module and a second communication module, the first communication module is electrically connected to the upper plate, and the second communication module is fixed relative to the main shaft. The first communication module includes at least one light emitting element, and the second communication module includes at least one photoelectric sensing element. The at least one photoelectric sensing element of the second communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the first communication module.

17. The laser radar according to claim 16, characterized in that The second communication module further includes at least one light emitting element, and the first communication module further includes at least one photoelectric sensing element. The at least one photoelectric sensing element of the first communication module is located on the optical path of the light beam emitted by the at least one light emitting element of the second communication module.

18. The laser radar according to claim 17, characterized in that The wavelength of the light beam emitted by the at least one light emitting element of the first communication module is different from the wavelength of the light beam emitted by the at least one light emitting element of the second communication module.

19. The laser radar according to any one of claims 15 to 18, characterized in that: The laser radar is a multi-line laser radar having multiple transmitting channels and multiple receiving channels, and the transmitting channels and the receiving channels correspond one to one.

20. The laser radar according to any one of claims 15 to 18, characterized in that: The second part is a disk-shaped structure perpendicular to the first part and is suitable for coupling with the radar rotor. The second part includes at least three rotating sub-brackets, a first end of each rotating sub-bracket is coupled to the first part, and a second end of each rotating sub-bracket is coupled to the edge of the disk surface of the second part. The laser radar further includes a drive motor, which is suitable for driving the detection device to rotate through the rotating bracket.

21. The laser radar according to any one of claims 15 to 18, characterized in that: The supporting flange is provided at a coupling position between the second end of the rotating sub-bracket and the edge of the disk surface.

22. The laser radar according to claim 15, characterized in that It also includes a wireless power supply component located between the upper and lower panels, the wireless power supply component including a wireless transmitting coil, a wireless receiving coil, a transmitting circuit board, and a receiving circuit board. The wireless transmitting coil, the wireless receiving coil, the transmitting circuit board and the receiving circuit board are arranged around the main axis. The wireless transmitting coil and the transmitting circuit board are fixed relative to the main shaft, and the wireless receiving coil and the receiving circuit board are fixed relative to the radar rotor. The wireless transmitting coil is electrically connected to the transmitting circuit board, and the wireless receiving coil is electrically connected to the receiving circuit board.

23. The laser radar according to claim 1, characterized in that The invention also includes a drive motor, wherein the drive motor includes a magnet and an armature, wherein the magnet and the armature are both arranged around the main shaft, and the magnet is further away from the main shaft than the armature, and the magnet is coupled to the transmitting circuit board. or The laser radar also includes a drive motor, which includes a magnet and an armature. The magnet and the armature are both arranged around the main shaft, and the magnet is farther away from the main shaft than the armature. The transmitting circuit board is electrically connected to the armature to supply power to the armature.

24. The laser radar according to claim 23, characterized in that The driving motor is a DC motor.

25. The laser radar according to claim 22, characterized in that It also includes an angle measurement component, which is arranged around the main axis and is farther away from the main axis than the wireless power supply component.

26. The laser radar according to claim 15, characterized in that It also includes a cable interface, which is used to connect the laser radar with external equipment.

27. A laser radar comprising: The main shaft, detection device, upper plate, lower plate, housing and base are characterized by: The main shaft is arranged perpendicular to the base and is located between the upper plate and the base. The lower storage plate is located between the upper storage plate and the base. The laser radar further includes a drive motor, the drive motor including a magnet and an armature, the magnet and the armature being arranged around the main shaft, the magnet and the armature being arranged radially along the main shaft, and the magnet being further away from the main shaft than the armature. The laser radar also includes: a lens barrel, a beam emitting device, a transmitting lens assembly, a receiving lens assembly and a photoelectric processing device, wherein The lens barrel includes a transmitting support body and a receiving support body, and the extending directions of the transmitting support body and the receiving support body are parallel to each other. The emitting lens assembly is located inside the emitting support body and on the optical path of the detection light beam emitted by the light beam emitting device. The receiving lens assembly is located inside the receiving support body and on the optical path of the echo light beam received by the photoelectric processing device. The light beam emitting device is arranged at the rear end of the emitting support body, and the rear end of the emitting support body is the other end opposite to the end of the emitting support body emitting the detection light beam. The photoelectric processing device is arranged at the rear end of the receiving support body, and the rear end of the receiving support body is the other end opposite to the end of the receiving support body receiving the echo light beam. The laser radar further includes: a light isolation plate, which is fixedly connected to the lens barrel and is arranged between the transmitting support body and the receiving support body.

28. The laser radar according to claim 27, further comprising: A wireless power supply component is located between the upper compartment plate and the lower compartment plate, and comprises a wireless transmitting coil, a wireless receiving coil (11) and a transmitting circuit board (10). The wireless transmitting coil, the wireless receiving coil (11), the transmitting circuit board (10) and the receiving circuit board (9) are all arranged around the main shaft (2). The wireless transmitting coil and the transmitting circuit board are fixed relative to the base, the wireless receiving coil is fixed relative to the detection device, and The wireless transmitting coil is electrically connected to the transmitting circuit board, and the wireless receiving coil is electrically connected to the upper compartment plate.

29. The laser radar according to claim 28, characterized in that The transmitting circuit board is electrically connected to the armature to supply power to the armature.

30. The laser radar according to claim 29, characterized in that The driving motor is a DC motor.

31. The laser radar according to claim 27, further comprising: The rotating bracket includes a first part and a second part, the first part is a hollow structure, and the second part is a disc surface structure perpendicular to the first part.

32. The laser radar according to claim 31, characterized in that The rotating bracket includes a plurality of supporting flanges, which are arranged at the edge of the disk surface. The protruding directions of the supporting flanges are away from the base. The detection device is suitable for being coupled to the rotating bracket through the supporting flanges.

33. The laser radar according to claim 27, characterized in that The light beam emitting device includes an emitting circuit board and a plurality of emitting light sources arranged on the emitting circuit board. The photoelectric processing device includes a receiving circuit board and a plurality of photoelectric sensing elements arranged on the receiving circuit board.

34. The laser radar according to claim 33, characterized in that The plurality of emitting light sources are arranged in a plurality of columns.

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