Lidar protection device and lidar apparatus

Abstract

The application discloses a laser radar protection device and a laser radar equipment to alleviate the problem that the window is easy to be damaged due to collision and further affect detection. The laser radar protection device comprises a shell, a window and a plurality of first protection ribs. The shell has a detection opening for the radar probe of the laser radar to detect out of the shell; the window is connected to the shell and covers the detection opening, at least part of the window protrudes from the outer surface of the shell to accommodate the radar probe; each first protection rib is arranged around the detection opening and extends away from the detection opening, one end of each first protection rib is connected to the outer surface of the shell, and the other end of each first protection rib is connected to each other; the first protection rib and the radar probe are located on opposite sides of the window, and the first protection rib and the window have a first preset interval distance. The application can improve the protection ability, buffer and shock resistance of the laser radar protection device, and reduce the shielding of the radar field of view.

Description

Technical Field

[0001] This application relates to the field of photoelectric detection technology, and more specifically, to a lidar protection device and lidar equipment. Background Technology

[0002] As the channel for laser signals to enter and exit the lidar device, the window is usually made of optical glass or plastic to ensure light transmittance, but its strength is not high. As a component of the lidar device's casing, the window is easily contaminated with fingerprints and other pollutants due to accidental contact during device operation, movement, or maintenance. In outdoor or industrial settings, it is also prone to scratches, deformation, or even breakage due to bumps and scrapes, which can affect the lidar's detection performance and, in severe cases, render the lidar device inoperable.

[0003] Currently, the industry widely uses "three-bar" protective devices to protect transparent windows, such as... Figure 1 As shown, its main body is a frame with a hollow structure 100. The frame surrounds the radar body 110 only through upper and lower baffles 101 and 102 and a single-sided column 103. The hollow positions correspond to the windows to ensure unobstructed laser paths. However, this protective device 10 has obvious defects: First, the single-sided column has weak resistance to lateral impacts and poor protection capabilities. The windows are still easily contaminated by human hands or damaged by collisions. Second, to improve impact resistance, the columns need to be thickened, but thicker columns will obstruct the radar's field of view, while thinner columns are difficult to withstand impacts, making it difficult to balance strength and field of view requirements. Third, the protective device is difficult to adapt to lidars that can extend their scanning range in the vertical direction, such as hemispherical lidars or cylindrical lidars. The field of view of such lidars is greatly limited when using the above-mentioned protective device.

[0004] In addition, related technology CN116559829A also discloses a protective frame for a lidar, which has a horn-shaped ring installed on the outside of the lidar's spherical probe. The horn-shaped ring has a circumference with a placement hole, and an arc-shaped block is installed in the placement hole. The horn-shaped ring is slidably connected to the arc-shaped block through a limiting rod in the placement hole. Each independent arc-shaped block can be retracted to expose more of the probe for detection or extended to protect the probe, depending on the usage requirements.

[0005] However, in the aforementioned related technologies, the protective devices or protective frames lack structural strength, and the upper baffle or horn-shaped ring can also affect the probe's field of view. The columns or arc-shaped blocks exist in isolation; when the lidar equipment falls to the ground or impacts an obstacle, a single column or independent arc-shaped block is easily broken, making it more likely to damage or destroy the viewing window, thus affecting the use of the lidar equipment. Therefore, designing a protective device for lidar that achieves a good balance between improving impact resistance and reducing field-of-view obstruction in more complex operating conditions such as high-frequency vibration, motion, or multi-directional collisions has become a pressing issue for researchers in this field. Utility Model Content

[0006] The purpose of this application is to provide a lidar protection device and lidar equipment, which improves the overall structural strength of the protective ribs by the spaced arrangement and interconnection of multiple first protective ribs, thereby improving the impact and collision protection capability of the lidar protection device, improving the obstruction of the lidar probe's field of view by the protective ribs, improving the reliability of the lidar protection device in protecting the lidar and the window, expanding the application range of the lidar protection device, and improving the detection accuracy of the lidar equipment.

[0007] The embodiments of this application are implemented as follows:

[0008] The first aspect of this application provides a lidar protection device, which includes a housing, a window, and at least two first protective ribs. The housing has a detection opening for the lidar probe to protrude from within the housing. The window is connected to the housing and covers the detection opening, with at least a portion of the window protruding from the outer surface of the housing to accommodate the lidar probe. The first protective ribs are spaced apart around the detection opening and extend in a direction away from the opening. One end of each first protective rib is connected to the outer surface of the housing, and the other ends of each first protective rib are interconnected. The first protective ribs and the lidar probe are located on opposite sides of the window, and there is a first predetermined distance between the first protective ribs and the window.

[0009] In the above technical solution, the way the first protective rib is set not only gives the radar a sufficient field of view, but also protects the lidar and the window over a wider area. The first protective ribs, spaced around the detection opening, are connected at one end to the outer surface of the housing, and at the other end extend away from the detection opening and are interconnected. Compared to the three-column single-column design in related technologies, this design can protect the window from a wider angle, reducing the probability of contamination on the outer surface of the window. The interconnected arrangement of the first protective ribs strengthens the structural strength of the protective frame, improving the impact and shock resistance of the protective device. This makes it suitable for a wider range of complex applications, including high-frequency vibration, turbulent motion, and multi-directional movement in complex environments. The spaced arrangement of the first protective ribs and the window better buffers vibrations, reducing the probability of stress being directly transmitted to the window surface and causing damage, thus improving the reliability of the first protective ribs in protecting the window. The arrangement of the first protective ribs extending away from the detection opening and interconnecting at the far end can accommodate more types of lidar, such as cylindrical and hemispherical lidars, which can expand the scanning range in the height direction. This makes it more practical and applicable to more scenarios, and it can also reduce the obstruction area at the top of the window, further improving the detection accuracy of the lidar.

[0010] In some embodiments, the window is a hemispherical window, and along the direction away from the detection opening, the first protective rib is an arc-shaped protective rib that matches the outer contour of the hemispherical window.

[0011] In some embodiments, a plurality of first protective ribs are evenly arranged around the detection opening, and the width of the first protective ribs is negatively correlated with the number of first protective ribs.

[0012] In some embodiments, the outer tangent surfaces of the edge of the housing and the first protective rib are used as the first protective interface, and the portions of the window protruding from the outer surface of the housing are all located on the same side of the first protective interface and have a second preset interval distance between them; and / or, the outer tangent surfaces of two adjacent first protective ribs are used as the second protective interface, and the portions of the window protruding from the outer surface of the housing are all located on the same side of the second protective interface and have a third preset interval distance between them.

[0013] In some embodiments, the housing has a first outer surface, and the detection opening is located at the center of the first outer surface; the lidar protection device further includes a mounting rib, which is arranged around the detection opening and installed on the first outer surface, and one end of each first protection rib is fixedly connected to the mounting rib.

[0014] In some embodiments, the mounting rib and the first protective rib are integrally formed, and both the mounting rib and the first protective rib are made of aluminum alloy.

[0015] In some embodiments, the mounting rib has a first surface facing the first outer surface and a second surface facing away from the first outer surface. The mounting rib also has a threaded hole that penetrates the first surface and the second surface. The threaded hole and the first protective rib are arranged alternately around the detection opening. The first surface fits against the first outer surface. The mounting rib is installed on the first outer surface by the cooperation of the screw and the threaded hole.

[0016] In some embodiments, the first protective rib has a first sidewall facing the window and a second sidewall facing away from the window. The lidar protection device further includes a soft damping element disposed on the first sidewall, and / or, the soft damping element disposed on the second sidewall.

[0017] In some embodiments, the window is a cylindrical window, and at least a portion of the first protective rib is a straight or spiral rib that matches the outer peripheral wall of the cylindrical window along the direction away from the detection opening.

[0018] In some embodiments, the lidar protection device further includes at least one second protective rib, each second protective rib intersecting and fixedly connected to a plurality of first protective ribs, and the second protective ribs are arranged around the window.

[0019] In some embodiments, the housing has a first outer surface, a detection opening is located at the center of the first outer surface, and the extension direction of the second protective rib is parallel to the first outer surface.

[0020] The second aspect of this application provides a lidar device, which includes a lidar and a lidar protection device provided in any embodiment of the first aspect of this application; the lidar is disposed in the housing of the lidar protection device, and the lidar probe protrudes from the housing through a detection opening and is located inside a window. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the structure of a "three-bar" type lidar protection device is shown in the background art.

[0023] Figure 2 The following are schematic diagrams illustrating the structure of a lidar device according to some embodiments of this application;

[0024] Figure 3 This is a schematic diagram of the overall structure of a lidar protection device shown in some embodiments of this application;

[0025] Figure 4 This is a schematic diagram illustrating a lidar protection device dropped to the ground, as shown in some embodiments of this application.

[0026] Figure 5 This is a schematic diagram of the structure of the protective frame formed by the first protective rib and the mounting rib, as shown in some embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the structure of a protective frame with an added second protective rib, as shown in some embodiments of this application.

[0028] Icons: 1-LiDAR device; 10-Three-bar protective device; 100-Hollow structure; 101-Upper baffle; 102-Lower baffle; 103-Column; 110-Radar body; 2-LiDAR; 3-LiDAR protection device; 30-Housing; 300-Detection opening; 301-First outer surface; 302-Edge of housing; 31-Window; 32-First protective rib; 321-First sidewall; 322-Second sidewall; 323-Third sidewall; 324-Fourth sidewall; 33-Mounting rib; 331-First surface; 332-Second surface; 333-Threaded hole; 34-Screw; 36-Second protective rib; 37-Protective frame; A-Direction away from detection opening; B-Circumference of detection opening; D0-Width of first protective rib; D1-First preset interval distance; D2-Second preset interval distance; W1-First protection interface; W2-Second protection interface. Detailed Implementation

[0029] The technical solution of this application will now be described in detail with reference to the accompanying drawings.

[0030] In the field of photoelectric detection technology, the radar probe in lidar equipment is typically covered with a window to allow laser signals to enter and exit. To protect the lidar probe and the window, some related technologies employ a three-bar protective device 10, such as... Figure 1As shown, its main body is a frame with a hollow structure 100. The frame only surrounds the radar body 110 through an upper baffle 101, a lower baffle 102, and a single-sided column 103, thus protecting the radar and the viewing window 31. Alternatively, some related technologies also use a protective frame structure with a horn-shaped ring installed on the outside of the spherical probe, and the horn-shaped ring and the arc-shaped block slidingly connected. The arc-shaped block retracts on the horn-shaped ring to expose more of the probe to meet detection requirements, or the arc-shaped block extends on the horn-shaped ring to protect the probe. However, in the above-mentioned related technologies, the structural strength of the protective device or protective frame is insufficient, and the upper baffle or horn-shaped ring can also affect the probe's field of view. Therefore, how to design a protective device for lidar that can improve the problem of obstructing the lidar's field of view while also improving its impact resistance and protection capabilities, making it suitable for a wider range of application scenarios and more types of lidar, has become a research direction for researchers.

[0031] Based on the above considerations, this application provides a lidar protection device and a lidar device. The lidar protection device includes a housing, a window, and at least two first protective ribs. The housing has a detection opening for the lidar probe to protrude from within the housing. The window is connected to the housing and covers the detection opening, with at least a portion of the window protruding from the outer surface of the housing to accommodate the lidar probe. The first protective ribs are spaced apart around the detection opening and extend in a direction away from the detection opening. One end of each first protective rib is connected to the outer surface of the housing, and the other ends of each first protective rib are interconnected. The first protective ribs and the lidar probe are located on opposite sides of the window, and there is a first preset distance between the first protective ribs and the window.

[0032] The lidar protection device provided in this application improves the overall structural strength of the protective frame formed by the first protective ribs by arranging multiple first protective ribs at intervals around the window and the lidar probe, and by interconnecting the ends of the multiple first protective ribs. This enhances the lidar protection device's impact and collision resistance. The circumferentially spaced arrangement of the multiple first protective ribs also reduces the obstruction of the lidar probe's field of view by the protective frame. This application achieves a good balance between improving the lidar protection capability and reducing field of view obstruction, improving the reliability of the lidar protection device for both the lidar and the window, expanding the applicability of the lidar protection device, and improving the detection accuracy of the lidar equipment.

[0033] Please see Figures 2 to 3 , Figure 2 The present application provides a schematic diagram of the structure of a lidar device 1 as shown in some embodiments. Figure 3 This is a schematic diagram of the overall structure of the lidar protection device 3 shown in some embodiments of this application. Please refer to... Figures 2 to 3As shown, this application embodiment provides a lidar device 1, which includes a lidar 2 and a lidar protection device 3. The lidar 2 is disposed inside the housing 30 of the lidar protection device 3. The lidar probe of the lidar 2 can protrude out of the housing 30 through the detection opening 300 on the housing 30 and is located inside the window 31 of the lidar protection device 3.

[0034] In this embodiment, the housing 30 of the lidar protection device 3 can be a hollow structure, with a detection opening 300 on the housing 30, which communicates with the hollow cavity inside the housing 30. The lidar 2 is located inside the housing 30 of the lidar protection device 3, typically referring to the main modules of the lidar 2 other than the lidar probe, such as circuit boards and transmitting modules, which are fixedly installed inside the housing 30, i.e., in the hollow cavity, to achieve anti-collision and dustproof effects. The radar probe of the lidar 2 extends out of the housing 30 through the detection opening 300 on the housing 30. This can mean that the radar probe is retractably connected to the inner wall of the housing 30 or other structures. The radar probe can extend out of the housing 30 through the detection opening 300 to perform detection work, or it can retract into the housing 30 through the detection opening 300 to standby. Alternatively, the radar probe of the lidar 2 extends out of the housing 30 through the detection opening 300 on the housing 30. This can also mean that the radar probe of the lidar 2 is connected to the housing 30 or other structures, continuously extending out of the housing 30, and is fixed to the housing 30 or other structures at the detection opening 300 of the housing 30. The extension direction of the radar probe can coincide with the central axis of the detection opening 300. The window 31 of the lidar protection device 3 is usually protruding from the outer surface of the housing 30 and covering the detection opening 300 of the housing 30. The end of the window 31 that protrudes from the outer surface of the housing 30 is usually closed, and the end of the window 31 that has an opening is usually connected to the edge that forms the detection opening 300. The radar probe of the lidar 2 is located inside the window 31 of the lidar protection device 3, that is, the window 31 that protrudes from the outer surface of the housing 30 completely houses the radar probe in its inner cavity.

[0035] In the description of the embodiments of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0036] Please combine Figures 2 to 3As shown, this application embodiment provides a lidar protection device 3, which includes a housing 30, a window 31, and at least two first protective ribs 32. The housing 30 has a detection opening 300 for the lidar probe 2 to protrude from the housing 30. The window 31 is connected to the housing 30 and covers the detection opening 300, with at least a portion of the window 31 protruding from the outer surface of the housing 30 to accommodate the lidar probe. The first protective ribs 32 are spaced around the detection opening 300 and extend in a direction A away from the detection opening. One end of each first protective rib 32 is connected to the outer surface of the housing 30, and the other ends of each first protective rib 32 are interconnected. The first protective ribs 32 and the lidar probe are located on opposite sides of the window 31, and there is a first preset distance D1 between the first protective ribs 32 and the window 31.

[0037] In this embodiment, the detection opening 300 refers to a hole opened on the outer surface of the housing 30 that communicates with the internal cavity of the housing 30. The window 31 is connected to the housing 30, meaning that one open end of the window 31 is aligned with the edge of the detection opening 300. The window 31 can be connected to either the outer or inner surface of the housing 30. The window 31 can be fixed to the housing 30 by screws 34 or adhesive. The edge of the opening of the window 31 can be aligned with the edge of the detection opening 300 and sealed by adhesive or a sealing ring. The window 31 covering the detection opening 300 means that the window 31 completely covers the detection opening 300, allowing the window 31 to... The space where the lidar 2 is located is isolated from the outside world. When the detection opening 300 is covered by the window 31, at least a part of the window 31 protrudes from the outer surface of the housing 30. This means that the top area of ​​the window 31 extends away from the housing 30 and the detection opening 300, and a hollow cavity is formed inside to enclose the radar probe in the cavity, so as to prevent external contaminants from directly contacting the surface of the radar probe and affecting the detection quality of the lidar 2. Through the barrier of the window 31, it is also difficult for external dust or contaminants to enter the interior of the housing 30 through the detection opening 300.

[0038] In this embodiment, each first protective rib 32 is spaced around the detection opening 300 and extends in a direction A away from the detection opening. Generally, the first protective rib 32 is arranged circumferentially around the detection opening 300 with the center of the detection opening 300 as the center. Each first protective rib 32 generally extends in a direction A perpendicular to the outer surface of the housing 30 where the detection opening 300 is located and away from the detection opening. The end of each first protective rib 32 near the detection opening 300 is connected to the outer surface of the housing 30. The end of each first protective rib 32 used to connect to the outer surface of the housing 30 is spaced around the detection opening 300. Specifically, one end of each first protective rib 32 is connected to the outer surface of the housing 30. This can mean that the first protective rib 32 is directly connected to the outer surface of the housing 30. For example, the end of the first protective rib 32 near the detection opening 300 is bent and attached to the outer surface where the detection opening 300 is located. The end of the first protective rib 32 near the detection opening 300 is directly connected to the outer surface of the housing 30 by means of screws, adhesives, or welding. Alternatively, one end of each first protective rib 32 can be connected to the outer surface of the housing 30, or the first protective rib 32 can be indirectly connected to the outer surface of the housing 30 through an intermediate component (such as the mounting rib 33 in the embodiment of this application). The first protective rib 32 can be detachable relative to the housing 30, while the first protective rib 32 is usually fixed and immovable relative to the housing 30. Multiple first protective ribs 32, spaced apart around the detection opening 300 and extending in a direction A away from the detection opening, can reduce obstruction of the radar field of view and improve the detection accuracy of the lidar 2. The first protective ribs 32, which extend in a direction A away from the detection opening and are interconnected, have a smaller top obstruction area. In addition to the ring lidar 2, they can also be applied to lidar 2s that can expand the scanning range in the height direction, such as cylindrical and hemispherical lidars, making them more practical and applicable to more scenarios.

[0039] In this embodiment, the other ends of each first protective rib 32 are interconnected. This typically means that the ends of each first protective rib 32 furthest from the detection opening 300 or the outer surface of the housing 30 are directly or indirectly connected together. Direct connection means the other ends of the first protective ribs 32 extend towards other first protective ribs 32, converging and connecting together, forming a radial frame resembling umbrella ribs. Indirect connection means the protective device intersects with multiple first protective ribs 32 through other connecting ribs (such as annular connecting ribs), linking the multiple first protective ribs 32 together. Specifically, the interconnection of the other ends of each first protective rib 32 can be a single integral molding or a method of fixing the other ends together using screws, welding, etc. This interconnection strengthens the overall structural strength of the protective frame 37 composed of multiple first protective ribs 32, better resisting external impacts and adapting to more complex working conditions, such as high-frequency vibration environments and multi-directional movement scenarios.

[0040] In this embodiment, the first protective rib 32 and the radar probe are located on opposite sides of the window 31. Typically, the radar probe is inside the window 31, and the first protective rib 32 is outside the window 31, separated by the window 31. The window 31 protects the radar probe and allows laser signals to pass through, while the first protective rib 32 protects the window 31. A first preset interval distance D1 exists between the first protective rib 32 and the window 31. This typically means that under stable, collision-free conditions, there is no direct contact between the first protective rib 32 and the window 31; they are separated, or there is a gap or opening between them. The first preset interval distance D1 is greater than 0. This spacing between the first protective rib 32 and the window 31 provides a certain vibration buffer space when the first protective rib 32 encounters an external impact. Vibration will not be directly transmitted to the window 31 through the contact area between the first protective rib 32 and the window 31, thus preventing damage to the window 31 and achieving reliable protection for the window 31.

[0041] In the above technical solution, the arrangement of the first protective rib 32 not only provides the radar with sufficient field of view but also protects the lidar 2 and the window 31 over a wider area. The first protective ribs 32, spaced apart around the detection opening 300, have one end connected to the outer surface of the housing 30, and the other end extending in a direction A away from the detection opening and interconnected. Compared to the three-bar single-column design in related technologies, this arrangement protects the window 31 from a wider angle, reducing the probability of contamination of the outer surface of the window 31. The interconnected arrangement of the first protective ribs 32 strengthens the structural strength of the protective frame 37, improving the impact and shock resistance of the protective device, making it suitable for a wider range of complex applications such as high-frequency vibration, bumpy motion, and multi-directional movement in complex environments. The spaced arrangement of the protective ribs 32 and the window 31 can better buffer vibrations, reduce the probability of stress being directly transmitted to the surface of the window 31 and causing damage to the window 31, and improve the reliability of the first protective ribs 32 in protecting the window 31. The arrangement of the first protective ribs 32 extending away from the detection opening 300 and connecting with each other at the far end can accommodate more types of lidar 2, such as cylindrical and hemispherical lidar 2, which can expand the scanning range in the height direction. It is more practical and applicable to more scenarios, and can reduce the obstruction area at the top of the window 31, further improving the detection accuracy of the lidar 2.

[0042] In the description of this application, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. In the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and do not indicate sequential numbering, nor should they be construed as indicating or implying relative importance.

[0043] Please see Figures 3 to 6 In this embodiment, the first protective rib 32 can be configured as three. The first protective rib 32 is arranged around the detection opening 300 and extends in a direction A away from the detection opening. The number of first protective ribs 32 is at least two. The more first protective ribs 32 there are, the smaller the detection field of the lidar 2 will be. The local small-area occlusion of the first protective ribs 32 can be eliminated by the subsequent processing of the laser detection data by the processor. Therefore, the maximum width and the maximum number of first protective ribs 32 need to meet the lidar's field of view and detection requirements. The spacing or angle between adjacent first protective ribs 32 can be equal or different.

[0044] In some embodiments, the window 31 is a hemispherical window, and along the direction A away from the detection opening, the first protective rib 32 is an arc-shaped protective rib that matches the outer contour of the hemispherical window.

[0045] In this embodiment, matching the outer contour of the hemispherical window can mean that the curvature of the first protective rib 32 is basically the same as the curvature of the outer surface of the hemispherical window, and the first protective rib 32 extends in a direction away from the detection opening 300 and towards the top of the protrusion of the hemispherical window. In the above technical solution, the matching of the first protective rib 32 with the outer contour of the hemispherical window allows the extension shape of the first protective rib 32 to better match the window 31. The setting of the arc-shaped protective rib is beneficial to diffuse and dissipate the stress generated by the first protective rib 32 in lateral collisions, and is beneficial to the first protective rib 32 in bearing vertical pressure and not easily deformed. It can also enhance the overall torsional resistance of the first protective rib 32 and is beneficial to the first protective rib 32 in resisting oblique impacts, such as 45° angle impacts. In addition, the design of the first protective rib 32 matching the contour of the hemispherical window makes the detection end structure of the lidar device 1 more compact and miniaturized, which is beneficial to the multi-directional movement of the lidar device 1 and its mounting platform in complex environments.

[0046] In other embodiments, the shape of the first protective rib 32 can also be other shapes. For example, the first protective rib 32 can also extend in a spiral shape, that is, the first protective rib 32 extends not only in the direction A away from the detection opening, but also in the circumferential direction B around the detection opening, so as to increase the protection range of the first protective rib 32 for the hemispherical window; when the window 31 is a more complex shape, the first protective rib 32 can also be adapted to other shapes according to the outer contour of the window 31.

[0047] In some embodiments, a plurality of first protective ribs 32 are evenly distributed around the detection opening 300, and the width D0 of the first protective ribs is negatively correlated with the number of the first protective ribs 32.

[0048] In this embodiment, multiple first protective ribs 32 are evenly distributed around the detection opening 300. This means that the multiple first protective ribs 32 are distributed at constant angular intervals along the circumference B of the detection opening 300 with the center of the detection opening 300 as the center (e.g., the angular interval is 120° when there are 3 first protective ribs 32, and 90° when there are 4 first protective ribs 32), forming a symmetrical protective frame 37. The width D0 of the first protective rib refers to the maximum dimension of the rib body of the first protective rib 32 in the cross section perpendicular to the extension direction. The width D0 of the first protective rib is negatively correlated with the number of first protective ribs 32, meaning that when the number of first protective ribs 32 increases, the width D0 of the first protective rib can decrease accordingly, but the minimum width setting of the first protective rib 32 still needs to meet the corresponding strength requirements.

[0049] In the above technical solution, multiple first protective ribs 32 are evenly arranged around the detection opening 300, which can form a regular blockage around the window 31. Subsequent algorithms can accurately compensate for this, which is beneficial to improving the detection accuracy of the lidar device 1 and the structural strength of the protective frame 37 composed of multiple first protective ribs 32. The width D0 of the first protective rib is negatively correlated with the number of first protective ribs 32, which can take into account both the impact resistance and detection integrity of the lidar device 1. By increasing the number of first protective ribs 32, the width of a single rib of the first protective rib 32 can be reduced without reducing the overall strength as much as possible, so as to reduce the obstruction of the field of view.

[0050] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the lidar protection device 3 falling to the ground, as shown in some embodiments of this application. Figures 3 to 5 For example, the inner diameter of the protective frame 37, which is composed of multiple first protective ribs 32, must be larger than that of the transparent window 31, and the protective frame 37 and the transparent window 31 must not be in contact. For example, the spacing between the first protective ribs 32 and the hemispherical transparent window should satisfy that the outer tangent of the adjacent first protective ribs 32, or the outer tangent of the first protective ribs 32 and the edge of the shell 30, does not intersect with the outer contour of the hemispherical transparent window, thereby achieving protection for the transparent window 31.

[0051] like Figure 4 As shown, in some embodiments, the outer tangent surfaces of the edge 302 of the housing and the first protective rib 32 are used as the first protective interface W1. The portion of the window 31 that protrudes from the outer surface of the housing 30 is located on the same side of the first protective interface W1 and has a second preset interval distance D2 between it and the first protective interface W1.

[0052] In this embodiment, the outer tangent of the edge 302 of the housing and the first protective rib 32 is used as the first protective interface W1. This refers to the virtual envelope plane jointly determined by the edge or outermost vertex of the housing 30 and the outermost surface or edge of the first protective rib 32. This plane constitutes the outermost protective boundary of the lidar protection device 3. The portions of the window 31 protruding from the outer surface of the housing 30 are all located on the same side of the first protective interface W1. This means that all surfaces of the window 31 protruding from the housing 30 are located on the side of the first protective interface W1 that is closer to the detection opening 300. The portion of the window 31 protruding from the outer surface of the housing 30 and the first protective interface W1 have a second preset interval distance D2. This means that the vertical distance between the point on the outer contour of the window 31 that is closest to the first protective interface W1 and the first protective interface W1 is greater than 0.

[0053] Please combine Figures 4 to 5It is understood that in some embodiments, the outer tangent surfaces of two adjacent first protective ribs 32 are used as the second protective interface W2, and the portion of the window 31 protruding from the outer surface of the housing 30 is located on the same side of the second protective interface W2, and there is a third preset interval distance between it and the second protective interface W2.

[0054] In this embodiment, the outer tangent of two adjacent first protective ribs 32 is used as the second protective interface W2. This refers to the common tangent plane made through the tangent point of the outermost contour of two adjacent first protective ribs 32, which constitutes the protective boundary of a local area of ​​the window 31. The portions of the window 31 that protrude from the outer surface of the housing 30 are all located on the same side of the second protective interface W2, meaning that all surfaces of the window 31 that protrude from the housing 30 are on the side of the second protective interface W2 that are closer to the detection opening 300. The portion of the window 31 that protrudes from the outer surface of the housing 30 has a third preset interval distance with the second protective interface W2, which is the vertical distance between the point on the outer contour of the window 31 that is closest to the second protective interface W2 and the second protective interface W2. The third preset interval distance is greater than 0.

[0055] In the above technical solution, a gap is provided between the outer contour of the transparent window 31 and the first protective interface W1 and / or the second protective interface W2, so that the transparent window 31 will not directly contact the colliding object. The external impact force is preferentially applied to the first protective rib 32 and the shell 30, thereby improving the impact resistance and protection capability of the lidar protection device 3. Figure 4 For example, the outer shell and the first protective rib 32 will first come into contact with the ground, thereby preventing the window 31 from colliding or coming into contact with the ground, thus achieving the purpose of protecting the lidar 2 and the window 31.

[0056] Furthermore, the spacing between the first protective ribs 32, the thickness and curvature of the first protective ribs 32, and the distance between the first protective ribs 32 and the window 31 can be reasonably set. When the window 31 protrudes significantly from the outer surface of the housing 30, and the outer tangent surfaces of the edge of the housing 30 and the outer edge of the first protective rib 32 are insufficient to form an effective first protective interface W1 for all collision orientations of the window 31, the portion of the window 31 protruding from the outer surface of the housing 30 can also be located on the same side as the second protective interface W2 to further protect the window 31. In this embodiment, the outer contours of the first protective ribs 32 and other adjacent ribs can also form an externally tangent protective interface, effectively protecting the window 31.

[0057] Please see Figure 5 , Figure 5 This is a schematic diagram of the protective frame 37 formed by the first protective rib 32 and the mounting rib 33, as shown in some embodiments of this application. Please refer to... Figures 3 to 5As shown, in some embodiments, the housing 30 has a first outer surface 301, and the detection opening 300 is located in the center of the first outer surface 301; the lidar protection device 3 also includes a mounting rib 33, which is arranged around the detection opening 300 and installed on the first outer surface 301, and one end of each first protection rib 32 is fixedly connected to the mounting rib 33.

[0058] In this embodiment, the mounting rib 33 is arranged around the detection opening 300 in a ring shape, meaning it is located around the periphery of the detection opening 300. The mounting rib 33 is installed on the first outer surface 301, meaning it is connected to and fixed to the first outer surface 301 and cannot move. The first protective rib 32 is fixed to the first outer surface 301 by the mounting rib 33. Specifically, the mounting rib 33 can be fixed to the first outer surface 301 by non-removable means such as welding or bonding, or it can be fixed to the first outer surface 301 by detachable means such as screws 34. The mounting rib 33 can be integrally formed with the first protective rib 32, or it can be connected to the first protective rib 32 by screws 34 or welding.

[0059] In the above technical solution, the mounting rib 33 connects each of the first protective ribs 32, and can cooperate with the first protective ribs 32 to form a protective frame 37 with higher structural strength, impact resistance and protection reliability, thereby improving the impact resistance and collision resistance of the lidar protection device 3.

[0060] In some embodiments, the mounting rib 33 and the first protective rib 32 are integrally formed. In some embodiments, both the mounting rib 33 and the first protective rib 32 are made of aluminum alloy. Specifically, the aluminum alloy can be 6061-T6 material, or the first protective rib 32 and the mounting rib 33 can also be made of other materials with high strength and rigidity. In the above technical solution, the integral forming of the mounting rib 33 and the first protective rib 32 can strengthen the overall structural strength of the protective frame 37, improve the impact protection capability, and also simplify the installation steps of the first protective rib 32 on the first outer surface 301, improving assembly efficiency; the aluminum alloy material is lightweight and has good rigidity and strength, which can also improve the impact protection capability, and can reduce the weight of the protective frame 37, making it more convenient to mount on a mobile platform.

[0061] like Figure 5As shown, each first protective rib 32 has a first sidewall 321, a second sidewall 322, a third sidewall 323, and a fourth sidewall 324. Specifically, the first protective rib 32 has a first sidewall 321 facing the window 31 and a second sidewall 322 facing away from the window 31. The third sidewall 323 and the fourth sidewall 324 are adjacent to the first sidewall 321 and the second sidewall 322, and the third sidewall 323 and the fourth sidewall 324 are opposite to each other. In the protective frame 37, there is a gap between the third sidewall 323 of one first protective rib 32 and the fourth sidewall 324 of another adjacent first protective rib 32.

[0062] In some embodiments, the mounting rib 33 has a first surface 331 facing the first outer surface 301 and a second surface 332 facing away from the first outer surface 301; the mounting rib 33 also has a threaded hole 333, which penetrates the first surface 331 and the second surface 332; the threaded hole 333 and the first protective rib 32 are arranged alternately around the detection opening 300, the first surface 331 is attached to the first outer surface 301, and the mounting rib 33 is installed on the first outer surface 301 by the cooperation of the screw 34 and the threaded hole 333.

[0063] In this embodiment, the first surface 331 facing the first outer surface 301 refers to the mounting plane of the mounting rib 33 for fitting against the first outer surface 301 of the housing 30. The fitting of the first surface 331 with the first outer surface 301 can increase the contact area between the protective frame 37 and the housing 30 and improve the stress dispersion capability. The second surface 332 refers to the plane of the mounting rib 33 facing away from the first outer surface 301 of the housing 30 and used to connect the first protective rib 32. The threaded hole 333 penetrates the first surface 331 and the second surface 332 and is staggered with the first protective rib 32 around the detection opening 300. This means that each threaded hole 333 is located in the circumferential gap between two adjacent first protective ribs 32, so that the operating tool can pass vertically through the gap between the first protective ribs 32 to tighten the screw 34. Specifically, the housing 30 can be made of a material that is impact-resistant, vibration-resistant, easy to drill screws 34, or can be pre-machined with threaded holes 333. When the housing 30 is assembled with the mounting rib 33, screws 34 can be directly screwed into the housing 30 to achieve the connection, or threaded holes 333 can be pre-machined in the housing 30 to achieve the threaded connection.

[0064] Specifically, with Figures 3 to 5 The number of the first protective rib 32 corresponds to the number of threaded holes 333 and screws 34 on the mounting rib 33, or the number of threaded holes 333 and screws 34 on the mounting rib 33 can be set to other numbers.

[0065] In the above technical solution, the fit between the first surface 331 and the first outer surface 301 can increase the contact area between the protective frame 37 and the housing 30, improve the stress dispersion capability, and improve the impact resistance and shock protection capability of the protective frame 37. The threaded hole 333 penetrates the first surface 331 and the second surface 332, and is staggered with the first protective rib 32 around the detection opening 300, so that the threaded hole 333 is exposed, and the operating tool can vertically tighten the screw 34 without interference, reducing the complexity of installation and disassembly, making maintenance convenient, and improving the maintenance efficiency of the lidar device 1.

[0066] In some embodiments, the lidar protection device 3 further includes a flexible damping element disposed on the first sidewall 321, and / or, the flexible damping element disposed on the second sidewall 322.

[0067] The first sidewall 321 facing the window 31 is typically the sidewall where the first protective rib 32 first contacts the window 31; the second sidewall 322 facing away from the window 31 is typically the sidewall where the first protective rib 32 first contacts external obstacles. For example, when falling, the second sidewall 322 of the first protective rib 32 will first collide with the ground; when walking, the second sidewall 322 will first collide with the wall. Specifically, the soft shock absorber can completely wrap around or cover the second sidewall 322 to reduce the impact of external obstacles on the first protective rib 32 and reduce the probability of damage to the first protective rib 32. The soft shock absorber can also completely wrap around or cover the first sidewall 321 to reduce the impact of the first protective rib 32 deforming on the window 31. The soft shock absorber can also be located locally on the first sidewall 321 and / or the second sidewall 322, such as at a position further away from the first outer surface 301 and the detection opening 300, to prioritize the protection of the position where the first protective rib 32 is more likely to deform or be damaged. Specifically, the flexible damping element can be bonded or sleeved onto the first sidewall 321 and / or the second sidewall 322. Furthermore, after the flexible damping element is installed on the first sidewall 321, there may still be a gap between the flexible damping element and the window 31 on the side surface facing the window 31, so as to reduce the impact force or stress directly transmitted to the surface of the window 31, and further reduce the probability of damage to the window 31.

[0068] Please see Figure 6 , Figure 6 This is a schematic diagram of the protective frame 37 with an added second protective rib 36, as shown in some embodiments of this application. Figures 3 to 6 As shown, in some embodiments, the lidar protection device 3 further includes at least one second protective rib 36, each second protective rib 36 intersecting and fixedly connected to a plurality of first protective ribs 32, and the second protective rib 36 is arranged around the window 31.

[0069] Each second protective rib 36 intersects and is fixedly connected to multiple first protective ribs 32, meaning that each second protective rib 36 passes through and is connected to multiple first protective ribs 32. Specifically, the first protective ribs 32 and the second protective ribs 36 can be integrally formed to form a protective frame 37, or they can be connected together by welding, screws 34, or other methods to form a protective frame 37. The second protective ribs 36 can pass between the third sidewall 323 and the fourth sidewall 324 of adjacent first protective ribs 32, connecting with the third sidewall 323 and the fourth sidewall 324 of the first protective ribs 32. The second protective ribs 36 can also be located around the first protective ribs 32, enhancing the connection strength between the first protective ribs 32 and the overall structural strength of the protective frame 37 while resisting impact. In the above technical solution, the setting of the second protective ribs 36 can enhance the overall structural strength of the protective frame 37, improve the impact resistance of the lidar protection device 3, and further strengthen the anti-pollution protection of the window 31 by the protective frame 37, reducing the probability of dirt contacting the window 31 and causing a decrease in detection accuracy.

[0070] Correspondingly, the greater the total number of first protective ribs 32 and second protective ribs 36, the smaller the width of the first protective ribs 32 and second protective ribs 36 can be. The minimum width should be set based on the structural strength of the protective frame 37 meeting the impact protection requirements. The outer tangent surfaces of adjacent first protective ribs 32 and second protective ribs 36 can also provide further protection for the transparent window 31.

[0071] In some embodiments, the housing 30 has a first outer surface 301, a detection opening 300 located at the center of the first outer surface 301, and the extension direction of the second protective rib 36 is parallel to the first outer surface 301. In this embodiment, the extension direction of the second protective rib 36 being parallel to the first outer surface 301 generally means that the main body of the second protective rib 36 is parallel to the plane where the first outer surface 301 of the housing 30 is located, forming a protective ring that horizontally surrounds the window 31 relative to the first outer surface 301. The first protective rib 32 and the second protective rib 36 are approximately or substantially perpendicularly connected. In the above technical solution, the extension direction of the second protective rib 36 being parallel to the first outer surface 301 is beneficial to enhancing the overall structural strength of the protective frame 37, improving the impact resistance and shock protection capability of the protective frame 37, and also beneficial to the subsequent compensation of the occlusion of the first protective rib 32 and the second protective rib 36 by the LiDAR device 1 through algorithms, thereby improving the detection accuracy of the LiDAR device 1.

[0072] In this embodiment, the radar probe of the lidar 2 can be not only hemispherical, but also other shapes. For example, the radar probe of the lidar 2 can be cylindrical, and correspondingly, the window 31 is a cylindrical window. In some embodiments, the window 31 is a cylindrical window, and along the direction A away from the detection opening, at least a portion of the first protective rib 32 can be a straight rib or a spiral rib that matches the outer peripheral wall of the cylindrical window; the second protective rib 36 can be an arc-shaped rib that horizontally surrounds the outer peripheral wall of the window 31 relative to the first outer surface 301.

[0073] At least a portion of the first protective rib 32 is a straight rib, which can refer to the end of the first protective rib 32 near the first outer surface 301, standing vertically on the first outer surface 301; at least a portion of the first protective rib 32 is a spiral rib, which can refer to the end of the first protective rib 32 near the first outer surface 301, extending in the direction away from the detection opening A, while also extending along the circumference of the cylindrical window, so as to increase the protection range of the protective rib for the window 31. Specifically, the curvature of the spiral first protective rib 32 can match the curvature of the outer peripheral wall of the cylindrical window; the top of the first protective rib 32 can be connected by an annular connecting rib, such as the second protective rib 36, to form a protective frame 37 with an annular protective rib at the top and the first protective rib 32 extending longitudinally in the direction away from the detection opening 300 on the side; or, the end of the first protective rib 32 away from the first outer surface 301 can be bent, and the bent ends of each first protective rib 32 away from the detection opening 300 can converge and connect together to form an umbrella-shaped radial protective structure at the top of the protective frame 37.

[0074] In the description of the embodiments in this application, terms such as "horizontal," "vertical," and "hanging" do not imply that the component is required to be absolutely horizontal or hanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0075] The lidar protection device 3 provided in this application embodiment can protect the lidar probe and window 31 over a wider area, obstruct the lidar field of view less, facilitate installation and disassembly, be applicable to more types of lidar 2 and more complex application scenarios, and improve the reliability of protection of lidar 2 probe and window 31 and the detection accuracy of lidar device 1.

[0076] The above description is merely a preferred embodiment of this application and is 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 laser radar protection device, characterized in that, The lidar protection device includes: A housing having a detection opening for the radar probe of the lidar to extend out from the housing; A window is connected to the housing and covers the detection opening, at least a portion of the window protrudes from the outer surface of the housing to accommodate the radar probe; At least two first protective ribs are provided, each first protective rib is arranged at intervals around the detection opening and extends in a direction away from the detection opening, one end of each first protective rib is connected to the outer surface of the housing, and the other end of each first protective rib is connected to each other; the first protective ribs and the radar probe are respectively located on opposite sides of the window, and there is a first preset interval distance between the first protective ribs and the window.

2. The lidar protection device according to claim 1, characterized in that, The window is a hemispherical window, and along the direction away from the detection opening, the first protective rib is an arc-shaped protective rib that matches the outer contour of the hemispherical window.

3. The lidar protection device according to claim 1, characterized in that, Multiple first protective ribs are evenly distributed around the detection opening, and the width of the first protective ribs is negatively correlated with the number of first protective ribs.

4. The lidar protection device according to claim 1, characterized in that, The outer tangent surfaces of the edge of the shell and the first protective rib are used as the first protective interface. The portions of the window that protrude from the outer surface of the shell are all located on the same side of the first protective interface and have a second preset interval distance with the first protective interface. And / or, The outer tangent surfaces of two adjacent first protective ribs are used as the second protective interface. The portions of the window that protrude from the outer surface of the shell are all located on the same side of the second protective interface and have a third preset interval distance with the second protective interface.

5. The lidar protection device according to claim 1, characterized in that, The housing has a first outer surface, and the detection opening is located at the center of the first outer surface; The lidar protection device further includes mounting ribs, which are arranged around the detection opening and installed on the first outer surface. One end of each of the first protective ribs is fixedly connected to the mounting rib.

6. The lidar protection device according to claim 5, characterized in that, The mounting rib and the first protective rib are integrally formed, and both the mounting rib and the first protective rib are made of aluminum alloy.

7. The lidar protection device according to claim 5, characterized in that, The mounting rib has a first surface facing the first outer surface and a second surface facing away from the first outer surface. The mounting rib also has a threaded hole that penetrates the first surface and the second surface. The threaded holes and the first protective ribs are arranged alternately around the detection opening. The first surface is in contact with the first outer surface. The mounting ribs are installed on the first outer surface by the cooperation of screws with the threaded holes.

8. The lidar protection device according to claim 1, characterized in that, The first protective rib has a first sidewall facing the window and a second sidewall facing away from the window. The lidar protection device further includes a soft shock absorber, which is disposed on the first sidewall and / or on the second sidewall.

9. The lidar protection device according to claim 1, characterized in that, The window is cylindrical, and at least a portion of the first protective rib is a straight or spiral rib that matches the outer peripheral wall of the cylindrical window along the direction away from the detection opening.

10. The lidar protection device according to any one of claims 1-9, characterized in that, The lidar protection device further includes at least one second protective rib, each of which intersects with and is fixedly connected to multiple first protective ribs, and the second protective ribs are arranged around the window.

11. The lidar protection device according to claim 10, characterized in that, The housing has a first outer surface, the detection opening is located at the center of the first outer surface, and the extension direction of the second protective rib is parallel to the first outer surface.

12. A lidar device, characterized in that, The lidar device includes: The lidar protection device according to any one of claims 1-11; A lidar is provided, wherein the lidar is housed within the housing of the lidar protection device, and the lidar probe extends out of the housing through the detection opening and is located within the transparent window.

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