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 driving device and a first circuit board. The main shaft is arranged on the base; the rotating frame is rotationally connected with the spindle. The driving device is configured to drive the rotating frame to rotate and comprises a first magnetic part and a second magnetic part. The first magnetic part is fixedly arranged relative to the base, the second magnetic part is arranged on the rotating frame and drives the rotating frame to rotate with the main shaft as the center under the action of magnetic fields, and the magnetic fields comprise the first magnetic field of the first magnetic part and the second magnetic field of the second magnetic part. The first circuit board is arranged on the rotating stand, and the first circuit board comprises a first control circuit which is configured to control the second magnetic piece to generate a second magnetic field. The arrangement of the driving device enables the laser radar to have a better integration level, and reduces the cost and size of the laser radar.

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 a medium. Laser has the characteristics of monochromaticity and good directivity compared with ordinary light sources, and thus more attention has been paid to object detection by using laser as a medium. For example, a laser radar (LiDAR) detects objects by using laser as a medium, and has been applied in the fields of intelligent driving, industrial manufacturing, unmanned aerial vehicles, robot recognition, geographic 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 cost or volume of the laser radar and reduce the restriction of the cost or volume of the laser radar on its application.

[0004] In a first aspect, a laser radar is provided, comprising a base, a main shaft, a turret, a driving device, and a first circuit board. The main shaft is arranged on the base. The turret is rotationally connected with the main shaft. The driving device is configured to drive the turret to rotate, and the driving device comprises a first magnetic member and a second magnetic member. The first magnetic member is fixedly arranged relative to the base, and the second magnetic member is arranged on the turret. Under the action of a magnetic field, the second magnetic member drives the turret to rotate around the main shaft, and the magnetic field comprises a first magnetic field of the first magnetic member and a second magnetic field of the second magnetic member. The first circuit board is arranged on the turret, and the first circuit board comprises a first control circuit. The first control circuit is configured to control the second magnetic member to generate the second magnetic field.

[0005] The driving device is arranged differently from the structure of a traditional driving device, and the magnetic field control part of the driving device and the controlled magnetic member can be arranged on the rotatable turret, so that the magnetic field control function is moved to the upper compartment of the laser radar. The base of the laser radar is provided with a main shaft and other structures, and thus has a smaller available space relative to the upper compartment. The upward movement of the control function can better utilize the internal space of the laser radar and improve the integration of the laser radar.

[0006] Optionally, the first circuit board further comprises one or more of the following circuits: a processing circuit configured to generate point cloud data; a second control circuit configured to control a laser emitting circuit of the laser radar; and a third control circuit configured to control a laser receiving circuit of the laser radar.

[0007] The second control circuit or the third control circuit is arranged on the first circuit board, so that the second control circuit or the third control circuit is closer to the laser emitting circuit or the laser receiving circuit, the integration of the laser radar is further improved, and the connection design between the control circuit and the controlled part is facilitated.

[0008] The first control circuit, the processing circuit, the second control circuit and the third control circuit are all arranged on the first circuit board, so that the functions of controlling the driving device, processing data, controlling the laser emitting circuit and controlling the laser receiving circuit are all arranged on the same circuit board, the number of the circuit boards of the laser radar is reduced, the integration of the control and processing system of the laser radar is further improved, the connection design between the circuit boards is facilitated, the cost is further reduced, and the assembly is simple. In addition, the number of the circuit boards is small, so that the overall vertical height of the laser radar is also reduced. The transfer of more control and processing functions to the upper compartment can further reduce the pressure of the uplink transmission.

[0009] Optionally, the second magnetic member is arranged on the side of the rotating frame facing the base. In this way, the weight below the rotating frame can be increased, so that the overall gravity center 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.

[0010] Optionally, the first circuit board is arranged on the side of the rotating frame away from the base. The side of the rotating frame away from the base does not need to reserve space for the main shaft, the first circuit board can have more available space, the area of the circuit board can be increased, more functions can be integrated by one circuit board, and the number of the circuit boards is reduced.

[0011] Optionally, the laser radar further comprises a wireless power supply device, the wireless power supply device comprises a transmitting coil and a receiving coil, and the transmitting coil and the receiving coil are oppositely arranged along the radial direction of the main shaft. The transmitting coil and the receiving coil are distributed along the radial direction of the main shaft of the laser radar, and are opposite to each other, so that the power supply coil (including the transmitting coil and the receiving coil) can be wound along the vertical direction to realize vertical winding. Compared with horizontal winding, the coil can be wound more closely to reduce the occupied volume of the transmitting coil and the receiving coil, and the laser radar is more miniaturized.

[0012] Optionally, the receiving coil is electrically connected with the first circuit board, the transmitting coil is electrically connected with the second circuit board, and the second circuit board is arranged on the base. The second circuit board comprises a fourth control circuit, and the fourth control circuit is configured to control the transmitting power of the transmitting coil.

[0013] Optionally, the laser radar further comprises a third circuit board arranged on the base. The third circuit board comprises an interface circuit configured to communicate with the data receiving device and transmit the point cloud data to the data receiving device. In this way, the lower compartment space of the laser radar can be flexibly utilized, and the positions of the circuit boards can be reasonably arranged as needed.

[0014] Optionally, the second circuit board comprises an interface circuit configured to communicate with the data receiving device and transmit the point cloud data to the data receiving device. In this way, the interface circuit and the fourth control circuit can be integrated on the same circuit board, which can reduce the number of lower bin circuit boards, further reduce the cost of the lidar, and improve the integration of the lidar.

[0015] Optionally, the lidar further comprises an encoder and a code reader. The encoder is fixedly arranged relative to the base. The code reader is arranged on the turret and faces the encoder. The code reader is electrically connected to the first circuit board, and the output signal of the code reader is used to indicate the rotation angle of the turret. Arranging the code reader on the turret can facilitate arranging the sensing circuit of the sensor on the upper bin circuit board, such as the first circuit board. In this way, the upper bin space of the lidar can be utilized to move more control or processing functions upward, thereby improving the integration of the lidar.

[0016] Optionally, the turret, the main shaft, and the base of the lidar all comprise a metal material. In this way, the heat generated on the first circuit board can be conducted to the base through the metal material part of the turret and the main shaft, and heat-exchanged with the air through the rotation of the turret, so as to achieve good heat dissipation of the first circuit board.

[0017] Optionally, the lidar further comprises a fixing member arranged on the base and configured to fix the first magnetic member.

[0018] Optionally, the fixing member comprises at least two fixing portions uniformly distributed around the main shaft. The segmented structure can further reduce the occupied area of the mechanical structure on the base, thereby reducing the cost, weight, and volume of the lidar. In addition, the segmented structure can reduce the influence on the installation of the upper components of the base, the turret, or the upper components of the turret, thereby increasing the convenience of installation. The uniformly distributed fixing portions can provide more stable support force for the first magnetic member, so that the installation of the first magnetic member is more stable.

[0019] Optionally, the fixing portion of the at least two fixing portions comprises a first face and a second face, and the first magnetic member is arranged on the first face facing the edge of the base, and the outer edge of the first magnetic member is arranged on the second face. The fixing portion can be provided with a glue groove located at one or more of the following positions: the first face, the second face, and between the first face and the second face. The glue groove can be used to further stabilize the installation of the first magnetic member by using glue.

[0020] Optionally, the base and the main shaft 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.

[0021] In a second aspect, a vehicle is also provided, comprising a connecting device and any of the lidars described above, and the lidar is mounted on the vehicle through the connecting device. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be introduced as examples below. The accompanying drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The accompanying drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0023] Figure 1 An example block diagram of a lidar provided in some embodiments of this disclosure is shown;

[0024] Figure 2 An example structural diagram of a lidar provided in some embodiments of this disclosure is shown;

[0025] Figure 3 An example exploded view of a lidar provided in some embodiments of this disclosure is shown;

[0026] Figure 4 This diagram illustrates an example structural diagram of an internal component of a lidar provided in some embodiments of the present disclosure;

[0027] Figure 5 The diagram shows an example of the structure of a lidar frame and a second magnetic component provided in some embodiments of this disclosure from one viewpoint.

[0028] Figure 6 The diagram shows an example of the structure of a lidar frame and a second magnetic component provided in some embodiments of this disclosure from another perspective;

[0029] Figure 7 The illustration shows a cross-sectional example of some components of a lidar provided in some embodiments of this disclosure;

[0030] Figure 8 The diagram shows an example structure of a support member provided in some embodiments of this disclosure;

[0031] Figure 9 An example diagram of a mounting structure of a support member on a base provided in some embodiments of this disclosure is shown;

[0032] Figure 10 This diagram illustrates an example of the mounting of a first magnetic element on a fixture, as provided in some embodiments of this disclosure.

[0033] Figure 11 A partial cross-sectional example view of a fixing part provided in some embodiments of this disclosure is shown;

[0034] Figure 12 A structural example diagram of a base of a laser radar provided in some embodiments of the present disclosure is shown;

[0035] Figure 13 An example diagram of a sealing structure provided in some embodiments of the present disclosure is shown;

[0036] Figure 14 An example diagram of another sealing structure provided in some embodiments of the present disclosure is shown;

[0037] Figure 15 An example diagram of still another sealing structure provided in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the specific embodiments of the present disclosure will be described below with reference to the drawings. The drawings 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 are within the protection scope of the present disclosure.

[0039] In order to make the drawings simple, each drawing only schematically represents the part related to the corresponding embodiment, and it does not represent the actual structure of the product, and there can be more or less structure or component. In addition, in order to make the drawings simple and easy to understand, for the structure or component shown in the drawings, there can be more or less similar structure or component.

[0040] 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.

[0041] 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.

[0042] The laser radar uses laser as a medium to detect objects, and can be applied to intelligent driving, industrial manufacturing, unmanned aerial vehicles, robot recognition, geographic mapping, or environmental monitoring, etc. Intelligent driving can also be referred to as autonomous driving or assisted driving, including any level of autonomous driving, such as L1-L5 or any other level of autonomous driving. In applications, the laser radar can be installed on a vehicle to provide the vehicle with perception data, such as point cloud data, so that the vehicle uses the perception data to realize analysis, decision-making, or control, etc. The vehicle includes a vehicle, a manufacturing terminal, a ship, an aircraft (such as a flying vehicle or a drone, etc.), a robot (such as an industrial robot or a household robot, etc.), or a mapping device, etc.

[0043] Figure 1 An example block diagram of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figure 1 The laser radar 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 laser radar 100 can also include a scanning system 150, such as a mechanical laser radar or a semi-solid laser radar. The scanning system 150 can include a scanner and a driving device, for example, which is used to drive the scanner to rotate so that the laser realizes scanning of one or all of the vertical or horizontal fields of view. For example, the laser exits through the scanner, and the rotation of the scanner can change the exit path of the laser; for another example, the echo of the laser can be 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 scanner, which can include but is not limited to a rotating mirror, a swing mirror, a vibrating mirror, or other devices that can make the laser shoot in 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, etc. can be arranged on the rotating platform, and the rotation of the rotating platform realizes scanning of one or all of the vertical or horizontal fields of view.

[0044] The laser emitting circuit 110 is used to emit laser. After the laser meets an object, the laser is reflected by the surface of the object and the reflected light back to the laser radar 100 is called echo. The laser receiving circuit 120 receives the echo and converts the echo into an electrical signal. After the electrical signal is preprocessed, echo data is obtained, 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-making, or control, etc.

[0045] The laser emission circuit 110 includes a driving circuit and a laser. The laser emits laser light under the driving of the driving circuit, and the laser light exits through the optical system 130. The laser includes, for example, a semiconductor laser, a fiber laser, or another type of laser. The semiconductor laser includes, for example, a laser emission circuit, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), or the like. The above are merely examples, and the embodiments of the present disclosure do not limit the type of laser.

[0046] The laser reception circuit 120 includes a detector and a preprocessing circuit. The optical system 130 converges the echo onto a light-sensitive surface of the detector; the detector converts the optical signal into an electrical signal using a 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 embodiments of the present disclosure do not limit the type of detector.

[0047] The preprocessing 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 preprocessing 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), and the like. 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) and provided to the 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 arrival and / or the intensity of the echo.

[0048] 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.

[0049] 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.

[0050] The laser radar comprises a plurality of 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, thereby reducing the cost or volume constraints of the laser radar in the application process.

[0051] Figure 2 An example structure diagram of a laser radar provided in some embodiments of the present disclosure is shown; Figure 3 An example exploded view of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figure 2 and Figure 3The 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 200; 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, and the whole or part thereof can be made of a light-transmitting material (such as light-transmitting glass or light-transmitting plastic) or provided with an anti-reflection film 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 light with a wavelength near 905 nm, 940 nm, 1310 nm, or 1550 nm. 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 as a whole or provided with an anti-reflection film as a whole, so that laser can be emitted from the light cover 220 in a larger range, facilitating the increase of the field of view range of the laser radar 200. For another example, the connecting part used to mount the light cover 220 on the base 210 is made of a material with high mechanical strength or designed with a structure reinforcement, so that 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.

[0052] In some embodiments of the present disclosure, the driving device of the laser radar is configured to have better integration, thereby reducing the cost and volume of the laser radar. Please continue to refer to Figure 3 The laser radar 200 includes, for example, a base 210, a main shaft 230, a turret 240, a driving device 250, and a first circuit board 261. The main shaft 230 is arranged on the base 210; the turret 240 is rotationally connected with the main shaft 230; and the driving device 250 is configured to drive the turret 240 to rotate. The driving device 250 includes a first magnetic member 251 and a second magnetic member 252, the first magnetic member 251 is fixedly arranged relative to the base 210, and the second magnetic member 252 is arranged on the turret 240. The second magnetic member 252 drives the turret 240 to rotate around the main shaft 230 under the action of a magnetic field, and the magnetic field includes a first magnetic field of the first magnetic member 251 and a second magnetic field of the second magnetic member 252. The first circuit board 261 is arranged on the turret 240, and the first circuit board 261 can include a first control circuit configured to control the second magnetic member 252 to generate the second magnetic field.

[0053] The magnetic member refers to an element, component or object that can generate a magnetic field, 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 251 includes a magnet, and the second magnetic member 252 includes a coil structure that can generate a magnetic field when energized. The first control circuit can change the magnetic field by changing the current size or direction flowing through the coil. The magnetic field of the magnet and the magnetic field of the coil structure interact to drive the coil structure to rotate. Figure 3 The first magnetic member 251 and the second magnetic member 252 in the above are only schematic, and the embodiments of the present disclosure do not limit the structure of the first magnetic member 251 and the second magnetic member 252. For example, the first magnetic member 251 includes an integrated permanent magnet or a segmented permanent magnet. The first magnetic member 251 also includes a coil structure that can include a core and a coil wound on the core, or a coreless structure. The first magnetic member 251 using a permanent magnet can reduce the number of electronic devices of the lidar, and reduce the cost and volume of the lidar. The second magnetic member 252 can use an energized magnetic structure that generates a magnetic field when energized. For example, the second magnetic member 252 includes a coil structure that can include a core and a coil wound on the core, or a coreless structure. The embodiments of the present disclosure do not limit the shape of the first magnetic member 251 and the second magnetic member 252, 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 251 and the second magnetic member 252, which can be one or more, and the number of the first magnetic member 251 and the number of the second magnetic member 252 can be the same or different.

[0054] In the above embodiments of the present disclosure, the second magnetic member 252 and the first control circuit for controlling the magnetic field of the second magnetic member 252 are arranged on the rotating frame 240. The first magnetic member 251 is fixedly arranged relative to the base 210. When the second magnetic member 252 is energized, a magnetic field is generated, which interacts with the magnetic field of the first magnetic member 251 to generate a torque, driving the second magnetic member 252 to rotate, and when the second magnetic member 252 rotates, the rotating frame 240 is driven to rotate relative to the base 210 or the main shaft 230. The above arrangement of the driving device can arrange the control part of the magnetic field of the driving device and the controlled magnetic member on the rotatable rotating frame 240, so as to realize the movement of the magnetic field control function to the upper compartment of the laser radar, which is conducive to improving 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 smaller available space relative to the upper compartment. The upward movement of the control function can better utilize the internal space of the laser radar, and is conducive to reducing the size of the laser radar.

[0055] In addition, the upward movement of the control function can reduce the pressure of the uplink transmission. For example, the internal space of the laser radar can include an upper compartment space and a lower compartment space, and the lower compartment space can be provided with a lower compartment circuit board, and the upper compartment space can be provided with an upper compartment circuit board. The transmission from the lower compartment circuit board to the upper compartment circuit board can be referred to as uplink transmission, and the transmission from the upper compartment circuit board to the lower compartment circuit board can be referred to as downlink transmission. The upward movement of the control function can concentrate more interactions between control circuits in the upper compartment circuit board, and can be realized by using board-to-board communication, reducing the demand for uplink transmission, and thus reducing the pressure of uplink transmission.

[0056] In some embodiments of the present disclosure, more control or processing functions can be moved upward by further utilizing the upper compartment space of the laser radar. For example, the first circuit board 261 (which can also be referred to as an upper compartment circuit board) can further include one or more of a processing circuit, a second control circuit, and a third control circuit. The processing circuit is configured to generate point cloud data; the second control circuit is configured to control the laser emitting circuit of the laser radar; and the third control circuit is configured to control the laser receiving circuit of the laser radar. For example, please refer to Figure 1For example, the laser emitting circuit 110 includes a driving circuit, and the first control circuit generates control signaling (for the sake of distinguishing the description, it can be called first control signaling) and sends the control signaling to the driving circuit of the laser emitting circuit 110, and the driving circuit drives the laser to emit laser under the control of the control signaling. For another example, the laser receiving circuit 120 includes a gating circuit, and the third control circuit generates control signaling (for the sake of distinguishing the description, it can be called second control signaling) and sends the control signaling to the gating circuit of the laser receiving circuit 120, and the gating circuit gates the detector to receive the echo under the control of the control signaling; the detector gated in the same time window and the laser emitting 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 generates control signaling (for the sake of distinguishing the description, it can be called third control signaling) and sends the control signaling to the readout circuit of the laser receiving circuit 120, and the readout circuit reads out the echo signal of the detector under the control of the control signaling; the detector read out in the same time window and the laser emitting laser can correspond to the same sub field of view.

[0057] The first circuit board 261 can integrate one or more of the sensing circuit, the processing circuit, the first control 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 261, 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 261, which is realized by using 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.

[0058] The optical system of the laser radar includes an optical-mechanical structure 270 disposed above the turret 240. In some embodiments, the laser radar can further include a transmitting circuit board and a receiving circuit board, the laser transmitting circuit can be disposed wholly or partially on the transmitting circuit board, and the laser receiving circuit can be disposed wholly or partially on the receiving circuit board. In some embodiments, the laser radar can further include a transmitting-receiving circuit board, and the laser transmitting circuit and the laser receiving circuit can be disposed wholly or partially on the transmitting-receiving circuit board. In some embodiments, the laser transmitting circuit or the laser receiving circuit can be disposed wholly or partially on the first circuit board 261. 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 first circuit board 261 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.

[0059] Optionally, disposing the processing circuit, the first control circuit, the second control circuit, and the third control circuit on the first circuit board 261 can concentrate the functions of controlling the laser transmitting circuit, controlling the laser receiving circuit, controlling the driving device, and data processing on the same circuit board, reduce the number of circuit boards of the laser radar, further improve the integration of the control and processing system of the laser radar, reduce the cost, and simplify the assembly. In addition, the fewer the number of circuit boards, the lower the overall vertical height of the laser radar. The upward transfer of more control and processing functions can further reduce the upward transmission pressure.

[0060] Optionally, the laser radar can further include a lower compartment circuit board disposed on the base 210. The lower compartment circuit board can be provided with an interface circuit for external communication to transmit point cloud data to the outside; or can receive control information, upgrade instructions, upgrade packages, or configuration parameters from the controller of the vehicle or the remote server.

[0061] Figure 4 An example structure diagram of internal components of a laser radar provided in some embodiments of the present disclosure is shown. Please refer to Figures 3-4 The second magnetic member 252 is disposed on the side of the turret 240 facing the base 210. Disposing the second magnetic member 252 on the side of the turret 240 facing the base 210 can increase the weight below the turret 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.

[0062] In some embodiments of this disclosure, the first circuit board 261 may be disposed on the side of the rotating frame 240 away from the base 210. Since there is no main shaft on the side of the rotating frame 240 away from the base 210, the first circuit board 261 can utilize more space, achieving a larger circuit board area and facilitating the layout of circuits on the circuit board. Furthermore, more functions can be integrated through a single circuit board, which helps reduce the number of circuit boards required.

[0063] Example, Figure 5 The diagram shows an example of the structure of a lidar mount and a second magnetic component provided in some embodiments of this disclosure from one viewpoint. Figure 6 The diagram illustrates an example of the structure of a lidar mount and a second magnetic component provided in some embodiments of this disclosure from another perspective. Please refer to Figure 5 and... Figure 6 The rotating frame 240 includes, for example, a support portion 241 and an extension portion 242. The support portion 241 and the extension portion 242 can be integrally formed or separately formed and then fixedly connected together. The extension portion 242 can be rotatably connected to the main shaft 230. For example, a bearing can be provided in the extension portion 242, and the extension portion 242 is rotatably connected to the main shaft 230 through the bearing. The support portion 241 is disposed above the extension portion 242, and the cross-sectional area of ​​the support portion 241 in the direction perpendicular to the main shaft 230 can be, for example, larger than the cross-sectional area of ​​the extension portion 242. A first circuit board 261 is disposed on the side of the support portion 241 away from the extension portion 242, and a second magnetic component 252 is disposed on the side of the support portion 241 facing the extension portion 242, so that the overall center of gravity of the rotating frame 240 and the components disposed on the rotating frame 240 is lowered, reducing the torque during rotation, improving the stability and load-bearing capacity of the structure, and making the lidar more stable during scanning. Figure 5 and Figure 6 The structure of the rotating frame 240 shown is only an example. This disclosure does not impose any restrictions on 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, etc.

[0064] In some embodiments of this disclosure, a bracket 243 may be provided on the rotating frame 240, which can be used to mount the second magnetic element 252. For example, there may be multiple second magnetic elements 252, which may be disposed on the bracket 243. Optionally, the multiple second magnetic elements 252 may be evenly spaced on the outer side wall of the bracket 243. Optionally, the multiple second magnetic elements 252 may be independently disposed or integrally formed; for example, the core of the multiple second magnetic elements 252 may be integrally formed, and the coil structure of the multiple second magnetic elements 252 may be disposed on the core. The second magnetic element 252 may include, for example, a coil and a silicon steel sheet, with the coil wound on the silicon steel sheet.

[0065] 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 is integrally formed with the main shaft 230. 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, to realize communication (for example, downlink communication) between the upper compartment circuit board (for example, the first circuit board 261) and the lower compartment circuit board (for example, the second circuit board 262 or the third circuit board).

[0066] In some embodiments of the present disclosure, the material of the bracket 243 can be plastic, which can further reduce the cost of the lidar. In addition, the use of plastic material is conducive to the lightweight design of the turret 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 the base 210. Optionally, the turret 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.

[0067] Figure 7 A cross-sectional view of some embodiments of the present disclosure is shown, which shows part of the components of a lidar. Please refer to Figure 3 and Figure 7 In some embodiments of the present disclosure, the turret 240 can be rotatably connected to the main shaft 230 through a bearing. For example, the lidar includes a bearing 281 and a bearing 282, the upper end of the turret 240 can be rotatably connected to the main shaft 230 through the bearing 281, and the lower end of the turret 240 can be rotatably connected to the main shaft 230 through the bearing 282.

[0068] The second magnetic member 252 is arranged on the side of the rotating frame 240 facing the base 210, so that the gravity center 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 261, the second magnetic member 252, and the like. In some embodiments, the gravity center of the rotating part of the laser radar can be located at a position 2 mm or less above the upper end surface of the bearing 281. Alternatively, the gravity center of the rotating part is located below the upper end surface of the bearing 2011. For example, the gravity center of the rotating part of the laser radar is located above the upper end surface of the bearing 281, and the height difference between the gravity center and the upper end surface of the bearing 281 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 and the main shaft 230 is only an example, and the rotating frame 240 can also be rotatably connected to 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.

[0069] In some embodiments of the present disclosure, when the rotating frame 240 is assembled with the main shaft 230 through a bearing, the outer ring of the bearing can be fixed to the rotating frame 240 by means of 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 252, 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.

[0070] Please continue to refer to Figure 3 and Figure 7 In some embodiments of the present disclosure, the laser radar 200 can further include a wireless power supply device 290 to realize wireless power supply between the internal circuit boards of the laser radar. Alternatively, the wireless power supply device 290 can also realize data transmission between the circuit boards. For example, the lower compartment circuit board (for example, the circuit board arranged on the base) of the laser radar can supply power to the upper compartment circuit board (for example, the circuit board arranged on the rotating frame). The wireless power supply device 290 includes a transmitting coil 291 and a receiving coil 292. When the transmitting coil 291 is powered by alternating current, a changing magnetic field is generated. The receiving coil 292 generates an induced current within the range of the changing magnetic field, so as to transfer energy from the transmitting end to the receiving end, thereby realizing wireless power supply. By using wireless power supply, the wiring inside the laser radar can be reduced, the wiring design of the laser radar can be simplified, and the cost and volume of the laser radar can be further reduced.

[0071] In some embodiments of the present disclosure, the transmitting coil 291 and the receiving coil 292 are arranged opposite to each other along the radial direction of the main shaft 230, that is, the transmitting coil 291 and the receiving coil 292 are arranged opposite to each other along a direction perpendicular to the main shaft 230. For example, refer to Figure 7 The transmitting coil 291 can be arranged outside the receiving coil 292. In some other embodiments of the present disclosure, the receiving coil can be arranged outside the transmitting coil. The above radial distribution of the transmitting coil 291 and the receiving coil 292 along the main shaft 230 of the laser radar, and the inside-outside arrangement, can make the power supply coil (including the transmitting coil 291 and the receiving coil 292) be arranged along the vertical direction, so that the coil can be arranged more closely. The transmitting coil 291 and the receiving coil 292 are arranged opposite to each other along the radial direction of the main shaft 230, and are wound along a direction parallel to the main shaft 230, which can make full use of the space of the laser radar along the direction parallel to the main shaft 230, reduce the volume occupied by the transmitting coil 291 and the receiving coil 292 along the radial direction of the main shaft 230, and be beneficial to the miniaturization of the laser radar.

[0072] Optionally, the rotating frame 240 can also be used to support the receiving coil 292, without the need to provide an additional support structure for the receiving coil 292. The rotating frame 240 supports multiple functions, further reduces the components of the laser radar, reduces the cost of the laser radar, and is more beneficial to the miniaturization of the laser radar.

[0073] In some embodiments of the present disclosure, the receiving coil 292 is electrically connected to the first circuit board 261, and the transmitting coil 291 is electrically connected to the second circuit board 262, which is arranged on the base 210. The second circuit board 262 can include a fourth control circuit configured to control the transmitting power of the transmitting coil 291. The receiving coil 292 is electrically connected to the first circuit board 261, which can supply power to the first circuit board 261. 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 262, which is arranged on the base 210, and the transmitting coil 291 is electrically connected to the second circuit board 262, which can facilitate the power supply by the external device and the power supply of the first circuit board 261 by the second circuit board 262. For example, the fourth control circuit is arranged on the second circuit board 262, and the second circuit board 262 is arranged on the base 210, which can facilitate the electrical connection between the external device and the second circuit board 262, so as to realize the power supply of the laser radar by the external device through a simple wiring design; and the transmitting coil 291 is arranged on the outer wall of the support 201, which can facilitate the electrical connection with the second circuit board 262 and reduce the wiring complexity.

[0074] In some embodiments of the present disclosure, the second circuit board 262 can also transmit data to the first circuit board 261 through the transmitting coil 291 and the receiving coil 292. Thus, data transmission can be achieved by wireless power supply synchronization, the communication components of the lidar can be reduced, the cost of the lidar can be further reduced, and the integration of the lidar can be further improved. For example, the fourth control circuit can transmit data to the receiving coil 292 by modulating the information on the carrier wave of the transmitting coil 291. The embodiments of the present disclosure do not limit the modulation method, for example, including but not limited to modulation of one or more of the following parameters: amplitude, frequency, phase, pulse, etc.

[0075] The lidar can include one or more lower compartment circuit boards. For example, in some embodiments of the present disclosure, the second circuit board 262 can also include an interface circuit configured to communicate with a data receiving device and transmit point cloud data to the data receiving device. The interface circuit and the fourth control circuit can be integrated on the same circuit board, which can reduce the number of lower compartment circuit boards, reduce the cost of the lidar, and improve the integration of the lidar.

[0076] 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 261 can process the echo data into point cloud data and transmit the point cloud data to the second circuit board 262, and then transmit the point cloud data to the data receiving device through the interface circuit on the second circuit board 262. The first circuit board 261 and the second circuit board 262 can use wireless transmission or wired transmission for downlink transmission, including but not limited to wireless optical communication, optical fiber, twisted pair, coaxial cable, etc.

[0077] In some embodiments of the present disclosure, the interface circuit and the fourth control circuit can be arranged on different circuit boards. For example, the lidar can also include a third circuit board arranged on the base 210. The third circuit board includes an interface circuit configured to communicate with a data receiving device and transmit point cloud data to the data receiving device. Thus, the lower compartment space of the lidar can be flexibly utilized, and the positions of the circuit boards can be reasonably arranged as needed. The communication mode of the first circuit board 261 and the third circuit board for downlink transmission is similar to the communication mode of the first circuit board 261 and the second circuit board 262 for downlink transmission.

[0078] In some embodiments of the present disclosure, the mechanical structure of the lidar is designed so that it can support the installation of the components of the lidar, reduce the overall occupied volume, reduce the volume of the lidar, and facilitate the miniaturization of the lidar. For example, please continue to refer to Figure 3The laser radar 200 can further include a support 201, a bottom of the support 201 being arranged on the base 210 and extending towards the turret 240. By arranging the support 201 and the turret 240, the vertical space inside the laser radar can be better utilized, the compactness of the internal structure of the laser radar can be improved, the volume of the laser radar can be reduced, and the miniaturization of the laser radar can be facilitated.

[0079] In some embodiments of the present disclosure, the support 201 can be used to support elements of a sensor used for position sensing during driving of the turret 240 by the driving device. The sensor can include, for example, an interference element arranged on the support 201 and a sensing element arranged on the turret 240. The interference element interferes with sensing of the sensing element when the turret 240 rotates relative to the main shaft 230, and the output signal of the sensing element can change accordingly. The support 201 extends towards the turret 240, and the top thereof can be opposite to the turret 240, so that the sensing element can be conveniently arranged on the turret 240, and the assembly process of the laser radar can be simplified.

[0080] In some embodiments of the present disclosure, the sensing element can be electrically connected to the first circuit board 261. The optical system of the laser radar can include an optical-mechanical structure 270 arranged above the turret 240. Optionally, the laser emission circuit or the laser receiving circuit can be wholly or partially arranged on the optical-mechanical structure 270. The first circuit board 261 is arranged above the turret 240. The first circuit board 261 can include part or all of the circuit of the control and processing system of the laser radar. Optionally, the laser emission circuit or the laser receiving circuit can be wholly or partially arranged on the first circuit board 261. Arranging the sensing element on the turret 240 can make the sensing element closer to the first circuit board 261, facilitate arrangement of the sensing circuit on the first circuit board 261, and can improve the integration of the laser radar. In addition, electrically connecting the sensing element to the first circuit board 261 can transmit the output signal of the sensing element through the board, provide the output signal to the first circuit board 261, and control the laser emission circuit or the laser receiving circuit by using the first circuit board 261, which is conducive to simplifying the connection design between circuits.

[0081] As the sensing element rotates with the rotating frame 240, its output signal changes. This output signal can reflect positional information such as the rotation angle of the rotating frame 240. This positional information can be used to control the laser emission time of the laser emitting circuit, or to control the laser emission time of the laser emitting circuit and the operating time of the laser receiving circuit. This operating time includes, for example, the detector activation time or output time. For example, the scanner or rotating platform of the lidar can be mounted on the rotating frame 240. During the lidar's 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 positional information of the rotating frame 240, so that the laser is emitted at different field-of-view angles of the lidar, achieving scanning of one or all of the vertical or horizontal field of view of the lidar. The sensor can sense the position of the rotating part of the lidar (e.g., the rotating frame 240), and the lidar can control the laser emitting circuit according to the sensor's sensing signal to achieve laser emission at the corresponding scanning angle during the rotation of the scanner or rotating platform. Similarly, lidar can also control the selection or readout of the laser receiving circuit based on the sensor's sensing signal.

[0082] Sensors may include, for example, photoelectric sensors, magnetic induction sensors, or capacitive induction sensors. Interference elements are used to interfere with the sensor's output signal, such as photoelectric interference or electromagnetic induction interference. For instance, as the sensing element rotates with the rotating frame 240, the light flux through the interference element changes accordingly, and the light signal incident on the sensing element also changes. The photoelectric effect is used to obtain an electrical signal reflecting the position change of the rotating frame 240. Alternatively, as the sensing element rotates with the rotating frame 240, the relative distance between the interference element and the sensing element changes, and electromagnetic induction alters parameters such as voltage, inductance, or capacitance in the sensing circuit containing the sensing element.

[0083] For photoelectric sensors, the interfering element may include, for example, an encoder (or encoding structure), such as a code disk, and the sensing element may include, for example, a code reader. For magnetic sensors, the interfering element may include, for example, a conductive target, and the sensing element may include, for example, a magnetic element; or the interfering element may include, for example, a magnetic element, and the sensing element may include, for example, a Hall element, and so on. For capacitive sensors, the interfering element may include, for example, a target object, and the sensing element may include, for example, a sensing electrode.

[0084] In some embodiments of this disclosure, the sensor may be a photoelectric sensor. For example, Figure 8 A structural example diagram of a support member provided in some embodiments of this disclosure is shown. Figure 9 An example diagram of a support member mounted on a base, as provided in some embodiments of this disclosure, is shown. Please refer to... Figures 7-9, the interference element can include an encoder 2021, such as a code disc or a code track structure, and the sensing element can be an optoelectronic sensing element, which can include a code reader 2022, for example. The encoder 2021 is fixedly arranged on the base 210, and the code reader 2022 is arranged on the rotating frame 240 and faces the encoder 2021. For example, the encoder 2021 can include a plurality of code tracks arranged circumferentially on the top of the support 201. The code reader 2022 emits an optical signal, which is read by the code reader 2022 after passing through the encoder 2021. During the rotation of the rotating frame 240, the code reader 2022 rotates with the rotating frame 240, and the output signal of the code reader 2022 changes during the change of the light flux passing through the encoder 2021, which can be used to indicate the rotation angle or other position information of the rotating frame 240. In some embodiments of the present disclosure, the code reader 2022 is electrically connected to the first circuit board 261, and the output signal of the code reader 2022 can be output as a sensing signal through the sensing circuit and provided to the first circuit board 261.

[0085] In some embodiments of the present disclosure, the interference element is arranged by the integrally designed support 201, which reduces the number of components of the laser radar and the mounting process, further reducing the cost and volume of the laser radar. Please continue to refer to Figure 8 and Figure 9 The encoder 2021 and the support 201 are integrally formed. The support 201 is fixedly arranged on the base 210, and the encoder 2021 includes a plurality of code tracks arranged circumferentially on the top of the support 201, and the code tracks extend upward to be close to the rotating frame 240 or the first circuit board 261.

[0086] In some embodiments of the present disclosure, please refer to Figure 7 The rotating frame 240 is provided with an opening O, and the sensing element, such as the code reader 2022, is arranged in the opening O and extends in the opening O to face the support 201 at one end, and is arranged corresponding to the region of the support 201 where the interference element is arranged. In this way, the rotating frame 240 can also support the installation of the sensing element of the sensor, and the opening arrangement can save the installation space of the sensing element, so that the structure of the laser radar is more compact, which is beneficial to the miniaturization of the laser radar. For example, the code reader 2022 is arranged across the two sides of the encoder 2021. The code reader 2022 emits an optical signal, and the light flux passing through the encoder 2021 changes when the rotating frame 240 rotates, and the output signal of the code reader 2022 changes accordingly, which can be used to represent the rotation angle or other position information of the rotating frame 240.

[0087] In some embodiments of the present disclosure, the support 201 can also be used to support the installation of the transmitting coil 291. In this way, the support 201 can support multiple functional requirements, without the need to separately provide mechanical support structures for the transmitting coil 291 and the interference element, and thus without the need to separately arrange positions for the mechanical support structures of the transmitting coil 291 and the interference element, thereby reducing the space occupied by the installation of the transmitting coil 291 and the interference element, reducing the size of the laser radar; and reducing the number of structural components in the laser radar, reducing costs and assembly processes. For example, please continue to refer to Figure 3 , Figures 7-9 , the transmitting coil 291 is arranged on the support 201; and the receiving coil 292 is arranged on the rotating frame 240. Similar to the description of the above embodiments, the transmitting coil 291 and the receiving coil 292 can be arranged opposite to each other along the radial direction of the main shaft 230.

[0088] In the above embodiments, the fusion design of the elements of the sensor (such as the interference element) and the fixing member of the wireless power supply device 290 (such as the transmitting coil 291) can greatly reduce the number of mechanical structural components in the laser radar, reduce the size of the laser radar, and reduce costs and assembly complexity.

[0089] In some embodiments of the present disclosure, the support 201 can have an internally hollow structure, and the receiving coil 292 is arranged inside the support 201. In this way, both the transmitting coil 291 and the receiving coil 292 can be arranged opposite to each other along the radial direction of the main shaft 230, and the internal space of the laser radar can be effectively utilized.

[0090] In some other embodiments of the present disclosure, the rotating frame 240 can include an extension 242 arranged outside the support 201. The transmitting coil 291 of the wireless power supply device 290 can be arranged around the outer wall of the support 201, and the receiving coil 292 can be arranged around the outer wall of the extension 242 of the rotating frame 240 and outside the support 201.

[0091] In some embodiments of the present disclosure, the receiving coil 292 can be directly arranged around the outer wall of the extension 242. For example, the extension 242 is made of silicon steel sheet material, and an insulating coating is used to separate between the silicon steel sheets, or a magnetic material is bonded or sintered outside the extension 242, so that at least part of the extension 242 has magnetic conductivity and non-conductive performance. In some embodiments, please continue to refer to Figures 5-7The extension 242 of the turntable 240 can also be provided with a magnetic structure 244, for example, provided on the outer side wall of the extension 242. The receiving coil 292 can be arranged around the outer side wall of the magnetic structure 244. The magnetic structure 244 can be made of a magnetic conductive and 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, thereby improving the receiving efficiency of the receiving coil 292.

[0092] In some embodiments of the present disclosure, the first magnetic member 251 and the second magnetic member 252 can be arranged on the outer side or the inner side of the support 201. For example, referring to Figure 3 and Figure 9 The first magnetic member 251 and the second magnetic member 252 are arranged on the outer side of the support 201. The support 201 can be arranged on the outer side of the extension 242 of the turntable 240. The relative position relationship between the driving device 250 and the wireless power supply device 290 is not limited in the embodiments of the present disclosure. For example, in some embodiments, the driving device 250 is arranged radially outward of the wireless power supply device 290 along the radial direction of the main shaft 230. In some embodiments, the support 201 is arranged on the outer side of the extension 242 of the turntable 240, and the wireless power supply device 290 is arranged radially outward of the driving device 250 along the radial direction of the main shaft 230.

[0093] The material of the base 210, the main shaft 230, and the turntable 240 is not limited in the embodiments of the present disclosure. The materials of these structures can be the same or different, and can be metal or non-metal, or part of metal and part of non-metal. In some embodiments of the present disclosure, the main body of one or more of the turntable 240, the main shaft 230, and the base 210 can be made of metal. For example, the metal can be an alloy, for example, including but not limited to die-cast aluminum alloy, zinc alloy, or magnesium alloy. For example, the material of the turntable 240 can be aluminum alloy, which is beneficial to the lightweight of the turntable 240 and reduces the rigidity requirement of the main shaft 230. In addition, when the main body of the turntable 240, the main shaft 230, and the base 210 are all made of metal, the heat generated on the first circuit board 261 can be conducted to the base 210 through the metal parts of the turntable 240 and the main shaft 230, thereby achieving good heat dissipation of the first circuit board 261.

[0094] In some embodiments of the present disclosure, the main heat dissipation area (hereinafter referred to as the first area) of the first circuit board 261 is also coated with a heat-conducting adhesive, which is used to conduct the heat of the first area to the turret 240, so as to improve the heat dissipation effect on the first circuit board 261. For example, the first area of the first circuit board 261 includes the area corresponding to the power-consuming elements (such as chips, lasers) on the first circuit board 261, and the heat generated by the power-consuming elements can be quickly conducted to the turret 240 through the heat-conducting adhesive. In the embodiments of the present disclosure, the number, area size or shape of the area coated with the heat-conducting adhesive are not limited, and can be set according to actual heat dissipation requirements.

[0095] In some embodiments of the present disclosure, the mechanical structure of the laser radar is designed, for example, the mounting structure in the laser radar is designed, so that the mounting of the internal components of the laser radar is more stable. Please continue to refer to Figure 3 , the laser radar further comprises a fixing member 203 arranged on the base 210 and configured to fix the magnetic member (for example, the first magnetic member 251 or the second magnetic member 252) of the driving device 250. For example, the fixing member 203 is configured to fix the first magnetic member 251 of the driving device 250, and the turret 240 can be mounted with the second magnetic member 252; or the fixing member 203 can fix the second magnetic member 252 of the driving device 250, and the turret 240 can be mounted with the first magnetic member 251.

[0096] The fixing member 203 can adopt an integrated structure or a segmented structure, and the segmented structure can further reduce the occupied area of the mechanical structure on the base 210, and reduce the cost and weight of the laser radar. In addition, the segmented structure can leave assembly space for the driving device 250 and the wireless power supply device 290, so as to increase the convenience of installation. Figure 10 An example diagram of the installation of a first magnetic member on a fixing member in some embodiments of the present disclosure is shown. Please refer to Figure 10 The fixing member 203 is arranged on the base 210 and includes at least two fixing portions, and three fixing portions are taken as an example in the figure. The at least two fixing portions can be arranged on the base 210 along the circumference of the main shaft 230 and arranged around the main shaft 230. The first magnetic member 251 can be fixed to the top of the at least two fixing portions. Figure 10 The number of fixing portions in the above-mentioned

[0097] In some embodiments of the present disclosure, the fixing portions of the fixing member 203 can be evenly distributed around the main shaft 230. In this way, the fixing member 203 can provide more stable support force for the magnetic member of the driving device, so that the installation of the magnetic member is more stable.

[0098] In some embodiments of the present disclosure, the fixing member 203 can provide support for the magnetic member of the driving device 250 in more than one direction to improve the stability of the driving device 250. For example, Figure 11 A partial cross-sectional view of a fixing portion provided in some embodiments of the present disclosure is shown. Please refer to Figure 9 and Figure 11 The fixing portion, for example, includes a first surface 2031 and a second surface 2032. The first magnetic member 251 is arranged on the first surface 2031 with the edge of the first magnetic member 251 facing the edge of the base 210. The outer edge of the first magnetic member 251 is arranged on the second surface 2032. A glue groove 2033 is arranged on the fixing portion. The glue groove 2033 can be located at one or more of the following positions: on the first surface 2031, on the second surface 2032, or between the first surface 2031 and the second surface 2032. In this way, the installation stability of the first magnetic member 251 on the fixing member 203 can be increased by using glue. For example, the bottom surface of the first magnetic member 251 can be fixed to the first surface 2031 by using glue. For another example, the outer edge of the first magnetic member 251 can be fixedly connected to the second surface 2032 by using glue. In other embodiments, the second magnetic member 252 or different edges of the bracket 243 can be arranged on the first surface 2031 and the second surface 2032 of the fixing portion.

[0099] In combination with the above embodiments of the driving device of the present disclosure, the fixing member 203 can be configured to fix the first magnetic member 251.

[0100] In some embodiments of the present disclosure, the mechanical structure of the lidar is designed, for example, the base of the lidar is designed, so that the cost of the lidar is reduced. For example, Figure 12 A structural view of a base of a lidar provided in some embodiments of the present disclosure is shown. Please refer to Figure 2 、 Figure 3 , and Figure 12 The lidar 200 includes a base 210 and a main shaft 230. The base 210, for example, includes a first mounting portion 211 and a second mounting portion 212. The first mounting portion 211 is located at the peripheral region of the base 210 and is used to mount the light cover 220 of the lidar 200. The second mounting portion 212 is located inside the first mounting portion 211. Please refer to Figure 10 and Figure 12The first mounting portion 211 is provided with a sealing groove G, the sealing groove G surrounds the second mounting portion 212, and the first sealing element 204 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.

[0101] Referring to the description of the above embodiment, the main shaft 230 can be provided with a rotating frame 240, and the rotating frame 240 is rotationally connected with the main shaft 230. As shown in Figure 7 、 Figure 9 and Figure 12 , the main shaft 230 is arranged on the second mounting portion 212 of the base 210, and the main shaft 230 protrudes from the first mounting portion 211 and the second mounting portion 212 of the base 210 along the height direction of the base 210, which can facilitate the installation of the rotating frame 240 on the main shaft 230. As shown in Figure 7 , the rotating frame 240 also protrudes from the base 210. The low height of the base 210 reduces the interference of the base 210 during installation, making the installation of the internal components of the laser radar more convenient.

[0102] The light cover 220 is mounted on the first mounting portion 211 of the base 210, and the first mounting portion 211 is arranged outside the second mounting portion 212. After the installation of the internal components of the laser radar is completed, the light cover 220 can be mounted on the first mounting portion 211, so as to protect the internal components of the laser radar by the light cover 220.

[0103] The sealing groove G and the first sealing element 204 can realize the sealed connection between the light cover 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 between the base 210 and the light cover 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.

[0104] 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 the internal components of the lidar, simplify the assembly of the lidar, and improve the assembly efficiency. 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 the internal components of the lidar and achieve the overall flat design of the base 210. 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.

[0105] 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. The height of the first mounting portion 211 can be slightly higher or slightly lower than the height of the second mounting portion 212. 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, so as to form a groove with a small height in the base 210.

[0106] In some embodiments of the present disclosure, the sealing groove G is matched in shape with the first sealing member 204. The sealing groove G matched in shape with the first sealing member 204 can uniformly press the first sealing member 204 in the sealing groove G, prevent the sealing failure caused by uneven pressure, and improve the stability of the sealing. The material of the first sealing member 204 is not limited in the embodiments of the present disclosure, and the material of the first sealing member 204 can be, for example, a corrosion-resistant flexible material such as rubber. The shape of the first sealing member 204 is not limited in the embodiments of the present disclosure, and the shape of the sealing groove G is also not limited, which can include regular or irregular shapes such as a circular shape, an elliptical shape, a rectangular shape, a polygonal shape, or a racetrack shape, etc.

[0107] In some embodiments of the present disclosure, one or all of the outer wall and the inner wall of the first sealing member 204 are provided with a plurality of protruding structures. For example, Figure 13 FIG. 6 shows an example diagram of a sealing structure provided in some embodiments of the present disclosure. Figure 14An example diagram of another sealing structure provided in some embodiments of the present disclosure is shown. Figure 15 An example diagram of yet another sealing structure provided in some embodiments of the present disclosure is shown. Please refer to Figures 13-15 The sealing structure includes a first seal 204. In some embodiments, a plurality of protruding structures 2041 are arranged on the outer wall of the first seal 204. Optionally, the plurality of protruding structures 2041 are uniformly or non-uniformly distributed on the outer wall of the first seal 204. In some embodiments, a plurality of protruding structures 2042 are arranged on the inner wall of the first seal 204. Optionally, the plurality of protruding structures 2042 are uniformly or non-uniformly distributed on the inner wall of the first seal 204. In some embodiments, the inner wall and the outer wall of the first seal 204 are both provided with a plurality of protruding structures. Arranging the protruding structures on one or both of the inner wall and the outer wall of the first seal 204 can reduce the probability of displacement or rotation of the first seal 204, improve the stability of the first seal 204, reduce wear, and help prolong the service life of the first seal 204. 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 an arc-shaped protruding surface or a non-arc-shaped protruding surface.

[0108] 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 to facilitate the connection between the circuit inside the lidar and the outside through a cable, so as to realize the functions such as communication between the lidar and the outside or power supply to the lidar. For example, the second mounting portion 212 is mounted with a circuit board P, which for example includes the lower bin circuit board in the above embodiments, such as the second circuit board 262 or the third circuit board. The first end of the cable L is electrically connected to the circuit board P (as shown by the dashed box A1 in Figure 12 ).

[0109] The cable L extends out of the lidar from the first opening S1 to electrically connect the external device (for example, a data receiving device or a power supply) of the lidar with the internal circuit (for example, the circuit on the second circuit board 262 or the third circuit board) of the lidar. The electrical connection can be used for communication between the lidar and the data receiving device, and sending point cloud data to the data receiving device. Alternatively, the electrical connection can be used for power supply to the lidar by the vehicle. The cable L for example includes a composite cable, so as to realize both communication between the lidar and the external device and power supply to the lidar.

[0110] Please continue to refer to Figure 10 , Figure 12 and Figures 13-15In some embodiments of the present disclosure, the laser radar can further include a second sealing member 205 having a through hole 2051. 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 205 is arranged in the receiving groove H. The first end of the cable L passes through the second opening S2, the through hole 2051 and the first opening S1. The second sealing member 205 can seal the first opening S1 when the cable L passes through the first opening S1, preventing external dust, moisture or other contaminants from entering the inside of the laser radar.

[0111] The shape of the second sealing member 205 is not limited in the embodiments of the present disclosure. For example, the second sealing member 205 can match the shape of the receiving groove H to facilitate installation. Figures 14-15 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 205 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.

[0112] In some embodiments, the first end of the cable L can be fixed to the second mounting portion 212 to improve the stability of the connection of the cable L inside the laser radar and prevent loosening of the connection of the cable L and the circuit board P.

[0113] In some embodiments of the present disclosure, the cable L is in interference fit with the through hole 2051, and the second sealing member 205 is in interference fit with the receiving groove H. The interference fit of the cable L with the through hole 2051 can improve the sealing effect between the cable L and the second sealing member 205.

[0114] In some embodiments of the present disclosure, the receiving groove H is in communication with the sealing groove G, and the first sealing member 204 and the second sealing member 205 can be integrally formed. In this way, the production cost can be reduced, the complexity in the assembly process can be reduced, and the assembly efficiency can be improved. In addition, the integrally formed two sealing members can make the joint between the sealing members more compact and reduce the risk of poor sealing.

[0115] In some embodiments of the present disclosure, please continue to refer to Figure 2 and Figure 12The 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 outward 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 outward from the abutting portion 221. The abutting portion 221 abuts against the main body portion 211-2 and can be arranged above the sealing groove G to press the first sealing member 204 to achieve sealing between the light shield 220 and the base 210. The plurality of connecting portions 222 are arranged on the plurality of flanges 211-3, and the connecting portions 222 and the flanges 211-3 can be fixedly connected by bolts or the like. When the light shield 220 and the base 210 are fastened by bolts, the abutting portion 221 presses the first sealing member 204 to improve the sealing effect between the light shield 220 and the base 210. Optionally, the first sealing member 204 can slightly protrude from the sealing groove G, which can achieve better sealing effect. 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, and more or fewer flanges 211-3 can be actually included, for example, the number of flanges 211-3 can include two, three, four, or more.

[0116] The embodiments of the present disclosure also provide a carrier, including a connecting device and the lidar provided by any of the above embodiments. The lidar is mounted on the carrier through the connecting device.

[0117] In the present disclosure, unless otherwise explicitly specified and limited, ordinal numbers such as “first”, “second”, etc. 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 numbers do not represent the number of the associated objects. For example, “the first lidar” can include one lidar or a plurality of lidars. “Plurality” includes two or more, and other quantifiers are similar.

[0118] The terms "or," "and / or," used in the disclosure are used to describe associations between items in an inclusive sense, that is, there existence of the associations between the items is not mutually exclusive. For example, "A and / or B" and "A or B" each can include "A," "B," or "A and B," where A and B can include singular or plural items. As another example, "A, B, and / or C," "A, B, or C," and "A, B, and C" each can include "A," "B," "C," "A and B," "A and C," "B and C," or "A, B, and C," where A, B, and C can include singular or plural items. Additionally, " / " in the disclosure is used to represent an "or" relationship between the associated items. The meanings of "at least one of A or B" and "one or more of A and B" in the disclosure are the same as the meaning of "A or B" above, and the meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are 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.

[0119] In the above embodiments, the description of each embodiment is focused on, and the part 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: Comprising: a base; a main shaft arranged on the base; a rotating frame rotatably connected with the main shaft; a driving device configured to drive the rotating frame to rotate, the driving device comprising a first magnetic member and a second magnetic member, the first magnetic member being fixedly arranged relative to the base, the second magnetic member being arranged on the rotating frame and driving the rotating frame to rotate around the main shaft under the action of a magnetic field, the magnetic field comprising a first magnetic field of the first magnetic member and a second magnetic field of the second magnetic member; a first circuit board arranged on the rotating frame, the first circuit board comprising a first control circuit configured to control the second magnetic member to generate the second magnetic field.

2. The lidar of claim 1, wherein, The first circuit board further comprises one or more of the following circuits: a processing circuit configured to generate point cloud data; a second control circuit configured to control a laser emitting circuit of the lidar; a third control circuit configured to control a laser receiving circuit of the lidar.

3. The lidar of claim 1 or 2, wherein, The second magnetic member is arranged on a side of the rotating frame facing the base.

4. The lidar of any one of claims 1-3, wherein, The first circuit board is arranged on a side of the rotating frame away from the base.

5. The lidar of any one of claims 1-4, wherein, Further comprising: a wireless power supply device, the wireless power supply device comprising a transmitting coil and a receiving coil, the transmitting coil and the receiving coil being oppositely arranged along a radial direction of the main shaft.

6. The lidar of claim 5, wherein, The receiving coil is electrically connected with the first circuit board; the transmitting coil is electrically connected with a second circuit board, the second circuit board being arranged on the base; The second circuit board comprises a fourth control circuit configured to control the transmitting power of the transmitting coil.

7. The lidar of claim 6, wherein, Further comprising: a third circuit board arranged on the base, the third circuit board comprising an interface circuit configured to communicate with a data receiving device and transmit point cloud data to the data receiving device.

8. The lidar of claim 6, wherein, The second circuit board comprises an interface circuit configured to communicate with a data receiving device and transmit point cloud data to the data receiving device.

9. The lidar of any one of claims 1-8, wherein, Further comprising an encoder and a code reader; The encoder is fixedly arranged relative to the base; The code reader is arranged on the rotating frame and faces the encoder; The code reader is electrically connected with the first circuit board, and the output signal of the code reader is used to indicate the rotation angle of the rotating frame.

10. The lidar of any one of claims 1-9, wherein, The rotating frame, the main shaft and the base all comprise a metal material.

11. The lidar of any one of claims 1-10, wherein, Further comprising: a fixing member arranged on the base and configured to fix the first magnetic member.

12. The lidar of claim 11, wherein, The fixing member comprises at least two fixing portions uniformly distributed around the main shaft.

13. The lidar of claim 12, wherein, The fixing portion of the at least two fixing portions comprises a first face and a second face, the first magnetic member is arranged on the first face facing the edge of the base, and the outer edge of the first magnetic member is arranged on the second face; The fixing portion is provided with a glue groove, and the glue groove is located at one or more of the following positions: the first face, the second face, and between the first face and the second face.

14. The lidar of any one of claims 1-13, wherein, The base and the main shaft are integrally formed.

15. A carrier, characterized by Comprising: a connecting device; The lidar according to any one of claims 1-14 is mounted on the vehicle through the connecting device.

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