Lidar device

Abstract

The utility model provides a laser radar device. The laser radar device comprises a shell and a first circuit board and a second circuit board which are arranged in the shell, the first circuit board and the second circuit board are oppositely arranged, and one of the first circuit board and the second circuit board is connected to a power supply; the laser radar device further comprises a floating connector used for electrically connecting the first circuit board and the second circuit board, a socket of the floating connector is arranged on the first circuit board, a plug of the floating connector is arranged on the second circuit board, and the plug is configured to be electrically conducted with the socket after being connected with the socket in an inserted mode. The electric connection between the two circuit boards is realized through the floating connector, and the floating connector allows offset and angle errors within a certain range, so that inaccurate butt joint caused by tolerance is absorbed and compensated.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to, but are not limited to, the field of lidar, and more particularly, to a lidar device. Background Art

[0002] In a lidar device, in order to achieve the efficient operation of the system and the effective management of complex functions, a main control board (MA circuit board) and a modular control board (MC circuit board) are generally provided simultaneously.

[0003] However, when the main control board and the modular control board are docked, problems with the tolerance of connector assembly may be encountered. Tolerance refers to the allowable range of dimensional errors in the manufacturing process, that is, when the connectors on the main control board and the modular control board are assembled, due to factors such as process and materials, the actual dimensions may be slightly different. This dimensional difference causes the connectors to not perfectly match when docked, thus affecting the smooth connection of the circuit. Summary of the Utility Model

[0004] The present utility model aims to at least solve one of the technical problems existing in the prior art, and provides a lidar device that realizes electrical connection between two circuit boards through a floating connector. The floating connector allows for a certain range of offset and angular error, thereby absorbing and compensating for the misalignment caused by tolerance.

[0005] To achieve the purpose of the present utility model, a lidar device is provided, which includes a housing and a first circuit board and a second circuit board disposed in the housing. The first circuit board and the second circuit board are disposed opposite to each other, and one of the first circuit board and the second circuit board is connected to a power source; the lidar device further includes a floating connector for electrically connecting the first circuit board and the second circuit board. The socket of the floating connector is disposed on the first circuit board, and the plug of the floating connector is disposed on the second circuit board. The plug is configured to be electrically conductive with the socket after being inserted into the socket.

[0006] In some embodiments, a first connection hole penetrating through the thickness of the first circuit board is provided on the first circuit board. The first connection hole is used for a first fastener to pass through, and the first fastener is connected to the housing after passing through the first connection hole.

[0007] In some embodiments, a first limiting hole is provided on the first circuit board, and a first limiting pin for being inserted into the first limiting hole for limiting is provided on the housing.

[0008] In some embodiments, a second connection hole penetrating through the thickness of the second circuit board is provided on the second circuit board. The second connection hole is used for a second fastener to penetrate through, and the second fastener is connected to the housing after passing through the second connection hole.

[0009] In some embodiments, a second limiting hole is provided on the second circuit board, and a second limiting pin is provided on the housing and inserted into the second limiting hole for limiting.

[0010] In some embodiments, the housing includes a base and a cover disposed opposite to each other; one of the first circuit board and the second circuit board is disposed on the base, and the other is disposed on the cover.

[0011] In some embodiments, one of the base and the cover is provided with a mounting protrusion protruding toward the other, and the other is provided with a mounting groove matching with the mounting protrusion.

[0012] In some embodiments, a mounting groove is circumferentially provided along the edge of the base, and a mounting protrusion is circumferentially provided along the edge of the cover.

[0013] In some embodiments, a sealing adhesive is contained in the mounting groove to seal and fix the mounting protrusion located in the mounting groove in the mounting groove.

[0014] In some embodiments, the lidar device further includes a power plug connector, and the second circuit board is connected to a power source through the power plug connector.

[0015] The utility model has the following beneficial effects:

[0016] For the lidar device of the present disclosure, the electrical connection between the first circuit board and the second circuit board is realized through a floating connector, which can effectively solve the tolerance problem during the docking of the two circuit boards and ensure the reliability and stability of the connection. The present disclosure not only improves the assembly efficiency but also enhances the performance and service life of the electronic device.

[0017] By reading the specification, claims and drawings of this application, other objects and features of the utility model will be clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present utility model will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 is an exploded view of the lidar device according to an embodiment of the present utility model.

[0020] Figure 2 is a structural schematic diagram when the cover of the housing of the present utility model is connected to the second circuit board.

[0021] Figure 3 is a structural schematic diagram when the base of the housing of the present utility model is connected to the first circuit board.

[0022] Figure 4It is a structural schematic diagram from another perspective when the base of the housing in the embodiment of the present utility model is connected to the first circuit board.

[0023] Figure 5 It is a structural schematic diagram from another perspective when the cover of the housing in the embodiment of the present utility model is connected to the second circuit board.

[0024] Figure 6 It is a structural schematic diagram when the cover and the base of the housing in the embodiment of the present utility model are docked.

[0025] Figure 7 It is a structural schematic diagram of the installation groove on the base of the housing in the embodiment of the present utility model.

[0026] Figure 8 It is a structural schematic diagram of the installation protrusion on the cover of the housing in the embodiment of the present utility model.

[0027] Main element symbol description:

[0028] 10. Lidar device;

[0029] 100. Housing; 110. Cover; 111. Second limit pin; 112. Installation protrusion;

[0030] 113. Window; 114. Positioning hole; 120. Base; 121. First limit pin; 122. Installation groove; 123. Positioning post; 130. Sealant;

[0031] 200. First circuit board; 230. First fastener;

[0032] 300. Second circuit board; 330. Second fastener;

[0033] 400. Floating connector; 410. Plug; 420. Socket;

[0034] 510. Power plug-in; 520. Breather valve; 530. Transmitting module; 540. Receiving module; 550. Lens module; 560. Scanning module. Specific embodiments

[0035] The following details the embodiments of the present utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation of the present utility model.

[0036] In a lidar device, when two circuit boards need to be docked through a connector, the assembly tolerance between the connector and the circuit board may cause connection problems during the docking process. Specifically, due to the inevitable dimensional errors, i.e., tolerances, during the manufacturing process, the connectors on the two circuit boards may not be perfectly aligned, which will affect the normal connection of the circuits in the lidar device.

[0037] To solve the above problems, in the lidar device 10 of the embodiments of the present disclosure, the first circuit board 200 and the second circuit board 300 are connected by a floating connector 400. The floating connector 400 allows for a certain range of offset and angular errors, thereby absorbing and compensating for the misalignment caused by the tolerance, and thus being able to solve the above problems caused by the tolerance.

[0038] Specifically, referring to Figures 1 to 5 , the lidar device 10 includes a housing 100 and a first circuit board 200 and a second circuit board 300 disposed within the housing 100. The first circuit board 200 and the second circuit board 300 are disposed opposite to each other, and one of the first circuit board 200 and the second circuit board 300 is connected to a power source. In some embodiments, the first circuit board 200 is connected to the power source. In other embodiments, the second circuit board 300 is connected to the power source. Whether it is the first circuit board 200 or the second circuit board 300 that is connected to the power source does not affect the implementation of the embodiments of the present disclosure.

[0039] The lidar device 10 further includes a floating connector 400 for electrically connecting the first circuit board 200 and the second circuit board 300. The floating connector 400 includes a plug 410 and a socket 420. The socket 420 of the floating connector 400 is disposed on the first circuit board 200, and the plug 410 of the floating connector 400 is disposed on the second circuit board 300. The plug 410 is configured to be electrically conductive with the socket 420 after being inserted into the socket 420. Of course, the socket 420 may also be disposed on the second circuit board 300, and the plug 410 may also be disposed on the first circuit board 200.

[0040] It should be noted that the floating connector 400 is a connector used to compensate for installation errors. It allows a certain degree of free movement during docking, thus avoiding connection failures or damages caused by inaccurate alignment. Since the floating connector 400 itself has a certain degree of freedom and can be adjusted within the tolerance range, it can perfectly achieve the connection of the circuit and signal transmission, meeting the functional requirements of the embodiments of the present disclosure. The floating connector 400 can absorb the tolerances generated during the manufacturing and assembly processes, ensuring that even in the presence of dimensional errors, the floating connector 400 can be reliably docked, guaranteeing the smooth connection of the circuit. In actual use, when the first circuit board 200 and the second circuit board 300 approach, a part of the plug 410 will first come into contact with the socket 420, and then under the action of the internal floating mechanism, the entire floating connector 400 will automatically adjust its position to ensure that all contact points can be accurately docked. Similarly, during separation, the floating connector 400 will easily disengage along the direction of the force, avoiding damage to the components.

[0041] In the lidar device 10 according to the embodiments of the present disclosure, the first circuit board 200 and the second circuit board 300 are electrically connected through the floating connector 400. By utilizing the freedom degree of the floating connector 400 itself, it can be adjusted within the tolerance range, thus perfectly achieving the connection of the circuit and signal transmission between the first circuit board 200 and the second circuit board 300, and effectively solving the tolerance problem during the docking of the two circuit boards, ensuring the reliability and stability of the connection. The embodiments of the present disclosure not only improve the assembly efficiency but also enhance the performance and service life of the electronic device.

[0042] In addition, the first circuit board 200 can be configured as a main control board. The main control board generally refers to the motherboard, which is the main circuit board of a computer or other electronic device and provides the basis for connecting all other components. As the core of the system, the main control board is mainly responsible for processing and managing the main computing and data processing tasks of the lidar device 10.

[0043] The second circuit board 300 is configured as a modular control board. The modular control board is used for inlet protection and primary power supply. The inlet protection mainly prevents the influence of adverse factors such as external electromagnetic interference, overcurrent, and overvoltage on the internal circuit of the lidar device 10. The primary power supply is responsible for converting the externally input power into the stable voltage required by the lidar device 10 and distributing it to each functional module (for example, the emission module 530, the lens module 550, the scanning module 560, and the receiving module 540).

[0044] In the lidar device 10 according to the embodiments of the present disclosure, distributed processing can be achieved by assigning different tasks to different circuit boards, thereby improving the overall performance of the system. The main control board can focus on high-level control and data processing, while the modular control board can focus on signal processing and low-level control tasks.

[0045] Specifically, a plug 410 of the floating connector 400 is provided on the modular control board. Correspondingly, a socket 420 of the floating connector 400 is provided on the main control board. After the plug 410 and the socket 420 are paired, the connection of the circuit can be realized.

[0046] Optionally, the housing 100 includes a base 120 and a cover 110 which are oppositely arranged. After the base 120 and the cover 110 are respectively assembled with the first circuit board 200 and the second circuit board 300, the docking of the base 120 and the cover 110 can be realized through the cooperation between the positioning posts 123 provided on the base 120 and the positioning holes 114 provided on the cover 110. Subsequently, the cover 110 and the base 120 are connected to complete the assembly of the lidar device 10. One of the first circuit board 200 and the second circuit board 300 is provided on the base 120, and the other is provided on the cover 110. Optionally, the plug 410 and the socket 420 of the floating connector 400 are respectively provided on the second circuit board 300 fixedly provided on the cover 110 and the first circuit board 200 fixedly provided on the base 120, so as to be able to adapt to fine-tuning in different directions, simplify production, and improve the reliability of electrical connection at the same time.

[0047] In some embodiments, the first circuit board 200 is provided on the base 120, and the second circuit board 300 is provided on the cover 110. In other embodiments, the first circuit board 200 is provided on the cover 110, and the second circuit board 300 is provided on the base 120.

[0048] Optionally, a first connection hole penetrating through the thickness of the first circuit board 200 is provided on the first circuit board 200. The first connection hole is used for the first fastener 230 to pass through, and after the first fastener 230 passes through the first connection hole, it is connected to the housing 100.

[0049] It can be understood that the first fastener 230 is used to connect the first circuit board 200 to the housing 100 (for example, the base 120). In some embodiments, the first fastener 230 can be a screw, a bolt or other fastening structures.

[0050] Optionally, a second connection hole penetrating through the thickness of the second circuit board 300 is provided on the second circuit board 300. The second connection hole is used for the second fastener 330 to penetrate through, and after the second fastener 330 passes through the second connection hole, it is connected to the housing 100.

[0051] It can be understood that the second fastener 330 is used to connect the second circuit board 300 to the housing 100 (e.g., the cover 110). In some embodiments, the second fastener 330 can be a screw, a bolt, or other fastening structures.

[0052] Optionally, a first limiting hole is provided on the first circuit board 200, and a first limiting pin 121 is provided on the housing 100 (e.g., the base 120). The first limiting pin 121 can be inserted into the first limiting hole for limiting.

[0053] Optionally, a second limiting hole is provided on the second circuit board 300, and a second limiting pin 111 is provided on the housing 100 (e.g., the cover 110). The second limiting pin 111 can be inserted into the second limiting hole for limiting.

[0054] The first circuit board 200 is positioned with the first limiting pin 121 on the housing 100, and then the first fastener 230 locks the first circuit board 200 to the housing 100. Similarly, the second circuit board 300 is positioned with the second limiting pin 111 on the housing 100, and then the second fastener 330 locks the second circuit board 300 to the housing 100. However, the assembly between the first circuit board 200 and the housing 100 may have inaccurate assembly problems due to the pin-hole fit and tolerances in production and assembly. Similarly, the assembly between the second circuit board 300 and the housing 100 may also be inconsistent due to the pin-hole fit and tolerances in production and assembly. For these problems, the floating connector 400 can also solve them.

[0055] Optionally, one of the base 120 and the cover 110 is provided with an installation protrusion 112 protruding towards the other, and the other is provided with an installation groove 122 matching the installation protrusion 112. Through the cooperation between the installation protrusion 112 and the installation groove 122, an effective seal inside the lidar device 10 is achieved.

[0056] In some embodiments, the base 120 is provided with the installation protrusion 112, and the cover 110 is provided with the installation groove 122 matching the installation protrusion 112. In other embodiments, the cover 110 is provided with the installation protrusion 112, and the base 120 is provided with the installation groove 122 matching the installation protrusion 112.

[0057] Optionally, the base 120 is provided with an installation groove 122 circumferentially along its edge, and the cover 110 is provided with an installation protrusion 112 circumferentially along its edge. For details, please refer to Figures 6 to 8 .

[0058] In some other embodiments, a sealant 130 is placed in the installation groove 122 to seal and fix the installation protrusion 112 located in the installation groove 122 within the installation groove 122. It can be understood that an installation groove 122 is provided at the edge of the base 120, and an installation protrusion 112 is provided at the corresponding position of the cover body 110. The sealant 130 is filled in the installation groove 122. The sealant 130 can bond the installation protrusion 112 within the installation groove 122 when the installation protrusion 112 is located in the installation groove 122, thereby achieving the sealing of this connection. The cover body 110 and the base 120 achieve the internal sealing of the lidar device 10 through the sealant 130. An installation groove 122 is designed on the outer edge of the base 120, and this installation groove 122 is used for filling the sealant 130. Correspondingly, the cover body 110 is designed with an installation protrusion 112. The installation protrusion 112 can ensure that the cover body 110 and the base 120 can be closely fitted, avoiding misalignment or gaps during the assembly process. In addition, the installation protrusion 112 will be pressed into the sealant 130 in the installation groove 122 to form a tight contact, increasing the contact area with the sealant 130, and thus increasing the adhesive force of the glue.

[0059] To better explain and illustrate the lidar device 10 in this embodiment, the following will be described in conjunction with the accompanying drawings. It should be noted that the structures in the drawings are only schematic illustrations and do not specifically limit the structures in this embodiment. Other structures derived therefrom are also within the protection scope of the present invention.

[0060] The following refers to Figure 1 Describe the lidar device 10 according to an embodiment of the present disclosure. Figure 1 FIG. shows a schematic composition diagram of the lidar device 10 according to an embodiment of the present disclosure. The lidar device 10 can be used to detect the distance, speed, etc. of a target object.

[0061] In an embodiment of the present disclosure, the lidar device 10 further includes a transmission module 530, a lens module 550, a scanning module 560, and a receiving module 540 disposed inside the housing 100. Specifically, reference can be made to Figure 1 .

[0062] In various embodiments, the transmission module 530 can be configured to emit a transmission beam having a preset energy distribution. For example, it can be a uniform energy distribution or a non-uniform one. Here, a uniform energy distribution can also be interpreted as a uniform illuminance or light intensity. In some embodiments, the transmission optical system can also be used specifically. The transmission module 530 includes a light source and a transmission optical system. Among them, the transmission optical system is configured to further shape the transmission beam. Regarding the transmission optical system, there are already mature structures in the art, and no detailed description will be given here.

[0063] In some embodiments, the light source can be a laser, such as a solid-state laser (such as a Vertical-Cavity Surface-Emitting Laser (VCSEL), an Edge Emitting Laser (EEL), an External-cavity Diode Lasers (ECDL)), a laser diode, or a fiber laser. In some embodiments, the light source can also include a Light Emitting Diode (LED). However, those skilled in the art can easily understand that the present application does not specifically limit the type of the light source device, as long as the output power of the light source is large enough.

[0064] In some embodiments, the light source can be an array light source. For example, the light source can be a VCSEL array including multiple VCSELs. In a non-limiting example, the multiple VCSELs can be configured to be all lit simultaneously during measurement, rather than being lit in zones and / or time-sharing.

[0065] Alternatively, in some embodiments, the light source can also be a single-point light source. Those skilled in the art can easily understand that the present application does not specifically limit the arrangement manner of the light source.

[0066] In some embodiments, the light source can emit different forms of light beams, including pulsed light, continuous wave (CW), and quasi-continuous light. The working wavelength of the light source can be 650 nm to 1150 nm, 800 nm to 1000 nm, 850 nm to 950 nm, or 1300 nm to 1600 nm. In some embodiments, the light source can also include an optical component optically coupled to the light source for collimating or focusing the light beam emitted by the light source. Each emitted light beam from the light source can be continuous light lasting for a certain period of time, or one or more light pulses.

[0067] In some embodiments, the emission optical system can include a diffusion unit configured to perform diffusion shaping on the input laser beam. For example, the diffusion unit can perform diffusion shaping on the light beam based on diffraction and / or refraction, etc., to emit the above-mentioned uniform linear or narrow rectangular light beam. However, those skilled in the art can easily understand that the present application can also obtain the above-mentioned emission light beam through other shaping processes.

[0068] In some embodiments, the diffusion unit can include at least one of the following optical devices: an optical diffuser, diffractive optical elements (DOEs), and an aspherical cylindrical mirror. However, those skilled in the art can easily understand that the above devices are only examples of the diffusion unit, and the present application is not limited thereto.

[0069] In the case of performing diffusion shaping using an optical diffuser or DOE, the emission optical system may further include a collimation unit. Among them, the collimation unit may be configured to collimate the laser beam emitted from the light source to obtain a collimated laser beam to be input into the diffuser or DOE.

[0070] In some embodiments, the collimation unit may include at least one of the following optical devices: a microlens or a collimating mirror. For example, the collimation unit may be an array of microlenses. However, those skilled in the art can easily understand that the above devices are only examples of the collimation unit, and the present application is not limited thereto.

[0071] In various embodiments, the lens module 550 is configured to guide the emitted light beam to the scanning module 560 and guide the reflected received light beam received by the scanning module 560 to the receiving module 540.

[0072] In various embodiments, the lens module 550 includes an emission lens, a receiving lens and each aperture stop, which are responsible for the emission and reception of the laser. Through precise optical design, the focusing, diffusion or shaping of the laser beam is realized to meet the detection requirements of the lidar system.

[0073] In some embodiments, the lens module 550 may select a planar mirror with a hole or a beam splitter. Specifically, taking the planar mirror with a hole as an example, the planar mirror uses the hole to transmit the emitted light beam to guide the emitted light beam to the scanning module 560, and uses the mirror surface to reflect the received light beam to guide the received light beam to the receiving module 540. That is, the emitted light beam emitted from the emission module 530 can directly pass through the planar mirror through the hole, and the reflected received light beam can be reflected by the mirror surface in the planar mirror. That is, the reverse receiving path can be separated from the forward emission path at the planar mirror. Thus, with the help of the planar mirror with a hole, the lidar device 10 can achieve coaxial emission and reception. Advantageously, coaxial emission and reception can avoid the imaging position deviation problem of the detection return light spots at close range and long range caused by the separation of the optical axes of the two, thereby avoiding the additional calibration caused by this problem, which is beneficial to mass production of products. However, those skilled in the art can easily understand that the present application can also be a non-coaxial lidar system.

[0074] The inventors of the present application recognize that the planar mirror with a hole has relatively loose requirements for the manufacturing and alignment accuracy of the hole, as long as it is ensured that the emitted light beam can pass through. On this basis, by reducing the size of the hole, the loss of reflected light can be reduced.

[0075] Thus, in some embodiments, the emitted light beam is in a focused state when passing through the hole. For example, by designing the beam characteristics of the emitted light beam and / or adjusting the position of the planar mirror relative to the emitting device, etc., it can be ensured that the emitted light beam is in a focused state when passing through the hole. Advantageously, by focusing the emitted light beam at the hole, the hole can be minimized on the premise of ensuring that the emitted light beam passes through the hole, thereby minimizing the loss of reflected light and further reducing the precision requirements for the manufacturing and alignment of the hole. However, those skilled in the art can easily understand that the present application is not limited thereto.

[0076] The above-mentioned hole is usually located at the center of the planar mirror, but the present application is not limited thereto. In addition, to reduce the loss of reflected light, the shape of the hole can correspond to the cross-sectional shape of the emitted light beam when passing through the hole, so it is not necessarily circular.

[0077] Those skilled in the art can easily understand that the present application can also use other methods to achieve coaxial emission and reception. However, compared with other methods such as beam splitters, the planar mirror with a hole proposed in the present disclosure can reduce the loss of light and improve the efficiency.

[0078] In various embodiments, a scanning module 560 such as a rotating mirror can be configured to rotate around a rotation oriented in a certain direction to direct the emitted light beam to scan a target object within the field of view. The target object can be any object capable of reflecting the scanning laser within the scanning field of view of the lidar device 10, such as a vehicle, a pedestrian, an animal, a road sign, an obstacle, a tree, a shelf, a piece of furniture, etc.

[0079] The emitted light beam is scattered and returned after irradiating the target object, and a part of it returns to the lidar device 10 as a received light beam and is received by the receiving module 540.

[0080] In various embodiments, the receiving module 540 can be configured to receive and detect the received light beam returned from the target object. For example, the received light beam scattered by the target object can return along the original path to the scanning module 560, and then be guided by the scanning module 560 to the lens module 550, and then be reflected by the lens module 550 to the receiving module 540.

[0081] In some embodiments, the receiving module 540 can include a photodetector. The photodetector can measure the power, phase or time characteristics of the received light and generate a corresponding current output.

[0082] In some embodiments, the photodetector may include a plurality of photodetection units arranged along one direction. Among them, different photodetection units are configured to receive and detect optical signals returned from a target object at different relative angles in the vertical direction within the field of view. The photodetector may also include receiving circuits (not shown) associated with each photodetection unit. Each receiving circuit may be used to process the output electrical signal of the corresponding photodetection unit.

[0083] The photodetection units may include various forms of photodetection devices or one-dimensional or two-dimensional arrays of photodetection devices. Correspondingly, the receiving circuits may be one circuit or an array of multiple circuits. In various embodiments, the photodetection device may be an Avalanche Photodiode (APD), a Single Photon Avalanche Diode (SPAD), a PN-type photodiode, or a PIN-type photodiode.

[0084] For example, the photodetection unit may be a SPAD or a one-dimensional or two-dimensional array thereof, so the photodetector is an array of SPADs. Advantageously, since the spacing of SPADs is very small and they are closely arranged, the spatial resolution can be greatly improved. Moreover, different SPADs can simultaneously perform direct measurement of the time-of-flight (dToF) individually, without the need to light up the light source in a partitioned and time-division manner, which can greatly improve the time resolution.

[0085] In some embodiments, the receiving module 540 may further include a receiving optical system. The receiving optical system may be configured to image the received light onto the photodetector. For example, in some embodiments, the receiving optical system may include a receiving lens and a diaphragm. The receiving lens and the diaphragm are located upstream of the photodetector in the receiving path. For example, the receiving lens may include an imaging system lens such that the focus of the received light beam is in front of or behind the receiving surface of the photodetector or exactly on the receiving surface. In some cases, instead of existing as a separate component, the receiving lens may also be integrated into the photodetector. The diaphragm is used to limit the angle of the incident light onto the photodetector and block stray light, etc.

[0086] As described above, the light spot projected by the lidar device 10 into the field of view can be a uniform line or a narrow rectangle extending in the vertical direction. Therefore, the received light beam returned from the target object will form a similar pattern on the receiving surface of the photodetector. By correspondingly arranging a plurality of photodetection units along the direction of the line or the long side of the rectangle, and using the receiving optical system to image the light returned from the target object at different relative angles in the vertical direction in the field of view onto different photodetection units, these photodetection units can be made to correspond to the target objects at different relative angles in the vertical direction in the field of view. That is, different photodetection units are configured to receive and detect the optical signal returned from the target object at different relative angles in the vertical direction in the field of view. Therefore, according to the arrangement information of the photodetection units and the parameter information of the optical system, etc., the relative angle of the corresponding target object can be accurately calculated.

[0087] It should be noted that, in some embodiments, each photodetection unit may include a plurality of photodetection devices (such as SPADs) arranged along one direction, wherein the arrangement direction of the plurality of photodetection devices is perpendicular to the arrangement direction of the plurality of photodetection units. By this arrangement, the number of photodetection devices in each photodetection unit can be increased without affecting the spacing between the photodetection units, thereby improving the detection accuracy without affecting the spatial resolution.

[0088] The lidar device 10 further includes a controller, which is used to generate and modulate the laser signal, and realize the detection function of the lidar system by controlling the emission power and waveform of the laser. The controller is also used to receive and process the laser signal reflected by the target, convert it into an electrical signal and perform subsequent processing.

[0089] In the embodiments of the present disclosure, each component in the lidar device 10 is modularized, and the parts with the same function are integrated into the same functional module. This can not only reduce the use of connecting parts and thus reduce the number of components, but also facilitate assembly and maintenance. Each module inside the lidar device 10 is responsible for implementing a specific function and is connected to other modules through standardized interfaces. This modular design makes the functions of the lidar device 10 clearer, easier to maintain and upgrade.

[0090] The lidar device 10 further includes a power plug 510, and the second circuit board 300 is connected to the power supply through the power plug 510. In each embodiment, the lidar device 10 further includes a breather valve 520. Specifically, the cover 110 can be used to support and protect the breather valve 520, the power plug 510 and the second circuit board 300.

[0091] It should be noted that a window 113 is provided on the housing 100. The window 113 allows lidar signals to pass through while protecting the optical elements inside the lidar device 10 from the external environment. Specifically, the window 113 is provided on the cover 110.

[0092] In an alternative embodiment, the breather valve 520 is configured to be waterproof to ensure the sealing inside the lidar device 10. It can be understood that the breather valve 520 allows the internal gas to exchange with the external environment (i.e., the atmospheric environment) to maintain the pressure balance inside the lidar device 10 while preventing external pollutants such as water and dust from entering the inside of the lidar device 10.

[0093] In an alternative embodiment, the power connector 510 is used to connect an external power source and the second circuit board 300 inside the lidar device 10 to provide the required electrical energy for the lidar device 10.

[0094] In various embodiments, the emission module 530, the lens module 550, the scanning module 560, and the receiving module 540 are all mounted to the base 120. The base 120 serves as a support structure for each module, which can not only provide a stable support for the internal components of the lidar device 10, but also ensure that each functional module can be closely combined together through precise dimension and shape design. This close integration not only reduces the overall volume and weight of the system, but also improves the structural strength and stability of the lidar device 10.

[0095] Compared with a conventional lidar system, each functional module in the lidar device 10 in the embodiments of the present application is configured for an integrated design to closely combine each functional module together to form an efficient and compact functional unit. This integrated design effectively reduces the interfaces and connections between components and improves the overall performance and reliability of the system.

[0096] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model 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 the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present utility model, "a plurality" means two or more, unless otherwise specifically defined.

[0097] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, or a connection capable of mutual communication; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0098] In the description of this specification, the description with reference to terms such as "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0099] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present utility model, and the present utility model is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present utility model, and these modifications and improvements are also regarded as the protection scope of the present utility model.

Claims

1. A lidar device, characterized in that, It includes a housing, a first circuit board and a second circuit board disposed within the housing. The first circuit board and the second circuit board are disposed opposite to each other, and one of the first circuit board and the second circuit board is connected to a power source. The lidar device further includes a floating connector for electrically connecting the first circuit board and the second circuit board. The socket of the floating connector is disposed on the first circuit board, and the plug of the floating connector is disposed on the second circuit board. The plug is configured to be electrically conductive with the socket after being inserted into the socket.

2. The lidar device according to claim 1, characterized in that, A first connection hole penetrating through its thickness is provided on the first circuit board. The first connection hole is used for a first fastener to pass through, and the first fastener is connected to the housing after passing through the first connection hole.

3. The lidar device according to claim 1 or 2, characterized in that, A first limiting hole is provided on the first circuit board, and a first limiting pin is provided on the housing and inserted into the first limiting hole for limiting.

4. The lidar device according to claim 1, characterized in that, A second connection hole penetrating through its thickness is provided on the second circuit board. The second connection hole is used for a second fastener to pass through, and the second fastener is connected to the housing after passing through the second connection hole.

5. The lidar device according to claim 1 or 4, characterized in that, A second limiting hole is provided on the second circuit board, and a second limiting pin is provided on the housing and inserted into the second limiting hole for limiting.

6. The lidar device according to claim 1, wherein, The housing includes a base and a lid disposed opposite to each other. One of the first circuit board and the second circuit board is disposed on the base, and the other is disposed on the lid.

7. The lidar device according to claim 6, characterized in that, One of the base and the lid is provided with an installation protrusion protruding towards the other, and the other is provided with an installation groove matching with the installation protrusion.

8. The lidar device according to claim 7, characterized in that, The installation groove is circumferentially provided along the edge of the base, and the installation protrusion is circumferentially provided along the edge of the lid.

9. The lidar device according to claim 7 or 8, characterized in that, Sealant is placed in the installation groove to seal and fix the installation protrusion located in the installation groove within the installation groove.

10. The lidar device according to claim 1, characterized in that, The lidar device further includes a power plug connector, and the second circuit board is connected to the power source through the power plug connector.

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