Laser radar and carrier

Abstract

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

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of optical detection technology, and in particular to laser radar and vehicles. Background Art

[0002] Optical detection technology uses light as a medium to detect objects. Compared with ordinary light sources, lasers have the characteristics of monochromaticity and good directionality, and object detection using lasers as a medium has received more attention. For example, laser detection and ranging (LiDAR) uses lasers as a medium to detect objects and has been applied in the fields of intelligent driving, industrial manufacturing, drones, robot recognition, geographic mapping, or environmental monitoring. However, during the application process, laser radar is still restricted by cost or volume. Utility Model Content

[0003] The disclosed embodiments provide a laser radar and a vehicle to reduce the size of the laser radar and reduce the constraints imposed by the size of the laser radar on its application.

[0004] In a first aspect, a laser radar is provided, comprising a base, a main shaft, a rotating frame, a support, and a sensor. The main shaft is arranged on the base; the rotating frame is rotatably connected to the main shaft; the bottom of the support is arranged on the base, and the support extends in the direction of the rotating frame. The sensor comprises an interference element and a sensing element, wherein the interference element is arranged on the support, and the sensing element is arranged on the rotating frame. When the rotating frame rotates relative to the main shaft, the interference element interferes with the sensing of the sensing element and changes the output signal of the sensing element.

[0005] The above laser radar can better utilize the vertical space inside the laser radar through the arrangement of the support and the rotating frame, thereby improving the compactness of the internal structure of the laser radar, reducing the volume of the laser radar, and facilitating the miniaturization of the laser radar. The support extends toward the rotating frame, and the top can be opposite to the rotating frame, which can facilitate the arrangement of the sensing element on the rotating frame and simplify the assembly process of the laser radar.

[0006] Optionally, the interference element includes an encoder, the encoder includes a plurality of code tracks, and the plurality of code tracks are circumferentially arranged on the top of the support member; and the sensing element includes a photoelectric sensing element.

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

[0008] Optionally, the encoder and the support are integrally formed. The interferometer element is set by an integrated support element, which reduces the number of components of the laser radar and the installation process, further reducing the cost and volume of the laser radar.

[0009] Optionally, an opening is provided on the rotating frame, the sensing element is arranged in the opening, and one end of the sensing element extends in the opening toward the supporting member.

[0010] The setting of the opening can save the installation space of the sensing element and protect the sensing element. The structure is more compact and the performance of the sensor is more stable, which is further conducive to the miniaturization of the lidar.

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

[0012] The above structure integrates the sensor elements (such as interference elements) with the elements of the wireless power supply device (such as transmitting coils or receiving coils), which can greatly reduce the number of mechanical structural parts in the laser radar, increase the integration level, and reduce the cost and assembly complexity. The radial relative arrangement of the transmitting coil and the receiving coil along the main axis can also make full use of the vertical space inside the laser radar and reduce the radial size of the laser radar.

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

[0014] Optionally, the first circuit board also includes a sensor circuit electrically connected to the sensing element. The sensor circuit is arranged on the circuit board, and more control or processing functions can be moved up, making full use of the first circuit board, reducing the number of circuit boards required, and further reducing the line connection requirements between multiple circuit boards, thereby improving the integration of the laser radar.

[0015] Optionally, the transmitting coil is wound around the outer wall of the support. The interference element and the transmitting coil of the sensor can share the same support, and there is no need to set up an additional supporting structure for the transmitting coil, which can reduce the number of structural parts in the laser radar, reduce costs and assembly processes; and facilitate the electrical connection between the transmitting coil and the circuit board, reduce the complexity of the internal circuit design, and reduce the number of circuit boards required.

[0016] Optionally, the turntable includes an extension portion that extends towards the base; the receiving coil is wound around the outer sidewall of the extension portion. In this way, the turntable can support various functional requirements, making the structure of the lidar more compact and facilitating the miniaturization of the lidar.

[0017] Optionally, the lidar further includes a magnetic structure member disposed on the extension portion; the receiving coil is wound around the outer sidewall of the magnetic structure member. The magnetic structure member can make the magnetic flux more concentrated inside the coil, improving the receiving efficiency of the receiving coil.

[0018] Optionally, the lidar further includes a driving device configured to drive the turntable to rotate. The driving device includes a first magnetic member and a second magnetic member. The first magnetic member is fixedly disposed relative to the base, and the second magnetic member is disposed on the turntable. Under the action of the magnetic field, the second magnetic member rotates relative to the first magnetic member; alternatively, the second magnetic member is fixedly disposed relative to the base, and the first magnetic member is disposed on the turntable. Under the action of the magnetic field, the first magnetic member rotates relative to the second magnetic member. This driving device enables the lidar to have better integration, reducing the cost and volume of the lidar.

[0019] Optionally, the second magnetic member is disposed inside or outside the support member.

[0020] In a second aspect, a vehicle is provided, including a connecting device and any one of the above lidars, and the lidar is mounted on the vehicle through the connecting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will introduce the drawings used in the description of the embodiments by way of example. The following drawings are only the embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure.

[0022] Figure 1 Shows an example block diagram of a lidar provided in some embodiments of the present disclosure;

[0023] Figure 2 Shows a structural example diagram of a lidar provided in some embodiments of the present disclosure;

[0024] Figure 3 Shows an exploded example diagram of a lidar provided in some embodiments of the present disclosure;

[0025] Figure 4An exemplary cross-sectional view of some components of a laser radar provided in some embodiments of the present disclosure is shown;

[0026] Figure 5 A structural example diagram of a support member provided in some embodiments of the present disclosure is shown;

[0027] Figure 6 An exemplary diagram showing the installation of a support member on a base provided in some embodiments of the present disclosure is shown;

[0028] Figure 7 An exemplary structural diagram of a rotating frame of a laser radar provided in some embodiments of the present disclosure at a viewing angle is shown;

[0029] Figure 8 An exemplary structural diagram of a rotating frame of a laser radar provided in some embodiments of the present disclosure at another viewing angle is shown;

[0030] Fig. 9 An example structural diagram of internal components of a laser radar provided in some embodiments of the present disclosure is shown;

[0031] Fig.10 An exemplary diagram showing the installation of a first magnetic member on a fixing member provided in some embodiments of the present disclosure is shown;

[0032] Fig.11 An exemplary partial cross-sectional view of a fixing portion provided in some embodiments of the present disclosure is shown;

[0033] Fig.12 A structural example diagram of a base of a laser radar provided in some embodiments of the present disclosure is shown;

[0034] Fig.13 An exemplary diagram of a sealing structure provided in some embodiments of the present disclosure is shown;

[0035] Fig.14 An exemplary diagram showing another sealing structure provided in some embodiments of the present disclosure is shown;

[0036] Fig.15 An exemplary diagram of yet another sealing structure provided in some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the specific implementation methods of the present disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other accompanying drawings and other embodiments can be obtained based on these accompanying drawings without creative work. Adjustments and improvements made without departing from the concept of the present disclosure all belong to the protection scope of the present disclosure.

[0038] In order to simplify the drawings, each of the drawings schematically shows only the parts related to the corresponding embodiments, and they do not represent the actual structure of the product, and there may be more or fewer structures or components in reality. In addition, in order to simplify the drawings and facilitate understanding, for the structures or components shown in the drawings, there may be more or fewer similar structures or components in reality.

[0039] The terms “install”, “set” and “connect” should be understood in a broad sense. For example, “install” can be directly installed or installed through other components; “set” can be directly set or set through other components; “connect” can be directly connected or connected through other components.

[0040] In the embodiments shown in the drawings, directional indications (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 product in actual use.

[0041] LiDAR uses laser as a medium to detect objects and can be applied to fields such as intelligent driving, industrial manufacturing, drones, robot identification, geographic mapping, or environmental monitoring. Intelligent driving can also be called autonomous driving or assisted driving, including any level of autonomous driving, such as any level of autonomous driving from L1 to L5. In applications, LiDAR can be installed on a vehicle to provide the vehicle with perception data, such as point cloud data, so that the vehicle can use the perception data to perform analysis, decision-making, or control functions. Vehicles include, for example, vehicles, manufacturing terminals, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or household robots), or surveying and mapping equipment.

[0042] Figure 1 An example block diagram of a laser radar provided in some embodiments of the present disclosure is shown. Figure 1, the laser radar 100 includes a laser transmitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 140. Optionally, the laser radar 100 may also include a scanning system 150, such as a mechanical laser radar or a semi-solid laser radar. The scanning system 150 may include, for example, a scanner and a driving device, and the driving device is used to drive the scanner to rotate so that the laser can scan one or all of the vertical or horizontal fields of view. For example, the laser is emitted through the scanner, and the rotation of the scanner can change the emission path of the laser; for example, the echo of the laser can be incident on the scanner and guided to the light receiving path through the scanner. The embodiment of the present disclosure does not limit the type of scanner, for example, it may include but is not limited to a rotating mirror, a swinging mirror, a galvanometer or other devices that can make the laser shoot to different directions in the environment. Optionally, the scanning system 150 may include a rotating platform; for example, one or more of the laser transmitting circuit, the laser receiving circuit, or the optical system may be set on the rotating platform, and as the rotating platform rotates, one or all of the vertical or horizontal fields of view are scanned.

[0043] The laser transmitting circuit 110 is used to transmit laser. After the laser encounters an object, it is reflected by the surface of the object, and the reflected light reflected back to the laser radar 100 is called an echo. The laser receiving circuit 120 receives the echo and converts the echo into an electrical signal. After preprocessing the electrical signal, echo data is obtained, and the echo data 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 the vehicle, and the vehicle uses the perception data to implement functions such as analysis, decision-making, or control.

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

[0045] The laser receiving circuit 120 includes a detector and a preprocessing circuit. The optical system 130 collects the echoes onto the photosensitive surface of the detector; the detector converts the optical signal into an electrical signal using the photoelectric effect. The detector includes, for example: a photodetection circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or a similar device. The above is for example only, and the embodiments of the present disclosure do not limit the type of detector.

[0046] Preprocessing can also be called analog front-end processing, for example, including one or more of amplification, filtering, digitization and other processing. Preprocessing circuit can also be called analog front-end circuit, for example, including one or more of amplification circuit, filtering circuit and digitization circuit. Amplification circuit, for example, includes an amplifier, which can amplify the electrical signal converted by the detector. Filtering circuit, for example, includes a filter, which is used to filter out noise or interference. Digital circuit, for example, includes one or more of analog to digital converter (ADC) or time to digital converter (TDC). For example, ADC converts analog electrical signal into digital signal reflecting the waveform of echo by periodically sampling the output signal of detector, and obtains echo data. For another example, the electrical signal converted by the detector can be converted (for example, converted and amplified into voltage, and compared with reference voltage to generate threshold signal) and provided to TDC. TDC performs timing based on the received electrical signal to measure the arrival time of echo and obtain echo data. Echo data can include data reflecting echo time and / or echo intensity.

[0047] The optical system 130 includes, for example, a transmitting optical element and a receiving optical element. The transmitting optical element is on the transmitting path of the laser (referred to as the transmitting optical path), and is used to shape the laser emitted by the laser and adjust the output path of the laser. The receiving optical element is on the receiving path of the laser (referred to as the receiving optical path), and is used to collect the echo reflected back by the object and converge the echo onto the photosensitive surface of the detector. By way of example, the transmitting optical element may include one or more optical elements such as a reflector, a lens, a spectrometer, a homogenizer, and a beam splitter. By way of example, the receiving optical element may include one or more optical elements such as a reflector, a lens, a spectrometer, and a filter. The transmitting optical element and the receiving optical element may be independent of each other, partially multiplexed, or fully multiplexed. By way of example, in a coaxial laser radar for transmitting and receiving, the optical system 130 may include independent transmitting optical elements and receiving optical elements, such as independent transmitting lenses and receiving lenses. The optical system 130 may also include optical elements shared by the transmitting light path and the receiving light path, such as a beam splitter (or a beam splitter) for separating the transmitting light path and the receiving light path; or a shared lens for shaping the coaxial light beams on the transmitting light path and the receiving light path.

[0048] The control and processing system 140 is used to process the echo data to obtain the sensing data. The control and processing system 140 is also used to send a control signal to the driving circuit to control the driving circuit to drive the laser to emit light and realize the emission of the laser. When the laser radar 100 includes a scanning system 150, the control and processing system 140 is also used to control the scanning system 150. In some embodiments, the control and processing system 140 may include one or more processors. The processor includes, for example, but is not limited to: an application specific integrated circuit (ASIC), a hardware circuit implemented by a programmable logic device (PLD), a microcontroller unit (MCU), a microprocessor unit (MPU), a digital signal processor (DSP), or a central processing unit (CPU). The hardware circuit implemented by the PLD includes, for example, a field programmable gate array (FPGA). When the control and processing system 140 includes multiple processors, the types of processors may be the same or different, for example, the control and processing system 140 includes an MCU and an FPGA; or, the control and processing system 140 includes an MCU, an FPGA, and a DSP; or, the control and processing system 140 includes a CPU and an FPGA, etc. When the control and processing system 140 includes multiple processors, these processors may be separately provided, or partially integrated together, or may be fully integrated together, for example, the control and processing system 140 may be implemented in the form of a system on chip (SOC) or an ASIC.

[0049] The laser radar includes many components, such as optical elements, electronic devices, and mechanical components. The embodiments of the present disclosure design the mechanical components or electromechanical structures of the laser radar to make the laser radar have lower cost or more compact structure, thereby reducing the cost or volume constraints of the laser radar during application.

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

[0051] In some embodiments of the present disclosure, the mechanical structure of the laser radar is designed so that the mechanical structure can support the installation of components of the laser radar, reduce the overall occupied volume, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar. Figure 3 An exploded diagram of a laser radar provided in some embodiments of the present disclosure is shown. Figure 3 The laser radar 200 includes, for example, a base 210, a main shaft 230, a rotating frame 240, and a support member 250. The main shaft 230 is arranged on the base 210; the rotating frame 240 is rotatably connected to the main shaft 230; the bottom of the support member 250 is arranged on the base 210 and extends upward, that is, extends in the direction of the rotating frame 240. The above laser radar can better utilize the vertical space inside the laser radar through the arrangement of the supporting member 250 and the rotating frame 240, so as to improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar.

[0052] Figure 4 Schematic diagram of a cross-sectional view of some components of a laser radar provided in some embodiments of the present disclosure. Figure 4 , the laser radar 200 may also include a sensor 260, the support 250 may be used to support the elements of the sensor 260, and the sensor 260 is used to perform position sensing during the rotation of the rotating frame 240. The sensor 260 includes an interference element 261 and a sensing element 262, the interference element 261 is arranged on the support 250, and the sensing element 262 is arranged on the rotating frame 240. When the rotating frame 240 rotates relative to the main shaft 230, the interference element 261 interferes with the sensing of the sensing element 262, and the output signal of the sensing element 262 may change accordingly. The above laser radar can better utilize the vertical space inside the laser radar through the arrangement of the support 250 and the rotating frame 240, so as to improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar. The support 250 extends in the direction of the rotating frame 240, and the top may be opposite to the rotating frame 240, so that the sensing element 262 can be conveniently arranged on the rotating frame 240, simplifying the assembly process of the laser radar.

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

[0054] In some embodiments of the present disclosure, the sensing element 262 may be electrically connected to the first circuit board C1. The optical system of the laser radar may include an optomechanical structure 270, which is disposed above the rotating frame 240, and the laser emitting circuit or the laser receiving circuit may be disposed entirely or partially on the optomechanical structure 270. The first circuit board C1 is disposed above the rotating frame 240. The first circuit board C1 may include part or all of the circuits of the control and processing system of the laser radar. Optionally, the laser emitting circuit or the laser receiving circuit may be disposed entirely or partially on the first circuit board C1. By arranging the sensing element 262 on the rotating frame 240, the sensing element 262 may be closer to the first circuit board C1, which facilitates the arrangement of the sensing circuit on the first circuit board C1, and a separate circuit board may not be arranged for the sensing circuit, which may improve the integration of the laser radar. In addition, by electrically connecting the sensing element 262 to the first circuit board C1, the output signal of the sensing element 262 may be transmitted through the board and provided to the first circuit board C1, and the laser emitting circuit or the laser receiving circuit may be controlled by the first circuit board C1, which is conducive to simplifying the connection design between the circuits.

[0055] The sensor 260 may include, for example, a photoelectric sensor, a magnetic induction sensor, or a capacitive induction sensor. The interference element 261 is used to interfere with the output signal of the sensor, such as photoelectric interference or electromagnetic induction interference. For example, when the sensing element 262 rotates with the rotating frame 240, the light flux passing through the interference element 261 changes accordingly, and the light signal incident on the sensing element 262 also changes accordingly, and the photoelectric effect is used to obtain an electrical signal reflecting the position change of the rotating frame 240. For another example, when the sensing element 262 rotates with the rotating frame 240, the relative distance between the interference element 261 and the sensing element 262 changes, and electromagnetic induction is used to change the voltage, inductance, or capacitance and other parameters of the sensing circuit where the sensing element 262 is located.

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

[0057] In some embodiments of the present disclosure, the sensor may be a photoelectric sensor. For example, Figure 5 A structural example diagram of a support member provided in some embodiments of the present disclosure is shown. Figure 6FIG. 1 shows an example of installing a support member on a base provided in some embodiments of the present disclosure. Figures 3 to 6 The interference element 261 may include an encoder, such as a code disk or a code channel structure; the sensing element 262 may be a photoelectric sensing element, such as a code reader. The encoder may include a plurality of code channels, and the plurality of code channels are circumferentially arranged on the top of the support member 250. The encoder is fixedly arranged relative to the base 210, and the code reader is arranged on the rotating frame 240 and faces the encoder. The code reader emits a light signal, and the light signal is read by the code reader through the encoder; during the rotation of the rotating frame 240, the code reader rotates with the rotating frame 240, and during the change of the light flux passing through the encoder, the output signal of the code reader changes, and the output signal can be used to indicate the rotation angle and other position information of the rotating frame 240. In some embodiments of the present disclosure, the code reader is electrically connected to the first circuit board C1, and the output signal of the code reader can be output as a sensing signal through the sensing circuit and provided to the first circuit board C1.

[0058] In the above mechanical structure, the code channel is directly set on the top of the support member 250, which can reduce the number of components of the laser radar and reduce the cost of the laser radar. In addition, this structural design can better utilize the vertical space inside the laser radar, which is conducive to the miniaturization of the laser radar. The support member 250 extends toward the rotating frame 240, and the top can be opposite to the rotating frame 240, which can facilitate the installation of the sensing element 262 on the rotating frame 240.

[0059] In some embodiments of the present disclosure, please continue to refer to Figure 5 and Figure 6 The encoder and the support member 250 are integrally formed. The support member 250 is fixedly arranged on the base 210, and the encoder includes a plurality of code channels, which are arranged circumferentially on the top of the support member 250, and the code channels extend upward close to the rotating frame 240 or the first circuit board C1. The setting of the interference element 261 is realized by the support member 250 with an integrated design, which can reduce the number of components of the laser radar, reduce the installation process, and further reduce the cost and volume of the laser radar.

[0060] In some embodiments of the present disclosure, please refer to Figure 4, an opening O is provided on the rotating frame 240, and a sensing element 262 is arranged in the opening O, and one end extends in the opening O facing the support 250, and is arranged corresponding to the area where the interference element 261 is arranged on the support 250. The setting of the opening O can save the installation space of the sensing element 262 and protect the sensing element 262, so that the structure of the laser radar is more compact, the performance of the sensor 260 is more stable, and it is conducive to the miniaturization of the laser radar. For example, the code reader is arranged across both sides of the encoder, and the code reader emits a light signal. When the rotating frame 240 rotates, the light flux passing through the encoder will change, and the output signal of the code reader will change accordingly. The output signal can be used to characterize the position information such as the rotation angle of the rotating frame 240.

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

[0062] In some embodiments of the present disclosure, the support member 250 can also be used to support the installation of the transmitting coil 281. This allows the support member 250 to support multiple functional requirements, without the need to set up mechanical support structures for the transmitting coil 281 and the interference element 261, and thus without the need to arrange positions for the mechanical support structures of the transmitting coil 281 and the interference element 261, thereby reducing the space occupied by the installation of the transmitting coil 281 and the interference element 261, and reducing the size of the laser radar; and reducing the number of structural parts in the laser radar, reducing costs and assembly processes. For example, please refer to Figures 3 to 6 , the transmitting coil 281 is arranged on the support 250; the receiving coil 282 is arranged on the rotating frame 240. The above structure integrates the elements of the sensor 260 (such as the interference element 261) and the elements of the wireless power supply device 280 (such as the transmitting coil 281), which can greatly reduce the number of mechanical structural parts in the laser radar, increase the integration, and reduce the cost and assembly complexity.

[0063] In some embodiments of the present disclosure, the transmitting coil 281 and the receiving coil 282 are arranged opposite to each other along the radial direction of the main axis 230; or in other words, the transmitting coil 281 and the receiving coil 282 are arranged opposite to each other along a direction perpendicular to the main axis 230. Figures 3 to 6 In the example, the transmitting coil 281 may be arranged on the outside of the receiving coil 282. In some other embodiments of the present disclosure, the receiving coil 282 may be arranged on the outside of the transmitting coil 281. The above transmitting coil 281 and the receiving coil 282 are distributed radially along the main axis 230 of the laser radar, and the inside and outside are opposite to each other, so that the power supply coil (including the transmitting coil 281 and the receiving coil 282) can be wound in the vertical direction. The power supply coil is wound in the vertical direction, so that the transmitting coil 281 can utilize the side wall area of ​​the support 250 to reduce the radial size of the laser radar. Compared with the method of winding the coil in the horizontal direction, the power supply coil is wound in the vertical direction to make the coil winding more compact. The rotating frame 240 can also be used to support the receiving coil 282. There is no need to set up an additional support structure for the receiving coil 282. By supporting multiple functions through the rotating frame 240, the components of the laser radar can be further reduced, the cost of the laser radar can be reduced, and it is more conducive to the miniaturization of the laser radar.

[0064] In some embodiments of the present disclosure, the support member 250 may have an internal hollow structure, and the receiving coil 282 is disposed inside the support member 250. In this way, the transmitting coil 281 and the receiving coil 282 can be disposed relatively inside and outside along the radial direction of the main axis 230, and the internal space of the laser radar can be effectively utilized.

[0065] Figure 7 An example diagram of the structure of a rotating frame of a laser radar provided in some embodiments of the present disclosure at a viewing angle is shown. Figure 8 FIG. 1 shows an example structure diagram of a laser radar rotating frame provided in some embodiments of the present disclosure from another perspective. Please refer to Figure 7 and Figure 8 , the rotating frame 240 includes, for example, a bearing portion 241 and an extension portion 242. The bearing portion 241 and the extension portion 242 may be integrally formed, or may be separately formed and then fixedly connected together. The extension portion 242 may be rotatably connected to the main shaft 230. The bearing portion 241 is disposed above the extension portion 242, and the cross-sectional area of ​​the bearing portion 241 in a direction perpendicular to the main shaft 230 may be, for example, greater than the cross-sectional area of ​​the extension portion 242. The extension portion 242 of the rotating frame 240 extends toward the base 210 and is rotatably connected to the main shaft 230. The support member 250 is disposed around the outer side of the extension portion 242 of the rotating frame 240, the transmitting coil 281 of the wireless power supply device 280 may be wound around the outer side wall of the supporting member 250, and the receiving coil 282 may be wound around the outer side wall of the extension portion 242 of the rotating frame 240 and located inside the supporting member 250.

[0066] In some embodiments, the extension portion 242 of the turret 240 may be disposed outside the support 250. The transmitting coil 281 of the wireless power supply device 280 may be disposed around the outer wall of the support 250, and the receiving coil 282 may be disposed around the outer wall of the extension portion 242 of the turret 240 and located outside the support 250.

[0067] In some embodiments of the present disclosure, the receiving coil 282 can be directly wound around the outer wall of the extension portion 242. For example, the extension portion 242 is made of silicon steel sheets, and the silicon steel sheets are separated by insulating coatings, or magnetic materials are bonded or sintered on the outer side of the extension portion 242, so that at least a portion of the extension portion 242 has magnetic conductivity and non-conductive properties. In some embodiments, please continue to refer to Figure 4 , Figure 7 and Figure 8 , a magnetic structure 244 may be further provided on the extension 242 of the rotating frame 240, for example, on the outer wall of the extension 242. The receiving coil 282 may be wound around the outer wall of the magnetic structure 244. The magnetic structure 244 may be made of a magnetically conductive but 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 may make the magnetic flux more concentrated inside the coil, thereby improving the receiving efficiency of the receiving coil 282.

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

[0069] In some embodiments of the present disclosure, the second circuit board C2 can also transmit data to the first circuit board C1 through the transmitting coil 281 and the receiving coil 282. In this way, wireless power supply synchronization can be used to realize data transmission, reduce the communication components of the laser radar, further reduce the cost of the laser radar, and further improve the integration of the laser radar. For example, the first control circuit can add information to the carrier of the transmitting coil 281 through modulation to transmit data to the receiving coil 282. The embodiments of the present disclosure do not limit the modulation method, for example, including but not limited to: modulation of one or more parameters such as amplitude, frequency, phase, pulse, etc.

[0070] In some embodiments of the present disclosure, the first circuit board C1 may further include a sensing circuit (also referred to as a sensing signal processing circuit), which is electrically connected to the sensing element 262. The sensing circuit may process the output signal of the sensing element 262, and obtain a sensing signal reflecting the position information, and provide the sensing signal to the first circuit board C1, and use the first circuit board C1 to control one or all of the laser emitting circuit or the laser receiving circuit. The sensing circuit is disposed on the first circuit board C1, and more control or processing functions can be moved up, making full use of the first circuit board C1, reducing the number of circuit boards required, and further reducing the line connection requirements between multiple circuit boards, thereby improving the integration of the laser radar. In addition, the sensing circuit is disposed on the first circuit board C1, and the sensing signal can be transmitted through the board to provide the part of the first circuit board C1 that controls the laser emitting circuit or the laser receiving circuit, which is conducive to simplifying the connection design between circuits.

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

[0072] Fig. 9 FIG. 1 shows an example diagram of the structure of the internal components of a laser radar provided in some embodiments of the present disclosure. Fig. 9, the optical system of the laser radar may include an optomechanical structure 270, and the optomechanical structure 270 is arranged above the rotating frame 240. In some embodiments, the laser radar may also include a transmitting circuit board and a receiving circuit board. The laser transmitting circuit may be arranged in whole or in part on the transmitting circuit board, and the laser receiving circuit may be arranged in whole or in part on the receiving circuit board. In some embodiments, the laser radar may also include a transmitting and receiving circuit board, and the laser transmitting circuit and the laser receiving circuit may be arranged in whole or in part on the transmitting and receiving circuit board. In some embodiments, the laser transmitting circuit or the laser receiving circuit may be arranged in whole or in part on the first circuit board C1. The laser transmitting circuit board, the laser receiving circuit board, or the laser transmitting and receiving circuit board may be arranged on the optomechanical structure 270 or on the rotating frame 240. Arranging both the second control circuit and the third control circuit on the circuit board C1 can make the second control circuit and the third control circuit closer to the laser transmitting circuit and the laser receiving circuit, which is conducive to simplifying the connection design between the control circuit and the controlled part.

[0073] In some embodiments, the second circuit board C2 includes a first control circuit. The second circuit board C2 may be provided with an interface circuit for external communication to transmit point cloud data to the outside; or, it may receive control information, upgrade instructions, upgrade packages, or configuration parameters from a vehicle controller or a remote server. For example, the second circuit board C2 includes a first control circuit and an interface circuit, and the interface circuit may communicate with a data receiving device to transmit point cloud data to the data receiving device. In other embodiments of the present disclosure, the interface circuit and the first control circuit may be provided on different circuit boards. In this way, the lower warehouse space of the laser radar may be flexibly utilized, and the position of the circuit board may be reasonably arranged as needed. For example, the laser radar may also include a third circuit board, and the third circuit board may be provided on the base 210. The third circuit board includes an interface circuit, and the interface circuit may communicate with a data receiving device to transmit point cloud data to the data receiving device; or, it may receive control information, upgrade instructions, upgrade packages, configuration parameters, etc. from a vehicle controller or a remote server.

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

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

[0076] The magnetic part refers to, for example, an element, component, or object that can generate a magnetic field, or respond to a magnetic field, or store energy in a magnetic field; the magnetic part may be magnetic when powered on, or may be made of a magnetic material. The disclosed embodiment does not limit the structure or type of the magnetic part. For example, the magnetic part may 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 part 291 includes, for example, a magnet; the second magnetic part 292 includes, for example, a coil structure. The coil structure can generate a magnetic field after power is applied. The magnetic field changes by changing the magnitude or direction of the current flowing through the coil. For example, a fourth control circuit is provided on the first circuit board C1 or the second circuit board C2, and the magnitude or direction of the current flowing through the coil is changed by the fourth control circuit; the magnetic field of the magnet interacts with the magnetic field of the coil structure, driving the coil structure and the magnet to rotate relative to each other. Figure 3 The first magnetic member 291 and the second magnetic member 292 in the figure are only for illustration, and the disclosed embodiment does not impose any restrictions on the structure of the first magnetic member 291 and the second magnetic member 292. For example, the first magnetic member 291 includes, for example, an integrally formed permanent magnet or a segmented permanent magnet. The first magnetic member 291 also includes a coil structure, which may include a core and a coil wound on the core, and the core is used to increase the magnetic flux of the magnetic field generated after the coil is energized; or the coil structure may include a coreless structure. The use of a permanent magnet in the first magnetic member 291 can reduce the number of electronic devices of the laser radar and reduce the cost and volume of the laser radar. The disclosed embodiment does not impose any restrictions on the shape of the first magnetic member 291 and the second magnetic member 292, which may be regular or irregular shapes, and their contours include, for example, circular, arc-shaped, rectangular, elliptical, or runway-shaped. The disclosed embodiment does not impose any restrictions on the number of the first magnetic member 291 and the second magnetic member 292, which may be one or more, and the number of the first magnetic member 291 and the number of the second magnetic member 292 may be the same or different.

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

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

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

[0080] In some embodiments of the present disclosure, the first circuit board C1 can be arranged on the side of the rotating frame 240 away from the base 210. The side of the rotating frame 240 away from the base 210 has no main shaft, and the first circuit board C1 can have more space for use, and can achieve a larger circuit board area, which is convenient for the layout of the circuit on the circuit board. For example, please refer to Figure 7 and Figure 8The first circuit board C1 is disposed on a side of the carrying portion 241 away from the extending portion 242 , and the second magnetic member 292 is disposed on a side of the carrying portion 241 facing the extending portion 242 . Figure 7 and Figure 8 The structure of the rotating rack 240 shown is only an example, and the embodiment of the present disclosure does not impose any limitation on the shape or structure of the rotating rack 240. For example, the vertical cross-section of the rotating rack 240 may be T-shaped, trapezoidal, or rectangular.

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

[0082] In some embodiments of the present disclosure, the spindle 230 and the base 210 may be designed in an integrated manner; for example, the base 210 and the spindle 230 are integrally formed. In this way, the number of independent components of the laser radar can be reduced, and the assembly process of the laser radar can be reduced. Optionally, the spindle 230 may be designed with a slot to install a communication cable or a wireless communication device in the spindle 230 to achieve communication (for example, downlink communication) between the first circuit board C1 and the second circuit board C2.

[0083] In some embodiments of the present disclosure, the material of the bracket 243 can be plastic, for example, which can further reduce the cost of the laser radar. In addition, the use of plastic is conducive to the lightweight design of the rotating frame 240, which can reduce the requirements for the supporting 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 rotating frame 240 can be made of other lighter materials, such as aluminum alloy. The optomechanical structure 270 can also adopt a lightweight design. For example, some or all of the optical elements in the optomechanical structure 270 are made of plastic or other materials, and the mechanical structure is made of lighter alloy or plastic materials.

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

[0085] The second magnetic component 292 is arranged on the side of the rotating frame 240 facing the base 210, so that the center of gravity of the rotating part of the laser radar can be moved downward. Among them, the rotating part includes all parts that can rotate with the rotating frame 240 relative to the main shaft 230, such as the rotating frame 240, the optical-mechanical structure 270, the first circuit board C1, the second magnetic component 292, etc. In some embodiments, the center of gravity of the rotating part is located at a position below 2 mm above the upper end surface of the bearing 2011. Optionally, the center of gravity of the rotating part is located below the upper end surface of the bearing 2011. For example, the center of gravity of the rotating part of the laser radar is located above the upper end surface of the bearing 2011, and the height difference with the upper end surface of the bearing 2011 is less than or equal to 1 mm. This structural design can achieve the effect of short lever arm and small bending moment, so that the rotating frame 240 of the laser radar is more stable during rotation. The above-mentioned rotational connection between the rotating frame 240 and the main shaft 230 is only an example. The rotating frame 240 can also be rotationally connected to the main shaft 230 through one bearing or more bearings. The embodiment of the present disclosure does not impose any restriction on the number of bearings, and the number of bearings can be set according to actual assembly needs.

[0086] In some embodiments of the present disclosure, when the rotating frame 240 is assembled with the main shaft 230 through the bearing, the outer ring of the bearing can be fixed to the rotating frame 240 by gluing, interference fit, or gluing combined with interference fit to reduce the micro-wear between the bearing and the bearing seat. Optionally, the rotating frame 240 can be used as a bearing seat and can also support the second magnetic member 292, so as to diversify the functions of the rotating frame 240, reduce the number of components of the laser radar, reduce the cost of the laser radar, and facilitate the miniaturization of the laser radar.

[0087] The disclosed embodiments do not limit the materials of the base 210, the spindle 230, and the rotating frame 240. The materials of these structures can be the same or different, and can be metal or non-metal, or partially metal and partially non-metal. In some embodiments of the present disclosure, the main structure of one or more of the rotating frame 240, the spindle 230, and the base 210 can be made of metal. For example, the metal material can be selected from alloy materials, such as but not limited to die-cast aluminum alloy, zinc alloy, or magnesium alloy. For example, the material of the rotating frame 240 can be selected from aluminum alloy, which is conducive to the lightweight of the rotating frame 240 and reduces the rigidity requirements of the spindle 230. In some embodiments, when the main parts of the rotating frame 240, the spindle 230, and the base 210 are all made of metal, the heat generated on the first circuit board C1 can be conducted to the base 210 through the metal parts of the rotating frame 240 and the spindle 230. In addition, the rotating frame 240 can also realize convection heat exchange with the air through the rotation of the rotating frame 240 to achieve good heat dissipation of the first circuit board C1.

[0088] In some embodiments of the present disclosure, the main heat dissipation area (hereinafter referred to as the first area) of the first circuit board C1 is also coated with thermally conductive adhesive. The thermally conductive adhesive can be used to conduct the heat of the first area to further enhance the heat dissipation effect of the first circuit board C1. The first area of ​​the first circuit board C1, for example, includes an area corresponding to a power-consuming element (such as a chip, a laser) on the first circuit board C1, and the heat generated by the power-consuming element can be quickly conducted to the rotating frame 240 through the thermally conductive adhesive. In the embodiments of the present disclosure, there is no limitation on the number of areas coated with thermally conductive adhesive, the area size or shape of the areas coated with thermally conductive adhesive, etc., and they can be set according to actual heat dissipation requirements.

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

[0090] The fixing member 202 may be an integrated structure or a segmented structure. 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 290 and the wireless power supply device 280. Fig.10FIG. 1 shows an example of installing a first magnetic member on a fixing member provided in some embodiments of the present disclosure. Fig.10 The fixing member 202 is disposed on the base 210 and includes at least two fixing parts, and three fixing parts are taken as an example in the figure. At least two fixing parts can be disposed on the base 210 at intervals along the circumference of the main shaft 230 and are disposed around the main shaft 230. The fixing part can extend along the axial direction of the main shaft 230 toward the rotating frame 240. The first magnetic member 291 can be fixed to the top of the at least two fixing parts. Fig.10 The number of the fixing parts is only an example, and the embodiment of the present disclosure does not impose any limitation on the number of the fixing parts, and the number of the fixing parts can be one, two, four or more, as long as the first magnetic member 291 can be fixed. In some other embodiments, the bracket 243 for mounting the second magnetic member 292 can be fixed to the fixing part.

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

[0092] In some embodiments of the present disclosure, the fixing portion can provide support for the magnetic member of the driving device in more than one direction to ensure the stability of the installation. Fig.11 FIG. 1 shows an example of a partial cross-section of a fixing portion provided in some embodiments of the present disclosure. Figure 6 and Fig.11 , the fixing part includes, for example, a first surface 2021 and a second surface 2022, the edge of the first magnetic member 291 facing the base 210 can be arranged on the first surface 2021, and the outer edge of the first magnetic member 291 is arranged on the second surface 2022. A glue groove 2023 is arranged on the fixing part, and the glue groove 2023 can be located at one or more of the following positions: on the first surface 2021, on the second surface 2022, or between the first surface 2021 or the second surface 2022. In this way, the installation stability of the first magnetic member 291 on the fixing member 202 can be increased by glue. In some other embodiments, different edges of the second magnetic member 292 or the bracket 243 can be arranged on the first surface 2021 and the second surface 2022 of the fixing part.

[0093] Fig.12 1 shows an example diagram of a structure of a base of a laser radar provided in some embodiments of the present disclosure. In some embodiments of the present disclosure, please refer to Figure 2 , Figure 3 ,and Fig.12The laser radar 200 includes a base 210 and a main shaft 230. The base 210 includes, for example, a first mounting portion 211 and a second mounting portion 212. The first mounting portion 211 is located in the outer area of ​​the base 210 and is used to mount the light shield 220 of the laser radar 200. The second mounting portion 212 is located inside the first mounting portion 211. Fig.10 and Fig.12 The first mounting portion 211 is provided with a sealing groove G, the sealing groove G surrounds the second mounting portion 212 , and a first sealing member 203 is provided in the sealing groove G. The main shaft 230 is provided on the second mounting portion 212 , and the main shaft 230 protrudes from the base 210 .

[0094] The above laser radar is designed with the main axis 230 protruding from the base 210, which reduces the height of the first mounting portion 211, can reduce the cost of the base 210, and facilitate the assembly of the internal components of the laser radar, thereby reducing costs and improving production efficiency.

[0095] Referring to the description of the above embodiment, a rotating frame 240 may be provided on the main shaft 230, and the rotating frame 240 is rotatably connected to the main shaft 230. The main shaft 230 is provided on the second mounting portion 212 of the base 210. Along the height direction of the base 210, the main shaft 230 protrudes from the first mounting portion 211 and the second mounting portion 212 of the base 210. It can facilitate the installation of internal components of the laser radar, such as the installation of components such as the rotating frame 240, the first magnetic member 291, the second magnetic member 292, and the support member 250. By lowering the height of the base 210, the interference of the base 210 during the installation process can be reduced, making the installation of the internal components of the laser radar more convenient, and the assembly more convenient, simple, and quick.

[0096] The light shield 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 shield 220 can be installed on the first mounting portion 211, and the light shield 220 can protect the internal components of the laser radar.

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

[0098] In some embodiments of the present disclosure, the height of the first mounting portion 211 is less than or equal to the first threshold. The height of the first mounting portion 211 is relatively low, which can reduce the shielding of the second mounting portion 212 by the first mounting portion 211, facilitate the installation of the internal components of the laser radar, simplify the assembly of the laser radar, and improve the assembly efficiency; on the other hand, it can reduce the cost of the laser radar. In some embodiments of the present disclosure, the height of the second mounting portion 212 is less than or equal to the first threshold. The height of the second mounting portion 212 is relatively low, which can reduce the thickness of part of the base 210, thereby reducing the cost of the base 210. In some embodiments of the present disclosure, the height of the first mounting portion 211 and the second mounting portion 212 are both less than or equal to the first threshold. The heights of the first mounting portion 211 and the second mounting portion 212 are both set relatively low, which can reduce the overall thickness of the base 210, thereby reducing the cost of the base 210; and realize the overall flattening design of the base 210, which is convenient for the installation of the internal components of the laser radar. For example, the first threshold includes, for example, 20 mm, that is, 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. The value of the first threshold value may also include, for example, 25 mm, 18 mm, 15 mm, or 12 mm.

[0099] The height of the first mounting portion 211 and the second mounting portion 212 may 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 the second threshold. The value of the second threshold may include, for example, 10 mm, 8 mm, 5 mm, 3 mm, or 2 mm. For example, the height of the second mounting portion 212 is slightly lower than the height of the first mounting portion 211, forming a groove in the base 210.

[0100] In some embodiments of the present disclosure, the material of the base 210 includes metal, for example, which can provide greater support strength. The laser radar can reduce the cost of the base 210 by thinning the base 210 as a whole. The material of the light shield 220 includes plastic, for example, which can reduce the overall cost.

[0101] In some embodiments of the present disclosure, the shape of the sealing groove G matches that of the first sealing member 203. The shape-matched sealing groove G and the first sealing member 203 can make the first sealing member 203 evenly pressurized in the sealing groove G, prevent sealing failure due to uneven pressure, and improve the stability of the seal. The first sealing member 203 can be installed more easily, and is also convenient for disassembly and replacement. The embodiments of the present disclosure do not impose any restrictions on the material of the first sealing member 203, and the material of the first sealing member 203 can be, for example, a corrosion-resistant flexible material, such as rubber. The embodiments of the present disclosure do not impose any restrictions on the shape of the first sealing member 203, and do not impose any restrictions on the shape of the sealing groove G, which can include, for example, regular or irregular shapes, such as circular, elliptical, rectangular, polygonal, or runway shapes.

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

[0103] Please continue to refer to Fig.10 and Fig.12 In some embodiments of the present disclosure, the side wall of the first mounting portion 211 is further provided with a first opening S1. The first opening S1 can facilitate the connection of the circuit inside the laser radar with the outside through a cable, so as to realize the communication between the laser radar and the outside, or to power the laser radar. For example, a circuit board is installed on the second mounting portion 212, and the circuit board includes, for example, the second circuit board C2 or the third circuit board in the above embodiment. The first end of the cable L is electrically connected to the circuit board (such as Fig.12 As shown in the dashed box A1 , the second end of the cable L extends to the outside of the base 210 through the first opening S1 .

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

[0105] Please continue to refer to Fig.10 , Fig.12 and Fig.13 In some embodiments of the present disclosure, the laser radar may further include a second seal 204, and the second seal 204 has a through hole 2041. The first mounting portion 211 also includes a containing structure 211-1, and the containing structure 211-1 is protrudingly arranged at the first opening S1; and the containing structure 211-1 has a containing groove H and a second opening S2. The second opening S2 is arranged opposite to the first opening S1, and the second seal 204 is arranged in the containing groove H. The first end of the cable L passes through the second opening S2, the through hole 2041, and the first opening S1. The first end of the cable L can be grounded at the second mounting portion 212 (such as Fig.12 The second sealing member 204 can seal the first opening S1 when the cable L passes through the first opening S1, thereby sealing the connection between the cable L and the laser radar, and further preventing external dust, moisture, or other contaminants from entering the interior of the laser radar.

[0106] The embodiment of the present disclosure does not impose any limitation on the shape of the second sealing member 204 . For example, the second sealing member 204 matches the shape of the receiving groove H to facilitate installation. Fig.14 and Fig.15 Several other exemplary sealing structures provided in some embodiments of the present disclosure are shown. For example, the contour shape of the second sealing member 204 may include a regular or irregular shape, such as a circle, an ellipse, a square, or an irregular shape convex to one side.

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

[0108] In some embodiments of the present disclosure, the cable L is interference-fitted with the through hole 2041, and the second seal 204 is interference-fitted with the receiving groove H. The interference fit between the cable L and the through hole 2041 can make the cable L and the second seal 204 fit tightly, thereby improving the sealing effect between the cable L and the second seal 204. The interference fit between the second seal 204 and the receiving groove H can make the second seal 204 have a certain pressure in the receiving groove H, so that the second seal 204 can be more firmly fixed in the receiving groove H, and the second seal 204 will not be displaced due to vibration or mechanical movement, thereby maintaining the stability of the seal and reducing wear.

[0109] In some embodiments of the present disclosure, the receiving groove H is connected to the sealing groove G. The first seal 203 and the second seal 204 can be integrally formed. In this way, the first seal 203 and the second seal 204 can be easily installed as one piece. The first seal 203 and the second seal 204 are integrally formed, which can not only reduce the manufacturing process of the seal, but also reduce the complexity of the assembly process and improve the assembly efficiency. In addition, the integral molding of the two seals can make the joints between the seals tighter and reduce the risk of poor sealing.

[0110] In some embodiments of the present disclosure, please continue to refer to Figure 2 and Fig.12 The first mounting portion 211 includes a main body 211-2 and a plurality of flanges 211-3. The main body 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 211-2. The plurality of flanges 211-3 are arranged at circumferential intervals on the main body 211-2. The main body 211-2 is arranged around the second mounting portion 212. The sealing groove G is arranged on the main body 211-2. The bottom of the light mask 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 211-2 and can be pressed above the sealing groove G to press the first sealing member 203 to achieve sealing between the light mask 220 and the base 210. A plurality of connecting parts 222 are arranged on a plurality of flanges 211-3, and the connecting parts 222 and the flanges 211-3 can be fixedly connected by bolts or clamping. After the light shield 220 is fastened to the base 210, the abutting part 221 squeezes the first seal 203. A sealing effect between the light shield 220 and the base 210 can be achieved. Optionally, the first seal 203 slightly protrudes from the sealing groove G. In this way, a better sealing effect can be achieved. The embodiment of the present disclosure does not limit the number of flanges 211-3. Four are taken as an example in the figure. In fact, more or fewer flanges 211-3 may be included. For example, the number of flanges 211-3 may include two, three, four, or more. The setting of the flange can facilitate the installation of the light shield.

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

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

[0113] An embodiment of the present disclosure also provides a vehicle, comprising a connecting device and a laser radar provided by any of the above embodiments, wherein the laser radar is installed on the vehicle via the connecting device.

[0114] In this disclosure, unless otherwise clearly specified and limited, ordinal numbers, such as "first", "second", etc., are only used to distinguish and describe related objects, and cannot be understood as indicating or implying the relative importance or order between related objects. In addition, ordinal numbers do not represent the number of related objects. For example, "first laser radar" may include one laser radar, or multiple laser radars. "Multiple" includes two or more, and other quantifiers are similar.

[0115] The terms "or" and "and / or" in the present disclosure are used to describe the relationship between associated objects, which represents non-exclusive inclusion. For example, "A and / or B" and "A or B" may include: "A alone", "B alone", or "A and B", where "A" and "B" may include a single object or multiple objects. For another example, "A, B and / or C", "A, B or C" and "A, B and C" may include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", where "A", "B" and "C" may include a single object or multiple objects. In addition, " / " in the present disclosure is used to represent the "or" relationship between the previous and next associated objects. In the present disclosure, "at least one of A or B" and "one or more of A and B" have the same meaning as the above "A or B", and "one or more of A, B and C" and "at least one of A, B or C" have the same meaning as the above "A, B or C". "One or more of A, B and C" has the same meaning as the above "A, B or C".

[0116] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A laser radar, characterized in that: include: Base; A main shaft is arranged on the base; A rotating frame, rotatably connected to the main shaft; A support member, the bottom of which is disposed on the base and extends toward the rotating frame; The sensor comprises an interference element and a sensing element, wherein the interference element is arranged on the support member, and the sensing element is arranged on the rotating frame. When the rotating frame rotates relative to the main axis, the interference element interferes with the sensing of the sensing element and changes the output signal of the sensing element.

2. The laser radar according to claim 1, characterized in that: The interference element includes an encoder, the encoder includes a plurality of code tracks, and the plurality of code tracks are circumferentially arranged on the top of the support member; the sensing element includes a photoelectric sensing element.

3. The laser radar according to claim 2, characterized in that: The encoder and the support member are integrally formed.

4. The laser radar according to claim 2 or 3, characterized in that: The rotating frame is provided with an opening, the sensing element is disposed in the opening, and one end of the sensing element extends in the opening toward the supporting member.

5. The laser radar according to any one of claims 1 to 4, characterized in that: Also included is a wireless power supply device, the wireless power supply device comprising a transmitting coil and a receiving coil: The transmitting coil is arranged on the supporting member, and the receiving coil is arranged on the rotating frame; Wherein, the transmitting coil and the receiving coil are arranged opposite to each other along the radial direction of the main axis.

6. The laser radar according to claim 5, characterized in that: Also includes: A first circuit board is disposed on the rotating frame, and the receiving coil is electrically connected to the first circuit board; The second circuit board is arranged on the base, and the transmitting coil is electrically connected to the second circuit board.

7. The laser radar according to claim 6, characterized in that: The first circuit board also includes a sensor circuit electrically connected to the sensing element.

8. The laser radar according to any one of claims 5 to 7, characterized in that: The transmitting coil is wound around the outer side wall of the supporting member.

9. The laser radar according to any one of claims 5 to 8, characterized in that: The rotating frame includes an extension portion, and the extension portion extends toward the base; The receiving coil is wound around the outer side wall of the extending portion.

10. The laser radar according to claim 9, characterized in that: Also includes: A magnetic structural member, disposed on the extension portion; The receiving coil is wound around the outer wall of the magnetic structure.

11. The laser radar according to any one of claims 1 to 10, characterized in that: Also includes: A driving device is configured to drive the rotating frame to rotate, the driving device comprises a first magnetic member and a second magnetic member, the first magnetic member is fixedly arranged relative to the base, the second magnetic member is arranged on the rotating frame, and under the action of a magnetic field, the second magnetic member rotates relative to the first magnetic member; Alternatively, the second magnetic member is fixedly arranged relative to the base, and the first magnetic member is arranged on the rotating frame, and under the action of the magnetic field, the first magnetic member rotates relative to the second magnetic member.

12. The laser radar according to claim 11, characterized in that: The second magnetic member is arranged on the inner side or the outer side of the supporting member.

13. A carrier, characterized in that: include: Connecting device; The laser radar as described in any one of claims 1 to 12 is installed on the vehicle through the connecting device.

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