Top scanning lidar

Abstract

The application discloses a top scanning laser radar, which comprises a transmitting and receiving module body, a module support, a first mounting plane arranged on the side of the transmitting and receiving module body, and an inclined second mounting plane arranged on the module support, and the transmitting and receiving module body is mounted on the second mounting plane of the module support based on the first mounting plane. The top scanning laser radar provided by the application splits the transmitting and receiving module into a main body and a module support, and the inclined mounting plane is arranged on the module support, so that the transmitting and receiving module body is mounted on the inclined mounting plane, the top scanning laser radar is provided with a suitable optical angle, the light adjusting efficiency is effectively improved, and the processing difficulty and manufacturing cost are reduced.

Description

Technical Field

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

[0002] With the continuous development of technology, various automated equipment is becoming more and more popular, such as robots, sweeping machines, disinfection machines, unmanned forklifts, drones, and unmanned vehicles. As automation is achieved, the demand for radar is also increasing, especially various types of top-scanning radar.

[0003] Currently, common top-scanning radars have a certain angle between their main assembly surface and the receiving and transmitting lenses, but they all have certain problems, such as complex main structure, high precision requirements, high processing difficulty, high cost, the need to consider angle variables in the dimming fixture, complex dimming fixture, and low dimming efficiency. Utility Model Content

[0004] The purpose of this application is to provide a top-scanning lidar to solve the technical problems of low dimming efficiency and high manufacturing cost of conventional lidars in related technologies.

[0005] On one hand, this application provides a top-scanning lidar, including: a transmitting and receiving module body and a module bracket, a first mounting plane is provided on the side of the transmitting and receiving module body, and an inclined second mounting plane is provided on the module bracket, and the transmitting and receiving module body is mounted on the second mounting plane of the module bracket based on the first mounting plane.

[0006] This application provides a top-scanning LiDAR comprising a transmitting and receiving module body and a module bracket. A first mounting plane is provided on the side of the transmitting and receiving module body, and an inclined second mounting plane is provided on the module bracket. The transmitting and receiving module body is mounted on the second mounting plane of the module bracket based on the first mounting plane. By separating the transmitting and receiving module into a body and a module bracket, and providing an inclined mounting plane on the module bracket, the transmitting and receiving module body is mounted on the inclined mounting plane, providing a suitable optical angle for the top-scanning LiDAR. This effectively improves dimming efficiency while reducing processing difficulty and manufacturing costs. Attached Figure Description

[0007] Figure 1 This is an axial explosion diagram of a top-scanning lidar provided in an embodiment of this application;

[0008] Figure 2 This is a schematic diagram of the main body of the transmitting and receiving module provided in an embodiment of this application;

[0009] Figure 3 This is a schematic diagram of a module bracket provided in an embodiment of this application;

[0010] Figure 4 This is a front view of a top-scanning lidar provided in an embodiment of this application;

[0011] Figure 5 This is a schematic diagram of an area of ​​the encoder provided in an embodiment of this application;

[0012] Figure 6 This is a schematic diagram of an optical path based on the A-direction in the main body of the transmitting and receiving module provided in this application embodiment;

[0013] The components include: 1. Outer cover, 2. Transparent cover, 3. Outer shell, 4. Main body of the transmitting and receiving module, 5. Module bracket, 6. Signal transmission module, 8. Fixed bracket, 9. Code disk, 10. Power transmission module, 11. Brushless motor, 12. Power board, 13. Lower shell, 14. Photoelectric switch, 15. First reflector, and 16. Second reflector. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0015] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0016] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0017] To address the technical problems existing in related technologies, this application provides a top-scanning lidar. Please refer to [link to relevant documentation]. Figure 1 , Figure 1This is an axial exploded view of a top-scanning lidar provided in an embodiment of this application. Specifically, the top-scanning lidar includes: a transmitting and receiving module body 4 and a module support 5. A first mounting plane 41 is provided on the side of the transmitting and receiving module body 4, and an inclined second mounting plane 51 is provided on the module support 5. The transmitting and receiving module body 4 is mounted on the second mounting plane 51 of the module support 5 based on the first mounting plane 41.

[0018] In one embodiment, the transmitting and receiving module on the top scanning lidar is structurally disassembled into a transmitting and receiving module body 4 and a module bracket 5. The module bracket 5 is used to mount the transmitting and receiving module body 4. By mounting the transmitting and receiving module body 4 on the mounting plane of the module bracket 5, a complete transmitting and receiving module is formed.

[0019] For example, in order to install the transmitter and receiver module body 4 and the module bracket 5, such as Figure 2 As shown, a first mounting plane 41 is provided on the side of the transmitting and receiving module body 4, and an inclined second mounting plane 51 is provided on the module bracket 5. When the transmitting and receiving module body 4 and the module bracket 5 are installed, the transmitting and receiving module body 4 is installed on the second mounting plane 51 of the module bracket 5 based on the first mounting plane 41 provided on the side.

[0020] In fact, the second mounting plane 51 set on the module bracket 5 is an inclined plane with a certain angle, that is, it forms an acute angle with the horizontal plane. The specific angle can be set according to actual needs. Then, after the transmitting and receiving module body 4 is installed on the module bracket 5, the emitted laser is between the horizontal plane and the vertical plane. By pre-setting an inclined plane on the module bracket 5, angle adjustment is not required when dimming, thus improving the dimming efficiency.

[0021] Furthermore, referring to Figure 2 A transmitting lens 42 and a receiving lens 43 are installed on the main body 4 of the transmitting and receiving module to realize the transmission and reception of laser. Specifically, the transmitting lens 42 and the receiving lens 43 are installed on the main body of the transmitting and receiving module. The transmitting lens 42 is used to transmit the laser, and the receiving lens 43 is used to receive the reflected laser.

[0022] For example, the transmitting lens 42 and receiving lens 43 installed on the main body 4 of the transmitting and receiving module only need to be able to transmit and receive laser light. A laser transmitting end and a laser receiving end are provided inside the main body 4 of the transmitting and receiving module. The laser light emitted by the laser transmitting end is emitted after passing through the transmitting lens 42, and the laser receiving end receives the reflected laser light after passing through the receiving lens 43.

[0023] Furthermore, the transmitting lens 42 and the receiving lens 43 are mounted horizontally and in parallel on the main body 4 of the transmitting and receiving module.

[0024] For example, refer to Figure 2 The transmitting lens 42 and the receiving lens 43, which are set on the main body 4 of the transmitting and receiving module, can be installed horizontally and in parallel on the main body of the transmitting and receiving module.

[0025] Furthermore, the first axis of the transmitting lens 42 and the second axis of the receiving lens 43 form the lens center plane of the transmitting and receiving module body 4, and the first mounting plane 41 is parallel to the lens center plane.

[0026] For example, when mounting the transmitter and receiver module 4 on the module bracket 5, the first mounting surface 41 on the transmitter and receiver module 4 and the second mounting surface 51 on the module bracket 5 are used for a fitting installation. The first mounting surface 41 is positioned on the side of the transmitter and receiver module 4, such as... Figure 2 As shown, at this time, the first mounting plane 41 is parallel to the plane formed by the laser's output and incident light paths. The position of the second mounting plane 51 on the module bracket 5 can be referenced... Figure 3 ,exist Figure 3 The second mounting plane 51 on the module bracket 5 shown is used to mount the main body 4 of the transmitting and receiving module.

[0027] The laser's outgoing optical path is the first axis of the transmitting lens 42, and the laser's incoming optical path is the second axis of the receiving lens 43.

[0028] Furthermore, the top-scanning lidar also includes a code disk 9.

[0029] For example, refer to Figure 1 In addition to the aforementioned transmitting and receiving module body 4 and module support 5, the top-scanning lidar also includes other structural parts to constitute the entire top-scanning lidar. Specifically, based on... Figure 1 As shown, the top-scanning lidar comprises the following structures from left to right: outer cover 1, transparent cover 2, outer shell 3, signal transmission module 6, fixed bracket 8, code disk 9, power transmission module 10, brushless motor 11, power board 12, and lower shell 13. The aforementioned transmitting and receiving module body 4 and module bracket 5 are located between the outer shell 3 and the signal transmission module 6, and the module bracket 5 is closer to the signal transmission module 6 than the transmitting and receiving module body 4.

[0030] After the top-scanning lidar is installed, the resulting top-scanning lidar can be as follows: Figure 4As shown, the relative positional relationships between the various structural components of the top-scanning lidar can be as follows: Figure 4 As shown.

[0031] Furthermore, the top-scanning lidar also includes a photoelectric switch 14, with a code disk 9 mounted on the photoelectric switch 14.

[0032] For example, the top-scanning lidar also includes a photoelectric switch 14, which is connected to the code disk 9.

[0033] Furthermore, code disk 9 is a circular code disk.

[0034] For example, refer to Figure 1 The code disk 9 can be a ring-shaped code disk, to be installed in a top-scanning lidar. For example... Figure 5 As shown, Figure 5 This is a schematic diagram of a region of the encoder provided in an embodiment of this application.

[0035] Furthermore, the photoelectric switch 14 has a U-shaped structure, and the bottom plane of the U-shaped structure is parallel to the bottom plane of the module bracket 5.

[0036] Furthermore, the code disk 9 passes through the U-shaped groove of the U-shaped structure.

[0037] For example, combined Figure 1 and Figure 5 With the top-scanning lidar installed, the bottom plane of the photoelectric switch 14 is parallel to the bottom plane of the module bracket 5. At this time, the U-shaped groove of the photoelectric switch 14 faces downwards, allowing the code disk 9 to be vertically installed inside the U-shaped groove of the photoelectric switch 14, i.e., passing through the U-shaped groove of the photoelectric switch 14. Figure 4 When shown, the encoder 9 is in the downward position, and it can be placed directly on the photoelectric switch 14 in a vertical direction. Specifically, the encoder 9 is in the U-shaped groove of the U-shaped structure.

[0038] Furthermore, the main body 4 of the transmitting and receiving module is provided with a first reflecting device and a second reflecting device. The first reflecting device is used to reflect the laser emitted by the laser transmitting end to the transmitting lens 42, and the second reflecting device is used to reflect the reflected laser to the laser receiving end.

[0039] For example, refer to Figure 6 , Figure 6 This is a schematic diagram of an optical path based on the A-direction in the main body of the transmitting and receiving module provided in this application embodiment. The optical path formed during laser transmission and reception can be as follows: Figure 6As shown by the middle arrow. Inside the main body 4 of the transmitting and receiving module of the top scanning lidar, there is a first reflecting device 15 and a second reflecting device 16. The laser emitted by the laser transmitter is processed by the first reflecting device 15 and output through the transmitting lens 42. At the same time, the reflected laser passes through the receiving lens 43 and enters the interior of the top scanning lidar. Then, it enters the laser receiver through the action of the second reflecting device 16.

[0040] In summary, this application discloses a top-scanning lidar, comprising: a transmitting and receiving module body and a module bracket. A first mounting plane is provided on the side of the transmitting and receiving module body, and an inclined second mounting plane is provided on the module bracket. The transmitting and receiving module body is mounted on the second mounting plane of the module bracket based on the first mounting plane. By separating the transmitting and receiving module into a body and a module bracket, and providing an inclined mounting plane on the module bracket, the transmitting and receiving module body is mounted on the inclined mounting plane, providing a suitable optical angle for the top-scanning lidar. This effectively improves the dimming efficiency while reducing processing difficulty and manufacturing costs.

[0041] The above provides a detailed description of a top-scanning lidar according to embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments are merely for the purpose of helping to understand the method and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application. Moreover, those skilled in the art can make several improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered within the scope of protection of this application.

Claims

1. A top-scanning lidar, characterized in that, include: The transmitter and receiver module body and the module bracket are provided. A first mounting plane is provided on the side of the transmitter and receiver module body, and an inclined second mounting plane is provided on the module bracket. The transmitter and receiver module body is mounted on the second mounting plane of the module bracket based on the first mounting plane.

2. The top-scanning lidar as described in claim 1, characterized in that, The main body of the transmitting and receiving module is equipped with a transmitting lens and a receiving lens. The transmitting lens is used to emit laser light, and the receiving lens is used to receive reflected laser light.

3. The top-scanning lidar as described in claim 2, characterized in that, The transmitting lens and the receiving lens are mounted horizontally and parallel to each other on the main body of the transmitting and receiving module.

4. The top-scanning lidar as described in claim 2, characterized in that, The first axis of the transmitting lens and the second axis of the receiving lens form the lens center plane of the transmitting and receiving module body, and the first mounting plane is parallel to the lens center plane.

5. The top-scanning lidar as described in claim 1, characterized in that, The top-scanning lidar also includes a code disk.

6. The top-scanning lidar as described in claim 5, characterized in that, The top-scanning lidar also includes a photoelectric switch, and the code disk is mounted on the photoelectric switch.

7. The top-scanning lidar as described in claim 6, characterized in that, The code disk is a ring-shaped code disk.

8. The top-scanning lidar as described in claim 6, characterized in that, The photoelectric switch has a U-shaped structure, and the bottom plane of the U-shaped structure is parallel to the bottom plane of the module bracket.

9. The top-scanning lidar as described in claim 8, characterized in that, The code disk passes through the U-shaped groove of the U-shaped structure.

10. The top-scanning lidar as described in claim 2, characterized in that, The main body of the transmitting and receiving module is provided with a first reflecting device and a second reflecting device. The first reflecting device is used to reflect the laser emitted by the laser emitting end to the transmitting lens, and the second reflecting device is used to reflect the reflected laser to the laser receiving end.

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