A lidar

Abstract

The application discloses a laser radar, which comprises a detection shell, a detection module, a detection piece arranged at one end of the detection lens barrel and a light reflection module. The detection piece is used for emitting detection light, so that the detection light is irradiated to the outside of the detection shell after passing through the detection lens barrel. The light reflection module comprises a rotating barrel, a driving module arranged at one end of the rotating barrel and a reflecting mirror arranged at the other end of the rotating barrel. The rotating barrel is rotatably sleeved on the detection lens barrel, and the inner wall of the rotating barrel and the outer wall of the detection lens barrel have a spacing. The driving module drives the rotating barrel and the reflecting mirror to synchronously rotate. The detection module in the detection shell is static, and the rotating barrel and the reflecting mirror synchronously rotate, so that the detection light reflected by the reflecting mirror rotates circumferentially to be scanned. The application can provide a laser radar with low load, low rotating speed, high product reliability and long service life.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and more particularly to a lidar. Background Technology

[0002] LiDAR employs two main technical approaches depending on the scanning scheme: One is a one-dimensional rotation scheme, where all modules—transmitting, receiving, and back-end processing circuitry—are mounted on a rotor. A motor drives the high-load rotor to achieve a 360° horizontal scanning range. The vertical field of view is achieved using a real number of lasers to determine the desired line count, and the detection light is collimated by a lens and diffused off-axis to achieve the desired field of view. The other approach is a two-dimensional rotation scheme. By adding an extra dimension of rotation, only the optomechanical components remain in motion, thus reducing the overall load on the rotor. This scheme typically uses a single point light source emitted vertically upwards, passing through a collimating lens to a one-dimensional wedge mirror, and then horizontally exiting through a reflecting mirror. The wedge mirror and reflecting mirror are driven by two separate sets of motors with different rotational speeds. This difference in speed between the wedge mirror and the reflecting mirror changes the incident angle of the light source on the reflecting mirror, corresponding to a change in the vertical angle of the reflected light, thereby achieving vertical field of view detection. Horizontal field of view coverage is directly achieved by the 360° horizontal rotation of the reflecting mirror.

[0003] In existing technologies, almost all modules of one-dimensional rotating lidar move with the rotor, resulting in a huge moment of inertia and high load on the bearings, directly reducing their lifespan. At the system level, additional modules are needed to enable wireless power supply and data transmission between the moving detection modules and the stationary external electrical interface. The high complexity and large moment of inertia of this type of one-dimensional rotating 360° lidar system reduce product reliability and shorten its lifespan.

[0004] Compared to one-dimensional rotational solutions, two-dimensional scanning lidar only rotates the optical components, greatly reducing the system's motion load. However, this comes at the cost of adding an extra one-dimensional scanning motion, reducing the system's mechanical reliability. To achieve the same point frequency as the one-dimensional solution, one dimension of the scanning speed must be extremely high. This low-load, high-speed operation is also detrimental to the lifespan of bearings and motors. Furthermore, the high speed introduces additional NVH (noise, vibration, and harshness) issues.

[0005] Therefore, it is necessary to provide a new lidar to solve the aforementioned problems existing in the prior art. Summary of the Invention

[0006] The technical problem to be solved by this application is how to provide a lidar that uses a one-dimensional scanning rotation method for detection, which has low load, low speed, high product reliability, and long life.

[0007] To address the aforementioned technical problems, according to embodiments of this application, a lidar is provided, including a detection housing;

[0008] The detection module includes a detection lens barrel and a detection element disposed at one end of the detection lens barrel; the detection element is used to emit detection light so that the detection light passes through the detection lens barrel and illuminates the outside of the detection housing;

[0009] A light reflection module includes a rotating cylinder, a drive module located at one end of the rotating cylinder, and a reflector located at the other end of the rotating cylinder. The rotating cylinder is rotatably fitted onto the detection lens cylinder, and the inner wall of the rotating cylinder is spaced apart from the outer wall of the detection lens cylinder. The drive module drives the rotating cylinder and the reflector to rotate synchronously.

[0010] The detection module inside the detection housing is stationary, while the rotating cylinder and the reflector rotate synchronously to scan the detection light reflected by the reflector in a circumferential direction.

[0011] According to an embodiment of this application, the outer wall of the detection tube is provided with a first protrusion structure; the bottom of the rotating cylinder is provided with a bearing retaining ring so that the inner wall of the rotating cylinder forms a second protrusion structure;

[0012] A first bearing and a second bearing are provided between the detection lens barrel and the rotating cylinder; the first bearing is located between the top of the rotating cylinder and the first protrusion structure, and the second bearing is located between the first protrusion structure and the second protrusion structure; the inner rings of the first bearing and the second bearing are both located on the outer wall of the detection lens barrel, and the outer rings of the first bearing and the second bearing are both located on the inner wall of the rotating cylinder.

[0013] According to an embodiment of this application, the drive module includes a drive bracket, a stator component, and a rotor component;

[0014] The drive bracket includes a bottom wall and a first annular wall and a second annular wall arranged sequentially from the inside to the outside of the bottom wall; the first annular wall surrounds to form a first mounting area, and the second annular wall and the first annular wall form a second mounting area; the detection lens barrel and the detection element are both disposed in the first mounting area;

[0015] The bearing retaining ring extends to the second mounting area; the stator is disposed on the second annular wall, and the rotor is disposed on the outer wall of the bearing retaining ring. When the stator is energized, it drives the rotor to rotate, thereby driving the bearing retaining ring and the rotating drum to rotate.

[0016] According to an embodiment of this application, the detection housing includes a mounting housing and a transparent window; the mounting housing is used to house the detection module and part of the light reflection module; the window is arc-shaped and forms a detection space, and the reflector is placed in the detection space so that the detection light can be reflected by the reflector to the outside of the window.

[0017] According to an embodiment of this application, the light reflection module further includes a counterweight having a light outlet; the reflector is placed between the counterweight and the rotating cylinder, so that the detection light is reflected by the reflector and then shines through the light outlet onto the outside of the detection housing for detection.

[0018] According to an embodiment of this application, the detection component includes an optical engine, a detection head, and multiple optical fibers; the optical engine is disposed at the bottom of the detection housing and is used to emit detection light; one end of the multiple optical fibers is disposed at the optical engine, and the other end is circumferentially spaced at the detection head; the detection head passes through the detection lens barrel, so that the detection light emitted by the optical engine is divided into multiple circumferential sub-beams by the multiple optical fibers and then illuminates the reflector, and is reflected by the reflector to the outside of the detection housing.

[0019] According to an embodiment of this application, the inner wall of the detection lens tube is provided with a limiting protrusion structure; the end of the detection head abuts against the limiting protrusion structure, and the diameter of the circumference formed by the plurality of optical fibers is smaller than the diameter of the limiting protrusion structure.

[0020] According to an embodiment of this application, the detection element includes a transmitting module, a beam splitter cube, and a receiving module; the transmitting module is disposed at the bottom of the detection housing and is used to emit detection light, and the receiving module is used to receive the detection light;

[0021] The beam splitter cube is disposed between the transmitting module and the detection lens barrel, and the receiving module is disposed on one side of the beam splitter cube; so that the detection light passes through the beam splitter cube and enters the detection lens barrel, and the light reflected by the target object is irradiated to the receiving module after passing through the beam splitter cube.

[0022] According to an embodiment of this application, the beam splitter cube has a light-passing surface with a reflectivity R=50%, so that light reflected by the target object is reflected by the light-passing surface and then illuminates the receiving module.

[0023] According to an embodiment of this application, the transmitting module includes a first mounting plate and a plurality of light emitters circumferentially disposed on the first mounting plate; the receiving module includes a second mounting plate and a plurality of light receivers circumferentially disposed on the second mounting plate to receive lasers emitted by the corresponding light emitters.

[0024] By adopting the above technical solution, the internal rotating cylinder and reflector of the lidar can rotate, while other internal components remain stationary. This reduces the number of rotating components involved in the lidar's circumferential detection process. Compared to the one-dimensional rotation in existing technologies, this reduces the system's rotational inertia, lowers the load on the bearings, and thus extends their lifespan. Furthermore, no additional module is needed for wireless power supply and data transmission between the moving light reflection module and the stationary external electrical interface. Compared to the two-dimensional rotation in existing technologies, this reduces one scanning motion process, improving the system's mechanical reliability. This results in a lightweight design, directly reducing the load on the bearings and motors, significantly improving product reliability and lifespan. Compared to conventional two-dimensional scanning structures, it offers advantages such as simple structure and low rotation speed, which, along with the lightweight design, effectively improves bearing lifespan and product reliability. In addition, the light source emission pattern of the optical engine is converted into a circular array arrangement via a flexible optical fiber, avoiding direct coupling between the optical engine and the detection lens barrel. This allows for more flexible stacking of the optical engine within the entire unit, enabling the lidar to be lightweight and miniaturized. Attached Figure Description

[0025] Figure 1 This is a cross-sectional view of the main structure of a lidar according to an embodiment of the present invention;

[0026] Figure 2 This is an exploded view of the main structure of a lidar according to an embodiment of the present invention;

[0027] Figure 3 This is a diagram showing the position distribution of an optical fiber on a detection head according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the detection light path during the scanning process of a lidar according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of another detection component structure according to an embodiment of the present invention.

[0030] Figure label:

[0031] 100. Detection housing; 110. Mounting housing; 120. Viewing window; 210. Detection lens barrel; 211. First protrusion structure; 212. Limiting protrusion structure; 220. Detection component; 221. Optical engine; 222. Detection head; 223. Optical fiber; 224. Transmitting module; 2241. First mounting plate; 2242. Light emitter; 225. Beam splitter cube; 226. Receiving module; 2261. Second mounting plate; 2262, Light receiver; 310, Rotating drum; 311, Bearing retaining ring; 320, Drive module; 321, Drive bracket; 3211, Bottom wall; 3212, First annular wall; 3213, Second annular wall; 322, Stator component; 323, Rotor component; 330, Reflector; 340, Counterweight component; 341, Light outlet; 410, First bearing; 420, Second bearing; 510, Main board; 520, Power board. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, but does not exclude other elements or objects.

[0033] The following is combined with Figures 1-5 The specific embodiments of the present invention will be further described in detail below.

[0034] An embodiment of the present invention provides a lidar, including a detection housing 100;

[0035] The detection module includes a detection lens barrel 210 and a detection element 220 disposed at one end of the detection lens barrel 210; the detection element 220 is used to emit detection light so that the detection light passes through the detection lens barrel 210 and illuminates the outside of the detection housing 100.

[0036] The light reflection module includes a rotating cylinder 310, a drive module 320 located at one end of the rotating cylinder 310, and a reflector 330 located at the other end of the rotating cylinder 310. The rotating cylinder 310 is rotatably sleeved on the detection lens barrel 210, and the inner wall of the rotating cylinder 310 is spaced from the outer wall of the detection lens barrel 210. The drive module 320 drives the rotating cylinder 310 and the reflector 330 to rotate synchronously.

[0037] The detection module inside the detection housing 100 is stationary, while the rotating drum 310 and the reflector 330 rotate synchronously to make the detection light reflected by the reflector 330 rotate circumferentially for scanning.

[0038] In some embodiments, both the detection lens barrel 210 and the detection element 220 are disposed inside the detection housing 100. The detection element 220 is used to emit detection light, which can pass through the detection lens barrel 210 and illuminate the outside of the detection element 220, thereby performing a scanning detection process.

[0039] In some embodiments, the rotating cylinder 310 and the detection lens barrel 210 are coaxially arranged, and the diameter of the rotating cylinder 310 is larger than the diameter of the detection lens barrel 210. The rotating cylinder 310 is sleeved on the detection lens barrel 210 so that the detection light rays passing through the detection lens barrel 210 can simultaneously pass through the rotating cylinder 310. In order to enable the lidar to perform 360° circumferential detection, the rotating cylinder 310 is designed to rotate around its own axis. However, the rotation of the rotating cylinder 310 does not enable the detection light rays to perform circumferential scanning. Therefore, a reflector 330 is provided at the end of the rotating cylinder 310, and the reflector 330 is positioned to guide the detection light rays. In the optical path, the reflector 330 can reflect the detection light. Specifically, the detection element 220 is located at one end of the detection lens barrel 210, and the reflector 330 is located at the other end of the detection lens barrel 210, so that the detection light emitted by the detection element 220 can pass through the detection lens barrel 210 and be reflected by the reflector 330. More specifically, the rotating cylinder 310 is sleeved on the detection lens barrel 210, and the reflector 330 is located at the end of the rotating cylinder 310 away from the detection element 220, so that the detection light emitted by the detection element 220 can pass through the detection lens barrel 210 and be reflected by the reflector 330. The emitting element emits the detection light vertically, and the angle between the reflector 330 and the top of the rotating cylinder 310 is 45°, so that the vertical detection light is reflected and becomes a horizontal detection light. Simultaneously, the rotating cylinder 310 rotates, thereby causing the horizontal detection light to rotate circumferentially with the rotating cylinder 310 and the reflector 330 for detection.

[0040] In some specific embodiments, the drive module 320 is located at the end of the rotating drum 310; specifically, the drive module 320 is located at the end of the rotating drum 310 away from the reflector 330, that is, the drive module 320 is located at the bottom of the rotating drum 310 to drive the rotating drum 310 and the reflector 330 to rotate. The specific driving method will be described later.

[0041] In some more specific embodiments, during the circumferential detection process of the lidar, only the rotating cylinder 310 and the reflector 330 rotate inside the detection housing 100. That is, the lidar achieves 360° circumferential detection through a one-dimensional scanning scheme. The load during the rotation process is low, thereby making the product highly reliable and long-lasting.

[0042] In some specific embodiments, in order for the detection light emitted by the detection element 220 to illuminate the outside of the detection housing 100, the detection housing 100 includes a mounting housing 110 and a transparent window 120. The transparency of the mounting housing 110 is not limited, as long as it does not affect the scanning and detection process. The mounting housing 110 is hollow and is used to house the detection module and part of the light reflection module. The transparent window 120 is connected to the mounting housing 110, facilitating the passage of detection light so that the detection light emitted by the detection element 220 can pass through the transparent window 120 and illuminate the outside of the detection housing 100. Specifically, the window 120 is arc-shaped and circumferentially surrounds the detection space, which is connected to the mounting space to accommodate other components of the lidar, namely the detection module and the light reflection module. More specifically, in order to enable the detection light to perform circumferential detection, a reflector 330 is placed in the detection space. The detection light emitted by the detection element 220 passes through the detection lens tube 210 and is reflected by the reflector 330 into a horizontal detection light. Since the viewing window 120 is transparent, the detection light is not blocked and can be reflected by the reflector 330 to the outside of the viewing window 120 for circumferential detection.

[0043] In some embodiments, in order to enable the rotating cylinder 310 to rotate uniformly outside the detection lens barrel 210, a first protrusion structure 211 is provided on the outer wall of the detection lens barrel 210; a bearing retaining ring 311 is provided at the bottom of the rotating cylinder 310 to form a second protrusion structure on the inner wall of the rotating cylinder 310; specifically, the first protrusion structure 211 is located in the middle of the outer wall of the detection lens barrel 210; there can be one or more first protrusion structures 211; when there is one first protrusion structure 211, the first protrusion structure 211 is annular and circumferentially surrounds the side wall of the detection lens barrel 210 to form a protrusion on the side wall of the detection lens barrel 210; when there are multiple first protrusion structures 211, multiple first protrusion structures 211 are circumferentially spaced in the middle of the outer wall of the detection lens barrel 210, and multiple first protrusion structures 211 together form an annular shape, wherein the interval between two adjacent first protrusion structures 211 can be the same or different, so as not to affect the subsequent bearing fixation. A bearing retaining ring 311 is located at the bottom of the rotating cylinder 310. Specifically, the diameter of the bearing retaining ring 311 is smaller than the diameter of the rotating cylinder 310, and the bearing retaining ring 311 and the rotating cylinder 310 are detachably connected. Specifically, it can be a snap-fit, bolted, or threaded connection, etc., and in this embodiment, a threaded connection is preferred. More specifically, the outer wall of the bearing retaining ring 311 is threaded to the inner wall of the rotating cylinder 310, so that the inner wall of the rotating cylinder 310 forms a second protrusion structure. At the same time, the diameter of the bearing retaining ring 311 is larger than the diameter of the detection lens barrel 210, thereby facilitating the rotation process of the rotating cylinder 310.

[0044] In some specific embodiments, to facilitate the rotation of the rotating cylinder 310, a first bearing 410 and a second bearing 420 are provided between the detection lens barrel 210 and the rotating cylinder 310; wherein, the first bearing 410 is located between the top of the rotating cylinder 310 and the first protrusion structure 211, and the second bearing 420 is located between the first protrusion structure 211 and the second protrusion structure; the inner rings of the first bearing 410 and the second bearing 420 are both located on the outer wall of the detection lens barrel 210, and the outer rings of the first bearing 410 and the second bearing 420 are both located on the inner wall of the rotating cylinder 310. Specifically, the top of the outer ring of the first bearing 410 abuts against the top of the rotating cylinder 310 so that the rotating cylinder 310 does not interfere with the rotation of the inner ring of the first bearing 410, and the bottom of the inner ring of the first bearing 410 abuts against the top of the first protruding structure 211 so that the first protruding structure 211 does not interfere with the rotation of the outer ring of the first bearing 410; the top of the inner ring of the second bearing 420 abuts against the bottom of the first protruding structure 211 so that the first protruding structure 211 does not interfere with the rotation of the outer ring of the second bearing 420, and the bottom of the outer ring of the second bearing 420 abuts against the second protruding structure so that the second protruding structure does not interfere with the rotation of the inner ring of the second bearing 420. More specifically, the inner rings of the first bearing 410 and the second bearing 420 are both located on the outer wall of the detection tube 210. In this embodiment, it is preferred that the first bearing 410 and the second bearing 420 are both connected to the outer wall of the tube by a snap-fit ​​mechanism. The outer rings of the first bearing 410 and the second bearing 420 are both located on the inner wall of the rotating cylinder 310. In this embodiment, it is preferred that the first bearing 410 and the second bearing 420 are both connected to the inner wall of the rotating cylinder 310 by a snap-fit ​​mechanism. Since the position of the detection tube 210 is fixed, the cooperation of the first bearing 410, the first protrusion structure 211, the second bearing 420, and the second protrusion structure enables the detection tube 210 to support the rotating cylinder 310, thereby stabilizing the rotation of the rotating cylinder 310.

[0045] In some embodiments, in order to facilitate the rotation of the rotating drum 310, the drive module 320 is provided to include a drive bracket 321, a stator 322 and a rotor 323; specifically, the drive module is located inside the mounting housing 110, which can support the detection lens barrel 210, thereby supporting the rotating drum 310 and the reflector 330.

[0046] In some specific embodiments, the drive bracket 321 includes a bottom wall 3211 and a first annular wall 3212 and a second annular wall 3213 arranged sequentially from the inside to the outside of the bottom wall 3211; the first annular wall 3212 surrounds to form a first mounting area, and the second annular wall 3213 and the first annular wall 3212 form a second mounting area; the detection lens barrel 210 and the detection element 220 are both disposed in the first mounting area; specifically, the bottom inner side of the mounting housing 110 is provided with mounting pillars, which can be set by bonding, snap-fitting, or integral molding, etc., without limitation, as long as the position of the mounting pillars does not change within the mounting housing 110; multiple mounting pillars are provided, which are spaced apart within the mounting housing 110, and multiple mounting blocks are provided on the outer edge of the bottom wall 3211, with each mounting block corresponding to one of the multiple mounting pillars. Furthermore, the mounting block and the corresponding mounting support are connected by screws to position the bottom wall 3211, thereby installing the drive bracket 321 inside the mounting housing 110 and ensuring that the position of the drive bracket 321 within the mounting housing 110 does not change. The first annular wall 3212 and the second annular wall 3213 are both located on the bottom wall 3211. Their arrangement methods can be adhesive, snap-fit, or integral molding, etc. In this embodiment, the integral molding method is preferred so that the positions of the first annular wall 3212 and the second annular wall 3213 on the bottom wall 3211 do not change. At the same time, the diameter of the first annular wall 3212 is smaller than the diameter of the second annular wall 3213, so that the first annular wall 3212 surrounds to form the first mounting area, and the second annular wall 3213 and the first annular wall 3212 form the second mounting area. Specifically, the detection tube 210 is located in the first installation area; more specifically, the outer wall of the detection tube 210 abuts against the inner wall of the first annular wall 3212 so that the detection tube 210 is fixed in the first installation area; the detection element 220 is also located in the first installation area so that the detection light emitted by the detection element 220 can enter the detection tube 210.

[0047] In some specific embodiments, the bearing retaining ring 311 extends to the second mounting area; the stator component 322 is disposed on the second annular wall 3213, and the rotor component 323 is disposed on the outer wall of the bearing retaining ring 311. After the stator component 322 is energized, it drives the rotor component 323 to rotate, thereby driving the bearing retaining ring 311 and the rotating cylinder 310 to rotate. Specifically, since the diameter of the bearing retaining ring 311 is larger than the diameter of the detection lens barrel 210, and the outer wall of the detection lens barrel 210 abuts against the inner wall of the first annular wall 3212, the bearing retaining ring 311 extends to the second mounting area, that is, the bearing retaining ring 311 is positioned between the first annular wall 3212 and the second annular wall 3213. More specifically, the stator component 322 is disposed on the inner wall of the second annular wall 3213, and its arrangement method can be snap-fit, adhesive, or other fixing methods, which are not limited here, as long as there is no relative movement between the stator component 322 and the second annular wall 3213. The rotor component 323 is disposed on the side wall of the bearing retaining ring 311. Its placement method can be snap-fit, adhesive, or other fixing methods, which are not limited here, as long as there is no relative movement between the rotor component 323 and the bearing retaining ring 311. When the stator component 322 is energized, it drives the rotor component 323 to rotate, thereby driving the bearing retaining ring 311 to rotate, which in turn causes the rotating cylinder 310 and the reflector 330 to rotate, thus achieving circumferential scanning detection.

[0048] In some embodiments, the light reflection module further includes a counterweight 340 with a light outlet 341. A reflector 330 is placed between the counterweight 340 and the rotating cylinder 310, so that the detection light is reflected by the reflector 330 and then shines through the light outlet 341 onto the outside of the detection housing 100 for detection. Specifically, the counterweight 340 has a rectangular cross-section in both its horizontal and vertical directions, and it covers the reflector 330 and has at least two openings. One opening faces the detection lens barrel 210 so that the detection light can shine through this opening onto the reflector 330. The other opening of the counterweight 340 is the light outlet 341, which corresponds to the reflective surface of the reflector 330 so that the detection light reflected by the reflector 330 can pass through the light outlet 341. More specifically, the counterweight 340 increases the weight of the rotating cylinder 310, thereby making the rotation of the rotating cylinder 310 more stable. More specifically, the counterweight 340 is detachably mounted on the top of the rotating drum 310. The mounting method can be snap-fit, glued or bolted, etc., without limitation, as long as there is no relative movement between the counterweight 340 and the rotating drum 310.

[0049] In some specific embodiments, the mounting housing 110 also includes a motherboard 510, a power board 520, and leads. The motherboard 510 is positioned below and electrically connected to the power board 520, and the leads are electrically connected to the power board 520. The transmitter is electrically connected to the motherboard 510. The motherboard 510, power board 520, leads, and detector 220 cooperate to emit detection light and receive reflected detection light, process the received light, and output data. This is prior art and will not be described in detail here.

[0050] In some other embodiments, the detection element 220 includes a light engine 221, a detection head 222, and a plurality of optical fibers 223. The light engine 221 is located at the bottom of the detection housing 100 and is used to emit detection light. One end of the plurality of optical fibers 223 is located at the light engine 221, and the other end is circumferentially spaced at the detection head 222. The detection head 222 passes through the detection lens barrel 210, so that the detection light emitted by the light engine 221 is split into a plurality of circumferential sub-beams by the plurality of optical fibers 223 and then illuminates the reflector 330, and is reflected by the reflector 330 to the outside of the detection housing 100. Specifically, the light engine 221 is fixedly located inside the mounting housing 110 and electrically connected to the main board 510. The light engine 221 is used to emit detection light, which is prior art and will not be described in detail here. More specifically, multiple optical fibers 223 are connected to the optical engine 221, causing the detection light emitted by the optical engine 221 to be split into multiple sub-beams by the multiple optical fibers 223. Simultaneously, to facilitate fixing the positions of the multiple optical fibers 223, a detection head 222 is also provided, in which the multiple optical fibers 223 are all passed through the detection head 222, thus preventing relative movement between the optical fibers 223 and the detection head 222. Moving the detection head 222 allows the optical fibers 223 to be moved. More specifically, the optical fibers 223 are flexibly designed, hence the name flexible optical fiber 223. This flexible optical fiber 223 enhances the flexibility of the optical engine 221's arrangement and is key to achieving miniaturization of the lidar. More specifically, a through hole is provided at the bottom of the drive bracket 321 to facilitate the insertion of the detection head 222 and the flexible optical fiber 223.

[0051] In some more specific embodiments, multiple optical fibers 223 are evenly distributed around the circumference of the detection head 222, so that the detection light emitted by the optical engine 221 is divided into multiple sub-beams evenly distributed around the circumference. Simultaneously, the detection head 222 is inserted into the detection lens barrel 210, so that the ends of the multiple optical fibers 223 are positioned inside the detection lens barrel 210. During operation, the optical engine 221 emits detection light, which is divided into circumferential sub-beams by the multiple optical fibers 223. These sub-beams pass through the detection lens barrel 210 and illuminate the reflector 330, which then reflects them to the outside of the viewing window 120 for detection. In addition, the optical engine 221 also performs photoelectric conversion; that is, during detection, an electrical signal first excites a modulated optical signal, forming the detection light, which is then transmitted through the optical fibers 223 to the detection head 222 and emitted. After being collimated by the detection lens tube 210 (which contains a lens, existing technology, and will not be described in detail here), the light beam is emitted horizontally from the reflector 330 to the target object, thus achieving the emission of detection light. The target object reflects the detection light, which returns along its original path to the detection head 222, where it is received by the optical fiber 223 and transmitted to the optical engine 221. The optical engine 221 converts the optical signal into an electrical signal and transmits it to the main board 510. The main board 510 analyzes the electrical signal and outputs the calculated analysis data to achieve circumferential detection by the lidar.

[0052] In some more specific embodiments, the detection light can be a laser or other light capable of detection; there are no restrictions, as long as the detection capability is achieved.

[0053] In some embodiments, the inner wall of the detection lens barrel 210 is provided with a limiting protrusion structure 212; the end of the detection head 222 abuts against the limiting protrusion structure 212, and the diameter of the circumference formed by the plurality of optical fibers 223 is smaller than the diameter of the limiting protrusion structure 212. Specifically, in order to limit the position of the detection head 222, a limiting protrusion structure 212 is provided on the inner wall of the detection tube 210. The limiting protrusion structure 212 can be one or multiple. When there is one limiting protrusion structure 212, the limiting protrusion structure 212 is annular and circumferentially surrounds the inner wall of the detection tube 210 to form a protrusion on the inner wall of the detection tube 210. When there are multiple limiting protrusion structures 212, the multiple limiting protrusion structures 212 are circumferentially spaced on the inner wall of the detection tube 210, and the multiple limiting protrusion structures 212 together form an annular shape. The interval between two adjacent limiting protrusion structures 212 can be the same or different, so as not to affect the subsequent limiting of the detection head 222. Meanwhile, the diameter of the circumference formed by the multiple optical fibers 223 is smaller than the diameter of the limiting protrusion structure 212, so that the limiting protrusion structure 212 will not interfere with the detection light beam that is divided into sub-beams. In this embodiment, the multiple optical fibers 223 arranged circumferentially can rearrange the light source and achieve the expected number of vertical lines and vertical field of view. At the same time, the detection head 222 and the multiple optical fibers 223 are placed inside the detection lens barrel 210. The limiting protrusion structure 212 inside the detection lens barrel 210 is used to position the detection head 222 and achieve optical path coupling with the detection lens barrel 210.

[0054] In some more specific embodiments, the optical path of the lidar is as follows: the optical engine 221 emits a detection light beam, which enters the detection lens barrel 210 through the optical fiber 223, illuminates the reflector 330 after passing through the detection lens barrel 210, is reflected by the reflector 330 and illuminates the target object, is reflected by the target object back to the reflector 330, is reflected by the reflector 330 and reaches the optical fiber 223 after passing through the detection lens barrel 210, and the optical fiber 223 transmits the optical signal to the motherboard 510.

[0055] In some other embodiments, the detection element 220 may also include a transmitting module 224, a beam splitter 225, and a receiving module 226. The transmitting module 224 is located at the bottom of the detection housing 100 and is used to emit detection light, while the receiving module 226 is used to receive detection light. Specifically, the beam splitter 225 is located between the transmitting module 224 and the detection lens barrel 210, so that the detection light emitted by the transmitting module 224 can pass through the beam splitter 225 and enter the detection lens barrel 210. The transmitting module 224 may be located above the drive bracket 321 or below the drive bracket. Its specific location is not limited here, as long as it can achieve detection. When the transmitting module 224 is located below the drive bracket 321, the drive bracket 321 has a through hole to facilitate the passage of detection light. The receiving module 226 is located on one side of the beam splitter 225. Specifically, the transmitting module 224 is horizontally arranged, and the receiving module 226 is vertically arranged. The horizontal arrangement of the transmitting module 224 allows the detection light emitted by the transmitting module 224 to pass through the beam splitter 225 vertically and enter the detection lens tube 210. The vertical arrangement of the receiving module 226 allows the detection light reflected by the target object to be reflected by the beam splitter 225 and then illuminate the receiving module 226 for reception. That is, the detection light enters the detection lens tube 210 after passing through the beam splitter 225, and the light reflected by the target object is illuminated by the receiving module 226 after passing through the beam splitter 225.

[0056] In some embodiments, to enable the beam splitter cube 225 to simultaneously transmit and reflect light, it is provided with a light-passing surface. The reflectivity of the light-passing surface is R=50%, so that the light reflected by the target object is reflected by the light-passing surface and then illuminates the receiving module 226. Specifically, the beam splitter cube 225 has a light-passing surface for transmitting light. The light-passing surface is coated with an anti-reflection film, so that the reflectivity R at the light-passing surface is 50%. When the detection light illuminates the light-passing surface, part of the detection light passes through the light-passing surface, and part of the detection light is reflected by the light-passing surface. Therefore, the detection light emitted by the transmitting module 224 will illuminate the light-passing surface. Part of the detection light passes through the light-passing surface and enters the detection lens barrel 210 for detection. After the detection light reflected by the target object illuminates the light-passing surface, part of the detection light is reflected by the light-passing surface and then illuminates the receiving module 226 and is received by the receiving module 226.

[0057] In some specific embodiments, the transmitting module 224 includes a first mounting plate 2241 and a plurality of light emitters 2242 circumferentially disposed on the first mounting plate 2241; the receiving module 226 includes a second mounting plate 2261 and a plurality of light receivers 2262 circumferentially disposed on the second mounting plate 2261 to receive the laser emitted by the corresponding light emitters 2242. Specifically, the first mounting plate 2241 is disposed on the driving bracket 321, and its setting method can be adhesive, snap-fit, or bolted, etc., without limitation, as long as the position of the first mounting plate 2241 on the driving bracket 321 does not change; the plurality of light emitters 2242 are evenly spaced circumferentially on the first mounting plate 2241, and the plurality of light emitters 2242 are arranged in a circle or polygon around the circumference, without limitation, as long as the detection lens barrel 210 does not block the detection light emitted by the light emitters 2242. The second mounting plate 2261 is vertically arranged and placed on one side of the beam splitter cube 225. Specifically, the second mounting plate 2261 is mounted on the drive bracket 321. Its mounting method can be adhesive, snap-fit, or bolted, etc., without limitation, as long as the position of the second mounting plate 2261 on the drive bracket 321 does not change. At the same time, the shape of the multiple light receivers 2262 on the second mounting plate 2261 is the same as the shape of the multiple light emitters 2242 on the first mounting plate 2241. In addition, the multiple light emitters 2242 and the multiple light receivers 2262 correspond one-to-one, so that the light receivers 2262 can receive the detection light emitted by the corresponding light emitters 2242 to realize the detection process of the lidar.

[0058] The implementation principle of a lidar according to an embodiment of this application is as follows: the rotating cylinder 310 and reflector 330 inside the lidar can rotate, while other components inside the lidar do not rotate. This reduces the number of rotating components involved in the circumferential detection process of the lidar. Compared with the one-dimensional rotation in the prior art, this reduces the system's rotational inertia, lowers the load on the bearings, and thus improves the bearing's service life. Simultaneously, no additional module is needed to achieve wireless power supply and data transmission between the moving light reflection module and the stationary external electrical interface. Compared with the two-dimensional rotation in the prior art, this reduces one scanning motion process, improving the mechanical reliability of the system. In other words, it has the characteristics of light load, directly reducing the load on the bearings and motor, greatly improving the reliability and lifespan of the product. Furthermore, compared with conventional two-dimensional scanning structures, it has the advantages of simple structure and low speed, which, along with the light load characteristic, effectively improves the bearing life and product reliability. In addition, the light source emission pattern of the optical engine 221 is converted into a circular array arrangement through a flexible optical fiber 223, avoiding direct coupling between the optical engine 221 and the detection lens tube 210, making the stacking arrangement of the optical engine 221 inside the whole machine more flexible, thereby realizing the lightweighting and miniaturization of the lidar.

[0059] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A lidar, characterized in that, Including the detection casing; The detection module includes a detection lens barrel and a detection element disposed at one end of the detection lens barrel; the detection element is used to emit detection light so that the detection light passes through the detection lens barrel and illuminates the outside of the detection housing; The outer wall of the detection tube is provided with a first protrusion structure; the bottom of the rotating cylinder is provided with a bearing retaining ring to form a second protrusion structure on the inner wall of the rotating cylinder; a first bearing and a second bearing are provided between the detection tube and the rotating cylinder; the first bearing is located between the top of the rotating cylinder and the first protrusion structure, and the second bearing is located between the first protrusion structure and the second protrusion structure; the inner rings of the first bearing and the second bearing are both located on the outer wall of the detection tube, and the outer rings of the first bearing and the second bearing are both located on the inner wall of the rotating cylinder; A light reflection module includes a rotating cylinder, a drive module located at one end of the rotating cylinder, and a reflector located at the other end of the rotating cylinder. The rotating cylinder is rotatably fitted onto the detection lens cylinder, and the inner wall of the rotating cylinder is spaced apart from the outer wall of the detection lens cylinder. The drive module drives the rotating cylinder and the reflector to rotate synchronously. The drive module includes a drive bracket, a stator, and a rotor. The drive bracket includes a bottom wall and a first annular wall and a second annular wall arranged sequentially from the inside out on the bottom wall. The first annular wall forms a first mounting area, and the second annular wall and the first annular wall form a second mounting area. The detection lens barrel and the detection element are both located in the first mounting area. The bearing retaining ring extends to the second mounting area. The stator is located on the second annular wall, and the rotor is located on the outer wall of the bearing retaining ring. When the stator is energized, it drives the rotor to rotate, thereby driving the bearing retaining ring and the rotating drum to rotate. The detection module inside the detection housing is stationary, while the rotating cylinder and the reflector rotate synchronously to scan the detection light reflected by the reflector in a circumferential direction.

2. The lidar according to claim 1, characterized in that, The detection housing includes a mounting housing and a transparent window; the mounting housing is used to house the detection module and part of the light reflection module; the window is arc-shaped and forms a detection space, and the reflector is placed in the detection space so that the detection light can be reflected by the reflector to the outside of the window.

3. The lidar according to claim 1, characterized in that, The light reflection module also includes a counterweight with a light outlet; the reflector is placed between the counterweight and the rotating cylinder, so that the detection light is reflected by the reflector and then shines through the light outlet onto the outside of the detection housing for detection.

4. The lidar according to any one of claims 1-3, characterized in that, The detection component includes an optical engine, a detection head, and multiple optical fibers; the optical engine is located at the bottom of the detection housing and is used to emit detection light; one end of each of the multiple optical fibers is located at the optical engine, and the other end is circumferentially spaced at the detection head; The detection head is inserted through the detection lens barrel so that the detection light emitted by the optical engine is split into multiple circumferential sub-beams by multiple optical fibers and then illuminates the reflector, and is reflected by the reflector to the outside of the detection housing.

5. The lidar according to claim 4, characterized in that, The inner wall of the detection lens tube is provided with a limiting protrusion structure; the end of the detection head abuts against the limiting protrusion structure, and the diameter of the circumference formed by the plurality of optical fibers is smaller than the diameter of the limiting protrusion structure.

6. The lidar according to any one of claims 1-3, characterized in that, The detection component includes a transmitting module, a beam splitter cube, and a receiving module; the transmitting module is located at the bottom of the detection housing and is used to emit detection light, and the receiving module is used to receive the detection light. The beam splitter cube is disposed between the transmitting module and the detection lens barrel, and the receiving module is disposed on one side of the beam splitter cube; so that the detection light passes through the beam splitter cube and enters the detection lens barrel, and the light reflected by the target object is irradiated to the receiving module after passing through the beam splitter cube.

7. The lidar according to claim 6, characterized in that, The beam splitter cube has a light-passing surface with a reflectivity R=50%, so that light reflected from the target object is reflected by the light-passing surface and then illuminates the receiving module.

8. The lidar according to claim 7, characterized in that, The transmitting module includes a first mounting plate and a plurality of light emitters circumferentially disposed on the first mounting plate; the receiving module includes a second mounting plate and a plurality of light receivers circumferentially disposed on the second mounting plate to receive lasers emitted by the corresponding light emitters.

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