Laser radar

Abstract

The utility model provides a laser radar which comprises a shell, a laser receiving and transmitting assembly, a reflection unit, a galvanometer unit and a main control circuit board assembly, and the laser receiving and transmitting assembly, the reflection unit, the galvanometer unit and the main control circuit board assembly are all arranged in the shell. The laser transmit-receive assembly comprises a transmit-receive lens module, a plurality of laser units and a plurality of detector units. The transmit-receive lens module comprises a transmit-receive lens shell and a plurality of transmit-receive lens groups arranged in the transmit-receive lens shell. And the main control circuit board assembly is fixed on the transceiving lens shell. According to the laser radar, the receiving and transmitting lens groups are arranged in the receiving and transmitting lens shell, and the main control circuit board assembly is fixed on the receiving and transmitting lens shell, so that a fixed connection point of the main control circuit board assembly does not need to be additionally arranged on the base, and the overall structure is high in integration level and compact in structure; the transmit-receive lens module is used as an assembly main body assembly after being assembled, thereby increasing the assembly operation space and facilitating the installation.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular, to a lidar. Background Art

[0002] A lidar is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting laser beams. Its working principle is to first emit a detection laser beam towards the target, and then compare the received signal reflected from the target with the emitted signal and perform appropriate processing to obtain information about the target, such as parameters like target distance, azimuth, altitude, speed, attitude, and even shape. In recent years, with the booming development of the driverless (including autonomous vehicles, AGVs, UAVs, etc.) market, the demand for lidars has been increasing day by day.

[0003] The existing lidar uses the base of the housing as the installation base, and the internal multi-channel laser transceiver optical paths and circuit board assemblies for control are directly fixed on the base. In this way, not only does it make the structure of the lidar less compact, but it also increases the assembly difficulty due to the limited operation space for assembly. Summary of the Invention

[0004] To solve the existing technical problems, this application provides a lidar that can reduce the assembly difficulty of the lidar and reduce its volume.

[0005] To achieve the above object, the technical solution of the embodiment of this application is realized as follows:

[0006] The embodiment of this application provides a lidar, including a housing, a laser transceiver assembly, a reflection unit, a galvanometer unit, and a main control circuit board assembly. The laser transceiver assembly, the reflection unit, the galvanometer unit, and the main control circuit board assembly are all arranged inside the housing. The laser transceiver assembly includes a transceiver lens module, a plurality of laser units, and a plurality of detector units. The transceiver lens module includes a transceiver lens housing and a plurality of groups of transceiver lens groups arranged inside the transceiver lens housing. The main control circuit board assembly is fixed on the transceiver lens housing.

[0007] In one embodiment, the main control circuit board assembly includes a main control circuit board, an analog-to-digital conversion board, and a main control circuit board bracket that are sequentially stacked and connected into a whole from top to bottom. The main control circuit board bracket is fixed on the transceiver lens housing.

[0008] In one embodiment, a plurality of screw holes for connecting screws to pass through are opened on the main control circuit board. Copper columns are provided on the analog-to-digital conversion board corresponding to the screw holes. Copper column sleeves are provided on the main control circuit board bracket corresponding to the copper columns. The connecting screws pass through the screw holes and are threadedly engaged with the copper columns. The copper columns have threads and can extend into the corresponding copper column sleeves to form a threaded connection.

[0009] In one embodiment, the main control circuit board bracket includes a support plate and support feet extending downward from both side edges of the support plate, and the copper column sleeve is fixed on the support plate; fixing feet are provided at the lower portions of the support feet.

[0010] The transceiver lens housing includes a transceiver lens seat and a transceiver lens cover, and the two are buckled to form a storage cavity for multiple groups of the transceiver lens groups. A circuit board bracket mounting hole is formed on the top surface of the transceiver lens seat, and the main control circuit board bracket is fixed to the transceiver lens seat by a fastener passing through the fixing foot and locking into the circuit board bracket mounting hole.

[0011] In one embodiment, the emission optical axis and the reception optical axis of each group of the transceiver lens groups are arranged in parallel; the emission optical axes and the reception optical axes of all the transceiver lens groups are parallel to each other and are located in the same plane.

[0012] In one embodiment, a galvanometer mounting bracket for mounting the galvanometer unit is provided on the top surface of the transceiver lens housing.

[0013] In one embodiment, the reflection unit includes a front reflection mirror and an integral reflection mirror bracket, and multiple front reflection mirrors are mounted on the integral reflection mirror bracket; multiple reflection mirror bracket lugs are provided on the integral reflection mirror bracket, and the reflection mirror bracket lugs are used to mount the reflection unit to the transceiver lens housing, and the positions of the reflection mirror bracket lugs in the vertical direction are higher than the lowest point of the integral reflection mirror bracket.

[0014] In one embodiment, the housing includes an upper cover and a base, and the upper cover and the base are buckled to form a hollow cavity.

[0015] The upper cover includes a top plate, and a first heat conducting member is provided on the inner surface of the top plate, and the first heat conducting member is used to contact the tops of the electronic components of the main control circuit board assembly.

[0016] And / or, the base includes a back plate, and a second heat conducting member is provided on the inner surface of the back plate, and the second heat conducting member is used to contact the laser unit and / or the detector unit.

[0017] In one embodiment, a plurality of transceiver component mounting posts are provided on the bottom plate of the base, and corresponding transceiver component fixing holes are formed on the transceiver lens housing, and the transceiver component fixing holes are matched with the transceiver component mounting posts and locked by fasteners.

[0018] In one embodiment, it further includes a driving circuit board assembly and a power supply circuit board assembly. The driving circuit board assembly and the power supply circuit board assembly are respectively fixed on opposite side walls of the base. The driving circuit board assembly includes a driving circuit board and a driving circuit board bracket, and the driving circuit board is fixed on the side plate of the base through the driving circuit board bracket. The power supply circuit board assembly includes a power supply circuit board and a power supply socket, and the power supply circuit board and the power supply socket are respectively fixed on the inner and outer sides of the other side plate of the base.

[0019] The lidar of the present application has at least the following beneficial effects: In the lidar of the present application, multiple groups of transceiver lens groups are arranged in the transceiver lens housing of the transceiver lens module, and the main control circuit board assembly is fixed on the transceiver lens housing. This not only eliminates the need to additionally set fixed connection points for the main control circuit board assembly on the base, but also makes the overall structure have a high integration degree and a compact structure. After the transceiver lens module is assembled, it serves as an assembled main body component. The main control circuit board assembly can be externally installed on the transceiver lens housing and then installed on the base, which increases the assembly operation space and is more convenient for installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a perspective view of the lidar according to an embodiment of the present application;

[0021] Figure 2 is Figure 1 a perspective view of the lidar from another angle in

[0022] Figure 3 is Figure 1 an exploded perspective view of the lidar in

[0023] Figure 4 is Figure 1 a further exploded perspective view of the lidar in

[0024] Figure 5 is an exploded perspective view of the housing of the lidar according to an embodiment of the present application;

[0025] Figure 6 is Figure 5 an exploded perspective view of the housing from another angle in

[0026] Figure 7 is Figure 4 an exploded perspective view of the main control circuit board assembly in

[0027] Figure 8 is Figure 3 a perspective view of the laser transceiver assembly in

[0028] Figure 9 is Figure 8 a perspective view of the laser transceiver assembly from another angle in

[0029] Figure 10 is Figure 8 exploded perspective view of the laser transceiver assembly in

[0030] Figure 11 is Figure 9 exploded perspective view of the laser transceiver assembly in

[0031] Figure 12 is Figure 10 exploded perspective view of the transceiver lens module in

[0032] Figure 13 is Figure 11 exploded perspective view of the transceiver lens module in

[0033] Figure 14 is Figure 8 bottom view structure diagram of the transceiver lens housing of the transceiver lens module after being sectioned along the plane passing through the emission optical axis and the reception optical axis in

[0034] Figure 15 is Figure 4 exploded perspective view of the reflection unit in

[0035] Figure 16 is Figure 15 exploded perspective view of the reflection unit from another angle in

[0036] Figure 17 is the top view structure diagram of the reflection unit and the laser transceiver assembly in the disassembled state.

[0037] The reference numerals of each component in the figure are as follows:

[0038] housing 100;

[0039] upper cover 110, base 120;

[0040] first threaded hole 111, top plate 112, first side plate 113, optical window 114, convex rib 115;

[0041] protrusion 1121, first heat dissipation structure 1122, thickness reduction depression 1123;

[0042] second threaded hole 121, bottom plate 122, second side plate 123, back plate 124, groove 125, mounting foot 126;

[0043] threaded hole portion 1211, optical hole 1212;

[0044] transceiver assembly mounting post 1221;

[0045] plug connector mounting hole 1231;

[0046] groove portion 1241, second heat dissipation structure 1242;

[0047] Laser transceiver module 200;

[0048] Laser unit 210, transceiver lens module 220, detector unit 230, laser bracket 240; transceiver lens group 221;

[0049] Fast-axis collimating mirror 2211, first slow-axis collimating mirror 2212, second slow-axis collimating mirror 2213, central transmissive mirror 2214, total reflection mirror 2215, first focusing lens 2216, second focusing lens 2217;

[0050] Transceiver lens housing base 222;

[0051] First partition wall groove 2221, second partition wall groove 2222;

[0052] Detector mounting bracket 2251, transceiver module fixing hole 2252, reflection unit mounting lug 2253 (wherein, mirror bracket fastening hole 22531), galvanometer mounting bracket 2254, circuit board bracket mounting hole 2255;

[0053] Transceiver lens housing cover 223;

[0054] First partition wall rib 2231, second partition wall rib 2232;

[0055] Reflection unit 300;

[0056] Front reflection mirror 310, integral mirror bracket 320, mirror bracket fastener 330;

[0057] Mirror bracket lug 321, mirror backing plate 322, bracket side plate 323, face connecting plate 324, bracket bottom plate 325;

[0058] Mirror bracket mounting hole 3211;

[0059] Light passing port 3221, dispensing hole 3222;

[0060] Galvanometer unit 400;

[0061] MEMS galvanometer 410, galvanometer control circuit board 420, galvanometer frame 430;

[0062] Circuit board assembly 500;

[0063] Main control circuit board bracket 510, main control circuit board 520, analog-to-digital conversion board 530, drive circuit board 540, power supply circuit board 550, drive circuit board bracket 560, power supply socket 570, connecting screw 580;

[0064] Support plate 511, support feet 512, copper column sleeve 513, fixed feet 514;

[0065] Screw holes 521;

[0066] Copper columns 531. Specific implementation mode

[0067] The technical solution of the present application will be further elaborated in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit the implementation of this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0069] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application. In the description of this application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0070] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0071] As described above, in order to simplify the assembly of the lidar and reduce the volume of the lidar, this application provides a lidar, which includes a housing, a laser transceiver assembly, a reflection unit, a galvanometer unit, and a main control circuit board assembly. The laser transceiver assembly, the reflection unit, the galvanometer unit, and the main control circuit board assembly are all arranged in the housing; the laser transceiver assembly includes a transceiver lens module, a plurality of laser units, and a plurality of detector units. The transceiver lens module includes a transceiver lens housing and multiple groups of transceiver lens groups arranged in the transceiver lens housing; the main control circuit board assembly is fixed on the transceiver lens housing.

[0072] Please refer to Figures 1 to 3, a lidar according to an embodiment of the present application includes a housing 100, a laser transceiver assembly 200, a reflection unit 300, a galvanometer unit 400, and a circuit board assembly 500. The laser transceiver assembly 200, the reflection unit 300, the galvanometer unit 400, and the circuit board assembly 500 are all disposed within the housing 100.

[0073] The housing 100 includes an upper cover 110 and a base 120. The upper cover 110 is snapped onto the base 120 from above to form a hollow cavity. The laser transceiver assembly 200 is fixed to the base 120 and is used to provide a scanning laser beam and receive an echo beam reflected by a sensed target object. The reflection unit 300 is fixed to the front end of the laser transceiver assembly 200. The reflection unit 300 is disposed relative to the laser transceiver assembly 200 and the galvanometer unit 400 to achieve the steering propagation of the laser beam between the laser transceiver assembly 200 and the galvanometer unit 400. The galvanometer unit 400 is fixed to the upper front end of the laser transceiver assembly 200 and is used to deflect the laser beam to achieve laser scanning. The circuit board assembly 500 is fixed to the laser transceiver assembly 200. The circuit board assembly 500 is used to control the operation of the entire lidar. After the received signal reflected from the target object is compared with the transmitted signal and appropriately processed, the contour, distance, azimuth, speed, etc. of the target object are calculated.

[0074] Please refer to Figure 4 , Figure 5 and Figure 6 , the upper cover 110 and the base 120 of the housing 100 are assembled and adhesively fixed to form a closed structure. First threaded holes 111 are provided on the contact surface between the upper cover 110 and the base 120, and second threaded holes 121 are provided on the contact surface between the base 120 and the upper cover 110. The housing 100 further includes connection bolts (not shown), and the outer diameter of the connection bolts matches the inner diameter of the first threaded holes 111. The upper cover 110 and the base 120 are threadedly connected to the first threaded holes 111 through the connection bolts passing through the second threaded holes 121, further enhancing the connection stability between the two.

[0075] The upper cover 110 includes a top plate 112, first side plates 113, and a light window 114. The two side edges of the top plate 112 respectively extend downward to form the first side plates 113. The light window 144 is opened at the front end of the upper cover 110 and is respectively connected to the front edge of the two first side plates 113 and the top plate 112. The first side plates 113 are triangular. Two sides of the triangle are respectively connected to the top plate 112 and the light window 114, and a part of the third side of the triangle forms a contact surface connected to the base 120. The light window 144 is provided with a light window glass. The light window glass can be, for example, BF33 glass (borosilicate glass), which has high transmittance to the laser of a special wavelength band emitted by the laser and is not transparent to the naked eye.

[0076] The base 120 includes a bottom plate 122, second side plates 123, and a back plate 124. Two second side plates 123 extend upward from both sides of the bottom plate 122, and the back plate 124 is connected between the rear edges of the two second side plates 123. Multiple transceiver assembly mounting posts 1221 are formed on the upper surface of the bottom plate 122 for mounting and fixing the laser transceiver assembly 200. The second side plates 123 are also triangular and are arranged corresponding to the first side plates 113. A plug connector mounting hole 1231 is provided on one of the second side plates 123.

[0077] After the upper cover 110 and the base 120 are assembled, the inclined lower edge of the first side plate 113 contacts the inclined upper edge of the second side plate 123, the upper edge of the back plate 124 contacts the rear edge of the top plate 112, the lower edge of the optical window 114 contacts the front edge of the bottom plate 122, and the contact surfaces of the upper cover 110 and the base 120 are inclined relative to the top plate 112 and the bottom plate 122.

[0078] To make the assembly of the upper cover 110 and the base 120 more tight and achieve a higher protection level, a rib 115 extends downward in the middle of the contact surface of the upper cover 110. Correspondingly, a groove 125 is formed by downward depression in the middle of the contact surface of the base 120. The shape of the groove 125 matches the shape of the rib 115, so that the sealing performance can be greatly increased during bonding. It can be understood that the positions of the rib and the groove can be swapped, that is, the groove is formed on the contact surface of the upper cover 110, and the rib is correspondingly formed on the contact surface of the base 120, which can also achieve the effect of increasing the sealing performance.

[0079] To facilitate the installation of the lidar device, 4 mounting feet 126 can also be extended outward in the plane direction of the bottom plate 122 at the four corners of the base 120. The mounting feet 126 have lateral U-shaped openings, and the whole lidar is fixed by bolts and other connecting parts.

[0080] The upper cover 110 and the base 120 of this embodiment are both made of aluminum with medium strength. For example, 6061-T6 aluminum can be selected, which has good corrosion resistance and weldability, has a good oxidation effect, and has good thermal conductivity. Due to the good thermal conductivity of aluminum, the housing 100 can dissipate heat from the heat-generating components inside the lidar, such as the high-heat components on the circuit board in the circuit board assembly 500 and the laser transceiver devices of the laser transceiver assembly 200.

[0081] Please refer to Figure 4 and Figure 7, the circuit board assembly 500 includes a main control circuit board assembly, a drive circuit board assembly, and a power supply circuit board assembly. The main control circuit board assembly includes a main control circuit board bracket 510, a main control circuit board 520, and an analog-to-digital conversion board 530. The drive circuit board assembly includes a drive circuit board 540 and a drive circuit board bracket 560. The power supply circuit board assembly includes a power supply circuit board 550 and a power supply jack 570. The main control circuit board 520 is electrically connected to the analog-to-digital conversion board 530, the drive circuit board 540, and the power supply circuit board 550. The working principles of the main control circuit board 520 and the analog-to-digital conversion board 530 can refer to the prior art, so as to control the operation of the entire lidar and calculate the contour, distance, azimuth, speed, etc. of the target object based on the signals such as the laser beam transceiver signals.

[0082] In the main control circuit board assembly, the main control circuit board 520, the analog-to-digital conversion board 530, and the main control circuit board bracket 510 are stacked in sequence from top to bottom and connected into a whole by connecting screws 580. The main control circuit board assembly is installed on the laser transceiver assembly 200. The drive circuit board assembly and the power supply circuit board assembly are respectively arranged on two opposite sides of the housing 100. Among them, the drive circuit board 540 is fixed on the second side plate 123 of the base 120 through the drive circuit board bracket 560; the power supply circuit board 550 and the power supply jack 570 are respectively fixed on the inner and outer sides of the plug connector mounting hole 1231 on the second side plate 123 of the base 120. The power supply jack 570 provides a connection with an external cable, so as to supply power to the lidar and transmit signals.

[0083] A plurality of screw holes 521 are formed on the main control circuit board 520 for the connecting screws 580 to pass through from above.

[0084] Corresponding to the screw holes 521, perforated copper posts 531 are provided at corresponding positions on the analog-to-digital conversion board 530, and copper post sleeves 513 are provided at corresponding positions on the main control circuit board bracket 510. The part of the copper post 531 higher than the upper surface of the substrate of the analog-to-digital conversion board 530 is supported between the upper main control circuit board 520 and the lower analog-to-digital conversion board 530, so as to ensure sufficient clearance therebetween. The part of the copper post 531 lower than the lower surface of the substrate of the analog-to-digital conversion board 530 has threads and can extend into the copper post sleeve 513 to form a threaded connection. The connecting screw 580 passes through the screw hole 521 from above and is threadedly engaged with the upper part of the copper post 531, and the lower part of the copper post 531 is threadedly connected to the copper post sleeve 513, realizing the installation of the main control circuit board 520 and the analog-to-digital conversion board 530 on the main control circuit board bracket 510.

[0085] Specifically, the main control circuit board bracket 510 includes a horizontally arranged support plate 511 and support feet 512 extending downward from both side edges of the support plate 511. The copper column sleeve 513 is fixed on the support plate 511. The lower part of the support foot 512 is provided with a fixing foot 514, and the fixing foot 514 has a lateral opening. After passing through the fixing foot 514 with a fastener, it can be locked onto the laser transceiver module 200. The main control circuit board bracket 510 has four fixing feet 514, and the main control circuit board bracket 510 can be fixed to the top surface of the laser transceiver module 200 through four fasteners. The fixing feet 514 on both sides of the main control circuit board bracket 510 do not extend beyond both sides of the laser transceiver module 200, making the structure compact in the width direction.

[0086] To enhance the heat dissipation effect of the lidar, a protruding portion 1121 is provided on the inner surface of the top plate 112 of the upper cover 110. The protruding portion 1121 can be integrally formed or connected to the top plate 112. The protruding portion 1121 is used to mount a first heat conducting member (not shown), and the first heat conducting member is used to contact the heating elements on the main control circuit board 520 at the top of the circuit board assembly 500. The specific position, height, and quantity of the protruding portion 1121 can be determined according to the position, height, and quantity of the specific heating elements on the main control circuit board 520. The first heat conducting member can be, for example, a heat conducting pad or a heat conducting gel, etc. By providing the first heat conducting member, the heat generated by the circuit board assembly 500 can be conducted to the top plate 112, thereby enhancing the heat dissipation effect of the lidar device.

[0087] To further enhance the heat dissipation performance of the housing 100, a first heat dissipation structure 1122 is provided on the top surface of the top plate 112. The first heat dissipation structure 1122 is an accelerated heat dissipation structure such as heat dissipation fins or an alternating structure of protruding grooves. Please refer to Figures 8 to 11 , the laser transceiver module 200 includes a plurality of laser units 210, a transceiver lens module 220, and a plurality of detector units 230. The laser units 210 and the detector units 230 are mounted in pairs at the rear end of the transceiver lens module 220. The main heat generating electronic components in the circuit board assembly 500 are arranged on the main control circuit board 520 at the top. In this way, the heat generated by the main heat generating electronic components is conducted to the top plate 112 through the corresponding first heat conducting member, and then the heat is quickly dissipated outward through the first heat dissipation structure 1122 at the top of the top plate, improving the heat dissipation performance and ensuring the working state and service life of the lidar.

[0088] To improve the heat dissipation effect of the lidar, a groove portion 1241 is provided on the inner surface of the back plate 124 of the base 120. The groove portion 1241 is used to install a second heat conducting member (not shown), and the second heat conducting member is used to contact the laser unit 210 and / or the detector unit 230 at the rear end of the laser transceiver assembly 200. The second heat conducting member can be, for example, a heat conducting pad or a heat conducting gel. By providing the second heat conducting member, the heat generated by the laser unit 210 and / or the detector unit 230 can be conducted to the back plate 124, thereby enhancing the heat dissipation effect of the lidar device. To further enhance the heat dissipation performance of the housing 100, a second heat dissipation structure 1242 is provided on the back surface of the back plate 124. The second heat dissipation structure 1242 is an accelerated heat dissipation structure such as heat dissipation fins or an alternating structure of protrusions and grooves.

[0089] Please refer to Figures 12 to 14 , the transceiver lens module 220 includes a transceiver lens housing and a plurality of groups of transceiver lens groups 221 installed in the transceiver lens housing. The transceiver lens housing includes a transceiver lens base 222 and a transceiver lens cover 223. The transceiver lens base 222 and the transceiver lens cover 223 are snapped together to form a receiving cavity for the plurality of groups of the transceiver lens groups 221, and are locked by a transceiver lens housing fastener. Each group of transceiver lens groups 221 is installed in the transceiver lens housing in such a way that the emission optical axis L1 is parallel to the reception optical axis L2 (see Figure 14 ). More specifically, the emission optical axes L1 of all the transceiver lens groups 221 in the transceiver lens module 220 are parallel to each other and the reception optical axes L2, and are located in the same plane. In this way, the plurality of groups of transceiver lens groups 221 can be arranged relatively close to each other, the lateral width can be compressed, and the transceiver lens module 220 has a flat and compact structure.

[0090] The transceiver lens base 222 has a cavity with an open bottom. The transceiver lens cover 223 is covered on the open bottom of the transceiver lens base 222 and is fastened by a plurality of optical lens housing fasteners (not shown in the figure). The transceiver lens base 222 and the transceiver lens cover 223 cooperate to form an accommodation cavity inside for installing and fixing the optical lenses of the plurality of groups of transceiver lens groups 221.

[0091] Each pair of the laser unit 210 and the detector unit 230 corresponds to a group of transceiver lens groups 221 in the transceiver lens module 220. The laser unit 210 is disposed on the emission optical axis L1 of the corresponding transceiver lens group 221 for emitting a laser beam along the emission optical axis L1. The detector unit 230 is disposed on the reception optical axis L2 of the corresponding transceiver lens group 221 for receiving the echo beam entering along the reception optical axis L2.

[0092] In the illustrated embodiment, the laser unit 210 and the detector unit 230 are arranged at the rear end of the transceiver lens module 220, and the laser unit 210 and the corresponding detector unit 230 are arranged adjacent to each other side by side. Each laser unit 210 is mounted at the rear end of the transceiver lens module 220 through a laser bracket 240 (see Figure 10 and Figure 11 ) and is fixed by adhesive bonding; each detector unit 230 is directly mounted at the rear end of the transceiver lens module 220 and is fixed by adhesive bonding.

[0093] As Figure 14 shown, each transceiver lens group 221 includes a fast-axis collimating lens 2211, a first slow-axis collimating lens 2212, a second slow-axis collimating lens 2213, a central transmissive lens 2214, a total reflection mirror 2215, a first focusing lens 2216, and a second focusing lens 2217. Among them, the fast-axis collimating lens 2211, the first slow-axis collimating lens 2212, and the second slow-axis collimating lens 2213 are sequentially arranged perpendicular to the emission optical axis L1, the central transmissive lens 2214 is arranged obliquely to the emission optical axis L1, and the emitted laser beam sequentially passes through the fast-axis collimating lens 2211, the first slow-axis collimating lens 2212, the second slow-axis collimating lens 2213, and the central transmissive lens 2214 and then emits. The total reflection mirror 2215 is parallel to the central transmissive lens 2214 and is arranged obliquely to the reception optical axis L2, the first focusing lens 2216 and the second focusing lens 2217 are sequentially arranged perpendicular to the reception optical axis L2, and the echo beam entering from the outside is reflected by the central transmissive lens 2214 to the total reflection mirror 2215, and after being reflected by the total reflection mirror 2215, it sequentially passes through the first focusing lens 2216 and the second focusing lens 2217 and then is received and sensed.

[0094] To avoid crosstalk between optical paths, a first isolation wall is provided inside the transceiver lens housing, and the first isolation wall is used to completely separate adjacent two groups of transceiver lens groups 221; a second isolation wall is also provided inside the transceiver lens housing, and the second isolation wall is used to separate the optical lenses arranged perpendicular to the emission optical axis L1 and the optical lenses arranged perpendicular to the reception optical axis L2 in the same transceiver lens group 221. That is, the first isolation wall is used to isolate the light beams of adjacent transceiver lens groups 221, and the second isolation wall is used to isolate the laser beam propagating outward along the emission optical axis L1 and the echo beam propagating inward along the reception optical axis L2 of the transceiver lens group 221.

[0095] Specifically, the transceiver lens housing base 222 is integrally formed, with a plurality of side walls formed therein. Among them, some side walls belong to the first isolation walls, which completely separate the accommodation cavities for installing two adjacent sets of transceiver lens groups 221, that is, the accommodation cavities on both sides are completely separated; some side walls belong to the second isolation walls, which separate two sets of transceiver lens groups 221 adjacent to the optical lenses arranged perpendicular to the emission optical axis L1 and the optical lenses arranged perpendicular to the reception optical axis L2 in the same transceiver lens group 221, that is, separate the fast-axis collimating lens 2211, the first slow-axis collimating lens 2212, the second slow-axis collimating lens 2213 from the first focusing lens 2216 and the second focusing lens 2217.

[0096] To further prevent crosstalk and enhance the effect of isolating light beams, the first isolation wall further includes a first isolation wall groove 2221 provided on the transceiver lens housing base 222 and a first isolation wall rib 2231 provided on the transceiver lens housing cover 223, and the first isolation wall groove 2221 cooperates with the first isolation wall rib 2231; the second isolation wall includes a second isolation wall groove 2222 provided on the transceiver lens housing base 222 and a second isolation wall rib 2232 provided on the transceiver lens housing cover 223, and the second isolation wall groove 2222 cooperates with the second isolation wall rib 2232.

[0097] The length directions of the first isolation wall groove 2221, the first isolation wall rib 2231, the second isolation wall groove 2222, and the second isolation wall rib 2232 are arranged parallel to the emission optical axis L1 and the reception optical axis L2. The positions, lengths, widths, and heights of the first isolation wall groove 2221 and the first isolation wall rib 2231 correspond equally, and the positions, lengths, widths, and heights of the second isolation wall groove 2222 and the second isolation wall rib 2232 correspond equally, making the cooperation between the transceiver lens housing cover 223 and the transceiver lens housing base 222 closer. In this way, the joint surface between the transceiver lens housing base 222 and the transceiver lens housing cover 223 is not a flat surface, thereby enhancing the effect of isolating light beams and avoiding crosstalk.

[0098] As described above, the laser transceiver assembly 200 is fixed on the base 120. To facilitate the installation of the laser transceiver assembly 200 on the base 120 after assembly, transceiver assembly mounting posts 1221 are provided at the four corners of the bottom plate 122 of the base 120, and transceiver assembly fixing holes 2252 are formed at the four corners of the transceiver lens housing base 222, as Figure 12 and Figure 13 shown. Through the cooperation of the transceiver assembly fixing holes 2252 and the transceiver assembly mounting posts 1221 and then locking with fasteners, the laser transceiver assembly 200 can be positioned on the base 120.

[0099] As described above, the main control circuit board assembly of the circuit board assembly 500 is mounted on the laser transceiver assembly 200. There are also circuit board support mounting holes 2255 on the top surface of the transceiver lens holder 222 for mounting the main control circuit board assembly of the circuit board assembly 500 to the top surface of the transceiver lens holder 222. More specifically, there are 4 circuit board support mounting holes 2255 on the top surface of the transceiver lens holder 222. The positions of the circuit board support mounting holes 2255 are close to the two side edges of the top surface of the transceiver lens holder 222. The two sides of the main control circuit board support 510 and the main control circuit board 520 and the analog-to-digital conversion board 530 thereon do not extend beyond the sides of the transceiver lens holder 222. When assembling the main control circuit board assembly, the main control circuit board support 510 can be first fixed on the transceiver lens holder 222 through the threaded fit of bolts with the circuit board support mounting holes 2255. Subsequently, the analog-to-digital conversion board 530 is fixed on the main control circuit board support 510 through the cooperation of copper posts 531 and copper post sleeves 513. Finally, the main control circuit board 520 is fixed above the analog-to-digital conversion board 530 through the threaded connection of connecting screws 580 with the copper posts 531. The four feet of the main control circuit board support 510 correspond to the circuit board support mounting holes 2255 on the top surface of the transceiver lens holder 222, and the two sides of the main control circuit board support 510 do not extend beyond the transceiver lens holder 222, making the overall structure compact.

[0100] The transceiver lens holder 222 and the transceiver lens cover 223 can be integrally formed by injection molding. Compared with the prior art in which each transceiver lens group is a separate module, the assembly process can be simplified and the number of mold openings can be reduced.

[0101] As described above, the reflection unit 300 is fixed to the front end of the laser transceiver assembly 200. More specifically, the reflection unit 300 is directly mounted on the transceiver lens module 220. There are a plurality of reflection unit mounting lugs 2253 at the front end of the transceiver lens holder 222. Each reflection unit mounting lug 2253 is provided with a reflector support fastening hole 22531. By placing the reflection unit 300 on the reflection unit mounting lug 2253 and then locking it in the corresponding reflector support fastening hole 22531 through a plurality of reflector support fasteners 330, the reflection unit 300 is fixed to the front end of the transceiver lens holder 222. The reflection unit mounting lugs 2253 horizontally extend from the middle of the front end of the transceiver lens holder 222, so that the upper end surface of the reflection unit mounting lug 2253 for mounting the reflection unit 300 has a certain distance from the bottom surface of the transceiver lens holder 222, thereby providing the movement distance required for the reflector support fastener 330 (see Figure 17 ) to be tightened in the height direction without increasing the height of the laser transceiver assembly 200.

[0102] Please refer to FIGS. 15 to Figure 17, the reflection unit 300 includes a front reflection mirror 310, an integral reflection mirror bracket 320, and a reflection mirror bracket fastener 330. A plurality of front reflection mirrors 310 are fixed on the integral reflection mirror bracket 320 and are mounted to the front end of the transceiver lens module 220 through the reflection mirror bracket fastener 330. In the illustrated embodiment, corresponding to the 4 groups of transceiver lens groups 221, the 4 front reflection mirrors 310 at different angles reflect the laser beam.

[0103] The integral reflection mirror bracket 320 is an integrally formed part, including a reflection mirror bracket lug 321, a reflection mirror backing plate 322, a face connecting plate 324, a bracket side plate 323, and a bracket bottom plate 325. Each reflection mirror backing plate 322 is used to fix a front reflection mirror 310. The edges of adjacent reflection mirror backing plates 322 are directly connected or connected through the face connecting plate 324. The outer side edge of the outer reflection mirror backing plate 322 is provided with a bracket side plate 323. A plurality of reflection mirror bracket lugs 321 are provided at intervals in the width direction of the integral reflection mirror bracket 320. The bottoms of the reflection mirror backing plate 322, the face connecting plate 324, and the bracket side plate 323 are connected as a whole through the bracket bottom plate 325.

[0104] The reflection mirror bracket lug 321 is horizontally arranged and is the installation connection part of the integral reflection mirror bracket 320. The position of the reflection mirror bracket lug 321 in the vertical direction is higher than the lowest point of the integral reflection mirror bracket 320, that is, the reflection mirror bracket lug 321 is located in the middle of the integral reflection mirror bracket 320 in the vertical direction, which can provide the movement distance required for the reflection mirror bracket fastener 330 to be tightened in the height direction, and avoid increasing the height of the reflection unit 300 and the height required for the installation of the reflection unit 300.

[0105] To facilitate the installation of the reflection unit 300, at least one reflection mirror bracket mounting hole 3211 is provided on each reflection mirror bracket lug 321, so that the reflection unit 300 can be installed at the required fixed position by passing the reflection mirror bracket fastener 330 through the reflection mirror bracket mounting hole 3211.

[0106] As described above, the reflection unit 300 is fixed to the front end of the laser transceiver assembly 200. More specifically, the reflection unit 300 is directly mounted on the transceiver lens module 220. At the front end of the transceiver lens housing base 222, there are provided a plurality of reflection unit mounting lugs 2253. Each reflection unit mounting lug 2253 is provided with a mirror holder fastening hole 22531. By placing the reflection unit 300 on the reflection unit mounting lug 2253 and then locking it to the corresponding mirror holder fastening hole 22531 through a plurality of mirror holder fasteners 330, the reflection unit 300 is fixed to the front end of the transceiver lens housing base 222. The reflection unit mounting lug 2253 extends horizontally from the middle of the front end of the transceiver lens housing base 222, so that the upper end surface of the reflection unit mounting lug 2253 for mounting the reflection unit 300 is at a certain distance from the bottom surface of the transceiver lens housing base 222, thereby providing the movement distance required for the mirror holder fastener 330 (see Figure 17 ) to be tightened in the height direction without increasing the height of the laser transceiver assembly 200.

[0107] In the illustrated embodiment, there are 4 reflection unit mounting lugs 2253 provided at the front end of the transceiver lens housing base 222. On the two outer reflection unit mounting lugs 2253, there are respectively provided 2 mirror holder fastening holes 22531 in the front and rear directions. On the two middle mirror mounting lugs 2252, there is respectively provided 1 mirror holder fastening hole 22531. The integrated mirror holder 320 and the front mirror 310 fixed thereto by dispensing are fixed to the front end of the transceiver lens housing base 222 through a total of 6 points (mirror holder fasteners 330).

[0108] Please refer to Figure 4 , the galvanometer unit 400 includes a MEMS galvanometer 410, a galvanometer control circuit board 420 and a galvanometer frame 430. The MEMS galvanometer 410 is controlled by the galvanometer control circuit board 420 to generate translation or torsion to change the angle of the emitted laser beam to achieve laser scanning. The MEMS galvanometer 410 is fixed in the galvanometer frame 430 in a direction with the reflection surface inclined downward. The galvanometer control circuit board 420 is electrically connected to the MEMS galvanometer 410 and is mounted on the back surface of the galvanometer frame 430 (the other side opposite to the reflection surface of the MEMS galvanometer 410).

[0109] In the lidar, the galvanometer unit 400 is directly mounted on the transceiver lens module 220. More specifically, the galvanometer unit 400 is fixed above the front end of the transceiver lens housing base 222. At the front end of the top surface of the transceiver lens housing base 222 for the galvanometer unit 400, there is formed a galvanometer mounting bracket 2254. The galvanometer mounting bracket 2254 is in the shape of a right-angled triangular plate. The galvanometer unit 400 is mounted on the hypotenuses of the two galvanometer mounting brackets 2254 through the galvanometer frame 430, so that the galvanometer unit 400 is inclinedly mounted on the transceiver lens housing base 222.

[0110] To control the overall height of the lidar, a thickness-reducing depression 1123 is further provided on the inner surface of the top plate 112 of the upper cover 110. The thickness-reducing depression 1123 is used to avoid the galvanometer unit 400 in this height direction, thereby controlling the overall height of the lidar.

[0111] When assembling the lidar of the present application, after the transceiver lens module 220 is assembled, it can be used as the main assembly component. Specifically: the laser unit 210 and the detector unit 230 are installed at the rear end of the transceiver lens module 220; the reflection unit 300 is installed on the reflection unit mounting lug 2253 at the front end of the transceiver lens module 220; the galvanometer unit 400 is directly installed on the galvanometer mounting bracket 2254 above the transceiver lens housing 222; the main control circuit board bracket 510, the analog-to-digital conversion board 530, and the main control circuit board 520 are sequentially installed at the circuit board bracket mounting holes 2255 above the transceiver lens housing 222.

[0112] The drive circuit board 540 is fixed to the second side plate 123 on one side through the drive circuit board bracket 560. The power supply circuit board 550 and the power supply socket 570 are respectively installed on the inner and outer sides of the second side plate 123 provided with the plug connector mounting holes 1231. After the main control circuit board assembly, the reflection unit 300, and the galvanometer unit 400 are assembled onto the laser transceiver assembly 200, they can be placed together into the base 120 where the drive circuit board assembly and the power supply circuit board assembly are installed for fixation. Specifically, the transceiver assembly fixing holes 2255 on the laser transceiver assembly 200 correspond to the positions of the transceiver assembly mounting posts 1221 on the bottom plate of the base 120. The laser transceiver assembly 200, the reflection unit 300, the galvanometer unit 400, and the main control circuit board assembly can be placed into the base 120 from above. The transceiver assembly mounting posts 1221 extend into the corresponding transceiver assembly fixing holes 2255 to limit the laser transceiver assembly 200, and then fasteners can be screwed in from above to lock the laser transceiver assembly 200 into the base 120. After the drive circuit board 540, the power supply circuit board 550, and the main control circuit board 520 are electrically connected, finally, the upper cover 110 is covered onto the base 120, and bolts are connected and tightened, and glue is injected for sealing. Thus, the lidar assembly is completed.

[0113] In summary, the lidar of the present application has at least the following advantages:

[0114] On the one hand, the structure of the transceiver lens module is flattened, and the main control circuit board assembly is stacked and fixed on the transceiver lens module, which not only eliminates the need to additionally set fixed connection points for the main control circuit board assembly on the base, but also saves the lateral dimension.

[0115] On the other hand, after the transceiver lens module is assembled, it serves as the main assembly component. The laser unit and the detector unit are installed to the rear end of the transceiver lens module, the reflection unit is installed to the reflection unit mounting lug at the front end of the transceiver lens module, the galvanometer unit is directly installed to the galvanometer mounting bracket above the transceiver lens shell seat, and the main control circuit board bracket, the analog-to-digital conversion board, and the main control circuit board are installed in sequence at the circuit board bracket mounting hole above the transceiver lens shell seat; the main control circuit board can be assembled externally to the transceiver lens shell and then installed on the base, which can increase the assembly operation space and facilitate installation.

[0116] On the other hand, a reflective unit mounting boss for mounting a reflective unit is directly provided at the front end of the transceiver lens module, and a galvanometer mounting bracket for mounting a galvanometer assembly is directly formed at the top; the reflective unit mounting boss and / or the galvanometer mounting bracket can be integrated with the transceiver lens housing, thereby simplifying the structure, reducing the number of parts, and saving the assembly process. At the same time, the number of molds is reduced, and the production cost is reduced accordingly.

[0117] In addition, the lidar can be easily disassembled after the upper cover and the base are bonded and fixed, which is convenient for repair and maintenance. The reasonable structural design of the upper cover and the base facilitates the installation and heat dissipation of internal components, which is conducive to maintaining the stable operation of the lidar system.

[0118] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0119] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A laser radar, characterized in that: The invention comprises a housing (100), a laser transceiver assembly (200), a reflection unit (300), a galvanometer unit (400) and a main control circuit board assembly, wherein the laser transceiver assembly (200), the reflection unit (300), the galvanometer unit (400) and the main control circuit board assembly are all arranged in the housing (100); the laser transceiver assembly (200) comprises a transceiver lens module (220), a plurality of laser units (210) and a plurality of detector units (230); the transceiver lens module (220) comprises a transceiver lens housing and a plurality of transceiver lens groups (221) arranged in the transceiver lens housing; and the main control circuit board assembly is fixed on the transceiver lens housing.

2. The laser radar according to claim 1, characterized in that: The main control circuit board assembly comprises a main control circuit board (520), an analog-to-digital conversion board (530) and a main control circuit board bracket (510) which are stacked and connected in sequence from top to bottom to form a whole, and the main control circuit board bracket (510) is fixed on the transceiver lens housing.

3. The laser radar according to claim 2, characterized in that: The main control circuit board (520) is provided with a plurality of screw holes (521) for connecting screws (580) to pass through; the analog-to-digital conversion board (530) is provided with copper pillars (531) corresponding to the screw holes (521); the main control circuit board bracket (510) is provided with copper pillar sleeves (513) corresponding to the copper pillars (531); the connecting screws (580) pass through the screw holes (521) and are threadedly engaged with the copper pillars (531); the copper pillars (531) are threaded and can extend into the corresponding copper pillar sleeves (513) to form a threaded connection.

4. The laser radar according to claim 3, characterized in that: The main control circuit board bracket (510) comprises a support plate (511) and support feet (512) extending downward from the edges of both sides of the support plate (511), and the copper column sleeve (513) is fixed on the support plate (511); a fixing foot (514) is provided at the lower part of the support foot (512); The transceiver lens housing comprises a transceiver lens housing seat (222) and a transceiver lens housing cover (223), which are buckled together to form a storage cavity for multiple groups of the transceiver lens groups (221). The top surface of the transceiver lens housing seat (222) is provided with a circuit board bracket mounting hole (2255), and the main control circuit board bracket (510) is fixed to the transceiver lens housing seat (222) by fasteners passing through the fixing foot (514) and locking into the circuit board bracket mounting hole (2255).

5. The laser radar according to any one of claims 1 to 4, characterized in that: The emitting optical axis (L1) and the receiving optical axis (L2) of each group of the transmitting and receiving lens groups (221) are arranged in parallel; the emitting optical axes (L1) and the receiving optical axes (L2) of all the transmitting and receiving lens groups (221) are parallel to each other and are located in the same plane.

6. The laser radar according to claim 5, characterized in that: The top surface of the transceiver lens housing is provided with a galvanometer mounting bracket (2254) for mounting the galvanometer unit (400).

7. The laser radar according to claim 5, characterized in that: The reflection unit (300) comprises a front reflection mirror (310) and an integrated reflection mirror bracket (320), wherein a plurality of the front reflection mirrors (310) are mounted on the integrated reflection mirror bracket (320); a plurality of reflection mirror bracket lugs (321) are arranged on the integrated reflection mirror bracket (320), wherein the reflection mirror bracket lugs (321) are used to mount the reflection unit (300) on the transceiver lens housing, and the position of the reflection mirror bracket lugs (321) in the vertical direction is higher than the lowest point of the integrated reflection mirror bracket (320).

8. The laser radar according to claim 5, characterized in that: The housing (100) comprises an upper cover (110) and a base (120), wherein the upper cover (110) and the base (120) are buckled together to form a hollow cavity; The upper cover (110) comprises a top plate (112), the inner surface of the top plate (112) is provided with a first heat conducting member, and the first heat conducting member is used to contact the top of the electronic components of the main control circuit board assembly; And / or, the base (120) includes a back plate (124), the inner surface of the back plate (124) is provided with a second heat conducting member, and the second heat conducting member is used to contact the laser unit (210) and / or the detector unit (230).

9. The laser radar according to claim 8, characterized in that: A plurality of transceiver assembly mounting posts (1221) are provided on the bottom plate (122) of the base (120), and corresponding transceiver assembly fixing holes (2252) are formed on the transceiver lens housing, and the transceiver assembly fixing holes (2252) cooperate with the transceiver assembly mounting posts (1221) and are locked by fasteners.

10. The laser radar according to claim 8, characterized in that: The device also includes a driving circuit board assembly and a power supply circuit board assembly, wherein the driving circuit board assembly and the power supply circuit board assembly are respectively fixed on two opposite side walls of the base (120); the driving circuit board assembly includes a driving circuit board (540) and a driving circuit board bracket (560), wherein the driving circuit board (540) is fixed on the side plate of the base (120) via the driving circuit board bracket (560); and the power supply circuit board assembly includes a power supply circuit board (550) and a power supply socket (570), wherein the power supply circuit board (550) and the power supply socket (570) are respectively fixed on the inner and outer sides of the other side plate of the base (120).

Images