3D multi-line laser radar

Abstract

The utility model provides a 3D multi-line laser radar. The 3D multi-line laser radar comprises a vertical scanning module and a horizontal scanning module. The vertical scanning module comprises a rotary circuit board, and a transmitting module, a receiving module and a vertical reflecting module which are mounted on the rotary circuit board; the transmitting module and the receiving module are respectively arranged on two sides of the vertical reflecting module; the horizontal scanning module is rotationally connected with the vertical scanning module so that the vertical scanning module can rotate in the horizontal direction. According to the 3D multi-line laser radar, through cooperation of the vertical scanning module and the horizontal scanning module, 3D point cloud output can be realized only through a pair of receiving and transmitting modules, the problems of high cost and complex installation and adjustment of stacking or integration of multiple layers of receiving and transmitting modules are avoided, and the problems of high cost and size in a high-speed motor and multi-wedge-shaped lens scheme are solved. The transmitting module and the receiving module are arranged on the two sides of the vertical light reflecting module respectively, interference of transmitted light on the receiving module can be effectively reduced, and the accuracy and reliability of the 3D multi-line laser radar are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radar, and more particularly relates to a 3D multi-line laser radar. BACKGROUND

[0002] Laser radar is a self-luminous sensor which acquires distance, direction, reflection intensity and other characteristic information of the external environment by emitting light signals and receiving light signals reflected by objects. Multi-line laser radar can acquire spatial three-dimensional point cloud information of objects, and thus plays a key role as an important sensor for navigation, obstacle avoidance and mapping in the fields of artificial intelligence, embodied robots, service robots, industrial automation and intelligent driving.

[0003] At present, multi-line scanning laser radars with a horizontal 360° field of view mainly have three implementation modes: the first mode is to realize vertical multi-line beam spatial scanning by stacking or integrating multiple transceiver modules, and to realize 360° scanning by cooperating with a horizontal rotating motor. This mode is easy to realize repeated scanning and is conducive to algorithm processing of point cloud, but requires multiple sets of repeated components, resulting in high cost and complicated assembly and adjustment process. The second mode is to realize three-dimensional scanning of objects by using a high-speed motor and multiple wedge-shaped mirrors. This mode can reduce the number of transceiver modules, realize non-repetitive scanning of point cloud, and realize multi-line scanning effect through point cloud accumulation. This mode can usually realize small and light design and has certain cost advantage, but the cost of double wedge-shaped mirrors is still high. The third mode is to directly use an entire single-line radar as a vertical scanning module, and to realize spatial three-dimensional scanning by adding a horizontal scanning motor. This mode has the lowest cost, but the arrangement of horizontal rotating components may cause difficulty in alignment, affect service life, and make it difficult to realize small design.

[0004] The multi-line laser radars in the prior art have the following defects: high cost, complicated assembly and adjustment, large volume, difficulty in realizing small design, limited service life, and dynamic balance alignment problem in some schemes. These problems limit the widespread use and further development of multi-line laser radars in various application fields.

[0005] In view of the above problems, the prior art needs to be improved. Practical new type content

[0006] The purpose of the embodiments of the application is to provide a 3D multi-line laser radar to solve the technical problems of high cost, complicated assembly and adjustment, and large volume in the prior art.

[0007] To achieve the above object, the technical scheme adopted by the present application is: a 3D multi-line laser radar is provided, comprising a vertical scanning module and a horizontal scanning module; the vertical scanning module comprises a rotating circuit board, and a transmitting module, a receiving module and a vertical light reflection module installed on the rotating circuit board; the transmitting module and the receiving module are respectively arranged on the two sides of the vertical light reflection module; the horizontal scanning module is rotationally connected with the vertical scanning module, so that the vertical scanning module rotates in the horizontal direction.

[0008] Further, the vertical light reflection module comprises a double-output rotary driving member, a transmitting mirror, a receiving mirror and a code disc; the double-output rotary driving member has a first output end and a second output end arranged oppositely; the transmitting mirror is connected with the first output end and faces the transmitting module; the receiving mirror is connected with the second output end and faces the receiving module; the code disc is connected with the receiving mirror, or the code disc is connected with the transmitting mirror.

[0009] Further, the double-output rotary driving member is located on the rotation axis of the horizontal scanning module.

[0010] Further, the vertical scanning module further comprises a rotor support, the rotor support is rotationally connected with the horizontal scanning module, and the rotating circuit board is installed on the rotor support.

[0011] Further, the transmitting module comprises a transmitting shell, a transmitting circuit board, a transmitting lens and a laser diode; the transmitting shell is installed on the rotating circuit board; the transmitting circuit board is installed at one end of the transmitting shell; the transmitting lens is installed at the other end of the transmitting shell; the laser diode is installed on the transmitting circuit board, and the light emitted by the laser diode is emitted through the transmitting lens and the transmitting mirror.

[0012] Further, the receiving module comprises a receiving shell, a receiving circuit board, a receiving lens and a receiver; the receiving shell is installed on the rotating circuit board; the receiving circuit board is installed at one end of the receiving shell; the receiving lens is installed at the other end of the receiving shell; the receiver is installed on the receiving circuit board, and the reflected light is fed back to the receiver through the receiving mirror and the receiving lens.

[0013] Further, the horizontal scanning module comprises a main control board, an infrared transceiver module and a horizontal rotary driving member; the infrared transceiver module is electrically connected with the main control board and the rotating circuit board, so as to realize duplex communication or simplex communication; the horizontal rotary driving member is electrically connected with the main control board, and the output end of the horizontal rotary driving member is connected with the rotor support.

[0014] Further, the horizontal scanning module further comprises a wireless power supply module, the wireless power supply module is embedded in the horizontal rotation driving part, a wireless transmitting end of the wireless power supply module is electrically connected with the main control board, and a wireless receiving end of the wireless power supply module is electrically connected with the rotating circuit board.

[0015] Further, the 3D multi-line laser radar further comprises a base, and the horizontal scanning module is arranged in the base.

[0016] Further, the 3D multi-line laser radar further comprises a cover, the cover is connected with the base, and the vertical scanning module is arranged in the cover.

[0017] The 3D multi-line laser radar provided in the application has the following beneficial effects: compared with the prior art, the 3D multi-line laser radar provided in the application can realize 3D point cloud output only by using one pair of transmitting and receiving modules through cooperation of the vertical scanning module and the horizontal scanning module, thereby avoiding high cost and complex problems of assembly and adjustment caused by stacking and integration of multiple layers of transmitting and receiving modules and overcoming the problems of high cost and large volume in the high-speed motor and multiple wedge-shaped mirror scheme. Meanwhile, the transmitting module and the receiving module are arranged on two sides of the vertical light reflection module, which can effectively reduce interference of the transmitting light on the receiving module and improve accuracy and reliability of the 3D multi-line laser radar. In addition, the vertical scanning module is arranged in this way, which is convenient for considering mass distribution of parts on the horizontal scanning module during design, is beneficial to dynamic balance processing of the horizontal scanning module in the later period, and effectively reduces adverse effects on the horizontal scanning module. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative labor.

[0019] Figure 1 An exploded structural schematic view of the 3D multi-line laser radar provided in the embodiments of the application is shown in the figure.

[0020] Figure 2 A sectional structural schematic view of the 3D multi-line laser radar provided in the embodiments of the application is shown in the figure.

[0021] Figure 3 A front view structural schematic view of the vertical light reflection module in the 3D multi-line laser radar provided in the embodiments of the application is shown in the figure.

[0022] Figure 4 A sectional view of the vertical light reflection module in the 3D multi-line laser radar provided in the embodiments of the application is shown in the figure. Figure 3 A sectional view of the vertical light reflection module in the 3D multi-line laser radar provided in the embodiments of the application is shown in the figure.

[0023] Wherein, the reference signs in the figures:

[0024] 110-rotating circuit board; 120-transmitting module; 121-transmitting housing; 122-transmitting circuit board; 123-transmitting lens; 124-laser diode; 130-receiving module; 131-receiving housing; 132-receiving circuit board; 133-receiving lens; 134-receiver; 140-vertical reflecting module; 141-double output rotary driving member; 142-transmitting mirror; 143-receiving mirror; 144-code disc; 150-rotor support; 160-vertical scanning optocoupler;

[0025] 210-master control board; 220-infrared transmitting and receiving module; 221-infrared transmitter; 222-infrared receiver; 230-horizontal rotary driving member; 240-wireless power supply module; 241-wireless transmitting end; 242-wireless receiving end; 250-horizontal scanning optocoupler;

[0026] 310-base body; 320-bottom plate;

[0027] 400-outer cover. DETAILED DESCRIPTION

[0028] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0029] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0030] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0031] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0032] Please refer to Figure 1 and Figure 2 , the 3D multi-line laser radar provided by the embodiment of the present application will be described. The 3D multi-line laser radar comprises a vertical scanning module and a horizontal scanning module; the vertical scanning module comprises a rotating circuit board 110, and a transmitting module 120, a receiving module 130, and a vertical light reflection module 140 installed on the rotating circuit board 110; the transmitting module 120 and the receiving module 130 are respectively arranged on the two sides of the vertical light reflection module 140; the horizontal scanning module is rotationally connected with the vertical scanning module, so as to rotate the vertical scanning module in the horizontal direction.

[0033] The 3D multi-line laser radar of the embodiment of the present application can realize vertical and horizontal double scanning, and obtain accurate spatial three-dimensional point cloud information. The transmitting module 120 and the receiving module 130 in the vertical scanning module are scanned in the vertical direction through the vertical light reflection module 140, and cooperate with the rotating circuit board 110 to transmit and receive electrical signals. The horizontal scanning module is rotationally connected with the vertical scanning module, so as to realize rotation scanning in the horizontal direction. Thus, the whole system can provide omnidirectional spatial three-dimensional point cloud information, and meet the needs of the fields of AI, embodied robots, service robots, industrial automation, and intelligent driving.

[0034] Compared with the prior art, the 3D multi-line laser radar of the embodiment of the present application, through cooperation of the vertical scanning module and the horizontal scanning module, only needs a pair of transmitting and receiving modules, and can realize 3D point cloud output, which not only avoids high cost and complex problems of assembly and adjustment of multi-layer transmitting and receiving module stacking or integration, but also overcomes the problems of high cost and volume in the high-speed motor and multi-wedge mirror scheme. At the same time, the transmitting module 120 and the receiving module 130 are respectively arranged on the two sides of the vertical light reflection module 140, which can effectively reduce the interference of the transmitting light on the receiving module 130, and improve the accuracy and reliability of the 3D multi-line laser radar. In addition, this structure arrangement mode of the vertical scanning module is also convenient for considering the mass distribution of parts on the horizontal scanning module when designing, which is beneficial to dynamic balance processing of the horizontal scanning module in the later stage, and effectively reduces the adverse effects on the horizontal scanning module.

[0035] In an embodiment of the present application, please refer to Figure 3 and Figure 4The vertical reflection module 140 includes a double-output rotary drive 141, a transmitting mirror 142, a receiving mirror 143, and a code disc 144. The double-output rotary drive 141 has a first output end and a second output end arranged oppositely. The transmitting mirror 142 is connected with the first output end and faces the transmitting module 120. The receiving mirror 143 is connected with the second output end and faces the receiving module 130. The code disc 144 is connected with the receiving mirror 143 or the transmitting mirror 142.

[0036] In the embodiment, the design of the double-output rotary drive 141 enables the transmitting mirror 142 and the receiving mirror 143 to rotate synchronously and stably, thereby ensuring that the light emitted by the transmitting module 120 can be accurately received by the receiving module 130. The connection of the code disc 144 with the transmitting mirror 142 or the receiving mirror 143 is used to record the angle and speed of rotation, thereby providing accurate parameters for subsequent data processing. This design not only improves the measurement accuracy of the laser radar, but also greatly simplifies the structure of the system and reduces the manufacturing cost.

[0037] In the embodiment, the double-output rotary drive 141 can be a servo motor or a stepper motor, which is used to accurately obtain and adjust the angles of the transmitting mirror 142 and the receiving mirror 143 by controlling the rotation angle of the motor. The transmitting mirror 142 and the receiving mirror 143 can be made of high-reflectivity materials, such as silver-coated or aluminum-coated or dielectric-coated glass, or can be made by directly coating a high-reflectivity layer on the original material of the mirror, in order to improve the reflection efficiency. The code disc 144 can be used to monitor the position of the mirror in real time through an optical encoder, thereby ensuring the accuracy of the angle adjustment of the mirror. Further, the installation angle and position of the transmitting mirror 142 and the receiving mirror 143 can be fine-tuned according to actual application requirements, in order to achieve the best reflection and receiving effect.

[0038] In an embodiment of the present application, the double-output rotary drive 141 is located on the rotation axis of the horizontal scanning module.

[0039] The double-output rotary drive 141 is located on the rotation axis of the horizontal scanning module, which can better balance the structure of the horizontal scanning module, thereby greatly reducing the influence of the unbalance caused by the double-output rotary drive 141 on the moment of the horizontal scanning module, and improving the stability and service life of the overall structure. In this way, the technical solution of the present application effectively solves the problem of the arrangement of the double-output rotary drive 141 in the vertical scanning module, thereby ensuring the stable operation and long-term use of the system.

[0040] In this embodiment, the installation position of the double-output rotary driving member 141 can include but is not limited to the following specific implementation manners: one possible implementation manner is to use precise mechanical design and processing technology to accurately install the double-output rotary driving member 141 on the rotation axis of the horizontal scanning module. Another possible implementation manner is to adjust the internal structural design of the vertical scanning module so that the double-output rotary driving member 141 can be naturally located on the rotation axis. Further, high-precision positioning devices and calibration tools can be used to ensure the position accuracy of the double-output rotary driving member 141 during installation. In addition, shock-absorbing and buffering devices can be used to further improve the stability and service life of the double-output rotary driving member 141.

[0041] In one embodiment of the present application, referring to Figure 1 , the vertical scanning module further comprises a rotor support 150, which is rotationally connected with the horizontal scanning module, and the rotary circuit board 110 is installed on the rotor support 150.

[0042] In this embodiment, the design of the rotor support 150 not only provides stable support for the rotary circuit board 110, but also ensures the flexible rotation of the vertical scanning module on the horizontal scanning module. The rotor support 150 can be made of high-strength and lightweight materials such as aluminum alloy or carbon fiber to reduce the weight of the entire system while maintaining sufficient rigidity and stability. At the rotation connection between the rotor support 150 and the horizontal scanning module, precise bearings and sealing devices can be provided to reduce friction and wear, improve the smoothness and durability of rotation. In addition, the structural design of the rotor support 150 can also consider the heat dissipation performance, and through reasonable layout of heat dissipation channels and heat dissipation fins, the heat generated by the vertical scanning module during operation can be effectively dissipated, ensuring stable operation of the system.

[0043] In one embodiment of the present application, referring to Figure 1 , the vertical scanning module further comprises a vertical scanning optocoupler 160, which is electrically connected with the rotary circuit board 110.

[0044] In this embodiment, the setting of the vertical scanning optocoupler 160 can realize the monitoring of the rotation speed and angle of the vertical light reflection module 140, ensuring the stable operation of the vertical scanning module.

[0045] In one embodiment of the present application, referring to Figure 2The transmitting module 120 includes a transmitting shell 121, a transmitting circuit board 122, a transmitting lens 123 and a laser diode 124. The transmitting shell 121 is mounted on the rotating circuit board 110. The transmitting circuit board 122 is mounted on one end of the transmitting shell 121. The transmitting lens 123 is mounted on the other end of the transmitting shell 121. The laser diode 124 is mounted on the transmitting circuit board 122. The light emitted by the laser diode 124 is emitted through the transmitting lens 123 and the transmitting mirror 142.

[0046] In the embodiment, the transmitting module 120 is designed in this way, which can ensure that the light emitted by the laser diode 124 is accurately reflected to the transmitting mirror 142 after being focused by the transmitting lens 123, and then is reflected by the transmitting mirror 142 to perform space scanning. The transmitting lens 123 can effectively shape and focus the laser light, thereby improving the utilization rate of the light and the scanning accuracy. Meanwhile, the design of the transmitting shell 121 not only protects the transmitting circuit board 122 and the laser diode 124 inside, but also ensures the structural stability and durability of the entire transmitting module 120.

[0047] In the embodiment, the transmitting shell 121 can be made of a material with high strength, high temperature resistance and low reflectivity, so as to ensure its stability in various environments. The transmitting circuit board 122 can integrate various circuit elements, so as to improve the working efficiency and stability of the laser diode 124. The transmitting lens 123 can be made of high-precision optical glass material and be coated by a film, so as to ensure the focusing and calibration of the light. The laser diode 124 can be selected from a high-power and long-life type, so as to improve the effect and durability of the laser emission.

[0048] In one embodiment of the present application, please refer to Figure 2 The receiving module 130 includes a receiving shell 131, a receiving circuit board 132, a receiving lens 133 and a receiver 134. The receiving shell 131 is mounted on the rotating circuit board 110. The receiving circuit board 132 is mounted on one end of the receiving shell 131. The receiving lens 133 is mounted on the other end of the receiving shell 131. The receiver 134 is mounted on the receiving circuit board 132. The reflected light is fed back to the receiver 134 through the receiving mirror 143 and the receiving lens 133.

[0049] In this embodiment, the receiver 134 focuses the reflected light rays through the receiving lens 133, accurately guiding the light rays onto the receiver 134, thereby achieving the reception and detection of spatial object position information. The design of the receiver 134 has high sensitivity and high resolution, which can accurately capture the reflected light and convert it into an electrical signal for subsequent data processing. The receiving circuit board 132 is responsible for amplifying, filtering, and digitizing the output signal of the receiver 134 for subsequent data analysis and processing. This structural design not only improves the reception efficiency and accuracy of the laser radar, but also ensures the structural stability and durability of the entire receiving module 130.

[0050] In this embodiment, the receiving shell 131 can be made of metal or high-strength plastic materials to provide sufficient mechanical strength and durability. The receiving circuit board 132 can integrate high-sensitivity photoelectric detection devices to ensure effective reception and processing of weak light signals. The receiving lens 133 can be made of optical materials with high light transmittance, low dispersion, and high transmittance to reduce light signal loss and distortion. The receiver 134 can include photodiodes or avalanche photodiodes to achieve efficient photoelectric conversion.

[0051] In one embodiment of the present application, please refer to Figure 1 The horizontal scanning module includes a main control board 210, an infrared transceiver module 220, and a horizontal rotation driving member 230. The infrared transceiver module 220 is electrically connected to the main control board 210 and the rotation circuit board 110 to achieve duplex communication or simplex communication. The horizontal rotation driving member 230 is electrically connected to the main control board 210, and the output end of the horizontal rotation driving member 230 is connected to the rotor support 150.

[0052] In this embodiment, the infrared transceiver module 220 transmits the rotation information of the vertical scanning module to the main control board 210 and sends the instructions of the main control board 210 to the rotation circuit board 110. The infrared transceiver module 220 can use photoelectric conversion devices or communicate through magnetic sensing. It can be simplex communication or duplex communication.

[0053] In this embodiment, the horizontal rotation driving member 230 can use a stepper motor or a servo motor to achieve smooth rotation of the horizontal scanning module by accurately controlling the rotation angle and speed of the motor. The main control board 210, as the core control component of the horizontal scanning module, is responsible for receiving external instructions, processing data, controlling the working state of the infrared transceiver module 220 and the wireless power supply module 240, and monitoring the operation of the horizontal rotation driving member 230. The infrared transceiver module 220 is responsible for cooperating with the transmitting module 120 and the receiving module 130 of the vertical scanning module during horizontal scanning to realize real-time acquisition and transmission of spatial point cloud.

[0054] In an embodiment, the main control board 210 can adopt a high-performance microprocessor or single-chip microcomputer as the core processor, integrate multiple interfaces and communication protocols, to realize seamless connection and data interaction with external systems. The infrared transceiver module 220 can adopt a split design, and the infrared transceiver module 220 includes an infrared transmitter 221 and an infrared receiver 222; the infrared transmitter 221 is electrically connected with the rotating circuit board 110, and the infrared receiver 222 is electrically connected with the main control board 210. The electrical connection between the horizontal rotation driving member 230 and the main control board 210 can adopt a reliable electrical interface and a connection cable, to ensure stable transmission of signals and accuracy of control.

[0055] In an embodiment of the present application, referring to Figure 1 , the horizontal scanning module further includes a wireless power supply module 240, which is embedded in the horizontal rotation driving member 230 and electrically connected with the main control board 210 and the rotating circuit board 110.

[0056] In the embodiment, the design of the wireless power supply module 240 provides a convenient energy supply mode for the load driven by the rotating part of the horizontal scanning module, avoids the winding and wear problems of the cable in the traditional wired power supply mode, and improves the flexibility and reliability of the system. As shown in Figure 2 , the wireless power supply module 240 includes a wireless transmitting end 241 and a wireless receiving end 242; the wireless transmitting end 241 is electrically connected with the main control board 210, and the wireless receiving end 242 is electrically connected with the rotating circuit board 110. The wireless power supply module 240 can realize wireless transmission of electric energy through electromagnetic induction, microwave transmission or laser transmission, and the specific selection depends on the actual application scenario and demand. In an embodiment, the wireless power supply module 240 can adopt electromagnetic induction mode, and an induction coil is embedded in the horizontal rotation driving member 230 to realize wireless electric energy transmission with an external power supply device. This mode has the advantages of high transmission efficiency, mature technology and relatively low cost. The wireless power supply module 240 can also be designed as a planar coil, which is arranged on the stator and the rotor of the horizontal rotation driving member 230, respectively.

[0057] In an embodiment of the present application, referring to Figure 1 , the horizontal scanning module further includes a horizontal scanning optocoupler 250, which is electrically connected with the main control board 210.

[0058] In the embodiment, the setting of the horizontal scanning optocoupler 250 can realize monitoring of the rotation speed and angle of the horizontal rotation driving member 230, to ensure stable operation of the horizontal scanning module.

[0059] In an embodiment of the present application, the 3D multi-line laser radar further includes a base, and the horizontal scanning module is arranged in the base.

[0060] In this embodiment, the base serves as the support structure for the entire 3D multi-line laser radar, providing a stable mounting platform for the horizontal scanning module and ensuring the stability and reliability of the laser radar during operation.

[0061] In this embodiment, as shown in Figure 1 , the base can be a box structure composed of a seat body 310 and a bottom plate 320; the base can be made of high-strength, corrosion-resistant materials to cope with various complex environments. At the connection between the base and the horizontal scanning module, precise positioning devices and fixing devices can be provided to ensure the positional accuracy and stability of the horizontal scanning module during installation. In addition, the structural design of the base can also consider the heat dissipation performance, through reasonable heat dissipation channels and fin layout, effectively dissipating the heat generated by the laser radar during operation, further improving the stability and service life of the system.

[0062] In an embodiment of the present application, please refer to Figure 1 , the 3D multi-line laser radar further comprises a cover 400, the cover 400 is connected with the base, and the vertical scanning module is arranged in the cover 400.

[0063] In this embodiment, the design of the cover 400 not only provides necessary protection for the vertical scanning module, but also ensures the normal operation of the laser radar in complex environments. The cover 400 can be made of materials with good light transmission, high temperature resistance and corrosion resistance to cope with various harsh conditions. At the same time, the shape and structure design of the cover 400 can optimize the transmission path of light, reduce the loss and interference of light, and improve the measurement accuracy and stability of the laser radar. In the embodiment, the connection between the cover 400 and the base can adopt reliable mechanical connection and sealing device to ensure the stability and sealing of the vertical scanning module during installation, prevent external environmental interference and influence. In addition, the surface of the cover 400 can also be treated specially, such as anti-reflection coating or anti-reflection coating, to further improve the utilization rate of light and scanning effect.

[0064] In summary, the 3D multi-line laser radar provided by the embodiments of the present application realizes accurate collection and efficient processing of spatial three-dimensional point cloud information by adopting the cooperation of vertical scanning module and horizontal scanning module, as well as a variety of innovative structural design and functional module configuration. The laser radar not only has the advantages of low cost, small size, simple structure, easy manufacturing and maintenance, etc., but also has the characteristics of high precision, high reliability and high adaptability, etc., which can meet the diversified needs of AI, embodied robots, service robots, industrial automation and intelligent driving fields for laser radar.

[0065] The above only describes preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A 3D multi-line laser radar, characterized by, Comprise: A vertical scanning module, the vertical scanning module comprising a rotating circuit board, and a transmitting module, a receiving module, a vertical reflecting module mounted on the rotating circuit board; the transmitting module and the receiving module are respectively arranged on both sides of the vertical reflecting module; And A horizontal scanning module, the horizontal scanning module is rotationally connected with the vertical scanning module, so that the vertical scanning module rotates in the horizontal direction.

2. The 3D multi-line laser radar of claim 1, wherein, The vertical reflecting module comprises: A double-output rotary drive, the double-output rotary drive has a first output end and a second output end arranged opposite to each other; A transmitting mirror, the transmitting mirror is connected with the first output end and faces the transmitting module; A receiving mirror, the receiving mirror is connected with the second output end and faces the receiving module; and A code disc, the code disc is connected with the receiving mirror, or the code disc is connected with the transmitting mirror.

3. The 3D multi-line laser radar of claim 2, wherein, The double-output rotary drive is located on the rotation axis of the horizontal scanning module.

4. The 3D multi-line laser radar of claim 1, wherein, The vertical scanning module further comprises a rotor support, the rotor support is rotationally connected with the horizontal scanning module, and the rotating circuit board is mounted on the rotor support.

5. The 3D multi-line laser radar of claim 2, wherein, The transmitting module comprises: A transmitting housing, the transmitting housing is mounted on the rotating circuit board; A transmitting circuit board, the transmitting circuit board is mounted on one end of the transmitting housing; A transmitting lens, the transmitting lens is mounted on the other end of the transmitting housing; A laser diode, the laser diode is mounted on the transmitting circuit board, and the light emitted by the laser diode is emitted through the transmitting lens and the transmitting mirror.

6. The 3D multi-line laser radar of claim 2, wherein, The receiving module comprises: A receiving housing, the receiving housing is mounted on the rotating circuit board; A receiving circuit board, the receiving circuit board is mounted on one end of the receiving housing; A receiving lens, the receiving lens is mounted on the other end of the receiving housing; A receiver, the receiver is mounted on the receiving circuit board, and the reflected light is fed back to the receiver through the receiving mirror and the receiving lens.

7. The 3D multi-line laser radar of claim 4, wherein, The horizontal scanning module comprises: A main control board; An infrared transceiver module, the infrared transceiver module is electrically connected with the main control board and the rotating circuit board to realize duplex communication or simplex communication; A horizontal rotary drive, the horizontal rotary drive is electrically connected with the main control board, and an output end of the horizontal rotary drive is connected with the rotor support.

8. The 3D multi-line laser radar of claim 7, wherein, The horizontal scanning module further comprises a wireless power supply module, the wireless power supply module is embedded in the horizontal rotary drive; a wireless transmitting end of the wireless power supply module is electrically connected with the main control board, and a wireless receiving end of the wireless power supply module is electrically connected with the rotating circuit board.

9. The 3D multi-line laser radar according to any one of claims 1 to 8, characterized in that, The 3D multi-line laser radar further comprises a base, and the horizontal scanning module is arranged in the base.

10. The 3D multi-line laser radar of claim 9, wherein, The 3D multi-line laser radar further comprises an outer cover, the outer cover is connected with the base, and the vertical scanning module is arranged in the outer cover.

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