Lidar and vehicle

Abstract

The present disclosure provides a laser radar and a vehicle. The laser radar comprises a light communication assembly, a fixed part, a rotating part, a connecting shaft and a light guide structure. The rotating part is rotatably arranged on the fixed part through the connecting shaft. The connecting shaft has a hollow structure. The light communication assembly comprises a light emitter and a light receiver. The light emitter is configured to emit signal light. The light receiver is configured to receive signal light. The light emitter is arranged on any one of the fixed part or the rotating part. The light receiver is arranged on the other one of the fixed part or the rotating part. The light guide structure is arranged inside the connecting shaft, the light emitter is close to one end of the light guide structure, the light receiver is close to the other end of the light guide structure, the signal light propagates along the light guide structure, and the signal light undergoes total reflection at the boundary of the light guide structure. The embodiments of the present disclosure are beneficial to improve the uniformity of the signal light emitted by the light guide structure, make the signal light received by the light receiver more stable, and reduce the difficulty of assembling and adjusting the laser radar.

Description

Technical Field

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

[0002] Some lidar systems have a rotating component that can rotate relative to its base, allowing for a wider detection range. Wireless communication between the rotating component and the base can be achieved by transmitting optical signals within the spindle. However, the intensity of the optical signal in this wireless communication can fluctuate due to factors such as spindle machining errors and assembly errors. Improving the stability of the wireless communication optical signal and ensuring consistent wireless communication quality across multiple lidar units is a key technical challenge that needs to be addressed in this field. Utility Model Content

[0003] To address one or more deficiencies in the prior art, this disclosure provides a lidar, which includes an optical communication component, a fixed part, a rotating part, a connecting shaft, and a light guide structure; wherein, The rotating part is rotatably mounted on the fixed part via the connecting shaft; the connecting shaft has a hollow structure; The optical communication component includes an optical transmitter and an optical receiver; the optical transmitter is configured to transmit signal light; the optical receiver is configured to receive the signal light. The light emitter is disposed on either the fixed part or the rotating part; the light receiver is disposed on the other of the fixed part or the rotating part. The light guide structure is disposed inside the connecting shaft. The light emitter is close to one end of the light guide structure, and the light receiver is close to the other end of the light guide structure. The signal light propagates along the light guide structure, and the signal light undergoes total internal reflection at the boundary of the light guide structure.

[0004] Optionally, the light guide structure is a cylinder, and the axial direction of the light guide structure is parallel to or coincides with the axial direction of the connecting shaft.

[0005] Optionally, an optical film is provided on at least one end face of the light guide structure, and the optical film has a preset transmittance for the signal light.

[0006] Optionally, the inner wall of the connecting shaft has a limiting structure to limit the position of the light guide structure, and the light guide structure and the inner wall of the connecting shaft are fixedly connected.

[0007] Optionally, the light emitter includes a first light emitter and a second light emitter; the light receiver includes a first light receiver and a second light receiver; the first light emitter and the second light receiver are disposed on the fixed part; the second light emitter and the first light receiver are disposed on the rotating part.

[0008] Optionally, the first optical transmitter and the second optical transmitter emit signal light of different wavelengths, and / or the first optical transmitter and the second optical transmitter emit signal light at different times.

[0009] Optionally, the sidewalls of the light guide structure have a roughened structure and / or a reflective film.

[0010] Optionally, this disclosure also includes a lidar, wherein the lidar includes an optical communication component, a fixed part, a rotating part, a connecting shaft, and a light guiding structure; wherein, The rotating part is rotatably mounted on the fixed part via the connecting shaft; the connecting shaft has a hollow structure; The optical communication component includes an optical transmitter and an optical receiver; the optical transmitter is configured to transmit signal light; the optical receiver is configured to receive the signal light. The light emitter is disposed on either the fixed part or the rotating part; the light receiver is disposed on the other of the fixed part or the rotating part. The light guide structure is disposed inside the connecting shaft. The light emitter is close to one end of the light guide structure, and the light receiver is close to the other end of the light guide structure. The light guide structure has a cavity and an extinction structure inside. The signal light propagates along the cavity, and the extinction structure is configured to block part of the signal light.

[0011] Optionally, the light-extinguishing structure protrudes from the inner wall of the light-guiding structure, and the light-extinguishing structure and the inner wall define the cavity.

[0012] Optionally, the light guide structure includes one or more of the extinction structures, and the plurality of extinction structures are distributed continuously or at intervals along the axial direction of the light guide structure.

[0013] Optionally, the inner wall of the connecting shaft has a limiting structure to limit the position of the light guide structure, and the light guide structure and the inner wall of the connecting shaft are fixedly connected.

[0014] Optionally, the light emitter includes a first light emitter and a second light emitter; the light receiver includes a first light receiver and a second light receiver; the first light emitter and the second light receiver are disposed on the fixed part; the second light emitter and the first light receiver are disposed on the rotating part.

[0015] Optionally, the first optical transmitter and the second optical transmitter emit signal light of different wavelengths, and / or the first optical transmitter and the second optical transmitter emit signal light at different times.

[0016] Optionally, this disclosure also includes a vehicle. The vehicle includes the lidar as described above.

[0017] Embodiments of this disclosure provide a lidar system with a light guide structure disposed within a connecting shaft. A light emitter is positioned near one end of the light guide structure. The signal light emitted by the light emitter can propagate along the light guide structure, and after total internal reflection at the boundary of the light guide structure, it is received by a light receiver disposed at the other end of the light guide structure. Total internal reflection at the boundary of the light guide structure improves the consistency of the signal light emitted from the light guide structure, making the signal light received by the light receiver more stable, and also reduces the assembly and adjustment difficulty of the lidar system.

[0018] Embodiments of this disclosure also provide a lidar, in which a light emitter is located near one end of a light guide structure. The signal light emitted by the light emitter can propagate along the light guide structure. Part of the signal light is blocked by an extinction structure within the light guide structure, and the unblocked signal light is received by a light receiver located at the other end of the light guide structure. The extinction structure blocks part of the signal light, controlling the intensity of the signal light received by the light receiver, which helps improve the consistency of the signal light emitted from the light guide structure, making the signal light received by the light receiver more stable, and reducing the difficulty of assembling and adjusting the lidar.

[0019] Embodiments of this disclosure also provide a vehicle that applies the lidar as described in the foregoing embodiments. Attached Figure Description

[0020] 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:

[0021] Figure 1 A schematic diagram of an exemplary lidar structure consistent with some embodiments of this disclosure is shown; Figure 2 A schematic diagram of an exemplary light guide structure and connecting shaft mating consistent with some embodiments of this disclosure is shown; Figure 3 A schematic diagram showing an exemplary first optical transmitter, a second optical transmitter, a first optical receiver, and a second optical receiver cooperating with each other, consistent with some embodiments of this disclosure; Figure 4 A schematic diagram of an exemplary lidar structure consistent with some embodiments of this disclosure is shown; Figures 5A-5CA schematic diagram of an exemplary light guide structure consistent with some embodiments of this disclosure is shown; Figure 6 A schematic diagram of an exemplary light guide structure and connecting shaft mating consistent with some embodiments of this disclosure is shown; Figure 7 A schematic diagram showing an exemplary first optical transmitter, a second optical transmitter, a first optical receiver, and a second optical receiver cooperating with each other, consistent with some embodiments of this disclosure; Figure 8 A schematic diagram of an exemplary vehicle consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0022] Certain exemplary embodiments are described below. As will be appreciated by those skilled in the art, 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] This disclosure provides a lidar system. The lidar system includes an optical communication component, a fixed portion, a rotating portion, a connecting shaft, and a light guide structure. The rotating portion is rotatably mounted on the fixed portion via the connecting shaft. The connecting shaft has a hollow structure. The optical communication component includes an optical transmitter and an optical receiver. The optical transmitter can emit signal light. The optical receiver can receive signal light. The optical transmitter is disposed on either the fixed portion or the rotating portion. The optical receiver is disposed on the other of the fixed portion and the rotating portion. The light guide structure is disposed inside the connecting shaft, with the optical transmitter near one end of the light guide structure and the optical receiver near the other end. The signal light propagates along the light guide structure, and total internal reflection occurs at the boundary of the light guide structure.

[0029] In the embodiments of this disclosure, the rotating part is rotatable relative to the fixed part. The laser in the lidar can be mounted on the rotating part. During the rotation of the rotating part, the laser can emit beams in different directions to scan the environment in which the lidar is located. An optical transmitter is mounted on either the fixed part or the rotating part, and an optical receiver is mounted on the other. For example, the optical transmitter is mounted on the fixed part, and the optical receiver is mounted on the rotating part. Another example is that the optical transmitter is mounted on the rotating part, and the optical receiver is mounted on the fixed part. The optical transmitter and the optical receiver can be arranged opposite each other. The signal light emitted by the optical transmitter can propagate in the hollow structure of the connecting shaft and can be received by the optical receiver, realizing wireless signal communication between the rotating part and the fixed part.

[0030] In embodiments of this disclosure, the light guide structure can be disposed inside the connecting shaft. Signal light propagates along the light guide structure and undergoes total internal reflection at the boundary of the structure, reducing signal light loss during propagation. This stabilizes the intensity of the signal light received by the optical receiver, reduces signal intensity fluctuations caused by the rotation of the rotating part relative to the fixed part, and mitigates the impact of machining errors on the inner wall of the connecting shaft. This lowers the precision requirements for lidar assembly and improves the consistency of wireless communication. The introduction of the light guide structure also reduces the need for high-precision machining of the inner wall of the connecting shaft, improving the consistency of optical communication between different lidar systems and reducing the overall cost of the lidar unit.

[0031] Figure 1 The structure of an exemplary lidar 100 consistent with some embodiments of this disclosure is shown. See also Figure 1 The lidar 100 includes an optical communication component 102, a fixed part 104, a rotating part 106, a connecting shaft 108, and a light guide structure 110.

[0032] The rotating part 106 can rotate relative to the fixed part 104 with the connecting shaft 108 as the rotation axis. In some embodiments, the connecting shaft 108 is fixedly connected to the fixed part 104 or integrally formed, and the rotating part 106 is connected to the connecting shaft 108 through the bearing 112 and rotates relative to the fixed part 104 about the connecting shaft 108.

[0033] In some embodiments, the laser of the lidar 100 is disposed on the rotating part 106, and as the rotating part 106 rotates around the connecting shaft 108, the laser emits beams in different directions. For example, in some embodiments, the rotating part 106 rotates continuously around the connecting shaft 108, and the laser emitted by the laser can be distributed within a 360° circumferential range of the connecting shaft 108.

[0034] The connecting shaft 108 has a hollow structure, and the light guide structure 110 can be disposed inside the hollow structure of the connecting shaft 108. For example, the connecting shaft 108 is approximately cylindrical, and the radial dimension of the light guide structure 110 is smaller than the radial dimension of the hollow structure, allowing the light guide structure 110 to be embedded inside the hollow structure. For example, the axial dimension of the light guide structure 110 can be less than or equal to the axial dimension of the hollow structure. The optical communication assembly 102 includes a light transmitter 122 and a light receiver 124. The light transmitter 122 can emit signal light. The light receiver 124 can receive signal light. The light transmitter 122 can be disposed on either the fixed portion 104 or the rotating portion 106, and the light receiver 124 can be disposed on the other of the fixed portion 104 or the rotating portion 106, enabling communication between the rotating portion 106 and the fixed portion 104.

[0035] See Figure 1 In some embodiments, the light emitter 122 is disposed on the rotating part 106, and the light receiver 124 is disposed on the fixed part 104. In some embodiments, the light emitter 122 may be disposed on the fixed part 104, and the light receiver 124 may be disposed on the rotating part 106.

[0036] See Figure 1 The light emitter 122 is located near one end of the light guide structure 110 (e.g., Figure 1 The upper end of the light emitter 122 has a gap with one end of the light guide structure 110. The light receiver 124 is located near the other end of the light guide structure 110 (e.g., the upper end of the light emitter 122). Figure 1 (Lower end of the structure). The optical receiver 124 has a gap with the other end of the light guide structure 110. The signal light emitted by the optical transmitter 122 can propagate along the light guide structure 110 and be received by the optical receiver 124. The signal light undergoes total internal reflection at the sidewall boundary of the light guide structure 110, propagates along the light guide structure 110, and exits from the end closest to the optical receiver 124, where it is received by the optical receiver 124.

[0037] In some embodiments, the light guide structure 110 may include a transparent cylinder with a uniform refractive index. Signal light is input from one end of the transparent cylinder and propagates along it. Total internal reflection occurs at the boundary of the transparent cylinder. This reduces energy loss of the signal light and ensures reliable signal light propagation. Furthermore, when the light emitter 122 or the light receiver 124 deviates from the central axis of the transparent cylinder, the amount of light entering and exiting the light guide structure 110 remains essentially stable, which helps improve the stability of the signal light received by the light receiver 124, reduces the requirements for assembly precision, and improves assembly efficiency.

[0038] In some embodiments, the light guide structure 110 includes a highly transparent material. For example, the transmittance of the light guide structure 110 may be greater than 85% for the wavelength range in which the light emitter is located, such as 90%, 92%, 95%, etc. In some embodiments, the material of the light guide structure 110 may include one or more of quartz glass, polymethyl methacrylate, polycarbonate, polystyrene, and crystal.

[0039] See Figure 1 In some embodiments, the light emitter 122 is disposed on the rotating part 106, and the light receiver 124 is disposed on the fixed part 104. The light guide structure 110 is spaced apart from the rotating part 106 and remains fixed relative to the fixed part 104. When the rotating part 106 rotates relative to the fixed part 104, the light emitter 122 rotates with the rotating part 106, and the position of the light emitter 122 relative to the light guide structure 110 may change. The signal light in this disclosure is transmitted along the light guide structure 110, and the signal light undergoes total internal reflection at the boundary position of the light guide structure 110, reducing signal light loss and simultaneously stabilizing the intensity of the signal light received by the light receiver 124. In some embodiments, the light emitter is disposed on the fixed part, and the light receiver is disposed on the rotating part, which can be used with... Figure 1 The embodiments shown achieve similar effects, and will not be described in detail here.

[0040] In some embodiments, the light emitter is located near one end face of the light guide structure. For example, the distance between the light emitter and the end face of the light guide structure can be determined based on the divergence angle of the signal light emitted by the light emitter. In some embodiments, the signal light emitted by the light emitter completely illuminates the area of ​​the end face of the light guide structure, reducing signal light loss and stray light generated by reflection of the signal light inside the connecting shaft. Simultaneously, when the light emitter deviates from the preset installation position, the impact on the signal light input to the light guide structure is minimal. In some embodiments, the divergence angle of the signal light emitted by the light emitter is no greater than 120°, for example, 120°, 110°, 100°, 90°, 60°, etc.

[0041] In the embodiments of this disclosure, the signal light input from one end of the light guide structure 110 and the signal light output from the other end of the light guide structure 110 are approximately the same. When the position of the light emitter 122 relative to the rotating part 106 or the fixed part 104, or the position of the light receiver 124 relative to the fixed part 104 or the rotating part 106, deviates from the preset installation position, the impact on the intensity of the signal light received by the light receiver 124 is small. The embodiments of this disclosure are beneficial for reducing the assembly accuracy requirements and assembly difficulty of the lidar 100.

[0042] See Figure 1In some embodiments, the fixing part 104 includes a first circuit board 142, and the rotating part 106 includes a second circuit board 162. Different optoelectronic components in the lidar 100 can be connected to or disposed on the first circuit board 142 or the second circuit board 162. For example, the light emitter 122 can be disposed on either the first circuit board 142 or the second circuit board 162, and the light receiver 124 can be disposed on the other of the first circuit board 142 or the second circuit board 162. In some embodiments, the lidar 100 includes components such as a laser, a detector, a processor, a data transmission circuit, and a power supply circuit. For example, the laser and the detector can be disposed on or connected to the second circuit board 162. For example, the processor can be disposed on at least one of the first circuit board 142 or the second circuit board 162. For example, the data transmission circuit can be disposed on at least one of the first circuit board 142 or the second circuit board 162. For example, the power supply circuit can be disposed on the first circuit board 142. In some embodiments, the first circuit board 142 and the second circuit board 162 can be disposed parallel to each other. In some embodiments, the lidar 100 is mounted on a vehicle, the fixing part 104 can be fixedly connected to the vehicle, and the first circuit board 142 can communicate with the lidar 100 externally via a cable.

[0043] In some embodiments, the light emitter 122 can be connected to the second circuit board 162, and the light receiver 124 can be connected to the first circuit board 142. The connecting shaft 108 has a hollow structure, for example, the connecting shaft 108 is generally cylindrical. The rotating part 106 includes a notch, the position of which corresponds to the position of the connecting shaft 108, and the light emitter 122 is located at the notch. In some embodiments, the connecting shaft 108 can be integrally formed with the fixing part 104, and the sidewall of the connecting shaft 108 can be provided with a through groove (not shown in the figure), the through groove can be parallel to the axial direction of the connecting shaft 108, and the through groove extends into the hollow structure inside the connecting shaft 108. In some embodiments, a portion of the structure of the first circuit board 142 can be located within the hollow structure of the connecting shaft 108, and the light receiver 124 is connected to the portion of the first circuit board 142 located within the hollow structure of the connecting shaft 108. The through groove facilitates the installation of the first circuit board 142.

[0044] See Figure 1 In some embodiments, the light guide structure 110 is generally cylindrical in shape, and the axial direction of the light guide structure 110 is ( Figure 1 The vertical direction shown) and the axial direction of the connecting shaft 108 ( Figure 1 The vertical directions shown are basically parallel or basically coincident. This makes the amount of light entering and exiting the light guide structure 110 roughly stable, improving the stability and consistency of the signal light.

[0045] In some embodiments, an optical film is disposed on at least one end face of the light guide structure. The optical film has a preset transmittance for signal light. In some embodiments, the optical film may include magnesium fluoride, silicon dioxide, aluminum oxide, etc. The transmittance of the optical film can be determined according to the wavelength range of the signal light, the output power of the light emitter, and the intensity range of the light receiver. In some embodiments, the optical film can improve the transmittance of the signal light and reduce the reflection of the signal light at the end face of the light guide structure, which is beneficial to improving the intensity of the signal light received by the light receiver. In some embodiments, the optical film can control the intensity of the signal light received by the light receiver by setting a preset transmittance for the signal light according to the wavelength range of the signal light. In some embodiments, the transmittance of the optical film for signal light is any fixed value within the range of 1%-98%. For example, the transmittance can be 10%, 20%, 50%, 60%, 70%, 80%, 90%, 95%, etc.

[0046] In some embodiments, the sidewalls of the light guide structure have a roughened structure and / or a reflective film. This can enhance total internal reflection of the signal light at the sidewall locations of the light guide structure. In some embodiments, the sidewalls of the light guide structure can be pre-treated, such as by roughening, brushing, frosting, or texturing, or by nanoimprinting to form a roughened structure, which can enhance total internal reflection of the signal light at the sidewall locations of the light guide structure. In some embodiments, the roughened structure includes, for example, recesses or protrusions with dimensions no larger than 0.3 mm * 0.3 mm.

[0047] In some embodiments, a reflective film can be provided at the sidewall of the light guide structure. After the signal light emitted from the side of the light guide structure is reflected by the reflective film, it is re-input into the light guide structure, which helps to enhance the total internal reflection of the signal light at the sidewall of the light guide structure, reduce signal light loss, and reduce the risk of signal light instability.

[0048] Figure 2 A schematic diagram of the interaction between an exemplary connecting shaft 208 and a light guide structure 210, consistent with some embodiments of this disclosure, is shown. Figure 2 The connecting shaft 208 shown is the same as or similar to the connecting shaft 108 in the previous embodiment; the light guide structure 210 is the same as or similar to the light guide structure 110 in the previous embodiment.

[0049] See Figure 2 The inner wall of the connecting shaft 208 has a limiting structure 282. The limiting structure 282 can define the position of the light guide structure 210. In some embodiments, the limiting structure 282 may include a stepped structure, which can abut against one end face of the light guide structure 210, support the light guide structure 210, and position the light guide structure 210.

[0050] In some embodiments, the inner sidewall of the limiting structure 282 is abutted against the sidewall of the light guide structure 210. The dimension of the inner wall of the limiting structure 282 is equal to or slightly larger than the radial dimension of the light guide structure 210. For example, the limiting structure 282 can restrict the light guide structure 210 in the axial direction perpendicular to the connecting shaft 208. Figure 2 The position of the light guide structure 210 in the plane (shown in the vertical direction) is limited. For example, the limiting structure 282 can make the axial direction of the light guide structure 210 coincide with the axial direction of the connecting shaft 208. For example, the limiting structure 282 can limit the position of the light guide structure 210 along the axial direction of the connecting shaft 208, for example, by creating a preset gap between the light guide structure 210 and the fixing part. For example, there can be one or more limiting structures 282. For example, the limiting structures 282 can be located at both ends of the light guide structure 210 to provide more stable positioning of the light guide structure 210.

[0051] In some embodiments, the light guide structure 210 and the inner wall of the connecting shaft 208 are fixedly connected. For example, there is a gap between the inner wall of the light guide structure 210 and the connecting shaft 208. After the light guide structure 210 is positioned, glue can be injected into the gap between the inner wall of the light guide structure 210 and the connecting shaft 208 to fix the light guide structure 210 and the connecting shaft 208.

[0052] In some embodiments, the optical transmitter includes a first optical transmitter and a second optical transmitter. The optical receiver includes a first optical receiver and a second optical receiver. The first optical transmitter is disposed on a fixed part, and the first optical receiver is disposed on a rotating part. The signal light emitted by the first optical transmitter can be received by the first optical receiver, realizing signal transmission from the fixed part to the rotating part. The second optical transmitter is disposed on the rotating part, and the second optical receiver is disposed on the fixed part. The signal light emitted by the second optical transmitter can be received by the second optical receiver, realizing signal transmission from the rotating part to the fixed part.

[0053] In some embodiments, the first optical transmitter and the second optical transmitter can emit signal light of different wavelengths, and the first optical receiver and the second optical receiver can receive signal light of corresponding wavelengths, which helps to reduce signal interference. In some embodiments, the first optical transmitter and the second optical transmitter can emit signal light at different times, which helps to reduce signal interference.

[0054] Figure 3 A schematic diagram of an exemplary first optical transmitter 322-1, a second optical transmitter 322-2, a first optical receiver 324-1, and a second optical receiver 324-2 consistent with some embodiments of the present disclosure is shown. Figure 3The light guide structure 310 in this embodiment is the same as or similar to the light guide structure 110 or light guide structure 210 in the foregoing embodiments.

[0055] See Figure 3 The first light emitter 322-1 and the second light receiver 324-2 are located near one end of the light guide structure 310 (e.g., Figure 3 (As shown in the lower end), in some embodiments, the first light emitter 322-1 and the second light receiver 324-2 are disposed on the fixing part. The second light emitter 322-2 and the first light receiver 324-1 are located near the other end of the light guide structure 310 (e.g., the lower end). Figure 3 (as shown at the upper end), in some embodiments, the first light emitter 322-1 and the second light receiver 324-2 are disposed on the rotating part.

[0056] In some embodiments, the first light emitter 322-1 and the second light receiver 324-2 can be located in a direction perpendicular to the axial direction of the light guide structure 310. Figure 3 The first light emitter 322-1 and the first light receiver 324-1 are arranged side by side (in the horizontal direction shown). When the rotating part rotates relative to the fixed part, the positions of the first light emitter 322-1 and the first light receiver 324-1 are misaligned. The signal light emitted by the first light emitter 322-1 propagates along the light guide structure 310 and undergoes total internal reflection at the boundary position of the light guide structure 310. The amount of light emitted by the light guide structure 310 remains approximately constant, and the intensity of the signal light received by the first light receiver 324-1 is stable. The second light emitter 322-2 and the second light receiver 324-2 are similar to the first light emitter 322-1 and the first light receiver 324-1, and will not be described again.

[0057] In some embodiments, the first light emitter may be located close to the axial direction of the light guide structure, and the second light receiver may be arranged circumferentially around the first light emitter. Alternatively, in some embodiments, the second light receiver may be located close to the axial direction of the light guide structure, and the first light emitter may be arranged circumferentially around the second light receiver. The second light emitter and the first light receiver are similar to those of the first light emitter and the second light receiver, and will not be described again. The first light emitter and the second light receiver are coaxially arranged, which can reduce the fluctuation of the signal light received by the first light receiver and the second light receiver when the rotating part rotates relative to the fixed part.

[0058] Embodiments of this disclosure include a lidar. The lidar includes an optical communication component, a fixed part, a rotating part, a connecting shaft, and a light guide structure. The rotating part is rotatably mounted on the fixed part via the connecting shaft. The connecting shaft has a hollow structure. The optical communication component includes an optical transmitter and an optical receiver. The optical transmitter can emit signal light. The optical receiver can receive signal light. The optical transmitter is disposed on either the fixed part or the rotating part. The optical receiver is disposed on the other of the fixed part or the rotating part. The light guide structure is disposed inside the connecting shaft. The optical transmitter is located near one end of the light guide structure, and the optical receiver is located near the other end of the light guide structure. The light guide structure has a cavity and an extinction structure inside, the signal light propagates along the cavity, and the extinction structure is configured to block part of the signal light.

[0059] In the embodiments of this disclosure, the rotating part is rotatable relative to the fixed part. The laser in the lidar can be mounted on the rotating part. During the rotation of the rotating part, the laser can emit beams in different directions to scan the environment in which the lidar is located. An optical transmitter is mounted on either the fixed part or the rotating part, and an optical receiver is mounted on the other. For example, the optical transmitter is mounted on the fixed part, and the optical receiver is mounted on the rotating part. Another example is that the optical transmitter is mounted on the rotating part, and the optical receiver is mounted on the fixed part. The optical transmitter and the optical receiver can be arranged opposite each other. The signal light emitted by the optical transmitter can propagate in the hollow structure of the connecting shaft and can be received by the optical receiver, realizing wireless signal communication between the rotating part and the fixed part.

[0060] In embodiments of this disclosure, the light guide structure can be disposed inside the connecting shaft. The light guide structure has a cavity along which signal light can propagate. The light guide structure also includes an extinction structure that can block part of the signal light. The extinction structure limits the intensity of the signal light emitted from the light guide structure, keeping the intensity of the signal light received by the optical receiver within a certain range. This reduces signal intensity fluctuations caused by the rotation of the rotating part relative to the fixed part, as well as the impact of machining errors on the inner wall of the connecting shaft. This reduces the requirements for the assembly precision of the lidar and improves the consistency of wireless communication. The introduction of the light guide structure also reduces the need for high-precision machining of the inner wall of the connecting shaft, improves the consistency of optical communication between different lidars, and reduces the overall cost of the lidar system.

[0061] Figure 4 The structure of an exemplary lidar 400 consistent with some embodiments of this disclosure is shown. See also Figure 4 The lidar 400 includes an optical communication component 402, a fixed part 404, a rotating part 406, a connecting shaft 408, and a light guide structure 410.

[0062] The rotating part 406 can rotate relative to the fixed part 404 with the connecting shaft 408 as the rotation axis. In some embodiments, the connecting shaft 408 is fixedly connected to the fixed part 404 or integrally formed, and the rotating part 406 is connected to the connecting shaft 408 through the bearing 412 and rotates relative to the fixed part 404 about the connecting shaft 408.

[0063] In some embodiments, the laser of the lidar 400 is mounted on the rotating part 406, and as the rotating part 406 rotates around the connecting shaft 408, the laser emits beams in different directions. For example, in some embodiments, the rotating part 406 rotates continuously around the connecting shaft 408, and the laser emitted by the laser can be distributed within a 360° circumferential range of the connecting shaft 408.

[0064] The connecting shaft 408 has a hollow structure, and the light guide structure 410 can be disposed inside the hollow structure of the connecting shaft 408. For example, the connecting shaft 408 is approximately cylindrical, and the radial dimension of the light guide structure 410 is smaller than the radial dimension of the hollow structure, so the light guide structure 410 can be embedded inside the hollow structure. For example, the axial dimension of the light guide structure 410 can be less than or equal to the axial dimension of the hollow structure.

[0065] The optical communication component 402 includes an optical transmitter 422 and an optical receiver 424. The optical transmitter 422 emits signal light. The optical receiver 424 receives signal light. The optical transmitter 422 can be mounted on either the fixed part 404 or the rotating part 406, and the optical receiver 424 can be mounted on the other of the fixed part 404 or the rotating part 406. The optical transmitter 422 and the optical receiver 424 enable communication between the rotating part 406 and the fixed part 404.

[0066] See Figure 4 In some embodiments, the light emitter 422 is disposed on the rotating part 406, and the light receiver 424 is disposed on the fixed part 404. In some embodiments, the light emitter 422 may be disposed on the fixed part 404, and the light receiver 424 may be disposed on the rotating part 406.

[0067] See Figure 4 The light emitter 422 is located near one end of the light guide structure 410 (e.g., Figure 4 The upper end of the light emitter 422 has a gap with one end of the light guide structure 410. The light receiver 424 is located near the other end of the light guide structure 410 (e.g., the upper end of the light emitter 422). Figure 4(Lower end of the structure). A gap exists between the light receiver 424 and the other end of the light guide structure 410. The signal light emitted by the light emitter 422 can propagate along the light guide structure 410 and be received by the light receiver 424. The light guide structure 410 includes a cavity 432 and an extinction structure 434. The signal light can propagate within the cavity 432, and the extinction structure 434 can block part of the signal light. For example, the extinction structure 434 may bulge or recess relative to the cavity 432, absorbing the signal light incident at the location of the extinction structure 434, or changing the reflection direction of the signal light incident at the location of the extinction structure 434.

[0068] See Figure 4 In some embodiments, the light emitter 422 is disposed on the rotating part 406, and the light receiver 424 is disposed on the fixed part 404. The light guide structure 410 is spaced apart from the rotating part 406 and remains fixed relative to the fixed part 404. The signal light emitted by the light emitter 422 has a preset divergence angle, and part of the signal light irradiates the extinction structure 434 inside the light guide structure 410, whereby the signal light is absorbed or its reflection direction is changed. By providing the extinction structure 234, the light receiver 424 can receive the signal light that passes directly through the cavity 232 of the light guide structure 410, as well as the signal light that has been reflected once or multiple times at a preset position on the inner wall of the cavity 232 of the light guide structure 410. The amount of light entering and exiting the light guide structure 410 can also remain approximately stable, which is beneficial to improving the stability and consistency of the signal light received by the light receiver 424, reducing the requirements for assembly precision, and improving assembly efficiency.

[0069] In some embodiments, the light transmitter is mounted on the fixed part, and the light receiver is mounted on the rotating part, which can be coupled with... Figure 4 The embodiments shown achieve similar effects, and will not be described in detail here.

[0070] In some embodiments, the light emitter is located near one end of the light guide structure, and the light receiver is located near the other end of the light guide structure. In some embodiments, the light emitter has a preset divergence angle, and the distance between the light emitter and one end of the light guide structure can be determined based on the divergence angle of the signal light emitted by the light emitter. In some embodiments, the signal light emitted by the light emitter completely illuminates the area within the opening of the end face of the light guide structure (the inner diameter at the opening position of the light guide structure), reducing the signal light illuminating outside the light guide structure and reducing stray light generated by the reflection of the signal light inside the connecting shaft. Simultaneously, when the light emitter deviates from the preset installation position, the impact on the signal light input to the light guide structure is minimal. In some embodiments, the divergence angle of the signal light emitted by the light emitter is no greater than 120°, for example, 120°, 110°, 100°, 90°, 60°, etc.

[0071] In the embodiments of this disclosure, the light-extinguishing structure 434 can block signal light irradiating within its range, allowing the light receiver 424 to receive signal light that passes directly through the cavity 232 of the light guide structure 410 without reflection, as well as signal light that has been reflected once or multiple times at a preset position on the inner wall of the cavity 232 of the light guide structure 410. When the position of the light emitter 422 relative to the rotating part 406 or the fixed part 404, or the position of the light receiver 424 relative to the fixed part 404 or the rotating part 406, deviates from the preset installation position, the light-extinguishing structure 434 can reduce the fluctuation range of the signal light intensity received by the light receiver 424, which is beneficial to improving the stability and consistency of the signal light received by the light receiver 424. The embodiments of this disclosure are beneficial to reducing the assembly accuracy requirements and assembly difficulty of the lidar 400.

[0072] See Figure 4 In some embodiments, the fixing part 404 includes a first circuit board 442, and the rotating part 406 includes a second circuit board 462. Different optoelectronic components in the lidar 400 can be connected to or disposed on the first circuit board 442 or the second circuit board 462. For example, the light emitter 422 can be disposed on either the first circuit board 442 or the second circuit board 462, and the light receiver 424 can be disposed on the other of the first circuit board 442 or the second circuit board 462. In some embodiments, the lidar 400 includes components such as a laser, a detector, a processor, a data transmission circuit, and a power supply circuit. For example, the laser and the detector can be disposed on or connected to the second circuit board 462. For example, the processor can be disposed on at least one of the first circuit board 442 or the second circuit board 462. For example, the data transmission circuit can be disposed on at least one of the first circuit board 442 or the second circuit board 462. For example, the power supply circuit can be disposed on the first circuit board 442. In some embodiments, the first circuit board 442 and the second circuit board 462 can be disposed parallel to each other. In some embodiments, the lidar 400 is mounted on a vehicle, the fixing part 404 can be fixedly connected to the vehicle, and the first circuit board 442 can communicate with the lidar 400 externally via a cable.

[0073] In some embodiments, the light emitter 422 can be connected to the second circuit board 462, and the light receiver 424 can be connected to the first circuit board 442. The connecting shaft 408 has a hollow structure, for example, the connecting shaft 408 is generally cylindrical. The rotating part 406 includes a notch, the position of which corresponds to the position of the connecting shaft 408, and the light emitter 422 is located at the notch. In some embodiments, the connecting shaft 408 can be integrally formed with the fixing part 404, and the sidewall of the connecting shaft 408 can be provided with a through groove (not shown in the figure), the through groove can be parallel to the axial direction of the connecting shaft 408, and the through groove extends into the hollow structure inside the connecting shaft 408. In some embodiments, a portion of the structure of the first circuit board 442 can be located within the hollow structure of the connecting shaft 408, and the light receiver 424 is connected to the portion of the first circuit board 442 located within the hollow structure of the connecting shaft 408. The through groove facilitates the installation of the first circuit board 442.

[0074] In some embodiments, the light-extinguishing structure protrudes from the inner wall of the light-guiding structure, and the light-extinguishing structure and the inner wall define a cavity. For example Figure 4 As shown, in some embodiments, the light guide structure 410 includes, for example, a hollow, generally cylindrical tube with a raised structure on the inner wall of the cylindrical tube forming an extinction structure 434. The extinction structure 434 and the inner wall of the cylindrical tube together define the area of ​​the cavity 432. Signal light is input from one end of the cylindrical tube and propagates along the cavity 432. Signal light illuminating the extinction structure 434 is absorbed by the extinction structure or its reflection direction is changed, so that part of the signal light will not be incident on the light receiver 424.

[0075] In some embodiments, the outer wall of the light guide structure can be a flat plane or a curved surface. For example... Figure 4 As shown, the outer wall of the light guide structure 410 is a smooth cylindrical surface. In some embodiments, the light guide structure may be approximately prismatic in shape, and the outer wall of the light guide structure may be a flat plane. In some embodiments, the position on the outer wall of the light guide structure corresponding to the extinction structure may match the shape of the extinction structure. For example, the position on the outer wall of the light guide structure corresponding to the extinction structure is recessed inward, and the thickness of the sidewalls of the light guide structure is approximately equal at different positions.

[0076] In some embodiments, the surface of the matte structure may be blackened to absorb signal light illuminating the location of the matte structure. For example, the surface of the matte structure may be roughened, or a paint or film may be applied to the surface of the matte structure to reduce its reflectivity.

[0077] In some embodiments, the extinction structures are uniformly distributed on the inner wall of the light guide structure in a plane perpendicular to the axial direction of the light guide structure. For example, in some embodiments, the extinction structures are approximately circular with the central axis of the light guide structure as the center, and are uniformly distributed on the inner wall of the light guide structure in a plane perpendicular to the axial direction of the light guide structure. When the rotating part rotates relative to the fixed part, the position of the extinction structures relative to the rotation axis remains stable, which helps to keep the light output of the light guide structure approximately stable and improves the stability and consistency of the signal light.

[0078] See Figure 4 In some embodiments, the surface of the light-absorbing structure 434 is aligned with the axial direction of the light-guiding structure 410. Figure 4 The light emitter 422 has a tilt angle (vertical direction). In some embodiments, the optical axis of the light emitter 422 is approximately parallel to or coincides with the axial direction of the light guide structure 410, and the surface of the light-extinguishing structure 434 is tilted relative to the axial direction of the light guide structure 410. This can prevent signal light from incident on the surface of the light-extinguishing structure 434 at a large angle, thus maintaining the blocking and absorption effect of the light-extinguishing structure 434 on the signal light. In some embodiments, for example... Figure 4 As shown, the light-extinguishing structure 434 includes a sharp corner shape protruding from the inner wall of the light-guiding structure 410, or the light-extinguishing structure 343 includes a wavy, semi-circular, or irregular curved surface protruding from the inner wall of the light-guiding structure 410.

[0079] In some embodiments, the light guide structure includes one or more extinction structures. In embodiments where the light guide structure includes multiple extinction structures, the multiple extinction structures are continuously distributed or spaced apart along the axial direction of the light guide structure. For example, in Figure 4 In the illustrated embodiment, the light guide structure 410 includes two light-extinguishing structures 434, which are positioned along the axial direction of the light guide structure 410. Figure 4 The distribution is spaced out in the vertical direction.

[0080] Figure 5A The structure of an exemplary light guide structure 510 consistent with some embodiments of this disclosure is shown. Figure 5A The light guide structure 510 shown includes a plurality of extinction structures 534 continuously distributed along the axial direction of the light guide structure 510. Figure 5B The structure of an exemplary light guide structure 510 consistent with some embodiments of this disclosure is shown. Figure 5B The light guide structure 510 shown includes an extinction structure 534. Figure 5C The structure of an exemplary light guide structure 510 consistent with some embodiments of this disclosure is shown. Figure 5C The light guide structure 510 shown includes two extinction structures 534 spaced apart along the axial direction of the light guide structure 510. Figures 5A-5CThe light guide structure 510 in this embodiment is the same as or similar to the light guide structure 410 in the previous embodiment; the light emitter 522 is the same as or similar to the light emitter 422 in the previous embodiment; the light receiver 524 is the same as or similar to the light receiver 424 in the previous embodiment; the cavity 532 is the same as or similar to the cavity 432 in the previous embodiment; and the extinction structure 534 is the same as or similar to the extinction structure 434 in the previous embodiment.

[0081] In some embodiments, the extinction structure 534 can limit the angular range of signal light that passes directly through the internal cavity 532 of the light guide structure 510. Signal light exceeding this angular range will illuminate the extinction structure 534 and be blocked by it, thus failing to illuminate the light receiver 524. The extinction structure 534 can reduce the influence of the inner wall of the cavity 532 on the signal light, reduce the manufacturing difficulty of the light guide structure 510, and improve the consistency of optical communication between different lidars.

[0082] See Figure 5A In some embodiments, the light guide structure 510 includes a plurality of light-extinguishing structures 534. The plurality of light-extinguishing structures 534 are continuously distributed along the axial direction of the light guide structure 510. Figure 5A In the illustrated embodiment, the signal light emitted by the light emitter 522 that illuminates the inner wall of the light guide structure 510 is blocked and absorbed by the light extinction structure 534. The signal light that passes directly through the cavity 532 (signal light within a small emission angle range) is received by the light receiver 524. This avoids the influence of the sidewall of the light guide structure 510 on the signal light transmission, ensures the stability of the signal light intensity received by the light receiver 542, and guarantees the consistency of optical communication among multiple lidar units.

[0083] See Figure 5B In some embodiments, the light guide structure 510 includes a light-extinguishing structure 534. The light-extinguishing structure 534 may be located in the middle of the light guide structure 510, or near the light emitter 522, or near the light receiver 524. Figure 5B In the illustrated embodiment, a portion of the signal light emitted by the light emitter 522 can pass directly through the cavity 532 (signal light within a small emission angle range) and be received by the light receiver 524. A portion of the signal light directly illuminates the extinction structure 534, or is reflected once or multiple times by the inner wall of the light guide structure 510 before illuminating the extinction structure 534 and being blocked and absorbed by it. A portion of the signal light illuminates the inner wall of the light guide structure 510 and, after one or more reflections, is received by the light receiver 524.

[0084] See Figure 5CIn some embodiments, the light guide structure 510 includes two extinction structures 534. The two extinction structures 534 are spaced apart along the axial direction of the light guide structure 510. In some embodiments, the positions of the two extinction structures 534 can be symmetrically arranged relative to the centerline of the light guide structure 510 in a direction perpendicular to the axial direction. Of the signal light emitted by the light emitter 522, a portion of the signal light can pass directly through the cavity 532 (signal light within a small emission angle range) and be received by the light receiver 524. A portion of the signal light directly illuminates either of the two extinction structures 534, or is reflected once or multiple times by the inner wall of the light guide structure 510 and then illuminates either of the two extinction structures 534, where it is blocked and absorbed. A portion of the signal light illuminates the inner wall of the light guide structure 510 and, after one or more reflections, is received by the light receiver 524. Figure 5C In the embodiment shown, the signal light emitted by the light emitter 522 partially illuminates the inner wall of the light guide structure 510 between the two extinction structures 534. The downstream extinction structure 534 can block and absorb the signal light with a large incident angle, which is beneficial to improving the stability of the signal light intensity received by the light receiver 524.

[0085] In some embodiments, the shape, number, and position of the extinction structure 534 in the axial direction of the light guide structure 510 can be determined based on the optical power of the light emitter 522 and the range of signal light intensity that the light receiver 524 can receive.

[0086] Figure 6 A schematic diagram of the interaction between an exemplary connecting shaft 508 and a light guide structure 610 consistent with some embodiments of this disclosure is shown. Figure 6 The connecting shaft 608 shown is the same as or similar to the connecting shaft 408 in the previous embodiment; the light guide structure 610 is the same as or similar to the light guide structure 410 or light guide structure 510 in the previous embodiment.

[0087] See Figure 6 The inner wall of the connecting shaft 608 has a limiting structure 682. The limiting structure 682 can limit the position of the light guide structure 610. In some embodiments, the limiting structure 682 may include a stepped structure, which can abut against one end of the light guide structure 610, support the light guide structure 610, and position the light guide structure 610.

[0088] In some embodiments, the inner sidewall of the limiting structure 682 is abutted against the sidewall of the light guide structure 610. The dimension of the inner wall of the limiting structure 682 is equal to or slightly larger than the radial dimension of the light guide structure 610. For example, the limiting structure 682 can limit the light guide structure 610 in the axial direction perpendicular to the connecting shaft 608. Figure 6The light guide structure 610 is positioned within a plane (shown in the vertical direction). For example, the limiting structure 682 can make the axial direction of the light guide structure 610 coincide with the axial direction of the connecting shaft 608. For instance, the limiting structure 682 can limit the position of the light guide structure 610 along the axial direction of the connecting shaft 608, for example, by creating a preset gap between the light guide structure 610 and the fixing part. For instance, there can be one or more limiting structures 682. For example, the limiting structures 682 can be located at both ends of the light guide structure 610 to provide more stable positioning of the light guide structure 610.

[0089] In some embodiments, the light guide structure 610 and the inner wall of the connecting shaft 608 are fixedly connected. For example, there is a gap between the inner walls of the light guide structure 610 and the connecting shaft 608. After positioning the light guide structure 610, adhesive can be injected into the gap between the inner walls of the light guide structure 610 and the connecting shaft 608 to fix the light guide structure 610 and the connecting shaft 608. Alternatively, in some embodiments, the outer wall of the light guide structure 610 and the inner surface of the connecting shaft 608 are welded together.

[0090] In some embodiments, the optical transmitter includes a first optical transmitter and a second optical transmitter. The optical receiver includes a first optical receiver and a second optical receiver. The first optical transmitter is disposed on a fixed part, and the first optical receiver is disposed on a rotating part. The signal light emitted by the first optical transmitter can be received by the first optical receiver, realizing signal transmission from the fixed part to the rotating part. The second optical transmitter is disposed on the rotating part, and the second optical receiver is disposed on the fixed part. The signal light emitted by the second optical transmitter can be received by the second optical receiver, realizing signal transmission from the rotating part to the fixed part.

[0091] In some embodiments, the first optical transmitter and the second optical transmitter can emit signal light of different wavelengths, and the first optical receiver and the second optical receiver can receive signal light of corresponding wavelengths, which helps to reduce signal interference. In some embodiments, the first optical transmitter and the second optical transmitter can emit signal light at different times, which helps to reduce signal interference.

[0092] Figure 7 A schematic diagram of an exemplary first optical transmitter 722-1, a second optical transmitter 722-2, a first optical receiver 724-1, and a second optical receiver 724-2 consistent with some embodiments of the present disclosure is shown. Figure 7 The light guide structure 710 in this embodiment is the same as or similar to the light guide structure 410, light guide structure 510 or light guide structure 610 in the foregoing embodiments.

[0093] See Figure 7The first light emitter 722-1 and the second light receiver 724-2 are located near one end of the light guide structure 710 (e.g., Figure 7 (As shown in the lower end), in some embodiments, the first light emitter 722-1 and the second light receiver 724-2 are disposed on the fixing part. The second light emitter 722-2 and the first light receiver 724-1 are located near the other end of the light guide structure 710 (e.g., the lower end). Figure 7 (as shown at the upper end), in some embodiments, the first light emitter 722-1 and the second light receiver 724-2 are disposed on the rotating part.

[0094] In some embodiments, the first light emitter 722-1 and the second light receiver 724-2 can be located in a direction perpendicular to the axial direction of the light guide structure 710. Figure 7 The first light emitter 722-1 and the first light receiver 724-1 are arranged side by side (in the horizontal direction shown). When the rotating part rotates relative to the fixed part, the positions of the first light emitter 722-1 and the first light receiver 724-1 are misaligned. The signal light emitted by the first light emitter 722-1 propagates along the light guide structure 710 and undergoes total internal reflection at the boundary of the light guide structure 710. The amount of light emitted by the light guide structure 710 remains approximately constant, and the intensity of the signal light received by the first light receiver 724-1 is stable. The second light emitter 722-2 and the second light receiver 724-2 are similar to the first light emitter 722-1 and the first light receiver 724-1, and will not be described again.

[0095] In some embodiments, the first light emitter may be located close to the axial direction of the light guide structure, and the second light receiver may be arranged circumferentially around the first light emitter. Alternatively, in some embodiments, the second light receiver may be located close to the axial direction of the light guide structure, and the first light emitter may be arranged circumferentially around the second light receiver. The second light emitter and the first light receiver are similar to those of the first light emitter and the second light receiver, and will not be described again. The first light emitter and the second light receiver are coaxially arranged, which can reduce the fluctuation of the signal light received by the first light receiver and the second light receiver when the rotating part rotates relative to the fixed part.

[0096] Embodiments of this disclosure also include a vehicle. The vehicle includes a lidar as described in the foregoing embodiments. Figure 8 The structure of an exemplary vehicle 800 consistent with embodiments of this disclosure is shown; see [link to relevant documentation]. Figure 8 The vehicle 800 is, for example, a vehicle. The vehicle 800 includes a lidar 810. The lidar 810 has the same or similar structure as, for example, the lidar 100 or lidar 400 in the foregoing embodiments.

[0097] 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, The lidar includes an optical communication component, a fixed part, a rotating part, a connecting shaft, and a light guide structure; wherein... The rotating part is rotatably mounted on the fixed part via the connecting shaft; the connecting shaft has a hollow structure; The optical communication component includes an optical transmitter and an optical receiver; the optical transmitter is configured to transmit signal light; the optical receiver is configured to receive the signal light. The light emitter is disposed on either the fixed part or the rotating part; the light receiver is disposed on the other of the fixed part or the rotating part. The light guide structure is disposed inside the connecting shaft. The light emitter is close to one end of the light guide structure, and the light receiver is close to the other end of the light guide structure. The signal light propagates along the light guide structure, and the signal light undergoes total internal reflection at the boundary of the light guide structure.

2. The lidar according to claim 1, characterized in that, The light guide structure is a cylinder, and the axial direction of the light guide structure is parallel to or coincides with the axial direction of the connecting shaft.

3. The lidar according to claim 1, characterized in that, An optical film is provided on at least one end face of the light guide structure, and the optical film has a preset transmittance for the signal light.

4. The lidar according to any one of claims 1-3, characterized in that, The inner wall of the connecting shaft has a limiting structure to limit the position of the light guide structure, and the light guide structure and the inner wall of the connecting shaft are fixedly connected.

5. The lidar according to any one of claims 1-3, characterized in that, The light emitter includes a first light emitter and a second light emitter; the light receiver includes a first light receiver and a second light receiver; the first light emitter and the second light receiver are disposed on the fixed part; the second light emitter and the first light receiver are disposed on the rotating part.

6. The lidar according to claim 5, characterized in that, The first optical transmitter and the second optical transmitter emit signal light of different wavelengths, and / or the first optical transmitter and the second optical transmitter emit signal light at different times.

7. The lidar according to any one of claims 1-3, characterized in that, The sidewalls of the light guide structure have a rough structure and / or a reflective film.

8. A lidar, characterized in that, The lidar includes an optical communication component, a fixed part, a rotating part, a connecting shaft, and a light guide structure; wherein... The rotating part is rotatably mounted on the fixed part via the connecting shaft; the connecting shaft has a hollow structure; The optical communication component includes an optical transmitter and an optical receiver; the optical transmitter is configured to transmit signal light; the optical receiver is configured to receive the signal light. The light emitter is disposed on either the fixed part or the rotating part; the light receiver is disposed on the other of the fixed part or the rotating part. The light guide structure is disposed inside the connecting shaft. The light emitter is close to one end of the light guide structure, and the light receiver is close to the other end of the light guide structure. The light guide structure has a cavity and an extinction structure inside. The signal light propagates along the cavity, and the extinction structure is configured to block part of the signal light.

9. The lidar according to claim 8, characterized in that, The light-extinguishing structure protrudes from the inner wall of the light-guiding structure, and the light-extinguishing structure and the inner wall define the cavity.

10. The lidar according to claim 9, characterized in that, The light guide structure includes one or more of the light-extinguishing structures, and the multiple light-extinguishing structures are distributed continuously or at intervals along the axial direction of the light guide structure.

11. The lidar according to claim 9 or 10, characterized in that, The inner wall of the connecting shaft has a limiting structure to limit the position of the light guide structure, and the light guide structure and the inner wall of the connecting shaft are fixedly connected.

12. The lidar according to any one of claims 8-10, characterized in that, The light emitter includes a first light emitter and a second light emitter; the light receiver includes a first light receiver and a second light receiver; the first light emitter and the second light receiver are disposed on the fixed part; the second light emitter and the first light receiver are disposed on the rotating part.

13. The lidar according to claim 12, characterized in that, The first optical transmitter and the second optical transmitter emit signal light of different wavelengths, and / or the first optical transmitter and the second optical transmitter emit signal light at different times.

14. A vehicle, characterized in that, Including the lidar as described in any one of claims 1-13.

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