Laser radar and carrier

Abstract

A lidar and a vehicle are disclosed. The laser radar comprises a base, a main shaft, a rotating frame, a supporting piece and a sensor. The main shaft is arranged on the base; the rotating frame is rotationally connected with the spindle; the bottom of the supporting piece is arranged on the base and extends towards the rotating frame. The sensor comprises an interference element and a sensing element, the interference element is arranged on the supporting piece, the sensing element is arranged on the rotating frame, and when the rotating frame rotates relative to the main shaft, the interference element interferes with sensing of the sensing element and changes an output signal of the sensing element. According to the structural design of the laser radar, the compactness of the internal structure of the laser radar can be improved, the size of the laser radar is reduced, and miniaturization of the laser radar is facilitated.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of optical detection, and in particular to a laser radar and a vehicle. BACKGROUND

[0002] Optical detection technology detects objects by using light as medium. Laser has the characteristics of monochromaticity and good directivity compared with ordinary light sources, and thus more attention is paid to object detection by using laser as medium. For example, a laser radar (light detection and ranging, LiDAR) detects objects by using laser as medium, and has been applied in the fields of intelligent driving, industrial manufacturing, unmanned aerial vehicle, robot recognition, geographic surveying and mapping, and environmental monitoring. However, the laser radar is still restricted by cost or volume in the application process. SUMMARY

[0003] Embodiments of the present disclosure provide a laser radar and a vehicle to reduce the volume of the laser radar and reduce the restriction of the volume of the laser radar on its application.

[0004] In a first aspect, a laser radar is provided, which includes a base, a main shaft, a turret, a support, and a sensor. The main shaft is arranged on the base. The turret is rotationally connected with the main shaft. The bottom of the support is arranged on the base, and the support extends towards the turret. The sensor includes an interference element and a sensing element. The interference element is arranged on the support, and the sensing element is arranged on the turret. The interference element interferes with the sensing of the sensing element when the turret rotates relative to the main shaft, and changes the output signal of the sensing element.

[0005] The laser radar described above can better utilize the vertical space inside the laser radar to improve the compactness of the internal structure of the laser radar and reduce the volume of the laser radar, which is conducive to the miniaturization of the laser radar. The support extends towards the turret, and the top of the support can be opposite to the turret, which can facilitate the arrangement of the sensing element on the turret and simplify the assembly process of the laser radar.

[0006] Optionally, the interference element includes an encoder, and the encoder includes a plurality of code channels. The plurality of code channels are arranged on the top of the support in a circumferential direction. The sensing element includes a photoelectric sensing element.

[0007] In the above mechanical structure, the code channels are directly arranged on the top of the support, which can reduce the number of components of the laser radar and reduce the cost of the laser radar. In addition, this structure design can better utilize the vertical space inside the laser radar, which is conducive to the miniaturization of the laser radar. The support extends towards the turret, and the top of the support can be opposite to the turret, which can facilitate the installation of the sensing element on the turret and simplify the assembly process of the laser radar.

[0008] Optionally, the encoder and the support are integrally formed. The interference element is arranged by the integrally designed support element, the number of components of the laser radar is reduced, the mounting process is reduced, and the cost and size of the laser radar are further reduced.

[0009] Optionally, the rotating frame is provided with an opening, and the sensing element is arranged in the opening and has one end extending in the opening to face the support.

[0010] The opening can save the installation space of the sensing element, protect the sensing element, have a more compact structure, and have more stable performance of the sensor, and further facilitate the miniaturization of the laser radar.

[0011] Optionally, the laser radar further comprises a wireless power supply device, and the wireless power supply device comprises a transmitting coil and a receiving coil. The transmitting coil is arranged on the support, and the receiving coil is arranged on the rotating frame. The transmitting coil and the receiving coil are arranged opposite to each other along the radial direction of the main shaft.

[0012] The above structure fuses the elements (such as the interference element) of the sensor and the elements (such as the transmitting coil or the receiving coil) of the wireless power supply device, which can greatly reduce the number of mechanical structural components in the laser radar, increase the integration degree, and reduce the cost and assembly complexity. The transmitting coil and the receiving coil are arranged opposite to each other along the radial direction of the main shaft, which can make full use of the vertical space inside the laser radar and reduce the radial size of the laser radar.

[0013] Optionally, the laser radar further comprises a first circuit board and a second circuit board. The first circuit board is arranged on the rotating frame, and the receiving coil is electrically connected to the first circuit board. The second circuit board is arranged on the base, and the transmitting coil is electrically connected to the second circuit board. The power supply of the laser radar by an external device (such as a vehicle) can be realized by supplying power to the second circuit board. The second circuit board is arranged on the base, and the transmitting coil is electrically connected to the second circuit board, which can facilitate the power supply of the external device and the power supply of the first circuit board by the second circuit board.

[0014] Optionally, the first circuit board further comprises a sensing circuit electrically connected to the sensing element. The sensing circuit is arranged on the circuit board, which can move more control or processing functions to the top, make full use of the first circuit board, reduce the number of circuit boards, further reduce the line connection requirement between the plurality of circuit boards, and improve the integration degree of the laser radar.

[0015] Optionally, the transmitting coil is arranged around the outer wall of the support. The interference element of the sensor and the transmitting coil can share the same support, and no additional support structure needs to be arranged for the transmitting coil, which can reduce the number of structural components in the laser radar, reduce the cost and assembly process, facilitate the electrical connection between the transmitting coil and the circuit board, reduce the complexity of internal circuit design, and reduce the number of circuit boards.

[0016] Optionally, the rotating frame comprises an extension part extending towards the base; the receiving coil is arranged on the outer sidewall of the extension part. In this way, the rotating frame can support various functional requirements, and can make the structure of the laser radar more compact, which is conducive to the miniaturization of the laser radar.

[0017] Optionally, the laser radar further comprises a magnetic structure arranged on the extension part; the receiving coil is arranged on the outer sidewall of the magnetic structure. The magnetic structure can make the magnetic flux more concentrated in the coil, thereby improving the receiving efficiency of the receiving coil.

[0018] Optionally, the laser radar further comprises a driving device configured to drive the rotating frame to rotate. The driving device comprises a first magnetic part and a second magnetic part. The first magnetic part is fixedly arranged relative to the base, and the second magnetic part is arranged on the rotating frame and rotates relative to the first magnetic part under the action of a magnetic field; or the second magnetic part is fixedly arranged relative to the base, and the first magnetic part is arranged on the rotating frame and rotates relative to the second magnetic part under the action of a magnetic field. The driving device makes the laser radar have better integration, and reduces the cost and volume of the laser radar.

[0019] Optionally, the second magnetic part is arranged on the inner side or the outer side of the support part.

[0020] In a second aspect, a vehicle is provided, comprising a connecting device and any of the laser radars described above, and the laser radar is mounted on the vehicle through the connecting device. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the embodiments will be described below. The drawings in the following description are only examples of the present disclosure, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor. The drawings are used to provide further understanding of the present disclosure, and constitute a part of the specification. Together with the embodiments of the present disclosure, the drawings are used to explain the present disclosure, and do not constitute a limitation on the present disclosure.

[0022] Figure 1 An example block diagram of a laser radar provided in some embodiments of the present disclosure is shown;

[0023] Figure 2 An example structure diagram of a laser radar provided in some embodiments of the present disclosure is shown;

[0024] Figure 3 An example exploded diagram of a laser radar provided in some embodiments of the present disclosure is shown;

[0025] Figure 4A cross-sectional view of a part of a laser radar is shown in some embodiments of the present disclosure;

[0026] Figure 5 A structural view of a support is shown in some embodiments of the present disclosure;

[0027] Figure 6 An installation view of a support on a base is shown in some embodiments of the present disclosure;

[0028] Figure 7 A structural view of a turntable of a laser radar is shown in some embodiments of the present disclosure from one perspective;

[0029] Figure 8 A structural view of a turntable of a laser radar is shown in some embodiments of the present disclosure from another perspective;

[0030] Figure 9 A structural view of internal components of a laser radar is shown in some embodiments of the present disclosure;

[0031] Figure 10 An installation view of a first magnetic part on a fixing part is shown in some embodiments of the present disclosure;

[0032] Figure 11 A partial cross-sectional view of a fixing part is shown in some embodiments of the present disclosure;

[0033] Figure 12 A structural view of a base of a laser radar is shown in some embodiments of the present disclosure;

[0034] Figure 13 An example view of a sealing structure is shown in some embodiments of the present disclosure;

[0035] Figure 14 An example view of another sealing structure is shown in some embodiments of the present disclosure;

[0036] Figure 15 An example view of yet another sealing structure is shown in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, specific embodiments of the present disclosure will be described below with reference to the drawings. The drawings described in the following description are only some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can be obtained without departing from the concept of the present disclosure, and adjustments and improvements made within the scope of the present disclosure.

[0038] For simplicity and brevity of the drawings, only the parts related to the corresponding embodiments are shown in the drawings, which do not represent the actual structure of the product. There can be more or less structure or component in actual.

[0039] The terms "mount", "set", "connect" should be understood broadly, for example, "mount" can be direct mounting or mounting through other components; "set" can be direct setting or setting through other components; "connect" can be direct connection or connection through other components.

[0040] In the embodiments shown in the drawings, the indications of the directions (such as up, down, left, right, front, and back, etc.) are not absolute but relative when describing the structure or movement of each component, and are not used to limit the direction of the actual use of the product.

[0041] Laser radar uses laser as medium to detect objects, which can be applied in intelligent driving, industrial manufacturing, unmanned aerial vehicle, robot recognition, geographic mapping, or environmental monitoring, etc. Intelligent driving can also be called autonomous driving or assisted driving, including any level of autonomous driving, such as L1-L5, etc. In application, laser radar can be installed on a vehicle to provide perception data, such as point cloud data, for the vehicle, so that the vehicle uses the perception data to realize analysis, decision, or control, etc. The vehicle includes a vehicle, a manufacturing terminal, a ship, an aircraft (such as a flying vehicle or an unmanned aerial vehicle, etc.), a robot (such as an industrial robot or a household robot, etc.), or a mapping device, etc.

[0042] Figure 1 An example block diagram of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figure 1The lidar 100 includes a laser emitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 140. Optionally, the lidar 100 can further include a scanning system 150, such as a mechanical lidar or a semi-solid lidar. The scanning system 150 can include, for example, a scanner and a driving device for driving the scanner to rotate so that the laser performs scanning in one or both of vertical and horizontal fields of view. For example, the laser is emitted through the scanner, and rotation of the scanner changes the emission path of the laser. For another example, the echo of the laser is incident on the scanner and guided to the light receiving path through the scanner. The embodiments of the present disclosure do not limit the type of the scanner, which can include, but is not limited to, a rotating mirror, a swinging mirror, a vibrating mirror, or other devices that can direct the laser to different directions in the environment, etc. Optionally, the scanning system 150 can include a rotating platform; for example, one or more of the laser emitting circuit, the laser receiving circuit, or the optical system can be arranged on the rotating platform, and rotation of the rotating platform realizes scanning in one or both of vertical and horizontal fields of view.

[0043] The laser emitting circuit 110 is configured to emit laser. After the laser encounters an object, the laser is reflected by the surface of the object and the reflected light is called echo. The laser receiving circuit 120 receives the echo and converts the echo into an electrical signal. After pre-processing, the electrical signal becomes echo data, which is provided to the control and processing system 140. The control and processing system 140 processes the echo data to obtain perception data, such as point cloud data. The control and processing system 140 sends the perception data to a vehicle, and the vehicle uses the perception data to realize analysis, decision, or control, etc.

[0044] The laser emitting circuit 110 includes a driving circuit and a laser. The laser emits laser under the driving of the driving circuit, and the laser is emitted through the optical system 130. The laser includes, for example, a semiconductor laser, a fiber laser, or other types of lasers. The semiconductor laser includes, for example, a laser emitting circuit, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), or the like. The above are only examples, and the embodiments of the present disclosure do not limit the type of the laser.

[0045] The laser receiving circuit 120 includes a detector and a pre-processing circuit. The optical system 130 focuses the echo onto a light-sensitive surface of the detector; the detector converts the optical signal into an electrical signal using the photoelectric effect. The detector includes, for example, a photodetector circuit, a PIN photodiode (PIN PD), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or the like. The above are merely examples, and the type of detector is not limited in the embodiments of the present disclosure.

[0046] The pre-processing can also be referred to as analog front-end processing, and includes, for example, one or more of amplification, filtering, digitization, and the like. The pre-processing circuit can also be referred to as an analog front-end circuit, and includes, for example, one or more of an amplification circuit, a filtering circuit, a digitization circuit. The amplification circuit includes, for example, an amplifier, which can amplify the electrical signal converted by the detector. The filtering circuit includes, for example, a filter, which is used to filter out noise or interference. The digitization circuit includes, for example, one or more of an analog-to-digital converter (ADC) or a time-to-digital converter (TDC). For example, the ADC converts the analog electrical signal into a digital signal representing the waveform of the echo by periodically sampling the output signal of the detector, to obtain echo data. For another example, the electrical signal converted by the detector can be converted (e.g., converted and amplified into a voltage, and compared with a reference voltage to generate a threshold-crossing signal) to provide a TDC, which measures the time of arrival of the echo based on the received electrical signal, to obtain echo data. The echo data can include data representing the time of the echo and / or the intensity of the echo.

[0047] The optical system 130, for example, includes a transmitting optical element and a receiving optical element. The transmitting optical element is on a transmitting path (referred to as a transmitting optical path) of the laser light, and is configured to shape the laser light emitted by the laser and adjust an exit path of the laser light. The receiving optical element is on a receiving path (referred to as a receiving optical path) of the laser light, and is configured to collect the echo reflected by the object and converge the echo onto a light-sensitive surface of the detector. For example, the transmitting optical element can include one or more optical elements such as a mirror, a lens, a light splitting element, a homogenizer, a beam splitter, and the like. For example, the receiving optical element can include one or more optical elements such as a mirror, a lens, a light splitting element, a filter, and the like. The transmitting optical element and the receiving optical element can be independent of each other, partially multiplexed, or fully multiplexed. For example, in a coaxial transmitting-receiving laser radar, the optical system 130 can include independent transmitting and receiving optical elements, such as independent transmitting and receiving lenses. The optical system 130 can also include optical elements shared by the transmitting and receiving optical paths, such as a light splitting element (or a light splitting mirror) for separating the transmitting and receiving optical paths, or a shared lens for shaping coaxial beams on the transmitting and receiving optical paths.

[0048] The control and processing system 140 is configured to process the echo data to obtain perception data. The control and processing system 140 is also configured to send control signaling to the driving circuit to control the driving circuit to drive the laser to emit light, so as to realize the emission of the laser. When the laser radar 100 comprises the scanning system 150, the control and processing system 140 is also configured to control the scanning system 150. In some embodiments, the control and processing system 140 can comprise one or more processors. The processor comprises, for example but not limited to, an application specific integrated circuit (ASIC), a programmable logic device (PLD) implemented hardware circuit, a microcontroller unit (MCU), a micro processor unit (MPU), a digital signal processor (DSP), or a central processing unit (CPU), etc. The PLD implemented hardware circuit comprises, for example but not limited to, a field programmable gate array (FPGA), etc. When the control and processing system 140 comprises multiple processors, the types of the processors can be the same or different. For example, the control and processing system 140 can comprise an MCU and an FPGA; or, the control and processing system 140 can comprise an MCU, an FPGA, and a DSP; or, the control and processing system 140 can comprise a CPU and an FPGA, etc. When the control and processing system 140 comprises multiple processors, the processors can be separately arranged, or partially integrated together, or can be all integrated together. For example, the control and processing system 140 can be implemented in the form of a system on chip (SOC) or an ASIC.

[0049] The laser radar comprises more components, such as optical elements, electronic devices, and mechanical components, etc. The mechanical components or electromechanical structures of the laser radar are designed in the embodiments of the present disclosure, so that the laser radar has a lower cost or a more compact structure, and the cost or volume constraints of the laser radar in the application process are reduced.

[0050] Figure 2 A structural example of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figure 2The laser radar 200 includes a base 210 and a light cover 220. The base 210 is used to support the installation of internal components of the laser radar 200, such as the installation of optical elements, electronic devices, and mechanical components of the laser radar, etc.; the light cover 220 is buckled on the base 210 to protect the internal components of the laser radar 200. The light cover 220 can also be referred to as a housing, which can be made of a light-transmitting material (such as light-transmitting glass or light-transmitting plastic, etc.) or provided with an anti-reflection film in whole or in part to facilitate the transmission of laser. The light cover 220 can allow light of the working wavelength of the laser radar to transmit, such as allowing light with a wavelength near 905 nm, 940 nm, 1310 nm, or 1550 nm to transmit. The light cover 220 can also at least partially block the transmission of light in the visible light band. For example, the light cover 220 includes a main body and a window, the main body can be made of a non-light-transmitting material with high mechanical strength, and the window is made of a light-transmitting material or provided with an anti-reflection film in the window area, so that laser can be emitted and returned through the window. For another example, the light cover 220 is made of a light-transmitting material in whole or provided with an anti-reflection film in whole. In this way, laser can be emitted from the light cover 220 in a larger range to facilitate the increase of the field of view range of the laser radar 200. For another example, the connecting part used to install the light cover 220 on the base 210 can be made of a material with high mechanical strength or designed with a structure reinforcement. In this way, the structural strength of the light cover 220 can be enhanced, the connection stability between the base 210 and the light cover 220 can be increased, and the probability of damage of the light cover 220 can be reduced. The material and structure of the light cover 220 are not limited in the embodiments of the present disclosure; for example, one or more of metal, plastic, alloy, glass, or other composite materials can be selected.

[0051] In some embodiments of the present disclosure, the mechanical structure of the laser radar is designed so that the mechanical structure can support the installation of the components of the laser radar, reduce the overall occupied volume, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar. Figure 3 An exploded view of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figure 3 The laser radar 200 includes, for example, a base 210, a main shaft 230, a turret 240, and a support 250. The main shaft 230 is arranged on the base 210; the turret 240 is rotationally connected with the main shaft 230; and the bottom of the support 250 is arranged on the base 210 and extends upward, i.e., extends toward the turret 240. Through the arrangement of the support 250 and the turret 240, the vertical space inside the laser radar can be better utilized to improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar.

[0052] Figure 4 A cross-sectional view of part of the components of a laser radar provided in some embodiments of the present disclosure is shown. Please refer toFigure 4 The laser radar 200 can further comprise a sensor 260, the support 250 can be used to support elements of the sensor 260, the sensor 260 is used for position sensing during the rotation of the turret 240. The sensor 260 comprises an interference element 261 and a sensing element 262, the interference element 261 is arranged on the support 250, and the sensing element 262 is arranged on the turret 240. The interference element 261 interferes with the sensing of the sensing element 262 when the turret 240 rotates relative to the main shaft 230, and the output signal of the sensing element 262 can change accordingly. The above laser radar can better utilize the vertical space inside the laser radar through the arrangement of the support 250 and the turret 240, so as to improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and be beneficial to the miniaturization of the laser radar. The support 250 extends to the direction of the turret 240, and the top can be opposite to the turret 240, so that the sensing element 262 can be conveniently arranged on the turret 240, and the assembly process of the laser radar is simplified.

[0053] When the sensing element 262 rotates with the rotating platform 240, the output signal of the sensing element 262 changes, which can be used to reflect the position information of the rotating platform 240, such as the rotation angle. The position information can be used to control the time when the laser emitting circuit emits laser, or to control the time when the laser emitting circuit emits laser and the working time of the laser receiving circuit, such as the activation time or output time of the detector. In some embodiments, the driving device of the scanning system can drive the rotating platform 240 to rotate. The scanner or rotating platform of the laser radar can be arranged on the rotating platform 240. For example, during the detection process, the driving device can drive the scanner or rotating platform to rotate; during the rotation of the scanner or rotating platform, the control and processing system 140 can control the laser emitting circuit 110 according to the position information of the rotating platform 240, for example, control the driving circuit to drive the laser to emit laser at different positions of the scanner or rotating platform, so that the laser is emitted at different field angles of the laser radar, realizing the scanning of one or all of the vertical or horizontal fields of view of the laser radar. The sensor 260 can sense the position of the rotating part (for example, the rotating platform 240) of the laser radar, and the laser radar can control the laser emitting circuit according to the sensing signal of the sensor 260 to emit laser at the corresponding scanning angle during the rotation of the scanner or rotating platform. Alternatively, the control and processing system 140 can also control the laser receiving circuit 120 during the rotation of the scanner or rotating platform. For example, the laser receiving circuit 120 can include a gating circuit, and the control and processing system 140 can control the gating circuit to select the corresponding detector to receive the echo of the laser; for another example, the control and processing system 140 can control the readout circuit of the corresponding detector to read out the signal of the detector. In the laser radar, the detectors selected in the same time window and the lasers emitting laser can correspond to the same sub-field of view, and at least one laser and at least one detector corresponding to the same sub-field of view correspond to each other. The number of lasers and detectors corresponding to the same sub-field of view can be the same or different.

[0054] In some embodiments of the present disclosure, the sensing element 262 can be electrically connected with the first circuit board C1. The optical system of the laser radar can include an optical-mechanical structure 270 disposed above the turret 240, and the laser emitting circuit or the laser receiving circuit can be wholly or partially disposed on the optical-mechanical structure 270. The first circuit board C1 is disposed above the turret 240. The first circuit board C1 can include part or all of the circuit of the control and processing system of the laser radar. Alternatively, the laser emitting circuit or the laser receiving circuit can be wholly or partially disposed on the first circuit board C1. By disposing the sensing element 262 on the turret 240, the sensing element 262 can be closer to the first circuit board C1, the sensing circuit can be disposed on the first circuit board C1, a separate circuit board for the sensing circuit can be avoided, and the integration of the laser radar can be improved. In addition, by electrically connecting the sensing element 262 with the first circuit board C1, the output signal of the sensing element 262 can be transmitted through the board and provided to the first circuit board C1, and the laser emitting circuit or the laser receiving circuit can be controlled by the first circuit board C1, which is conducive to simplifying the connection design between circuits.

[0055] The sensor 260 can include, for example, a photoelectric sensor, a magnetic induction sensor, or a capacitive induction sensor, etc. The interference element 261 is used to interfere with the output signal of the sensor, for example, including photoelectric interference or electromagnetic induction interference, etc. For example, during the rotation of the sensing element 262 following the turret 240, the light flux passing through the interference element 261 changes, the light signal incident on the sensing element 262 also changes, and an electrical signal reflecting the position change of the turret 240 is obtained by using the photoelectric effect. For another example, during the rotation of the sensing element 262 following the turret 240, the relative distance between the interference element 261 and the sensing element 262 changes, and the voltage, inductance, or capacitance of the sensing circuit in which the sensing element 262 is located is changed by using electromagnetic induction.

[0056] For the photoelectric sensor, the interference element 261 can include, for example, an encoder (or an encoding structure), such as a code disc, and the sensing element 262 can include, for example, a code reader. For the magnetic induction sensor, the interference element 261 can include, for example, a conductor target, and the sensing element 262 can include, for example, a magnetic piece; or the interference element 261 can include, for example, a magnetic piece, and the sensing element 262 can include, for example, a Hall element, etc. For the capacitive induction sensor, the interference element 261 can include, for example, a target, and the sensing element 262 can include, for example, a sensing electrode.

[0057] In some embodiments of the present disclosure, the sensor can be a photoelectric sensor. For example, Figure 5 A structural example diagram of a support provided in some embodiments of the present disclosure is shown. Figure 6An example diagram of mounting of a support on a base is shown. Please refer to Figures 3 to 6 The interference element 261 can include an encoder, such as a code disk or a code track structure, and the sensing element 262 can be an optoelectronic sensing element, such as can include a code reader. The encoder can include a plurality of code tracks arranged circumferentially on the top of the support 250. The encoder is fixedly arranged relative to the base 210, and the code reader is arranged on the turret 240 and faces the encoder. The code reader emits an optical signal, which is read by the code reader after passing through the encoder. During rotation of the turret 240, the code reader rotates with the turret 240, and the output signal of the code reader changes during a change in the light flux passing through the encoder, which can be used to indicate the rotation angle or other position information of the turret 240. In some embodiments of the present disclosure, the code reader is electrically connected to the first circuit board C1, and the output signal of the code reader can be output as a sensing signal by the sensing circuit and provided to the first circuit board C1.

[0058] In the above mechanical structure, the code tracks are arranged directly on the top of the support 250, which can reduce the number of components of the lidar and reduce the cost of the lidar. In addition, this structure design can better utilize the vertical space inside the lidar, which is conducive to the miniaturization of the lidar. The support 250 extends towards the turret 240, and the top can be opposite to the turret 240, which can facilitate the installation of the sensing element 262 on the turret 240.

[0059] In some embodiments of the present disclosure, please continue to refer to Figure 5 and Figure 6 The encoder and the support 250 are integrally formed. The support 250 is fixedly arranged on the base 210, and the encoder includes a plurality of code tracks arranged circumferentially on the top of the support 250, and the code tracks extend upwards to be close to the turret 240 or the first circuit board C1. By using the integrally designed support 250 to realize the arrangement of the interference element 261, the number of components of the lidar can be reduced, the mounting process is reduced, and the cost and volume of the lidar are further reduced.

[0060] In some embodiments of the present disclosure, please refer to Figure 4The rotating frame 240 is provided with an opening O, and the sensing element 262 is arranged in the opening O and extends towards the support 250 at one end, and is arranged corresponding to the region where the interference element 261 is arranged on the support 250. The opening O can save the installation space of the sensing element 262, and protect the sensing element 262, so that the structure of the laser radar is more compact, the performance of the sensor 260 is more stable, and the miniaturization of the laser radar is facilitated. For example, the code reader is arranged on both sides of the encoder, the code reader emits an optical signal, when the rotating frame 240 rotates, the light flux of the encoder changes, and the output signal of the code reader changes accordingly, and the output signal can be used to represent the position information such as the rotation angle of the rotating frame 240.

[0061] Please continue to refer to Figure 3 and Figure 4 In some embodiments of the present disclosure, the laser radar 200 can further include a wireless power supply device 280. The wireless power supply device 280 can realize wireless power supply between internal circuit boards of the laser radar. Optionally, the wireless power supply device 280 can also realize data transmission between the circuit boards. For example, the first circuit board C1 can be powered by the second circuit board C2 (for example, the circuit board arranged on the base 210) of the laser radar. The wireless power supply device 280 includes a transmitting coil 281 and a receiving coil 282, for example. When the transmitting coil 281 is powered by alternating current, a changing magnetic field is generated. The receiving coil 282 generates an induced current within the range of the changing magnetic field, and can transfer energy from the transmitting end to the receiving end, thereby realizing wireless power supply.

[0062] In some embodiments of the present disclosure, the support 250 can also be used to support the installation of the transmitting coil 281. In this way, the support 250 can support multiple functional requirements, and mechanical support structures do not need to be arranged for the transmitting coil 281 and the interference element 261 respectively, and the positions of the mechanical support structures of the transmitting coil 281 and the interference element 261 do not need to be arranged respectively, thereby reducing the space occupied by the installation of the transmitting coil 281 and the interference element 261, reducing the size of the laser radar, and reducing the number of structural members in the laser radar, thereby reducing the cost and assembly process. For example, please refer to Figures 3 to 6 The transmitting coil 281 is arranged on the support 250, and the receiving coil 282 is arranged on the rotating frame 240. The above structure integrates the elements (such as the interference element 261) of the sensor 260 and the elements (such as the transmitting coil 281) of the wireless power supply device 280, which can greatly reduce the number of mechanical structural members in the laser radar, increase the integration degree, and reduce the cost and assembly complexity.

[0063] In some embodiments of the present disclosure, the transmitting coil 281 and the receiving coil 282 are arranged opposite to each other along the radial direction of the main shaft 230, or in other words, the transmitting coil 281 and the receiving coil 282 are arranged opposite to each other along the direction perpendicular to the main shaft 230.Figures 3 to 6 In the example of FIG. 2, the transmitting coil 281 can be disposed outside the receiving coil 282. In some other embodiments of the present disclosure, the receiving coil 282 can be disposed outside the transmitting coil 281. The radial distribution of the transmitting coil 281 and the receiving coil 282 along the main shaft 230, with the inner and outer relative positions, can enable the power supply coil (including the transmitting coil 281 and the receiving coil 282) to be wound in the vertical direction. Winding the power supply coil in the vertical direction can enable the transmitting coil 281 to utilize the sidewall area of the support 250, thereby reducing the radial dimension of the lidar. Compared with the manner of winding the coil in the horizontal direction, winding the power supply coil in the vertical direction can enable the coil to be wound more closely. The turret 240 can also be used to support the receiving coil 282. Without the need to provide an additional support structure for the receiving coil 282, supporting multiple functions by the turret 240 can further reduce the components of the lidar, reduce the cost of the lidar, and be more conducive to the miniaturization of the lidar.

[0064] In some embodiments of the present disclosure, the support 250 can have an internal hollow structure, and the receiving coil 282 is disposed inside the support 250. In this way, both the inner and outer relative positions of the transmitting coil 281 and the receiving coil 282 along the main shaft 230 can be achieved, and the internal space of the lidar can be effectively utilized.

[0065] Figure 7 FIG. 2 shows a structural example diagram of a turret of a lidar provided in some embodiments of the present disclosure in one perspective view. Figure 8 FIG. 3 shows a structural example diagram of a turret of a lidar provided in some embodiments of the present disclosure in another perspective view. Please refer to Figure 7 and Figure 8 The turret 240, for example, includes a bearing portion 241 and an extension portion 242. The bearing portion 241 and the extension portion 242 can be integrally formed or fixedly connected together after being separately formed. The extension portion 242 can be rotationally connected with the main shaft 230. The bearing portion 241 is disposed above the extension portion 242, and the cross-sectional area of the bearing portion 241 in the direction perpendicular to the main shaft 230 can be greater than the cross-sectional area of the extension portion 242. The extension portion 242 of the turret 240 extends towards the base 210 and is rotationally connected with the main shaft 230. The support 250 is disposed outside the extension portion 242 of the turret 240, the transmitting coil 281 of the wireless power supply device 280 can be wound outside the sidewall of the support 250, and the receiving coil 282 can be wound outside the sidewall of the extension portion 242 of the turret 240 and inside the support 250.

[0066] In some embodiments, the extension 242 of the rotating frame 240 can be disposed outside the support 250. The transmitting coil 281 of the wireless power supply device 280 can be wound around the outer sidewall of the support 250, and the receiving coil 282 can be wound around the outer sidewall of the extension 242 of the rotating frame 240 and outside the support 250.

[0067] In some embodiments of the present disclosure, the receiving coil 282 can be directly wound around the outer sidewall of the extension 242. For example, the extension 242 is made of silicon steel sheet material, and the silicon steel sheets are separated by an insulating coating, or the extension 242 is bonded or sintered with a magnetic material outside the extension 242, so that at least part of the extension 242 has a magnetic conductive and electrically non-conductive performance. In some embodiments, please continue to refer to Figure 4 , Figure 7 and Figure 8 , the extension 242 of the rotating frame 240 can also be provided with a magnetic structure 244, for example, disposed on the outer sidewall of the extension 242. The receiving coil 282 can be wound around the outer sidewall of the magnetic structure 244. The magnetic structure 244 can be made of a magnetic conductive and electrically non-conductive material, for example, including but not limited to one or more of ferrite, silicon steel sheet, nickel-zinc ferrite, soft magnetic material, permanent magnet, magnetic shielding material, or magnetic plastic. The magnetic structure 244 can make the magnetic flux more concentrated inside the coil, improving the receiving efficiency of the receiving coil 282.

[0068] In some embodiments of the present disclosure, please continue to refer to Figure 3 , the lidar 200 can also include a first circuit board C1 and a second circuit board C2. The first circuit board C1 is disposed on the rotating frame 240, and the receiving coil 282 is electrically connected to the first circuit board C1. The second circuit board C2 is disposed on the base 210, and the transmitting coil 281 is electrically connected to the second circuit board C2. The second circuit board C2 can include a first control circuit, which can control the transmission power of the transmitting coil 281. The receiving coil 282 is electrically connected to the first circuit board C1, which can supply power to the first circuit board C1. The power supply of the lidar by an external device (such as a vehicle) can be realized by supplying power to the second circuit board C2, which is disposed on the base 210, and the transmitting coil 281 is electrically connected to the second circuit board C2, which can facilitate the power supply by the external device and facilitate the power supply of the first circuit board C1 by the second circuit board C2. For example, the first control circuit is disposed on the second circuit board C2, and the second circuit board C2 is disposed on the base 210, which can facilitate the electrical connection between the external device and the second circuit board C2, so as to realize the power supply of the lidar by the external device with simple wiring design; and the transmitting coil 281 is wound around the outer sidewall of the support 250, which can facilitate the electrical connection with the second circuit board C2 and reduce the complexity of wiring.

[0069] In some embodiments of this disclosure, the second circuit board C2 can also transmit data to the first circuit board C1 via the transmitting coil 281 and the receiving coil 282. This allows for wireless power supply synchronization of data transmission, reducing the number of communication components in the lidar, further lowering the lidar cost, and further improving the lidar's integration. For example, the first control circuit can modulate information onto the carrier wave of the transmitting coil 281 to transmit data to the receiving coil 282. Embodiments of this disclosure do not limit the modulation method, and may include, but are not limited to, modulation of one or more parameters such as amplitude, frequency, phase, and pulse.

[0070] In some embodiments of this disclosure, the first circuit board C1 may further include a sensing circuit (also referred to as a sensing signal processing circuit) electrically connected to the sensing element 262. The sensing circuit can process the output signal of the sensing element 262 to obtain a sensing signal reflecting position information, and provide the sensing signal to the first circuit board C1. The first circuit board C1 can then be used to control one or both of the laser emitting circuit and the laser receiving circuit. By placing the sensing circuit on the first circuit board C1, more control or processing functions can be moved upwards, making full use of the first circuit board C1, reducing the number of circuit boards required, and further reducing the wiring requirements between multiple circuit boards, thus improving the integration of the LiDAR. Furthermore, by placing the sensing circuit on the first circuit board C1, the sensing signal can be transmitted within the board and provided to the portion of the first circuit board C1 that controls the laser emitting circuit or the laser receiving circuit, which simplifies the connection design between circuits.

[0071] In some embodiments, the first circuit board C1 may include one or more of a processing circuit, a second control circuit, and a third control circuit. The processing circuit can generate point cloud data. The second control circuit can control the laser emitting circuit of the lidar. The third control circuit can control the laser receiving circuit of the lidar. For example, please refer to... Figure 1For example, the laser emitting circuit 110 includes a driving circuit, and the second control circuit can generate control signaling (for the sake of distinguishing the description, it can be called first control signaling) and send the first control signaling to the driving circuit of the laser emitting circuit 110, and the driving circuit can drive the laser to emit laser according to the first control signaling. For another example, the laser receiving circuit 120 includes a gating circuit, and the third control circuit can generate control signaling (for the sake of distinguishing the description, it can be called second control signaling) and send the second control signaling to the gating circuit of the laser receiving circuit 120, and the gating circuit can gate the detector according to the second control signaling to receive the echo. The detector gated in the same time window and the laser emitting the laser can correspond to the same sub field of view. For another example, the laser receiving circuit 120 includes a readout circuit, and the third control circuit can generate control signaling (for the sake of distinguishing the description, it can be called third control signaling) and send the third control signaling to the readout circuit of the laser receiving circuit 120, and the readout circuit can read out the echo signal of the detector according to the third control signaling. The detector read out in the same time window and the laser emitting the laser can correspond to the same sub field of view. The first circuit board C1 can integrate one or more of the sensing circuit, the processing circuit, the second control circuit, and the third control circuit. In this way, more control functions or processing functions can be concentrated in the first circuit board C1, and the interaction between the circuits or the interaction between the control circuit and the processing circuit can also be more concentrated in the first circuit board C1, which is realized by the on-board communication, reduces the demand for uplink transmission, and further reduces the pressure of uplink transmission. The control and processing functions are concentrated in the same circuit board, which can reduce the number of circuit boards of the laser radar, further improve the integration of the control and processing system of the laser radar, and simplify the connection design between the circuit boards, further reduce the cost, and the assembly is simple. In addition, the fewer the number of circuit boards, the vertical height of the laser radar can also be reduced.

[0072] Figure 9 An example of the structure of the internal components of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figure 9In some embodiments, the optical system of the lidar can include an optical-mechanical structure 270 disposed above the turret 240. In some embodiments, the lidar can further include a transmitting circuit board and a receiving circuit board. The laser transmitting circuit can be disposed in whole or in part on the transmitting circuit board, and the laser receiving circuit can be disposed in whole or in part on the receiving circuit board. In some embodiments, the lidar can further include a transmitting-receiving circuit board, and the laser transmitting circuit and the laser receiving circuit can be disposed in whole or in part on the transmitting-receiving circuit board. In some embodiments, the laser transmitting circuit or the laser receiving circuit can be disposed in whole or in part on the first circuit board C1. The laser transmitting circuit board, the laser receiving circuit board, or the laser transmitting-receiving circuit board can be disposed on the optical-mechanical structure 270 or on the turret 240. Disposing the second control circuit and the third control circuit on the circuit board C1 can make the second control circuit and the third control circuit closer to the laser transmitting circuit and the laser receiving circuit, which is conducive to simplifying the connection design between the control circuit and the controlled part.

[0073] In some embodiments, the second circuit board C2 includes the first control circuit. The second circuit board C2 can include an interface circuit for external communication to transmit the point cloud data externally, or can receive control information, upgrade instructions, upgrade packages, configuration parameters, etc. from the controller of the vehicle or a remote server. For example, the second circuit board C2 includes the first control circuit and the interface circuit, and the interface circuit can communicate with a data receiving device to transmit the point cloud data to the data receiving device. In other embodiments of the present disclosure, the interface circuit and the first control circuit can be disposed on different circuit boards. In this way, the lower compartment space of the lidar can be flexibly utilized, and the positions of the circuit boards can be reasonably arranged as needed. For example, the lidar can further include a third circuit board disposed on the base 210. The third circuit board includes an interface circuit that can communicate with a data receiving device to transmit the point cloud data to the data receiving device, or can receive control information, upgrade instructions, upgrade packages, configuration parameters, etc. from the controller of the vehicle or a remote server.

[0074] The data receiving device can be located on the vehicle, for example, including the controller of the vehicle. The processing circuit on the first circuit board C1 can process the echo data into point cloud data and transmit the point cloud data to the second circuit board C2 or the third circuit board, and transmit the point cloud data to the data receiving device through the interface circuit. The first circuit board C1 and the second circuit board C2 can use wireless transmission or wired transmission in downlink transmission, including but not limited to wireless optical communication, optical fiber, twisted pair, or coaxial cable, etc.

[0075] In some embodiments of the present disclosure, please continue to refer to Figure 3The laser radar 200 can further include a driving device 290. The driving device 290 can drive the rotation of the turret 240. The driving device 290 includes, for example, a first magnetic member 291 and a second magnetic member 292. The first magnetic member 291 is fixed relative to the base 210, and the second magnetic member 292 is arranged on the turret 240 and can rotate relative to the first magnetic member 291 under the action of a magnetic field; or the second magnetic member 292 is fixed relative to the base 210, and the first magnetic member 291 is arranged on the turret 240 and can rotate relative to the second magnetic member 292 under the action of a magnetic field.

[0076] The magnetic member refers to, for example, an element, component, or object that can generate a magnetic field, or respond to a magnetic field, or store energy in a magnetic field. The magnetic member can have magnetism when energized, or can be made of a material with magnetism. The embodiments of the present disclosure do not limit the structure or type of the magnetic member. For example, the magnetic member can include, but is not limited to, a coil structure (for example, including a printed circuit board coil, or a winding, etc.), a conductor, or a magnet made of a magnetic material, etc. For example, the first magnetic member 291 includes a magnet, and the second magnetic member 292 includes a coil structure. The coil structure can generate a magnetic field after being energized. By changing the current size or direction flowing through the coil, the magnetic field changes. For example, a fourth control circuit is arranged on the first circuit board C1 or the second circuit board C2, and the current size or direction flowing through the coil is changed through the fourth control circuit; the magnetic field of the magnet and the magnetic field of the coil structure interact, driving the relative rotation of the coil structure and the magnet. Figure 3 The first magnetic member 291 and the second magnetic member 292 in the above are only schematic, and the embodiments of the present disclosure do not limit the structure of the first magnetic member 291 and the second magnetic member 292. For example, the first magnetic member 291 includes an integrally formed permanent magnet or a segmented permanent magnet. The first magnetic member 291 further includes, for example, a coil structure, which can include a core and a coil wound on the core, and the core is used to increase the magnetic flux of the magnetic field generated by the coil after being energized; or the coil structure can include a coreless structure. The use of a permanent magnet for the first magnetic member 291 can reduce the number of electronic devices of the laser radar, and reduce the cost and volume of the laser radar. The embodiments of the present disclosure do not limit the shape of the first magnetic member 291 and the second magnetic member 292, which can be regular or irregular, and the outline thereof includes, for example, a circle, an arc, a rectangle, an ellipse, or a racetrack, etc. The embodiments of the present disclosure do not limit the number of the first magnetic member 291 and the second magnetic member 292, which can be one or more, and the number of the first magnetic member 291 and the number of the second magnetic member 292 can be the same or different.

[0077] In some embodiments of the present disclosure, the second magnetic member 292 and the fourth control circuit for controlling the magnetic field of the second magnetic member 292 can be arranged on the rotating frame 240, and the first magnetic member 291 is fixedly arranged relative to the base 210. When the second magnetic member 292 is energized, a magnetic field is generated, which interacts with the magnetic field of the first magnetic member 291 to generate a torque, which drives the second magnetic member 292 to rotate, and when the second magnetic member 292 rotates, it drives the rotating frame 240 to rotate relative to the base 210 or the main shaft 230. The arrangement of the above driving device 290 can arrange the controlled magnetic member and the control part of the magnetic field of the driving device 290 on the rotating frame 240, which can realize the arrangement of the magnetic field control function on the upper bin of the laser radar, and improve the integration of the laser radar. The base 210 of the laser radar is provided with a main shaft 230 and other structures, and has a smaller available space relative to the upper bin. The upward movement of the control function can better utilize the internal space of the laser radar and reduce the size of the laser radar. In addition, similar to the description of the above embodiments, the upward movement of the control function can reduce the pressure of the uplink transmission.

[0078] In some embodiments of the present disclosure, the first magnetic member 291 and the second magnetic member 292 can be arranged on the outside or inside of the support member 250. For example, please refer to Figure 3 and Figure 9 The first magnetic member 291 and the second magnetic member 292 are arranged on the outside of the support member 250. The support member 250 can be arranged on the outside of the extension 242 of the rotating frame 240. The present disclosure does not limit the relative position relationship between the driving device 290 (including the first magnetic member 291 and the second magnetic member 292) and the wireless power supply device 280 (including the transmitting coil 281 and the receiving coil 282). For example, in some embodiments, along the radial direction of the main shaft 230, the driving device 290 can be arranged radially outside the wireless power supply device 280. In some embodiments, the wireless power supply device 280 can be arranged radially outside the driving device 290.

[0079] In some embodiments of the present disclosure, the second magnetic member 292 is arranged on the side of the rotating frame 240 facing the base 210. The second magnetic member 292 is arranged on the side of the rotating frame 240 facing the base 210, which can increase the weight below the rotating frame 240, so that the overall center of gravity of the laser radar is lowered, the torque of the laser radar during scanning is reduced, and the stability of the laser radar is improved.

[0080] In some embodiments of the present disclosure, the first circuit board C1 can be arranged on the side of the rotating frame 240 away from the base 210. The side of the rotating frame 240 away from the base 210 is not provided with a main shaft, and the first circuit board C1 can have more available space, which can realize a larger circuit board area and facilitate the layout of the circuits on the circuit board. For example, please refer to Figure 7 and Figure 8The first circuit board C1 is arranged on the side of the bearing portion 241 away from the extending portion 242, and the second magnetic member 292 is arranged on the side of the bearing portion 241 facing the extending portion 242. Figure 7 and Figure 8 The structure of the rotating frame 240 shown in FIG. 9 is only an example, and the embodiments of the present disclosure do not limit the shape or structure of the rotating frame 240. For example, the vertical cross-sectional shape of the rotating frame 240 can be T-shaped, trapezoidal, or rectangular.

[0081] In some embodiments of the present disclosure, please refer to Figure 7 The rotating frame 240 can be provided with a bracket 243, which can be used to mount the second magnetic member 292. For example, the number of second magnetic members 292 can be multiple, and the multiple second magnetic members 292 can be arranged on the bracket 243. For example, the multiple second magnetic members 292 can be uniformly spaced on the outer side wall of the bracket 243. Optionally, the multiple second magnetic members 292 can be independently arranged or integrally formed. For example, the cores of the multiple second magnetic members 292 can be integrally formed, and the coil structures of the multiple second magnetic members 292 are arranged on the cores. The second magnetic member 292 includes a coil and a silicon steel sheet, for example, and the coil is arranged on the silicon steel sheet.

[0082] In some embodiments of the present disclosure, the main shaft 230 and the base 210 can adopt an integrated design. For example, the base 210 and the main shaft 230 are integrally formed. In this way, the number of independent components of the lidar can be reduced, and the assembly process of the lidar can be reduced. Optionally, the main shaft 230 can adopt a slotted design to install a communication cable or a wireless communication device in the main shaft 230, so as to realize communication (for example, downlink communication) between the first circuit board C1 and the second circuit board C2.

[0083] In some embodiments of the present disclosure, the material of the bracket 243 can be plastic, for example, so as to further reduce the cost of the lidar. In addition, the use of plastic is conducive to the lightweight design of the rotating frame 240, which can reduce the requirement for the support force of the main shaft 230, and has better adaptability to the structure of the integrated main shaft 230 and base 210. Optionally, the rotating frame 240 can adopt other lighter materials, such as aluminum alloy materials. The optical-mechanical structure 270 can also adopt a lightweight design. For example, part or all of the optical elements in the optical-mechanical structure 270 adopt plastic materials, and the mechanical structure adopts lighter alloy or plastic materials, etc.

[0084] Please continue to refer to Figure 3 and Figure 4In some embodiments of the present disclosure, the rotating frame 240 can be rotationally connected with the main shaft 230 through bearings. For example, the laser radar includes bearings 2011 and 2012, the upper end of the rotating frame 240 can be rotationally connected with the main shaft 230 through the bearing 2011, and the lower end of the rotating frame 240 can be rotationally connected with the main shaft 230 through the bearing 2012.

[0085] The second magnetic member 292 is arranged on the side of the rotating frame 240 facing the base 210, so that the center of gravity of the rotating part of the laser radar is lowered. The rotating part includes all components that can rotate with the rotating frame 240 relative to the main shaft 230, such as the rotating frame 240, the optical engine structure 270, the first circuit board C1, the second magnetic member 292, and the like. In some embodiments, the center of gravity of the rotating part is located at a position 2 mm or less above the upper end surface of the bearing 2011. Alternatively, the center of gravity of the rotating part is located at a position below the upper end surface of the bearing 2011. For example, the center of gravity of the rotating part of the laser radar is located above the upper end surface of the bearing 2011, and the height difference between the center of gravity and the upper end surface of the bearing 2011 is less than or equal to 1 mm. This structure design can achieve the effect of short force arm and small bending moment, so that the rotating frame 240 of the laser radar is more stable during rotation. The rotating connection of the rotating frame 240 with the main shaft 230 is only an example, and the rotating frame 240 can also be rotationally connected with the main shaft 230 through one bearing or more bearings. The number of bearings is not limited in the embodiments of the present disclosure, and the number of bearings can be set according to actual assembly needs.

[0086] In some embodiments of the present disclosure, when the rotating frame 240 is assembled with the main shaft 230 through bearings, the outer ring of the bearing can be fixed with the rotating frame 240 through gluing, interference fit, or a combination of gluing and interference fit, so as to reduce the fretting wear between the bearing and the bearing seat. Alternatively, the rotating frame 240 can not only act as a bearing seat, but also support the second magnetic member 292, so as to diversify the functions of the rotating frame 240, reduce the number of components of the laser radar, reduce the cost of the laser radar, and facilitate the miniaturization of the laser radar.

[0087] The base 210, the main shaft 230, and the rotating frame 240 are not limited in material. The materials of these structures can be the same or different, and can be metal or non-metal, or partially metal and partially non-metal. In some embodiments of the present disclosure, the main body of one or more of the rotating frame 240, the main shaft 230, and the base 210 can be made of metal. For example, the metal can be an alloy, such as but not limited to an aluminum alloy, a zinc alloy, or a magnesium alloy. In some embodiments, the rotating frame 240 can be made of an aluminum alloy, which can reduce the weight of the rotating frame 240 and reduce the rigidity requirement of the main shaft 230. In some embodiments, when the main body of the rotating frame 240, the main shaft 230, and the base 210 are all made of metal, the heat generated by the first circuit board C1 can be conducted to the base 210 through the metal parts of the rotating frame 240 and the main shaft 230, and can also be exchanged with the air through the rotation of the rotating frame 240 to achieve good heat dissipation of the first circuit board C1.

[0088] In some embodiments of the present disclosure, the main heat dissipation area (hereinafter referred to as the first area) of the first circuit board C1 is also coated with a heat-conducting glue. The heat-conducting glue can be used to conduct the heat of the first area to further enhance the heat dissipation effect of the first circuit board C1. For example, the first area of the first circuit board C1 includes the area corresponding to the power-consuming elements (such as chips and lasers) on the first circuit board C1, and the heat generated by the power-consuming elements can be quickly conducted to the rotating frame 240 through the heat-conducting glue. In some embodiments of the present disclosure, the number, size, or shape of the area coated with the heat-conducting glue is not limited, and can be set according to the actual heat dissipation requirement.

[0089] In some embodiments of the present disclosure, the mechanical structure of the lidar is designed, for example, the mounting structure inside the lidar is designed to make the installation of the internal components of the lidar more stable. Please continue to refer to Figure 3 The lidar also includes a fixing member 202 disposed on the base 210, which can fix the magnetic member (for example, the first magnetic member 291 or the second magnetic member 292) of the driving device 290. For example, the fixing member 202 can be used to fix the first magnetic member 291, and the rotating frame 240 can be used to install the second magnetic member 292. Alternatively, the fixing member 202 can be used to fix the second magnetic member 292, and the rotating frame 240 can be used to install the first magnetic member 291.

[0090] The fixing member 202 can be an integrated structure or a segmented structure. The segmented structure can further reduce the area occupied by the mechanical structure on the base 210, and reduce the cost and weight of the lidar. In addition, the segmented structure can leave space for the assembly of the driving device 290 and the wireless power supply device 280. Figure 10Figure 1 shows an example of a first magnetic member installed on a fixing member in some embodiments of the present disclosure. Please refer to Figure 10 The fixing member 202 is arranged on the base 210 and includes at least two fixing portions, for example, three fixing portions in the figure. The at least two fixing portions can be arranged on the base 210 in a circumferential direction of the main shaft 230 and around the main shaft 230. The fixing portions can extend in an axial direction of the main shaft 230 towards the rotary frame 240. The first magnetic member 291 can be fixed to the top of the at least two fixing portions. Figure 10 The number of fixing portions in the above is only an example, and the number of fixing portions is not limited in the embodiments of the present disclosure. The number of fixing portions can be one, two, four or more, as long as the first magnetic member 291 can be fixed. In some other embodiments, the bracket 243 for installing the second magnetic member 292 can be fixed to the fixing portion.

[0091] In some embodiments of the present disclosure, the fixing portions of the fixing member 202 can be uniformly distributed around the main shaft 230. In this way, the fixing member 202 can provide more stable support force for the magnetic members of the driving device 290, so that the installation of the magnetic members is more stable.

[0092] In some embodiments of the present disclosure, the fixing portions can provide support in more than one direction for the magnetic members of the driving device, to ensure the stability of the installation. For example, Figure 11 Figure 2 shows an example of a partial cross-sectional view of a fixing portion in some embodiments of the present disclosure. Please refer to Figure 6 and Figure 11 The fixing portion includes a first surface 2021 and a second surface 2022, for example. The edge of the first magnetic member 291 facing the base 210 can be arranged on the first surface 2021, and the outer edge of the first magnetic member 291 can be arranged on the second surface 2022. The fixing portion is provided with a glue groove 2023, which can be located at one or more of the following positions: the first surface 2021, the second surface 2022, or between the first surface 2021 and the second surface 2022. In this way, the stability of the installation of the first magnetic member 291 on the fixing member 202 can be increased by using glue. In some other embodiments, different edges of the second magnetic member 292 or the bracket 243 can be arranged on the first surface 2021 and the second surface 2022 of the fixing portion.

[0093] Figure 12 Figure 3 shows an example of the structure of a base of a lidar in some embodiments of the present disclosure. In some embodiments of the present disclosure, please refer to Figure 2 、 Figure 3 , and Figure 12The lid 220 is installed on the first mounting portion 211 of the base 210. The first mounting portion 211 is located at a peripheral region of the base 210, and the second mounting portion 212 is located inside the first mounting portion 211. Please refer to FIG. 1 for the installation of the lid 220 on the first mounting portion 211. Figure 10 and Figure 12 The first mounting portion 211 is provided with a sealing groove G, which surrounds the second mounting portion 212, and the first sealing member 203 is arranged in the sealing groove G. The main shaft 230 is arranged on the second mounting portion 212, and the main shaft 230 protrudes from the base 210.

[0094] The above laser radar designs the main shaft 230 to protrude from the base 210, reduces the height of the first mounting portion 211, can reduce the cost of the base 210, and facilitates the assembly of the internal components of the laser radar, which improves the production efficiency while reducing the cost.

[0095] Referring to the above description of the embodiment, the main shaft 230 can be provided with a turret 240, which is rotationally connected with the main shaft 230. The main shaft 230 is arranged on the second mounting portion 212 of the base 210. In the height direction of the base 210, the main shaft 230 protrudes from the first mounting portion 211 and the second mounting portion 212 of the base 210. This can facilitate the installation of the internal components of the laser radar, such as the turret 240, the first magnetic member 291, the second magnetic member 292, the support member 250, etc. By reducing the height of the base 210, the interference of the base 210 during installation can be reduced, making the installation of the internal components of the laser radar more convenient, and the assembly more convenient, simple, and fast.

[0096] The lid 220 is installed on the first mounting portion 211 of the base 210, which is located outside the second mounting portion 212. After the installation of the internal components of the laser radar is completed, the lid 220 can be installed on the first mounting portion 211, which can protect the internal components of the laser radar.

[0097] The sealing groove G and the first sealing member 203 can achieve the sealed connection of the lid 220 and the base 210, prevent external dust, moisture, or other pollutants from entering the interior of the laser radar, and reduce the influence of the external environment on the normal operation of the laser radar. In addition, the good sealing of the base 210 and the lid 220 can also protect the optical elements or electronic devices inside the laser radar, reduce the influence of the external environment on the optical elements or electronic devices, and prolong the service life of the optical elements and electronic devices.

[0098] In some embodiments of the present disclosure, the height of the first mounting portion 211 is less than or equal to a first threshold value. The lower height of the first mounting portion 211 can reduce the occlusion of the second mounting portion 212 by the first mounting portion 211, facilitate the installation of internal components of the lidar, simplify the assembly of the lidar, and improve the assembly efficiency. On the other hand, the lower height of the first mounting portion 211 can reduce the cost of the lidar. In some embodiments of the present disclosure, the height of the second mounting portion 212 is less than or equal to the first threshold value. The lower height of the second mounting portion 212 can reduce the thickness of the base 210, and thus reduce the cost of the base 210. In some embodiments of the present disclosure, the height of the first mounting portion 211 and the height of the second mounting portion 212 are both less than or equal to the first threshold value. The lower height of the first mounting portion 211 and the second mounting portion 212 can reduce the overall thickness of the base 210, and thus reduce the cost of the base 210. In addition, the lower height of the first mounting portion 211 and the second mounting portion 212 can facilitate the installation of internal components of the lidar. For example, the first threshold value can be 20 mm, i.e., the height of the first mounting portion 211 is less than or equal to 20 mm. The above is only an example of the first threshold value, and the first threshold value can also be 25 mm, 18 mm, 15 mm, or 12 mm, etc.

[0099] The height of the first mounting portion 211 and the height of the second mounting portion 212 can be the same or different. In some embodiments of the present disclosure, the height difference between the first mounting portion 211 and the second mounting portion 212 is less than or equal to a second threshold value. For example, the second threshold value can be 10 mm, 8 mm, 5 mm, 3 mm, or 2 mm, etc. For example, the height of the second mounting portion 212 is slightly lower than the height of the first mounting portion 211, forming a groove in the base 210.

[0100] In some embodiments of the present disclosure, the material of the base 210 includes metal. The metal can provide greater support strength. The lidar can reduce the cost of the base 210 by thinning the overall base 210. The material of the light cover 220 includes plastic. The plastic can reduce the overall cost.

[0101] In some embodiments of the present disclosure, the sealing groove G matches the shape of the first sealing member 203. The sealing groove G and the first sealing member 203 that match in shape can cause the first sealing member 203 to be uniformly pressed in the sealing groove G, prevent sealing failure caused by uneven pressure, and improve the stability of the sealing. The first sealing member 203 can be more easily installed in place, and also facilitates disassembly and replacement. The embodiments of the present disclosure do not make any limitation on the material of the first sealing member 203, and the material of the first sealing member 203 can be, for example, a corrosion-resistant flexible material such as rubber. The embodiments of the present disclosure do not make any limitation on the shape of the first sealing member 203, and do not make any limitation on the shape of the sealing groove G, which can include, for example, regular or irregular shapes such as a circular shape, an elliptical shape, a rectangular shape, a polygonal shape, or a racetrack shape, etc.

[0102] In some embodiments of the present disclosure, one or both of the outer wall and the inner wall of the first sealing member 203 is provided with a plurality of protruding structures. For example, Figure 13 An example diagram of a sealing structure provided in some embodiments of the present disclosure is shown. Please refer to Figure 13 The sealing structure includes the first sealing member 203. In some embodiments, the outer wall of the first sealing member 203 is provided with a plurality of protruding structures 2031. Optionally, the plurality of protruding structures 2031 are uniformly or non-uniformly distributed on the outer wall of the first sealing member 203. In some embodiments, the inner wall of the first sealing member 203 is provided with a plurality of protruding structures 2032. Optionally, the plurality of protruding structures 2032 are uniformly or non-uniformly distributed on the inner wall of the first sealing member 203. In some embodiments, in combination of the above two structures, the inner wall and the outer wall of the first sealing member 203 are both provided with a plurality of protruding structures. The number of protruding structures provided on the inner wall and the outer wall of the first sealing member 203 can be the same or different. Providing protruding structures on one or both of the outer wall and the inner wall of the first sealing member 203 can reduce the probability of displacement or rotation of the first sealing member 203 during movement, improve the stability of the first sealing member 203, reduce wear, and help prolong the service life of the first sealing member 203. The embodiments of the present disclosure do not make any limitation on the shape or thickness of the protruding structures, for example, the protruding structures can be regular or irregular protruding structures, and the protruding surface can be, for example, an arc-shaped protruding surface or a non-arc-shaped protruding surface.

[0103] Please continue to refer to Figure 10 and Figure 12 In some embodiments of the present disclosure, the side wall of the first mounting portion 211 is further provided with a first opening S1. The first opening S1 can facilitate the connection of the circuit inside the lidar to the outside through a cable, realize the communication between the lidar and the outside, or power supply of the lidar, etc. For example, the second mounting portion 212 is mounted with a circuit board, which includes, for example, the second circuit board C2 or the third circuit board in the above embodiments. The first end of the cable L is electrically connected to the circuit board (as shown by the dashed box A1 in Figure 12 ).

[0104] The cable L extends out of the lidar from the first opening S1, and electrically connects the external device (for example, a data receiving device, or a power supply, etc.) of the lidar to the internal circuit (for example, the circuit on the second circuit board C2 or the third circuit board) of the lidar. This electrical connection can be used for the communication between the lidar and the data receiving device, and sending point cloud data to the data receiving device; or this electrical connection can be used for the power supply of the vehicle to the lidar. The cable L may, for example, include a composite cable. In this way, both the communication between the lidar and the external device and the power supply of the lidar can be realized.

[0105] Please continue to refer to Figure 10 、 Figure 12 and Figure 13 In some embodiments of the present disclosure, the laser radar can further include a second sealing member 204 having a through hole 2041. The first mounting portion 211 further includes a receiving structure 211-1 protrudingly arranged at the first opening S1, and the receiving structure 211-1 has a receiving groove H and a second opening S2. The second opening S2 is arranged opposite to the first opening S1, and the second sealing member 204 is arranged in the receiving groove H. The first end of the cable L passes through the second opening S2, the through hole 2041, and the first opening S1. The first end of the cable L can be grounded (as shown by the dashed box A2 in Figure 12 ) at the second mounting portion 212. The second sealing member 204 can seal the first opening S1 when the cable L passes through the first opening S1, so as to seal the connection between the cable L and the laser radar, and further prevent external dust, moisture, or other contaminants from entering the inside of the laser radar.

[0106] The present disclosure does not limit the shape of the second sealing member 204, and for example, the second sealing member 204 can be matched with the shape of the receiving groove H to facilitate installation. Figure 14 and Figure 15 Example diagrams of other sealing structures provided in some embodiments of the present disclosure are shown. For example, the contour shape of the second sealing member 204 can include regular or irregular shapes, such as a circular shape, an oval shape, a square shape, or an irregular shape protruding to one side, and the like.

[0107] In some embodiments of the present disclosure, the first end of the cable L can be fixed to the second mounting portion 212, which can improve the stability of the connection of the cable L inside the laser radar and prevent the connection of the cable L and the circuit board from loosening.

[0108] In some embodiments of the present disclosure, the cable L is in interference fit with the through hole 2041, and the second sealing member 204 is in interference fit with the receiving groove H. The interference fit between the cable L and the through hole 2041 can make the cable L closely adhere to the second sealing member 204, so as to improve the sealing effect between the cable L and the second sealing member 204. The interference fit between the second sealing member 204 and the receiving groove H can make the second sealing member 204 have a certain pressure in the receiving groove H, so that the second sealing member 204 can be more firmly fixed in the receiving groove H, the second sealing member 204 will not be displaced due to vibration or mechanical movement, the stability of the sealing is maintained, and the abrasion is reduced.

[0109] In some embodiments of the present disclosure, the accommodation groove H is in communication with the sealing groove G. The first sealing member 203 and the second sealing member 204 can be integrally formed. In this way, the integral installation of the first sealing member 203 and the second sealing member 204 can be facilitated. The integral formation of the first sealing member 203 and the second sealing member 204 can not only reduce the manufacturing process of the sealing member, but also reduce the complexity in the assembly process and improve the assembly efficiency. In addition, the integral formation of the two sealing members can make the joint between the sealing members more compact and reduce the risk of poor sealing.

[0110] In some embodiments of the present disclosure, please continue to refer to Figure 2 and Figure 12 The first mounting portion 211 includes a main body portion 211-2 and a plurality of flanges 211-3. The main body portion 211-2 is arranged outside the second mounting portion 212. The plurality of flanges 211-3 extend outwardly from the outer side wall of the main body portion 211-2. The plurality of flanges 211-3 are arranged at intervals in the circumferential direction of the main body portion 211-2. The main body portion 211-2 is arranged around the second mounting portion 212. The sealing groove G is arranged on the main body portion 211-2. The bottom of the light shield 220 includes an abutting portion 221 and a plurality of connecting portions 222 extending outwardly from the abutting portion 221. The abutting portion 221 abuts against the main body portion 211-2 and can be pressed above the sealing groove G to press the first sealing member 203 to achieve the sealing between the light shield 220 and the base 210. After the light shield 220 and the base 210 are fastened and connected, the abutting portion 221 presses the first sealing member 203. The sealing effect between the light shield 220 and the base 210 can be achieved. Optionally, the first sealing member 203 slightly protrudes from the sealing groove G. In this way, better sealing effect can be achieved. The number of flanges 211-3 is not limited in the embodiments of the present disclosure. Four flanges 211-3 are taken as an example in the drawings. More or fewer flanges 211-3 can be included, for example, the number of flanges 211-3 can include two, three, four, or more. The arrangement of the flanges can facilitate the installation of the light shield.

[0111] Please continue to refer to Figure 10 and Figure 12 In some embodiments of the present disclosure, the accommodation structure 211-1 can be located between two adjacent flanges 211-3 of the plurality of flanges 211-3. The accommodation structure 211-1 is located between the two flanges, which can facilitate the arrangement of the accommodation structure 211-1 and the installation of the cable L.

[0112] In combination with the above embodiments of the fixing member 202, the fixing member 202 is arranged on the second mounting portion 212, and the flat structure of the base 210 can facilitate the installation of the fixing member 202.

[0113] The embodiment of the present disclosure further provides a vehicle comprising a connecting device and the laser radar provided by any of the above embodiments, the laser radar being mounted on the vehicle through the connecting device.

[0114] In the present disclosure, unless explicitly specified and limited, ordinal words such as "first", "second" and the like are only used to distinguish the description of the associated objects, and cannot be understood as indicating or implying the relative importance or order between the associated objects. In addition, the ordinal words also do not represent the number of the associated objects. For example, "the first laser radar" can include one laser radar, or a plurality of laser radars. "Plurality" includes two or more, and other quantifiers are similar.

[0115] The term "or", "and / or" in the present disclosure is used to describe the relationship between the associated objects, which means non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone", "B alone", or "A and B", wherein "A" and "B" can include a single object or multiple objects. For another example, "A, B and / or C", "A, B or C" and "A, B and C" can all include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", wherein "A", "B" and "C" can include a single object or multiple objects. In addition, " / " in the present disclosure is used to represent the relationship between the associated objects before and after "or". The meaning of "at least one of A or B" and "one or more of A and B" in the present disclosure is the same as the meaning of "A or B" above, and the meaning of "one or more of A, B and C" and "at least one of A, B or C" is the same as the meaning of "A, B or C" above. The meaning of "one or more of A, B and C" is the same as the meaning of "A, B or C" above.

[0116] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A lidar, comprising: The application relates to a laser radar, comprising: a base; a main shaft arranged on the base; a rotating frame rotatably connected with the main shaft; a support arranged on the base and extending towards the rotating frame; a sensor comprising an interference element arranged on the support and a sensing element arranged on the rotating frame, the interference element interfering with the sensing of the sensing element when the rotating frame rotates relative to the main shaft, and changing the output signal of the sensing element.

2. The lidar of claim 1, wherein, The interference element comprises an encoder comprising a plurality of code channels arranged on the top of the support in a circumferential direction; and the sensing element comprises an optoelectronic sensing element.

3. The lidar of claim 2, wherein, The encoder and the support are integrally formed.

4. The lidar of claim 2 or 3, wherein, The rotating frame is provided with an opening, the sensing element is arranged in the opening, and one end of the sensing element extends in the opening and faces the support.

5. The lidar of any one of claims 1-4, wherein, The application further relates to a wireless power supply device comprising a transmitting coil and a receiving coil: The transmitting coil is arranged on the support, and the receiving coil is arranged on the rotating frame; The transmitting coil and the receiving coil are arranged opposite to each other in the radial direction of the main shaft.

6. The lidar of claim 5, wherein, The application further relates to: a first circuit board arranged on the rotating frame, the receiving coil being electrically connected with the first circuit board; a second circuit board arranged on the base, the transmitting coil being electrically connected with the second circuit board.

7. The lidar of claim 6, wherein, The first circuit board further comprises a sensing circuit electrically connected with the sensing element.

8. The lidar of any of claims 5-7, wherein, The transmitting coil is arranged on the outer sidewall of the support.

9. The lidar of any of claims 5-8, wherein, The rotating frame comprises an extension part extending towards the base; The receiving coil is arranged on the outer sidewall of the extension part.

10. The lidar of claim 9, wherein, The application further relates to: a magnetic structure arranged on the extension part; The receiving coil is arranged on the outer sidewall of the magnetic structure.

11. The lidar of any one of claims 1-10, wherein, The application further relates to: a driving device configured to drive the rotating frame to rotate, the driving device comprising a first magnetic part fixedly arranged relative to the base and a second magnetic part arranged on the rotating frame, the second magnetic part rotating relative to the first magnetic part under the action of a magnetic field; Alternatively, the second magnetic part is fixedly arranged relative to the base, and the first magnetic part is arranged on the rotating frame, the first magnetic part rotating relative to the second magnetic part under the action of a magnetic field.

12. The lidar of claim 11, wherein, The second magnetic part is arranged on the inner side or the outer side of the support.

13. A carrier, characterized by The application further relates to: a connecting device; The laser radar according to any one of claims 1-12 is mounted on the vehicle through the connecting device.

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