Detection device and mobile equipment

Abstract

The embodiment of the utility model relates to the technical field of laser radars, and discloses a detection device and mobile equipment. The detection device comprises a shell, wherein an accommodating cavity is formed in the shell; the laser emission module is arranged in the accommodating cavity and is used for emitting detection laser; the laser receiving module is arranged in the containing cavity and used for receiving echo light, and the echo light is obtained by reflecting the detection laser through a detection target object; the camera module is arranged in the containing cavity, the camera module is used for collecting visible light images, and the view field of the camera module and the view field of the laser module at least partially coincide. Through fusion of the camera and the laser radar, advantage complementation of the camera and the laser radar is realized. The camera provides rich color and texture information, and the laser radar obtains high-precision three-dimensional point cloud data. The laser radar and the camera are fused, so that the accuracy and reliability of target object detection are remarkably improved, the environmental perception capability is enhanced, and the robustness in a complex environment and the tracking and prediction capability in a dynamic scene are improved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a detection device and a mobile device. Background Technology

[0002] Environmental perception is a key technology in fields such as autonomous driving and robotics. Currently, LiDAR and cameras are the two main perception solutions widely used. LiDAR offers the advantage of precise ranging, but its hardware cost is high, and its limited point cloud resolution makes it difficult to accurately identify object categories and details. Camera solutions capture images through cameras, which can obtain rich color and detail information, but they are greatly affected by lighting and weather conditions, have low ranging accuracy, and rely on highly complex algorithms for 3D perception. Utility Model Content

[0003] This application provides a detection device and a mobile device, which aims to solve the limitations of single sensors such as lidar or cameras in the detection and identification of target objects in complex scenes.

[0004] In a first aspect, embodiments of this application provide a detection device, comprising: a housing with a receiving cavity formed within it; a laser emitting module disposed within the receiving cavity for emitting a detection laser; a laser receiving module disposed within the receiving cavity for receiving echo light, the echo light being obtained by reflection of the detection laser from a target object; and a camera module disposed within the receiving cavity, the camera module being used to acquire visible light images, the field of view of the camera module at least partially overlapping the field of view of the laser module. By fusing the camera and the lidar, the complementary advantages of both are achieved. The camera provides rich color and texture information, while the lidar acquires high-precision three-dimensional point cloud data. The fusion of lidar and camera significantly improves the accuracy and reliability of target object detection, enhances environmental perception capabilities, and improves robustness in complex environments and tracking and prediction capabilities in dynamic scenes.

[0005] In some embodiments, the detection device includes two laser emitting modules disposed on both sides of a laser receiving module, with the arrangement direction of the two laser modules being a first preset direction; a camera module and a laser receiving module are spaced apart along a second preset direction, the second preset direction being perpendicular to the first preset direction. By distributing the laser emitting modules on both sides of the laser receiving module, the laser emitting modules can emit lasers from different angles towards the target area to be detected, thereby reducing the detection blind zone. By spaced the camera module and the laser receiving module along the second preset direction, interference of the laser signal on the camera imaging can be effectively reduced, ensuring the independence and accuracy of the laser receiving module and the camera module. In some embodiments, the laser emitting module includes an emitting lens and a laser emitting plate; the laser receiving module includes a first receiving lens and a laser receiving plate; the camera module includes a second receiving lens and an image sensor, and the field of view of the camera module is larger than that of the laser receiving module. Through the above arrangement, the field of view of the camera module is larger than that of the laser receiving module, which can improve the accuracy of target detection and recognition of the detection device. At the same time, the field of view of the camera module can also compensate for the insufficient field of view of the laser receiving module, reducing the detection blind zone.

[0006] In some embodiments, the housing includes a first housing and a second housing, which together form a receiving cavity. The first housing and the second housing are connected and fixed along a third preset direction, which is perpendicular to both the first and second preset directions. The outer surface of the first housing includes a first region and a second region, with the second region surrounding the first region. The first region has a boss that extends away from the second housing along the third preset direction. The boss is used to accommodate a transmitting lens, a first receiving lens, and a second receiving lens. The second region has heat dissipation fins. The outer surface of the second housing also has heat dissipation fins. By providing heat dissipation fins on the housing surface, the heat dissipation area of ​​the detection device can be increased, thereby improving the heat dissipation efficiency of the detection device.

[0007] In some embodiments, the detection device further includes an interface plate; the interface plate is disposed within the receiving cavity, located between the laser emitting plate and the second housing, and is in contact with the second housing via thermally conductive gel; the interface plate includes a first interface and a second interface, the first interface being used for data transmission and the second interface for power supply. By setting the interface plate to contact the second housing via thermally conductive gel, the heat generated by the interface plate can be directly transferred to the second housing through the thermally conductive gel, shortening the heat transfer path and helping to enhance the heat dissipation effect of the detection device. On the other hand,

[0008] In some embodiments, the detection device further includes a power board; the power board is disposed within the receiving cavity, located between the laser emitting plate and the first housing, and the power board is in contact with the first housing via thermally conductive gel. By setting the power board to contact the first housing via thermally conductive gel, the heat generated by the power board can be directly transferred to the first housing through the thermally conductive gel, shortening the heat transfer path and helping to enhance the heat dissipation effect of the detection device.

[0009] In some embodiments, the camera module is fixed to the power board, and the optical axis of the second receiving lens is aligned with the center of the photosensitive area of ​​the image sensor. By aligning the optical axis of the camera receiving lens with the center of the photosensitive area of ​​the image sensor, image quality can be improved, ensuring the accuracy and consistency of image data, thereby enhancing the fusion effect with point cloud data.

[0010] In some embodiments, the laser emitting board includes an emitting driver board and a laser, with the laser disposed on the emitting driver board, which is fixed to the laser emitting board by silver paste. The laser receiving board includes a signal processing board and a photodetector, with the photodetector disposed on the signal processing board, which is fixed to the laser receiving board by silver paste. Through this arrangement, the excellent conductivity of silver paste ensures a stable electrical connection between the emitting driver board and the laser emitting board, thereby guaranteeing the normal operation of the laser. The silver paste also possesses adhesive properties, ensuring the emitting driver board is firmly fixed to the laser emitting board, preventing movement or detachment due to mechanical vibration or external forces, thus ensuring the normal operation of the detection device. Furthermore, the laser generates heat during operation, and silver has a high thermal conductivity. The silver paste can quickly conduct the heat from the laser on the emitting driver board to the laser emitting board, aiding in heat dissipation and extending the laser's lifespan.

[0011] In some embodiments, the laser emitting plate and the laser receiving plate are provided with at least one via, the at least one via being filled with copper, or the inner wall and opening of at least one via being covered with copper. With the above configuration, the via can quickly absorb and dissipate the heat from the laser emitting plate and the laser receiving plate, preventing heat accumulation at the laser receiving plate and the laser emitting plate, which could lead to device damage or low-power operation.

[0012] Secondly, embodiments of this application provide a mobile device, including a mobile carrier and a detection device as described in any of the above embodiments, wherein the mobile carrier is an autonomous vehicle or a robot.

[0013] The technical solution provided in this application has the following beneficial effects:

[0014] This application discloses a detection device and a mobile device. The detection device achieves complementary advantages by fusing a camera and a lidar. The camera provides rich color and texture information, suitable for close-range and high-resolution target recognition; the lidar acquires high-precision 3D point cloud data by emitting laser light, suitable for long-range and complex environment depth perception. The fusion of lidar and camera significantly improves the accuracy and reliability of target object detection, enhances environmental perception capabilities, improves robustness in complex environments, and enhances tracking and prediction capabilities in dynamic scenes. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 These are front views and cross-sectional structural diagrams of the detection device provided in the embodiments of this application;

[0017] Figure 2 These are a front view and another cross-sectional structural schematic diagram of the detection device provided in the embodiments of this application;

[0018] Figure 3 This is a three-dimensional exploded structure diagram of the detection device provided in the embodiments of this application from one perspective;

[0019] Figure 4 This is a three-dimensional exploded structure diagram of the detection device provided in the embodiments of this application from another perspective;

[0020] Figure 5 This is a three-dimensional structural diagram of the first housing, laser emitting plate, laser receiving plate, power supply board and interface board in the detection device provided in the embodiments of this application;

[0021] Figure 6 This is a three-dimensional structural diagram of the laser emitting board, laser receiving board, power supply board and interface board in the detection device provided in the embodiments of this application;

[0022] Figure 7 This is a three-dimensional structural diagram of the laser emitting plate, laser receiving plate and power supply board in the detection device provided in the embodiments of this application;

[0023] Figure 8 The schematic block diagram of the detection device provided in this application embodiment applied to a mobile device.

[0024] The accompanying figures are labeled as follows:

[0025] 1. Detection device; 11. Housing; 111. First housing; 112. Second housing; 113. Receiving cavity; 114. Heat dissipation fins; 1110. First region; 1111. Second region; 1112. First boss; 1113. First through hole; 1114. Second boss; 1115. First step; 1116. First fixing post; 1117. Second fixing post; 1118. First threaded hole; 1120. Third region; 1121. Fourth region; 1123. Fifth region; 1124. Second through hole; 1125. Third through hole; 1126. Second threaded hole; 1127. Positioning pin; 1128. Third boss; 1129. Fourth boss; 1130. Fifth boss; 12. Laser emitting module; 121. Emitting lens; 1211. Emitting lens barrel; 1212. Emitting lens; 12 2. Laser emitting board; 1221. Emitting driver board; 1222. First mounting hole; 13. Laser receiving module; 131. First receiving lens; 1311. First receiving lens barrel; 1312. First receiving lens; 132. Laser receiving board; 1321. Signal processing board; 1322. Second mounting hole; 14. Camera module; 141. Second receiving lens; 142. Image sensor; 143. First connector; 15. Power board; 151. Fourth through hole; 152. Fifth through hole; 153. Sixth through hole; 154. Seventh through hole; 155. Third mounting hole; 156. Electronic component; 16. Interface board; 161. First interface; 162. Second interface; 17. Flexible circuit board; 18. Silver paste; X, First preset direction; Y, Second preset direction; Z, Third preset direction; 2. Mobile device. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described clearly and in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0027] Using lidar to detect target areas offers the advantage of precise ranging, but it comes with high hardware costs and limited point cloud resolution, making it difficult to accurately identify object details. Using cameras to detect target areas allows for the capture of rich color and detail information about objects within the target area through two-dimensional image capture, but it suffers from low ranging accuracy, is significantly affected by lighting and weather conditions, and requires highly complex algorithms for three-dimensional perception.

[0028] Based on this, embodiments of this application provide a detection device and a mobile device, aiming to improve the limitations of single sensors such as LiDAR or cameras in target object detection and identification in complex scenes. The embodiments in this application are all described using the detection device applied to autonomous vehicles or robots as examples; however, in other embodiments of this application, the detection device can also be applied to other products, such as drones.

[0029] like Figure 1 and Figure 2 As shown, Figure 1 This is a front view and a cross-sectional structural diagram of the detection device 1 provided in the embodiments of this application. Figure 2 The images show a front view and another cross-sectional view of the detection device 1 provided in this application. The detection device 1 includes a housing 11, a laser emitting module 12, a laser receiving module 13, and a camera module 14. The housing 11 includes a first housing 111 and a second housing 112, which together form a receiving cavity 113. The laser emitting module 12 is disposed within the receiving cavity 113 and is used to emit a detection laser to detect target objects within the detection area. The laser receiving module 13 is disposed within the receiving cavity 113 and is used to receive echo light, which is obtained by reflecting the detection laser light from the target object. The camera module 14 is disposed within the receiving cavity 113 and is used to acquire visible light images. The field of view of the camera module 14 at least partially overlaps with the field of view of the laser receiving module 13.

[0030] By fusing camera and LiDAR, the advantages of both are complemented. The camera provides rich color and texture information, while the LiDAR acquires high-precision 3D point cloud data. The fusion of LiDAR and camera significantly improves the accuracy and reliability of target object detection, enhances environmental awareness, improves robustness in complex environments, and enhances tracking and prediction capabilities in dynamic scenes.

[0031] The detection device 1 includes two laser emitting modules 12, which are respectively disposed on both sides of the laser receiving module 13. The arrangement direction of the two laser emitting modules 12 is a first preset direction X. The camera module 14 is spaced apart from the laser receiving module 13 along a second preset direction Y, which is perpendicular to the first preset direction X. By distributing the laser emitting modules 12 on both sides of the laser receiving module 13, the laser emitting modules 12 can emit lasers from different angles towards the target area to be detected, thereby reducing the detection blind zone. By spaced apart from the laser receiving module 13 along the second preset direction, the interference of laser signals on camera imaging can be effectively reduced, ensuring the independence and accuracy of the laser receiving module 13 and the camera module 14. In some embodiments, the laser emitting module 12 in the detection device 1 emits a detection laser towards the detection area, and the laser receiving module 13 receives the echo light reflected by the object in the detection area. Then, the detection device 1 outputs a corresponding electrical signal based on the echo light, and the signal processing unit in the detection device 1 processes the electrical signal appropriately to form a point cloud map. The camera module 14 is used to acquire visible light images. The receiving field of view of the camera module 14 is greater than or equal to the field of view of the laser receiving module 13. Then, the detection device 1 performs fusion processing on the point cloud map and the visible light image of the same field of view. Not only can parameters such as distance, orientation, height, speed, attitude and shape of the target object be obtained, but also the color and detailed features of the target object can be obtained, thereby realizing the detection function. It can be applied to navigation avoidance, obstacle recognition, ranging, speed measurement, autonomous driving and other scenarios of products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0032] By setting the field of view of camera module 14 to be larger than that of laser receiver module 13, the accuracy of target detection and recognition of detection device 1 can be improved. At the same time, the field of view of camera module 14 can also compensate for the insufficient field of view of laser receiver module 13, thereby reducing detection blind spots.

[0033] like Figure 1 and 2 As shown, the detection device 1 includes a housing 11, a laser emitting module 12, a laser receiving module 13, a camera module 14, a power board 15, and an interface board 16.

[0034] The housing 11 includes a first housing 111 and a second housing 112, which together form a receiving cavity 113. The first housing 111 and the second housing are connected and fixed along a third preset direction Z, which is perpendicular to the first preset direction X and the second preset direction Y, respectively. A laser emitting module 12 is located within the receiving cavity 113 and includes an emitting lens 121 and a laser emitting plate 122. A laser receiving module 13 is located within the receiving cavity 113 and includes a first emitting lens 121 and a laser emitting plate 122. A receiving lens 131 and a laser receiving plate 132 are provided; a camera module 14 is located in a receiving cavity 113, and the camera module 14 includes a second receiving lens 141 and an image sensor 142; a power board 15 is located in the receiving cavity 113, and the power board 15 is located between the laser emitting plate 122 and the first housing 111, and the power board 15 is in contact with the first housing 111; an interface board 16 is located in the receiving cavity 113, and the interface board 16 is located between the laser emitting plate 122 and the second housing 112, and the interface board 16 is in contact with the second housing 112.

[0035] In some embodiments, the transmitting lens 121, the first receiving lens 131, and the second receiving lens 141 are all embedded in the first housing, which can simplify the assembly process between the transmitting and receiving lenses and the first housing 111, improve assembly efficiency, and reduce the overall size of the detection device 1.

[0036] The transmitting lens 121 includes a transmitting lens barrel 1211 and at least one transmitting lens 1212 disposed within the transmitting lens barrel 1211. The transmitting lens barrel 1211 is used to mount the transmitting lens 1212, and the transmitting lens barrel 1211 and part of the first housing 111 can be integrally formed. On the one hand, this simplifies the assembly process of the transmitting lens barrel 1211 and the first housing 111, improving assembly efficiency; on the other hand, it reduces the distance between the transmitting lens barrel 1211 and the receiving lens barrel 1311, reducing the size of the detection device 1, etc. In some embodiments, the transmitting lens 1212 can be any lens with refractive power, for example, the transmitting lens 1212 can be a convex lens, a concave lens, etc. In some embodiments, the transmitting lens 121 may also include a spacer ring, a locking ring, etc. The spacer ring is used to support the transmitting lens 1212 and control the distance between two connected transmitting lenses 1212, and the locking ring is used to fix the transmitting lens 1212.

[0037] The laser emitting plate 122 includes an emitting driver plate 1221 and a laser. The laser is mounted on the emitting driver plate 1221, which is fixed to the laser emitting plate 122 by silver paste 18. The silver paste 18 secures the emitting driver plate 1221 to the laser emitting plate 122. Because silver paste 18 has good conductivity, it ensures a stable electrical connection between the emitting driver plate 1221 and the laser emitting plate 122, thus ensuring the laser can operate normally. The silver paste 18 also has adhesive properties, ensuring the emitting driver plate 1221 is firmly fixed to the laser emitting plate 122, preventing it from moving or falling off due to mechanical vibration or external forces, thus ensuring the detection device 1 can operate normally. Furthermore, the laser generates heat during operation, and silver has high thermal conductivity. The silver paste can quickly conduct the heat from the laser on the emitting driver plate 1221 to the laser emitting plate 122, aiding in heat dissipation and extending the laser's lifespan.

[0038] The first receiving lens 131 may include a first receiving lens barrel 1311 and at least one first receiving lens 1312 disposed within the first receiving lens barrel 1311. The first receiving lens barrel 1311 is used to mount the first receiving lens 1312, and the first receiving lens barrel 1311 and part of the first housing 111 can be integrally formed. On the one hand, this simplifies the assembly process of the first receiving lens barrel 1311 and the first housing 111, improving assembly efficiency; on the other hand, it reduces the distance between the first receiving lens barrel 1311 and the transmitting lens barrel 1211, reducing the size of the detection device 1, etc. In some embodiments, the first receiving lens 1312 can be any lens with refractive power, for example, the first receiving lens 1312 can be a convex lens, a concave lens, etc. In some embodiments, the first receiving lens 131 may also include a spacer ring, a locking ring, etc. The spacer ring is used to support the first receiving lens 1312 and control the distance between two connected first receiving lenses 1312, and the locking ring is used to fix the first receiving lens 1312.

[0039] The laser receiving board 132 includes a signal processing board 1321 and a photodetector. The photodetector is mounted on the signal processing board 1321, which is fixed to the laser receiving board 132 using silver paste 18. The silver paste 18 secures the signal processing board 1321 to the laser receiving board 132. Because silver paste 18 has good conductivity, it ensures a stable electrical connection between the signal processing board 1321 and the laser receiving board 132, thus ensuring the photodetector can function normally. The silver paste 18 also has adhesive properties, ensuring the signal processing board 1321 is firmly fixed to the laser receiving board 132, preventing it from moving or falling off due to mechanical vibration or external force, thus ensuring the normal operation of the detection device 1. Furthermore, the photodetector generates heat during operation, and silver has high thermal conductivity. The silver paste can quickly conduct the heat from the photodetector on the signal processing board 1321 to the laser receiving board 132, aiding in heat dissipation and extending the photodetector's lifespan.

[0040] In some embodiments, the camera module 14 is fixed to the power board 15, and the optical axis of the second receiving lens 141 is aligned with the center of the photosensitive area of ​​the image sensor 142. Specifically, the second receiving lens 141 in the camera module 14 is connected to the first connector 143, which is fixed to the power board 15, i.e., the second receiving lens 141 is fixed to the power board 15; the image sensor 142 is fixed to the power board 15 and electrically connected to it. By setting the optical axis of the second receiving lens 141 of the camera module 14 to be aligned with the center of the photosensitive area of ​​the image sensor 142, the image quality can be improved, ensuring the accuracy and consistency of image data, thereby improving the fusion effect with point cloud data.

[0041] In other embodiments, the second receiving lens 141 and part of the first housing 111 in the camera module 14 can be an integrally formed structure. On the one hand, this can simplify the assembly process of the second receiving lens 141 and the first housing 111 and improve assembly efficiency; on the other hand, it can reduce the distance between the second receiving lens 141 and the first receiving lens barrel 1311 and reduce the size of the detection device 1.

[0042] In some embodiments, the power board 15 is configured as an active circuit. Specifically, the power board 15 may be configured as all the active circuits within the detection device 1, or it may be configured as a portion of the active circuits within the detection device 1; this embodiment does not limit this.

[0043] In some embodiments, the power board 15 is provided with an inertial measurement unit (IMU), which is used to sense the motion state and attitude of the detection device 1 in real time.

[0044] In some embodiments, the size of the power board 15 can be designed to be approximately matched with the size of the first housing 111, so that the power board 15 can be disposed between the laser emitting plate 122 and the first housing 111, thereby reducing the size of the detection device 1 and realizing the miniaturization of the detection device 1.

[0045] In some embodiments, the power board 15 and the laser emitting plate 122 may be spaced apart along a direction perpendicular to the first housing 111 or a third preset direction Z; the interface board 16 and the laser emitting plate 122 may be spaced apart along a direction perpendicular to the second housing 112 or a third preset direction Z; the interface board 16 and the laser receiving plate 132 may be spaced apart along a direction perpendicular to the second housing 112 or a third preset direction Z, so as to improve the heat dissipation performance of the detection device 1. Specifically, the power board 15, the laser emitting plate 122, the interface board 16 and the laser receiving plate 132 are arranged sequentially at intervals towards the second housing 112; wherein, the power board 15 is in contact with the first housing 111, and the laser emitting plate 122, the laser receiving plate 132 and the interface board 16 are all in contact with the second housing 112.

[0046] By setting the power board 15 to contact the first housing 111, the heat generated by the power board 15 is transferred to the first housing 111; while the laser emitting board 122, the laser receiving board 132 and the interface board 16 are all set to contact the second housing 112, the heat generated by the laser emitting board 122, the laser receiving board 132 and the interface board 16 is transferred to the second housing 112; thus, the heat power distribution of the detection device 1 is relatively uniform, which is beneficial to improving the heat dissipation efficiency of the detection device 1.

[0047] like Figure 3 and Figure 4 As shown, Figure 3 This is a schematic diagram of the exploded structure of the detection device 1 provided in the embodiments of this application from one viewpoint. Figure 4 This is a three-dimensional exploded structural diagram of the detection device 1 provided in an embodiment of this application from another perspective. The housing 11 includes a first housing 111 and a second housing 112, which are connected and fixed along a third preset direction Z. The third preset direction Z is perpendicular to the first preset direction X and the second preset direction Y, respectively. Specifically, the first housing 111 and the second housing 112 are connected and fixed by screws.

[0048] The outer surface of the first housing 111, away from the second housing 112, includes a first region 1110 and a second region 1111. The second region 1111 surrounds the first region 1110, meaning that the area of ​​the outer surface of the first housing 111 excluding the first region 1110 is the second region 1111. The first region 1111 is provided with a first boss 1112, which extends away from the second housing 112 along a third preset direction Z. The first boss 1112 is used to accommodate a transmitting lens 121, a first receiving lens 131, and a second receiving lens 141. In some embodiments, the transmitting lens 121 and the first receiving lens 131 are both embedded in the first boss 1112. The first region 1111 is also provided with a first through hole 1113, which provides a path for the second receiving lens 141 to pass through. The second region 1111 is provided with at least one heat dissipation fin 114, which increases the heat dissipation area of ​​the outer casing of the detection device 1 and improves the heat dissipation efficiency of the detection device 1. The height and density of the heat dissipation fins 114 can be flexibly adjusted according to actual needs.

[0049] In some embodiments, the first protrusion 1112 accommodates two transmitting lenses 121, which are disposed on both sides of the first receiving lens 131. The arrangement direction of the two transmitting lenses 121 is a first preset direction X. The second receiving lens 141 and the first receiving lens 1321 are spaced apart along a second preset direction Y, which is perpendicular to the first preset direction X.

[0050] The inner surface of the first housing 111 facing the second housing 112 includes a first boss 1114, a first step 1115, a first fixing post 1116, and a second fixing post 1117. The power board 15 contacts the first housing 111 via the first boss 1114 and the first step 115. The first boss 1114 and the first step 1115 are located on the same horizontal plane. The power board 15 is located on the first step 1115, which supports the power board 15 and facilitates its installation and positioning with the first housing 111. Specifically, the power board can abut against the step wall of the first step 1115 to improve the connection stability between the power board 15 and the first housing 111. The first fixing post 1116 is located on the first boss 1114 and is used for installation and positioning between the laser emitting plate 122 and the first housing 111. The second fixing post 1117 is located on the first boss 1114 and is used for installation and positioning between the laser receiving plate 132 and the first housing 111. The first fixing post 1116 has the same length along the third preset direction Z, and the second fixing post 1117 has the same length along the third preset direction Z. The length of the second fixing post 1117 along the third preset direction Z is greater than the length of the first fixing post 1116 along the third preset direction Z.

[0051] In some embodiments, the inner surface of the first housing 111 may be provided with a plurality of first fixing posts 1116 and a plurality of fixing posts 1117. In this embodiment, the inner surface of the first housing 111 is provided with eight first fixing posts 1116 and four second fixing posts 1117, wherein every four first fixing posts 1116 are used to connect a laser emitting plate 122, and every four second fixing posts 1117 are used to connect a laser receiving plate 132, which helps to improve the connection stability between the laser emitting plate 122 and the laser receiving plate 132 and the first housing 111 respectively.

[0052] The second housing 112, located away from the outer surface of the first housing 111, includes a third region 1120, a fourth region 1121, and at least two fifth regions 1122. The third region 1120 includes at least one heat dissipation fin 114, which increases the heat dissipation area of ​​the detection device 1 and improves its heat dissipation efficiency. The height and density of the heat dissipation fins 114 can be flexibly adjusted according to actual needs. The fourth region 1121 has a second through-hole 1124 and a third through-hole 1125. Specifically, the second through-hole 1124 accommodates a first interface 161, allowing the detection device 1 to transmit data with external devices through the first interface 161; the third through-hole 1125 accommodates a second interface 162, allowing external devices to provide power to the detection device 1 through the second interface 162. At least two fifth regions 1123 are provided on both sides of the third region 1120 or the fourth region 1121 along a first preset direction X; wherein each fifth region 1123 is provided with at least one second threaded hole 1126 and at least one positioning pin 1127, the second threaded hole 1126 is used to lock and fix the external device connected to the detection device 1, and the positioning pin 1127 is used to quickly position the detection device 1 to the corresponding position of the external device to be connected.

[0053] In some embodiments, each fifth region 1123 is provided with at least two second threaded holes 1126 and at least one locating pin 1127; wherein, at least two second threaded holes 1126 are provided on both sides of the locating pin 1127 along a second preset direction Y, and the interval between each second threaded hole 1126 and the locating pin 1127 is equal. In one embodiment, the second housing 112 of the detection device 1 is provided with four second threaded holes 1126, each second threaded hole 1126 having a nominal diameter of 4 mm and a thread length of 6 mm.

[0054] The inner surface of the second housing 112 facing the first housing 111 includes a third boss 1128, a fourth boss 1129, and a fifth boss 1130. The laser emitting plate 122 contacts the second housing 112 via the third boss 1128, the laser receiving plate 132 contacts the second housing 112 via the fourth boss 1130, and the interface plate 16 contacts the second housing 112 via the fifth boss 1130.

[0055] In some embodiments, thermally conductive gel is provided on the third boss 1128, the fourth boss 1129 and the fifth boss 1130, so that the laser emitting plate 122, the laser receiving plate 132 and the interface plate 16 can transfer heat to the second housing 112 through the thermally conductive gel on the corresponding bosses.

[0056] In some embodiments, to increase the thermal conductivity of the laser receiving plate 132 and the laser emitting plate 122 in the thickness direction, vias can be provided in the laser receiving plate 132 and the laser emitting plate 122. These vias can embed a thermally conductive material with good thermal conductivity. The thermally conductive material can quickly absorb and dissipate heat, preventing heat accumulation at the laser receiving plate 132 and the laser emitting plate 122, which could lead to device damage or low-power operation. Specifically, the vias in the laser receiving plate 132 and the laser emitting plate 122 can be provided in the central region of the laser receiving plate 132 and the laser emitting plate 122, and the vias can consist of multiple small holes. In one embodiment, the thermally conductive material can be copper, which has a high thermal conductivity.

[0057] In some embodiments, to increase the thermal conductivity of the laser receiving plate 132 and the laser emitting plate 122 in the thickness direction, vias can be provided on the laser receiving plate 132 and the laser emitting plate 122. A thermally conductive material with good thermal conductivity can be covered on the inner wall and opening of the vias. The thermally conductive material can quickly absorb and dissipate heat, preventing heat accumulation on the laser receiving plate 132 and the laser emitting plate 122, which could lead to device damage or low-power operation. Specifically, the vias on the laser receiving plate 132 and the laser emitting plate 122 can be provided in the central region of the laser receiving plate 132 and the laser emitting plate 122, and the vias can consist of multiple small holes. In one embodiment, the thermally conductive material can be copper, which has a high thermal conductivity.

[0058] The laser emitting plate 122 is also provided with a first mounting hole 1222, which corresponds to a first fixing post 1116. In this embodiment, each laser emitting plate 122 is mounted on the four first fixing posts 1116 of the first housing 111 through four first mounting holes 1222, thereby connecting and fixing the laser emitting plate 122 to the first housing 111. The first fixing post 1116 and the first mounting hole 1222 can be clearance-fitted.

[0059] In some embodiments, when the first fixing post 1116 and the first mounting hole 1222 are in a clearance fit, an adhesive layer may also be provided in the gap between the first fixing post 1116 and the first mounting hole 1222. The adhesive layer is used to connect and fix the laser emitting plate 122 and the first housing 111, thereby fixing the relative position between the laser emitting plate 122 and the emitting lens 121. Specifically, the adhesive layer may be a UV thermosetting composite adhesive layer. After the first fixing post 1116 and the first mounting hole 1222 are assembled, they can be pre-fixed by UV irradiation and then heat-cured to strengthen the strength. Alternatively, two or more adhesive layers may be used. After the first fixing post 1116 and the first mounting hole 1222 are assembled, UV adhesive can be fixed by UV irradiation and then another type of adhesive can be heat-cured to strengthen the fixation.

[0060] In some embodiments, the cross-section of the first fixing post 1116 may be approximately circular, polygonal, or the shape of the first mounting hole 1222 may be approximately adapted to the shape of the first fixing post 1116.

[0061] The laser receiving plate 132 is also provided with a second mounting hole 1322, which corresponds to the second fixing post 1117. In this embodiment, the laser receiving plate 132 is mounted on the four second fixing posts 1117 of the first housing 111 through the four second mounting holes 1322, thereby connecting and fixing the laser receiving plate 132 to the first housing 111. The second fixing post 1117 and the second mounting hole 1322 can be clearance-fitted.

[0062] In some embodiments, when the second fixing post 1117 and the second mounting hole 1322 are in a clearance fit, an adhesive layer may also be provided in the gap between the second fixing post 1117 and the second mounting hole 1322. The adhesive layer is used to connect and fix the relative position between the laser receiving plate 132 and the first housing 111, thereby fixing the relative position between the laser receiving plate 132 and the first receiving lens 131. Specifically, the adhesive layer may be a UV thermosetting composite adhesive layer. After the second fixing post 1117 and the second mounting hole 1322 are assembled, they can be pre-fixed by UV irradiation and then heat-cured to strengthen the strength. The adhesive layer may also be composed of two or more adhesive layers. After the second fixing post 1117 and the second mounting hole 1322 are assembled, UV adhesive can be fixed by UV irradiation and then another type of adhesive can be heat-cured to strengthen the fixation.

[0063] In some embodiments, the cross-section of the second fixing post 1117 may be approximately circular, polygonal, or the shape of the second mounting hole 1322 may be approximately adapted to the shape of the second fixing post 1117.

[0064] The power board 15 is provided with a fourth through hole 151, a fifth through hole 152, a sixth through hole 153, a seventh through hole 154, a third mounting hole 155, and electronic components 156. The fourth through hole 151 provides a path for the transmitting lens 121, allowing the detection laser emitted by the transmitting board 122 to be transmitted directly to the transmitting lens 121 without obstruction, and then the transmitting lens 121 emits the detection laser into the detection area. The fifth through hole 152 provides a path for the first receiving lens 131, allowing the echo light received by the first receiving lens 131 to be transmitted directly to the laser receiving board 132 without obstruction. The arrangement of the fourth through hole 151 and the fifth through hole 152 also facilitates the positioning and assembly of the transceiver lens and the power board 15 within the first housing 111. The sixth through hole 153 provides a passageway for the first fixing post 1116 and the second fixing post 1117. The sixth through hole 153 facilitates the positioning and assembly of the first housing 111 with the laser emitting plate 122 and the laser receiving plate 132. The seventh through hole 154 provides a passageway for the first fixing post 1116. The seventh through hole 154 facilitates the positioning and assembly of the first housing 111 with the laser emitting plate 122. The third mounting hole 155 is used to position the power board 15 on the first housing 111 and to connect and fix the power board 15 to the first housing 111 with screws. Specifically, the power board 15 is fixed to the first step 1115 through the third mounting hole 155 and screws.

[0065] The power board 15 is provided with a plurality of electronic components 156, and the power board 15 contacts the first housing 111 through the electronic components 156. Specifically, the power components 156 on the power board 15 contact the first boss 1114, thereby achieving contact between the power board 15 and the first housing 111. In some embodiments, at least some of the electronic components 156 of the power board 15 can contact the first housing 111 through thermally conductive gel, so that the heat generated by at least some of the electronic components 156 can be directly transferred to the first housing 111 through the thermally conductive gel, shortening the heat transfer path and helping to enhance the heat dissipation effect of the detection device 1. The thermally conductive gel can achieve heat transfer with a high thermal conductivity, and after the thermally conductive gel is cured, it has good elasticity and compressive deformation resistance, and will not generate large thermal stress, which can avoid the positional displacement of the power board 15 caused by thermal stress deformation.

[0066] In some embodiments, to save costs, thermally conductive gels with different thermal conductivity coefficients can be used for different heat-generating devices. For devices with high thermal power, such as laser emitting plate 122 and laser receiving plate 132, thermally conductive gels with high thermal conductivity are used to dissipate heat in a timely manner. For devices with low thermal power, such as power board 15 and interface board 16, thermally conductive gels with low thermal conductivity are selected to save costs. Specifically, the thermal conductivity of high thermal conductivity thermally conductive gels can be greater than 10 W / (m·K), and the thermal conductivity of low thermal conductivity thermally conductive gels can be greater than 3 W / (m·K).

[0067] The interface board 16 includes a first interface 161 and a second interface 162. The first interface 161 is used for data transmission with external devices, and the external devices supply power to the detection device 1 through the second interface 162. Specifically, the first interface 161 passes through a second through hole 1124 on the outer surface of the second housing 112, and the second interface 162 passes through a third through hole 1125 on the surface of the second housing 112. In some embodiments, the first interface 161 is a Universal Serial Bus Type-C (USB Type-C) interface, and the second interface 162 is a Direct Current (DC) power supply interface. Placing the first interface 161 and the second interface 162 at the rear of the detection device 1, i.e., on the second housing 112, facilitates the installation of the detection device 1 with external devices, improving installation convenience and compatibility; on the other hand, by optimizing wire harness management, it avoids the impact of messy cables on the appearance and shape of the detection device 1.

[0068] like Figure 5 As shown, Figure 5 This is a three-dimensional structural diagram of the first housing 111, laser emitting plate 122, laser receiving plate 132, power supply board 15, and interface board 16 in the detection device provided in this application embodiment. The laser emitting plate 122, laser receiving plate 132, power supply board 15, and interface board 16 are sequentially spaced within the detection device 1 along a third preset direction Z. Specifically, the projection of the laser emitting plate 122 onto the power supply board 15 overlaps with the projection of the laser receiving plate 132 onto the power supply board 15, and the projection of the laser emitting plate 122 onto the power supply board 15 overlaps with the projection of the interface board onto the power supply board 15. This layout fully utilizes the space within the housing 11, effectively compressing the overall volume of the detection device 1.

[0069] In some embodiments, the laser receiver board 132 can be integrated with the main control chip, thereby reducing the total heat power of the detection device 1 and reducing its size. In this integration, the laser receiver board 132 can possess the functions of the main control chip, eliminating the need for the main control board compared to related technologies where lidar includes both a receiver board and a main control board. In other embodiments, the laser receiver board 132 may not be integrated with the main control chip.

[0070] The interface board 16 is disposed between the laser emitting board 122 and the laser receiving board 132 along a direction perpendicular to the first housing 111 or a third preset direction. In some embodiments, the interface board 16 can be connected to the power board 15 via a floating connector, wherein the floating connector includes a male and a female connector that cooperate with each other, the power board 15 may be provided with a male connector, and the interface board 16 may be provided with a female connector.

[0071] In some embodiments, a first threaded hole 1118 is provided on one side of the first housing 111. The first threaded hole 1118 is used for a secure mechanical connection with an external structural component, increasing the mounting options between the detection device 1 and the external structural component. Specifically, the first threaded hole 1118 can be a 1 / 4-inch threaded hole.

[0072] like Figure 6 As shown and Figure 7 As shown, Figure 6 This is a three-dimensional structural diagram of the laser emitting board, laser receiving board, power supply board, and interface board in the detection device provided in the embodiments of this application. Figure 7 This is a three-dimensional structural diagram of the laser emitting plate, laser receiving plate, and power supply board in the detection device provided in the embodiments of this application.

[0073] The laser emitting board 122 is connected to the laser receiving board 132 via a flexible circuit board 17, and the laser receiving board 132 is connected to the power board 15 via the flexible circuit board 17. Specifically, one end of the flexible circuit board 17 connecting the laser emitting board 122 and the laser receiving board 132 is connected to the side of the laser emitting board 122 facing the second housing 122, and the other end is connected to the side of the laser receiving board 132 facing the second housing 122; the two ends of the flexible circuit board 17 connecting the laser receiving board 132 and the power board 15 are also connected to the side of the laser emitting board 122 facing the second housing 122, and the other end is connected to the side of the power board 15 facing the first housing 111.

[0074] In this embodiment, the laser emitting plate 122 and the laser receiving plate 132 are electrically connected via a flexible circuit board 17, and the laser emitting plate 122, the laser receiving plate 132, and the flexible circuit board 17 are integrally formed. The laser receiving plate 132 and the power board 15 are electrically connected via another flexible circuit board 17, and the laser receiving plate 132, the power board 15, and the flexible circuit board 17 are integrally formed. This achieves a high degree of integration of the detection device 1, simplifies overall material management, and facilitates production, assembly, and cost reduction. Foam can be provided around the flexible circuit board 17. On the one hand, the foam prevents friction between the flexible circuit board 17 and the laser emitting plate 122, the laser receiving plate 132, and the power board 15, avoiding damage to the insulating film on the surface of the flexible circuit board 17 or other transceiver boards, which could cause signal interruption in the detection device 1. On the other hand, the foam prevents crosstalk between the high-frequency signals of the flexible circuit boards 17 caused by friction, thus affecting the signal integrity in the detection device 1.

[0075] In other embodiments, the laser emitting board 122, the laser receiving board 132, and the power board 15 may also be electrically connected via an interface.

[0076] Figure 8 The schematic block diagram of the detection device provided in this application embodiment is applied to a mobile device. This application embodiment also provides another mobile device 1, which includes a detection device 1. The mobile device 1 can be any device including a detection device 1, such as a car, drone, or robot.

[0077] In the description of this application, it should be understood that, 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 “and / or” and “and / or” as used herein describe the relationship between related objects, indicating that three relationships may exist, for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship. The singular forms “a” and “an” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof, i.e., including any and all combinations of one or more of the associated listed items. Ordinal numbers such as “first” and “second” referenced in the embodiments of this application are merely identifiers and do not imply any particular order or relative importance.

[0078] In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The phrase "one or more embodiments" as used herein does not refer to the same embodiment, but rather to any suitable combination of specific features, structures, or characteristics. The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A detection device, characterized in that, include: A housing having a receiving cavity formed within it; A laser emitting module is disposed within the receiving cavity and is used to emit a detection laser; A laser receiving module is disposed within the receiving cavity and is used to receive echo light, which is obtained by the detection laser reflected from the detection target object; as well as A camera module is disposed within the receiving cavity. The camera module is used to acquire visible light images, and the field of view of the camera module at least partially overlaps with the field of view of the laser receiving module.

2. The apparatus of claim 1, wherein, The detection device includes two laser emitting modules, which are disposed on both sides of the laser receiving module, and the arrangement direction of the two laser modules is a first preset direction; The camera module and the laser receiving module are spaced apart along a second preset direction, which is perpendicular to the first preset direction.

3. The apparatus of claim 2, wherein, The laser emitting module includes an emitting lens and a laser emitting plate; The laser receiving module includes a first receiving lens and a laser receiving plate; The camera module includes a second receiving lens and an image sensor, and the field of view of the camera module is larger than that of the laser receiving module.

4. The apparatus of claim 3, wherein, The housing includes a first housing and a second housing, which together form the receiving cavity. The first housing and the second housing are connected and fixed along a third preset direction, which is perpendicular to the first preset direction and the second preset direction, respectively. The outer surface of the first housing includes a first region and a second region, wherein the second region surrounds the first region; The first region is provided with a boss, which extends away from the second housing along the third preset direction. The boss is used to accommodate the transmitting lens, the first receiving lens and the second receiving lens. The second region is provided with heat dissipation fins. The outer surface of the second housing is also provided with heat dissipation fins.

5. The apparatus of claim 4, wherein, The detection device also includes an interface board; The interface plate is disposed within the receiving cavity, and the interface plate is located between the laser emitting plate and the second housing. The interface plate is in contact with the second housing through thermally conductive gel. The interface board includes a first interface and a second interface, wherein the first interface is used for data transmission and the second interface is used for power supply.

6. The apparatus according to claim 4, characterized in that, The detection device also includes a power supply board; The power board is disposed within the receiving cavity, and is located between the laser emitting plate and the first housing. The power board is in contact with the first housing through thermally conductive gel.

7. The apparatus of claim 6, wherein, The camera module is fixed to the power board, and the optical axis of the second receiving lens is aligned with the center of the photosensitive area of ​​the image sensor.

8. The apparatus of claim 3, wherein, The laser emitting board includes an emission driving board and a laser, the laser is disposed on the emission driving board, and the emission driving board is fixed on the laser emitting board by silver paste; The laser receiving board includes a signal processing board and a photodetector. The photodetector is disposed on the signal processing board, and the signal processing board is fixed on the laser receiving board by silver paste.

9. The apparatus of claim 3, wherein, The laser emitting plate and the receiving plate are provided with at least one via, the at least one via is filled with copper, or the inner wall and opening of the at least one via are covered with copper.

10. A mobile device, comprising: The probe device as claimed in any one of claims 1 to 9, comprising a mobile carrier, which is an autonomous vehicle or a robot. The probe device as claimed in any one of claims 1 to 9, comprising a mobile carrier, which is an autonomous vehicle or a robot.

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