A rotating mirror laser radar

Abstract

The application protects a rotating mirror laser radar, which comprises a receiving lens in the shape of a hollow truncated cone, a transmitting device arranged in the hollow cavity of the receiving lens, so that the transmitting device and the receiving device are coaxially arranged to form a transmitting-receiving assembly; a rotating mirror seat is arranged between the radar cover and the transmitting-receiving assembly; a light shield cover is installed on the radar base; a ring-shaped grid is arranged on the periphery of the light shield cover, and a bearing is installed on the outer side of the ring-shaped grid in a sleeved manner; a transmitting lens is installed in a limiting groove on the upper end surface of the transmitting bearing assembly, and a transmitting light source circuit board is installed in a transmitting light source circuit board installation groove; the positioning column of the receiving lens is matched with the receiving limiting groove of the radar base, so that the receiving lens is installed on the radar base; the covering of the radar cover and the dust cover optimizes the dustproof effect of the whole machine, the receiving lens is shielded from external stray light by the light shield cover, and the environmental robustness is overcome; the high-precision integrated assembly of the transmitting device and the receiving device is realized through the slot structure such as the limiting groove and the installation groove, and the stable application feasibility of the rotating mirror laser radar in complex environments is optimized.

Description

Technical Field

[0001] This application relates to the field of lidar, specifically to a rotating mirror lidar. Background Technology

[0002] LiDAR, as a sensor that uses laser beams to measure the distance and other characteristics of targets, is disclosed in Chinese patent application number "202010538279.4", entitled "A recharge docking system and laser docking method". This patent application discloses the application scheme of LiDAR in mobile robots finding charging docks for charging. LiDAR is widely used in autonomous driving, robot navigation, 3D mapping and other fields.

[0003] In the pursuit of miniaturization and high performance, rotating mirror lidar has long been constrained by problems such as low space utilization due to discrete transmitter / receiver modules, difficulty in achieving strict coaxial optical paths, and the impact of environmental stray light interference and dust intrusion on detection accuracy and reliability. While existing improvement schemes attempt localized optimizations, they often compromise on other aspects, failing to achieve systemic breakthroughs in key requirements such as compact integration, high-precision coaxial optical paths, effective stray light suppression, and dustproof sealing, thus hindering its stable application in complex environments. Utility Model Content

[0004] This application provides a rotating mirror type lidar, the specific technical solution of which includes: a receiving lens in the receiving device is a hollow frustum shape, and a transmitting device is assembled in the hollow cavity of the receiving lens, so that the transmitting device and the receiving device are coaxially assembled to form a transmitting and receiving assembly, which is mounted on a radar base; a rotating mirror base is disposed between the radar cover and the transmitting and receiving assembly, for realizing the rotation of the mirror mounted thereon; a radar cover is mounted on the radar base to cover the rotating mirror base and the transmitting and receiving assembly; a dust cover is mounted on the radar base to cover the area not covered by the radar cover on the radar base; a light shield is mounted on the radar base to block stray light from the outside of the receiving lens; a ring-shaped grid is provided around the light shield, and a bearing is mounted on the outside of the ring-shaped grid by a fitting; its The transmitting device includes: a transmitting lens, a transmitting light source chip, a transmitting light source circuit board, a light-transmitting aperture, and a transmitting support assembly; the transmitting lens is installed in a limiting groove on the upper end face of the transmitting support assembly, the transmitting light source chip is installed on the transmitting light source circuit board, and the transmitting light source circuit board is installed in a transmitting light source circuit board mounting groove on the lower end face of the transmitting support assembly; the light-transmitting aperture, circular in shape, is located at the center of the transmitting support assembly for the transmission of the emitted light beam; the receiving device includes: a filter, a receiving lens, a radar base, a receiving chip, and a receiving circuit board; the receiving lens is mounted on the radar base by the cooperation of the positioning post of the receiving lens with the receiving limiting groove of the radar base; the receiving chip is mounted on the receiving circuit board, and the bottom of the radar base has a buckle, which secures the radar base to the receiving circuit board.

[0005] Furthermore, the lens mounted on the rotating mirror base includes: an emission filter, a receiving filter, and a refraction mirror; wherein, the refraction mirror forms an angle of 45° to 90° with the horizontal plane, and is used to refract the emitted light beam emitted through the emission lens; the emission filter is mounted on the rotating mirror base and forms an angle other than 90° with the horizontal plane.

[0006] Furthermore, the filter of the receiving device is assembled on the upper surface of the transmitting carrier assembly for filtering the received optical signal; wherein the filter and the transmitting carrier assembly are integrally injection molded.

[0007] Furthermore, the rotating mirror lidar also includes: a motor, a pulley, and a belt; wherein, the motor is disposed on the bottom surface of the lidar base and is used to provide power for the rotation of the rotating mirror mount of the rotating mirror lidar; the pulley is disposed on the other side of the bottom surface of the lidar base opposite to the output shaft of the motor; and the belt is sleeved on the belt mounting area formed by the outer groove of the pulley and the outer groove of the rotating mirror mount.

[0008] Furthermore, the transmitting device also includes: a flexible circuit board for transmitting light source; the flexible circuit board for transmitting light source is connected to the circuit board for transmitting light source and passes through the positioning hole of the transmitting support assembly; a positioning block is provided on the outside of the transmitting support assembly and a positioning groove is provided inside the receiving lens; the transmitting support assembly is assembled based on the positioning block and the positioning groove inside the receiving lens, so that the flexible circuit board for transmitting light source faces the specified direction.

[0009] Furthermore, a wire clamping seat is provided at the center line position of the lens on the bottom surface of the radar base. The wire clamping seat is used to limit and fix the flexible circuit board of the transmitting light source according to a preset path. The radar base is provided with a locking groove, and the wire clamping seat is provided with a locking position that matches the locking groove. The wire clamping seat is installed on the bottom surface of the radar base through the locking position.

[0010] Furthermore, a shielding cover is provided between the wire clamp and the receiving circuit board. The shielding cover is designed with a protruding cavity structure, and the protruding cavity structure of the shielding cover shields the periphery of the receiving chip.

[0011] Furthermore, the emitting light source chip and the emitting light source circuit board are integrally assembled on the lower end face of the emitting support component. The lower end face of the emitting support component has circuit board limiting ribs evenly distributed. Based on the circuit board limiting ribs, the emitting light source circuit board is guided by the ribs and interference-fitted.

[0012] Furthermore, the transmitting support assembly also includes: a first adhesive dispensing groove and a second adhesive dispensing groove; the first adhesive dispensing groove is disposed on the upper end face of the transmitting support assembly, and there are three sets, which are staggered between the limiting grooves, for dispensing and fixing the transmitting lens installed in the limiting groove into the transmitting support assembly; the second adhesive dispensing groove is disposed on the assembly contact surface between the transmitting support assembly and the receiving lens, for fixing the transmitting support assembly into the hollow cavity of the receiving lens by dispensing adhesive; the radar base is provided with a receiving adhesive dispensing groove, and the receiving lens is fixed to the radar base by dispensing adhesive based on the receiving adhesive dispensing groove.

[0013] Furthermore, a protruding limiting ring is provided on the outer periphery of the top of the transmitting support assembly; the transmitting support assembly is assembled in the hollow cavity of the receiving lens, and the transmitting support assembly forms an interference fit with the receiving lens based on the protruding limiting ring, with the protruding limiting ring covering part of the receiving lens.

[0014] The rotating mirror lidar described in this application achieves a coaxial optical path for transmission and reception by mounting the transmitting device within the hollow cavity of the receiving lens. The rotating mirror mount expands the range of acceptable optical signals for the lidar. The cover and dust cover optimize the overall dustproof performance. A light shield blocks stray light from the outside of the receiving lens, overcoming environmental robustness limitations. High-precision integration of the transmitting and receiving devices is achieved through slot structures such as limiting slots and mounting slots, optimizing the stable application feasibility of the rotating mirror lidar in complex environments. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a lidar according to one embodiment of this application.

[0016] Figure 2 This is a bottom view of the launch carrier assembly according to one embodiment of this application.

[0017] Figure 3 This is a schematic diagram of the structure of the launching device according to one embodiment of this application.

[0018] Figure 4 This is a bottom view of the radar base according to one embodiment of this application.

[0019] Figure 5 This is a schematic diagram of the wire clamping seat according to one embodiment of this application.

[0020] Figure 6 This is a schematic diagram of the structure of the launch carrier assembly according to one embodiment of this application. Detailed Implementation

[0021] The following will be combined with the appendix Figures 1 to 6 The embodiments of this application will be described in detail below. It should be understood that the specific embodiments described below are only for explaining this application and are not intended to limit this application.

[0022] As one embodiment of this application, a rotating mirror lidar is provided. For example... Figure 1 As shown, the rotating mirror lidar includes: a transmitting device and a receiving device; a radar cover 3, a rotating mirror mount 4, a radar base 22, and a dust cover 5. Specifically,

[0023] like Figure 3 As shown, the receiving lens 21 in the receiving device is in the shape of a hollow frustum, the transmitting device is assembled in the hollow cavity of the receiving lens 21, and the radar base 22 serves as the base 22 of the receiving device. The transmitting device and the receiving device form a transmitting and receiving assembly and are then installed on the radar base 22.

[0024] The rotating mirror mount 4 is positioned between the radar cover 3 and the transmitting and receiving components to enable the rotation of the lens mounted thereon. The design of the rotating mirror mount 4 allows the lens to rotate on the rotating mirror mount 4, enabling scanning in different directions and improving the scanning range and accuracy of the lidar.

[0025] The radar cover 3 is installed on the radar base 22 to cover the rotating mirror mount 4 and the transmitting and receiving components. The design of the radar cover 3 can effectively protect the rotating mirror mount 4 and the transmitting and receiving components, prevent damage to them from the external environment, and improve the service life and reliability of the lidar.

[0026] The dust cover 5 is installed on the radar base 22 and is used to cover the area not covered by the radar cover 3 on the radar base 22. The dust cover 5 is designed to effectively prevent dust and debris from entering the lidar, keeping the lidar clean and improving its service life and reliability.

[0027] The emitting device includes: an emitting lens, an emitting light source chip, an emitting light source circuit board, a light-transmitting hole, and an emitting carrier assembly; the emitting lens is installed in a limiting groove on the upper end face of the emitting carrier assembly, the emitting light source chip is installed on the emitting light source circuit board, and the emitting light source circuit board is installed in an emitting light source circuit board mounting groove on the lower end face of the emitting carrier assembly; the light-transmitting hole is circular and located at the center of the emitting carrier assembly to allow the emitted light beam to pass through.

[0028] The receiving device includes: a filter, a receiving lens, a radar base, a receiving chip, and a receiving circuit board; the receiving lens is mounted on the radar base by the cooperation of the positioning post of the receiving lens and the receiving limiting groove of the radar base; the receiving chip is mounted on the receiving circuit board, and the bottom of the radar base is provided with a buckle, and the radar base is mounted on the receiving circuit board by the buckle.

[0029] The transmitter carrier assembly 12 of the transmitter and the receiver lens 21 of the receiver are installed using an interference fit. The interference fit makes the connection between the transmitter carrier assembly 12 and the receiver lens 21 more secure, improves the stability of the overall structure, and reduces assembly errors, thereby improving assembly accuracy.

[0030] As one embodiment of this application, such as Figure 6 and Figure 3 As shown, a protruding limiting ring 126 is provided on the outer periphery of the top of the transmitting carrier assembly 12. The transmitting carrier assembly 12 is assembled into the hollow part of the receiving lens 21, and the transmitting carrier assembly 12 forms an interference fit with the receiving lens 21 based on the protruding limiting ring 126. The protruding limiting ring 126 partially covers the receiving lens 21. The design of the protruding limiting ring 126 not only ensures a more secure interference fit between the transmitting carrier assembly 12 and the receiving lens 21, but also partially covers the receiving lens 21, preventing stray light from interfering with the receiving lens 21 and improving the quality and accuracy of the received signal.

[0031] As one embodiment of this application, such as Figure 6 As shown, the transmitting carrier assembly 12 also includes a positioning block 127; the receiving lens 21 has a positioning groove inside; the transmitting carrier assembly 12 is assembled based on the positioning block 127 and the positioning groove inside the receiving lens 21, so that the emitting light source flexible circuit board 15 faces the specified direction. The cooperative design of the positioning block 127 and the positioning groove enables the transmitting carrier assembly 12 to be accurately positioned and installed inside the receiving lens 21, while ensuring that the emitting light source flexible circuit board 15 faces the specified direction, which facilitates connection with external circuits and improves assembly efficiency and reliability.

[0032] As one embodiment of this application, such as Figure 4 As shown, the transmitter carrier assembly 12 further includes a second adhesive dispensing groove 128, used to fix the transmitter carrier assembly 12 to the receiver lens 21 by dispensing adhesive. The design of the second adhesive dispensing groove 128 enables the transmitter carrier assembly 12 to be firmly fixed to the receiver lens 21 by dispensing adhesive, further improving the stability of the overall structure.

[0033] In one embodiment of this application, the filter is provided with a light-blocking adhesive groove, which cooperates with the second adhesive groove 128 on the transmitter carrier assembly 12, so that the filter is fixed to the upper surface of the transmitter carrier assembly 12 by adhesive dispensing. The cooperative design of the light-blocking adhesive groove and the second adhesive groove 128 allows the filter to be firmly fixed to the upper surface of the transmitter carrier assembly 12 by adhesive dispensing, while also blocking light to prevent stray light from interfering with the received signal, thereby improving the quality and accuracy of the received signal.

[0034] As one embodiment of this application, the filter is disposed on the upper end face of the emission carrier component 12, and the filter and the emission carrier component 12 are integrally injection molded, which simplifies the assembly process of the filter and the emission carrier component 12 in the production process. Through the integral injection molding process, the filter can be fixedly configured on the upper end face of the emission carrier component 12, and precise assembly can be achieved without additional angle matching.

[0035] As one embodiment of this application, such as Figure 1 As shown, the mirror mounted on the rotating mirror base 4 includes: an emission filter 16, a receiving filter 26, and a refractor 31. The refractor 31 forms an angle of 45° to 90° with the horizontal plane, used to refract the emitted light beam emitted through the emission lens 11. The emission filter 16 is mounted on the rotating mirror base 4 at an angle other than 90° with the horizontal plane. The design of the refractor 31 allows the emitted light beam to be refracted at a predetermined angle, enabling scanning in different directions and improving the scanning range and accuracy of the lidar. The design of the emission filter 16 and the receiving filter 26 filters out unwanted light bands, allowing only specific wavelengths of light signals to pass through, improving the quality and accuracy of the emitted signal.

[0036] As one embodiment of this application, such as Figure 1 As shown, the rotating mirror lidar further includes: a light shield 27, an annular grille, and a bearing 28. The light shield 27 is mounted on the lidar base 22 and is used to block stray light from the outside of the receiving lens 21. An annular grille is arranged around the light shield 27, and the bearing 28 is mounted on the outside of the annular grille in a fitted manner. The design of the light shield 27 effectively prevents stray light from interfering with the receiving lens 21, improving the quality and accuracy of the received signal. The design of the annular grille and bearing 28 allows the rotating mirror base 4 to rotate stably, reducing vibration and noise, and improving the scanning accuracy and reliability of the lidar.

[0037] As one embodiment of this application, such as Figure 4 and Figure 5 As shown, a wire clamping seat 17 is provided at the center line of the lens on the bottom surface of the radar base 22. The wire clamping seat 17 is used to limit and fix the flexible circuit board 15 of the transmitting light source according to a preset path. The radar base 22 has a locking groove 222, and the wire clamping seat 17 has a locking part 171 that matches the locking groove 222. The wire clamping seat 17 is installed on the bottom surface of the radar base 22 through the locking part 171. The design of the wire clamping seat 17 enables the flexible circuit board 15 of the transmitting light source to be limited and fixed according to the preset path, preventing displacement or damage during use and improving the stability and reliability of the overall structure.

[0038] As one embodiment of this application, such as Figure 1As shown, the rotating mirror lidar also includes a motor 61, a pulley 62, and a belt 63. Specifically, the motor 61 is disposed on the bottom surface of the lidar base 22 and provides power for the rotation of the rotating mirror mount 4 of the lidar; the pulley 62 is disposed on the opposite side of the bottom surface of the lidar base 22 relative to the output shaft of the motor 61; the belt 63 is fitted onto the belt 63 mounting area formed by the outer groove of the pulley 62 and the outer groove of the rotating mirror mount 4. The design of the motor 61, pulley 62, and belt 63 enables the rotating mirror mount 4 to rotate stably under the drive of the motor 61, achieving scanning in different directions and improving the scanning range and accuracy of the lidar.

[0039] As one embodiment of this application, such as Figure 1 As shown, the rotating mirror lidar further includes a shielding cover 25 disposed between the wire clamping base 17 and the receiving circuit board. The shielding cover 25 is configured with a protruding cavity structure. The protruding cavity structure of the shielding cover 25 shields the periphery of the receiving chip 23. In this embodiment, the protruding cavity feature of the shielding cover 25 can shield and cover the periphery of the receiving chip 23 to prevent stray light in the environment from interfering with the reception.

[0040] One embodiment of this application provides a launch carrier assembly 12. For example... Figure 6 and Figure 2 As shown, the transmitting carrier assembly 12 includes: a limiting groove 121, a first adhesive dispensing groove 122, a transmitting light source chip limiting groove 131, a transmitting light source circuit board mounting groove 141, a light transmission hole 123, and a positioning hole 124. Specifically,

[0041] The limiting grooves 121 are provided in three sets, evenly distributed in an equilateral triangle, for installing the emitting lens 11 and limiting it within the emitting support assembly 12. The three sets of limiting grooves 121 are distributed at an angle of 120° on the emitting support assembly 12, ensuring that the emitting lens 11 can be stably limited inside the emitting support assembly 12 after installation, preventing the emitting lens 11 from shifting or loosening during use.

[0042] The first dispensing groove 122 has three sets, which are staggered among the three sets of limiting grooves 121. It is used to dispense and fix the emitting lens 11 installed in the limiting groove into the emitting support assembly 12. The design of the first dispensing groove 122 makes the dispensing operation between the emitting support assembly 12 and the emitting lens 11 more convenient during production. After dispensing, the emitting lens 11 can be firmly fixed in the emitting support assembly 12, improving the overall structural stability.

[0043] The emitting light source chip limiting slot 131 is rectangular in design and is used to install the emitting light source chip 13. The rectangular design of the emitting light source chip limiting slot 131 matches the shape of the emitting light source chip 13, ensuring that the emitting light source chip 13 can be accurately positioned and installed in the emitting support assembly 12.

[0044] The mounting slot 141 for the emitting light source circuit board is circular, with a diameter larger than that of the emitting light source chip limiting slot 131. It is used to mount the emitting light source circuit board 14 below the emitting light source chip 13. The circular design of the mounting slot 141 matches the shape of the emitting light source circuit board 14, ensuring that the emitting light source circuit board 14 can be securely mounted in the emitting support assembly 12 and form a good electrical connection with the emitting light source chip 13.

[0045] The light-transmitting aperture 123 is circular and located at the center of the emitting support assembly 12. Its diameter is less than or equal to the limiting groove 131 of the emitting light source chip, and it is used to allow the emitted light beam to pass through. The design of the light-transmitting aperture 123 ensures that the light beam emitted by the emitting light source chip 13 can pass smoothly through the emitting support assembly 12 and be focused and emitted by the emitting lens 11.

[0046] The positioning hole 124 is disposed on one side of the transmitting support assembly 12 for the transmitting light source flexible circuit board 15 to pass through, thereby limiting the position of the transmitting light source flexible circuit board 15. The design of the positioning hole 124 allows the transmitting light source flexible circuit board 15 to pass through the transmitting support assembly 12 along a predetermined path, while also limiting the position of the transmitting light source flexible circuit board 15 to prevent displacement or damage during use.

[0047] As one embodiment of this application, such as Figure 6 and Figure 2 As shown, the transmitting support assembly 12 further includes: a limiting groove and a first dispensing groove 122 disposed on the upper end face of the transmitting support assembly 12, and a transmitting light source chip limiting groove 131 and a transmitting light source circuit board mounting groove 141 disposed on the lower end face of the transmitting support assembly 12; wherein, the upper end face and the lower end face of the transmitting support assembly 12 are separated by a light-transmitting hole 123, with the upper end face of the transmitting support assembly 12 above the light-transmitting hole 123 and the lower end face of the transmitting support assembly 12 below the light-transmitting hole 123. The diameter of the upper end face of the transmitting support assembly 12 is larger than the diameter of the lower end face of the transmitting support assembly 12, and the transmitting support assembly 12 has a draft characteristic of being larger at the top and smaller at the bottom. This embodiment, by designing the transmitting support assembly 12 as a tapered design that is wider at the top and narrower at the bottom, reduces the area occupied by the effective light-transmitting surface, while facilitating the mold processing and product demolding of the transmitting support assembly 12, making the overall structure more compact and improving space utilization.

[0048] As one embodiment of this application, a launching device is provided. For example... Figure 3 As shown, the transmitting device includes: a transmitting lens 11, a transmitting light source chip 13, a transmitting light source circuit board 14, a transmitting light source flexible circuit board 15, and a transmitting carrier assembly 12 as described in any of the above embodiments. Specifically,

[0049] The emitting lens 11 is installed and confined within the limiting groove of the emitting support assembly 12, and is fixed to the upper end face of the emitting support assembly 12 by dispensing adhesive through the first dispensing groove 122. During the installation process of the emitting lens 11, the emitting lens 11 is first placed on the upper end face of the emitting support assembly 12 to match the three sets of limiting grooves, and then fixed by dispensing adhesive through the first dispensing groove 122 to ensure that the emitting lens 11 is firmly fixed to the upper end face of the emitting support assembly 12.

[0050] The emitting light source chip 13 is installed and confined within the emitting light source chip positioning groove 131. During the installation process, the emitting light source chip 13 is placed within the emitting light source chip positioning groove 131 on the lower end face of the emitting support assembly 12, so that it matches the shape of the positioning groove, ensuring that the emitting light source chip 13 can be accurately positioned and installed within the emitting support assembly 12.

[0051] The emitting light source circuit board 14 is installed and confined within the emitting light source circuit board mounting slot 141. During the installation of the emitting light source circuit board 14, the emitting light source circuit board 14 is placed in the emitting light source circuit board mounting slot 141 on the lower end face of the emitting support assembly 12, so that it matches the shape of the mounting slot, ensuring that the emitting light source circuit board 14 can be stably installed in the emitting support assembly 12.

[0052] The flexible circuit board 15 of the emitting light source is connected to the circuit board 14 of the emitting light source. The flexible circuit board 15 passes through the positioning hole 124 of the emitting support assembly 12 and is limited in position. During the installation process of the flexible circuit board 15, the flexible circuit board 15 of the emitting light source is first connected to the circuit board 14 of the emitting light source, and then the flexible circuit board 15 of the emitting light source is passed through the positioning hole 124 of the emitting support assembly 12, so that it can be connected to the external circuit according to a predetermined path. At the same time, the positioning hole 124 limits the flexible circuit board 15 of the emitting light source to prevent it from being displaced or damaged during use.

[0053] As one embodiment of this application, such as Figure 2 and Figure 3As shown, the emitting light source chip 13 is mounted on the emitting light source circuit board 14. The emitting light source chip 13 and the emitting light source circuit board 14 are integrally assembled on the lower end face of the emitting support assembly 12. The lower end face of the emitting support assembly 12 has evenly distributed circuit board limiting ribs 125. Based on the circuit board limiting ribs 125, the emitting light source circuit board 14 is guided by the ribs and subjected to interference fit. The design of the circuit board limiting ribs 125 enables the emitting light source circuit board 14 to be accurately positioned and installed in the emitting support assembly 12. At the same time, the interference fit ensures a more secure connection between the emitting light source circuit board 14 and the emitting support assembly 12, improving the stability of the overall structure.

[0054] In one embodiment of this application, a light-shielding layer is coated on the bottom of the emitting light source circuit board 14. The light-shielding layer may be, but is not limited to, a light-blocking paint layer or a physical light-shielding plate. The design of the light-shielding layer can effectively prevent light leakage from the bottom of the emitting light source circuit board 14 and prevent it from interfering with the receiving device, thereby improving the light utilization rate and avoiding stray light interference with other components, thus improving the overall performance.

[0055] As one embodiment of this application, a receiving device is provided. The receiving device includes: a filter, a receiving lens 21, a base 22, a receiving chip 23, and a receiving circuit board 24. Specifically,

[0056] The filter is used to filter the received optical signal to filter out unwanted light bands and allow only specific wavelengths of light signals to pass through, thereby improving the quality and accuracy of the received signal.

[0057] like Figure 3 As shown, the receiving lens 21 is in the shape of a hollow frustum, with a positioning post on it for focusing the received optical signal onto the receiving chip 23. The hollow frustum design of the receiving lens 21 not only effectively focuses the optical signal but also provides installation space for other components, improving space utilization. The positioning post design allows the receiving lens 21 to be accurately positioned and mounted on the base 22, ensuring that the optical signal is accurately focused onto the receiving chip 23.

[0058] The base 22 is provided with a receiving limiting groove and a receiving dispensing groove for installing the receiving lens 21. The positioning post of the receiving lens 21 is installed in conjunction with the receiving limiting groove of the base 22. The receiving lens 21 is fixed to the base 22 by dispensing adhesive based on the receiving dispensing groove. The design of the base 22 enables the receiving lens 21 to be stably installed on the base 22. At the same time, the dispensing fixation method ensures that the connection between the receiving lens 21 and the base 22 is more secure, thereby improving the stability of the overall structure.

[0059] The receiving chip 23 is mounted on the receiving circuit board 24 and is used to receive optical signals. The receiving chip 23 can convert the received optical signals into electrical signals for subsequent processing and analysis. The receiving circuit board 24 is assembled on the bottom of the base 22.

[0060] In one embodiment of this application, the distance between the receiving chip 23 and the receiving lens 21 is less than or equal to 100 mm, so that the light signal focused by the receiving lens 21 can be accurately projected onto the receiving chip 23, thereby improving the quality and accuracy of the received signal.

[0061] As one embodiment of this application, such as Figure 4 As shown, the bottom of the base 22 is provided with a buckle 221, and the base 22 is fastened to the receiving circuit board 24 by the buckle 221. The design of the buckle 221 makes it easy to install the base 22 on the receiving circuit board 24, while ensuring that the connection between the base 22 and the receiving circuit board 24 is firm and reliable, and facilitates maintenance and replacement.

[0062] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this application. The scope of this application is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A rotating mirror type lidar, characterized in that, The rotating mirror lidar includes: The receiving lens in the receiving device is in the shape of a hollow frustum. The transmitting device is assembled in the hollow cavity of the receiving lens, so that the transmitting device and the receiving device are coaxially assembled to form a transmitting and receiving assembly. The transmitting and receiving assembly is mounted on the radar base. A rotating mirror mount, located between the radome and the transmitter / receiver assembly, is used to enable the rotation of the mirror mounted thereon. A radar cover is used to install on the radar base to cover the rotating mirror mount and the transmitting and receiving components; Dust cover, installed on the radar base, is used to cover the area not covered by the radar cover on the radar base; A light shield, mounted on the radar base, is used to block stray light from the outside of the receiving lens; a ring-shaped grid is provided around the outer edge of the light shield, and the bearing is installed on the outside of the ring-shaped grid by a fitting. The emitting device includes: an emitting lens, an emitting light source chip, an emitting light source circuit board, a light-transmitting hole, and an emitting carrier assembly; the emitting lens is installed in a limiting groove on the upper end face of the emitting carrier assembly, the emitting light source chip is installed on the emitting light source circuit board, and the emitting light source circuit board is installed in an emitting light source circuit board mounting groove on the lower end face of the emitting carrier assembly; the light-transmitting hole is circular and located at the center of the emitting carrier assembly to allow the emitted light beam to pass through; The receiving device includes: a filter, a receiving lens, a radar base, a receiving chip, and a receiving circuit board; the receiving lens is mounted on the radar base by the cooperation of the positioning post of the receiving lens and the receiving limiting groove of the radar base; the receiving chip is mounted on the receiving circuit board, and the bottom of the radar base is provided with a buckle, and the radar base is mounted on the receiving circuit board by the buckle.

2. The rotating mirror lidar according to claim 1, characterized in that, The lens mounted on the rotating mirror mount includes: an emission filter, a receiving filter, and a refraction mirror; wherein, the refraction mirror forms an angle of 45° to 90° with the horizontal plane, and is used to refract the emitted light beam emitted through the emission lens; the emission filter is mounted on the rotating mirror mount and forms an angle other than 90° with the horizontal plane.

3. The rotating mirror lidar according to claim 2, characterized in that, The filter of the receiving device is assembled on the upper surface of the transmitting carrier assembly and is used to filter the received optical signal; wherein, the filter and the transmitting carrier assembly are integrally injection molded.

4. The rotating mirror lidar according to claim 3, characterized in that, The rotating mirror lidar also includes: a motor, pulleys, and a belt; wherein... The motor is located on the bottom surface of the radar base and is used to provide power for the rotation of the rotating mirror mount of the rotating mirror lidar; The pulley is located on the opposite side of the bottom surface of the radar base, opposite the motor output shaft. The belt is fitted onto the belt mounting area formed by the outer groove of the pulley and the outer groove of the mirror seat.

5. The rotating mirror lidar according to claim 4, characterized in that, The transmitting device also includes: a flexible circuit board for transmitting light source; the flexible circuit board for transmitting light source is connected to the circuit board for transmitting light source and passes through the positioning hole of the transmitting support assembly; a positioning block is provided on the outside of the transmitting support assembly and a positioning groove is provided inside the receiving lens; the transmitting support assembly is assembled based on the positioning block and the positioning groove inside the receiving lens, so that the flexible circuit board for transmitting light source faces the specified direction.

6. The rotating mirror lidar according to claim 5, characterized in that, A wire clamping seat is provided at the center line of the lens on the bottom surface of the radar base. The wire clamping seat is used to limit and fix the flexible circuit board of the transmitting light source according to a preset path. The radar base is provided with a locking groove, and the wire clamping seat is provided with a locking position that matches the locking groove. The wire clamping seat is installed on the bottom surface of the radar base through the locking position.

7. The rotating mirror lidar according to claim 6, characterized in that, A shielding cover is provided between the wire clamp and the receiving circuit board. The shielding cover is designed with a protruding cavity structure, which shields the periphery of the receiving chip.

8. The rotating mirror lidar according to claim 7, characterized in that, The emitting light source chip and the emitting light source circuit board are integrally assembled on the lower end face of the emitting support component. The lower end face of the emitting support component has circuit board limiting ribs evenly distributed. Based on the circuit board limiting ribs, the emitting light source circuit board is guided by the ribs and is interference-fitted.

9. The rotating mirror lidar according to claim 8, characterized in that, The transmitting support assembly also includes: a first adhesive dispensing groove and a second adhesive dispensing groove; the first adhesive dispensing groove is disposed on the upper end face of the transmitting support assembly, and there are three sets, which are staggered between the limiting grooves, for dispensing and fixing the transmitting lens installed in the limiting groove into the transmitting support assembly; the second adhesive dispensing groove is disposed on the assembly contact surface between the transmitting support assembly and the receiving lens, for fixing the transmitting support assembly into the hollow cavity of the receiving lens by dispensing adhesive; the radar base is provided with a receiving adhesive dispensing groove, and the receiving lens is fixed to the radar base by dispensing adhesive based on the receiving adhesive dispensing groove.

10. The rotating mirror lidar according to claim 9, characterized in that, The outer periphery of the top of the transmitting support assembly is provided with a protruding limiting ring; the transmitting support assembly is assembled in the hollow cavity of the receiving lens, and the transmitting support assembly and the receiving lens form an interference fit based on the protruding limiting ring, and the protruding limiting ring covers part of the receiving lens.

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