Laser radar

Abstract

The utility model relates to the technical field of laser radars, in particular to a laser radar, which comprises a base. The rotating assembly comprises a rotating supporting table and a driving assembly, and the driving end of the driving assembly is in driving connection with the rotating supporting table; the transmitting assembly comprises a laser and a laser alignment mechanism, and the laser alignment mechanism is fixedly arranged on the rotary supporting table; the laser is fixedly connected with the base and is arranged at the incident end of the laser alignment mechanism; the receiving assembly comprises a receiving lens for receiving reflected light of the detected object, the receiving lens is fixedly arranged on the rotary supporting table, and the receiving lens, the laser alignment mechanism and the rotary supporting table can rotate cooperatively; according to the utility model, the light emitted by the laser device is propagated according to the preset propagation path and is emitted by the emergent end of the laser alignment mechanism, so that the light propagation path is optimized, the light emitted by the laser device is limited in a certain range, and meanwhile, the problem of a scanning blind area in a short distance is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar, in particular to a laser radar. Background Art

[0002] With the continuous development of vehicle equipment and computers, automobile collision avoidance adaptive cruise control systems, advanced driver assistance systems and unmanned driving systems have attracted much attention. Each of the above systems requires the vehicle to automatically sense obstacles and environmental changes around the road, so it is necessary to add necessary sensor equipment for detection and perception. LiDAR is widely used in the above research technologies due to its advantages in recognition, ranging and positioning.

[0003] Among the existing laser radars, there is a type of laser radar that uses a coaxial method. It transmits lasers through a reflector, and also reflects the received light into a lens through a reflector, and then focuses it into a laser receiving device. The receiving part of this laser radar is blocked by the transmitting part, resulting in a weakening of the received light signal, which affects the ranging accuracy and distance. Another type of laser radar uses non-coaxial technology. The transmitting unit and receiving unit of the non-coaxial design are both on a rotating platform. The motor drives the entire rotating platform to scan and measure the distance. The base is responsible for power supply and external data transmission. The base and the rotating platform are powered by wireless power or conductive slip rings, and the data is transmitted through wireless data transmission. The entire laser radar design is complex, and the motor load is heavy. The reliability of the laser radar is poor and the cost is high.

[0004] Based on the shortcomings of the existing technology, it is urgent to study a laser radar to solve the above problems. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a laser radar. The utility model cooperates with a laser collimation mechanism and a laser, so that the light emitted by the laser propagates in the laser collimation mechanism according to a preset propagation path, and is emitted from the output end of the laser collimation mechanism, thereby optimizing the light propagation path, limiting the light emitted by the laser to a certain range, avoiding the scanning blind spot problem at close distances, ensuring the reliability of the laser radar, and reducing the production cost of the laser radar.

[0006] The utility model provides a laser radar, comprising:

[0007] Pedestal;

[0008] A rotating assembly, comprising a rotating support platform and a driving assembly, wherein a driving end of the driving assembly is drivingly connected to the rotating support platform, and the driving assembly can drive the rotating support platform to rotate relative to the base;

[0009] The transmitting assembly comprises a laser and a laser alignment mechanism, wherein the laser alignment mechanism is fixedly arranged on the rotating support platform; the laser is fixedly connected to the base and arranged at the incident end of the laser alignment mechanism, and the output end of the laser alignment mechanism is used to emit the light emitted by the laser;

[0010] The receiving component comprises a receiving lens for receiving reflected light of the detection object. The receiving lens is fixedly arranged on the rotating support platform. The receiving lens, the laser alignment mechanism and the rotating support platform can rotate in coordination.

[0011] Furthermore, the transmitting assembly also includes a connecting sleeve, which is sleeved on the laser and sleeve-connected to the incident end of the laser alignment mechanism.

[0012] Furthermore, at least one of the connecting sleeve and the incident end of the laser alignment mechanism is provided with at least one first connecting step, and the other is provided with at least one second connecting step nested with the at least one first connecting step.

[0013] Furthermore, the rotating assembly also includes a bearing, one side of the bearing is fixedly connected to the base, and the other side of the bearing is fixedly connected to the rotating support platform; through the bearing, the rotating support platform is rotatably connected to the base.

[0014] Furthermore, the laser alignment mechanism comprises a transmitting tube and a reflecting mirror fixedly connected to the rotating support platform;

[0015] The emitting tube has a mounting notch, and part of the reflecting mirror is sealed with the mounting notch and forms a light emitting optical path with the emitting tube;

[0016] The reflector portion located in the mounting notch is used to reflect the light emitted by the laser.

[0017] Furthermore, the launch tube comprises a first launch section and a second launch section connected to each other, wherein the first launch section and the second launch section are connected to form an L-shaped structure; the angle between the first launch section and the second launch section is 75°-130°;

[0018] And / or, the angle between the reflecting surface of the reflector and the bottom surface of the receiving lens is 30°-85°.

[0019] Furthermore, a mounting hole is provided on the receiving lens;

[0020] The incident end of the emitting tube passes through the mounting hole and is connected to the connecting sleeve.

[0021] Furthermore, the axis of the mounting hole, the axis of the receiving lens and the axis of the rotating support platform are coaxial.

[0022] Furthermore, it also includes a laser driving circuit board and a laser receiving circuit board for receiving reflected light;

[0023] The laser driving circuit board is electrically connected to the laser, and the laser driving circuit board is fixedly connected to the base;

[0024] The laser receiving circuit board is fixedly connected to the base.

[0025] Furthermore, the rotating assembly further comprises a code disc, and the code disc is arranged on a side of the rotating support table close to the laser receiving circuit board;

[0026] The rotating support platform and the code disc are integrally formed.

[0027] Implementing the embodiments of the utility model has the following beneficial effects:

[0028] The utility model cooperates with a laser collimator mechanism and a laser, so that the light emitted by the laser propagates in the laser collimator mechanism according to a preset propagation path and is emitted from the output end of the laser collimator mechanism, thereby optimizing the light propagation path, limiting the light emitted by the laser within a certain range, and avoiding the problem of scanning blind spots at close distances; and optimizing the structure of the rotating support table, fixing the laser collimator mechanism and the receiving lens on the rotating support table, which can simplify the installation structure and improve the installation efficiency; at the same time, the driving component can drive the rotating support table and the laser collimator mechanism to achieve 360° rotation, realize 360° scanning ranging, realize 360° all-round scanning ranging of the laser radar, simplify the rotating structure of the laser radar, ensure the reliability of the laser radar, and reduce the production cost of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the utility model, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the utility model, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 This is a structural diagram of the laser radar in this embodiment.

[0031] Among them, the reference numerals in the figure correspond to:

[0032] 10-rotating support table; 11-driving assembly; 20-laser; 21-reflector; 22-transmitting tube; 23-connecting sleeve; 30-receiving lens; 40-base; 41-filter cover; 50-laser driving circuit board; 60-code disk; 70-laser receiving circuit board; 80-cable; 90-bearing; 401-bottom shell; 402-bottom shell cover; 403-rotor. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0035] In view of the defects of the prior art, the utility model cooperates with a laser collimator mechanism and a laser, so that the light emitted by the laser propagates in the laser collimator mechanism according to a preset propagation path and is emitted from the output end of the laser collimator mechanism, thereby optimizing the light propagation path, limiting the light emitted by the laser to a certain range, and avoiding the problem of scanning blind spots at close distances; and optimizing the structure of the rotating support table, fixing the laser collimator mechanism and the receiving lens on the rotating support table, which can simplify the installation structure and improve the installation efficiency; at the same time, the driving component can drive the rotating support table and the laser collimator mechanism to achieve 360° rotation, realize 360° scanning and ranging, realize 360° all-round scanning and ranging of the laser radar, simplify the rotating structure of the laser radar, ensure the reliability of the laser radar, and reduce the production cost of the laser radar.

[0036] See attached Figure 1The present embodiment provides a laser radar, comprising: a base 40; a rotating component, comprising a rotating support platform 10 and a driving component 11, wherein the driving end of the driving component 11 is drivingly connected to the rotating support platform 10, and the driving component 11 can drive the rotating support platform 10 to rotate relative to the base 40; a transmitting component, comprising a laser 20 and a laser alignment mechanism, and the laser alignment mechanism is fixedly arranged on the rotating support platform 10; the laser 20 is fixedly connected to the base 40 and arranged at the incident end of the laser alignment mechanism, and the output end of the laser alignment mechanism is used to emit the light emitted by the laser 20; a receiving component, comprising a receiving lens 30 for receiving reflected light of a detection object, and the receiving lens 30 is fixedly arranged on the rotating support platform 10, and the receiving lens 30, the laser alignment mechanism and the rotating support platform 10 can rotate in coordination.

[0037] It should be noted that: in this embodiment, through the cooperation of the laser collimation mechanism and the laser 20, the light emitted by the laser 20 propagates in the laser collimation mechanism according to the preset propagation path, and is emitted by the output end of the laser collimation mechanism, thereby optimizing the light propagation path, limiting the light emitted by the laser 20 to a certain range, and avoiding the problem of scanning blind spots at close distances; and optimizing the structure of the rotating support table 10, fixing the laser collimation mechanism and the receiving lens 30 on the rotating support table 10, which can simplify the installation structure and improve the installation efficiency; at the same time, the driving component 11 can drive the rotating support table 10 and the laser collimation mechanism to achieve 360° rotation, realize 360° scanning ranging, realize 360° all-round scanning ranging of the laser radar, simplify the rotating structure of the laser radar, ensure the reliability of the laser radar, and reduce the production cost of the laser radar.

[0038] In some possible embodiments, the transmitting assembly also includes a connecting sleeve 23, which is sleeved on the laser 20 and connected to the incident end of the laser collimation mechanism. By arranging the connecting sleeve 23 to be sleeved on the laser 20 and the incident end of the laser collimation mechanism respectively, the problem of light leakage can be avoided, thereby improving the detection accuracy of the laser radar and the working reliability of the laser radar.

[0039] Specifically, the material of the connecting sleeve 23 is not limited, as long as it can be used to block light.

[0040] Preferably, the connecting sleeve 23 is made of black light-shielding material.

[0041] Specifically, the length of the connecting sleeve 23 is not limited, as long as it can be respectively mounted on the laser 20 and the emitting tube 22 and light leakage is avoided.

[0042] In some possible embodiments, the connecting sleeve 23 is fixedly connected to the base 40, and the laser alignment mechanism can rotate relative to the connecting sleeve 23 under the drive of the driving assembly 11. By fixedly connecting one end of the connecting sleeve 23 to the base 40, the connecting sleeve 23 can be prevented from moving when the laser alignment mechanism rotates relative to the connecting sleeve 23, thereby avoiding the problem of light leakage, and further improving the detection accuracy of the laser radar and the working reliability of the laser radar.

[0043] In some possible embodiments, at least one of the connecting sleeve 23 and the incident end of the laser alignment mechanism is provided with at least one first connecting step, and the other is provided with at least one second connecting step nested with the at least one first connecting step. By providing the connecting sleeve 23 and the incident end of the laser alignment mechanism with mutually matching steps, it is possible to use multiple steps to match, thereby avoiding light leakage from the connection between the connecting sleeve 23 and the laser alignment mechanism, thereby further improving the detection accuracy of the laser radar and the working reliability of the laser radar.

[0044] Specifically, the number of the first connecting step and the second connecting step is not limited, as long as the connecting sleeve 23 and the incident end of the laser alignment mechanism can cooperate through the first connecting step and the second connecting step to achieve the effect of avoiding light leakage.

[0045] Preferably, the inner wall of the connecting sleeve 23 is provided with a first connecting step, and the outer wall of the incident end of the laser alignment mechanism is provided with a second connecting step, and the first connecting step and the second connecting step are abutted and matched to achieve the effect of avoiding light leakage.

[0046] In some possible embodiments, a filter cover 41 is further included. After the base 40 and the filter cover 41 are connected, a storage space is formed; the rotating component, the transmitting component and the receiving component are all arranged in the storage space; the driving component 11 is fixedly arranged on the base 40, and the rotating support platform 10 can rotate relative to the base 40. By arranging the rotating component, the transmitting component and the receiving component in the storage space, the light emitted by the laser radar and the light received by the laser radar are filtered by the filter cover 41, thereby further improving the detection accuracy of the laser radar and the working reliability of the laser radar.

[0047] Specifically, in order to protect the laser radar from interference from the external environment, the material of the filter cover 41 is not limited, as long as it can be dustproof, rainproof, windproof, etc., and can prevent interference from stray light, thereby improving the measurement accuracy of the laser radar.

[0048] Specifically, the material of the filter cover 41 is not limited, as long as the optical transmittance of the filter cover 41 is high and has no effect on light.

[0049] Preferably, the filter cover 41 is made of polycarbonate.

[0050] Specifically, the filter cover 41 is detachably connected to the base 40, making the disassembly of the laser radar more convenient.

[0051] Furthermore, the filter cover 41 is fixedly connected to the base 40 by snapping.

[0052] Specifically, the base 40 includes a bottom shell 401 and a bottom shell cover 402 . The bottom shell 401 is a hollow shell with openings at both ends. One end opening of the bottom shell 401 is fixedly connected to the filter cover 41 , and the other end opening of the bottom shell 401 is detachably connected to the bottom shell cover 402 .

[0053] Furthermore, a cable installation hole is provided on the bottom shell 401 so that the cable can enter the interior of the laser radar through the cable installation hole.

[0054] In this embodiment, the driving component 11 is a motor, which includes a stator and a rotor. The stator is fixed on the base 40, and the rotor is fixed on the rotating support platform 10, so that the rotating support platform 10 can rotate relative to the base 40 driven by the rotor.

[0055] Specifically, the rotor is a magnetic ring.

[0056] In some possible embodiments, the rotating assembly also includes a bearing 90, one side of the bearing 90 is fixedly connected to the base 40, and the other side of the bearing 90 is fixedly connected to the rotating support platform 10; through the bearing, the rotating support platform 10 is rotatably connected to the base 40, and the setting of the bearing simplifies the connection structure between the rotating support platform 10 and the base 40, thereby reducing the installation efficiency of the rotating support platform 10 and reducing the production cost of the laser radar.

[0057] Specifically, the bearing 90 and the driving assembly 11 are both mounted on the outside of the rotating support platform 10, and the driving assembly 11 will not interfere with the light passing through the receiving lens 30, which can improve the stability and accuracy of the laser radar during operation.

[0058] In some possible embodiments, the laser alignment mechanism includes a transmitting tube 22 and a reflector 21 fixedly connected to the rotating support platform 10; the transmitting tube 22 has a mounting notch, a portion of the reflector 21 seals the mounting notch, and forms a light output path with the transmitting tube 22; the portion of the reflector 21 located in the mounting notch is used to reflect the light emitted by the laser 20. By arranging the reflector 21 at the mounting notch, the reflector 21 can reflect the light incident from the incident end of the reflector tube 22 and emit it from the output end of the reflector tube 22, thereby realizing 360° all-round scanning and ranging of the laser radar and limiting the light emitted by the laser to a certain range.

[0059] Specifically, the reflecting surface of the reflector 21 is arranged toward the transmitting tube 22 .

[0060] Specifically, the reflector 21 is fixed in the mounting notch by means of purple glue.

[0061] In some possible embodiments, the transmitting tube 22 includes a first transmitting section and a second transmitting section connected to each other, and the first transmitting section and the second transmitting section are connected to form an L-shaped structure; the angle between the first transmitting section and the second transmitting section is 75°-130°. By setting the transmitting tube 22 as an L-shaped structure, it can be coordinated with the reflector 21, so that light is emitted from the incident end of the transmitting tube 22, and after being reflected by the reflector 21, the light is emitted from the output end of the transmitting tube 22, thereby optimizing the light propagation path and limiting the light to a certain range.

[0062] Specifically, the angle between the first emitting section and the second emitting section may be 75°-80°, 75°-89°, 80°-90°, 90°-100°, 90°-120°, 91°-100°, 91°-110° or 100°-130°.

[0063] Preferably, the angle between the first emitting section and the second emitting section is 90°.

[0064] Specifically, the axis of the first emitting section is coaxially arranged with the axis of the rotating support platform 10, the first end of the second emitting section is connected to the first emitting section, the second end of the second emitting section extends toward the side away from the reflector 21, and the second end of the second emitting section extends toward the filter cover 41, that is, the emitting tube 22 is bent toward the side away from the reflector 21.

[0065] Furthermore, there is a gap between the second emitting section and the filter cover 41 to avoid interference between the emitting tube 22 and the filter cover 41 when rotating, thereby ensuring the stability of the laser radar operation.

[0066] Specifically, the installation notch is arranged at the connection position between the first launching section and the second launching section, that is, the installation notch is arranged outside the angle formed after the first launching section and the second launching section are connected.

[0067] Specifically, the outer corner of the connection position between the first emitting section and the second emitting section is cut off according to the setting angle of the reflector 21 to form the above-mentioned installation gap.

[0068] In some possible embodiments, the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 is 30°-85°, and the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 is coordinated with the angle between the first emitting section and the second emitting section, so that the reflector 21 can reflect the light entering the emitting tube 22 from the incident end to the exit end of the emitting tube 22.

[0069] Specifically, the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 may be 30°-45°, 30°-85°, 45°-60°, 46°-60°, 60°-80°, 60°-85° or 70°-85°.

[0070] Preferably, the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 is 45°.

[0071] Furthermore, when the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 is 45°, and the angle between the first emitting section and the second emitting section is 90°, it can ensure that the light emitted vertically by the laser 20 can be emitted horizontally from the output end of the reflecting tube 22 through the reflector 21 set at 45°, ensuring that the laser radar can accurately obtain the diffusely reflected light of the detection object, thereby achieving precise detection.

[0072] In some possible embodiments, a mounting hole is provided on the receiving lens 30; the incident end of the transmitting tube 22 passes through the mounting hole and is connected to the connecting sleeve 23. By providing the mounting hole, the transmitting tube 22 can be easily installed.

[0073] Specifically, the diameter of the mounting hole is slightly larger than the diameter of the first launching section of the launching tube 22, so that the launching tube 22 is easy to install and can realize that the receiving lens 30 and the launching tube 22 are set on the same side of the rotating support platform 10 to avoid interference between the two and affect the detection accuracy of the detection object.

[0074] In some possible embodiments, the axis of the mounting hole, the axis of the receiving lens 30 and the axis of the rotating support platform 10 are coaxial. By coaxially arranging the axes, the detection accuracy of the laser radar can be improved and the problem of scanning blind spots at close distances can be avoided.

[0075] In some possible embodiments, a laser driving circuit board 50 and a laser receiving circuit board 70 for receiving reflected light are further included; the laser driving circuit board 50 is electrically connected to the laser 20, and the laser driving circuit board 50 is fixedly connected to the base 40; the laser receiving circuit board 70 is fixedly connected to the base 40. By only setting the laser driving circuit board 50 and the laser receiving circuit board 70, the emission and detection functions required by the laser radar can be realized, avoiding the setting of multiple circuit boards, thereby reducing the power consumption of the laser radar.

[0076] Specifically, the rotating support platform 10 is a hollow shell, and the receiving lens 30 is sealed at an opening at one end of the rotating support platform 10 .

[0077] Furthermore, the laser receiving circuit board 70 and the receiving lens 30 are respectively arranged on both sides of the rotating support platform 10, and the laser receiving circuit board 70 is fixed on the base 40, so that the light passing through the receiving lens 30 can be directly transmitted to the laser receiving circuit board 70.

[0078] Specifically, a light receiving unit is disposed on the laser receiving circuit board 70 , and the light receiving unit can receive the light passing through the receiving lens 30 , and obtain detection data of the detection object according to the received light.

[0079] In some possible embodiments, the rotating component also includes a code disc 60, which is arranged on one side of the rotating support platform 10 close to the laser receiving circuit board 70; the rotating support platform 10 and the code disc 60 are integrally formed. By integrally forming the rotating support platform 10 and the code disc, the cost, weight and structural complexity can be reduced, thereby facilitating production and greatly increasing the rotation speed of the laser radar.

[0080] In some possible embodiments, the rotating support platform 10 is prepared by integral mold opening to reduce costs, and the receiving lens 30 and the laser alignment mechanism are both fixed on the rotating support platform 10, which further simplifies the installation structure, greatly reduces the overall weight, and thereby improves the rotation speed of the laser radar.

[0081] In some other possible embodiments, the rotating support table 10 and the code disc 60 are prepared by opening a mold together, thereby reducing the cost while ensuring the accuracy of the code disc.

[0082] Specifically, the rotating component also includes a photoelectric sensor and a controller that are electrically connected to each other, and the controller is also electrically connected to the driving component 11; the photoelectric sensor is used to obtain light information passing through the code disk 60 and send the light information to the controller. The controller sends a control signal after processing, and the driving component 11 receives the control signal to control the rotation speed of the rotating support table 10 driven by the driving component 11.

[0083] Working process of laser radar: When the laser radar needs to detect the detection object, the laser radar driving circuit board 50 drives the laser 20 to emit light. The light passes through the connecting sleeve 23 and enters the incident end of the transmitting tube 22, and is reflected by the reflector 21 to the output end of the transmitting tube 22. The light passes through the filter 41 and propagates to the detection object; the detection object diffusely reflects the light through the filter 41 and propagates to the reflector 21. The reflector 21 reflects the light to the receiving lens 30. The light passing through the receiving lens 30 is directly propagated to the laser receiving circuit board 70. The laser receiving circuit board 70 obtains the detection data of the detection object according to the light information. At this time, the detection of the detection object is completed.

[0084] Example 1

[0085] See attached Figure 1 This embodiment provides a laser radar. Along the propagation direction of light, the laser radar includes a laser 20, a connecting sleeve 23, a first emitting section of a emitting tube 22, a reflector 21, a second emitting section of the emitting tube 22, a filter cover 41, a receiving lens 30 and a laser receiving circuit board 70 in sequence.

[0086] In this embodiment, the emitting assembly further includes a connecting sleeve 23, which is sleeved on the laser 20 and sleeve-connected to the incident end of the laser alignment mechanism.

[0087] Preferably, the connecting sleeve 23 is made of black light-shielding material.

[0088] In this embodiment, the connecting sleeve 23 is fixedly connected to the base 40 , and the laser alignment mechanism can rotate relative to the connecting sleeve 23 under the drive of the driving assembly 11 .

[0089] In this embodiment, at least one of the connecting sleeve 23 and the incident end of the laser alignment mechanism is provided with at least one first connecting step, and the other is provided with at least one second connecting step nested with the at least one first connecting step.

[0090] Preferably, the inner wall of the connecting sleeve 23 is provided with a first connecting step, and the outer wall of the incident end of the laser alignment mechanism is provided with a second connecting step, and the first connecting step and the second connecting step are abutted and matched to achieve the effect of avoiding light leakage.

[0091] In this embodiment, the laser alignment mechanism includes a transmitting tube 22 and a reflector 21 fixedly connected to a rotating support platform 10; the transmitting tube 22 has a mounting notch, a portion of the reflector 21 seals the mounting notch, and forms a light output path with the transmitting tube 22; the portion of the reflector 21 located in the mounting notch is used to reflect the light emitted by the laser 20.

[0092] Specifically, the reflecting surface of the reflector 21 is arranged toward the transmitting tube 22 .

[0093] Specifically, the reflector 21 is fixed in the mounting notch by means of purple glue.

[0094] In this embodiment, the launching tube 22 includes a first launching section and a second launching section connected to each other, and the first launching section and the second launching section are connected to form an L-shaped structure; the angle between the first launching section and the second launching section is 75°-130°.

[0095] Preferably, the angle between the first emitting section and the second emitting section is 90°.

[0096] Specifically, the axis of the first emitting section is coaxially arranged with the axis of the rotating support platform 10, the first end of the second emitting section is connected to the first emitting section, the second end of the second emitting section extends toward the side away from the reflector 21, and the second end of the second emitting section extends toward the filter cover 41, that is, the emitting tube 22 is bent toward the side away from the reflector 21.

[0097] Furthermore, there is a gap between the second emitting section and the filter cover 41 .

[0098] Specifically, the installation notch is arranged at the connection position between the first launching section and the second launching section, that is, the installation notch is arranged outside the angle formed after the first launching section and the second launching section are connected.

[0099] Specifically, the outer corner of the connection position between the first emitting section and the second emitting section is cut off according to the setting angle of the reflector 21 to form the above-mentioned installation gap.

[0100] In this embodiment, the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 is 30°-85°.

[0101] Preferably, the angle between the reflecting surface of the reflector 21 and the bottom surface of the receiving lens 30 is 45°.

[0102] In this embodiment, a mounting hole is provided on the receiving lens 30 ; the incident end of the transmitting tube 22 passes through the mounting hole and is connected to the connecting sleeve 23 .

[0103] Specifically, the diameter of the mounting hole is slightly larger than the diameter of the first launching section of the launching tube 22 .

[0104] In this embodiment, it also includes a filter cover 41. After the base 40 and the filter cover 41 are connected, a storage space is formed; the rotating component, the transmitting component and the receiving component are all arranged in the storage space; the driving component 11 is fixedly arranged on the base 40, and the rotating support platform 10 can rotate relative to the base 40.

[0105] Preferably, the filter cover 41 is made of polycarbonate.

[0106] Furthermore, the filter cover 41 is fixedly connected to the base 40 by snapping.

[0107] Specifically, the base 40 includes a bottom shell 401 and a bottom shell cover 402 . The bottom shell 401 is a hollow shell with openings at both ends. One end opening of the bottom shell 401 is fixedly connected to the filter cover 41 , and the other end opening of the bottom shell 401 is detachably connected to the bottom shell cover 402 .

[0108] Furthermore, a cable installation hole is provided on the bottom shell 401 so that the cable can enter the interior of the laser radar through the cable installation hole.

[0109] In this embodiment, the axis of the mounting hole, the axis of the receiving lens 30 and the axis of the rotating support table 10 are coaxial.

[0110] In this embodiment, it also includes a laser driving circuit board 50 and a laser receiving circuit board 70 for receiving reflected light; the laser driving circuit board 50 is electrically connected to the laser 20, and the laser driving circuit board 50 is fixedly connected to the base 40; the laser receiving circuit board 70 is fixedly connected to the base 40.

[0111] Specifically, the rotating support platform 10 is a hollow shell, and the receiving lens 30 is sealed at an opening at one end of the rotating support platform 10 .

[0112] Furthermore, the laser receiving circuit board 70 and the receiving lens 30 are respectively arranged on both sides of the rotating support platform 10, and the laser receiving circuit board 70 is fixed on the base 40, so that the light passing through the receiving lens 30 can be directly transmitted to the laser receiving circuit board 70.

[0113] Specifically, a light receiving unit is disposed on the laser receiving circuit board 70 , and the light receiving unit can receive the light passing through the receiving lens 30 , and obtain detection data of the detection object according to the received light.

[0114] In this embodiment, the rotating assembly further includes a code disc 60 , which is disposed on a side of the rotating support platform 10 close to the laser receiving circuit board 70 ; the rotating support platform 10 and the code disc 60 are integrally formed.

[0115] Specifically, the rotating component also includes a photoelectric sensor and a controller that are electrically connected to each other, and the controller is also electrically connected to the driving component 11; the photoelectric sensor is used to obtain light information passing through the code disk 60 and send the light information to the controller. The controller sends a control signal after processing, and the driving component 11 receives the control signal to control the rotation speed of the rotating support table 10 driven by the driving component 11.

[0116] In this embodiment, the driving component 11 is a motor, which includes a stator and a rotor. The stator is fixed on the base 40, and the rotor is fixed on the rotating support platform 10, so that the rotating support platform 10 can rotate relative to the base 40 driven by the rotor.

[0117] Specifically, the rotor is a magnetic ring.

[0118] In this embodiment, the rotating assembly also includes a bearing 90, one side of the bearing 90 is fixedly connected to the base 40, and the other side of the bearing 90 is fixedly connected to the rotating support platform 10; through the bearing, the rotating support platform 10 is rotatably connected to the base 40.

[0119] Specifically, the bearing 90 and the driving assembly 11 are both sleeved on the outside of the rotating support platform 10 .

[0120] Although the present invention has been described through preferred embodiments, the present invention is not limited to the embodiments described herein, but also includes various changes and modifications without departing from the scope of the present invention.

[0121] In this article, the directional words such as front, back, top, and bottom involved are defined by the positions of the components in the drawings and the positions of the components relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed by the utility model.

[0122] In the absence of conflict, the above embodiments and features in the embodiments can be combined with each other.

[0123] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope covered by the present invention.

Claims

1. A laser radar, characterized in that: include: Base (40); A rotating assembly, comprising a rotating support platform (10) and a driving assembly (11), wherein a driving end of the driving assembly (11) is drivingly connected to the rotating support platform (10), and the driving assembly (11) is capable of driving the rotating support platform (10) to rotate relative to the base (40); An emission component comprises a laser (20) and a laser alignment mechanism, wherein the laser alignment mechanism is fixedly arranged on the rotating support platform (10); the laser (20) is fixedly connected to the base (40) and arranged at the incident end of the laser alignment mechanism, and the output end of the laser alignment mechanism is used to emit light emitted by the laser (20); The receiving component comprises a receiving lens (30) for receiving reflected light of a detection object, wherein the receiving lens (30) is fixedly arranged on the rotating support platform (10), and the receiving lens (30), the laser alignment mechanism and the rotating support platform (10) can rotate in coordination.

2. The laser radar according to claim 1, characterized in that: The emitting assembly further comprises a connecting sleeve (23), which is sleeved on the laser (20) and sleeve-connected to the incident end of the laser alignment mechanism.

3. The laser radar according to claim 2, characterized in that: At least one of the connecting sleeve (23) and the incident end of the laser alignment mechanism is provided with at least one first connecting step, and the other is provided with at least one second connecting step nested with the at least one first connecting step.

4. The laser radar according to claim 1, characterized in that: The rotating assembly further comprises a bearing (90), one side of the bearing (90) being fixedly connected to the base (40), and the other side of the bearing (90) being fixedly connected to the rotating support platform (10); the rotating support platform (10) is rotatably connected to the base (40) via the bearing.

5. The laser radar according to claim 1, characterized in that: The laser alignment mechanism comprises a transmitting tube (22) and a reflecting mirror (21) fixedly connected to the rotating support platform (10); The emitting tube (22) has a mounting notch, and a portion of the reflecting mirror (21) seals the mounting notch and forms a light emitting optical path with the emitting tube (22); The reflector (21) portion located in the installation notch is used to reflect the light emitted by the laser (20).

6. The laser radar according to claim 5, characterized in that: The launching tube (22) comprises a first launching section and a second launching section connected to each other, wherein the first launching section and the second launching section are connected to form an L-shaped structure; the angle between the first launching section and the second launching section is 75°-130°; And / or, the angle between the reflection surface of the reflection mirror (21) and the bottom surface of the receiving lens (30) is 30°-85°.

7. The laser radar according to any one of claims 1 to 6, characterized in that: The receiving lens (30) is provided with a mounting hole; The incident end of the emitting tube (22) passes through the mounting hole and is connected to the connecting sleeve (23).

8. The laser radar according to claim 7, characterized in that: The axis of the mounting hole, the axis of the receiving lens (30) and the axis of the rotating support platform (10) are coaxial.

9. The laser radar according to any one of claims 1 to 6, characterized in that: It also includes a laser driving circuit board (50) and a laser receiving circuit board (70) for receiving reflected light; The laser driving circuit board (50) is electrically connected to the laser (20), and the laser driving circuit board (50) is fixedly connected to the base (40); The laser receiving circuit board (70) is fixedly connected to the base (40).

10. The laser radar according to claim 9, characterized in that: The rotating assembly further comprises a code disc (60), wherein the code disc (60) is arranged on the rotating support platform (10). A side close to the laser receiving circuit board (70); The rotating support platform (10) and the code disc (60) are integrally formed.

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