Laser radar and mobile device

Abstract

The invention is suitable for the technical field of laser radars, and provides a laser radar and a mobile device.The laser radar comprises a fixing module and a rotating module, the fixing module comprises a shell and a center circular ring structure, a containing cavity is formed in the shell, and the center circular ring structure is arranged in the containing cavity; the rotating module is rotatably mounted on the fixed module; a first outer side circular ring structure is arranged on the side, close to the center circular ring structure, of the rotating module in the axial direction, and the first outer side circular ring structure is located on the radial outer side of the center circular ring structure; a grating coding structure is arranged on the central circular ring structure, an optocoupler detection assembly is arranged on the side, close to the central circular ring structure, of the rotating module in the axial direction, and the optocoupler detection assembly and the grating coding structure are oppositely arranged. According to the laser radar provided by the invention, the grating coding structure is integrated on the central circular ring structure, so that the transverse size of the laser radar can be designed to be smaller, and the miniaturization design of the laser radar is facilitated.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radars, and more particularly relates to a laser radar and a mobile device. BACKGROUND

[0002] A laser radar is a sensor that measures the distance, speed, shape, etc. of a target by emitting and receiving a laser beam. Its working principle is based on the optical characteristics of laser, and the position and characteristics of the target are determined by measuring the reflection time or phase difference of the laser beam. Laser radars have a wide range of applications in many fields, such as autonomous driving, robot navigation, mapping, environmental monitoring, etc. It can provide high-precision, high-resolution three-dimensional spatial information to help vehicles or robots perceive the surrounding environment, avoid collisions and obstacles.

[0003] However, the existing laser radars mostly have a separate coding component for rotation speed or rotation angle detection at the position close to the outer side of the laser radar, which makes the lateral size of the laser radar larger, and the detection process is easily affected by ambient light, resulting in abnormal performance of the radar's speed measurement function. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a laser radar and a mobile device, aiming to solve the technical problem of the large lateral size of the laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a laser radar is provided, which comprises a fixed module and a rotating module, wherein the fixed module comprises a shell and a center ring structure, the shell is provided with a containing cavity, and the containing cavity is provided with the center ring structure; the rotating module is rotatably installed on the fixed module; the side of the rotating module close to the center ring structure in the axial direction is provided with a first outer ring structure, and the first outer ring structure is located radially outside the center ring structure; the center ring structure is provided with a grating coding structure, and the side of the rotating module close to the center ring structure in the axial direction is provided with a light coupling detection component, the light coupling detection component is arranged opposite to the grating coding structure, and the light coupling detection component can detect the grating coding structure to determine the rotation speed or relative position of the rotating module relative to the center ring structure.

[0006] Optionally, the center circular ring structure comprises a first bearing and a first bearing mounting seat, the first bearing is mounted on the first bearing mounting seat, the rotating module is rotatably mounted on the first bearing mounting seat through the first bearing, and the grating encoding structure is arranged on one end of the first bearing mounting seat in the axial direction and close to the rotating module; or, the center circular ring structure comprises a stator assembly, the stator assembly comprises a stator skeleton and a stator winding coil, the stator winding coil is wound on the stator skeleton, and the grating encoding structure is arranged on one end of the stator skeleton in the axial direction and close to the rotating module; or, the center circular ring structure comprises a mounting plate, a stator assembly, a first bearing and a first bearing mounting seat, the first bearing is mounted on the first bearing mounting seat, the rotating module is rotatably mounted on the first bearing mounting seat through the first bearing, the stator assembly is coaxially arranged with the first bearing mounting seat, the mounting plate is arranged between the stator assembly and the rotating module and is fixedly connected with the first bearing mounting seat, and the grating encoding structure is arranged on one side of the mounting plate in the axial direction and close to the rotating module.

[0007] Optionally, the grating encoding structure is arranged on one end of the first bearing mounting seat in the axial direction and close to the rotating module, the fixed module further comprises a stator assembly, the stator assembly is connected with the outer side wall of the first bearing mounting seat in a matched mode, and the first bearing is connected with the inner side wall of the first bearing mounting seat in a matched mode.

[0008] Optionally, the grating encoding structure is arranged on one end of the stator skeleton in the axial direction and close to the rotating module, the stator skeleton comprises a stator core and an insulating shell, the insulating shell is sleeved outside the stator core, the stator winding coil is wound on the insulating shell, and the grating encoding structure is arranged on one end of the insulating shell in the axial direction and close to the rotating module.

[0009] Optionally, the grating encoding structure is arranged on one side of the mounting plate in the axial direction and close to the rotating module, and the laser radar further comprises a wireless power transmission part, the wireless power transmission part comprises a first coil and a second coil, the first coil is arranged on one side of the mounting plate in the axial direction and close to the rotating module, the second coil is arranged on one side of the rotating module in the axial direction and close to the mounting plate, and the first coil and the second coil can wirelessly transmit electric energy.

[0010] Optionally, the rotating module comprises a rotating support and a laser ranging part, the rotating support is fixedly connected with the laser ranging part, and the rotating support is located between the center circular ring structure and the laser ranging part; the rotating support is provided with a avoiding recess and a first outer side circular ring structure on one side in the axial direction and close to the center circular ring structure, the avoiding recess extends along the circumferential direction of the rotating support and is located on the radial inner side of the first outer side circular ring structure, the avoiding recess corresponds to the position of the grating encoding structure and is used for avoiding the grating encoding structure.

[0011] Optionally, the rotating support is provided with a let-out hole, the let-out hole is communicated with the avoiding recess, the position of the let-out hole corresponds to the position of the optical coupling detection assembly, and the let-out hole is used for letting out the optical coupling detection assembly.

[0012] Optionally, a reinforcing rib is arranged on the side of the rotating support close to the laser ranging part, the reinforcing rib extends along the radial direction of the rotating support, and a projection of the reinforcing rib in the axial direction of the rotating support at least partially overlaps with the avoiding recess; the reinforcing rib is a plurality of reinforcing ribs, and the plurality of reinforcing ribs are arranged at intervals along the circumferential direction of the rotating support.

[0013] Optionally, a lightening groove is arranged on the side of the rotating support close to the laser ranging part, the lightening groove extends along the circumferential direction of the rotating support and is located radially outside the avoiding recess.

[0014] Optionally, the rotating module comprises a rotor assembly, the fixed module further comprises a stator assembly, the rotor assembly is arranged on the inner side wall of the first outer side ring structure, the stator assembly is arranged radially inside the rotor assembly and opposite to the rotor assembly, and / or the laser radar further comprises a wireless power transmission part, the wireless power transmission part comprises a first coil and a second coil, the first coil is arranged on the outer side wall of the first outer side ring structure, the second coil is arranged on the fixed module, and the first coil and the second coil can perform wireless transmission of electric energy.

[0015] Optionally, the grating coding structure comprises a plurality of grating coding teeth, the plurality of grating coding teeth are arranged at intervals along the circumferential direction of the center ring structure, the light coupling detection assembly comprises a light emitting assembly and a light receiving assembly, the light emitting assembly and the light receiving assembly are arranged opposite to each other and are respectively located on two sides of the grating coding tooth in the radial direction of the laser radar, the light emitting assembly is used for emitting light to the light receiving assembly, and the light emitted by the light emitting assembly to the light receiving assembly can be blocked by the grating coding tooth; or, the grating coding structure comprises a plurality of grating coding color blocks, the plurality of grating coding color blocks are arranged at intervals along the circumferential direction of the center ring structure, the light coupling detection assembly comprises a light emitting assembly and a light receiving assembly, the light emitting assembly and the light receiving assembly are arranged on the same side, the light emitting assembly is used for emitting light to the grating coding color block, and the light emitted by the light emitting assembly to the grating coding color block can be reflected by the grating coding color block and received by the light receiving assembly.

[0016] According to another aspect of the present application, a mobile device is provided, the mobile device comprising a laser radar, the laser radar being the laser radar described above.

[0017] The laser radar provided by the application has the beneficial effects that, compared with the prior art, the laser radar provided by the application is installed on the fixed module in a rotatable manner, the grating coding structure is arranged on the center annular structure, and the optical coupling detection assembly is arranged on the side of the rotating module close to the center annular structure in the axial direction, so that the laser radar provided by the application can detect the grating coding structure through the optical coupling detection assembly to determine the rotating speed and relative position of the rotating module relative to the center annular structure in the process of rotating the rotating module relative to the fixed module, and at the same time, since the grating coding structure provided by the application is integrated on the center annular structure, compared with the prior art in which the speed detection assembly is separately arranged on the position close to the outer side of the laser radar, the transverse size of the laser radar provided by the application can be designed to be smaller, which is beneficial to the miniaturization design of the laser radar, and the laser radar provided by the application is provided with the first outer annular structure on the side of the rotating module close to the center annular structure in the axial direction, and the first outer annular structure is located on the radial outer side of the center annular structure, so that the laser radar provided by the application can block the light in the external environment through the first outer annular structure, so as to reduce the influence of the light in the external environment on the grating coding structure on the center annular structure, so that the detection result of the optical coupling detection assembly can be more accurate, and the anti-environmental light interference performance of the laser radar provided by the application is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 The structure schematic diagram of the laser radar provided by the embodiment of the application is shown in the figure.

[0020] Figure 2 The structure schematic diagram of the laser radar provided by the embodiment of the application is shown in the figure.

[0021] Figure 3 The structure schematic diagram of the laser radar provided by the embodiment of the application is shown in the figure.

[0022] Figure 4 The structure schematic diagram of the laser radar provided by the embodiment of the application is shown in the figure.

[0023] Figure 5 The structure schematic diagram of the laser radar provided by the embodiment of the application is shown in the figure.

[0024] Figure 6A structure schematic diagram of a rotating support provided for an embodiment of the present application is shown in the following figure.

[0025] Figure 7 A structure schematic diagram of a laser radar provided for another embodiment of the present application is shown in the following figure.

[0026] Figure 8 A structure schematic diagram of a laser radar provided for yet another embodiment of the present application is shown in the following figure.

[0027] Figure 9 A structure schematic diagram of a stator assembly of a laser radar provided for another embodiment of the present application is shown in the following figure.

[0028] Figure 10 A structure schematic diagram of a stator assembly of a laser radar provided for another embodiment of the present application is shown in the following figure.

[0029] The label details involved in the above figures are as follows:

[0030] 10, housing; 11, accommodating cavity; 12, upper cover assembly; 13, lower shell assembly; 131, second outer circular ring structure; 132, central circular ring structure; 1321, grating coding structure; 1322, first bearing mounting seat; 133, mounting plate; 134, second bearing mounting seat;

[0031] 20, laser ranging part;

[0032] 30, optical coupling detection assembly;

[0033] 41, rotating support; 411, avoiding recess; 412, giving hole; 413, reinforcing rib; 414, first outer circular ring structure; 415, lightening groove; 416, main shaft; 42, first circuit board; 43, second circuit board;

[0034] 50, wireless power transmission part; 51, first coil; 52, second coil;

[0035] 61, first bearing; 62, second bearing;

[0036] 70, driving part; 71, stator assembly; 711, stator skeleton; 7111, stator core; 7112, insulating shell; 712, stator winding coil; 72, rotor assembly. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below in combination with the figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0040] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0041] As described in the background, lidar is a sensor that measures distance, speed, shape, etc. of a target by emitting and receiving a laser beam. Its working principle is based on the optical properties of laser, which determines the position and characteristics of the target by measuring the reflection time or phase difference of the laser beam. Lidar has a wide range of applications in many fields, such as autonomous driving, robot navigation, mapping, environmental monitoring, etc. It can provide high-precision, high-resolution three-dimensional spatial information to help vehicles or robots perceive the surrounding environment, avoid collisions and obstacles. However, the existing lidar mostly separately sets a coding speed detection assembly for speed or rotation angle detection at the position close to the outside of the lidar, which makes the transverse size of the lidar larger, and in the detection process, it is easily affected by the ambient light, resulting in performance abnormalities of the speed detection function of the radar.

[0042] The inventors of the present application have further found, for example, with reference to CN211674058U, that for a ring structure provided with a grating encoding structure as an encoding disc, because the outer sidewall of the ring structure is provided with a power transmission coil, a gap needs to be left between the outer sidewall of the ring structure and the inner sidewall of the base; and because the inner side of the ring structure is provided opposite to a rotating platform that rotates relative to the ring structure, a gap also needs to be left between the inner sidewall of the ring structure and the outer sidewall of the rotating platform. If the ring structure is only used to set the power transmission coil and does not set the grating encoding structure, the above gaps can be set to be very small, but because the grating encoding structure is also set, a detection structure that cooperates with the grating encoding structure also needs to be set, and the width of the detection structure is often greater than the width of the ring structure when only the power transmission coil is set, so that the above two gaps need to be set to be larger, i.e., the radial size of the laser radar is larger.

[0043] Referring to Figures 1 to 10 To solve the above problems, according to one aspect of the present application, the embodiments of the present application provide a laser radar, which comprises a fixed module and a rotating module, wherein the fixed module comprises a shell 10 and a center ring structure 132, the shell 10 is provided with an accommodating cavity 11, and the center ring structure 132 is arranged in the accommodating cavity 11; the rotating module is rotatably installed on the fixed module, and the rotating module is provided with a first outer ring structure 414 on the side axially close to the center ring structure 132, and the first outer ring structure 414 is located radially outside the center ring structure 132; the center ring structure 132 is provided with a grating encoding structure 1321, and the side of the rotating module axially close to the center ring structure 132 is provided with an optical coupling detection assembly 30, the optical coupling detection assembly 30 is arranged opposite to the grating encoding structure 1321, and the optical coupling detection assembly 30 can detect the grating encoding structure 1321 to determine the rotating speed or relative position of the rotating module relative to the center ring structure 132.

[0044] The laser radar provided in the embodiment can be rotatably arranged on the fixed module through the rotating module, and the grating coding structure 1321 is arranged on the central circular structure 132. The light coupling detection assembly 30 is arranged on the side of the rotating module close to the central circular structure 132 in the axial direction of the rotating module. In the process of rotating the rotating module relative to the fixed module, the laser radar provided in the embodiment can detect the grating coding structure 1321 through the light coupling detection assembly 30 to determine the rotating speed and relative position of the rotating module relative to the central circular structure 132. At the same time, since the grating coding structure 1321 provided in the embodiment is integrated on the central circular structure 132, compared with the way of separately arranging the speed measuring assembly on the position close to the outer side of the laser radar in the prior art, the transverse size of the laser radar provided in the embodiment can be designed to be smaller, which is beneficial to the miniaturization design of the laser radar. In addition, the laser radar provided in the embodiment is arranged with the first outer circular structure 414 on the side of the rotating module close to the central circular structure 132 in the axial direction, and the first outer circular structure 414 is located on the radial outer side of the central circular structure 132. The laser radar provided in the embodiment can block the light in the external environment through the first outer circular structure 414 to reduce the influence of the light in the external environment on the grating coding structure 1321 on the central circular structure 132, so that the detection result of the light coupling detection assembly 30 is more accurate, and the anti-environmental light interference performance of the laser radar provided in the embodiment is improved.

[0045] In a specific embodiment, the central circular structure 132 provided in the embodiment can be an incomplete circular structure, for example, the central circular structure 132 provided in the embodiment can be a circular structure with one or more notches.

[0046] In an optional embodiment, the grating coding structure 1321 provided in the embodiment is located on the side of the central circular structure 132 close to the rotating module in the axial direction.

[0047] In a specific embodiment, the radial direction in the above-mentioned embodiment refers to the direction perpendicular to and intersecting with the rotating axis of the rotating module, and the axial direction refers to the direction parallel to the rotating axis of the rotating module. Of course, in other embodiments, the radial direction and the axial direction provided in the embodiment can also be other directions.

[0048] Referring to Figure 2 and Figure 3As shown, in a specific embodiment, the center annular structure 132 in the present embodiment comprises a first bearing 61 and a first bearing mounting seat 1322, the first bearing 61 is mounted on the first bearing mounting seat 1322, the rotation module is rotatably mounted on the first bearing mounting seat 1322 through the first bearing 61, and the grating encoding structure 1321 is arranged on one end of the first bearing mounting seat 1322 close to the rotation module in the axial direction. By multiplexing the first bearing mounting seat 1322 to arrange the grating encoding structure 1321, it is not necessary to separately arrange components provided with the grating encoding structure 1321 in the radial inner side space of the first outer annular structure 414, and it is also not necessary to increase the radial size for the purpose of arranging the optical coupling detection assembly 30, so that the radial size of the laser radar can be designed to be smaller, which is more conducive to the miniaturization design of the laser radar.

[0049] As shown in Figure 2 and Figure 3 As shown, in a specific embodiment, the fixed module further comprises a stator assembly 71, the stator assembly 71 is connected with the outer side wall of the first bearing mounting seat 1322, and the first bearing 61 is connected with the inner side wall of the first bearing mounting seat 1322. Compared with the laser radar in the prior art in which the grating encoding structure 1321 is arranged on the annular structure with gaps on the inner and outer sides as an encoding disc, the first bearing mounting seat 1322 in the present embodiment does not need to be provided with gaps on the inner and outer sides, even if the first bearing mounting seat 1322 is provided with the grating encoding structure 1321, and it is also not necessary to increase the radial size for the purpose of arranging the optical coupling detection assembly 30.

[0050] As shown in Figure 7 As shown, in another embodiment, the center annular structure 132 provided in the present embodiment comprises a stator assembly 71, the stator assembly 71 comprises a stator skeleton 711 and a stator winding coil 712, the stator winding coil 712 is wound on the stator skeleton 711, and the grating encoding structure 1321 is arranged on one end of the stator skeleton 711 close to the rotation module in the axial direction. By multiplexing the stator skeleton 711 to arrange the grating encoding structure 1321, it is not necessary to separately arrange components provided with the grating encoding structure 1321 in the radial inner side space of the first outer annular structure 414, and it is also not necessary to increase the radial size for the purpose of arranging the optical coupling detection assembly 30, so that the radial size of the laser radar can be designed to be smaller, which is more conducive to the miniaturization design of the laser radar.

[0051] As shown in Figure 9 and Figure 10As shown in another embodiment, the grating encoding structure 1321 in the embodiment is arranged on one end of the stator framework 711 in the axial direction, the stator framework 711 comprises a stator core 7111 and an insulating shell 7112, the insulating shell 7112 is sleeved outside the stator core 7111, the stator winding coil 712 is arranged on the insulating shell 7112, and the grating encoding structure 1321 is arranged on one end of the insulating shell 7112 in the axial direction. Compared with the prior art that the grating encoding structure 1321 is arranged on the annular structure with gaps on the inner and outer sides as an encoding disc of the laser radar, the inner side of the insulating shell 7112 provided by the embodiment does not need to be provided with a gap, even if the grating encoding structure 1321 is arranged on the insulating shell 7112, and more does not need to increase the radial size in order to arrange the optical coupling detection assembly 30, and the laser radar provided by the embodiment arranges the grating encoding structure 1321 on the insulating shell 7112, which does not affect the performance of the motor, and the processing and forming are relatively simple.

[0052] Referring to Figure 8 As shown in still another embodiment, the center ring structure 132 provided by the embodiment comprises a mounting plate 133, a stator assembly 71, a first bearing 61 and a first bearing mounting seat 1322, the first bearing 61 is mounted on the first bearing mounting seat 1322, the rotating module is rotatably mounted on the first bearing mounting seat 1322 through the first bearing 61, the stator assembly 71 is coaxially arranged with the first bearing mounting seat 1322, the mounting plate 133 is arranged between the stator assembly 71 and the rotating module and is fixedly connected with the first bearing mounting seat 1322, and the grating encoding structure 1321 is arranged on one side of the mounting plate 133 in the axial direction and close to the rotating module. By arranging the mounting plate 133 between the stator assembly 71 and the rotating module to arrange the grating encoding structure 1321, the radial size is increased in order to arrange the grating encoding structure 1321 and the optical coupling detection assembly 30, so that the radial size of the laser radar can be designed to be smaller, which is more conducive to the miniaturization design of the laser radar.

[0053] Referring to Figure 8As shown, in still another embodiment, the grating encoding structure 1321 in the embodiment is arranged on the side close to the rotating module in the axial direction of the mounting plate 133, and the laser radar further comprises a wireless power transmission part 50, the wireless power transmission part 50 comprising a first coil 51 and a second coil 52, the first coil 51 being arranged on the side close to the rotating module in the axial direction of the mounting plate 133, and the second coil 52 being arranged on the side close to the mounting plate 133 in the axial direction of the rotating module, and the first coil 51 and the second coil 52 being capable of wireless transmission of electric energy. The laser radar provided in the embodiment transmits electric energy between the fixed module and the rotating module through the first coil 51 and the second coil 52 by arranging the first coil 51 on the side close to the rotating module in the axial direction of the mounting plate 133 and arranging the second coil 52 on the side close to the mounting plate 133 in the axial direction of the rotating module, that is, the mounting plate 133 simultaneously functions as the first coil 51 and the grating encoding structure 1321, completely eliminating the annular structure for arranging the grating encoding structure 1321 and the power transmission coil in the radial direction of the laser radar in the prior art, further enabling the radial size of the laser radar provided in the embodiment to be designed to be smaller, and being more conducive to the miniaturization design of the laser radar.

[0054] In an alternative embodiment, the mounting plate 133 provided in the embodiment is integrally formed with the first bearing mounting seat 1322, and of course in other embodiments, the mounting plate 133 provided in the embodiment can be separately arranged from the first bearing mounting seat 1322.

[0055] In a specific embodiment, the mounting plate 133 provided in the embodiment at least partially coincides with the stator assembly 71 in the axial projection of the laser radar.

[0056] Referring to Figures 2 to 6 As shown, in a specific embodiment, the rotating module in the embodiment comprises a rotating support 41 and a laser ranging part 20, the rotating support 41 being fixedly connected with the laser ranging part 20, and the rotating support 41 being located between the central circular ring structure 132 and the laser ranging part 20; the rotating support 41 being provided with an avoiding recess 411 and a first outer circular ring structure 414 on the side close to the central circular ring structure 132 in the axial direction of the rotating support 41, the avoiding recess 411 extending along the circumferential direction of the rotating support 41 and being located radially inside the first outer circular ring structure 414, the avoiding recess 411 corresponding to the position of the grating encoding structure 1321 and being used for avoiding the grating encoding structure 1321.

[0057] By setting the rotating support 41 provided in the embodiment between the center circular ring structure 132 and the laser ranging part 20, and fixing the rotating support 41 and the laser ranging part 20, the laser ranging part 20 provided in the embodiment can rotate with the rotation of the rotating support 41. At the same time, by setting the avoiding recess 411 extending along the circumference of the rotating support 41 on the side of the rotating support 41 close to the center circular ring structure 132, and making the position of the avoiding recess 411 provided in the embodiment correspond to the position of the grating coding structure 1321, the rotating support 41 provided in the embodiment can avoid the grating coding structure 1321 through the avoiding recess 411, so that the axial size of the laser radar provided in the embodiment can be designed to be smaller, which is beneficial to the miniaturization design of the laser radar.

[0058] In a specific embodiment, the avoiding of the rotating support 41 provided in the embodiment to the grating coding structure 1321 means that a certain distance is maintained between the grating coding structure 1321 and the rotating support 41, so that the grating coding structure 1321 provided in the embodiment can be at least partially located in the avoiding recess 411, or can be completely located outside the avoiding recess 411. By setting the avoiding recess 411 on the rotating support 41, the distance between the grating coding structure 1321 provided in the embodiment and the bottom surface of the rotating support 41 can be set to be smaller, thereby reducing the axial height of the laser radar provided in the embodiment.

[0059] In an alternative embodiment, the end of the side wall of the avoiding recess 411 provided in the embodiment close to the center circular ring structure 132 is higher than the end of the grating coding structure 1321 close to the center circular ring structure 132, so that the rotating support 41 provided in the embodiment can have sufficient thickness and strength when the design height of the laser radar is sufficient.

[0060] In another embodiment, the end of the side wall of the avoiding recess 411 provided in the embodiment close to the center circular ring structure 132 is lower than the end of the grating coding structure 1321 close to the center circular ring structure 132, so that the axial size of the laser radar provided in the embodiment is more compact, and at the same time, the influence of other light on the grating coding structure 1321 and the optical coupling detection assembly 30 can be reduced.

[0061] In an alternative embodiment, the avoidance recess 411 provided in the embodiment is an annular avoidance groove, and the two opposite side walls of the avoidance groove are located on the two sides of the grating encoding structure 1321. Of course, in other embodiments, the avoidance recess 411 provided in the embodiment can also be an inner recess structure with one side wall, which can be located on the side of the grating encoding structure 1321 close to the center of the laser radar (not shown in the figure), or can be located on the side of the grating encoding structure 1321 away from the center of the laser radar (as shown in Figure 7

[0062] Referring to Figure 5 and Figure 6 In a specific embodiment, the rotating support 41 in the embodiment is provided with a clearance hole 412 in communication with the avoidance recess 411, and the position of the clearance hole 412 corresponds to the position of the optical coupling detection assembly 30, which is used for positioning the optical coupling detection assembly 30. By providing the rotating support 41 provided in the embodiment with the clearance hole 412 in communication with the avoidance recess 411, and making the position of the clearance hole 412 correspond to the position of the optical coupling detection assembly 30, the rotating support 41 provided in the embodiment can position the optical coupling detection assembly 30 through the clearance hole 412, so that the optical coupling detection assembly 30 provided in the embodiment can at least partially coincide with the rotating support 41 in the axial direction of the laser radar, so as to reduce the axial size of the laser radar provided in the embodiment. At the same time, since the rotating support 41 provided in the embodiment is provided with the clearance hole 412 in communication with the avoidance recess 411 and corresponding to the position of the optical coupling detection assembly 30, the optical coupling detection assembly 30 provided in the embodiment can avoid interference with the rotating support 41 by being arranged in the clearance hole 412.

[0063] Referring to Figure 6 In a specific embodiment, the side of the rotating support 41 in the embodiment close to the laser ranging part 20 is provided with a reinforcing rib 413 extending in the radial direction of the rotating support 41, and the projection of the reinforcing rib 413 in the axial direction of the rotating support 41 at least partially coincides with the avoidance recess 411. By providing the side of the rotating support 41 provided in the embodiment close to the laser ranging part 20 with the reinforcing rib 413 extending in the radial direction of the rotating support 41, and making the projection of the reinforcing rib 413 in the axial direction of the rotating support 41 at least partially coincide with the avoidance recess 411, the structural strength of the rotating support 41 provided in the embodiment can be effectively guaranteed even improved after the avoidance recess 411 is provided. At the same time, arranging the reinforcing rib 413 provided in the embodiment on the side of the rotating support 41 close to the laser ranging part 20 can effectively avoid interference between the reinforcing rib 413 and the grating encoding structure 1321. ​

[0064] As shown in Figure 6 In a specific embodiment, the reinforcing ribs 413 are provided in a plurality, and the plurality of reinforcing ribs 413 are arranged along the circumference of the rotating support 41. By providing the reinforcing ribs 413 in a plurality and arranging the plurality of reinforcing ribs 413 along the circumference of the rotating support 41, the structural strength of the rotating support 41 can be effectively improved, and the strength reduction of the rotating support 41 caused by the arrangement of the avoiding recess 411 can be supplemented.

[0065] In an alternative embodiment, the reinforcing ribs 413 in the present embodiment protrude from the side of the rotating support 41 close to the laser ranging part 20.

[0066] In an alternative embodiment, the thickness and width of the reinforcing ribs 413 in the present embodiment are greater than or equal to 1.5 mm.

[0067] As shown in Figure 6 In order to reduce the weight of the rotating support 41, a weight-reducing groove 415 is arranged on the side of the rotating support 41 close to the laser ranging part 20, and the weight-reducing groove 415 extends along the circumference of the rotating support 41 and is located radially outside the avoiding recess 411. By arranging the weight-reducing groove 415 extending along the circumference of the rotating support 41 on the side of the rotating support 41 close to the laser ranging part 20, and locating the weight-reducing groove 415 radially outside the avoiding recess 411, the rotating support 41 can reduce the weight of the rotating support 41 while meeting the structural strength requirements, which is conducive to the lightweight design of the rotating support 41. At the same time, by arranging the weight-reducing groove 415, the wall thickness of the rotating support 41 can remain uniform after the avoiding recess 411 is arranged, thereby preventing excessive deformation of the rotating support 41.

[0068] In an alternative embodiment, the rotating module further comprises a rotor assembly 72, and the fixed module further comprises a stator assembly 71. The rotor assembly 72 is arranged on the inner side wall of the first outer circular ring structure 414, and the stator assembly 71 is arranged radially inside the rotor assembly 72. That is, the center circular ring structure 132 provided with the grating code structure 1321 is located radially inside the rotor assembly 72, and does not occupy the gap space between the stator assembly 71 and the rotor assembly 72, which is conducive to the miniaturization design of the laser radar in the radial direction. It should be noted that the stator assembly 71 and the rotor assembly 72 constitute a driving part 70. The rotating support 41 can drive the laser ranging part 20 to rotate along the rotation axis of the rotating module under the driving of the driving part 70.

[0069] In an alternative embodiment, the laser radar provided by the present embodiment further comprises a wireless power transmission unit 50, which comprises a first coil 51 and a second coil 52, the first coil 51 is arranged on the outer wall of the first outer circular ring structure 414, and the second coil 52 is arranged on the fixed module, and the first coil 51 and the second coil 52 can wirelessly transmit electric energy.

[0070] Referring to Figure 2 and Figure 3 In a specific embodiment, the laser radar provided by the present embodiment further comprises a control unit, which comprises a first circuit board 42, the first circuit board 42 of the present embodiment is installed on the rotating support 41 or the laser ranging unit 20 and is electrically connected with the laser ranging unit 20 and the optocoupler detection assembly 30, so that the laser radar provided by the present embodiment can supply power or control the operation of the laser ranging unit 20 and the optocoupler detection assembly 30 through the first circuit board 42.

[0071] Referring to Figure 2 and Figure 3 In a specific embodiment, the first circuit board 42 of the present embodiment is arranged between the rotating support 41 and the laser ranging unit 20, and the optocoupler detection assembly 30 is arranged on the side of the first circuit board 42 close to the central circular ring structure 132.

[0072] Referring to Figure 2 and Figure 3 In a specific embodiment, the control unit of the present embodiment further comprises a second circuit board 43, the second circuit board 43 is arranged on the fixed module, and the second circuit board 43 is electrically connected with the first circuit board 42, so that the laser radar provided by the present embodiment can supply power and control the operation of the first circuit board 42 through the second circuit board 43.

[0073] In a specific embodiment, the first coil 51 is electrically connected with the first circuit board 42, the second coil 52 is electrically connected with the second circuit board 43, and the first circuit board 42 and the second circuit board 43 can wirelessly transmit electric energy and signals through the first coil 51 and the second coil 52.

[0074] Referring to Figure 2 and Figure 3As shown, in a specific embodiment, the fixed module further comprises a second outer circular structure 131, the second outer circular structure 131 is arranged in the accommodating cavity 11, the first outer circular structure 414 is located radially inside the second outer circular structure 131, and the second coil 52 is sleeved on the outer wall of the second outer circular structure 131, so that the first coil 51 sleeved on the first outer circular structure 414 and the second coil 52 sleeved on the second outer circular structure 131 coincide in the radial direction of the laser radar, which is conducive to the wireless transmission of electric energy or signals between the first coil 51 and the second coil 52 provided in the embodiment.

[0075] Referring to Figures 1 to 3 As shown, in an alternative embodiment, the shell 10 provided in the embodiment comprises an upper cover assembly 12 and a lower shell assembly 13, and the upper cover assembly 12 provided in the embodiment is installed on the lower shell assembly 13. An accommodating cavity 11 is formed between the upper cover assembly 12 and the lower shell assembly 13.

[0076] In an alternative embodiment, the central circular structure 132 and the second outer circular structure 131 provided in the embodiment are arranged on the side of the lower shell assembly 13 axially close to the upper cover assembly 12.

[0077] In an alternative embodiment, the first bearing mounting seat 1322 and the first bearing 61 provided in the embodiment are used to support the end of the rotating module axially close to the lower shell assembly 13. The laser radar provided in the embodiment further comprises a second bearing mounting seat 134 and a second bearing 62. The second bearing mounting seat 134 provided in the embodiment is arranged on the side of the upper cover assembly 12 axially close to the lower shell assembly 13 and is located between the rotating module and the upper cover assembly 12. The second bearing 62 is used to support the end of the rotating module axially close to the upper cover assembly 12 and is coaxially arranged with the first bearing 61.

[0078] In an alternative embodiment, the first bearing 61 provided in the embodiment is a plurality of first bearings 61, which are arranged at intervals along the extension direction of the bearing mounting seat; and / or, the second bearing 62 provided in the embodiment is a plurality of second bearings 62, which are arranged at intervals along the extension direction of the second bearing mounting seat 134.

[0079] Referring to Figure 2 and Figure 3As shown, in an optional embodiment, a first bearing mounting hole is provided on the first bearing mounting seat 1322 provided in this embodiment, and a first support shaft is provided on one end of the laser ranging part 20 close to the lower shell assembly 13 in the axial direction. The first bearing 61 provided in this embodiment is passed through the first bearing mounting hole, and the inner side wall of the first bearing mounting hole abuts against the outer ring of the first bearing 61. The first support shaft is passed through the first bearing 61, and the inner ring of the first bearing 61 abuts against the outer side wall of the first support shaft.

[0080] See also Figure 2 and Figure 3 As shown, in an optional embodiment, the first bearing 61 provided in this embodiment is inserted into the first bearing mounting hole, and the stator assembly 71 provided in this embodiment is installed on the outer side wall of the first bearing mounting seat 1322 facing away from the first bearing 61, and the first bearing 61, the first bearing mounting seat 1322 and the stator assembly 71 are arranged in sequence from the inside to the outside.

[0081] In another embodiment, a first support sleeve (not shown in the figure) is provided on one end of the laser ranging part 20 in the axial direction close to the lower shell assembly 13. The first bearing 61 provided in this embodiment is sleeved on the first bearing mounting seat 1322, and the outer wall of the first bearing mounting seat 1322 abuts against the inner ring of the first bearing 61. The first support sleeve is sleeved on the first bearing 61, and the outer ring of the first bearing 61 abuts against the inner wall of the first support sleeve.

[0082] See also Figure 2 As shown, in an optional embodiment, a second bearing mounting hole is provided on the second bearing mounting seat 134 provided in this embodiment, and a second support shaft is provided on one end of the laser ranging part 20 close to the upper cover assembly 12 in the axial direction. The second bearing 62 provided in this embodiment is passed through the second bearing mounting hole, and the inner side wall of the second bearing mounting hole abuts against the outer ring of the second bearing 62. The second support shaft is passed through the second bearing 62, and the inner ring of the second bearing 62 abuts against the outer side wall of the second support shaft.

[0083] In another embodiment, a second support sleeve (not shown in the figure) is arranged on the end of the laser ranging portion 20 axially close to the upper cover assembly 12. The second bearing 62 in this embodiment is sleeved on the second bearing mounting seat 134, the outer side wall of the second bearing mounting seat 134 abuts against the inner ring of the second bearing 62, the second support sleeve is sleeved on the second bearing 62, and the outer ring of the second bearing 62 abuts against the inner side wall of the second support sleeve. In an alternative embodiment, the laser ranging portion 20 in this embodiment includes a ranging support, a laser emitting assembly, and a laser receiving assembly. The laser emitting assembly and the laser receiving assembly in this embodiment are arranged on the ranging support, the two ends of the ranging support are respectively supported by the first bearing 61 and the second bearing 62, the laser emitting assembly in this embodiment is used for emitting laser to the external environment, and the laser receiving assembly is used for receiving laser reflected from the external environment, so that ranging is realized.

[0084] Referring to Figure 8 In another embodiment, the side of the rotating support 41 axially away from the first bearing mounting seat 1322 is fixedly connected with the laser ranging portion 20, the side of the rotating support 41 axially close to the first bearing mounting seat 1322 is provided with a main shaft 416, the first bearing 61 is sleeved in the first bearing mounting hole, the main shaft 416 is sleeved in the first bearing 61, the outer ring of the first bearing 61 abuts against the inner side wall of the first bearing mounting hole, and the inner ring of the first bearing 61 abuts against the outer side wall of the main shaft 416, so that the rotating support 41 in this embodiment is rotatably mounted on the fixed module, and the laser ranging portion 20 fixedly connected with the rotating support 41 is rotatably mounted on the fixed module.

[0085] In an alternative embodiment, the laser emitting assembly includes a laser emitter and an emitting lens, and the laser receiving assembly includes a receiving lens and a laser receiver.

[0086] In a specific embodiment, the grating coding structure 1321 in this embodiment includes a plurality of grating coding teeth, the plurality of grating coding teeth are arranged at intervals along the circumference of the center ring structure 132, the light coupling detection assembly 30 includes a light emitting assembly and a light receiving assembly, the light emitting assembly and the light receiving assembly are arranged opposite to each other and are respectively located on the two sides of the grating coding teeth in the lateral direction of the laser radar, the light emitting assembly is used for emitting light to the light receiving assembly, and the light emitted by the light emitting assembly to the light receiving assembly can be blocked by the grating coding teeth.

[0087] In another embodiment, the grating coding structure 1321 comprises a plurality of grating coding color blocks, the plurality of grating coding color blocks are arranged at intervals along the circumference of the center annular structure 132, the light coupling detection assembly 30 comprises a light emitting assembly and a light receiving assembly, the light emitting assembly and the light receiving assembly are arranged on the same side, the light emitting assembly is used to emit light onto the grating coding color blocks, and the light emitted by the light emitting assembly onto the grating coding color blocks can be reflected by the grating coding color blocks and received by the light receiving assembly.

[0088] According to another aspect of the present application, a mobile device is provided, the mobile device comprising a laser radar, the laser radar being the laser radar described above.

[0089] In summary, by implementing the laser radar and the mobile device provided in the embodiments, at least the following beneficial technical effects can be achieved: in the laser radar provided in the embodiments, the rotating module is rotatably mounted on the fixed module, the grating coding structure 1321 is arranged on the center annular structure 132, and the light coupling detection assembly 30 is arranged on the side of the rotating module close to the center annular structure 132 in the axial direction of the rotating module, so that the laser radar provided in the embodiments can detect the grating coding structure 1321 by using the light coupling detection assembly 30 during the rotation of the rotating module relative to the fixed module, to determine the rotation speed and relative position of the rotating module relative to the center annular structure 132, and at the same time, since the grating coding structure 1321 is integrated on the center annular structure 132, compared with the prior art in which a speed measurement assembly is separately arranged on the position close to the outer side of the laser radar, the transverse size of the laser radar provided in the embodiments can be designed to be smaller, which is conducive to the miniaturization design of the laser radar, and in the laser radar provided in the embodiments, the first outer annular structure 414 is arranged on the side of the rotating module close to the center annular structure 132 in the axial direction of the rotating module, and the first outer annular structure 414 is located radially outward of the center annular structure 132, so that the laser radar provided in the embodiments can block the light in the external environment by using the first outer annular structure 414, to reduce the influence of the light in the external environment on the grating coding structure 1321 on the center annular structure 132, so that the detection result of the light coupling detection assembly 30 can be more accurate, and the anti-environmental light interference performance of the laser radar provided in the embodiments is improved.

[0090] The above only describes the preferred embodiments of the present application and should not be used to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A laser radar, characterized in that: The laser radar includes: A fixing module, comprising a housing (10) and a central circular ring structure (132); a receiving cavity (11) is provided in the housing (10); and the central circular ring structure (132) is provided in the receiving cavity (11); a rotating module, the rotating module being rotatably mounted on the fixed module; a first outer circular ring structure (414) being provided on a side of the rotating module close to the central circular ring structure (132) in the axial direction, the first outer circular ring structure (414) being located radially outward of the central circular ring structure (132); A grating coding structure (1321) is provided on the central circular ring structure (132); an optical coupling detection component (30) is provided on a side of the rotation module close to the central circular ring structure (132) in the axial direction; the optical coupling detection component (30) is arranged relative to the grating coding structure (1321); the optical coupling detection component (30) is capable of detecting the grating coding structure (1321) to determine the rotation speed or relative position of the rotation module relative to the central circular ring structure (132).

2. The laser radar according to claim 1, characterized in that The central annular structure (132) includes a first bearing (61) and a first bearing mounting seat (1322), the first bearing (61) is mounted on the first bearing mounting seat (1322), the rotating module is rotatably mounted on the first bearing mounting seat (1322) via the first bearing (61), and the grating encoding structure (1321) is arranged on an end of the first bearing mounting seat (1322) close to the rotating module in the axial direction; Alternatively, the central annular structure (132) includes a stator assembly (71), the stator assembly (71) includes a stator frame (711) and a stator winding coil (712), the stator winding coil (712) is wound around the stator frame (711), and the grating encoding structure is arranged on an end of the stator frame (711) close to the rotating module in the axial direction; Alternatively, the central annular structure (132) includes a mounting plate (133), a stator assembly (71), a first bearing (61) and a first bearing mounting seat (1322), wherein the first bearing (61) is mounted on the first bearing mounting seat (1322), the rotating module is rotatably mounted on the first bearing mounting seat (1322) via the first bearing (61), the stator assembly (71) and the first bearing mounting seat (1322) are coaxially arranged, the mounting plate (133) is arranged between the stator assembly (71) and the rotating module, and is fixedly connected to the first bearing mounting seat (1322), and the grating encoding structure is arranged on a side of the mounting plate (133) close to the rotating module in the axial direction.

3. The laser radar according to claim 2, characterized in that The grating encoding structure (1321) is arranged on one end of the first bearing mounting seat (1322) in the axial direction close to the rotating module, and the fixed module also includes a stator assembly (71), the stator assembly (71) is cooperatively connected to the outer wall of the first bearing mounting seat (1322), and the first bearing (61) is cooperatively connected to the inner wall of the first bearing mounting seat (1322).

4. The laser radar according to claim 2, characterized in that The grating encoding structure (1321) is arranged on one end of the stator frame (711) close to the rotating module in the axial direction, the stator frame (711) includes a stator core (7111) and an insulating shell (7112), the insulating shell (7112) is sleeved on the outside of the stator core (7111), the stator winding coil (712) is wound around the insulating shell (7112), and the grating encoding structure is arranged on one end of the insulating shell (7112) close to the rotating module in the axial direction.

5. The laser radar according to claim 2, characterized in that The grating encoding structure is arranged on a side of the mounting plate (133) close to the rotating module in the axial direction. The laser radar also includes a wireless power transmission unit (50). The wireless power transmission unit includes a first coil (51) and a second coil (52). The first coil (51) is arranged on a side of the mounting plate (133) close to the rotating module in the axial direction. The second coil (52) is arranged on a side of the rotating module close to the mounting plate (133) in the axial direction. Wireless transmission of electric energy can be performed between the first coil (51) and the second coil (52).

6. The laser radar according to claim 1 or 2, characterized in that: The rotating module comprises a rotating bracket (41) and a laser distance measuring unit (20), wherein the rotating bracket (41) is fixedly connected to the laser distance measuring unit (20), and the rotating bracket (41) is located between the central circular ring structure (132) and the laser distance measuring unit (20); An avoidance recess (411) and the first outer circular ring structure (414) are provided on one side of the rotating bracket (41) close to the central circular ring structure (132) in the axial direction. The avoidance recess (411) extends along the circumference of the rotating bracket (41) and is located radially inward of the first outer circular ring structure (414). The avoidance recess (411) corresponds to the position of the grating coding structure (1321) and is used to avoid the grating coding structure (1321).

7. The laser radar according to claim 6, characterized in that The rotating bracket (41) is provided with a clearance hole (412), the clearance hole (412) is communicated with the avoidance recess (411), and the position of the clearance hole (412) corresponds to the position of the optical coupling detection component (30), and is used to make way for the optical coupling detection component (30).

8. The laser radar according to claim 6, characterized in that A reinforcing rib (413) is provided on one side of the rotating bracket (41) close to the laser distance measuring portion (20), the reinforcing rib (413) extending in the radial direction of the rotating bracket (41), and a projection of the reinforcing rib in the axial direction of the rotating bracket at least partially overlapping with the avoidance recess; There are a plurality of reinforcing ribs (413), and the plurality of reinforcing ribs (413) are arranged at intervals along the circumference of the rotating bracket (41).

9. The laser radar according to claim 6, characterized in that A weight-reducing groove (415) is provided on one side of the rotating bracket (41) close to the laser distance measuring part (20). The weight-reducing groove (415) extends along the circumference of the rotating bracket and is located radially outside the avoidance recess.

10. The laser radar according to claim 1, characterized in that The rotating module includes a rotor assembly (72), and the fixed module also includes a stator assembly, wherein the rotor assembly (72) is arranged on the inner wall of the first outer circular ring structure (414), and the stator assembly (71) is arranged on the radial inner side of the rotor assembly (72) and is arranged opposite to the rotor assembly (72), and / or the laser radar also includes a wireless power transmission unit (50), wherein the wireless power transmission unit includes a first coil (51) and a second coil (52), wherein the first coil (51) is arranged on the outer wall of the first outer circular ring structure (414), and the second coil (52) is arranged on the fixed module, and wireless transmission of electric energy can be performed between the first coil (51) and the second coil (52).

11. The laser radar according to claim 1, characterized in that The grating coding structure includes a plurality of grating coding teeth, which are arranged at intervals along the circumference of the central ring structure (132); the optical coupling detection component (30) includes a light emitting component and a light receiving component, the light emitting component and the light receiving component are arranged opposite to each other and are respectively located on both sides of the grating coding teeth in the radial direction of the laser radar; the light emitting component is used to emit light to the light receiving component, and the light emitted by the light emitting component to the light receiving component can be blocked by the grating coding teeth; Alternatively, the grating coding structure (1321) includes a plurality of grating coding color blocks, the plurality of grating coding color blocks are arranged at intervals along the circumference of the central ring structure (132), the optical coupler detection component (30) includes a light emitting component and a light receiving component, the light emitting component and the light receiving component are arranged on the same side, the light emitting component is used to emit light onto the grating coding color block, and the light emitted by the light emitting component onto the grating coding color block can be reflected by the grating coding color block and received by the light receiving component.

12. A mobile device, characterized in that: The mobile device includes a laser radar, which is the laser radar described in any one of claims 1 to 11.

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