Lidar

Abstract

This disclosure provides a lidar system including a front housing, a rear housing, a transmitter, a detector, a first circuit board, a second circuit board, a transmitting lens, and a receiving lens. The front housing and rear housing are connected and define a cavity. The front housing has a lens mounting hole that leads into the cavity. The first and second circuit boards are located within the cavity. The transmitter is mounted on the first circuit board, and the detector is mounted on the second circuit board. One end of the transmitting lens is located within the cavity and is fixedly connected to the first circuit board; the other end of the transmitting lens is located outside the cavity; the transmitting lens passes through the lens mounting hole. One end of the receiving lens is located within the cavity and is fixedly connected to the second circuit board; the other end of the receiving lens is located outside the cavity; the receiving lens passes through the lens mounting hole. The embodiments of this disclosure help reduce the difficulty of lidar assembly and adjustment, decrease the size of the lidar, reduce the space occupied by the lidar, and increase the freedom of lidar installation position.

Description

Technical Field

[0001] This disclosure relates to the field of lidar technology, and in particular to a lidar. Background Technology

[0002] LiDAR boasts numerous advantages, including high precision and low failure rate, leading to its widespread application in various fields. However, existing LiDAR systems remain relatively large, limiting their installation locations. Furthermore, the numerous structural components and complex manufacturing processes hinder efforts to improve production efficiency. Utility Model Content

[0003] To address one or more deficiencies in the prior art, this disclosure provides a lidar system, including a front housing, a rear housing, a transmitter, a detector, a first circuit board, a second circuit board, a transmitting lens, and a receiving lens; wherein,

[0004] The front shell is connected to the rear shell and defines a cavity; the front shell has a lens mounting hole that leads to the cavity.

[0005] The first circuit board and the second circuit board are located within the cavity; the transmitter is disposed on the first circuit board, and the detector is disposed on the second circuit board;

[0006] One end of the transmitting lens is located inside the cavity and is fixedly connected to the first circuit board; the other end of the transmitting lens is located outside the cavity; the transmitting lens passes through the lens mounting hole;

[0007] One end of the receiving lens is located inside the cavity and is fixedly connected to the second circuit board; the other end of the receiving lens is located outside the cavity; the receiving lens passes through the lens mounting hole.

[0008] Optionally, the first circuit board is located between the second circuit board and the front housing; the first circuit board is close to the inner side of the front housing, or is fixedly connected to the front housing; the second circuit board is close to the inner side of the rear housing.

[0009] Optionally, the area of ​​the second circuit board is smaller than the area of ​​the first circuit board.

[0010] Optionally, the first circuit board includes a first clearance notch, through which the receiving lens is fixedly connected to the second circuit board.

[0011] Optionally, the end face of the transmitting lens located outside the cavity is flush with the end face of the receiving lens located outside the cavity.

[0012] Optionally, the lidar further includes a third circuit board located within the cavity, wherein both the first circuit board and the second circuit board are signal-connected to the third circuit board.

[0013] Optionally, the third circuit board includes a second clearance notch, through which the receiving lens is fixedly connected to the second circuit board; the third circuit board is located between the first circuit board and the second circuit board.

[0014] Optionally, the lens mounting hole includes a first lens mounting hole and a second lens mounting hole, which are separate from each other; the first lens mounting hole includes a first bearing surface, and the transmitting lens is fixedly connected to the front shell at the position of the first bearing surface; the second lens mounting hole includes a second bearing surface, and the receiving lens is fixedly connected to the front shell at the position of the second bearing surface.

[0015] Optionally, a first adhesive groove is provided circumferentially on the first bearing surface, and the transmitting lens is glued and fixed to the first bearing surface at the position of the first adhesive groove via a flange; a second adhesive groove is provided circumferentially on the second bearing surface, and the receiving lens is glued and fixed to the second bearing surface at the position of the second adhesive groove via a flange.

[0016] Optionally, the transmitting lens and the first circuit board are glued and fixed together, and the transmitter is circumferentially sealed.

[0017] Optionally, the receiving lens and the second circuit board are glued and fixed, and sealed circumferentially around the detector.

[0018] Optionally, the rear housing includes a heat dissipation structure that is recessed toward the interior of the cavity, and the position of the heat dissipation structure is offset from the position of the second circuit board.

[0019] Optionally, the front housing and the rear housing are sealed together; the dimensions of the lidar must meet at least one of the following dimensional conditions:

[0020] The radius of the transmitting lens is no greater than 10mm;

[0021] The radius of the receiving lens is no greater than 15mm;

[0022] The axial length of the transmitting lens or the receiving lens protruding beyond the outer side of the front housing is no more than 20mm; or

[0023] The distance between the front shell and the rear shell along the axial direction of the receiving lens ranges from 15mm to 30mm.

[0024] Compared with existing technologies, the embodiments of this disclosure provide a lidar in which a front shell and a rear shell are connected to define a cavity. A first circuit board and a second circuit board are located within the cavity, and a transmitter and a detector are respectively mounted on the first and second circuit boards. This reduces the difficulty of assembling and adjusting the transmitter and detector, and lessens the limitation on the lidar size imposed by the position of the transmitter and detector. Simultaneously, one end of the transmitting lens and one end of the receiving lens protrude beyond the outer side of the cavity, which helps to reduce the size of the lidar, decrease the space occupied by the lidar, and increase the freedom of installation location. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0026] Figure 1 An exploded schematic diagram of an exemplary lidar consistent with some embodiments of this disclosure is shown;

[0027] Figures 2A-2C A schematic diagram of an exemplary lidar structure consistent with some embodiments of this disclosure is shown;

[0028] Figure 3 A schematic diagram of an exemplary lidar with a transmitting lens and a first circuit board consistent with some embodiments of the present disclosure is shown;

[0029] Figure 4 A schematic diagram of a receiving lens and a second circuit board in an exemplary lidar consistent with some embodiments of this disclosure is shown;

[0030] Figure 5 A cross-sectional view of an exemplary lidar consistent with some embodiments of this disclosure is shown;

[0031] Figure 6 A cross-sectional view of an exemplary lidar consistent with some embodiments of this disclosure is shown;

[0032] Figure 7 A cross-sectional view of an exemplary lidar consistent with some embodiments of this disclosure is shown; Detailed Implementation

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0034] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0035] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0036] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0038] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0039] This disclosure provides a lidar system. The lidar system includes a front housing, a rear housing, a transmitter, a detector, a first circuit board, a second circuit board, a transmitting lens, and a receiving lens. The front housing and the rear housing are connected, defining a cavity between them. The front housing has a lens mounting hole that opens into the interior of the cavity. The first circuit board and the second circuit board are located inside the cavity. The transmitter is mounted on the first circuit board, and the detector is mounted on the second circuit board.

[0040] One end of the transmitting lens is located inside the cavity, and this end is fixedly connected to the first circuit board. The other end of the transmitting lens is located outside the cavity. The transmitting lens passes through a lens mounting hole. One end of the receiving lens is located inside the cavity, and this end is fixedly connected to the second circuit board. The other end of the receiving lens is located outside the cavity. The receiving lens passes through a lens mounting hole.

[0041] In this disclosure, the transmitter is mounted on a first circuit board, and the detector is mounted on a second circuit board. This increases the positional freedom of the transmitter and detector, reduces the size limitations imposed by their positions on the lidar, and allows for easy replacement of lenses without significant changes to the lidar's mechanical hardware, facilitating customized design and mass production. Furthermore, with one end of the transmitting lens and one end of the receiving lens located outside the cavity, the lidar's footprint is reduced, allowing for smaller front and rear housing dimensions and greater freedom in mounting position. The lidar provided in this disclosure significantly reduces the number of structural components, simplifying the assembly process, improving production efficiency, and lowering production costs.

[0042] Figure 1 The structure of an exemplary lidar 100 consistent with some embodiments of this disclosure is shown. See also Figure 1The lidar 100 includes a front housing 102, a rear housing 104, and a transmitter ( Figure 1 (not shown in the image), detector ( Figure 1 (Not shown in the image), first circuit board 106, second circuit board 108, transmitting lens 110 and receiving lens 112.

[0043] See Figure 1 The front housing 102 and the rear housing 104 are connected and define a cavity 114. The front housing 102 and the rear housing 104 can be connected by one or more of the following methods: adhesive, welding, riveting, or snap-fit. In some embodiments, the front housing 102 and the rear housing 104 are sealed together, which helps protect the electronic components inside the cavity 114 and reduces the impact of the external environment on the lidar 100. In some embodiments, the front and rear housings can adopt a simple rectangular structure, and the lidar housing can be formed by connecting the two structural components. This reduces the overall number of structural components in the housing and simplifies the connection method and process.

[0044] The front housing 102 has a lens mounting hole 122. The lens mounting hole 122 penetrates the front housing 102 and leads into the cavity 114. In some embodiments, the lens mounting hole 122 can be a circular opening, or it can be an elliptical opening or an opening of other shapes. The lens mounting hole 122 can be used to mount and fix the transmitting lens 110 and the receiving lens 112. For example, in some embodiments, one end of the transmitting lens 110 is located inside the cavity 114, and the other end of the transmitting lens 110 is located outside the cavity 114, with the transmitting lens 110 passing through the lens mounting hole 122. One end of the receiving lens 112 is located inside the cavity 114, and the other end of the receiving lens 112 is located outside the cavity 114, with the receiving lens 112 passing through the lens mounting hole 122. In some embodiments, the shape of the lens mounting hole 122 matches the outer peripheral shape of the transmitting lens 110 and the receiving lens 112. In some embodiments, the lens mounting hole 122 can be sealed at the engagement position with the transmitting lens 110 and the receiving lens 112 to protect the interior of the cavity 114.

[0045] The first circuit board 106 and the second circuit board 108 are disposed inside the cavity 114. In some embodiments, the first circuit board 106 or the second circuit board 108 may be fixed inside the cavity 114 by fasteners or adhesive.

[0046] In some embodiments, the transmitter is disposed on the first circuit board 106. For example, the transmitter includes one or more lasers, which are fixed to the first circuit board 106 by means of patch mounting or soldering. In some embodiments, the transmitter includes multiple lasers arranged in a one-dimensional or two-dimensional array, which can improve the resolution or detection range of the lidar. The lasers may include semiconductor lasers, such as vertical-cavity surface-emitting lasers (VCSELs), edge-emitting lasers (EELs), or other semiconductor lasers capable of generating laser light. In other embodiments, the lasers may also include fiber lasers. The wavelength of the laser emitted by the laser can be any one of 905nm, 940nm, or 1550nm. The laser may also emit laser light of other wavelengths.

[0047] In some embodiments, the detector is disposed on the second circuit board 108. For example, the detector includes one or more photoelectric sensors capable of receiving the echo generated after a light beam emitted by the transmitter is reflected by an object, and converting the echo into an electrical signal. The photoelectric sensors can be fixed to the second circuit board 108 by patch mounting or soldering. In some embodiments, the detector includes multiple photoelectric sensors, which can be arranged in a one-dimensional array or a two-dimensional array. The photoelectric sensors may include a photodetector circuit, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or similar devices.

[0048] In some embodiments, there is a one-to-one correspondence between photoelectric sensors and lasers, or one photoelectric sensor corresponds to multiple lasers, or multiple photoelectric sensors correspond to one laser. In some embodiments, the photosensitive surface of the photoelectric sensor may be parallel to the light-emitting surface of the laser.

[0049] In some embodiments, one or more electronic components, such as a processor, drive circuit, filter, analog-to-digital converter, time-to-digital converter, power management circuit, communication circuit, and data interface, may also be disposed on the first circuit board 106 or the second circuit board 108. This can be used to implement the functions of the lidar 100 or improve its performance. The various electronic components can be distributed across the first circuit board 106 or the second circuit board 108, which helps optimize circuit layout and improve heat dissipation efficiency.

[0050] In some embodiments, the transmitter, receiver, first circuit board 106, and second circuit board 108 of the lidar 100 are located within the cavity 114. In some embodiments, the first circuit board 106 may be substantially parallel to the second circuit board. For example, the first circuit board 106 and the second circuit board 108 may be located in the same plane. For example, the first circuit board 106 and the second circuit board 108 may be on the same board. For example, the first circuit board 106 and the second circuit board 108 may also be located in different planes, for example, the first circuit board 106 and the second circuit board 108 may be arranged one behind the other in the optical axis direction of the transmitting lens 110 or the receiving lens 112. This provides greater flexibility in the positioning of the first circuit board 106 and the second circuit board 108, which is beneficial for reducing the size of the cavity 114 and reducing the difficulty of assembling and adjusting the transmitter and detector.

[0051] The transmitting lens 110 and the receiving lens 112 pass through the lens mounting hole 122. The housing formed by the front shell 102 and the rear shell 104 does not need to completely cover the transmitting lens 110 and the receiving lens 112. This is beneficial to reduce the size of the front shell 102 and the rear shell 104 in the optical axis direction of the transmitting lens 110 or the receiving lens 112, reduce the overall volume of the lidar 100, reduce the space occupied by the lidar 100, reduce the space requirements for the installation position of the lidar 100, and increase the degree of freedom of the lidar 100 in different installation positions.

[0052] In some embodiments, the first circuit board 106 may be fixedly connected to the transmitting lens 110. For example, the end faces of the first circuit board 106 and the transmitting lens 110 located within the cavity 114 may be glued and fixed. In some embodiments, the first circuit board 106 may also be fixedly connected to the front housing 102. In some embodiments, the second circuit board 108 may be fixedly connected to the receiving lens 112. For example, the end faces of the second circuit board 108 and the receiving lens 112 located within the cavity 114 may be glued and fixed. In some embodiments, the second circuit board 108 may be fixedly connected to the front housing 102 or the rear housing 104.

[0053] See Figure 1 In some embodiments, the first circuit board 106 and the second circuit board 108 are not coplanar, with the first circuit board 106 located between the second circuit board 108 and the front housing 102. In some embodiments, the first circuit board 106 and the second circuit board 108 are substantially parallel. For example, the first circuit board 106 is perpendicular to the optical axis of the transmitting lens 110, the second circuit board 108 is perpendicular to the optical axis of the receiving lens 112, and the optical axes of the transmitting lens 110 and the receiving lens 112 are parallel.

[0054] In some embodiments, the first circuit board 106 and the second circuit board 108 may also be tilted relative to each other. For example, the first circuit board 106 is perpendicular to the optical axis of the transmitting lens 110, the second circuit board 108 is perpendicular to the optical axis of the receiving lens 112, and there is a certain angle between the optical axis of the transmitting lens 110 and the optical axis of the receiving lens 112. The first circuit board 106 and the second circuit board 108 are tilted relative to each other.

[0055] In some embodiments, the projection of the first circuit board 106 is located between the second circuit board 108 and the front housing 102. The plane containing the first circuit board 106 and the plane containing the second circuit board 108 do not coincide or do not completely coincide in the direction along the optical axis of the transmitting lens 110 or the optical axis of the receiving lens 112. The projection of the first circuit board 106 represents the projection of the first circuit board 106 in a direction perpendicular to the plane containing the first circuit board 106.

[0056] In some embodiments, the first circuit board 106 is located near the inner side of the front housing 102, or the first circuit board 106 is fixedly connected to the front housing 102 and adheres to the inner side of the front housing 102. The proximity or adhesion of the first circuit board 106 to the inner side of the front housing 102 facilitates heat dissipation through the front housing 102, improving the performance of the lidar 100 and extending its continuous operation time. In some embodiments, the front housing 102 may be made of a metal material with high thermal conductivity.

[0057] In some embodiments, the second circuit board 108 is located close to the inner side of the rear housing 104. For example, the distance between the second circuit board 108 and the inner side of the rear housing 104 is 0.5mm-5mm. For example, the distance between the second circuit board 108 and the inner side of the rear housing 104 is 0.5mm, 1mm, 1.2mm, 1.5mm, 1.8mm, 2mm, 3mm, 4mm, 5mm, etc. Because the second circuit board 108 is close to the inner side of the rear housing 104, the heat generated by the electronic components on the second circuit board 108 can be quickly transferred outward through the rear housing 104, which is beneficial to improving the heat dissipation efficiency of the second circuit board 108. In some embodiments, the second circuit board 108 and the rear housing 104 do not contact each other, which can reduce the risk that the rear housing 104 will affect the position of the second circuit board 108 relative to the receiving lens 112 and improve the stability of the lidar 100. In some embodiments, the second circuit board 108 is fixedly connected to one end of the receiving lens 112 located inside the cavity 114, and the second circuit board 108 is suspended relative to the rear housing 104. In some embodiments, the second circuit board 108 may be attached to one end of the receiving lens 112 located inside the cavity 114.

[0058] See Figure 1In some embodiments, the areas of the first circuit board 106 and the second circuit board 108 are not equal. The area of ​​the second circuit board 108 is smaller than the area of ​​the first circuit board 106. For example, the number of electronic components on the second circuit board 108 may be less than the number of electronic components on the first circuit board 106. For example, a processor may be disposed on the first circuit board 106. Another example is that a power management circuit may be disposed on the first circuit board 106. Yet another example is that a communication circuit may be disposed on the first circuit board 106. In some embodiments, the first circuit board 106 and the second circuit board 108 can be connected by a ribbon cable, a floating connector, a wireless connector, or the like.

[0059] In some embodiments, the second circuit board 108 and the receiving lens 112 are fixedly connected. The second circuit board 108 has a small area, which helps improve the stability of the connection between the second circuit board 108 and the receiving lens 112. For example, during assembly of the lidar 100, the position of the second circuit board 108 relative to the receiving lens 112 can be adjusted so that the detector can receive the echo generated after the beam emitted by the corresponding transmitter is reflected. After the detector is positioned, the second circuit board 108 is fixedly connected to one end of the receiving lens 112 located within the cavity 114, for example, by adhesive bonding. This helps improve the positioning accuracy of the second circuit board 108 relative to the receiving lens 112 and reduces the risk of displacement of the second circuit board 108.

[0060] In some embodiments, the second circuit board 108 may be misaligned or partially misaligned with the first circuit board 106. Misalignment or partial misalignment between the second circuit board 108 and the first circuit board 106 may indicate that the projections of the second circuit board 108 and the first circuit board 106 on the surface of the front housing 102 or the surface of the rear housing 104 do not completely overlap.

[0061] For example Figure 1 As shown, in some embodiments, the first circuit board 106 includes a first clearance notch 162. For example, the first clearance notch 162 may be as follows: Figure 1 As shown, extending to the edge of the first circuit board 106, the first circuit board 106 is generally L-shaped, and the first clearance notch 162 is generally a rounded rectangular notch. In some embodiments, the first clearance notch 162 may also be a through hole penetrating the first circuit board 106, with the structure of the first circuit board 106 surrounding the circumference of the first clearance notch 162. In some embodiments, the first clearance notch 162 may also cut off the first circuit board 106 in one direction within the plane of the first circuit board 106, for example... Figure 1 In the direction shown, the entire area above the first circuit board 106 is the first clearance notch 162, and the first circuit board 106 is generally rectangular.

[0062] In some embodiments, the axial dimension of the transmitting lens 110 is smaller than the axial dimension of the receiving lens 112. The receiving lens 112 passes through the first clearance notch 162 and is fixedly connected to the second circuit board 108. For example Figure 1 As shown, one end of the receiving lens 112 extends into the cavity 114 and passes through the first clearance notch 162. After passing through the first clearance notch 162, the receiving lens 112 is fixedly connected to the second circuit board 108, which is farther away from the front housing 102 than the first circuit board 106. This makes full use of the internal space of the lidar 100 to accommodate the receiving lens 112 and allows for a lidar 100 design with fewer circuit boards.

[0063] See Figure 1 In some embodiments, the lens mounting hole 122 includes a first lens mounting hole 122-1 and a second lens mounting hole 122-2. The first lens mounting hole 122-1 and the second lens mounting hole 122-2 are structurally separated from each other by the front housing 102 and are not connected. For example, the first lens mounting hole 122-1 and the second lens mounting hole 122-2 may have the same or different shapes and sizes. In some embodiments, the front housing 102 may include more lens mounting holes 122. For example, if a lidar includes two transmitting lenses, the front housing may include two lens mounting holes for mounting the transmitting lenses. As another example, if a lidar includes two receiving lenses, the front housing may include two lens mounting holes for mounting the receiving lenses. As yet another example, if a lidar includes a blind spot lens, the front housing may include two lens mounting holes for mounting the blind spot lens.

[0064] For example, the first lens mounting hole 122-1 includes a first bearing surface 122-3, and the transmitting lens 110 is fixedly connected to the front housing 102 at the position of the first bearing surface 122-3. In some embodiments, the transmitting lens 110 includes a structure that mates with the first bearing surface 122-3. For example... Figure 1 As shown, the outer periphery of the transmitting lens 110 has a protruding annular structure, such as a flange. In some embodiments, the structure in which the transmitting lens 110 and the first bearing surface 122-3 cooperate may include a snap-fit, a washer, a pin, or other similar structure.

[0065] For example, the second lens mounting hole 122-2 includes a second bearing surface 122-4, and the receiving lens 112 is fixedly connected to the front housing 102 at the position of the second bearing surface 122-4. In some embodiments, the receiving lens 112 includes a structure that mates with the second bearing surface 122-4. For example... Figure 1 As shown, the receiving lens 112 has a protruding annular structure, such as a flange, on its outer periphery. In some embodiments, the structure in which the receiving lens 112 and the second bearing surface 122-4 cooperate may include a snap-fit, a washer, a pin, or other similar structure.

[0066] In some embodiments, the lens mounting hole may include a through hole, where both the transmitting and receiving lenses are mounted. In some embodiments, the transmitting and receiving lenses may be integrated as a single unit, for example, their outer sidewalls are fixedly connected. In some embodiments, the transmitting and receiving lenses may close the lens mounting hole to seal the interior of the cavity. This can reduce the impact of the external environment on the electronic components inside the cavity, improving the stability and lifespan of the lidar.

[0067] Figures 2A-2C Schematic diagrams of an exemplary lidar 200 consistent with some embodiments of this application are shown at different viewing angles. Figure 2A This is a view showing the LiDAR 200 from a 45° angle at the front. Figure 2B This is a view from the rear of the LiDAR 200 at a 45° angle; Figure 2C This is a front view of the lidar 200. Figures 2A-2C The lidar 200 shown is structurally similar to or similar to the lidar 100 in the foregoing embodiments.

[0068] The lidar 200 includes a front housing 202, a rear housing 204, and a transmitter ( Figures 2A-2C (not shown in the image), detector ( Figures 2A-2C (not shown in the image), first circuit board ( Figures 2A-2C (not shown in the image), second circuit board ( Figures 2A-2C (Not shown in the image) transmitting lens 210 and receiving lens 212. The front shell 202 has the same or similar structure as the front shell 102 in the aforementioned embodiment; the rear shell 204 has the same or similar structure as the rear shell 104 in the aforementioned embodiment; the transmitting lens 210 has the same or similar structure as the transmitting lens 110 in the aforementioned embodiment; and the receiving lens 212 has the same or similar structure as the receiving lens 112 in the aforementioned embodiment.

[0069] See Figure 2A and Figure 2B In some embodiments, the end face of the transmitting lens 210 located outside the cavity and the end face of the receiving lens 212 located outside the cavity are substantially flush. For example, the transmitting lens 210 and the receiving lens 212 protrude from the surface of the front housing 202, and the protrusion heights of the transmitting lens 210 and the receiving lens 212 are approximately equal. This helps to reduce the space occupied by the lidar 200, optimize the appearance of the lidar 200, and reduce the installation difficulty of the lidar 200.

[0070] See Figure 2CIn some embodiments, the front housing 202 includes a lens mounting hole 222, which includes a first lens mounting hole 222-1 and a second lens mounting hole 222-2. The first lens mounting hole 222-1 includes a first bearing surface 222-3, and the transmitting lens 210 is fixedly connected to the front housing 202 at the position of the first bearing surface 222-3. The second lens mounting hole 222-2 includes a second bearing surface 222-4, and the receiving lens 212 is fixedly connected to the front housing 202 at the position of the second bearing surface 222-4. The lens mounting hole 222 has the same or similar structure as the lens mounting hole 122 in the aforementioned embodiment; the first lens mounting hole 222-1 has the same or similar structure as the first lens mounting hole 122-1 in the aforementioned embodiment; the second lens mounting hole 222-2 has the same or similar structure as the second lens mounting hole 122-2 in the aforementioned embodiment; the first bearing surface 222-3 has the same or similar structure as the first bearing surface 122-3 in the aforementioned embodiment; and the second bearing surface 222-4 has the same or similar structure as the second bearing surface 122-4 in the aforementioned embodiment.

[0071] See Figure 2C In some embodiments, a first adhesive groove 222-5 is provided circumferentially on the first bearing surface 222-3. The transmitting lens 210 is bonded and fixed to the first bearing surface 222-3 at the location of the first adhesive groove 222-5 via a flange. For example, the first adhesive groove 222-5 surrounds the entire circumference of the first bearing surface 222-3, which helps to limit the flow range of the adhesive and reduce the risk of adhesive contamination of the front housing 202. In some embodiments, a flange is provided circumferentially on the transmitting lens 210, the size of which is equal to or slightly smaller than the area of ​​the portion of the first bearing surface 222-3 surrounded by the first adhesive groove 222-5. The flange can be embedded in the first adhesive groove 222-5, and the flange and the plane of the first bearing surface 222-3 are bonded and fixed together. The flange can increase the contact area between the transmitting lens 210 and the first bearing surface 222-3, and improve the bonding strength between the transmitting lens 210 and the front housing 202.

[0072] See Figure 2CA second adhesive groove 222-6 is circumferentially provided on the second bearing surface 222-4. The receiving lens 212 is bonded and fixed to the second bearing surface 222-4 at the location of the second adhesive groove 222-6 via a flange. For example, the second adhesive groove 222-6 surrounds the entire circumference of the second bearing surface 222-4, which helps to limit the flow range of the adhesive and reduce the risk of adhesive contamination of the front housing 202. In some embodiments, a flange is circumferentially provided on the receiving lens 212, the size of which is equal to or slightly smaller than the area of ​​the portion of the second bearing surface 222-4 surrounded by the second adhesive groove 222-6. The flange can be embedded in the second adhesive groove 222-6, and the flange and the plane of the second bearing surface 222-4 are bonded and fixed together. The flange can increase the contact area between the receiving lens 212 and the second bearing surface 222-4, thereby improving the bonding strength between the receiving lens 212 and the front housing 202.

[0073] In some embodiments, the first adhesive groove 222-5 and the second adhesive groove 222-6 can be interconnected. During adhesive application, the transmitting lens 210 and the receiving lens 212 can be fixed simultaneously, which helps to simplify the structure of the lidar 200 and improve the assembly and adjustment efficiency of the lidar 200.

[0074] In some embodiments, the front housing 202 can be adapted to different types of transmitting lenses 210. Different types of transmitting lenses 210 may have different detection ranges or different field of view angles. The circumferential dimensions of different types of transmitting lenses 210 may be equal. The front housing 202 can be adapted to different types of receiving lenses 212. Different types of receiving lenses 212 may have different detection ranges or different field of view angles. The circumferential dimensions of different types of receiving lenses 212 may be equal.

[0075] In some embodiments, the front housing 202 can be a universal component, with a fixed size for the lens mounting hole 222, allowing different models of transmitting lenses 210 or receiving lenses 212 to be installed within it. In some embodiments, the flange's position along the axial direction of the transmitting lens can differ for different models. For example, the axial dimension protruding from the front housing can differ for different models of transmitting lenses. For example, the axial dimension within the cavity can be the same for different models of transmitting lenses. In some embodiments, the flange's position along the axial direction of the receiving lens can differ for different models. For example, the axial dimension protruding from the front housing can differ for different models of transmitting lenses. For example, the axial dimension within the cavity can be the same for different models of transmitting lenses. This facilitates standardized design of the lidar housing structure, promotes large-scale production and customized design of lidar components, and reduces the processing cost of lidar.

[0076] In some embodiments, the first circuit board can be fixedly connected to the front housing 202, the position of the transmitting lens 210 relative to the front housing 202 can be preset, and a flange is provided at a preset position in the axial length direction of the transmitting lens 210 so that when the flange of the transmitting lens 210 in the circumferential direction is engaged with the first bearing surface 222-4, it matches the position of the transmitter on the first circuit board.

[0077] The position of the receiving lens 212 relative to the front housing 202 can be determined using a flange disposed along the axial direction of the receiving lens 212. In some embodiments, the receiving lens 212 can be adjusted according to the position of the transmitting lens 210 relative to the front housing 202, for example, the end face of the transmitting lens 210 located outside the cavity is flush with the end face of the receiving lens 212 located outside the cavity. Alternatively, in some embodiments, the position of the receiving lens 212 relative to the front housing 202 can be adjusted according to the position of the second circuit board.

[0078] In some embodiments, the transmitting lens and the receiving lens are integrated into one unit, for example, the housings of the transmitting and receiving lenses are fixedly connected and jointly mounted at the lens mounting hole position, for example, by means of flange adhesive bonding. The position of the transmitting and receiving lenses relative to the front housing can also be controlled by the position of the flange, which helps to improve the installation accuracy of the transmitting and receiving lenses.

[0079] See Figure 2B In some embodiments, the rear housing 204 further includes a heat dissipation structure 242. The heat dissipation structure 242 can be used to improve the heat dissipation efficiency of electronic components inside the cavity, improve the performance of the lidar 200, and support the lidar 200 to operate for a long time.

[0080] For example Figure 2B As shown, in some embodiments, the heat dissipation structure 242 includes toothed heat sinks recessed towards the interior of the cavity. This can increase the heat dissipation area and improve the heat dissipation efficiency of the lidar 200. In some embodiments, the portion of the heat dissipation structure 242 recessed towards the interior of the cavity is offset from the position of the second circuit board. This can reduce the risk of structural interference, avoid the second circuit board, reserve space for the axial length of the receiving lens 212 and the position of the second circuit board, and help to reduce the size of the lidar 200.

[0081] In some embodiments, the heat dissipation structure 242 may further include a thermally conductive sheet or thermally conductive grease, located inside the cavity and abutting against the rear housing 204. This can improve the heat dissipation efficiency of the lidar 200. In some embodiments, the thermally conductive sheet or thermally conductive grease may be filled between the second circuit board and the rear housing 204. This is beneficial for improving the heat dissipation efficiency of the second circuit board.

[0082] Figure 3A schematic diagram showing the engagement of an exemplary transmitting lens 310 and a first circuit board 306 consistent with some embodiments of this disclosure is shown. Figure 3 In this embodiment, the front shell 302 has the same or similar structure as the front shell 102 or front shell 202 in the previous embodiment; the first circuit board 306 has the same or similar structure as the first circuit board 106 in the previous embodiment; and the transmitting lens 310 has the same or similar structure as the transmitting lens 110 or transmitting lens 210 in the previous embodiment.

[0083] See Figure 3 In some embodiments, the transmitting lens 310 and the first circuit board 306 are bonded together. For example, one end of the transmitting lens 310 located within the cavity is close to the first circuit board 306, and at the lower edge of the transmitting lens 310 ( Figure 3 The circumferential direction of the first circuit board 306 (shown below) is filled with adhesive, such as epoxy resin, UV-curable adhesive, etc., to bond and fix the first circuit board 306 and the transmitting lens 310.

[0084] A transmitter is provided on the first circuit board 306. Figure 3 (Not shown in the diagram) Adhesive surrounding the transmitter 310 and the first circuit board 306 seals the transmitter. The transmitter is located within the cavity formed between the transmitter lens 310 and the first circuit board 306, which protects the transmitter and reduces the impact of the external environment. In some embodiments, the cavity between the transmitter lens 310 and the first circuit board 306 can be filled with an inert gas to protect the transmitter, slow down its oxidation, and improve the lifespan of the lidar. Sealing the transmitter with the transmitter lens 310 eliminates the need for separate packaging, reducing packaging steps, lowering costs, and increasing production speed.

[0085] Figure 4 A schematic diagram illustrating the engagement of an exemplary receiving lens 412 and a second circuit board 408, consistent with some embodiments of this disclosure, is shown. Figure 4 In this embodiment, the front shell 402 has the same or similar structure as the front shell 102, front shell 202 or front shell 302 in the previous embodiment; the second circuit board 408 has the same or similar structure as the second circuit board 108 in the previous embodiment; and the receiving lens 412 has the same or similar structure as the receiving lens 112 or receiving lens 212 in the previous embodiment.

[0086] See Figure 4 In some embodiments, the receiving lens 412 and the second circuit board 408 are bonded and fixed. For example, the second circuit board 408 is bonded to one end of the receiving lens 412 located within the cavity. In some embodiments, the lower edge of the end of the receiving lens 412 located within the cavity ( Figure 4Apply adhesive, such as epoxy resin or UV-curable adhesive, to the area shown below. After adjusting the position of the second circuit board 408 relative to the receiving lens 412, keep the position of the second circuit board 408 relative to the receiving lens 412 fixed and wait for the adhesive to cure. Then, attach the second circuit board 408 to the receiving lens 412.

[0087] A detector is installed on the second circuit board 408. Figure 3 (Not shown in the image) Adhesive surrounding the receiver circumferentially encloses the receiver between the receiving lens 412 and the second circuit board 408, sealing the detector within the cavity between the receiving lens 412 and the second circuit board 408. The receiving lens 412 protects the detector, reducing the impact of the external environment. In some embodiments, the cavity between the receiving lens 412 and the second circuit board 408 can be filled with an inert gas to protect the detector, slow down oxidation, and extend the lifespan of the lidar. Sealing the detector with the receiving lens 412 eliminates the need for separate packaging, reducing packaging steps, lowering costs, and increasing production speed.

[0088] See Figure 1 In some embodiments, the lidar 100 also includes a connector 118. The rear housing 104 includes a connection through-hole (…). Figure 1 (Not shown in the diagram), the connecting through-hole leads to the interior of the cavity. For example, the connecting through-hole can be located on the side of the rear housing 104 away from the front housing 102, or it can be located on the side of the rear housing 104. The connector 118 extends from the location of the connecting through-hole into the cavity 114, and the connector 118 is signal-connected to the first circuit board 106 or the second circuit board 108. The end of the connector 118 located outside the cavity 114 may include an interface through which optical signal data or electrical signal data determined by the lidar 100 can be acquired, and the operating state of the lidar 100 can also be controlled.

[0089] In some embodiments, connector 118 can be indirectly connected to the first circuit board 106 or the second circuit board 108. For example, one end of connector 118 extending into cavity 114 is directly connected to the first circuit board 106, the second circuit board 108 is directly connected to the first circuit board 106, and connector 118 is indirectly connected to the second circuit board 108.

[0090] In some embodiments, the first circuit board 106 is located near the front housing 102, and the second circuit board 108 is located near the rear housing 104. A connector 118 extends from a connection through-hole on the rear housing 104 into the interior of the cavity 114 and is directly connected to the first circuit board 106, for example, by plugging or soldering the connector 118 onto the first circuit board 106. The gap between the first circuit board 106 and the second circuit board 108 can be fully utilized to accommodate the connector 118. This facilitates a reduction in the size of the lidar 100. The structure of the connector 118 located inside the cavity 114 avoids the second circuit board 108, reducing structural interference, and facilitates the extension of the second circuit board 108 and the receiving lens 112 into the cavity 114, reducing the axial size of the lidar 100 in the receiving lens 112.

[0091] In some embodiments, the connector 118 is fixedly connected to the rear housing 104. For example, the connector 118 and the rear housing 104 are fixedly connected by bolts or other fasteners, or the connector 118 and the rear housing 104 are glued together. In some embodiments, the connector 118 and the rear housing 104 are sealed at the connection through-hole. For example, a gasket is provided at the connection through-hole or adhesive is applied to seal the mating position of the connector 118 and the connection through-hole. This facilitates the protection of electronic components inside the cavity 114.

[0092] In some embodiments, the rear housing 104 may be recessed toward the interior of the cavity 114 at the location of the connecting through hole. The location of the connecting through hole may avoid the location of the second circuit board 108. This allows the structure of the lidar 100 to be compatible with the axial dimension of the receiving lens 112 and the length dimension of the connector 118, reducing the size of the lidar 100 and lowering the risk of structural interference between the second circuit board 108 and the connector 118.

[0093] Figure 5 A cross-sectional view of an exemplary lidar 500 consistent with some embodiments of this disclosure is shown. See also Figure 5 The lidar 500 includes a front housing 502, a rear housing 504, and a transmitter ( Figure 5 (not shown in the image), detector ( Figure 5 (Not shown in the image), first circuit board 505, second circuit board 508, transmitting lens 510 and receiving lens 512.

[0094] Wherein, the front shell 502 has the same or similar structure as the front shell 102, front shell 202, front shell 302 or front shell 402 in the aforementioned embodiments; the rear shell 504 has the same or similar structure as the rear shell 104, rear shell 204, rear shell 304 or rear shell 404 in the aforementioned embodiments; the first circuit board 506 has the same or similar structure as the first circuit board 106 or first circuit board 306 in the aforementioned embodiments; the second circuit board 508 has the same or similar structure as the second circuit board 108 or second circuit board 408 in the aforementioned embodiments; the transmitting lens 510 has the same or similar structure as the transmitting lens 110, transmitting lens 210 or transmitting lens 310 in the aforementioned embodiments; and the receiving lens 512 has the same or similar structure as the receiving lens 112, receiving lens 212 or receiving lens 412 in the aforementioned embodiments.

[0095] See Figure 5 In some embodiments, the lidar 500 includes a first circuit board 506 and a second circuit board 508. The first circuit board 506 and the second circuit board 508 are spaced apart axially from the transmitting lens 510 or the receiving lens 512, with the first circuit board 506 avoiding the receiving lens 512, so that the receiving lens 512 and the second circuit board 508 are fixedly connected.

[0096] In some embodiments, the lidar 500 further includes a connector ( Figure 5 (Not shown in the image). The rear housing 504 includes a connecting through hole ( Figure 5 (Not shown in the diagram), a connecting through-hole leads into the interior of the cavity. A connector extends from the location of the connecting through-hole into the cavity 514, and the connector is signal-connected to the first circuit board 506 and the second circuit board 508. In some embodiments, the connector is directly connected to the first circuit board 506, for example, by plugging or soldering. The second circuit board 508 may bypass the connector, and the second circuit board 508 is connected to the first circuit board 506, indirectly connected to the connector through the first circuit board 506. The second circuit board 508 may include a notch, such as a through-hole, through which the connector passes and is directly connected to the first circuit board 506.

[0097] In some embodiments, a connection through-hole may be provided on the side of the rear housing 504. A connector may extend from the side of the rear housing 504 into the cavity 514, with one end of the connector located within the cavity 514 between the first circuit board 506 and the second circuit board 508. The connector may be directly connected to the first circuit board 506.

[0098] Figure 6 A cross-sectional view of an exemplary lidar 600 consistent with some embodiments of the present disclosure is shown. See also Figure 6 The lidar 600 includes a front housing 602, a rear housing 604, and a transmitter ( Figure 6(not shown in the image), detector ( Figure 6 (Not shown in the image), first circuit board 606, second circuit board 608, transmitting lens 610 and receiving lens 612.

[0099] The front shell 602 has the same or similar structure as the front shell 102, front shell 202, front shell 302, front shell 402 or front shell 502 in the aforementioned embodiments; the rear shell 604 has the same or similar structure as the rear shell 104, rear shell 204, rear shell 304, rear shell 404 or rear shell 504 in the aforementioned embodiments; the first circuit board 606 has the same or similar structure as the first circuit board 106, first circuit board 306 or first circuit board 506 in the aforementioned embodiments; the second circuit board 608 has the same or similar structure as the second circuit board 108, second circuit board 408 or second circuit board 508 in the aforementioned embodiments; the transmitting lens 610 has the same or similar structure as the transmitting lens 110, transmitting lens 210, transmitting lens 310 or transmitting lens 510 in the aforementioned embodiments; and the receiving lens 612 has the same or similar structure as the receiving lens 112, receiving lens 212, receiving lens 412 or receiving lens 512 in the aforementioned embodiments.

[0100] See Figure 6 The front shell 602 and the rear shell 604 are connected and define a cavity 614, which has the same or similar structure as the cavity 114 or cavity 514 in the previous embodiments. The first circuit board 606 and the second circuit board 608 are located in the cavity 614.

[0101] For example, the first circuit board 606 is positioned close to or attached to the front housing 602. The second circuit board 608 is positioned close to the rear housing 604. For example, the first circuit board 606 may be positioned parallel to the second circuit board 608. See also Figure 6 In some embodiments, the lidar 600 further includes a third circuit board 616. The third circuit board 616 is located inside the cavity 614, and the first circuit board 606 and / or the second circuit board 608 can be signal-connected to the third circuit board 616. In some embodiments, the first circuit board 606 and / or the second circuit board 608 can be signal-connected to the third circuit board 616 via ribbon cables, floating connectors, wireless connectors, etc. In some embodiments, the first circuit board 606 can be connected to the second circuit board 608, the second circuit board 608 can be connected to the third circuit board 616, or the first circuit board 606 and the third circuit board 616 can be indirectly connected. Alternatively, in some embodiments, the first circuit board 606 can be connected to the third circuit board 616, the second circuit board 608 can be connected to the first circuit board 606, or the second circuit board 608 and the third circuit board 616 can be indirectly connected.

[0102] In some embodiments, one or more electronic components such as a processor, a drive circuit, a filter, an analog-to-digital converter, a time-to-digital converter, a power management circuit, and a data interface may be provided on the third circuit board 616, which can be used to realize the function of the lidar 600 or improve the performance of the lidar 600.

[0103] See Figure 6 In some embodiments, the third circuit board 616 may be arranged parallel to the first circuit board 606 or the second circuit board 608, and disposed between the first circuit board 606 and the second circuit board 608. The third circuit board 616 may be spaced apart from the first circuit board 606 and the second circuit board 608. This can reduce the risk of structural interference or electromagnetic interference. In some embodiments, the third circuit board 616 may avoid the receiving lens 612, so that one end of the receiving lens 612 located in the cavity 614 can be fixedly connected to the second circuit board 608. The third circuit board 616 avoiding the receiving lens 612 is beneficial for the receiving lens 612 to make full use of the internal space of the lidar 600, thereby reducing the size of the lidar 600.

[0104] See Figure 6 In some embodiments, the lidar 600 includes a third circuit board 616. The third circuit board 616 includes a second clearance notch (not shown). The third circuit board 616 is located between the first circuit board 606 and the second circuit board 608. A receiving lens 612 passes through the second clearance notch and is fixedly connected to the second circuit board 608. The second clearance notch may extend to the edge of the third circuit board 616, which is generally L-shaped, and the second clearance notch is generally a rounded rectangular notch.

[0105] In some embodiments, the second clearance notch may also be a through hole penetrating the third circuit board 616, the structure of which surrounds the second clearance notch circumferentially. In some embodiments, the second clearance notch may also cut off the third circuit board 616 in one direction within the plane of the third circuit board 616, for example, on the side of the third circuit board 616 closer to the receiving lens 612. Figure 6 The entire area of ​​the right side of the circuit board is the second clearance gap, and the third circuit board 616 is roughly rectangular.

[0106] In some embodiments, the shape of the second clearance notch may be similar to... Figure 1 The first clearance notch 164 in the aforementioned embodiments shown has a roughly the same shape, and the first circuit board 606 and the third circuit board 616 have roughly the same shape. For example, the projections of the first circuit board 606 and the third circuit board 616 on the plane where the front shell 602 is located coincide.

[0107] In some embodiments, the lidar 600 further includes a connector ( Figure 6 (Not shown in the diagram). One end of the connector extends from the connection through-hole of the rear housing 604 into the interior of the cavity 614. The end of the connector located inside the cavity 614 can be directly connected to the third circuit board 616, for example, by plugging or soldering. The end of the connector located outside the cavity 614 may include an interface, through which optical signal data or electrical signal data acquired by the lidar 600 can be obtained, and the operating status of the lidar 600 can also be controlled.

[0108] Figure 7 A cross-sectional view of an exemplary lidar 700 consistent with some embodiments of this disclosure is shown. See also Figure 7 The lidar 700 includes a front housing 702, a rear housing 704, and a transmitter ( Figure 7 (not shown in the image), detector ( Figure 7 (Not shown in the image), first circuit board 706, second circuit board 708, transmitting lens 710 and receiving lens 712.

[0109] Wherein, the front shell 702 has the same or similar structure as the front shell 102, front shell 202, front shell 302, front shell 402, front shell 502 or front shell 602 in the aforementioned embodiments; the rear shell 704 has the same or similar structure as the rear shell 104, rear shell 204, rear shell 304, rear shell 404, rear shell 504 or rear shell 604 in the aforementioned embodiments; the first circuit board 706 has the same or similar structure as the first circuit board 106, first circuit board 306, first circuit board 506 or first circuit board 606 in the aforementioned embodiments; the second circuit The structure of board 708 is the same as or similar to that of the second circuit board 108, second circuit board 408, second circuit board 508 or second circuit board 608 in the foregoing embodiments; the structure of transmitting lens 710 is the same as or similar to that of transmitting lens 110, transmitting lens 210, transmitting lens 310, transmitting lens 510 or transmitting lens 610 in the foregoing embodiments; the structure of receiving lens 712 is the same as or similar to that of receiving lens 112, receiving lens 212, receiving lens 412, receiving lens 512 or receiving lens 612 in the foregoing embodiments.

[0110] See Figure 7 In some embodiments, the first circuit board 706 and the second circuit board 708 are located inside the cavity 714, and the first circuit board 706 and the second circuit board 708 are located in the same plane. In some embodiments, the first circuit board 706 and the second circuit board 708 may be fixedly connected, or the first circuit board 706 and the second circuit board 708 may belong to different areas on the same circuit board.

[0111] In some embodiments, the transmitting lens 710 may be fixedly connected to the first circuit board 706. Alternatively, in some embodiments, the transmitting lens 710 is not directly connected to the first circuit board 706, and the first circuit board 706 may be fixed to the front housing 702 or the rear housing 704, with the transmitting lens 710 and the transmitter on the first circuit board 706 aligned.

[0112] In some embodiments, the receiving lens 712 may be fixedly connected to the second circuit board 708. Alternatively, in some embodiments, the receiving lens 712 is not directly connected to the second circuit board 708, and the second circuit board 708 may be fixedly mounted on the front cover 702 or the rear cover 704, with the receiving lens 712 and the detector on the second circuit board 708 aligned.

[0113] In some embodiments, the size of the lidar must meet at least one of the following size conditions:

[0114] The radius of the launching lens is no greater than 10mm;

[0115] The radius of the receiving lens is no greater than 15mm;

[0116] The axial length of the transmitting or receiving lens protruding from the outside of the front housing is no more than 20mm;

[0117] The distance between the front and rear housings along the axis of the receiving lens ranges from 15mm to 30mm.

[0118] In some embodiments, the shape of the transmitting lens in a cross-section perpendicular to the axial direction can be circular. The radius of the circle can be 2mm, 4mm, 5mm, 7mm, 8mm, 10mm, etc. In some embodiments, the shape of the transmitting lens in a cross-section perpendicular to the axial direction can be other shapes, such as rectangular or elliptical, and the size of the transmitting lens can satisfy the requirement that the maximum distance between the center and the edge of the shape in the cross-section perpendicular to the axial direction is no greater than 10mm.

[0119] In some embodiments, the receiving lens may be circular in a cross-section perpendicular to the axial direction. The radius of the circle may be 3mm, 5mm, 6mm, 8mm, 10mm, 12mm, 14mm, 15mm, etc. In some embodiments, the receiving lens may be other shapes in a cross-section perpendicular to the axial direction, such as rectangular or elliptical, and the size of the receiving lens may satisfy the condition that the maximum distance between the center and the edge of the shape in the cross-section perpendicular to the axial direction is no greater than 15mm.

[0120] In some embodiments, the axial length of the transmitting lens or receiving lens protruding beyond the outer side of the front housing can be 2mm, 5mm, 7mm, 9mm, 12mm, 14mm, 15mm, 18mm, 20mm, etc. In some embodiments, the end face of the transmitting lens outside the cavity and the end face of the receiving lens outside the cavity are not flush, and the axial length of the transmitting lens protruding beyond the outer side of the front housing can be no greater than 20mm, and the axial length of the receiving lens protruding beyond the outer side of the front housing can be no greater than 20mm.

[0121] In some embodiments, the distance between the front and rear housings along the axial direction of the receiving lens can be 15mm, 17mm, 20mm, 22mm, 25mm, 28mm, 30mm, etc. In some embodiments, the cavity is generally cuboid in shape, with uniform dimensions along the axial direction of the receiving lens. In some embodiments, the cavity is irregularly shaped; for example, the location of the heat dissipation structure or connecting through-hole in the rear housing is recessed towards the interior of the cavity, and the maximum distance between the front and rear housings along the axial direction of the receiving lens is no greater than 30mm.

[0122] In some embodiments, the structural dimensions of the lidar can meet multiple or all of the above size ranges, or any one of them.

[0123] Finally, it should be noted that the above descriptions are merely embodiments of this disclosure and are not intended to limit this disclosure. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A lidar, characterized in that, It includes a front shell, a rear shell, a transmitter, a detector, a first circuit board, a second circuit board, a transmitting lens, and a receiving lens; among which, The front shell is connected to the rear shell and defines a cavity; the front shell has a lens mounting hole that leads to the cavity. The first circuit board and the second circuit board are located within the cavity; the transmitter is disposed on the first circuit board, and the detector is disposed on the second circuit board; One end of the transmitting lens is located inside the cavity and is fixedly connected to the first circuit board; the other end of the transmitting lens is located outside the cavity; the transmitting lens passes through the lens mounting hole; One end of the receiving lens is located inside the cavity and is fixedly connected to the second circuit board; the other end of the receiving lens is located outside the cavity; the receiving lens passes through the lens mounting hole.

2. The lidar according to claim 1, characterized in that, The first circuit board is located between the second circuit board and the front shell; the first circuit board is close to the inner side of the front shell, or is fixedly connected to the front shell; the second circuit board is close to the inner side of the rear shell.

3. The lidar according to claim 2, characterized in that, The area of ​​the second circuit board is smaller than that of the first circuit board.

4. The lidar according to claim 2, characterized in that, The first circuit board includes a first clearance notch, and the receiving lens passes through the first clearance notch and is fixedly connected to the second circuit board.

5. The lidar according to claim 1, characterized in that, The end face of the transmitting lens located outside the cavity is flush with the end face of the receiving lens located outside the cavity.

6. The lidar according to claim 1, characterized in that, The lidar also includes a third circuit board, which is located within the cavity. Both the first circuit board and the second circuit board are signal-connected to the third circuit board.

7. The lidar according to claim 6, characterized in that, The third circuit board includes a second clearance notch, through which the receiving lens passes and is fixedly connected to the second circuit board; the third circuit board is located between the first circuit board and the second circuit board.

8. The lidar according to any one of claims 1-7, characterized in that, The lens mounting holes include a first lens mounting hole and a second lens mounting hole, which are separate from each other; the first lens mounting hole includes a first bearing surface, and the transmitting lens is fixedly connected to the front shell at the position of the first bearing surface; the second lens mounting hole includes a second bearing surface, and the receiving lens is fixedly connected to the front shell at the position of the second bearing surface.

9. The lidar according to claim 8, characterized in that, The first bearing surface is provided with a first adhesive groove in its circumference, and the transmitting lens is glued and fixed to the first bearing surface at the position of the first adhesive groove via a flange; the second bearing surface is provided with a second adhesive groove in its circumference, and the receiving lens is glued and fixed to the second bearing surface at the position of the second adhesive groove via a flange.

10. The lidar according to any one of claims 1-7, characterized in that, The transmitting lens and the first circuit board are glued and fixed together, and the transmitter is circumferentially sealed.

11. The lidar according to any one of claims 1-7, characterized in that, The receiving lens and the second circuit board are glued and fixed, and sealed circumferentially around the detector.

12. The lidar according to any one of claims 2-7, characterized in that, The rear shell includes a heat dissipation structure that is recessed toward the interior of the cavity, and the position of the heat dissipation structure is offset from the position of the second circuit board.

13. The lidar according to any one of claims 1-7, characterized in that, The front shell and the rear shell are sealed together; the dimensions of the lidar must meet at least one of the following dimensional conditions: The radius of the transmitting lens is no greater than 10mm; The radius of the receiving lens is no greater than 15mm; The axial length of the transmitting lens or the receiving lens protruding beyond the outer side of the front housing is no more than 20mm; or The distance between the front shell and the rear shell along the axial direction of the receiving lens ranges from 15mm to 30mm.

Images