Laser radar

Abstract

The utility model discloses a laser radar. The laser radar comprises a rotating mirror assembly, a supporting piece and a driving device. The rotating mirror assembly comprises a plurality of lenses. The supporting piece is connected with the rotating mirror assembly. The driving device is used for driving the supporting piece to rotate. Wherein at least part of the supporting piece forms a blade structure, and the rotating axis of the rotating mirror assembly is consistent with the rotating axis of the blade structure. According to the embodiment of the invention, at least part of the supporting piece of the laser radar forms the blade structure, so that when the driving device drives the supporting piece to rotate, flowing airflow can be generated in the laser radar, the heat dissipation capability is enhanced, and the use stability and reliability of the laser radar are improved. Besides, the part of the supporting piece directly forms the blade structure, so that an additional fan structure for generating air flow does not need to be arranged in the laser radar, the number of parts is reduced, the production cost is reduced, and the overall miniaturization and light weight of the laser radar are facilitated.

Description

Technical Field

[0001] This application relates to the field of radar technology, and more particularly to a lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that detects target position, velocity, and other characteristics by emitting laser beams. With the rapid development of autonomous driving technology in recent years, LiDAR has become indispensable as a core sensor for distance perception in the field of autonomous driving.

[0003] During operation, lidar generates a significant amount of heat from its internal laser and other components. If this heat cannot be dissipated promptly, it can affect the lidar's operational stability and reliability, and the high-temperature operating environment can also shorten the lifespan of various components. Therefore, improving the heat dissipation efficiency of lidar is one of the key research topics in the industry. Utility Model Content

[0004] To address the aforementioned technical problems, this application provides a lidar with high heat dissipation efficiency.

[0005] This application is achieved through the following technical solution.

[0006] This application provides a lidar system, including a rotating mirror assembly, a support member, and a driving device. The rotating mirror assembly includes multiple lenses; the support member is connected to the rotating mirror assembly; the driving device is used to drive the support member to rotate; wherein at least a portion of the support member is configured as a blade structure, and the rotation axis of the rotating mirror assembly is aligned with the rotation axis of the blade structure.

[0007] In some embodiments, the support member has a through hole and a support ring, the support ring being located inside the through hole and coaxially arranged with the through hole, and the drive end of the drive device being connected to the support ring; the blade structure extends from the outer periphery of the support ring toward the inner periphery of the through hole and is connected between the through hole and the support ring.

[0008] In some embodiments, the number of blade structures is multiple, the multiple blade structures are arranged at intervals along the circumferential direction of the support ring, and each blade structure extends in a spiral shape.

[0009] In some embodiments, a plurality of the lenses are arranged around and supported on the support member.

[0010] In some embodiments, the lidar includes a base, the driving device is disposed on the base, and the support member is spaced apart from the base; the distance between the support member and the base along the rotation axis of the rotating mirror assembly is in the range of 1mm to 30mm.

[0011] In some embodiments, the distance between the support and the base along the rotation axis of the rotating mirror assembly is in the range of 3 mm to 10 mm.

[0012] In some embodiments, the lidar further includes a cover located on the opposite side of the support member along the rotation axis of the rotating mirror assembly and covering the rotating mirror assembly; at least a portion of the cover is configured as the blade structure.

[0013] In some embodiments, the cover is coated with a light-absorbing coating.

[0014] In some embodiments, the rotating mirror assembly includes a first rotating mirror assembly and a second rotating mirror assembly. The first rotating mirror assembly has multiple lenses configured as light emitting mirrors, and the second rotating mirror assembly has multiple lenses configured as light receiving mirrors. Each light emitting mirror and each light receiving mirror is arranged parallel to each other in a one-to-one correspondence. The support member includes a first support member and a second support member connected by a rotating shaft. The first rotating mirror assembly is connected to the first support member, and the second rotating mirror assembly is connected to the second support member. The driving end of the driving device is connected to the rotating shaft and is used to drive the first support member and the second support member to rotate together.

[0015] In some embodiments, the lidar includes a transmitting device and a receiving device. The transmitting device is used to emit a laser beam toward a target object, the laser beam being emitted to the target object via a first rotating mirror assembly. The receiving device is used to receive a laser beam reflected by the target object, the reflected laser beam being reflected to the receiving device via a second rotating mirror assembly.

[0016] In some embodiments, the lidar further includes a housing with an internal accommodating space, in which the rotating mirror assembly, the support member, and the driving device are disposed. A vent is provided on the housing wall of the housing, and the vent communicates with the accommodating space and the outside.

[0017] Utility Model Effect

[0018] At least a portion of the support member of the lidar in this embodiment is configured as a blade structure. When the drive device rotates the support member, the blade structure can move the surrounding air, thereby generating airflow inside the lidar, enhancing internal heat exchange capacity, and improving the lidar's operational stability and reliability. Furthermore, the airflow generated by the rotation of the blade structure can agitate the surfaces of relatively stationary components inside the lidar, reducing dust accumulation on these surfaces and extending the lidar's lifespan. Additionally, since a portion of the support member is directly configured as a blade structure, there is no need for an additional fan structure or drive device inside the lidar, which helps reduce the number of components, lowers production costs, and also contributes to the overall miniaturization and weight reduction of the lidar. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0020] Figure 1 A three-dimensional structural diagram of the internal structure of a lidar provided for some embodiments of this application;

[0021] Figure 2 A schematic diagram of the internal planar structure of a lidar provided for some embodiments of this application;

[0022] Figure 3 A three-dimensional structural schematic diagram of the rotating mirror assembly and support provided for some embodiments of this application;

[0023] Figure 4 A three-dimensional structural schematic diagram of the support member provided for some embodiments of this application;

[0024] Figure 5 The partial structural schematic diagram of the support member provided for some embodiments of this application schematically shows the blade structure, through holes and support ring of the support member;

[0025] Figure 6 A schematic diagram of the planar structure of a lidar provided for some embodiments of this application.

[0026] Explanation of reference numerals in the attached figures

[0027] 1. Rotating mirror assembly; 1a. First rotating mirror assembly; 1b. Second rotating mirror assembly; 11. Lens; 2. Support member; 2a. First support member; 2b. Second support member; 21. Blade structure; 22. Through hole; 23. Support ring; 3. Drive device; 4. Base; 5. Cover; 6. Rotating shaft; 7. Transmitting device; 8. Receiving device; 9. Housing; 91. Vent hole; 100. LiDAR. Detailed Implementation

[0028] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0030] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0033] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of targets. In principle, LiDAR emits a detection signal (laser beam) towards the target, then compares the received signal (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, velocity, attitude, and even shape. Due to its high resolution, excellent detection performance, small size, and light weight, LiDAR is widely used in autonomous driving, drones, intelligent robots, transportation and communication, energy security monitoring, and resource exploration. With the rapid development of autonomous driving technology in recent years, LiDAR, as the "eyes" of autonomous vehicles, is one of the most important sensors and plays a crucial role in ensuring the safety performance of autonomous vehicles.

[0034] LiDAR contains various electronic components, such as lasers, which generate a lot of heat during operation. If this heat accumulates, it can cause deformation, performance degradation, and accelerated aging of the internal components, thus seriously affecting the measurement accuracy and reliability of the LiDAR and reducing its service life.

[0035] In related technologies, heat exchange inside the lidar is usually achieved through contact heat dissipation, that is, heat is conducted to the lidar housing through heat conduction components. However, the heat conduction efficiency of heat conduction components is limited, and the addition of heat conduction components increases the number of internal structural components of the lidar, increases the assembly difficulty, and the heat conduction components also occupy a certain space inside the housing, which is not conducive to the miniaturization and weight reduction of lidar.

[0036] This application addresses the problems existing in the aforementioned related technologies by proposing a lidar 100. Below, referring to... Figures 1 to 6 Some embodiments of this application will be described in detail.

[0037] Figure 1 A three-dimensional structural diagram of the internal structure of a lidar provided for some embodiments of this application; Figure 2 A schematic diagram of the internal planar structure of a lidar provided for some embodiments of this application; Figure 3 A three-dimensional structural schematic diagram of the rotating mirror assembly and support provided for some embodiments of this application; Figure 4 A three-dimensional structural schematic diagram of the support member provided for some embodiments of this application; Figure 5 The partial structural schematic diagram of the support member provided for some embodiments of this application schematically shows the blade structure, through holes and support ring of the support member; Figure 6 A schematic diagram of the planar structure of a lidar provided for some embodiments of this application.

[0038] like Figures 1 to 3As shown, the lidar 100 includes a rotating mirror assembly 1, a support member 2, and a driving device 3. The rotating mirror assembly 1 includes a plurality of lenses 11. The support member 2 is connected to the rotating mirror assembly 1. The driving device 3 is used to drive the support member 2 to rotate. At least a portion of the support member 2 is configured as a blade structure 21, and the rotation axis of the rotating mirror assembly 1 is aligned with the rotation axis of the blade structure 21.

[0039] The rotating mirror assembly 1 is an important optical component in the lidar 100. The rotating mirror assembly 1 changes the emission direction of the laser beam by rotating, thereby achieving scanning of the target area. The rotating mirror assembly 1 includes multiple lenses 11. In this embodiment, there are four lenses 11, which are generally arranged to form a cuboid shape. In some other embodiments, the number of lenses 11 may be fewer or more. This embodiment does not specifically limit the number of lenses 11 in the rotating mirror assembly 1; it can be specifically set according to the actual field of view, scanning range, and resolution required by the lidar 100.

[0040] The support member 2 is a structural component used to support the rotating mirror assembly 1. In this embodiment, the rotating mirror assembly 1 is fixedly connected to the support member 2, that is, the rotating mirror assembly 1 does not rotate relative to the support member 2. The support member 2 is usually located between the rotating mirror assembly 1 and the driving end of the driving device 3, so that the torque of the driving device 3 can be transmitted to the rotating mirror assembly 1 through the support member 2, thereby realizing the rotation of the rotating mirror assembly 1.

[0041] The support member 2 is generally flat, which helps to improve the reliability of its connection with the rotating mirror assembly 1. In this embodiment, the support member 2 is generally rectangular. In some other embodiments, the support member 2 can also be square, circular, or any other suitable shape. This embodiment does not specifically limit the shape of the support member 2, as long as it can stably support the rotating mirror assembly 1.

[0042] For example, the support member 2 may be provided with a slot, and the multiple lenses 11 of the rotating mirror assembly 1 can be connected to the support member 2 by a snap-fit ​​method.

[0043] As another example, the multiple lenses 11 of the rotating mirror assembly 1 can be bonded to the support member 2 by means of structural adhesive.

[0044] This application does not impose specific limitations on the connection method between the lens 11 and the support 2, as long as the stability of the rotating mirror assembly 1 during high-speed rotation can be guaranteed.

[0045] The drive device 3 refers to a device that provides power to the components. For example, the drive device 3 can be a drive motor, and as a specific example, the drive motor can be a servo motor.

[0046] In this embodiment, the driving end of the driving device 3 is directly connected to the support member 2, thereby driving the support member 2 to rotate, which in turn drives the rotating mirror assembly 1 to rotate. The direct connection between the driving device 3 and the support member 2 facilitates the compactness of the overall structure, reduces intermediate transmission links, and thus saves space within the housing of the lidar 100, contributing to the miniaturization of the lidar 100. Furthermore, the direct connection between the driving device 3 and the support member 2 reduces energy loss during mechanical transmission, thereby improving transmission efficiency.

[0047] Of course, those skilled in the art should understand that in some other embodiments, the drive device 3 may also be indirectly connected to the support member 2 through a transmission mechanism.

[0048] In the embodiments of this application, such as Figure 3 As shown, at least a portion of the support member 2 is configured as a blade structure 21. Exemplarily, a fan-shaped blade structure 21 can be formed by appropriately twisting a portion of the surface of the support member 2.

[0049] Therefore, when the drive device 3 drives the support member 2 to rotate, the blade structure 21 of the support member 2 can drive the surrounding air, thereby generating a flowing airflow inside the lidar 100, increasing the internal air circulation, thereby improving the air convection heat transfer capacity inside the lidar 100, and further enhancing the heat dissipation capacity of the lidar 100, thus improving the stability and reliability of the lidar 100 in use.

[0050] Furthermore, the airflow generated by the rotation of the blade structure 21 of the support member 2 can also blow the surfaces of the relatively stationary components inside the lidar 100, thereby blowing away the dust that falls on the surface of each component, reducing the accumulation of dust, reducing the wear of components caused by dust accumulation, and improving the reliability and service life of the lidar 100.

[0051] In addition, since the structure of the support member 2 itself is directly improved, the support member 2 is directly configured as a blade structure 21. Therefore, there is no need to set an additional fan structure to generate airflow inside the lidar 100, nor is there a need to set an additional drive device to drive the fan structure to rotate. This helps to reduce the number of parts and reduce assembly costs. Moreover, there is no need to reserve space for setting an additional fan structure, which helps to make the lidar 100 smaller and lighter overall.

[0052] Those skilled in the art should understand that the embodiments of this application do not specifically limit the position of the blade structure 21 of the support member 2, as long as the rotation axis of the rotating mirror assembly 1 is consistent with the rotation axis of the blade structure 21, so that the blade structure 21 can rotate together with the rotation of the rotating mirror assembly 1 to generate airflow.

[0053] In some embodiments of this application, such as Figure 4 and Figure 5 As shown, the support member 2 has a through hole 22 and a support ring 23. The support ring 23 is located inside the through hole 22 and is arranged coaxially with the through hole 22. The drive end of the drive device 3 is connected to the support ring 23. The blade structure 21 extends from the outer periphery of the support ring 23 toward the inner periphery of the through hole 22 and connects between the through hole 22 and the support ring 23.

[0054] In this embodiment, the through hole 22, the support ring 23, and the drive end of the drive device 3 are arranged coaxially. The blade structure 21 is fixedly connected between the through hole 22 and the support ring 23. The drive end of the drive device 3 extends into the support ring 23 and connects with it. Thus, when the support member 2 rotates under the drive of the drive device 3, the blade structure 21 of the support member 2 rotates together with the support member 2, thereby driving the surrounding airflow, increasing the air circulation inside the lidar 100, and accelerating the heat dissipation speed of the lidar 100 during operation.

[0055] In some other embodiments, the support member 2 may have more (two or more) through holes 22, and the number of blade structures 21 may also be multiple, with each blade structure 21 connected to a different through hole 22. That is, part of the support member 2 is configured as multiple small fan structures with blade structures 21. Thus, when the support member 2 rotates under the drive of the drive device 3, each fan structure on the support member 2 can generate airflow within its respective range, improving the heat dissipation efficiency of the lidar 100.

[0056] In some embodiments of this application, there are multiple blade structures 21, which are arranged at intervals along the circumferential direction of the support ring 23, and each blade structure 21 extends in a spiral shape.

[0057] Therefore, multiple blade structures 21 can further enhance the airflow capacity, thereby increasing the air volume, and an appropriate number of blade structures 21 can reduce the turbulence of airflow, thereby reducing noise while ensuring gas flow.

[0058] For example, the number of blade structures 21 can be four, five, six, or fewer or more. This application embodiment does not specifically limit the number of blade structures 21.

[0059] In addition, such as Figure 4 and Figure 5As shown, the blade structure 21 of this embodiment is generally spirally extended. The spiral blade structure 21 can push the airflow more evenly to all sides, reduce the accumulation of local airflow, thereby better guiding the airflow and reducing airflow resistance. This allows air to pass through the blade structure 21 more smoothly, thereby improving the air transport efficiency of the blade structure 21. Moreover, the spiral blade structure 21 can generate a larger air volume at the same power, which is beneficial to further improve the heat dissipation efficiency inside the lidar 100.

[0060] Of course, those skilled in the art should understand that in some other embodiments, the blade structure 21 may also be a straight blade structure. The embodiments of this application do not specifically limit the shape of the blade structure 21.

[0061] In some embodiments of this application, a plurality of lenses 11 are arranged around and supported on a support member 2.

[0062] Therefore, the multiple mirrors 11 of the rotating mirror assembly 1 form a polygonal cylindrical structure, which allows each reflective surface of the mirror 11 to reflect the laser beam in different directions, thereby achieving continuous linear scanning and improving the scanning efficiency of the lidar 100. Moreover, since the rotation axis of the rotating mirror assembly 1 is fixed, both the laser emitting and receiving devices can remain stationary, thus improving the stability and reliability of the lidar 100.

[0063] In addition, this cylindrical shape enables efficient reflection and scanning of laser beams within a limited space, making the structure of the rotating mirror assembly 1 more compact, which is beneficial for saving space. It also facilitates the integration of the rotating mirror assembly 1 with other systems inside the lidar 100, thereby helping to achieve miniaturization of the lidar 100.

[0064] This application does not specifically limit the number of lenses 11 in the rotating mirror assembly 1 or the reflective surface angle of each lens 11. By adjusting the angle and number of reflective surfaces of multiple lenses 11, the field of view and region of interest can be flexibly set to meet the needs of different application scenarios and cover a wider field of view.

[0065] In some embodiments of this application, the lidar 100 includes a base 4, a drive device 3 is disposed on the base 4, and a support member 2 is spaced apart from the base 4. Along the rotation axis of the rotating mirror assembly 1, the distance between the support member 2 and the base 4 is in the range of 1 mm to 30 mm.

[0066] The airflow generated by the blade structure 21 of the support member 2 during rotation requires a certain space to diffuse and homogenize. Therefore, by keeping the distance between the support member 2 and the base 4 within a suitable range, the airflow generated by the rotation of the support member 2 can flow more easily, thereby optimizing the airflow distribution and significantly improving the uniformity of the flow field, which in turn helps to improve heat dissipation efficiency.

[0067] In addition, the appropriate distance between the support 2 and the base 4 can reduce the possibility of interference between the support 2 and the base 4, reduce noise problems caused by uneven airflow, and further improve the reliability of the lidar 100.

[0068] For example, along the rotation axis of the rotating mirror assembly 1, the distance between the support member 2 and the base 4 is in the range of 3mm to 10mm. For instance, the distance between the support member 2 and the base 4 can be 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, or 10mm, etc.

[0069] In this embodiment, the distance between the support 2 and the base 4 along the rotation axis of the rotating mirror assembly 1 is 3mm. This allows for the compact design of the various components inside the lidar 100 while ensuring uniformity of the flow field and improving heat dissipation efficiency, thereby facilitating the miniaturization of the lidar 100.

[0070] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the lidar 100 also includes a cover 5, which is located on the opposite side of the support 2 along the rotation axis of the rotating mirror assembly 1 and covers the rotating mirror assembly 1. At least a portion of the cover 5 is configured as a blade structure 21.

[0071] The cover 5 can effectively isolate the transmitting and receiving optical paths, reducing the possibility that the transmitted beam will directly enter the receiving device without being reflected by the target, thereby reducing interference signals and improving the measurement accuracy of the lidar 100.

[0072] In addition, the cover 5 can reduce the possibility of the rotating mirror assembly 1 being affected by external environmental factors such as dust, water vapor, and vibration, thereby ensuring the stability and reliability of the optical components.

[0073] In this embodiment of the application, although not shown in the figure, at least a portion of the cover 5 may also be configured as a blade structure 21. Thus, when the cover 5 rotates together with the rotating mirror assembly 1, the blade structure 21 of the cover 5 can also rotate together to drive the surrounding air, thereby helping to further improve the airflow capability inside the lidar 100, improve the heat dissipation capability inside the lidar 100, and reduce the possibility of damage to the internal components of the lidar 100, thereby improving the reliability and service life of the lidar 100.

[0074] The blade structure of the cover 5 in this embodiment can be the same as the blade structure of the support 2, and will not be described in detail here.

[0075] In some embodiments of this application, the cover 5 is coated with a light-absorbing coating.

[0076] The light-absorbing coating can absorb visible and near-infrared light, thereby reducing the possibility of unwanted reflected and stray light entering the receiving device, thus reducing optical crosstalk, reducing interference signals, and improving the imaging quality and measurement accuracy of the lidar 100.

[0077] This application does not specifically limit the type of light-absorbing coating; it can be selected according to the actual situation.

[0078] In some embodiments of this application, such as Figure 1 and Figure 2 As shown, the rotating mirror assembly 1 includes a first rotating mirror assembly 1a and a second rotating mirror assembly 1b. Multiple lenses 11 of the first rotating mirror assembly 1a constitute a light emitting mirror, and multiple lenses 11 of the second rotating mirror assembly 1b constitute a light receiving mirror. Each light emitting mirror and each light receiving mirror is arranged parallel to each other in a one-to-one correspondence. The support member 2 includes a first support member 2a and a second support member 2b connected by a rotating shaft 6. The first rotating mirror assembly 1a is connected to the first support member 2a, and the second rotating mirror assembly 1b is connected to the second support member 2b. The driving end of the driving device 3 is connected to the rotating shaft 6 and is used to drive the first support member 2a and the second support member 2b to rotate together.

[0079] For example, the rotating shaft 6 can be inserted through the second rotating mirror assembly 1b and connected to the first support member 2a and the second support member 2b, so that the first support member 2a and the second support member 2b can rotate together through the rotating shaft 6. Thus, there is no need to set up an additional driving device. The first rotating mirror assembly 1a and the second rotating mirror assembly 1b can rotate together through only one driving device 3, which helps to reduce the number of parts, reduce the assembly difficulty, and save space inside the lidar 100.

[0080] Those skilled in the art should understand that Figure 1The dashed lines in the diagram only schematically show the drive unit 3 and the rotating shaft 6, and do not represent their actual positions and sizes.

[0081] In this embodiment, portions of both the first support member 2a and the second support member 2b are configured as blade structures 21. In some other embodiments, only portions of the first support member 2a or only portions of the second support member 2b may be configured as blade structures 21. This embodiment does not specifically limit this, as long as at least one of the first support member 2a and the second support member 2b is configured as a blade structure 21 and can drive the surrounding airflow.

[0082] Those skilled in the art should understand that in some other embodiments, the first rotating mirror assembly 1a and the second rotating mirror assembly 1b may be driven to rotate by different driving devices, or only the first rotating mirror assembly 1a may rotate while the second rotating mirror assembly 1b remains stationary. In this case, part of the first support member 2a is configured as a blade structure 21.

[0083] In addition, the parallel arrangement of the light emitting mirror and the light receiving mirror in a one-to-one correspondence can make the deflection angle and direction of the emitted light and the reflected light roughly the same, which helps to simplify the complexity of the internal structural components.

[0084] In this embodiment of the application, along the rotation axis of the rotating mirror assembly 1, the first rotating mirror assembly 1a, which is configured as a light emitting mirror, is located above the second rotating mirror assembly 1b, which is configured as a light receiving mirror. That is, the upper rotating mirror assembly 1 is used to receive and emit the detection laser beam emitted by the emitting device 7, and the lower rotating mirror assembly 1 is used to receive and reflect the echo (the laser beam reflected back by the target object) from outside the lidar 100 to the receiving device 8.

[0085] In some other embodiments, along the rotation axis of the rotating mirror assembly 1, the first rotating mirror assembly 1a, which is configured as a light emitting mirror, is located below the second rotating mirror assembly 1b, which is configured as a light receiving mirror. That is, the upper rotating mirror assembly 1 is used to receive and reflect the echo from outside the lidar 100 to the receiving device 8, and the lower rotating mirror assembly 1 is used to receive and emit the detection laser beam emitted by the emitting device 7.

[0086] The embodiments of this application do not specifically limit the positions of the first rotating mirror assembly 1a and the second rotating mirror assembly 1b.

[0087] In some embodiments of this application, the lidar 100 includes a transmitting device 7 and a receiving device 8. The transmitting device 7 is used to emit a laser beam toward a target object, and the laser beam is emitted to the target object via a first rotating mirror assembly 1a. The receiving device 8 is used to receive the laser beam reflected by the target object, and the reflected laser beam is reflected to the receiving device 8 via a second rotating mirror assembly 1b.

[0088] Therefore, the laser beam emitted by the transmitting device 7 can be emitted to the target object through the optical emitting mirror, and the laser beam reflected by the target object can be reflected back to the receiving device 8 through the optical receiving mirror, thereby improving the optical isolation effect, reducing stray light interference, and improving the accuracy of the lidar 100.

[0089] In some embodiments, the lidar 100 further includes a reinforcing lens (not shown), through which the laser beam emitted by the transmitting device 7 is emitted to the rotating mirror assembly 1. By providing the reinforcing lens, the pulse signal in the near-range region can be enhanced, thereby eliminating the range blind zone as much as possible.

[0090] In some embodiments of this application, such as Figure 6 As shown, the lidar 100 also includes a housing 9, which has an internal space. The rotating mirror assembly 1, the support 2, and the drive device 3 are located in the internal space. A vent 91 is provided on the housing wall of the housing 9, which connects the internal space to the outside.

[0091] The housing 9 is the external protective housing of the lidar 100. It has an internal space for accommodating various functional devices that enable the lidar 100 to function. For example, the rotating mirror assembly 1, the support 2, the drive device 3, the transmitting device 7, and the receiving device 8 are all located in the accommodating space.

[0092] In this embodiment, the housing 9 has a plurality of ventilation holes 91 on its housing wall. The ventilation holes 91 can connect the housing 9's accommodating space with the outside, thereby further helping to dissipate heat inside the lidar 100 and further improving the heat dissipation performance of the lidar 100.

[0093] This application does not limit the number, shape, or position of the vent holes 91 on the housing 9, but can make specific settings according to the actual shape and size of the lidar 100.

[0094] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A lidar, comprising: The laser radar comprises: a rotating mirror assembly comprising a plurality of mirror pieces; a support connected with the rotating mirror assembly; and a driving device for driving the support to rotate; wherein at least part of the support is configured as a vane structure, and an axis of rotation of the rotating mirror assembly is consistent with an axis of rotation of the vane structure.

2. The laser radar according to claim 1, wherein: the support is formed with a through hole and a support ring located inside the through hole and arranged coaxially with the through hole, and a driving end of the driving device is connected with the support ring; the vane structure extends from an outer periphery of the support ring towards an inner periphery of the through hole and is connected between the through hole and the support ring.

3. The laser radar according to claim 2, wherein: the number of the vane structures is plural, and the plural vane structures are arranged at intervals along a circumferential direction of the support ring, and each of the vane structures extends in a spiral shape.

4. The laser radar according to claim 1, wherein: the plurality of mirror pieces are arranged around and supported by the support.

5. The laser radar according to claim 1, wherein: the laser radar comprises a base, the driving device is arranged in the base, and the support is arranged at an interval from the base; an interval distance between the support and the base along an axis of rotation of the rotating mirror assembly is in a range of 1 mm to 30 mm.

6. The laser radar according to claim 5, wherein: the interval distance between the support and the base along the axis of rotation of the rotating mirror assembly is in a range of 3 mm to 10 mm.

7. The laser radar according to claim 1, wherein: the laser radar further comprises a cover, the cover is located at opposite sides of the support along the axis of rotation of the rotating mirror assembly, and covers the rotating mirror assembly; at least part of the cover is configured as the vane structure.

8. The laser radar according to claim 7, wherein: the cover is coated with light-absorbing paint.

9. The laser radar according to any one of claims 1 to 8, wherein: the rotating mirror assembly comprises a first rotating mirror assembly and a second rotating mirror assembly, the plurality of mirror pieces of the first rotating mirror assembly are configured as light-emitting mirrors, the plurality of mirror pieces of the second rotating mirror assembly are configured as light-receiving mirrors, and each of the light-emitting mirrors and each of the light-receiving mirrors are arranged in parallel one by one corresponding to each other; the support comprises a first support and a second support connected by a rotating shaft, the first rotating mirror assembly is connected with the first support, and the second rotating mirror assembly is connected with the second support; a driving end of the driving device is connected with the rotating shaft for driving the first support and the second support to rotate together.

10. The lidar of claim 9, wherein, the laser radar comprises: a transmitting device for transmitting a laser beam to a target object, the laser beam being emitted to the target object via the first rotating mirror assembly; and A receiving device is configured to receive the laser beam reflected by the target object, and the reflected laser beam is reflected to the receiving device via the second rotating mirror assembly.

11. The lidar of any one of claims 1-8, wherein, The lidar further comprises a housing, an accommodation space is formed inside the housing, the rotating mirror assembly, the support and the driving device are arranged in the accommodation space, and a ventilation hole is formed in a housing wall of the housing and communicates the accommodation space with the outside.

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