Lidar and vehicle

Abstract

A laser radar and a vehicle are disclosed. The laser radar comprises a base, a main shaft, a turret, a support and a sensor. The main shaft is arranged on the base; the turret is rotationally connected with the main shaft; the support is arranged at the bottom of the base and extends towards the turret. The sensor comprises an interference element and a sensing element. The interference element is arranged on the support, and the sensing element is arranged on the turret. When the turret rotates relative to the main shaft, the interference element interferes with the sensing of the sensing element, thereby changing the output signal of the sensing element. The structural design of the above laser radar can improve the compactness of the internal structure of the laser radar, reduce the volume of the laser radar, and facilitate the miniaturization of the laser radar.

Description

[0001] This case is a divisional application of Chinese patent application filed on July 14, 2024, entitled "LiDAR and Vehicle", with application number 202421665973.2. Technical Field

[0002] This disclosure relates to the field of optical detection technology, and more particularly to lidar and its carriers. Background Technology

[0003] Optical detection technology uses light as a medium for object detection. Compared to ordinary light sources, lasers possess characteristics such as monochromaticity and good directionality, making laser-based object detection a focus of increasing attention. For example, LiDAR (Light Detection and Ranging) uses lasers for object detection and has found applications in fields such as autonomous driving, industrial manufacturing, drones, robot recognition, geographic mapping, and environmental monitoring. However, the application of LiDAR is still constrained by cost and size. Utility Model Content

[0004] This disclosure provides a lidar and a carrier to reduce the size of the lidar and reduce the limitations imposed by the size of the lidar on its application.

[0005] In a first aspect, a lidar is provided, comprising a base, a main shaft, a rotating frame, a support member, and a sensor. The main shaft is mounted on the base; the rotating frame is rotatably connected to the main shaft; the bottom of the support member is mounted on the base, and the support member extends towards the rotating frame. The sensor includes an interferometer and a sensing element. The interferometer is mounted on the support member, and the sensing element is mounted on the rotating frame. When the rotating frame rotates relative to the main shaft, the interferometer interferes with the sensing of the sensing element, thereby changing the output signal of the sensing element.

[0006] The above-described lidar, through the design of the support components and rotating frame, can better utilize the vertical space inside the lidar, thereby improving the compactness of the internal structure, reducing the size of the lidar, and facilitating its miniaturization. The support components extend towards the rotating frame, and their tops can face the rotating frame, making it convenient to install sensing elements on the rotating frame and simplifying the lidar assembly process.

[0007] Optionally, the interference element includes an encoder, which includes multiple code tracks arranged circumferentially on the top of the support; the sensing element includes a photoelectric sensing element.

[0008] In the above mechanical structure, directly setting the code track on the top of the support member can reduce the number of components in the LiDAR, thus lowering its cost. Furthermore, this structural design allows for better utilization of the vertical space inside the LiDAR, facilitating miniaturization. The support member extends towards the rotating frame, and its top can face the frame, facilitating the installation of sensing elements on the frame and simplifying the LiDAR assembly process.

[0009] Optionally, the encoder and support are molded as a single unit. This integrated support design allows for the placement of interference elements, reducing the number of components in the lidar and simplifying installation, further lowering the lidar's cost and size.

[0010] Optionally, the rotating frame has an opening, a sensing element is disposed in the opening, and one end of the sensing element extends into the support member inside the opening.

[0011] The opening design saves installation space for the sensing element and protects the sensing element, resulting in a more compact structure, more stable sensor performance, and further facilitating the miniaturization of LiDAR.

[0012] Optionally, the lidar also includes a wireless power supply unit, which comprises a transmitting coil and a receiving coil. The transmitting coil is mounted on a support, and the receiving coil is mounted on a rotating frame. The transmitting and receiving coils are arranged radially opposite each other along the main shaft.

[0013] The above structure integrates sensor components (such as interferometers) with wireless power supply components (such as transmitting or receiving coils), significantly reducing the number of mechanical components within the lidar, increasing integration, and lowering cost and assembly complexity. The radially opposite arrangement of the transmitting and receiving coils along the main axis also makes full use of the vertical space inside the lidar, reducing its radial dimensions.

[0014] Optionally, the lidar also includes a first circuit board and a second circuit board. The first circuit board is mounted on a rotating frame, and the receiving coil is electrically connected to the first circuit board. The second circuit board is mounted on a base, and the transmitting coil is electrically connected to the second circuit board. Power can be supplied to the lidar by external devices (e.g., a vehicle), for example, by powering the second circuit board. The second circuit board is mounted on the base, and the transmitting coil is electrically connected to the second circuit board, facilitating power supply to external devices and allowing the second circuit board to power the first circuit board.

[0015] Optionally, the first circuit board also includes a sensing circuit electrically connected to the sensing element. By mounting the sensing circuit on the circuit board, more control or processing functions can be moved to the top, making full use of the first circuit board, reducing the number of circuit boards required, and further reducing the wiring requirements between multiple circuit boards, thus improving the integration of the LiDAR.

[0016] Optionally, the transmitting coil is wound around the outer wall of the support. The interferometer element and the transmitting coil of the sensor can share the same support, eliminating the need for an additional support structure for the transmitting coil. This reduces the number of structural components in the lidar, lowers costs, and simplifies the assembly process. It also facilitates the electrical connection between the transmitting coil and the circuit board, reducing the complexity of the internal circuit design and the number of circuit boards required.

[0017] Optionally, the rotating frame includes an extension that extends towards the base; a receiving coil is wound around the outer wall of the extension. In this way, the rotating frame can support multiple functional requirements, making the lidar structure more compact and facilitating the miniaturization of the lidar.

[0018] Optionally, the lidar also includes a magnetic structural component disposed on the extension; a receiving coil is wound around the outer wall of the magnetic structural component. The magnetic structural component allows the magnetic flux to be more concentrated inside the coil, improving the receiving efficiency of the receiving coil.

[0019] Optionally, the lidar also includes a driving device configured to drive the rotating frame to rotate. The driving device includes a first magnetic component and a second magnetic component. The first magnetic component is fixed relative to the base, and the second magnetic component is mounted on the rotating frame. Under the influence of a magnetic field, the second magnetic component rotates relative to the first magnetic component; alternatively, the second magnetic component is fixed relative to the base, and the first magnetic component is mounted on the rotating frame. Under the influence of a magnetic field, the first magnetic component rotates relative to the second magnetic component. This driving device allows for better integration of the lidar, reducing its cost and size.

[0020] Optionally, the second magnetic element is disposed on the inner or outer side of the support element.

[0021] Secondly, a vehicle is provided, including a connecting device and any one of the above-mentioned lidar, wherein the lidar is mounted on the vehicle via the connecting device. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be introduced as examples below. The accompanying drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The accompanying drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0023] Figure 1 An example block diagram of a lidar provided in some embodiments of this disclosure is shown;

[0024] Figure 2The diagram shows an example structure of a lidar provided in some embodiments of this disclosure;

[0025] Figure 3 An example diagram of an explosion of a lidar provided in some embodiments of this disclosure is shown;

[0026] Figure 4 The illustration shows a cross-sectional example of some components of a lidar provided in some embodiments of this disclosure;

[0027] Figure 5 The diagram shows an example structure of a support member provided in some embodiments of this disclosure;

[0028] Figure 6 This diagram illustrates an example of a support member installed on a base according to some embodiments of the present disclosure;

[0029] Figure 7 The diagram shows an example of the structure of a lidar mount provided in some embodiments of this disclosure from one viewpoint.

[0030] Figure 8 The diagram shows an example of the structure of a lidar mount provided in some embodiments of this disclosure from another perspective;

[0031] Figure 9 The diagram shows an example of the structure of an internal component of a lidar provided in some embodiments of this disclosure;

[0032] Figure 10 This diagram illustrates an example of the mounting of a first magnetic element on a fixture, as provided in some embodiments of this disclosure.

[0033] Figure 11 A partial cross-sectional example view of a fixing part provided in some embodiments of this disclosure is shown;

[0034] Figure 12 The diagram shows an example structure of a lidar base provided in some embodiments of this disclosure;

[0035] Figure 13 An example diagram of a sealing structure provided in some embodiments of this disclosure is shown;

[0036] Figure 14 An example diagram of another sealing structure provided in some embodiments of this disclosure is shown;

[0037] Figure 15 An example diagram of yet another sealing structure provided in some embodiments of this disclosure is shown. Detailed Implementation

[0038] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0039] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment. They do not represent the actual structure of the product, and there may be more or fewer structures or parts in reality. In addition, for the sake of simplicity and ease of understanding, there may be more or fewer similar structures or parts in reality for the structures or parts shown in the figures.

[0040] The terms “installation,” “setting up,” and “connection” should be interpreted broadly. For example, “installation” can mean direct installation or installation through other components; “setting up” can mean direct setting or setting through other components; and “connection” can mean direct connection or connection through other components.

[0041] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) are relative rather than absolute when describing the structure or movement of the various components, and are not intended to limit the direction of the product during actual use.

[0042] LiDAR (Light Detection and Ranging) uses laser light as a medium for object detection and can be applied in fields such as autonomous driving, industrial manufacturing, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automated driving or assisted driving, includes any level of automated driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform analysis, decision-making, or control functions. Vehicles include, for example, vehicles, manufacturing facilities, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0043] Figure 1 An example block diagram of a lidar provided in some embodiments of this disclosure is shown. Please refer to... Figure 1The lidar 100 includes a laser emitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 140. Optionally, the lidar 100 may also include a scanning system 150, such as a mechanical lidar or a semi-solid-state lidar. The scanning system 150 may include, for example, a scanner and a driving device, the driving device being used to drive the scanner to rotate, so that the laser can achieve scanning of one or all of the vertical or horizontal field of view. For example, the laser is emitted through the scanner, and the rotation of the scanner can change the emission path of the laser; or, the laser echo can be incident on the scanner and guided to the light receiving path by the scanner. The embodiments of this disclosure do not limit the type of scanner, such as including but not limited to rotating mirrors, tilting mirrors, galvanometers, or other devices that can direct the laser to different directions in the environment. Optionally, the scanning system 150 may include a rotating platform; for example, one or more of the laser emitting circuit, laser receiving circuit, or optical system may be disposed on the rotating platform, and as the rotating platform rotates, scanning of one or all of the vertical or horizontal field of view can be achieved.

[0044] The laser emitting circuit 110 emits a laser beam. When the laser beam encounters an object, it is reflected back to the lidar 100 by the object's surface; this reflected light is called an echo. The laser receiving circuit 120 receives the echo and converts it into an electrical signal. After preprocessing, the electrical signal yields echo data, which is provided to the control and processing system 140. The control and processing system 140 processes the echo data to obtain sensing data, such as point cloud data. The control and processing system 140 sends the sensing data to the vehicle, which uses the sensing data to perform analysis, decision-making, or control functions.

[0045] The laser emitting circuit 110 includes a driving circuit and a laser. Driven by the driving circuit, the laser emits laser light, which exits through the optical system 130. The laser may include, for example, a semiconductor laser, a fiber laser, or other types of lasers. Semiconductor lasers may include, for example, laser emitting circuits, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices. These are merely examples, and the embodiments disclosed herein do not limit the type of laser.

[0046] The laser receiving circuit 120 includes a detector and a preprocessing circuit. The optical system 130 focuses the echo onto the photosensitive surface of the detector; the detector uses the photoelectric effect to convert the optical signal into an electrical signal. The detector may include, for example, a photodetector circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or similar devices. These are merely examples, and the embodiments disclosed herein do not limit the type of detector.

[0047] Preprocessing, also known as analog front-end processing, includes one or more of the following: amplification, filtering, and digitization. Preprocessing circuits, also known as analog front-end circuits, include one or more of the following: amplification circuits, filtering circuits, and digitization circuits. Amplification circuits, for example, include amplifiers that amplify the electrical signal converted by the detector. Filtering circuits, for example, include filters used to remove noise or interference. Digitization circuits, for example, include one or more of the following: analog-to-digital converter (ADC) or time-to-digital converter (TDC). For example, an ADC converts the analog electrical signal into a digital signal representing the echo waveform by periodically sampling the detector's output signal, thus obtaining echo data. Alternatively, the electrical signal converted by the detector can be converted (e.g., amplified into a voltage and compared with a reference voltage to generate an over-threshold signal) and provided to the TDC. The TDC, based on the received electrical signal, performs timing to measure the echo arrival time, thus obtaining echo data. Echo data can include data reflecting the echo time and / or echo intensity.

[0048] Optical system 130 includes, for example, a transmitting optical element and a receiving optical element. The transmitting optical element, located in the laser emission path (hereinafter referred to as the emission optical path), is used to shape the laser emitted by the laser and adjust its exit path. The receiving optical element, located in the laser reception path (hereinafter referred to as the reception optical path), is used to collect the echo reflected back from the object and converge the echo onto the photosensitive surface of the detector. For example, the transmitting optical element may include one or more optical elements such as a mirror, lens, beam splitter, homogenizer, or beam splitter. For example, the receiving optical element may include one or more optical elements such as a mirror, lens, beam splitter, or filter. The transmitting and receiving optical elements can be independent, partially multiplexed, or fully multiplexed. For example, in a coaxial laser radar, optical system 130 may include independent transmitting and receiving optical elements, such as independent transmitting and receiving lenses. The optical system 130 may also include optical elements shared by the transmitting and receiving optical paths, such as a beam splitter (or beam splitter) for separating the transmitting and receiving optical paths; or, for example, a shared lens for shaping the coaxial beams in the transmitting and receiving optical paths.

[0049] The control and processing system 140 processes the echo data to obtain sensing data. The control and processing system 140 also sends control signals to the drive circuit to control the drive circuit to drive the laser to emit light, thus realizing laser emission. When the lidar 100 includes a scanning system 150, the control and processing system 140 also controls the scanning system 150. In some embodiments, the control and processing system 140 may include one or more processors. Processors include, but are not limited to, hardware circuits implemented with application-specific integrated circuits (ASICs), programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), or central processing units (CPUs). Hardware circuits implemented with PLDs include, for example, field-programmable gate arrays (FPGAs). When the control and processing system 140 includes multiple processors, the types of processors can be the same or different. For example, the control and processing system 140 may include an MCU and an FPGA; or, the control and processing system 140 may include an MCU, an FPGA, and a DSP; or, the control and processing system 140 may include a CPU and an FPGA, and so on. When the control and processing system 140 includes multiple processors, these processors can be set up separately, partially integrated together, or fully integrated together. For example, the control and processing system 140 may be implemented as a system-on-chip (SOC) or an ASIC.

[0050] LiDAR includes many components, such as optical elements, electronic devices, and mechanical parts. The embodiments of this disclosure design the mechanical parts or electromechanical structure of the LiDAR to make the LiDAR have a lower cost or a more compact structure, thereby reducing the cost or size constraints of the LiDAR in the application process.

[0051] Figure 2 The diagram illustrates an example structure of a lidar provided in some embodiments of this disclosure. Please refer to... Figure 2The lidar 200 includes a base 210 and a photomask 220. The base 210 supports the mounting of the lidar 200's internal components, such as optical elements, electronic devices, and mechanical parts. The photomask 220 is attached to the base 210 to protect the lidar 200's internal components. The photomask 220, also known as the outer shell, can be entirely or partially made of a light-transmitting material (such as light-transmitting glass or plastic) or have an anti-reflective coating to facilitate laser transmission. The photomask 220 allows light of the lidar's operating wavelength to pass through, for example, light with wavelengths around 905nm, 940nm, 1310nm, or 1550nm. The photomask 220 can also at least partially block visible light. For example, the photomask 220 includes a main body and a window. The main body can be made of a non-light-transmitting material with high mechanical strength, and a window is provided on the main body. This window is made of a light-transmitting material or has an anti-reflective coating in the window area, allowing the laser to exit and return through the window. For example, the photomask 220 can be made entirely of a light-transmitting material or have an anti-reflective coating applied throughout. This allows the laser to exit from the photomask 220 over a wider area, thus increasing the field of view of the lidar 200. Furthermore, the connecting portion used to mount the photomask 220 onto the base 210 can be made of a material with high mechanical strength or employ a structurally reinforced design. This enhances the structural strength of the photomask 220, increases the connection stability between the base 210 and the photomask 220, and reduces the probability of damage to the photomask 220. This disclosure does not limit the material and structure of the photomask 220; for example, it can be made of one or more of metal, plastic, alloy, glass, or other composite materials.

[0052] In some embodiments of this disclosure, the mechanical structure of the lidar is designed to support the installation of lidar components, reduce the overall volume occupied, and decrease the size of the lidar, which is beneficial to the miniaturization of the lidar. Figure 3 An example explosion diagram of a lidar provided in some embodiments of this disclosure is shown. Please refer to... Figure 3 The lidar 200 includes, for example, a base 210, a main shaft 230, a rotating frame 240, and a support member 250. The main shaft 230 is mounted on the base 210; the rotating frame 240 is rotatably connected to the main shaft 230; the bottom of the support member 250 is mounted on the base 210 and extends upwards, i.e., towards the rotating frame 240. By using the support member 250 and the rotating frame 240, the lidar can better utilize its internal vertical space, improving the compactness of its internal structure, reducing its size, and facilitating miniaturization.

[0053] Figure 4 The diagram shows a cross-sectional example of some components of a lidar provided in some embodiments of this disclosure. Please refer to... Figure 4 The lidar 200 may further include a sensor 260, and a support member 250 can be used to support the elements of the sensor 260. The sensor 260 is used for position sensing during the rotation of the rotating frame 240. The sensor 260 includes an interference element 261 and a sensing element 262. The interference element 261 is disposed on the support member 250, and the sensing element 262 is disposed on the rotating frame 240. When the rotating frame 240 rotates relative to the main shaft 230, the interference element 261 interferes with the sensing of the sensing element 262, and the output signal of the sensing element 262 can change accordingly. By setting up the support member 250 and the rotating frame 240, the lidar can better utilize the vertical space inside the lidar, thereby improving the compactness of the internal structure of the lidar, reducing the size of the lidar, and facilitating the miniaturization of the lidar. The support member 250 extends towards the rotating frame 240, and its top can face the rotating frame 240, which facilitates the placement of the sensing element 262 on the rotating frame 240 and simplifies the assembly process of the lidar.

[0054] When the sensing element 262 rotates with the rotating frame 240, the output signal of the sensing element 262 changes. This output signal can be used to reflect position information such as the rotation angle of the rotating frame 240. This position information can be used to control the laser emission time of the laser emitting circuit, or to control the laser emission time of the laser emitting circuit and the working time of the laser receiving circuit. This working time includes, for example, the activation time or output time of the detector. In some embodiments, the driving device of the scanning system can drive the rotating frame 240 to rotate. The scanner or rotating platform of the lidar can be mounted on the rotating frame 240. For example, during the detection process of the lidar, the driving device can drive the scanner or rotating platform to rotate; during the rotation of the scanner or rotating platform, the control and processing system 140 can control the laser emitting circuit 110 according to the position information of the rotating frame 240, for example, control the driving circuit, to drive the laser to emit laser at different positions of the scanner or rotating platform, so that the laser is emitted at different field-of-view angles of the lidar, realizing the scanning of one or all of the vertical or horizontal field of view of the lidar. Sensor 260 can sense the position of the rotating part of the lidar (e.g., the rotating frame 240). The lidar can control the laser emitting circuit based on the sensing signal from sensor 260 to emit laser light at the corresponding scanning angle during the rotation of the scanner or rotating platform. Optionally, the control and processing system 140 can also control the laser receiving circuit 120 during the rotation of the scanner or rotating platform. For example, the laser receiving circuit 120 may include a gating circuit, and the control and processing system 140 can control the gating circuit to select the corresponding detector to receive the laser echo; or, the control and processing system 140 can control the readout circuit of the corresponding detector to read out the detector's signal. In the lidar, the detectors selected and the lasers emitting lasers within the same time window can correspond to the same sub-field of view, and at least one laser and at least one detector correspond to the same sub-field of view. The number of lasers and detectors corresponding to the same sub-field of view can be the same or different.

[0055] In some embodiments of this disclosure, the sensing element 262 can be electrically connected to the first circuit board C1. The optical system of the lidar may include an optomechanical structure 270, which is disposed above the rotating frame 240. The laser emitting circuit or laser receiving circuit may be wholly or partially disposed on the optomechanical structure 270. The first circuit board C1 is disposed above the rotating frame 240. The first circuit board C1 may include part or all of the circuitry of the lidar's control and processing system. Optionally, the laser emitting circuit or laser receiving circuit may be wholly or partially disposed on the first circuit board C1. Disposing the sensing element 262 on the rotating frame 240 allows the sensing element 262 to be closer to the first circuit board C1, facilitating the placement of the sensing circuit on the first circuit board C1. This eliminates the need for a separate circuit board for the sensing circuit, improving the integration of the lidar. Furthermore, electrically connecting the sensing element 262 to the first circuit board C1 allows the output signal of the sensing element 262 to be transmitted within the board and provided to the first circuit board C1. The first circuit board C1 can then be used to control the laser emitting circuit or laser receiving circuit, simplifying the connection design between circuits.

[0056] Sensor 260 may include, for example, a photoelectric sensor, a magnetic induction sensor, or a capacitive induction sensor. Interference element 261 is used to interfere with the sensor's output signal, such as through photoelectric interference or electromagnetic induction interference. For example, as sensing element 262 rotates with the rotating frame 240, the light flux through interference element 261 changes accordingly, and the light signal incident on sensing element 262 also changes accordingly. The photoelectric effect is used to obtain an electrical signal reflecting the position change of the rotating frame 240. Furthermore, as sensing element 262 rotates with the rotating frame 240, the relative distance between interference element 261 and sensing element 262 changes, and electromagnetic induction is used to change parameters such as voltage, inductance, or capacitance of the sensing circuit containing sensing element 262.

[0057] For photoelectric sensors, the interference element 261 may include, for example, an encoder (or encoding structure), such as a code disk, and the sensing element 262 may include, for example, a code reader. For magnetic sensors, the interference element 261 may include, for example, a conductive target, and the sensing element 262 may include, for example, a magnetic element; or the interference element 261 may include, for example, a magnetic element, and the sensing element 262 may include, for example, a Hall element, etc. For capacitive sensors, the interference element 261 may include, for example, a target, and the sensing element 262 may include, for example, a sensing electrode.

[0058] In some embodiments of this disclosure, the sensor may be a photoelectric sensor. For example, Figure 5 A structural example diagram of a support member provided in some embodiments of this disclosure is shown. Figure 6A diagram illustrating an example of a support member mounted on a base according to some embodiments of this disclosure is shown. Please refer to... Figures 3 to 6 The interference element 261 may include an encoder, such as a code disk or code track structure; the sensing element 262 may be a photoelectric sensing element, such as a code reader. The encoder may include multiple code tracks, which are arranged circumferentially on the top of the support 250. The encoder is fixedly mounted relative to the base 210, and the code reader is mounted on the rotating frame 240 and faces the encoder. The code reader emits an optical signal, which is read by the code reader after passing through the encoder; during the rotation of the rotating frame 240, the code reader rotates with the rotating frame 240. As the light flux through the encoder changes, the output signal of the code reader changes, and this output signal can be used to indicate position information such as the rotation angle of the rotating frame 240. In some embodiments of this disclosure, the code reader is electrically connected to the first circuit board C1, and the output signal of the code reader can be output as a sensing signal through the sensing circuit and provided to the first circuit board C1.

[0059] In the above mechanical structure, the code track is directly set on the top of the support member 250, which can reduce the number of components of the lidar and lower its cost. Furthermore, this structural design can better utilize the vertical space inside the lidar, which is beneficial for its miniaturization. The support member 250 extends towards the rotating frame 240, and its top can face the rotating frame 240, facilitating the installation of the sensing element 262 on the rotating frame 240.

[0060] Please refer to some embodiments of this disclosure. Figure 5 and Figure 6 The encoder and support member 250 are integrally formed. The support member 250 is fixedly mounted on the base 210. The encoder includes multiple code tracks, which are arranged circumferentially on the top of the support member 250 and extend upwards close to the rotating frame 240 or the first circuit board C1. By using the integrated support member 250 to house the interference element 261, the number of components in the lidar can be reduced, and the installation process can be simplified, further reducing the cost and size of the lidar.

[0061] In some embodiments of this disclosure, please refer to Figure 4The rotating frame 240 has an opening O, and the sensing element 262 is disposed within the opening O, with one end extending into the support member 250 and corresponding to the area on the support member 250 where the interference element 261 is disposed. The opening O saves installation space for the sensing element 262 and protects it, making the lidar structure more compact and the sensor 260 more stable, thus contributing to the miniaturization of the lidar. For example, a barcode reader is mounted across both sides of the encoder. The reader emits light signals, and as the rotating frame 240 rotates, the light flux through the encoder changes, causing the reader's output signal to change accordingly. This output signal can be used to characterize positional information such as the rotation angle of the rotating frame 240.

[0062] Please continue to refer to this. Figure 3 and Figure 4 In some embodiments of this disclosure, the lidar 200 may further include a wireless power supply device 280. The wireless power supply device 280 enables wireless power supply between internal circuit boards of the lidar. Optionally, the wireless power supply device 280 may also enable data transmission between circuit boards. For example, the second circuit board C2 of the lidar (e.g., a circuit board disposed on the base 210) can supply power to the first circuit board C1. The wireless power supply device 280 includes, for example, a transmitting coil 281 and a receiving coil 282. When alternating current passes through the transmitting coil 281, a changing magnetic field is generated; within the range of this changing magnetic field, the receiving coil 282 generates an induced current, which can transfer energy from the transmitting end to the receiving end, thus providing wireless power supply.

[0063] In some embodiments of this disclosure, the support member 250 can also be used to support the installation of the transmitting coil 281. This allows the support member 250 to support multiple functional requirements without the need for separate mechanical support structures for the transmitting coil 281 and the interferometer element 261. This eliminates the need for separate arrangements of the mechanical support structures for the transmitting coil 281 and the interferometer element 261, reducing the space occupied by the transmitting coil 281 and the interferometer element 261, thus reducing the size of the lidar; and also reducing the number of structural components in the lidar, lowering costs and simplifying the assembly process. For example, please refer to... Figures 3 to 6 The transmitting coil 281 is mounted on the support 250; the receiving coil 282 is mounted on the rotating frame 240. This structure integrates the components of the sensor 260 (e.g., the interferometer 261) with the components of the wireless power supply device 280 (e.g., the transmitting coil 281), which can greatly reduce the number of mechanical structural components in the lidar, increase integration, and reduce cost and assembly complexity.

[0064] In some embodiments of this disclosure, the transmitting coil 281 and the receiving coil 282 are arranged radially opposite to each other along the main shaft 230; or, the transmitting coil 281 and the receiving coil 282 are arranged relative to each other in a direction perpendicular to the main shaft 230. Figures 3 to 6 In the example, the transmitting coil 281 may be disposed outside the receiving coil 282. In some other embodiments of this disclosure, the receiving coil 282 may be disposed outside the transmitting coil 281. The transmitting coil 281 and receiving coil 282 are radially distributed along the main axis 230 of the lidar, facing each other, which allows the power supply coils (including the transmitting coil 281 and the receiving coil 282) to be wound vertically. Winding the power supply coil vertically allows the transmitting coil 281 to utilize the sidewall area of ​​the support member 250, reducing the radial dimension of the lidar. Compared to winding the coil horizontally, winding the power supply coil vertically allows for a tighter coil winding. The rotating frame 240 can also be used to support the receiving coil 282. Without the need for an additional support structure for the receiving coil 282, the rotating frame 240 supports multiple functions, further reducing the number of lidar components, lowering the lidar cost, and facilitating lidar miniaturization.

[0065] In some embodiments of this disclosure, the support member 250 may have an internally hollow structure, and the receiving coil 282 is disposed inside the support member 250. In this way, the transmitting coil 281 and the receiving coil 282 can be arranged radially opposite each other along the main axis 230, and the internal space of the lidar can be effectively utilized.

[0066] Figure 7 The diagram shows an example of the structure of a lidar mount provided in some embodiments of this disclosure from one viewpoint. Figure 8 This diagram illustrates a structural example of a lidar mount provided in some embodiments of this disclosure from another perspective. Please refer to... Figure 7 and Figure 8 The rotating frame 240 includes, for example, a support portion 241 and an extension portion 242. The support portion 241 and the extension portion 242 can be integrally formed or separately formed and then fixedly connected together. The extension portion 242 can be rotatably connected to the main shaft 230. The support portion 241 is disposed above the extension portion 242, and the cross-sectional area of ​​the support portion 241 in the direction perpendicular to the main shaft 230 can, for example, be larger than the cross-sectional area of ​​the extension portion 242. The extension portion 242 of the rotating frame 240 extends towards the base 210 and is rotatably connected to the main shaft 230. A support member 250 surrounds the outside of the extension portion 242 of the rotating frame 240. The transmitting coil 281 of the wireless power supply device 280 can be wound around the outer wall of the support member 250, and the receiving coil 282 can be wound around the outer wall of the extension portion 242 of the rotating frame 240 and located inside the support member 250.

[0067] In some embodiments, the extension 242 of the rotating frame 240 may be disposed on the outside of the support member 250. The transmitting coil 281 of the wireless power supply device 280 may be wound around the outer wall of the support member 250, and the receiving coil 282 may be wound around the outer wall of the extension 242 of the rotating frame 240 and located on the outside of the support member 250.

[0068] In some embodiments of this disclosure, the receiving coil 282 may be directly wound around the outer wall of the extension 242. For example, the extension 242 may be made of silicon steel sheets, with an insulating coating separating the silicon steel sheets, or a magnetic material may be bonded or sintered on the outer side of the extension 242 to give at least a portion of the extension 242 magnetically permeable but non-conductive properties. In some embodiments, please refer to... Figure 4 , Figure 7 and Figure 8 A magnetic structural member 244 may also be provided on the extension 242 of the rotating frame 240, for example, on the outer wall of the extension 242. The receiving coil 282 may be wound around the outer wall of the magnetic structural member 244. The magnetic structural member 244 may be made of a magnetically permeable but non-conductive material, such as, but not limited to, one or more of ferrite, silicon steel sheet, nickel-zinc ferrite, soft magnetic material, permanent magnet, magnetic shielding material, or magnetic plastic. The magnetic structural member 244 can make the magnetic flux more concentrated inside the coil, thereby improving the receiving efficiency of the receiving coil 282.

[0069] In some embodiments of this disclosure, please continue to refer to Figure 3 The lidar 200 may further include a first circuit board C1 and a second circuit board C2. The first circuit board C1 is mounted on the rotating frame 240, and the receiving coil 282 is electrically connected to the first circuit board C1. The second circuit board C2 is mounted on the base 210, and the transmitting coil 281 is electrically connected to the second circuit board C2. The second circuit board C2 may include a first control circuit that can control the transmission power of the transmitting coil 281. The receiving coil 282, electrically connected to the first circuit board C1, can supply power to the first circuit board C1. Power can be supplied to the lidar by external devices (e.g., a vehicle), for example, by supplying power to the second circuit board C2. The second circuit board C2, mounted on the base 210, and electrically connected to the transmitting coil 281, facilitates power supply to external devices and allows the second circuit board C2 to supply power to the first circuit board C1. For example, the first control circuit is set on the second circuit board C2, which is set on the base 210, so that external devices can be easily connected to the second circuit board C2. The external devices can be powered to the lidar with a simple wiring design. The transmitting coil 281 is wound around the outer wall of the support 250, so that it can be easily connected to the second circuit board C2, reducing the wiring complexity.

[0070] In some embodiments of this disclosure, the second circuit board C2 can also transmit data to the first circuit board C1 via the transmitting coil 281 and the receiving coil 282. This allows for wireless power supply synchronization of data transmission, reducing the number of communication components in the lidar, further lowering the lidar cost, and further improving the lidar's integration. For example, the first control circuit can modulate information onto the carrier wave of the transmitting coil 281 to transmit data to the receiving coil 282. Embodiments of this disclosure do not limit the modulation method, and may include, but are not limited to, modulation of one or more parameters such as amplitude, frequency, phase, and pulse.

[0071] In some embodiments of this disclosure, the first circuit board C1 may further include a sensing circuit (also referred to as a sensing signal processing circuit) electrically connected to the sensing element 262. The sensing circuit can process the output signal of the sensing element 262 to obtain a sensing signal reflecting position information, and provide the sensing signal to the first circuit board C1. The first circuit board C1 can then control one or both of the laser emitting circuit and the laser receiving circuit. By placing the sensing circuit on the first circuit board C1, more control or processing functions can be moved upwards, making full use of the first circuit board C1, reducing the number of circuit boards required, and further reducing the wiring requirements between multiple circuit boards, thus improving the integration of the LiDAR. Furthermore, by placing the sensing circuit on the first circuit board C1, the sensing signal can be transmitted within the board and provided to the portion of the first circuit board C1 that controls the laser emitting circuit or the laser receiving circuit, which simplifies the connection design between circuits.

[0072] In some embodiments, the first circuit board C1 may include one or more of a processing circuit, a second control circuit, and a third control circuit. The processing circuit can generate point cloud data. The second control circuit can control the laser emitting circuit of the lidar. The third control circuit can control the laser receiving circuit of the lidar. For example, please refer to... Figure 1The second control circuit can generate a control signal (which can be referred to as the first control signal for distinction) and send the first control signal to the drive circuit of the laser emitting circuit 110. The drive circuit can drive the laser to emit laser light according to the first control signal. Alternatively, the laser receiving circuit 120 includes a gating circuit. The third control circuit can generate a control signal (which can be referred to as the second control signal for distinction) and send the second control signal to the gating circuit of the laser receiving circuit 120. The gating circuit can select a detector according to the second control signal to receive the echo. Detectors selected and lasers emitting laser light within the same time window can correspond to the same sub-field of view. Alternatively, the laser receiving circuit 120 includes a readout circuit. The third control circuit can generate a control signal (which can be referred to as the third control signal for distinction) and send the third control signal to the readout circuit of the laser receiving circuit 120. The readout circuit can read out the echo signal from the detector according to the third control signal. Detectors read out and lasers emitting laser light within the same time window can correspond to the same sub-field of view. The first circuit board C1 can integrate one or more of the following: sensing circuit, processing circuit, second control circuit, and third control circuit. This allows more control or processing functions to be concentrated on the first circuit board C1. Interactions between circuits, or between the control and processing circuits, can also be largely centralized on the first circuit board C1 using on-board communication, reducing the need for uplink transmission and thus lowering the pressure on uplink transmission. Concentrating control and processing functions on the same circuit board reduces the number of circuit boards in the LiDAR system, further improving the integration of the LiDAR's control and processing system. It also simplifies the connection design between circuit boards, further reducing costs and simplifying assembly. Furthermore, the fewer circuit boards required also reduce the overall vertical height of the LiDAR unit.

[0073] Figure 9 The diagram illustrates an example of the structure of internal components of a lidar provided in some embodiments of this disclosure. Please refer to... Figure 9The optical system of the lidar may include an optomechanical structure 270, which is disposed above the rotating frame 240. In some embodiments, the lidar may further include a transmitting circuit board and a receiving circuit board. The laser transmitting circuit may be wholly or partially disposed on the transmitting circuit board, and the laser receiving circuit may be wholly or partially disposed on the receiving circuit board. In some embodiments, the lidar may further include a transmitting and receiving circuit board, and the laser transmitting circuit and the laser receiving circuit may be wholly or partially disposed on the transmitting and receiving circuit board. In some embodiments, the laser transmitting circuit or the laser receiving circuit may be wholly or partially disposed on the first circuit board C1. The laser transmitting circuit board, the laser receiving circuit board, or the laser transmitting and receiving circuit board may be disposed on the optomechanical structure 270 or on the rotating frame 240. Disposing both the second control circuit and the third control circuit on the circuit board C1 allows the second control circuit and the third control circuit to be closer to the laser transmitting circuit and the laser receiving circuit, which is beneficial for simplifying the connection design between the control circuit and the controlled part.

[0074] In some embodiments, the second circuit board C2 includes a first control circuit. The second circuit board C2 may be equipped with an interface circuit for external communication to transmit point cloud data; or, it may receive control information, upgrade instructions, upgrade packages, or configuration parameters from the vehicle's controller or a remote server. For example, the second circuit board C2 includes a first control circuit and an interface circuit, the interface circuit of which can communicate with a data receiving device to transmit point cloud data to the data receiving device. In other embodiments of this disclosure, the interface circuit and the first control circuit may be located on different circuit boards. This allows for flexible utilization of the lower compartment space of the lidar, enabling the circuit boards to be arranged appropriately as needed. For example, the lidar may also include a third circuit board, which is mounted on the base 210. The third circuit board includes an interface circuit, which can communicate with the data receiving device to transmit point cloud data to the data receiving device; or, it may receive control information, upgrade instructions, upgrade packages, configuration parameters, etc., from the vehicle's controller or a remote server.

[0075] The data receiving device can be located on a vehicle, such as a controller for the vehicle. The processing circuitry on the first circuit board C1 can process the echo data into point cloud data and transmit the point cloud data to the second circuit board C2 or the third circuit board, which then transmits it to the data receiving device via an interface circuit. The first circuit board C1 and the second circuit board C2 can use wireless or wired transmission for downlink transmission, including but not limited to wireless optical communication, fiber optic cables, twisted-pair cables, or coaxial cables.

[0076] In some embodiments of this disclosure, please continue to refer to Figure 3The lidar 200 may also include a driving device 290. The driving device 290 can drive the rotating frame 240 to rotate. The driving device 290 includes, for example, a first magnetic element 291 and a second magnetic element 292. The first magnetic element 291 is fixed relative to the base 210, and the second magnetic element 292 is disposed on the rotating frame 240. Under the action of a magnetic field, the second magnetic element 292 can rotate relative to the first magnetic element 291; or, the second magnetic element 292 is fixed relative to the base 210, and the first magnetic element 291 is disposed on the rotating frame 240. Under the action of a magnetic field, the first magnetic element 291 can rotate relative to the second magnetic element 292.

[0077] Magnetic components, for example, refer to elements, assemblies, or objects that can generate, respond to, or store energy in a magnetic field; magnetic components can be magnetic when energized, or can be made of magnetic materials. This disclosure does not limit the structure or type of magnetic components. For example, magnetic components can include, but are not limited to: coil structures (e.g., including printed circuit board coils or windings), conductors, or magnets made of magnetic materials. For example, the first magnetic component 291 includes, for example, a magnet; the second magnetic component 292 includes, for example, a coil structure. The coil structure can generate a magnetic field when energized. The magnetic field changes by changing the magnitude or direction of the current flowing through the coil. For example, a fourth control circuit is provided on the first circuit board C1 or the second circuit board C2, and the magnitude or direction of the current flowing through the coil is changed by the fourth control circuit; the magnetic field of the magnet and the magnetic field of the coil structure interact, driving the coil structure and the magnet to rotate relative to each other. Figure 3 The first magnetic element 291 and the second magnetic element 292 in the embodiments are merely illustrative, and the present disclosure does not impose any limitations on the structure of the first magnetic element 291 and the second magnetic element 292. For example, the first magnetic element 291 may include a one-piece permanent magnet or a segmented permanent magnet. The first magnetic element 291 may also include a coil structure, which may include a core and a coil wound on the core, the core being used to increase the magnetic flux of the magnetic field generated when the coil is energized; or the coil structure may include a coreless structure. Using a permanent magnet in the first magnetic element 291 can reduce the number of electronic components in the lidar, thus reducing the cost and size of the lidar. The present disclosure does not impose any limitations on the shape of the first magnetic element 291 and the second magnetic element 292; they can be regular or irregular shapes, with outlines including, for example, circles, arcs, rectangles, ellipses, or racetrack shapes. The present disclosure also does not impose any limitations on the number of the first magnetic element 291 and the second magnetic element 292; there can be one or more, and the number of the first magnetic element 291 and the second magnetic element 292 can be the same or different.

[0078] In some embodiments of this disclosure, the second magnetic element 292 and the fourth control circuit for controlling the magnetic field of the second magnetic element 292 can be disposed on the rotating frame 240; the first magnetic element 291 is fixedly disposed relative to the base 210. When the second magnetic element 292 is energized, it generates a magnetic field, which interacts with the magnetic field of the first magnetic element 291 to generate torque, driving the second magnetic element 292 to rotate. When the second magnetic element 292 rotates, it drives the rotating frame 240 to rotate relative to the base 210 or the main shaft 230. The above-mentioned driving device 290 can be disposed on the rotatable rotating frame 240, so that the magnetic field control function is disposed in the upper compartment of the lidar, improving the integration of the lidar. The lidar base 210 is provided with structures such as the main shaft 230, which has less usable space compared to the upper compartment. The upward movement of the control function can better utilize the internal space of the lidar and reduce the size of the lidar. In addition, similar to the description of the above embodiments, the upward movement of the control function can reduce the pressure of uplink transmission.

[0079] In some embodiments of this disclosure, the first magnetic element 291 and the second magnetic element 292 may be disposed on the outer or inner side of the support member 250. For example, please refer to... Figure 3 and Figure 9 The first magnetic element 291 and the second magnetic element 292 are disposed around the outside of the support member 250. The support member 250 may be disposed around the outside of the extension 242 of the rotating frame 240. This disclosure does not limit the relative positional relationship between the drive device 290 (including the first magnetic element 291 and the second magnetic element 292) and the wireless power supply device 280 (including the transmitting coil 281 and the receiving coil 282). For example, in some embodiments, the drive device 290 may be disposed radially outside the wireless power supply device 280 along the radial direction of the main shaft 230. In some embodiments, the wireless power supply device 280 may be disposed radially outside the drive device 290.

[0080] In some embodiments of this disclosure, a second magnetic element 292 is disposed on the side of the rotating frame 240 facing the base 210. The placement of the second magnetic element 292 on the side of the rotating frame 240 facing the base 210 increases the weight below the rotating frame 240, causing the overall center of gravity of the lidar to shift downwards, reducing the torque of the lidar during scanning, and improving the stability of the lidar.

[0081] In some embodiments of this disclosure, the first circuit board C1 may be disposed on the side of the rotating frame 240 away from the base 210. With no main shaft on the side of the rotating frame 240 away from the base 210, the first circuit board C1 can have more usable space, allowing for a larger circuit board area and facilitating the layout of circuits on the circuit board. For example, please refer to... Figure 7 and Figure 8The first circuit board C1 is disposed on the side of the support portion 241 away from the extension portion 242, and the second magnetic component 292 is disposed on the side of the support portion 241 facing the extension portion 242. Figure 7 and Figure 8 The structure of the rotating frame 240 shown is only an example. This disclosure does not impose any restrictions on the shape or structure of the rotating frame 240. For example, the vertical cross-sectional shape of the rotating frame 240 can be T-shaped, trapezoidal, or rectangular, etc.

[0082] In some embodiments of this disclosure, please refer to Figure 7 A bracket 243 can be provided on the rotating frame 240, which can be used to mount the second magnetic element 292. For example, there can be multiple second magnetic elements 292, which can be disposed on the bracket 243. For instance, the multiple second magnetic elements 292 can be evenly spaced on the outer wall of the bracket 243. Optionally, the multiple second magnetic elements 292 can be disposed independently or integrally formed. For example, the core of the multiple second magnetic elements 292 can be integrally formed, and the coil structure of the multiple second magnetic elements 292 is disposed on the core. The second magnetic element 292, for example, includes a coil and a silicon steel sheet, with the coil wound on the silicon steel sheet.

[0083] In some embodiments of this disclosure, the spindle 230 and the base 210 may be integrated into a single unit; for example, the base 210 may be integrally formed with the spindle 230. This reduces the number of independent components of the lidar and the assembly process of the lidar. Optionally, the spindle 230 may have a slotted design to accommodate communication cables or wireless communication devices, enabling communication (e.g., downlink communication) between the first circuit board C1 and the second circuit board C2.

[0084] In some embodiments of this disclosure, the support 243 may be made of materials such as plastic, which can further reduce the cost of the lidar. Furthermore, using plastic facilitates a lightweight design of the rotating frame 240, reducing the support force required for the spindle 230 and providing better adaptability to the integrated structure of the spindle 230 and base 210. Optionally, the rotating frame 240 may be made of other lighter materials, such as aluminum alloy. The optomechanical structure 270 may also adopt a lightweight design. For example, some or all of the optical components in the optomechanical structure 270 may be made of materials such as plastic, and the mechanical structure may be made of lighter alloys or plastics.

[0085] Please continue to refer to this. Figure 3 and Figure 4In some embodiments of this disclosure, the rotating frame 240 can be rotatably connected to the main shaft 230 via bearings. For example, the lidar includes bearings 2011 and 2012, the upper end of the rotating frame 240 can be rotatably connected to the main shaft 230 via bearing 2011, and the lower end of the rotating frame 240 can be rotatably connected to the main shaft 230 via bearing 2012.

[0086] By placing the second magnetic component 292 on the side of the rotating frame 240 facing the base 210, the center of gravity of the rotating part of the lidar can be lowered. The rotating part includes all components that can rotate with the rotating frame 240 relative to the main shaft 230, such as the rotating frame 240, the optomechanical structure 270, the first circuit board C1, and the second magnetic component 292. In some embodiments, the center of gravity of the rotating part is located 2 mm above and below the upper surface of the bearing 2011. Optionally, the center of gravity of the rotating part is located below the upper surface of the bearing 2011. For example, the center of gravity of the rotating part of the lidar is located above the upper surface of the bearing 2011, and the height difference between it and the upper surface of the bearing 2011 is less than or equal to 1 mm. This structural design achieves a short lever arm and small bending moment, making the rotating frame 240 of the lidar more stable during rotation. The rotatable connection between the rotating frame 240 and the main shaft 230 described above is only one example. The rotating frame 240 can also be rotatably connected to the main shaft 230 via one or more bearings. This embodiment does not impose any limitation on the number of bearings, and the number of bearings can be set according to actual assembly needs.

[0087] In some embodiments of this disclosure, when the rotating frame 240 is assembled with the main shaft 230 via bearings, the outer ring of the bearing can be fixed to the rotating frame 240 by adhesive bonding, interference fit, or a combination of adhesive bonding and interference fit, to reduce fretting wear between the bearing and the bearing housing. Optionally, the rotating frame 240 can serve as both a bearing housing and a support for the second magnetic component 292, thus diversifying the function of the rotating frame 240, reducing the number of components in the lidar, lowering the cost of the lidar, and facilitating the miniaturization of the lidar.

[0088] This disclosure does not limit the materials of the base 210, spindle 230, and rotating frame 240. These structures can be made of the same or different materials, and can be made of metal or non-metal, or partially of metal and partially of non-metal. In some embodiments of this disclosure, one or more of the main structures of the rotating frame 240, spindle 230, and base 210 can be made of metal. For example, the metal material can be an alloy, such as, but not limited to, die-cast aluminum alloy, zinc alloy, or magnesium alloy. For example, the rotating frame 240 can be made of aluminum alloy, which is beneficial for the lightweight design of the rotating frame 240 and reduces the rigidity requirements on the spindle 230. In some embodiments, when the main bodies of the rotating frame 240, spindle 230, and base 210 are all made of metal, the heat generated on the first circuit board C1 can be conducted to the base 210 through the metal parts of the rotating frame 240 and spindle 230. Furthermore, the rotation of the rotating frame 240 can achieve heat exchange with air convection, thereby achieving good heat dissipation for the first circuit board C1.

[0089] In some embodiments of this disclosure, the main heat dissipation area (hereinafter referred to as the first area) of the first circuit board C1 is also coated with thermally conductive adhesive. The thermally conductive adhesive can be used to conduct heat from the first area to further enhance the heat dissipation effect on the first circuit board C1. The first area of ​​the first circuit board C1 may include, for example, the area corresponding to power consumption components (e.g., chips, lasers) on the first circuit board C1. The heat generated by the power consumption components can be quickly conducted to the rotating frame 240 through the thermally conductive adhesive. In these embodiments, the number of areas coated with thermally conductive adhesive, the size or shape of the coated areas, etc., are not limited and can be set according to actual heat dissipation requirements.

[0090] In some embodiments of this disclosure, the mechanical structure of the lidar is designed, such as the mounting structure within the lidar, to make the installation of the internal components of the lidar more stable. Please continue to refer to... Figure 3 The lidar also includes a fixing member 202, which is disposed on the base 210 and can fix the magnetic components of the driving device 290 (e.g., a first magnetic component 291 or a second magnetic component 292). For example, the fixing member 202 can be used to fix the first magnetic component 291, and the rotating frame 240 can be used to mount the second magnetic component 292. Alternatively, the fixing member 202 can be used to fix the second magnetic component 292, and the rotating frame 240 can be used to mount the first magnetic component 291.

[0091] The fastener 202 can be a one-piece structure or a segmented structure. A segmented structure can further reduce the area occupied by the mechanical structure on the base 210, thereby reducing the cost and weight of the lidar. In addition, this segmented structure can leave assembly space for the drive unit 290 and the wireless power supply unit 280. Figure 10This diagram illustrates an example of the mounting of a first magnetic element on a fixture, as provided in some embodiments of this disclosure. Please refer to... Figure 10 The fixing member 202 is disposed on the base 210 and includes at least two fixing parts, with three fixing parts shown as an example in the figure. The at least two fixing parts can be spaced apart circumferentially on the base 210 along the main shaft 230 and are arranged around the main shaft 230. The fixing parts can extend axially towards the rotating frame 240 along the main shaft 230. The first magnetic member 291 can be fixed to the top of the at least two fixing parts. Figure 10 The number of fixing parts is merely an example, and this disclosure does not impose any limitation on the number of fixing parts. The number of fixing parts can be one, two, four, or more, as long as it can achieve the fixing of the first magnetic component 291. In some other embodiments, the bracket 243 for mounting the second magnetic component 292 can be fixed to the fixing part.

[0092] In some embodiments of this disclosure, the fixing portions of the fixing member 202 can be evenly distributed around the main shaft 230. This allows the fixing member 202 to provide more stable support for the magnetic components of the drive device 290, resulting in more stable installation of the magnetic components.

[0093] In some embodiments of this disclosure, the fixing portion can provide support in more than one direction for the magnetic components of the drive device, ensuring installation stability. For example, Figure 11 A partial cross-sectional example view of a fixing part provided in some embodiments of this disclosure is shown. Please refer to... Figure 6 and Figure 11 The fixing part includes, for example, a first surface 2021 and a second surface 2022. The edge of the first magnetic element 291 facing the base 210 can be disposed on the first surface 2021, and the outer edge of the first magnetic element 291 rests against the second surface 2022. A glue groove 2023 is provided on the fixing part, which can be located in one or more of the following positions: on the first surface 2021, on the second surface 2022, or between the first surface 2021 and the second surface 2022. In this way, the stability of the first magnetic element 291 on the fixing part 202 can be increased by using glue. In some other embodiments, different edges of the second magnetic element 292 or the bracket 243 can be disposed on the first surface 2021 and the second surface 2022 of the fixing part.

[0094] Figure 12 The diagram illustrates an example structure of a lidar base provided in some embodiments of this disclosure. Please refer to [reference needed] for further embodiments of this disclosure. Figure 2 , Figure 3 ,and Figure 12The lidar 200 includes a base 210 and a spindle 230. The base 210 includes, for example, a first mounting portion 211 and a second mounting portion 212. The first mounting portion 211 is located in the peripheral area of ​​the base 210 and is used to mount the photomask 220 of the lidar 200. The second mounting portion 212 is located within the first mounting portion 211. Please refer to the reference. Figure 10 and Figure 12 A sealing groove G is provided on the first mounting part 211, the sealing groove G surrounds the second mounting part 212, and a first sealing element 203 is provided in the sealing groove G. The main shaft 230 is provided on the second mounting part 212, and the main shaft 230 protrudes from the base 210.

[0095] The above-mentioned lidar design features a main shaft 230 protruding from the base 210, which reduces the height of the first mounting part 211, thereby reducing the cost of the base 210 and facilitating the assembly of internal components of the lidar. This reduces costs while improving production efficiency.

[0096] Referring to the description of the above embodiments, a rotating frame 240 can be provided on the main shaft 230, and the rotating frame 240 is rotatably connected to the main shaft 230. The main shaft 230 is disposed on the second mounting portion 212 of the base 210. Along the height direction of the base 210, the main shaft 230 protrudes from the first mounting portion 211 and the second mounting portion 212 of the base 210. This facilitates the installation of internal components of the lidar, such as the rotating frame 240, the first magnetic component 291, the second magnetic component 292, the support component 250, etc. By reducing the height of the base 210, interference with the base 210 during installation can be reduced, making the installation of internal components of the lidar more convenient, and the assembly easier, simpler, and faster.

[0097] The photomask 220 is mounted on the first mounting portion 211 of the base 210, and the first mounting portion 211 is located outside the second mounting portion 212. After the internal components of the lidar are installed, the photomask 220 can be mounted on the first mounting portion 211, and the photomask 220 can protect the internal components of the lidar.

[0098] The sealing groove G and the first sealing element 203 enable a sealed connection between the photomask 220 and the base 210, preventing external dust, moisture, or other contaminants from entering the lidar and reducing the impact of the external environment on the normal operation of the lidar. Furthermore, the good seal between the base 210 and the photomask 220 also protects the optical or electronic components inside the lidar, reducing the impact of the external environment on these components and extending their lifespan.

[0099] In some embodiments of this disclosure, the height of the first mounting portion 211 is less than or equal to a first threshold. A lower height for the first mounting portion 211 reduces the obstruction of the second mounting portion 212, facilitating the installation of internal components of the lidar, simplifying lidar assembly, and improving assembly efficiency; it also reduces the cost of the lidar. In some embodiments of this disclosure, the height of the second mounting portion 212 is less than or equal to the first threshold. A lower height for the second mounting portion 212 reduces the thickness of the base 210, thereby reducing the cost of the base 210. In some embodiments of this disclosure, the heights of both the first mounting portion 211 and the second mounting portion 212 are less than or equal to the first threshold. A lower height for both the first mounting portion 211 and the second mounting portion 212 reduces the overall thickness of the base 210, thereby reducing the cost of the base 210; and it also achieves a flattened overall design of the base 210, facilitating the installation of internal components of the lidar. For example, the first threshold may include 20mm, meaning the height of the first mounting portion 211 is less than or equal to 20mm. The above is just one example of the first threshold. The value of the first threshold may also include 25mm, 18mm, 15mm, or 12mm, etc.

[0100] The heights of the first mounting portion 211 and the second mounting portion 212 may be the same or different. In some embodiments of this disclosure, the height difference between the first mounting portion 211 and the second mounting portion 212 is less than or equal to a second threshold. The value of the second threshold may include, for example, 10 mm, 8 mm, 5 mm, 3 mm, or 2 mm. For example, the height of the second mounting portion 212 is slightly lower than the height of the first mounting portion 211, forming a groove in the base 210.

[0101] In some embodiments of this disclosure, the base 210 is made of materials such as metal, which can provide greater support strength. The cost of the LiDAR can be reduced by thinning the base 210 as a whole. The photomask 220 is made of materials such as plastic, which can reduce the overall cost.

[0102] In some embodiments of this disclosure, the sealing groove G matches the shape of the first sealing element 203. The matching shape of the sealing groove G and the first sealing element 203 allows the first sealing element 203 to be uniformly pressurized within the sealing groove G, preventing seal failure due to uneven pressure and improving seal stability. This also makes it easier to install the first sealing element 203, and facilitates disassembly and replacement. This disclosure does not limit the material of the first sealing element 203; for example, the material of the first sealing element 203 can be a corrosion-resistant flexible material, such as rubber. This disclosure also does not limit the shape of the first sealing element 203, nor does it limit the shape of the sealing groove G. For example, it can include regular or irregular shapes, such as circles, ellipses, rectangles, polygons, or racetrack shapes.

[0103] In some embodiments of this disclosure, one or both of the outer and inner walls of the first seal 203 are provided with a plurality of protruding structures. For example, Figure 13 An example diagram of a sealing structure provided in some embodiments of this disclosure is shown. Please refer to... Figure 13 The sealing structure includes a first sealing element 203. In some embodiments, a plurality of protrusions 2031 are provided on the outer wall of the first sealing element 203. Optionally, the plurality of protrusions 2031 are uniformly or non-uniformly distributed on the outer wall of the first sealing element 203. In some embodiments, a plurality of protrusions 2032 are provided on the inner wall of the first sealing element 203. Optionally, the plurality of protrusions 2032 are uniformly or non-uniformly distributed on the inner wall of the first sealing element 203. In some embodiments, combining the above two structures, a plurality of protrusions are provided on both the inner and outer walls of the first sealing element 203. The number of protrusions provided on the inner and outer walls of the first sealing element 203 may be the same or different. Providing protrusions on one or all of the outer or inner walls of the first sealing element 203 can reduce the probability of displacement or rotation of the first sealing element 203 during movement, improve the stability of the first sealing element 203, reduce wear, and help extend the service life of the first sealing element 203. The embodiments disclosed herein do not impose any restrictions on the shape or thickness of the protruding structure. For example, the protruding structure can be a regular or irregular protruding structure, and the protruding surface can be, for example, an arc-shaped protruding surface or a non-arc-shaped protruding surface.

[0104] Please continue to refer to this. Figure 10 and Figure 12 In some embodiments of this disclosure, the sidewall of the first mounting portion 211 is further provided with a first opening S1. The first opening S1 facilitates the connection between the circuitry inside the lidar and the outside via cables, enabling the lidar to communicate with the outside or to supply power to the lidar. For example, a circuit board is mounted on the second mounting portion 212, which may include, for example, the second circuit board C2 or the third circuit board in the above embodiments. The first end of the cable L is electrically connected to the circuit board (e.g., Figure 12 As shown in the dashed box A1), the second end of the cable L extends to the outside of the base 210 through the first opening S1.

[0105] Cable L extends from the first opening S1 to the lidar, electrically connecting the lidar's external devices (e.g., a data receiving device or power supply) to the lidar's internal circuitry (e.g., circuitry on the second circuit board C2 or the third circuit board). This electrical connection can be used for communication between the lidar and the data receiving device, and for sending point cloud data to the data receiving device; alternatively, this electrical connection can be used for the vehicle to power the lidar. Cable L may, for example, include a composite cable. This allows for both communication between the lidar and external devices, and for powering the lidar.

[0106] Please continue to refer to this. Figure 10 , Figure 12 and Figure 13 In some embodiments of this disclosure, the lidar may further include a second seal 204 having a through hole 2041. The first mounting portion 211 also includes a receiving structure 211-1, which protrudes from the first opening S1; and the receiving structure 211-1 has a receiving groove H and a second opening S2. The second opening S2 is disposed opposite to the first opening S1, and the second seal 204 is disposed in the receiving groove H. The first end of the cable L passes through the second opening S2, the through hole 2041, and the first opening S1. The first end of the cable L can be grounded in the second mounting portion 212 (e.g., ...). Figure 12 (As shown in the dashed box A2). The second seal 204 can seal the first opening S1 when the cable L passes through the first opening S1, thereby sealing the connection between the cable L and the lidar and further preventing external dust, moisture, or other contaminants from entering the lidar.

[0107] This disclosure does not impose any restrictions on the shape of the second seal 204. For example, the shape of the second seal 204 matches that of the receiving groove H to facilitate installation. Figure 14 and Figure 15 Example diagrams of several other sealing structures provided in some embodiments of this disclosure are shown. For example, the outline shape of the second seal 204 may include, for example, a regular or irregular shape, such as a circle, an ellipse, a square, or an irregular shape that protrudes to one side.

[0108] In some embodiments of this disclosure, the first end of the cable L can be fixed to the second mounting part 212, which can improve the stability of the internal connection of the cable L lidar and prevent the connection between the cable L and the circuit board from becoming loose.

[0109] In some embodiments of this disclosure, the cable L is interference-fitted with the through hole 2041, and the second seal 204 is interference-fitted with the receiving groove H. The interference fit between the cable L and the through hole 2041 allows the cable L and the second seal 204 to fit tightly together, improving the sealing effect between them. The interference fit between the second seal 204 and the receiving groove H allows the second seal 204 to maintain a certain pressure within the receiving groove H, ensuring it is more securely fixed within the groove. This prevents the second seal 204 from shifting due to vibration or mechanical movement, maintaining sealing stability and reducing wear.

[0110] In some embodiments of this disclosure, the receiving groove H communicates with the sealing groove G. The first seal 203 and the second seal 204 can be integrally formed. This facilitates the integral installation of the first seal 203 and the second seal 204. Integrating the first seal 203 and the second seal 204 not only reduces the manufacturing process of the seals but also reduces the complexity of the assembly process, improving assembly efficiency. Furthermore, the integral forming of the two seals allows for a tighter joint between the seals, reducing the risk of poor sealing.

[0111] In some embodiments of this disclosure, please continue to refer to Figure 2 and Figure 12 The first mounting portion 211 includes a main body 211-2 and a plurality of flanges 211-3. The main body 211-2 is disposed outside the second mounting portion 212. The plurality of flanges 211-3 extend outward from the outer side wall of the main body 211-2. The plurality of flanges 211-3 are circumferentially spaced on the main body 211-2. The main body 211-2 surrounds the second mounting portion 212. A sealing groove G is disposed on the main body 211-2. The bottom of the photomask 220 includes an abutment portion 221 and a plurality of connecting portions 222 extending outward from the abutment portion 221. The abutment portion 221 abuts against the main body 211-2 and can be pressed against the sealing groove G to press against the first sealing member 203, thereby achieving a seal between the photomask 220 and the base 210. Multiple connecting portions 222 are disposed on multiple flanges 211-3, and the connecting portions 222 and flanges 211-3 can be fixedly connected by bolts or snap-fits. After the photomask 220 is securely connected to the base 210, the abutting portion 221 presses against the first sealing member 203. This achieves a sealing effect between the photomask 220 and the base 210. Optionally, the first sealing member 203 protrudes slightly from the sealing groove G. This achieves a better sealing effect. The embodiments of this disclosure do not limit the number of flanges 211-3. The figure shows four as an example, but in practice, more or fewer flanges 211-3 may be included. For example, the number of flanges 211-3 may include two, three, four, or more. The flanges facilitate the installation of the photomask.

[0112] Please continue to refer to this. Figure 10 and Figure 12 In some embodiments of this disclosure, the receiving structure 211-1 may be located between two adjacent flanges 211-3 of a plurality of flanges 211-3. The location of the receiving structure 211-1 between two flanges facilitates the installation of the receiving structure 211-1 and facilitates the installation of the cable L.

[0113] In conjunction with the above embodiments regarding the fastener 202, the fastener 202 is disposed on the second mounting portion 212, and the flat structure of the base 210 facilitates the installation of the fastener 202.

[0114] This disclosure also provides a vehicle, including a connecting device and a lidar provided in any of the above embodiments, wherein the lidar is mounted on the vehicle via the connecting device.

[0115] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, "first lidar" can include one lidar or multiple lidars. "Multiple" includes two or more, and other quantifiers are similar.

[0116] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above, and the meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0117] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A lidar, characterized in that, include: A base configured to support the mounting of internal components of the lidar; A photomask, which is fastened to the base; The photomask allows light of the operating wavelength of the lidar to pass through; The main shaft is mounted on the base. The rotating frame is rotatably connected to the main shaft; First circuit board and second circuit board. Transmitter circuit board and receiver circuit board, or transmit and receive circuit board, wherein, The first circuit board is mounted on the rotating frame, and the second circuit board is mounted on the base. The first circuit board and the second circuit board are arranged parallel to each other. The second circuit board is provided with an interface circuit for external communication. The spindle is equipped with a wireless communication device, which is configured to enable communication between the first circuit board and the second circuit board. The transmitting circuit board and the receiving circuit board are disposed above the rotating frame; or, the transmitting and receiving circuit boards are disposed above the rotating frame. A laser is provided on the transmitting circuit board, and a detector is provided on the receiving circuit board; or, a laser and a detector are provided on the transmitting and receiving circuit boards. The laser includes a vertical cavity surface-emitting laser; The detector includes a single-photon avalanche diode.

2. The lidar according to claim 1, characterized in that, The transmitting circuit board includes a laser transmitting circuit; the receiving circuit board includes a laser receiving circuit; the transmitting circuit board is electrically connected to the first circuit board; the receiving circuit board is electrically connected to the first circuit board; or... The transmitting and receiving circuit board includes a laser transmitting circuit and a laser receiving circuit, and the transmitting and receiving circuit board is electrically connected to the first circuit board.

3. The lidar of claim 2, wherein, The first circuit board includes at least one of a processing circuit, a second control circuit, or a third control circuit; the processing circuit is configured to generate point cloud data; the second control circuit is configured to control the laser emitting circuit; and the third control circuit is configured to control the laser receiving circuit.

4. The lidar of claim 3, wherein, The second control circuit is configured to generate a first control signal and send the first control signal to the laser emitting circuit, the laser emitting circuit being configured to drive the laser to emit laser light according to the first control signal; The third control circuit is configured to generate a second control signal and send the second control signal to the laser receiving circuit, wherein the laser receiving circuit is configured to select the detector according to the second control signal, so that the detector receives the echo; wherein... The detectors selected within the same time window and the lasers emitting lasers correspond to the same sub-field of view.

5. The lidar of claim 1, wherein, The lidar also includes a support and a sensor; the support extends along the main axis; the sensor includes an interference element and a sensing element, the interference element is disposed at the end of the support, and the sensing element is disposed opposite to the interference element. When the rotating frame rotates relative to the base, the interference element interferes with the sensing of the sensing element, thereby changing the output signal of the sensing element.

6. The lidar of claim 5, wherein, The interference element includes an encoder, which includes multiple code tracks arranged circumferentially at the end of the support member; the sensing element includes a photoelectric sensing element.

7. The lidar of claim 1, wherein, The lidar also includes a wireless power supply device, which includes a transmitting coil and a receiving coil: the transmitting coil is disposed on the base, and the receiving coil is disposed on the rotating frame.

8. The lidar of claim 1, wherein, The lidar also includes an optomechanical structure, which is disposed above the rotating frame and includes an end face that is inclined relative to the rotating frame.

9. The lidar of any one of claims 1-8, wherein, The lidar also includes: A driving device is configured to drive the rotating frame to rotate. The driving device includes a first magnetic element and a second magnetic element. The first magnetic element is fixedly disposed relative to the base, and the second magnetic element is disposed on the rotating frame. Under the action of a magnetic field, the second magnetic element rotates relative to the first magnetic element. Alternatively, the second magnetic component is fixed relative to the base, and the first magnetic component is disposed on the rotating frame. Under the action of a magnetic field, the first magnetic component rotates relative to the second magnetic component.

10. The lidar of claim 9, wherein, The second magnetic element is disposed inside the first magnetic element.

11. A vehicle, characterized in that, It includes a connecting device and a lidar according to any one of claims 1-10, wherein the lidar is mounted on the vehicle via the connecting device.

12. The vehicle of claim 11, wherein, The vehicle receives point cloud data transmitted by the lidar.

13. The carrier of claim 11, wherein, The vehicle supplies power to the lidar.

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