Multi-line non-repetitive laser radar

Abstract

The utility model relates to a multi-line non-repetitive laser radar, which belongs to the technical field of radars and comprises a plurality of laser receiving and transmitting modules fixed on a turntable at intervals, and transmitting ends and receiving ends of the laser receiving and transmitting modules are arranged towards the direction of a reflecting rod mirror. Laser rays emitted by the plurality of laser transceivers are perpendicular to the axis of the reflecting rod mirror, and an included angle alpha is formed between the laser rays and the surface of the reflecting rod mirror. According to the utility model, a plurality of laser receiving and transmitting modules are arranged on the turntable at intervals, and a plurality of laser receiving and transmitting modules with the same included angle alpha can be used for simultaneous repeated scanning, so that the laser radar scanning time is greatly shortened; a plurality of laser receiving and transmitting modules with different included angles can be used for simultaneous non-repeated scanning, scanning blind areas of a single laser receiving and transmitting module in the circumferential direction of the radar device are complemented, and the scanning range of the radar device is expanded.

Description

Technical Field

[0001] This utility model relates to the field of radar technology, and in particular to a multi-line non-repetitive lidar. Background Technology

[0002] With the advancement of technology and the continuous improvement of living standards, people urgently need radar devices with ultra-wide viewing angles. To expand the radar's viewing angle, some manufacturers adopt array-distributed radar layouts to increase the viewing angle in the vertical direction; others add swing mechanisms to change the positions of the transmitter, transmitting antenna, receiver, and receiving antenna in the vertical direction, thereby increasing the viewing angle in the vertical direction. However, the mechanical structures of the above-mentioned radar devices are too complex, with many internal components, resulting in more connecting wires, increased manufacturing time, and higher manufacturing costs. At the same time, because the swing mechanism has a limited placement angle in the vertical direction, the viewing angle in the vertical direction is still relatively small, and a 360° omnidirectional ultra-wide viewing angle cannot be obtained.

[0003] To solve the above-mentioned technical problems, some manufacturers have developed radar devices with a wide scanning range. For example, patent application number 202410356054.5, entitled "An Invention Patent for a Radar Device with a Wide Coverage Range", describes a situation where the shaft hole of a rod-shaped mirror is fixed on the drive shaft of a second rotating drive unit, and the laser beam of the laser transceiver intersects perpendicularly with the axis of the rod-shaped mirror. When the laser beam passes through the rotating rod-shaped mirror, it can be deflected in the height direction of the base, thereby obtaining a larger viewing angle in the height direction of the base.

[0004] However, the aforementioned radar device requires multiple rotations of the rotating parts of the first and second rotating drive units before it can completely scan the vertical and circumferential areas of the radar device. This not only results in excessively long scanning times but also creates a large scanning blind zone on the outside of the radar device, significantly reducing its scanning range.

[0005] Therefore, how to design a radar device with short circumferential scanning time and few circumferential scanning blind spots is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] This invention provides a multi-line non-repetitive lidar, which solves the technical problems of excessively long scanning time and blind spots in existing lidar scanning systems.

[0007] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A multi-line non-repetitive lidar includes a base, a drive rotation mechanism, a turntable, a bracket, a motor, and a reflector. The fixed part of the drive rotation mechanism is fixed to the base, and its rotating part rotates about the vertical line of the base as an axis. The turntable is fixed to the rotating part of the drive rotation mechanism. There are two brackets, which are fixed to the turntable at intervals. The motor is fixed to one of the brackets, and its output shaft rotates about the vertical line perpendicular to the base as an axis. One end of the reflector is fixed to the output shaft of the motor, and its other end is rotatably connected to the other bracket. It also includes multiple laser transceiver modules.

[0008] Multiple laser transceiver modules are fixed at intervals on the turntable, with their transmitting and receiving ends both facing the reflector. The laser beams emitted by the multiple laser transceiver modules are all arranged perpendicular to the axis of the reflector and form an angle α with the surface of the reflector, so as to deflect the laser beams vertically and circumferentially along the base, thereby obtaining multiple scanning areas with a fan-shaped longitudinal section on the outside of the base.

[0009] The beneficial effects of this invention are: it improves the structure of existing radar devices by designing multiple laser transceiver modules spaced apart on a turntable. Since the laser transceiver module needs to rotate multiple times in the rotating part of the drive mechanism and the output shaft of the motor before it can scan the entire scanning area, multiple laser transceiver modules with the same included angle α can be used to scan repeatedly at the same time, which greatly shortens the scanning time of the lidar. Alternatively, multiple laser transceiver modules with different included angles can be used to scan simultaneously without repetition, supplementing the scanning blind spots that exist in the circumference of the radar device when scanning a single laser transceiver module is used, thus expanding the scanning range of the radar device.

[0010] Based on the above technical solution, the present invention can be further improved as follows.

[0011] Furthermore, the values ​​of the included angles α are different for each of the aforementioned angles.

[0012] The further beneficial effect of adopting the above is that by using multiple laser transceiver modules with different included angles to scan simultaneously and non-repeatingly, the scanning blind spots that exist in the circumference of the radar device by a single laser transceiver module can be supplemented, thus expanding the scanning range of the radar device.

[0013] Furthermore, the included angle α is -90° to 90°.

[0014] Furthermore, the driving rotation mechanism includes a stator, a rotor, and an annular plate. The top surface of the base is provided with a mounting groove, and a mounting cylinder arranged along the vertical direction is fixed at the bottom of the mounting groove. The stator is the fixing part of the driving rotation mechanism, and the stator has an annular structure and is wound with coils. The stator is sleeved on the outer periphery of the mounting cylinder. The rotor is magnetic and rotates inside the mounting cylinder through a bearing. The annular plate is the rotating part of the driving rotation mechanism, and its bottom surface is fixed to the top end of the rotor extending out of the mounting cylinder. The bottom surface of the turntable is fixed to the top surface of the annular plate.

[0015] Furthermore, it also includes a wireless charging component, which includes a rotating cylinder, a fixed cylinder, a first coil, and a second coil. The rotating cylinder is sleeved on the outer periphery of the rotor and its top end is fixed to the bottom surface of the ring plate. The rotating cylinder rotates in the mounting groove corresponding to the outer periphery of the stator. The fixed cylinder is sleeved on the outer periphery of the rotating cylinder and fixed in the mounting groove. The first coil is wound on the fixed cylinder and electrically connected to the coil wound on the stator. The second coil is wound on the rotating cylinder and resonates with the first coil at the same frequency to achieve wireless current transmission.

[0016] The further beneficial effect of adopting the above is that, combined with the principle of wireless charging, the first coil is wound around the fixed cylinder, and the second coil is wound around the rotating cylinder. Since the first coil and the second coil resonate at the same frequency, wireless charging can be achieved while the rotating cylinder and the fixed cylinder are rotating relative to each other, thus simplifying the structure of the lidar.

[0017] Furthermore, it also includes a controller, which includes a sub-control circuit board and a main control circuit board. The rotor has a through hole extending through both ends in the axial direction, and the through hole communicates with the inner hole of the ring plate. The bottom end of the base has a receiving groove, and the bottom of the receiving groove has a through hole communicating with the through hole. The top surface of the sub-control circuit board is fixed to the bottom surface of the turntable and electrically connected to the second coil. A first optocoupler is fixed on the bottom surface of the sub-control circuit board corresponding to the through hole. The main control circuit board is fixed in the receiving groove and electrically connected to the first coil. A second optocoupler is fixed on the top surface of the main control circuit board corresponding to the through hole. The second optocoupler is wirelessly connected to the first optocoupler.

[0018] The further beneficial effects of the above are: first, the second coil is electrically connected to the sub-control circuit board, and then the first coil is electrically connected to the main control circuit board. Since the first optocoupler fixed on the sub-control circuit board and the second optocoupler fixed on the main control circuit board are wirelessly connected, wireless power supply between the sub-control circuit board and the main control circuit board can be realized, and wireless communication between the active circuit board and the sub-control circuit board can also be realized.

[0019] Furthermore, it also includes a position recognition mechanism, which comprises a first recognizer, a first code ring, a second recognizer, and a second code ring. The first code ring is gapped around the outer periphery of the fixed cylinder and fixed within the mounting groove. The first recognizer is fixed to the sub-control circuit board and electrically connected to it. The first recognizer can be arranged opposite to the first code ring to recognize the position code on the first code ring. The second code ring is fitted around the outer periphery of the reflector. The second recognizer is fixed to the turntable and electrically connected to the sub-control circuit board. The second recognizer can be arranged opposite to the second code ring to recognize the position code on the second code ring.

[0020] The further beneficial effect of adopting the above is that by using the first identifier to identify the position code on the first code ring, the deflection position of the laser transceiver module in the circumferential direction of the base can be found, thereby realizing the positioning of the corresponding position in space.

[0021] Furthermore, it also includes a transparent protective cover, which covers the outer periphery of the drive rotation mechanism, the turntable, the bracket, the motor, the reflector, and the plurality of laser transceiver modules and is fixed on the base.

[0022] The further beneficial effect of adopting the above is that by using an optical cover to filter out light other than laser light, optical interference can be reduced and external pollution can be prevented. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the assembly structure of a multi-line non-repetitive lidar according to the present invention.

[0024] Figure 2 This is a schematic diagram of the internal structure of a multi-line non-repetitive lidar according to the present invention;

[0025] Figure 3 This is an exploded structural diagram of a multi-line non-repetitive lidar according to the present invention.

[0026] Figure 4 This utility model relates to a multi-line non-repetitive lidar in which multiple lidars have the same included angle α;

[0027] Figure 5 for Figure 4 The scanning range;

[0028] Figure 6 This utility model relates to a multi-line non-repetitive lidar, specifically a lidar of type 1 with multiple angles that are not the same.

[0029] Figure 7 for Figure 6 The scanning range;

[0030] Figure 8 This utility model relates to a multi-line non-repetitive lidar, specifically a type 2 lidar with multiple angles that are not the same.

[0031] Figure 9 for Figure 8 The scanning range;

[0032] Figure 10 This utility model relates to a multi-line non-repetitive lidar, specifically a lidar of type 3 with multiple angles that are not the same.

[0033] Figure 11 for Figure 10 The scanning range.

[0034] The attached diagram lists the components represented by each number as follows:

[0035] 1. Base; 11. Mounting slot; 12. Mounting cylinder; 13. Receiving slot; 2. Drive rotation mechanism; 21. Stator; 22. Rotor; 23. Ring plate; 3. Turntable; 4. Bracket; 5. Motor; 6. Reflector; 7. Laser transceiver module; 8. Wireless charging component; 81. Rotating cylinder; 82. Fixing cylinder; 9. Controller; 91. Sub-control circuit board; 92. Main control circuit board; 93. First optocoupler; 94. Second optocoupler; 10. Position recognition mechanism; 101. First identifier; 102. First code ring; 14. Spacer ring; 15. Partition plate; 16. Protective cover. Detailed Implementation

[0036] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0037] like Figure 1 , Figure 2 and Figure 3 As shown, a multi-line non-repetitive lidar includes a base 1, a drive rotation mechanism 2, a turntable 3, a bracket 4, a motor 5, and a reflector 6. The fixed part of the drive rotation mechanism 2 is fixed to the base 1, and its rotating part rotates about the vertical line of the base 1 as an axis. The turntable 3 is fixed to the rotating part of the drive rotation mechanism 2. There are two brackets 4, which are fixed to the turntable 3 at intervals. The motor 5 is fixed to one bracket 4, and its output shaft rotates about the vertical line perpendicular to the base 1 as an axis. One end of the reflector 6 is fixed to the output shaft of the motor 5, and its other end is rotatably connected to the other bracket 4. It also includes multiple laser transceiver modules 7.

[0038] Multiple laser transceiver modules 7 are fixed at intervals on the turntable 3, with their transmitting and receiving ends both facing the reflector mirror 6. The laser beams emitted by the multiple laser transceiver modules 7 are all arranged perpendicular to the axis of the reflector mirror 6, and their laser beams form an angle α with the surface of the reflector mirror 6, so as to deflect the laser beams vertically and circumferentially along the base 1, thereby obtaining multiple scanning areas with a fan-shaped longitudinal section on the outside of the base 1.

[0039] Specific application principle:

[0040] The reflector 6 is fixed on the output shaft of the motor 5. Since the motor 5 is fixed on the bracket 4 and the bracket 4 is fixed on the turntable 3, the laser transceiver module 7 rotates along the circumference of the turntable 3 while the reflector 6 rotates along its axial direction. After the rotating part of the drive rotating mechanism 2 and the output shaft of the motor 5 rotate multiple times, a scanning area with a fan-shaped longitudinal section can be obtained in the vertical and circumferential directions of the base 1.

[0041] Specifically, the values ​​of the included angles α are different for multiple angles.

[0042] Specifically, the included angle α is -90° to 90°.

[0043] like Figure 2 As shown, in some specific embodiments, the drive rotation mechanism 2 may include a stator 21, a rotor 22, and an annular plate 23. The top surface of the base 1 is provided with a mounting groove 11, and the bottom of the mounting groove 11 is fixed with a mounting cylinder 12 arranged along the vertical direction. The stator 21 is the fixed part of the drive rotation mechanism 2. The stator 21 has an annular structure and is wound with coils. The stator 21 is sleeved on the outer periphery of the mounting cylinder 12. The rotor 22 is magnetic and rotates inside the mounting cylinder 12 through a bearing. The annular plate 23 is the rotating part of the drive rotation mechanism 2, and its bottom surface is fixed to the top of the rotor 22 extending out of the mounting cylinder 12. The bottom surface of the turntable 3 is fixed to the top surface of the annular plate 23.

[0044] like Figure 3 As shown, in some specific embodiments, a wireless charging component 8 may also be included. The wireless charging component 8 includes a rotating cylinder 81, a fixed cylinder 82, a first coil, and a second coil. The rotating cylinder 81 is sleeved on the outer periphery of the rotor 22 and its top end is fixed to the bottom surface of the ring plate 23. The rotating cylinder 81 rotates in the mounting groove 11 corresponding to the outer periphery of the stator 21. The fixed cylinder 82 is sleeved on the outer periphery of the rotating cylinder 81 and fixed in the mounting groove 11. The first coil is wound on the fixed cylinder 82 and electrically connected to the coil wound on the stator 21. The second coil is wound on the rotating cylinder 81 and resonates with the first coil at the same frequency to realize wireless current transmission.

[0045] like Figure 2 and Figure 3As shown, in some specific embodiments, a controller 9 may also be included. The controller 9 includes a sub-control circuit board 91 and a main control circuit board 92. The rotor 22 is provided with through holes penetrating both ends in the axial direction, and the through holes communicate with the inner hole of the ring plate 23. The bottom end of the base 1 is provided with a receiving groove 13, and the bottom of the receiving groove 13 is provided with a through hole communicating with the through hole. The top surface of the sub-control circuit board 91 is fixed on the bottom surface of the turntable 3 and electrically connected to the second coil. A first optocoupler 93 is fixed on the bottom surface of the sub-control circuit board 91 corresponding to the through hole. The main control circuit board 92 is fixed in the receiving groove 13 and electrically connected to the first coil. A second optocoupler 94 is fixed on the top surface of the main control circuit board 92 corresponding to the through hole. The second optocoupler 94 and the first optocoupler 93 are wirelessly connected.

[0046] like Figure 3 As shown, in some specific embodiments, a position identification mechanism 10 may also be included. The position identification mechanism 10 includes a first identifier 101, a first code ring 102, a second identifier 103, and a second code ring 104. The first code ring 102 is fitted around the outer periphery of the fixed cylinder 82 and fixed in the mounting groove 11. The first identifier 101 is fixed on the sub-control circuit board 91 and electrically connected to the sub-control circuit board 91. The first identifier 101 can be arranged opposite to the first code ring 102 to identify the position code on the first code ring 102. The second code ring 104 is fitted around the outer periphery of the reflector 6. The second identifier 103 is fixed on the turntable 3 and electrically connected to the sub-control circuit board 91. The second identifier 103 can be arranged opposite to the second code ring 104 to identify the position code on the second code ring 104.

[0047] In some specific embodiments, a spacer ring 14 and a partition plate 15 may also be included. The spacer ring 14 is sleeved on the outer periphery of the middle part of the reflector mirror 6; the partition plate 15 is fixed on the housing of the laser transceiver module 7 corresponding to its transmitting end and receiving end and slides against the spacer ring 14.

[0048] In some specific embodiments, a transparent protective cover 16 may also be included, which covers the outer periphery of the drive rotation mechanism 2, turntable 3, two brackets 4, motor 5, reflector 6 and multiple laser transceiver modules 7 and is fixed on the base 1.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A multi-line non-repetitive lidar, comprising a base (1), a drive rotation mechanism (2), a turntable (3), a bracket (4), a motor (5), and a reflector (6), wherein the fixed part of the drive rotation mechanism (2) is fixed to the base (1) and its rotating part rotates about the vertical line of the base (1) as an axis; the turntable (3) is fixed to the rotating part of the drive rotation mechanism (2); there are two brackets (4) and they are fixed to the turntable (3) at intervals; the motor (5) is fixed to one of the brackets (4) and its output shaft rotates about the vertical line perpendicular to the base (1) as an axis; one end of the reflector (6) is fixed to the output shaft of the motor (5) and its other end is rotatably connected to the other bracket (4); characterized in that, Also includes: Multiple laser transceiver modules (7) are fixed at intervals on the turntable (3) with their transmitting and receiving ends facing the reflector (6). The laser beams emitted by the multiple laser transceiver modules (7) are arranged perpendicular to the axis of the reflector (6) and their laser beams form an angle α with the surface of the reflector (6) to deflect the laser beams vertically and circumferentially along the base (1) to obtain multiple scanning areas with a fan-shaped longitudinal section on the outside of the base (1).

2. The multi-line non-repetitive lidar according to claim 1, characterized in that, The values ​​of the included angle α are different for multiple cases.

3. The multi-line non-repetitive lidar according to claim 1, characterized in that, The included angle α is -90° to 90°.

4. A multi-line non-repetitive lidar according to claim 1, characterized in that, The drive rotation mechanism (2) includes a stator (21), a rotor (22), and an annular plate (23). The top surface of the base (1) is provided with an installation groove (11), and the bottom of the installation groove (11) is fixed with an installation cylinder (12) arranged along the vertical direction. The stator (21) is the fixed part of the drive rotation mechanism (2). The stator (21) is a ring structure and is wound with a coil. The stator (21) is sleeved on the outer periphery of the installation cylinder (12). The rotor (22) is magnetic and rotates in the installation cylinder (12) through a bearing. The annular plate (23) is the rotating part of the drive rotation mechanism (2), and its bottom surface is fixed to the top of the rotor (22) extending out of the installation cylinder (12). The bottom surface of the turntable (3) is fixed to the top surface of the annular plate (23).

5. A multi-line non-repetitive lidar according to claim 4, characterized in that, It also includes a wireless charging component (8), which includes a rotating cylinder (81), a fixed cylinder (82), a first coil, and a second coil. The rotating cylinder (81) is sleeved on the outer periphery of the rotor (22) and its top end is fixed to the bottom surface of the ring plate (23). The rotating cylinder (81) rotates in the mounting groove (11) corresponding to the outer periphery of the stator (21). The fixed cylinder (82) is sleeved on the outer periphery of the rotating cylinder (81) and fixed in the mounting groove (11). The first coil is wound on the fixed cylinder (82) and electrically connected to the coil wound on the stator (21). The second coil is wound on the rotating cylinder (81) and resonates with the first coil at the same frequency to realize wireless current transmission.

6. A multi-line non-repetitive lidar according to claim 5, characterized in that, It also includes a controller (9), which includes a sub-control circuit board (91) and a main control circuit board (92). The rotor (22) is provided with through holes through both ends in the axial direction and the through holes are connected to the inner hole of the ring plate (23). The bottom end of the base (1) is provided with a receiving groove (13) and the bottom of the receiving groove (13) is provided with a through hole connected to the through hole. The top surface of the sub-control circuit board (91) is fixed on the bottom surface of the turntable (3) and electrically connected to the second coil. The first optocoupler (93) is fixed on the bottom surface of the sub-control circuit board (91) corresponding to the through hole. The main control circuit board (92) is fixed in the receiving groove (13) and electrically connected to the first coil. The second optocoupler (94) is fixed on the top surface of the main control circuit board (92) corresponding to the through hole. The second optocoupler (94) is wirelessly connected to the first optocoupler (93).

7. A multi-line non-repetitive lidar according to claim 6, characterized in that, It also includes a position recognition mechanism (10), which includes a first recognizer (101), a first code ring (102), a second recognizer (103), and a second code ring (104). The first code ring (102) is fitted with a gap on the outer periphery of the fixed cylinder (82) and fixed in the mounting groove (11). The first recognizer (101) is fixed on the sub-control circuit board (91) and electrically connected to the sub-control circuit board (91). The first recognizer (101) can be arranged opposite to the first code ring (102) to recognize the position code on the first code ring (102). The second code ring (104) is fitted on the outer periphery of the reflector (6). The second recognizer (103) is fixed on the turntable (3) and electrically connected to the sub-control circuit board (91). The second recognizer (103) can be arranged opposite to the second code ring (104) to recognize the position code on the second code ring (104).

8. A multi-line non-repetitive lidar according to claim 1, characterized in that, It also includes a spacer ring (14) and a partition plate (15). The spacer ring (14) is sleeved on the outer periphery of the middle part of the reflector (6). The partition plate (15) is fixed on the housing of the laser transceiver module (7) between its transmitting end and receiving end and slides against the spacer ring (14).

9. A multi-line non-repetitive lidar according to claim 1, characterized in that, It also includes a transparent protective cover (16), which covers the outer periphery of the drive rotation mechanism (2), the turntable (3), the two brackets (4), the motor (5), the reflector (6) and the multiple laser transceiver modules (7) and is fixed on the base (1).

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