A laser radar integrated mirror base with a code disc tooth structure
Patent Information
- Application Number
- CN202522227160.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-22
- Publication Date
- 2026-09-01
- Estimated Expiration
- 2035-10-22
AI Technical Summary
[0003]激光雷达在实现环境感知时，需通过反射镜面反射和码盘机构转动来完成多角度扫描，同时要精准获取角度信息以实现测距与角度的融合，但实际使用中现有的激光雷达反射镜无法单一实现角度与测距问题，需配合单独的角度信息获取结构，影响激光雷达的整体性能与小型化设计
[0020]①本实用新型采用45°反射面(反射面与底面夹角)，配合码盘齿结构，大大提升了集成度与角度、测距的同步性；
Smart Images
Figure CN224708220U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of lidar technology, and in particular, it is a lidar integrated reflector base with a code disk tooth structure, used for the fusion of lidar angle and distance measurement. Background Technology
[0002] The encoder disk is a key component in a lidar system, mainly used to achieve precise control and synchronization of laser beam scanning. The encoder disk is usually used in conjunction with a motor drive system to achieve two-dimensional / three-dimensional scanning of the laser beam through photoelectric effect or mechanical transmission.
[0003] When LiDAR achieves environmental perception, it needs to complete multi-angle scanning through the reflection of mirrors and the rotation of code disk mechanism. At the same time, it needs to accurately acquire angle information to achieve the fusion of ranging and angle. However, in actual use, existing LiDAR mirrors cannot solve the angle and ranging problems alone. They need to be combined with a separate angle information acquisition structure, which affects the overall performance and miniaturization design of LiDAR. Utility Model Content
[0004] To solve the above-mentioned technical problems, this utility model provides an integrated laser radar reflector base with a code disk tooth structure, which can realize the simultaneous integration of angle information acquisition function while completing laser reflection, and achieve the fusion of angle and distance measurement.
[0005] An integrated lidar reflector base with a code disk tooth structure includes:
[0006] The reflector base body and the code disk tooth structure;
[0007] The reflective surface of the reflector body is set at a 45° angle with the bottom surface, which is used to reflect the laser emitted by the lidar to the area to be detected, and to reflect the echo laser from the area to be detected to the lidar receiver; at this time, the reflector rotates, synchronously driving the code disk tooth structure to rotate; a reflector is installed on the reflective surface;
[0008] The code disk tooth structure is set on the bottom surface of the reflector body. The code disk tooth structure has multiple sets of code disk teeth arranged circumferentially, which are used to cooperate with the angle detection component of the lidar to achieve accurate acquisition of angle information, thereby realizing the fusion of lidar angle and distance measurement.
[0009] The code disk has 17 teeth, and the tooth spacing angle is 20°, so that one position on the code disk tooth structure is a missing tooth structure with a missing tooth angle of 30°; and each code disk tooth is the same in size and shape, so that each rotation of a code disk tooth can correspond to a 20° angle change.
[0010] As an example, the angle detection component of the lidar is a photoelectric encoder.
[0011] As an example, the photoelectric encoder has a U-shaped structure, and the code disk teeth pass through the U-shaped structure when rotating, thereby realizing angle detection;
[0012] As an example, the reflector uses an aluminum-coated surface structure with a reflectivity >88%.
[0013] As an example, the reflector base body is made of optical-grade PC material in a single injection molding structure.
[0014] As an example, the integrated reflector base of the lidar with a code disk tooth structure is mounted on the scanning mechanism of the lidar.
[0015] As an example, the scanning mechanism is a brushless DC motor.
[0016] As an example, the space between the reflecting surface and the bottom surface of the reflector base body is hollowed out.
[0017] As an example, the purpose of designing the 17-tooth + 1 missing-tooth structure is to: when the photoelectric encoder detects a missing tooth, it can be used to locate the starting angle of the lidar scan as 0°, and the 17 teeth can be used to confirm the lidar scan angle, thereby achieving synchronous fusion of angle and distance measurement.
[0018] The missing tooth structure has an angle of 30°, which not only enables the design of zeroing the scanning start angle using a mechanical structure, but also greatly reduces the dependence on the complex zeroing design of sensors, chips and algorithms.
[0019] The beneficial effects of this utility model are:
[0020] ① This utility model adopts a 45° reflective surface (the angle between the reflective surface and the bottom surface), combined with the code disk tooth structure, which greatly improves the integration and the synchronization of angle and distance measurement;
[0021] ② The integrated design simplifies the structural components of the lidar, while the back of the reflector mechanism is hollowed out, which reduces weight and cost.
[0022] ③ When the reflector rotates, the code disk teeth synchronously output angle information, ensuring real-time fusion of angle and distance measurement, and improving the environmental perception accuracy of the lidar.
[0023] ④ Stable performance: The angle design between the reflective surface and the bottom surface ensures the stability of laser reflection. It does not require complex sensors and algorithms. The unique mechanical structure design with a code disk tooth structure greatly improves the overall working performance of the lidar. Attached Figure Description
[0024] Figure 1This is a schematic diagram of the overall structure of an integrated laser radar reflector base with a code disk tooth structure according to the present invention.
[0025] Figure 2 This is a schematic diagram of the code disk tooth structure of an integrated laser radar reflector base with a code disk tooth structure according to the present invention.
[0026] Figure 3 This is a schematic diagram of the hollowed-out structure of an integrated laser radar reflector base with a code disk tooth structure according to the present invention.
[0027] Figure 4 This is a schematic diagram of the laser transmission path of an integrated laser radar reflector base with a code disk tooth structure according to this utility model.
[0028] Figure 5 This is a schematic diagram of the structure of the encoder tooth passing through the angle detection component of the integrated laser radar reflector base with encoder tooth structure according to this utility model.
[0029] Figure 6 This is a schematic diagram of the angle marking of the code disk tooth structure of the integrated laser radar reflector base with code disk tooth structure according to the present invention. Detailed Implementation
[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Figures 1 to 6 As shown.
[0031] An integrated lidar reflector base with a code disk tooth structure includes:
[0032] The reflector base body 101 and the code disk tooth structure 102;
[0033] The reflective surface 103 of the reflector body 101 is set at a 45° angle with the bottom surface 301, which is used to reflect the laser emitted by the lidar to the area to be detected, and to reflect the echo laser from the area to be detected to the lidar receiver; at this time, the reflector rotates, synchronously driving the code disk tooth structure 102 to rotate; a reflector is installed on the reflective surface.
[0034] The code disk tooth structure 102 is disposed on the bottom surface 301 of the reflector body 101. The code disk tooth structure 102 is provided with multiple sets of code disk teeth 201 in the circumferential direction, which are used to cooperate with the angle detection component of the lidar to achieve accurate acquisition of angle information, thereby realizing the fusion of lidar angle and ranging.
[0035] The code disk teeth 201 have 17 teeth, and the tooth spacing angle is 20°, so that one position on the code disk tooth structure 102 is a missing tooth structure 202 with a missing tooth angle of 30°; and each code disk tooth 201 has the same size and shape, so that each rotation of a code disk tooth 201 can correspond to a 20° angle change.
[0036] As an example, the angle detection component of the lidar is a photoelectric encoder.
[0037] As an example, the photoelectric encoder has a U-shaped structure, and the code disk teeth pass through the U-shaped structure when rotating, thereby realizing angle detection;
[0038] As an example, the reflector is made by coating an aluminum film on the surface of the reflective surface 103, and the reflectivity of the reflector is >88%.
[0039] As an example, the reflector base body 101 is made of optical-grade PC material in an integral injection molded structure.
[0040] As an example, the integrated reflector base of the lidar with a code disk tooth structure is mounted on the scanning mechanism of the lidar.
[0041] As an example, the scanning mechanism is a brushless DC motor.
[0042] As an example, a hollow structure 302 is made between the reflecting surface 103 and the bottom surface 301 of the reflector base body 101.
[0043] As an example, the purpose of designing the 17-tooth + 1 missing-tooth structure is to: when the photoelectric encoder detects the missing-tooth structure 202 (30° and 20° are different), to locate the starting angle of the lidar scan as 0°, and to confirm the lidar scanning angle through the 17 teeth, thereby achieving synchronous fusion of angle and distance measurement.
[0044] The missing tooth structure 202 has an angle of 30°, which not only realizes the design of zeroing the scanning start angle using a mechanical structure, but also greatly reduces the dependence on the complex zeroing design of sensors, chips and algorithms.
[0045] To better illustrate the originality of this utility model, the working principle of specific embodiments is described below:
[0046] Example 1:
[0047] 1. Structural parameters determined: Based on the requirements of the SL01 lidar model, the reflector base body is made of optical-grade PC material, the reflective surface is coated with aluminum film, and the reflectivity is >88%; the angle between the reflective surface and the bottom surface is 45°, with an accuracy control within ±0.1°; the code disk teeth are designed with 17 teeth, with 1 missing tooth, the tooth shape is approximately rectangular, the tooth spacing angle is 20°, and the accuracy is ±0.4°.
[0048] 2. Assembly and Operation: The reflector base is installed on the scanning mechanism of the lidar (such as a brushless DC motor). The lidar emits laser light, which is reflected by the reflector surface and then scans outward. The echo laser light is reflected by the reflector surface and then received. When the reflector rotates, the code disk teeth cooperate with the photoelectric encoder of the lidar. Each rotation of one tooth corresponds to a 20° angle change. The photoelectric encoder outputs an angle signal in real time. After being fused with the ranging signal, the lidar can accurately perceive the angle and distance of the environment.
[0049] The above description is only a preferred embodiment of the present utility model. It should be understood that the above description of the embodiments is only used to help understand the method and core idea of the present utility model, and is not intended to limit the protection scope of the present utility model. Any modifications, equivalent substitutions, etc. made within the idea and principle of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A laser radar integrated mirror base with a code disc tooth structure, characterized in that, include: The reflector base body and the code disk tooth structure; The reflective surface of the reflector body is set at a 45° angle with the bottom surface, which is used to reflect the laser emitted by the lidar to the area to be detected, and to reflect the echo laser from the area to be detected to the lidar receiver; at this time, the reflector rotates, synchronously driving the code disk tooth structure to rotate; a reflector is installed on the reflective surface; The code disk tooth structure is set on the bottom surface of the reflector body. The code disk tooth structure has multiple sets of code disk teeth arranged circumferentially, which are used to cooperate with the angle detection component of the lidar to achieve accurate acquisition of angle information, thereby realizing the fusion of lidar angle and distance measurement. The code disk has 17 teeth, and the tooth spacing angle is 20°, so that one position on the code disk tooth structure is a missing tooth structure with a missing tooth angle of 30°; each code disk tooth is the same in size and shape, and each rotation of a code disk tooth corresponds to a 20° angle change.
2. The integrated lidar reflector base with a code disk tooth structure according to claim 1, characterized in that, The angle detection component of the lidar is a photoelectric encoder.
3. The integrated lidar reflector base with a code disk tooth structure according to claim 1, characterized in that, The reflector adopts an aluminum-coated surface structure with a reflectivity >88%.
4. The integrated laser radar reflector base with a code disk tooth structure according to claim 1, characterized in that, The reflector base body is made of optical-grade PC material in a single injection molding structure.
5. The integrated laser radar reflector base with a code disk tooth structure according to claim 1, characterized in that, The aforementioned integrated reflector base for lidar with a code disk tooth structure is mounted on the scanning mechanism of the lidar.
6. A lidar integrated reflector base with a code disk tooth structure according to claim 5, characterized in that, The scanning mechanism is a brushless DC motor.
7. The integrated laser radar reflector base with a code disk tooth structure according to claim 1, characterized in that, A hollow structure is made between the reflective surface and the bottom surface of the reflector base body.
8. A lidar integrated reflector base with a code disk tooth structure according to claim 1, characterized in that, The angle between the reflective surface and the bottom surface is 45°, with an accuracy control within ±0.1°.
9. A lidar integrated reflector base with a code disk tooth structure according to claim 2, characterized in that, The photoelectric encoder has a U-shaped structure. When the code disk teeth rotate, they pass through the U-shaped structure to achieve angle detection.