Mirrorless 3D laser radar

Abstract

The application provides a non-rotating mirror 3D laser radar, which comprises a first stator platform, a second stator platform, a rotor connecting piece and a laser emission receiver, the first stator platform is rotationally connected with the second stator platform, a support frame is arranged on the second stator platform, the rotor connecting piece is rotationally connected with the support frame, the rotation axis of the rotor connecting piece is arranged perpendicularly to the rotation axis of the second stator platform, the laser emission receiver is fixed to the rotor connecting piece, the second stator platform can rotate to scan a 360-degree visual angle range in the horizontal plane of the first stator platform, the rotor connecting piece drives the laser emission receiver to rotate up and down in the vertical plane, and the laser emission receiver is higher than the first stator platform and can scan a 230-degree range in the height direction of the first stator platform, so the scanning range is larger than that of the rotating mirror laser radar; the laser light path is simple without the rotation reflection of the rod-shaped mirror, so the detection precision is higher; the angle adjustment is realized without the complex rotating mirror device, so the structure is simpler and the cost is lower.

Description

Technical Field

[0001] This invention relates to the field of lidar, specifically mirrorless 3D lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a high-precision active sensing device that acquires target distance, velocity, azimuth, and three-dimensional information by emitting laser pulses and measuring their reflected signals. For example, patent CN118226410A describes a radar device with a wide coverage area, consisting of a stator base, a rotor, and a rotating mirror device on the rotor. When the stator base is energized, it drives the rotating mirror device to rotate. The rotating mirror device consists of a rotating disk, a motor, a polygonal rod-shaped mirror, and a laser transmitter and receiver. The laser is emitted onto the rod-shaped mirror, and the motor then drives the rod-shaped mirror to rotate, causing the laser beam to deflect upwards in the height direction of the base. This allows for a larger viewing angle in the height direction of the base, in addition to scanning the 360-degree circumferential viewing angle of the base, thus achieving a wider scanning coverage. However, this LiDAR rotating mirror device has a complex structure and high production cost. The laser must be reflected by the rotating polygonal rod-shaped mirror, resulting in a complex laser optical path and low detection accuracy. Furthermore, the laser transmitter and receiver are angled upwards towards the rod-shaped mirror, which is higher than the laser transmitter and receiver, limiting the laser reflection angle to approximately 70 degrees in the height direction of the base, resulting in a small scanning range. Summary of the Invention

[0003] In view of the shortcomings of existing lidar, the technical problem to be solved by the present invention is to provide a mirrorless 3D lidar with a simple structure, a larger scanning range and higher detection accuracy.

[0004] To achieve the above objectives, according to one aspect of the present invention, the present invention is achieved by the following technical measures: a mirrorless 3D lidar, comprising a first stator platform, a second stator platform, a rotor connector, and a laser emitter / receiver, wherein the first stator platform and the second stator platform are rotatably connected, a support frame is provided on the second stator platform, the rotor connector is rotatably connected to the support frame, the rotation axis of the rotor connector is perpendicular to the rotation axis of the second stator platform, and the laser emitter / receiver is fixed to the rotor connector.

[0005] Furthermore, the first stator platform is provided with an installation port, and a connecting column is provided inside the installation port. The connecting column is hollow.

[0006] Furthermore, a fixed shaft is provided inside the connecting column, a connecting plate is provided on the fixed shaft, a connecting rod is provided at the bottom of the second stator platform of the connecting plate and connected to the connecting plate, and a bearing is sleeved on the fixed shaft.

[0007] Furthermore, the mounting port has a base stator coil sleeved on the inner connecting column, the bottom of the second stator platform has a cylindrical ring, the base stator coil is fixed to the inner wall of the cylindrical ring, one end of the rotor connector has a rotating shaft and a magnetic connecting sleeve, and the other end has a stop plate. The rotor connector is rotatably connected to the support frame through the rotating shaft I. A magnetic ring is fixed on the support frame, and the magnetic connecting sleeve is sleeved on the magnetic ring.

[0008] Furthermore, the support frame is provided with a bearing seat, and the bearing seat has a bearing opening. A fixing ring is provided on the inner side of the bearing seat on one side and is rotatably connected to the connector. A fixing rod is provided on the inner side of the bearing seat on the other side. The fixing rod is hollow. The magnetic ring is fixed to the fixing rod. The rotating shaft I is inserted into the fixing rod. The rotating shaft is provided with a bearing. One end of the connector is provided with a mounting part and a rotating shaft II. The other end is provided with a backing plate. The rotating shaft II is provided with a bearing and is rotatably connected to the bearing seat. The mounting part is sleeved on the fixing ring.

[0009] Furthermore, the second stator platform is provided with a photoelectric sensor and a base circuit board. The photoelectric sensor is electrically connected to the base circuit board. The connector is provided with a code disk, which is positioned corresponding to the photoelectric sensor. The mounting port is provided with a first stator code disk.

[0010] Furthermore, the bottom of the mounting port is provided with several slots, and the bottom of the first stator code disk is provided with several buckles, which are fixed to the mounting port by engaging with the buckles and slots.

[0011] Furthermore, the laser transmitter and receiver are provided with laser transceiver circuit boards at both ends and are respectively connected and fixed to the connector and the rotor connector.

[0012] Furthermore, the laser transmitter and receiver are provided with bolt connection parts on both sides, and bolt holes are opened on the bolt connection parts. The abutment of the connector, the laser transceiver circuit board, the laser transmitter and receiver, the laser transceiver circuit board, and the abutment of the rotor connector are connected and fixed by bolts and nuts.

[0013] Furthermore, a filter cover is provided on the first stator platform.

[0014] Compared with the prior art, the advantages of the present invention are as follows: 1. The second stator platform can rotate relative to the first stator platform and drive the laser transmitter receiver to rotate horizontally, which can scan a 360-degree field of view range in the horizontal plane of the first stator platform. The rotor connector can drive the laser transmitter receiver to rotate up and down in the vertical plane. Since the laser transmitter receiver is higher than the first stator platform, it can scan a 230-degree range in the height direction of the first stator platform, which is larger than the scanning range of the rotating mirror lidar. 2. It does not require rotational reflection through a rod-shaped mirror, resulting in a simpler laser path and thus higher detection accuracy; 3. No complex rotating mirror device is needed to achieve angle adjustment, resulting in a simpler structure and lower cost. Attached Figure Description

[0015] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the mirrorless 3D lidar described in this invention; Figure 2 This is an exploded view of the mirrorless 3D lidar described in this invention. Figure 3 This is a cross-sectional view of the mirrorless 3D lidar described in this invention. Figure 4 This is a schematic diagram of the second stator platform and fixed shaft structure described in this invention; Figure 5 This is an exploded view of some components of the mirrorless 3D lidar described in this invention.

[0016] Explanation of reference numerals in the attached drawings: 1. First stator platform; 2. Second stator platform; 3. Laser transmitter and receiver; 4. Filter cover; 5. Mounting port; 6. Connecting column; 7. Bayonet; 8. First stator code disk; 9. Base stator coil; 10. Photoelectric sensor; 11. Cylindrical ring; 12. Connecting rod; 13. Photoelectric sensor mounting port; 14. Support frame; 15. Fixing ring; 16. Fixing rod; 17. Fixing shaft; 18. Connecting disk; 19. Bearing; 20. Base circuit board; 21. Magnetic ring; 22. Abutment disk; 23. Magnetic connecting sleeve; 24. Rotating shaft I; 25. Mounting part; 26. Rotating shaft II; 27. Code disk; 28. Laser transceiver circuit board. Detailed Implementation

[0017] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the present application can be combined with each other.

[0018] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "bottom", "top", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Please refer to Figure 1-3The mirrorless 3D lidar provided in this embodiment includes a first stator platform 1, a second stator platform 2, a photoelectric sensor 10, a connector, a rotor connector, a code disk 27, a laser emitter and receiver 3, and a filter 4. The first stator platform 1 has a mounting opening 5 on its upper part, a connecting post 6 in the middle of the mounting opening 5, and several locking slots 7 around the bottom of the mounting opening 5. The connecting post 6 is hollow. The base stator coil 9 is fitted onto the connecting post 6. The first stator code disk 8 has several buckles 29 around its bottom, and the first stator code disk 8 is fixed in the mounting opening 5 by the buckles 29 and locking slots 7. The second stator platform 2... A cylindrical ring 11 is provided at the bottom, which is placed inside the mounting port 5. The outer wall of the base stator coil 9 is fixed to the inner wall of the cylindrical ring 11. A fixed shaft 17 is sleeved inside the connecting column 6. Two bearings 19 are sleeved on the fixed shaft 17. A connecting plate 18 is provided at the top of the fixed shaft 17, and the connecting plate 18 is connected to the second stator platform 2. A laser transmitter and receiver 3 is used to transmit and receive lasers. Laser transceiver circuit boards 28 are provided on both sides and are rotatably connected to the second stator platform 2. A filter cover 4 is installed on the first stator platform 1, which can filter out light other than the laser emitted by the laser reflection receiver, reduce optical interference, and prevent external pollution.

[0020] Reference Figure 4 Continuing the explanation, the bottom of the second stator platform 2 is provided with several connecting rods 12, and the connecting plate 18 is provided with several connecting holes around its perimeter. The connecting plate 18 is connected to the second stator platform 2 through the connecting rods 12 and connecting holes. The base circuit board 20 has multiple fixing holes and is fixed to the bottom of the second stator platform 2 for communication, motor drive, and encoder reading.

[0021] Reference Figure 5 Continuing the explanation, the second stator platform 2 has a photoelectric sensor mounting port 13 and two support frames 14 on its top. A photoelectric sensor 10 is installed in the photoelectric sensor mounting port 13. The bottom of the photoelectric sensor 10 is electrically connected to the base circuit board 20. The two support frames 14 are equipped with bearing seats 19, and the bearing seats 19 have bearing openings 19. A fixing ring 15 is provided inside the bearing seat 19 on one side, and a fixing rod 16 is provided inside the bearing seat 19 on the other side. The fixing rod 16 is hollow. A magnet is provided on the inner wall of the magnetic ring 21, and the magnetic ring 21 is fixed to the fixing rod 16. One end of the rotor connector is equipped with a stop plate 22, and the other end is equipped with a magnetic... The connecting sleeve 23 has a rotating shaft I 24 in the middle. One end of the connecting part has a stepped mounting part 25 and a rotating shaft II 26, and the other end has a support plate 22. The support plate 22 has two bolt holes on both sides. The rotating shaft I 24 is inserted into the fixing rod 16, and the rotating shaft II 26 is inserted into the bearing 19 on one side of the fixing ring 15. The connecting part has a code disk 27 fixed on it. The position of the code disk 27 corresponds to that of the photoelectric sensor 10 and is used to determine the current pointing angle of the laser transmitter receiver 3. The laser transmitter receiver 3 has bolt connection parts on both sides, and bolt holes are provided on the bolt connection parts. The laser transceiver circuit board 28 has two bolt holes.

[0022] The mirrorless 3D lidar provided in this embodiment is installed by first fixing the base stator coil 9 to the inner wall of the cylindrical ring 11 and fitting it onto the connecting column 6, and inserting the fixing shaft 17 into the connecting column 6, so that the second stator platform 2 can rotate horizontally within the mounting port 5 of the first stator platform 1. The code disk 27, the abutment 22 of the connector, the laser transceiver circuit board 28, the laser transmitter and receiver 3, the laser transceiver circuit board 28, and the abutment 22 of the rotor connector are connected and fixed by bolts and nuts. Then, the magnetic ring 21 is fixed to the fixing rod 16, the mounting part 25 of the connector is fitted into the fixing ring 15, and the magnetic connecting sleeve 23 of the rotor connector is fitted onto the outside of the stator coil. At the same time, the rotating shaft I 24 and the rotating shaft II 26 pass through the bearing 19 seat of the support frame 14 and are fixed to the bearing 19, so that the laser transmitter and receiver 3 can rotate in the vertical plane between the support frames 14.

[0023] The mirrorless 3D lidar provided in this embodiment can drive the second stator platform 2 to rotate after the base stator coil 9 is energized. The second stator platform 2 drives the laser emitter and receiver 3 to rotate horizontally, allowing for 360-degree scanning within the horizontal plane of the first stator platform 1. The magnetic ring 21 on the second stator platform 2 can drive the laser emitter and receiver 3 to rotate vertically within the vertical plane when energized. Since the laser emitter and receiver 3 is higher than the first stator platform 1, it can scan within a 230-degree range in the height direction of the first stator platform 1. Compared with traditional mirror-driven lidar, this greatly improves the scanning range in the height direction of the first stator platform 1, resulting in a larger overall scanning range. It does not require the rotation and reflection of a rod-shaped mirror, simplifying the laser path and thus improving detection accuracy. It also eliminates the need for a complex mirror-driven device to achieve angle adjustment, resulting in a simpler structure and lower cost.

[0024] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various changes and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mirrorless 3D lidar, characterized in that: It includes a first stator platform (1), a second stator platform (2), a rotor connector, and a laser emitter receiver (3). The first stator platform (1) and the second stator platform (2) are rotatably connected. A support frame (14) is provided on the second stator platform (2). The rotor connector is rotatably connected to the support frame (14). The rotation axis of the rotor connector is perpendicular to the rotation axis of the second stator platform (2). The laser emitter receiver (3) is fixed to the rotor connector.

2. The mirrorless 3D lidar according to claim 1, characterized in that: The first stator platform (1) is provided with an installation port (5), and a connecting column (6) is provided inside the installation port (5). The connecting column (6) is hollow.

3. The mirrorless 3D lidar according to claim 2, characterized in that: The connecting column (6) is provided with a fixed shaft (17), and a connecting plate (18) is provided on the fixed shaft (17). The bottom of the second stator platform (2) of the connecting plate (18) is provided with a connecting rod (12) and connected to the connecting plate (18). A bearing (19) is sleeved on the fixed shaft (17).

4. The mirrorless 3D lidar according to claim 2 or 3, characterized in that: The connecting column (6) inside the mounting port (5) is fitted with a base stator coil (9). The bottom of the second stator platform (2) is provided with a cylindrical ring (11). The base stator coil (9) is fixed to the inner wall of the cylindrical ring (11). One end of the rotor connector is provided with a rotating shaft I (24) and a magnetic connecting sleeve (23), and the other end is provided with a stop plate (22). The rotor connector is rotatably connected to the support frame (14) through the rotating shaft I (24). A magnetic ring (21) is fixed on the support frame (14), and the magnetic connecting sleeve (23) is fitted on the magnetic ring (21).

5. The mirrorless 3D lidar according to claim 4, characterized in that: The support frame (14) is provided with a bearing (19) seat, and the bearing (19) seat has a bearing (19) opening. A fixing ring (15) is provided on the inner side of the bearing (19) seat on one side and is rotatably connected to the connector. A fixing rod (16) is provided on the inner side of the bearing (19) seat on the other side. The fixing rod (16) is hollow. The magnetic ring (21) is fixed to the fixing rod (16). The rotating shaft I (24) is inserted into the fixing rod (16). The rotating shaft I (24) is provided with a bearing (19). One end of the connector is provided with an installation part (25) and a rotating shaft II (26). The other end is provided with a stop plate (22). The rotating shaft II (26) is provided with a bearing (19) and is rotatably connected to the bearing (19) seat. The installation part (25) is sleeved on the fixing ring (15).

6. The mirrorless 3D lidar according to claim 5, characterized in that: The second stator platform (2) is provided with a photoelectric sensor (10) and a base circuit board (20). The photoelectric sensor (10) is electrically connected to the base circuit board (20). The connector is provided with a code disk (27). The code disk (27) is positioned corresponding to the photoelectric sensor (10). The mounting port (5) is provided with a first stator code disk (8).

7. The mirrorless 3D lidar according to claim 2, characterized in that: The mounting port (5) has several slots (7) around its bottom. The first stator code disk (8) has several buckles (29) around its bottom and is fixed to the mounting port (5) by the buckles (29) and the slots (7).

8. The mirrorless 3D lidar according to claim 5, characterized in that: The laser transmitter and receiver (3) has laser transceiver circuit boards (28) at both ends, which are respectively connected and fixed to the connector and the rotor connector.

9. The mirrorless 3D lidar according to claim 8, characterized in that: The laser transmitter and receiver (3) has bolt connection parts on both sides, and bolt holes are opened on the bolt connection parts. The abutment (22) of the connector, the laser transceiver circuit board (28), the laser transmitter and receiver (3), the laser transceiver circuit board (28), and the abutment (22) of the rotor connector are connected and fixed by bolts and nuts.

10. The mirrorless 3D lidar according to claim 1, characterized in that: The first stator platform (1) is provided with a filter cover (4).

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