Lidar device and vehicle

Abstract

The invention provides a laser radar device, and the device comprises a laser radar receiving and transmitting device which is used for transmitting a transmitting light beam and receiving an echo light beam returned by the transmitting light beam; the rotating part is provided with a window, so that the laser radar transmitting and receiving device transmits a transmitting light beam to the outside through the window and receives an echo light beam returned by the transmitting light beam; the driving mechanism is rotatably connected with the rotating part; the controller is used for generating a detection signal and a locking signal to the driving mechanism and the laser radar transceiving device; when the driving mechanism and the laser radar transmitting and receiving device receive detection signals, the laser radar transmitting and receiving device works, and the driving mechanism drives the rotating part to rotate. And when the driving mechanism and the laser radar transmitting and receiving device receive the locking signal, the laser radar transmitting and receiving device stops working, and the rotating part is driven by the driving mechanism to rotate to a preset position, so that the window is shielded by the protection device. The invention further provides a vehicle. The vehicle comprises a vehicle body and the laser radar device arranged on the vehicle body.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted radars, in particular to a laser radar device and a vehicle. BACKGROUND

[0002] Currently, multiple laser radars of multiple types are used on unmanned vehicles. In the non-use process of the vehicle, the rotating part of the laser radar can randomly stop at any orientation due to the loss of motor control, and can be randomly rotated by external force in the non-working state. For example, the optical detection method of the mechanical rotating laser radar has an optical window on the surface of the laser radar for penetrating the laser beam. The optical window needs to be kept as clean and undamaged as possible. If the stationary direction of the window is exposed to a high-risk environment in the stationary state of the laser radar, the optical window can be easily damaged, resulting in abnormal operation or even failure of the laser radar.

[0003] In summary, in order to keep the laser radar in the best state, a locking device is needed to protect the laser radar and reduce the probability of damage or contamination of the laser radar in the non-working state. SUMMARY

[0004] The present application provides a laser radar device and a vehicle, which can meet the demand of protecting the laser radar of the vehicle and reduce the probability of damage or contamination of the laser radar in the non-working state.

[0005] In a first aspect, an embodiment of the present application provides a laser radar device, characterized in that it comprises: a laser radar transceiver device for emitting a transmission beam and receiving a return beam returned by the transmission beam; a rotating part provided with a viewing window through which the laser radar transceiver device emits a transmission beam to the outside and receives a return beam returned by the transmission beam; a driving mechanism rotatably connected to the rotating part; a controller for generating a detection signal and a locking signal to the driving mechanism and the laser radar transceiver device; wherein, when the driving mechanism and the laser radar transceiver device receive the detection signal, the laser radar transceiver device works and the driving mechanism drives the rotating part to rotate; when the driving mechanism and the laser radar transceiver device receive the locking signal, the laser radar transceiver device stops working, and the rotating part rotates to a preset position under the driving of the driving mechanism, so that the viewing window is shielded by the protection device.

[0006] In a second aspect, an embodiment of the present application provides a vehicle, comprising a vehicle body and a laser radar device arranged on the vehicle body, characterized in that the laser radar device comprises: A laser radar transceiver device for transmitting a transmitting light beam and receiving a return light beam returned by the transmitting light beam; A rotating part provided with a window for the laser radar transceiver device to transmit a transmitting light beam and receive a return light beam returned by the transmitting light beam through the window; A driving mechanism rotatably connected with the rotating part; A controller for generating a detection signal and a locking signal to the driving mechanism and the laser radar transceiver device; wherein, When the driving mechanism and the laser radar transceiver device receive the detection signal, the laser radar transceiver device works and the driving mechanism drives the rotating part to rotate; When the driving mechanism and the laser radar transceiver device receive the locking signal, the laser radar transceiver device stops working, and the driving mechanism drives the rotating part to rotate to a preset position, so that the window is shielded by the protection device.

[0007] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a vehicle body and a laser radar device arranged on the vehicle body, characterized in that the protection device is a part of the vehicle body or a plate arranged on the laser radar device for protecting the window.

[0008] The above vehicle and the laser radar device arranged on the vehicle body are well protected by the protection device on the side of the vehicle body and the protection device on the top of the laser radar device. During non-use of the vehicle, the rotating mechanism, the driving mechanism, the controller and the locking mechanism of the laser radar device of the present application work together to enable the window of the laser radar to face the protection device and be protected from exposure to a high-risk environment, thereby reducing the probability of damage or contamination of the window of the laser radar and prolonging the service life of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0010] Figure 1 A schematic diagram of a partial structure of a laser radar device is provided for the embodiments of the present application.

[0011] Figure 2 A schematic diagram of a vehicle is provided for the embodiments of the present application.

[0012] Figure 3 A mechanical laser radar provided for an embodiment of the present application.

[0013] Figure 4 A working state schematic diagram of a laser radar on a vehicle provided for an embodiment of the present application.

[0014] Figure 5 A static state schematic diagram of a laser radar on a vehicle provided for an embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0016] The terms "first", "second", "third", "fourth" and the like (if any) in the description, claims and above drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, in other words, the described embodiments are implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof can also include other contents, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0017] It should be noted that the description involving "first", "second" and the like in the present application is only for the purpose of description, and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include one or more of the features. In addition, the technical solutions of various embodiments can be combined with each other, but must be based on the realization of a person skilled in the art, when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0018] Please refer to Figures 1 to 3 , Figure 1 A partial structure schematic diagram of a laser radar device provided for an embodiment of the present application. Figure 2 A vehicle schematic diagram provided for an embodiment of the present application. Figure 3The application provides a mechanical laser radar. The laser radar device 100 provided by the application can be used in vehicles, ships, unmanned aerial vehicles, robots and the like. The laser radar device 100 comprises a laser radar transceiver device (not shown in the figure), a rotating part 120, a driving mechanism 130, a controller (not shown in the figure), a protection device 150 and a locking mechanism 160. The laser radar transceiver device is used for emitting a transmitting light beam and receiving a return echo light beam returned by the transmitting light beam. The rotating part 120 is provided with a viewing window 121, so that the laser radar transceiver device emits the transmitting light beam to the outside world through the viewing window 121 and receives the return echo light beam returned by the transmitting light beam. The driving mechanism 130 is rotatably connected with the rotating part. The controller is used for generating a detection signal and a locking signal to the driving mechanism 130 and the laser radar transceiver device. When the driving mechanism 130 and the laser radar transceiver device receive the detection signal, the laser radar transceiver device works and the driving mechanism 130 drives the rotating part 120 to rotate. When the driving mechanism 130 and the laser radar transceiver device receive the locking signal, the laser radar transceiver device stops working, and the rotating part 120 rotates to a preset position under the driving of the driving mechanism 130, so that the viewing window 121 is shielded by the protection device 150.

[0019] In the embodiment, the laser radar is a laser radar with a mechanical rotating structure, which comprises a completely mechanical rotating laser radar, a semi-solid mechanical scanning laser radar and the like. The laser radar can judge the distance and position of an obstacle from a protected target by emitting a laser light beam and receiving a reflected laser light beam.

[0020] The rotating mechanism 120 comprises a motor (not shown in the figure), which drives the rotating part 120 to rotate when the laser radar transceiver device works and drives the rotating part 120 to rotate to a preset position when the laser radar transceiver device stops working. Specifically, the motor starts to work after being powered on, and the motor can be controlled in the form of speed or angle, drives the rotating part 120 to rotate when the laser radar transceiver device works, and drives the rotating part 120 to rotate to a preset position and lock when the laser radar transceiver device stops working.

[0021] The driving mechanism 130 comprises a rotor 131 and a stator housing 132. The rotor 131 is rotatably connected with the rotating part 120, and the rotor 131 rotates relative to the stator housing 132 under the driving of the driving mechanism 130. Specifically, the rotor 131 is provided with a locking part 1311, and the locking part 1311 is provided with a locking groove. The locking groove can fix the rotating part 120 to a preset position.

[0022] In the embodiment, the protection device 150 is arranged on the laser radar device 100, that is, the laser radar device 100 is provided with the protection device 150. In some possible embodiments, the protection device 150 can also be arranged on a product to which the laser radar device 100 is applied or a part of an object in which the laser radar device 100 is arranged. For example, the laser radar device 100 is applied to a vehicle, and the protection device 150 can be a vehicle body. For example, the laser radar device 100 is applied to a vehicle, and the protection device 150 is arranged on the top of the vehicle, and the protection device 150 can be a protection cover arranged on the top of the vehicle. The protection device 150 is a plate arranged on the laser radar and used for protecting the window. Specifically, the plate has a rectangular shape, rounded corners, and is arranged in a protection cover to form the protection device 150. The protection device 150 protects the window 121 from damage by the external environment in a non-working state of the laser radar, thereby prolonging the service life of the laser radar. The plate material used for protecting the window of the laser radar can be FLOMC laser protection plate, which can effectively protect and filter a specific waveband of laser. The waveband matches the waveband of laser emitted by the laser radar transceiver device and the waveband of laser received by the laser radar transceiver device, and the functional layer of the FLOMC laser protection plate has high friction resistance, chemical resistance, and flame resistance.

[0023] The locking mechanism 160 is arranged in the stator housing 132 and used for locking the rotating part 120 at a preset position, thereby avoiding exposure of the window 121 to the external environment and damage of the window 121 by the external environment. The locking mechanism 160 includes a driver 161 and a telescopic rod 162. The driver 161 is a locking mechanism linear motor and used for driving the telescopic rod to extend or retract in a horizontal direction. The driver 161 drives the telescopic rod 162 to extend or retract, and used for locking the rotating part 120 in cooperation with the locking part 1311, so that the rotating part 120 is positioned at the preset position. That is, when the locking groove is inserted by the telescopic rod, the driving mechanism 130 stops rotating, so that the rotating part 120 is rotated to the preset position. The locking mechanism 160 works after all moving parts of the laser radar are completely stopped, and used for protecting the laser radar from accidental damage in a static state. The locking mechanism 160 is released before all moving parts of the laser radar need to operate next time, so that the laser radar smoothly enters a working state.

[0024] The above locking mechanism 160 is a structure for locking the rotor in the form of a bolt. After the rotor 131 is rotated to the preset position by the locking mechanism linear motor, the linear motor can push the telescopic rod 162 to the rotor locking groove, so that the rotor 131 still keeps a fixed orientation in the non-working state. The locking mechanism can also be implemented by another mechanism, for example, a brake locking mechanism.

[0025] In the embodiment, first, the laser radar is in the working state, the window 121 of the laser radar device 100 is rotated to face the external environment by the rotating part 120. The laser radar emits the emitted laser beam and receives the returned echo beam through the window 121, and transmits the detected information to the controller. The controller generates a detection signal to the laser radar transceiver device. When the driving mechanism 130 and the laser radar transceiver device receive the detection signal, the laser radar transceiver device works and the driving mechanism 130 drives the rotating part 120 to rotate. At this time, the laser radar can accurately draw a three-dimensional image of the surrounding environment and accurately locate the specific position and distance of the obstacle. In the stopped working state, the laser radar is rotated to the preset position, and the window 121 of the laser radar device 100 is rotated to face the protection device 150 by the rotating part 120. The driving mechanism 130 and the laser radar transceiver device receive the locking signal, the laser radar transceiver device stops working, and the driving mechanism 130 drives the motor of the rotating mechanism 120 to rotate. After the motor rotates to the preset position, the rotating part 120 stops rotating. At this time, the window 121 of the rotating part 120 can be shielded by the protection device 150 of the vehicle body itself, and the window 121 is prevented from being exposed to the external environment and damaged, thereby protecting the laser radar. In addition, the laser radar can also be protected by the protection device 150 of the laser radar device 100. That is, the rotor 131 of the driving mechanism 130 is rotated to the preset position relative to the stator shell 132 under the driving of the driving mechanism 130, the window 121 faces the protection device 150, and the driving mechanism 130 stops rotating. The driver 161 of the locking mechanism drives the telescopic rod 162 to extend and retract and pushes the telescopic rod into the locking groove, locks the rotating part 120 and positions the rotating part 120 at the preset position. The protection device 150 of the laser radar device 100 shields the window 121 of the rotating part 120, and the window 121 is prevented from being exposed to the external environment and damaged, thereby protecting the laser radar.

[0026] Please refer to Figure 2 , Figure 4 and Figure 5 , Figure 2 a vehicle schematic diagram provided by the embodiment of the application. Figure 4 a laser radar working state schematic diagram on a vehicle provided by the embodiment of the application. Figure 5 a laser radar static state schematic diagram on a vehicle provided by the embodiment of the application. The embodiment of the application also provides a vehicle 1, which comprises a vehicle body 10 and a laser radar device 100 arranged on the vehicle body 10. The laser radar device 100 can be installed on the top (roof) 11 of the vehicle body 10 and the side 12 of the vehicle body 10. Specifically, the laser radar device 100 can be installed on the front and rear bumpers, vehicle lights, vehicle front covers and the like of the vehicle.

[0027] In this embodiment, when the lidar device 100 is installed on the top 11 of the vehicle body 10, the lidar is protected by its built-in protective device 150. Specifically, the lidar is rotated and fixed to a preset position, so that the viewing window 121 faces the protective cover of the protective device 150 and is protected by it. Specifically, when the vehicle is in motion, the lidar starts working, and the viewing window 121 is rotated by the rotating part 120 to face the external environment, such as... Figure 4 As shown. The lidar emits a laser beam through the viewing window 121 and receives the returned echo beam. The controller generates a detection signal to the lidar transceiver, accurately drawing a three-dimensional image of the surrounding environment and precisely locating the specific position and distance of obstacles. When the vehicle is not in operation, the lidar rotates to a preset position, i.e., the viewing window 121 faces the protective device 150 of the lidar device 100 on the top 11 of the vehicle body 10. At this time, the rotor 131 of the drive mechanism 130 rotates relative to the stator housing 132 to the preset position under the drive mechanism 130, and the drive mechanism 130 stops rotating. The driver 161 of the locking mechanism drives the telescopic rod 162 to extend and retract and pushes the telescopic rod into the locking groove, locking the rotating part 120 and positioning and fixing the rotating part 120 in the preset position. The protective device 150 of the lidar device 100 blocks the viewing window 121 of the rotating part 120, hiding the viewing window 121, as shown. Figure 5 As shown. Window 121 prevents damage from the external environment, thus protecting the lidar. When the vehicle resumes operation, the lidar starts rotating and re-enters working mode.

[0028] In this embodiment, when the lidar device 100 is installed on the side 12 of the vehicle body 10, the lidar starts working while the vehicle is in motion. That is, the viewing window 121 of the lidar device 100 rotates to face the external environment, such as... Figure 4 As shown. The lidar emits a laser beam through the viewing window 121 and receives the returned echo beam. The controller generates a detection signal to the lidar transceiver, accurately drawing a three-dimensional image of the surrounding environment and precisely locating the specific position and distance of obstacles. When the vehicle is not in operation, the lidar rotates to a preset position, i.e., the viewing window 121 faces the protective device 150 on the side 12 of the vehicle body 10. The drive mechanism 120 and the lidar transceiver receive a locking signal to fix the lidar in the preset position, and the rotating part stops rotating. At this time, the vehicle body's own protective device 150 blocks the viewing window 121 of the rotating part 120, as shown. Figure 5 As shown. Window 121 prevents damage from the external environment, thus protecting the lidar. When the vehicle resumes operation, the lidar starts rotating and re-enters working mode.

[0029] The vehicle and the laser radar device arranged on the vehicle body protect the laser radar well through the protection device of the vehicle body side and the protection device of the laser radar device itself. In the non-use process of the vehicle, the rotating mechanism, the driving mechanism, the controller and the locking mechanism of the laser radar device of the application work together to enable the window of the laser radar to face the protection device and be protected from being exposed to a high-risk environment, thereby reducing the probability of the window of the laser radar being damaged or contaminated and prolonging the service life of the laser radar. In the working state of the vehicle, the laser radar device can also rotate the window of the laser radar to a preset position, emit a laser beam and receive the reflected laser beam.

[0030] Obviously, various modifications and changes can be made to the present application by those skilled in the art without departing from the spirit and scope of the present application. Thus, it is intended that the present application cover the modifications and changes as they come within the scope of the claims and their equivalents.

[0031] The above only lists the preferred embodiments of the present application, and of course cannot limit the scope of the claims of the present application, so equivalent changes made according to the claims of the present application still fall within the scope of the present application.

Claims

1. A lidar apparatus, characterized by, The application relates to a laser radar device. The laser radar device comprises a laser radar transceiver for emitting a transmitting light beam and receiving a returning echo light beam of the transmitting light beam; a rotating part provided with a window through which the laser radar transceiver emits the transmitting light beam and receives the returning echo light beam of the transmitting light beam; a driving mechanism rotatably connected with the rotating part; and a controller for generating a detection signal and a locking signal for the driving mechanism and the laser radar transceiver; wherein when the driving mechanism and the laser radar transceiver receive the detection signal, the laser radar transceiver works and the driving mechanism drives the rotating part to rotate; and when the driving mechanism and the laser radar transceiver receive the locking signal, the laser radar transceiver stops working and the rotating part rotates to a preset position under the driving of the driving mechanism so that the window is shielded by a shielding device. The laser radar device further comprises a locking mechanism for locking the rotating part when the rotating part rotates to the preset position. The locking mechanism comprises a driver and a telescopic rod, the driving mechanism comprises a rotor and a stator housing rotatably connected, the rotor rotates relative to the stator housing under the driving of the driving mechanism, the rotor is rotatably connected with the rotating part, the rotor is provided with a locking part, the driver drives the telescopic rod to extend and retract for locking the rotating part in cooperation with the locking part so that the rotating part is positioned at the preset position. The shielding device is a plate arranged on the laser radar device for protecting the window. The driver is an electric motor for driving the telescopic rod to extend and retract along a horizontal direction. The locking part is provided with a locking groove, when the locking groove is inserted by the telescopic rod, the driving mechanism stops rotating so that the rotating part rotates to the preset position.

2. The lidar apparatus of claim 1, wherein, The rotating mechanism comprises an electric motor for driving the rotating part to rotate when the laser radar transceiver works and driving the rotating part to rotate to the preset position when the laser radar transceiver stops working.

3. The lidar apparatus of claim 2, wherein, The locking mechanism is arranged in the stator housing.

4. The lidar apparatus of claim 3, wherein, The application further relates to a vehicle body and a laser radar device arranged on the vehicle body, wherein the laser radar device comprises a laser radar transceiver for emitting a transmitting light beam and receiving a returning echo light beam of the transmitting light beam; a rotating part provided with a window through which the laser radar transceiver emits the transmitting light beam and receives the returning echo light beam of the transmitting light beam; a driving mechanism rotatably connected with the rotating part; and a controller for generating a detection signal and a locking signal for the driving mechanism and the laser radar transceiver; wherein when the driving mechanism and the laser radar transceiver receive the detection signal, the laser radar transceiver works and the driving mechanism drives the rotating part to rotate; and when the driving mechanism and the laser radar transceiver receive the locking signal, the laser radar transceiver stops working and the driving mechanism drives the rotating part to rotate to a preset position so that the window is shielded by a shielding device.

5. The lidar apparatus of claim 3, wherein, ​ 6. The lidar apparatus of claim 3, wherein, ​ 7. The lidar apparatus of claim 6, wherein, ​ 8. The lidar apparatus of claim 3, wherein, ​ 9. A vehicle comprising: ​ ​ ​ ​ ​ ​ ​ 10. A vehicle comprising: A vehicle body and a laser radar device provided on the vehicle body, characterized in that the protection device is a part of the vehicle body or a plate provided on the laser radar device for protecting the window.

Images