Lidar and assembly method therefor, lidar electric motor, mobile platform, and vehicle

Abstract

A LiDAR and an assembly method therefor, a LiDAR electric motor, a mobile platform, and a vehicle. The LiDAR (4000) comprises a housing assembly (100), a main circuit board (400), an opto-mechanical assembly (200), and a scanning mirror assembly (300), wherein the housing assembly (100) comprises a bottom wall (111); the main circuit board (400) is arranged on the bottom wall (111) and extends in a first direction (X); the opto-mechanical assembly (200) is mounted on the bottom wall (111), and the opto-mechanical assembly (200) is electrically connected to the main circuit board (400); the scanning mirror assembly (300) is mounted on the bottom wall (111), and the scanning mirror assembly (300) is connected to the main circuit board (400); and the opto-mechanical assembly (200) and the scanning mirror assembly (300) are located on the same side of the main circuit board (400) and are arranged in the first direction (X).

Description

LiDAR and its assembly method, LiDAR motor, mobile platform and vehicle

[0001] This application claims priority to Chinese patent application No. 202411551289.6, filed on October 31, 2024; Chinese patent application No. 202411549510.4, filed on October 31, 2024; Chinese patent application No. 202411550319.1, filed on October 31, 2024; Chinese patent application No. 202422667550.0, filed on October 31, 2024; and Chinese patent application No. 202411549120.7, filed on October 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle technology, and more particularly to a lidar, a lidar motor, a mobile platform, a lidar assembly method, and a vehicle. Background Technology

[0003] In the field of new energy vehicles, LiDAR is a high-precision sensor used to improve vehicle safety and autonomous driving performance. It detects the position, speed, and distance of surrounding objects by emitting laser beams and receiving the reflected signals. Summary of the Invention

[0004] In a first aspect, a lidar is provided, comprising a housing assembly, a main circuit board, an optomechanical assembly, and a scanning mirror assembly. The housing assembly includes a bottom wall, the main circuit board extends along a first direction and is disposed on the bottom wall, the optomechanical assembly is mounted on the bottom wall and electrically connected to the main circuit board, the scanning mirror assembly is mounted on the bottom wall and electrically connected to the main circuit board, and the optomechanical assembly and the scanning mirror assembly are located on the same side of the main circuit board and arranged along the first direction.

[0005] Secondly, a vehicle is provided that includes the aforementioned lidar.

[0006] Thirdly, a lidar motor is provided, comprising: a stator assembly, a rotor assembly, and an encoder; the rotor assembly is rotatably connected to the stator assembly, an installation space is formed between the rotor assembly and the stator assembly, and the encoder is disposed within the installation space.

[0007] Fourthly, a lidar is provided, including a lidar motor as described above.

[0008] Fifthly, a vehicle is provided, including a lidar motor as described above or a lidar as described above.

[0009] In a sixth aspect, a lidar motor is provided, the lidar motor comprising: a stator assembly, a rotor magnetic ring, and a rotating mirror assembly, the rotor magnetic ring being rotatable relative to the stator assembly; the rotating mirror assembly cooperating with the rotor magnetic ring to rotate with the rotor magnetic ring, the stator assembly including a fixed shaft, a bearing being provided on the fixed shaft, and the rotating mirror assembly cooperating with the bearing.

[0010] In a seventh aspect, a lidar is provided, the lidar including the lidar motor.

[0011] Eighthly, a vehicle is provided, the vehicle including the aforementioned lidar.

[0012] A ninth aspect provides a lidar, the lidar comprising a light emitter, a light receiver, and a polyhedron, the light emitter comprising a first light emitter and a second light emitter; the light receiver comprising a first light receiver and a second light receiver; the polyhedron comprising a first reflective surface and a second reflective surface; light emitted by the first light emitter is directed toward the first reflective surface and reflected to the external environment by the first reflective surface, the return light emitted by the first light emitter is reflected by the first reflective surface to the first light receiver and received by the first light receiver; light emitted by the second light emitter is directed toward the second reflective surface and reflected to the external environment by the second reflective surface, the return light emitted by the second light emitter is reflected by the second reflective surface to the second light receiver and received by the second light receiver.

[0013] A tenth aspect provides a lidar. The lidar includes a housing, a transmitting module, and a receiving module. The housing includes a first surface and a second surface facing away from each other, and the housing has a first cavity and a second cavity penetrating the first surface and the second surface, the first cavity and the second cavity being arranged side-by-side. The transmitting module is housed in the first cavity and is configured to transmit an optical signal toward the outside of the lidar. The receiving module is housed in the second cavity and is configured to receive the optical signal reflected back by an object.

[0014] Eleventhly, a mobile platform is provided. The mobile platform includes a mobile platform body and the aforementioned lidar. The lidar is mounted on the mobile platform body.

[0015] In a twelfth aspect, a method for assembling a lidar is provided. The assembly method includes: providing a housing, the housing including a first side and a second side facing away from each other; the housing having a first cavity and a second cavity penetrating the first side and the second side, the first cavity and the second cavity being arranged side-by-side; mounting a first circuit board with a first chip mounted thereon and a second circuit board with a second chip mounted thereon on one side of the housing containing the first side, respectively covering the first cavity and the second cavity, and ensuring that the relative positions between the first chip and the second chip meet a preset range; and using an active alignment process to install a first lens and a second lens respectively into the first cavity and the second cavity, aligning the first lens with the first chip and the second lens with the second chip.

[0016] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 is a schematic diagram of a vehicle according to some embodiments;

[0019] Figure 2 is a 3D view of the lidar in the vehicle shown in Figure 1;

[0020] Figure 3 is an exploded view of the lidar shown in Figure 2;

[0021] Figure 4 is a partial structural diagram of the lidar shown in Figure 2;

[0022] Figure 5 is a structural diagram of another part of the lidar shown in Figure 2;

[0023] Figure 6 is a structural diagram of another part of the lidar shown in Figure 2;

[0024] Figure 7 is a magnified view of a portion of circle A in Figure 6;

[0025] Figure 8 is a structural diagram of another part of the lidar shown in Figure 2;

[0026] Figure 9 is a structural diagram of another part of the lidar shown in Figure 2;

[0027] Figure 10 is a top view of another part of the structure of the lidar shown in Figure 9;

[0028] Figure 11 is a bottom view of another part of the structure of the lidar shown in Figure 9;

[0029] Figure 12 is a structural diagram of the lidar shown in Figure 2 from another perspective;

[0030] Figure 13 is a cross-sectional view of the scanning mirror assembly shown in Figure 12;

[0031] Figure 14 is a perspective view of the scanning mirror assembly of the lidar shown in Figure 2;

[0032] Figure 15 is an exploded view of the scanning mirror assembly shown in Figure 14;

[0033] Figure 16 is a perspective view of the scanning mirror assembly shown in Figure 14 from another angle;

[0034] Figure 17 is a perspective view of the first base of the scanning mirror assembly shown in Figure 14;

[0035] Figure 18 is a top view of the first base shown in Figure 17;

[0036] Figure 19 is a front view of the first base shown in Figure 17;

[0037] Figure 20 is a front view of the scanning mirror assembly shown in Figure 14;

[0038] Figure 21 is a cross-sectional view along line BB in Figure 20;

[0039] Figure 22 is a perspective view of a portion of the structure of the scanning mirror assembly shown in Figure 14;

[0040] Figure 23 is a top view of part of the structure shown in Figure 22;

[0041] Figure 24 is a cross-sectional view of a portion of the structure shown in Figure 22;

[0042] Figure 25 is another structural diagram of the scanning mirror assembly of the lidar shown in Figure 2;

[0043] Figure 26 is a cross-sectional view along line EE in Figure 25;

[0044] Figure 27 is a cross-sectional view of a portion of the structure of the scanning mirror assembly shown in Figure 25;

[0045] Figure 28 is a plan view of the scanning mirror circuit board of the scanning mirror assembly shown in Figure 25;

[0046] Figure 29 is an exploded view of the scanning mirror assembly of the lidar shown in Figure 2;

[0047] Figure 30 is a cross-sectional view of the scanning mirror assembly shown in Figure 29;

[0048] Figure 31 is another perspective view of the scanning mirror assembly of the lidar shown in Figure 2;

[0049] Figure 32 is a front view of the scanning mirror assembly shown in Figure 31;

[0050] Figure 33 is a cross-sectional view along line HH in Figure 32;

[0051] Figure 34 is an exploded view of the scanning mirror assembly shown in Figure 31;

[0052] Figure 35 is a perspective view of the optomechanical components of the lidar shown in Figure 2;

[0053] Figure 36 is another perspective view of the optomechanical components of the lidar shown in Figure 2;

[0054] Figure 37 is another perspective view of the optomechanical components of the lidar shown in Figure 2;

[0055] Figure 38 is a perspective view of the optomechanical assembly shown in Figure 37 from another angle;

[0056] Figure 39 is a cross-sectional view along line JJ in Figure 38;

[0057] Figure 40 is a schematic diagram of the transmit and receive fields of view of the optomechanical components of lidar in related technologies;

[0058] Figure 41 is a schematic diagram of the transmission field of view and the receiving field of view of the optomechanical assembly shown in Figure 40;

[0059] Figure 42 is a comparative schematic diagram of the transmit and receive fields of view of the optomechanical assembly shown in Figure 40 in related art and in this disclosure;

[0060] Figure 43 is a plan view of the light-emitting part of the optomechanical assembly shown in Figure 40;

[0061] Figure 44 is a schematic diagram of the emission module of the optomechanical assembly shown in Figure 40;

[0062] Figure 45 is a schematic diagram of the scanning mirror assembly and optomechanical assembly of the lidar shown in Figure 2;

[0063] Figure 46 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the lidar shown in Figure 2;

[0064] Figure 47 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the lidar shown in Figure 2;

[0065] Figure 48 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the lidar shown in Figure 2;

[0066] Figure 49 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the lidar shown in Figure 2;

[0067] Figure 50 is a schematic diagram of the circuit of the lidar shown in Figure 2;

[0068] Figure 51 is a schematic diagram of the detection circuit of the lidar shown in Figure 2;

[0069] Figure 52 is another schematic diagram of the detection circuit of the lidar shown in Figure 2;

[0070] Figure 53 is another schematic diagram of the detection circuit of the lidar shown in Figure 2;

[0071] Figure 54 is another schematic diagram of the detection circuit of the lidar shown in Figure 2;

[0072] Figure 55 is a cross-sectional view of a lidar according to some embodiments;

[0073] Figure 56 is an exploded view of a lidar according to some embodiments;

[0074] Figure 57A is a cross-sectional view of a lidar according to some other embodiments;

[0075] Figure 57B is a block diagram of a lidar according to some embodiments;

[0076] Figure 57C is a block diagram of a vehicle according to some embodiments;

[0077] Figure 58 is a structural diagram of a lidar motor according to some embodiments;

[0078] Figure 59 is a cross-sectional view along line FF in Figure 58;

[0079] Figure 60 is an exploded view of a lidar motor according to some embodiments;

[0080] Figure 61 is a structural diagram of a stator assembly and bearing according to some embodiments;

[0081] Figure 62 is a cross-sectional view along line GG in Figure 61;

[0082] Figure 63 is a structural diagram of a bracket according to some embodiments;

[0083] Figure 64 is a cross-sectional view along line CC in Figure 63;

[0084] Figure 65 is a structural diagram of a lidar motor according to some other embodiments;

[0085] Figure 66 is a front view of a lidar motor according to some other embodiments;

[0086] Figure 67 is a cross-sectional view along line DD in Figure 66;

[0087] Figure 68A is an exploded view of a lidar motor according to some other embodiments;

[0088] Figure 68B is a block diagram of another lidar according to some embodiments;

[0089] Figure 68C is a block diagram of another vehicle according to some embodiments;

[0090] Figure 69 is a structural diagram of a lidar according to some embodiments;

[0091] Figure 70 is another structural diagram of a lidar according to some embodiments;

[0092] Figure 71 is another structural diagram of a lidar according to some embodiments;

[0093] Figure 72 is another structural diagram of a light emitter according to some embodiments;

[0094] Figure 73 is another structural diagram of a light emitter according to some embodiments;

[0095] Figure 74 is a structural diagram of the light-emitting unit of the first light emitter and the light-emitting unit of the second light emitter of a lidar according to some embodiments;

[0096] Figure 75 is a structural diagram of the light-emitting unit of a light emitter according to some embodiments;

[0097] Figure 76 is a structural diagram of an optical receiver according to some embodiments;

[0098] Figure 77 is another structural diagram of an optical receiver according to some embodiments;

[0099] Figure 78 is a schematic diagram of a lidar scenario according to some embodiments;

[0100] Figure 79 is another structural diagram of the receiving unit of the first optical receiver and the receiving unit of the second optical receiver of a lidar according to some embodiments.

[0101] Figure 80 is a perspective view of a radar device according to some embodiments;

[0102] Figure 81 is a structural diagram of the radar device shown in Figure 80;

[0103] Figure 82 is a cross-sectional view of the radar device shown in Figure 80;

[0104] Figure 83 is a schematic diagram of the operation of an image acquisition device according to some embodiments;

[0105] Figure 84 is a schematic diagram of a mobile platform according to some embodiments;

[0106] Figure 85 is a flowchart of a radar device assembly method according to some embodiments;

[0107] Figure 86 is another flowchart of a method for assembling a radar device according to some embodiments;

[0108] Figure 87 is another flowchart of a method for assembling a radar device according to some embodiments;

[0109] Figure 88 is another flowchart of a method for assembling a radar device according to some embodiments;

[0110] Figure 89 is another flowchart of a method for assembling a radar device according to some embodiments;

[0111] Figure 90 is another flowchart of a method for assembling a radar device according to some embodiments;

[0112] Figure 91 is another flowchart of a method for assembling a radar device according to some embodiments.

[0113] Reference numerals: 1 Vehicle; 11 Body; 12 Wheel; 100 Housing assembly; 110 First housing; 111 Bottom wall; 120 Second housing; 130 Heat exchange structure; 131 First heat exchange structure; 132 Second heat exchange structure; 133 Third heat exchange structure; 1331 Heat exchange body; 1332 Heat exchange boss; 134 Fourth heat exchange structure; F1 Heat exchange slot; F11 Sub-slot; 140 First positioning structure; 150 Second positioning structure; 160 Optical window; 200 Optomechanical assembly; H1 Transmitting field of view; H2 Receiving field of view; Y second direction; 210 Transmitting module; 211 Light source; 2111 Sub-light source; 212 Beam expander system; 213 Collimation system; M1 Transmitting circuit board assembly; 220 Receiving module; 221 Receiving lens; 222 Detector Device; M2 Receiver circuit board assembly; 230 Second base; 231 Base body; 232 Connecting part; 240 Protective shell; 300 Scanning mirror assembly; 310 First base; 311 Fixed shaft; 3111 First shaft segment; 3112 Second shaft segment; A2 Guide hole; G1 Positioning part; 311a First fixed shaft segment; D1 First part; D2 Second part; 311b Second fixed shaft segment; 312 Base; A1 Operating hole; 320 Scanning mirror; 321 Lens structure; 3211 First area; 3212 Second area; 3213 Drive shaft; 322 Drive component; 3221 Stator; 3222 Rotor; 323 Bearing structure; 3231 Sub-bearing; 324 Stop assembly; 3241 Elastic element; 3242 Fastener; 325 Support Frame; 330 Scanning mirror circuit board; 331 Third connection terminal; 340 Connecting wire; 350 Sensor; 360 Encoder; 361 Code disk; 362 Chip; 400 Main circuit board; X First direction; 410 Circuit board body; 420 First connection terminal; 430 First flexible connector; 440 Limiting part; 450 Second connection terminal; 460 Second flexible connector; 500 Detection circuit; 510 Output terminal of detection circuit; 520 Input sub-circuit; 521 Output terminal of input sub-circuit; 530 Voltage divider circuit; Z1 Detection signal; Z2 Normal signal; OUT Output terminal of voltage divider circuit; VCC Power supply voltage terminal; GND Ground terminal; C1 First capacitor; C1-1 First terminal of first capacitor; C1-2 First capacitor... Second terminal; 531 First voltage divider unit; 532 Second voltage divider unit; 533 Third voltage divider unit; R1 First resistor; R1-1 First resistor's first terminal; R1-2 First resistor's second terminal; R2 Second resistor; R2-1 Second resistor's first terminal; R2-2 Second resistor's second terminal; R3 Third resistor; R3-1 Third resistor's first terminal; R3-2 Third resistor's second terminal; C2 Second capacitor; C2-1 Second capacitor's first terminal; C2-2 Second capacitor's second terminal; 540 Protection sub-circuit; 541 First protection unit; 542 Second protection unit; D1 First diode; D1-1 First diode's anode; D1-2 First diode's cathode; D2 Second diode; D2-1 Second diode's anode;The negative terminal of the second diode D2-2; 600 laser illumination circuit; 1-Installation space; 2-Encoder; 3-Rotor assembly; 4-Stator assembly; 5-Mounting surface; 6-Bearing; 7-Cavity; 8-Mounting part; 9-Mounting cavity; 10-Lens; 11-Circuit board; 12-Wire harness; 13-Fastener; 14-Elastic element; 15-Mounting hole; 21-Code disk; 22-Detection element; 31-Rotor housing; 32-Rotating shaft; 33-Magnet; 41-Fixed shaft; 42-Winding; 43-Fixed base; 44-Rotating shaft; 1. LiDAR motor; 10. Stator assembly; 11. Fixed shaft; 111. Cavity; 112. First opening; 113. Support boss; 12. Base; 15. Iron core winding; 20. Rotor magnetic ring; 30. Rotating mirror assembly; 300. Lens; 40. Bracket; 41. Bracket body; 412. Mating part; 416. Mounting groove; 42. Rotating shaft; 50. Bearing; 52. Limiting protrusion; 55. Retaining ring; 56. Wave spring; 57. Washer; 81. Encoder disk; 82. Chip; 85. Circuit board; Mobile platform 1000; radar device 100; housing 10; first surface 101; second surface 102; third surface 103; first cavity 11; second cavity 12; transmitting module 30; first circuit board 31; first chip 33; first lens 35; first flange 351; first lens barrel 353; first lens group 355; receiving module 50; second circuit board 51; second chip 53; second lens 55; second flange 551; second lens barrel 553; second lens group 555; shielding cover 70; fixing plate 80; flexible wire 90; first connecting end 91; second connecting end 93; image acquisition device 200. Detailed Implementation

[0114] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0115] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0116] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "communication" 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 direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0117] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0118] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0119] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0120] In related technologies, the internal components of lidar are arranged irrationally, occupying a large amount of space.

[0121] To address the aforementioned problems, this disclosure provides a vehicle 1 in some embodiments. Vehicle 1 can be a pure electric vehicle 1, a hybrid electric vehicle 1, a plug-in hybrid electric vehicle 1, a range-extended electric vehicle 1, a gasoline-powered vehicle, etc. Vehicle 1 can also be a sedan, truck, bus, lorry, trailer, etc.

[0122] As shown in Figure 1, vehicle 1 includes a body 11 and wheels 12. The body 11 is used for passengers to ride in and for carrying goods. The wheels 12 are installed under the body 11 to support the body 11 and to roll on the road surface so that vehicle 1 can move.

[0123] This disclosure provides a lidar for use in the vehicle 1 described above. The lidar has functions including, but not limited to, perceiving the environment around the vehicle 1, measuring the distance between the vehicle 1 and surrounding objects in real time, acquiring the position and attitude information of the vehicle 1 with high precision, and performing accurate positioning in conjunction with a positioning system.

[0124] Referring to Figures 2 to 11, some embodiments of this disclosure provide a lidar 4000, which includes a housing assembly 100, a main circuit board 400, an optomechanical assembly 200, and a scanning mirror assembly 300. The housing assembly 100 includes a bottom wall 111. The main circuit board 400 extends along a first direction X and is disposed on the bottom wall 111. The optomechanical assembly 200 is mounted on the bottom wall 111 and connected to the main circuit board 400. The scanning mirror assembly 300 is mounted on the bottom wall 111 and connected to the main circuit board 400. The optomechanical assembly 200 and the scanning mirror assembly 300 are located on the same side of the main circuit board 400 and arranged along the first direction X.

[0125] This disclosure provides a lidar with some embodiments that, through the arrangement of the positions of the optomechanical component 200, the scanning mirror component 300, and the main circuit board 400, makes the internal structure of the lidar more reasonable and reduces the space occupied.

[0126] In some embodiments, the scanning mirror assembly 300 includes a first base 310 and a scanning mirror 320. The first base 310 is mounted on the bottom wall 111, the scanning mirror 320 is disposed on at least a portion of the first base 310 and rotatably connected to the first base 310, and the scanning mirror 320 is connected to the main circuit board 400.

[0127] This disclosure provides a lidar in some embodiments, in which a scanning mirror assembly 300 is mounted on a housing assembly 100 via a first base 310, and the scanning mirror 320 is connected to a main circuit board 400, which allows for monitoring of the scanning mirror assembly 300 and facilitates the acquisition of the working information of the scanning mirror assembly 300.

[0128] In some embodiments, the scanning mirror assembly 300 further includes a scanning mirror circuit board 330, which is mounted on the first base 310, and the scanning mirror 320 is electrically connected to the main circuit board 400 through the scanning mirror circuit board 330.

[0129] This disclosure provides a lidar system in some embodiments that, through the configuration of the scanning mirror circuit board 330, can read the operating status of the scanning mirror 320 and transmit it to the main circuit board 400, thereby improving the intelligence level of the scanning mirror assembly 300.

[0130] In some embodiments, the total circuit board 400 includes a circuit board body 410 and a first connection terminal 420. The first connection terminal 420 protrudes from the circuit board body 410 and is electrically connected to the scanning mirror circuit board 330.

[0131] This disclosure provides a lidar system in some embodiments, which facilitates the connection between the scanning mirror circuit board 330 and the main circuit board 400 by including a circuit board body 410 and a first connection terminal 420 in the main circuit board 400.

[0132] In some embodiments, the total circuit board 400 further includes a first flexible connector 430, which is connected between the first connection terminal 420 and the scanning mirror circuit board 330.

[0133] This disclosure provides a lidar system in some embodiments, which, through the provision of a first flexible connector 430, is flexible and easy to install in compact spaces and enclosed environments, helping to reduce assembly time and labor costs.

[0134] In some embodiments, the main circuit board 400 further includes a limiting portion 440, one end of which is connected to the circuit board body 410, and the other end of which is engaged with and limited to the first flexible connector 430.

[0135] The structure of the limiting part 440 includes, but is not limited to, the structure of the limiting buckle and the structure of the limiting protrusion. Of course, the structure of the limiting part 440 may also include a fastener structure. The fastener can also limit the first flexible connector 430 and reduce the movement of the first flexible connector 430.

[0136] This disclosure provides a lidar system in some embodiments, which, through the setting of the limiting part 440, can reduce the probability of the first flexible connector 430 moving and improve the reliability of the connection between the main circuit board 400 and the scanning mirror circuit board 330.

[0137] In some embodiments, the main circuit board 400 further includes a second connection terminal 450 protruding from the circuit board body 410, and the second connection terminal 450 is electrically connected to the optomechanical assembly 200.

[0138] This disclosure provides a lidar according to some embodiments, which facilitates the connection between the scanning mirror circuit board 330 and the optomechanical assembly 200 by including a second connection terminal 450.

[0139] In some embodiments, the total circuit board 400 further includes a second flexible connector 460, which is connected between the second connection terminal 450 and the optomechanical assembly 200.

[0140] This disclosure provides a lidar system in some embodiments, which, through the provision of a second flexible connector 460, is flexible and easy to install in compact spaces and enclosed environments, helping to reduce assembly time and labor costs.

[0141] Referring to Figures 12 to 22, in some embodiments, the first base 310 includes a fixed shaft 311 and a base 312. The fixed shaft 311 is used to mount the scanning mirror 320, and the base 312 is connected to the bottom wall 111.

[0142] This disclosure provides a lidar system in some embodiments, which facilitates the connection between the scanning mirror assembly 300 and the bottom wall 111, as well as the rotational fixation of the scanning mirror 320, through the arrangement of the first base 310 including the fixed shaft 311 and the base 312.

[0143] In some embodiments, the base 312 is provided with a through-hole A1, one end of which is located on the side of the base 312 opposite to the fixed shaft 311.

[0144] This disclosure provides a lidar system in some embodiments. Through the operation hole A1, a connecting line 340 between the scanning mirror 320 and the scanning mirror circuit board 330 can be connected via the operation hole A1. The connection point between the connecting line 340 and the scanning mirror circuit board 330 can be exposed to the outside of the scanning mirror assembly 300 through the operation hole A1 on the side opposite to the fixed shaft 311. This facilitates the connection operation between the connecting line 340 and the scanning mirror circuit board 330 from the outside of the scanning mirror assembly 300. Compared with related technologies, it eliminates the need to connect the connecting line 340 and the scanning mirror circuit board 330 inside the scanning mirror assembly 300, thus simplifying the connection operation.

[0145] In some embodiments, the fixed shaft 311 includes a first shaft segment 3111 and a second shaft segment 3112. The second shaft segment 3112 is connected between the first shaft segment 3111 and the base 312. The cross-sectional area of ​​the second shaft segment 3112 is larger than the cross-sectional area of ​​the first shaft segment 3111. The second shaft segment 3112 includes a guide hole A2 that passes through the interior and communicates with the operation hole A1.

[0146] This disclosure provides a lidar system in some embodiments. By setting the guide hole A2, the connecting line 340 can be guided and limited, which improves the orderliness of the connecting line 340 and reduces the probability of the connecting line 340 interfering with other lines.

[0147] In some embodiments, both the operating hole A1 and the guide hole A2 extend axially along the fixed shaft 311.

[0148] This disclosure provides a lidar system in which the operation hole A1 and the guide hole A2 are both extended along the axial direction of the fixed shaft 311, which facilitates the insertion and wiring of the connecting line 340 and simplifies the assembly process.

[0149] In some embodiments, the fixed shaft 311 and the base 312 are an integral structure.

[0150] This disclosure provides a lidar system in some embodiments. By integrating the fixed shaft 311 and the base 312 into a single structure, when installing and positioning the base, only the base 312 needs to be installed and positioned. There is no need to install and position the base 312 and the fixed shaft 311 separately, which improves the positioning accuracy of the base and reduces the installation tolerance of the base.

[0151] In some embodiments, the scanning mirror circuit board 330 is mounted on the side of the base 312 near the fixed shaft 311. The side of the scanning mirror circuit board 330 near the base 312 is provided with a third connection terminal 331. Along the extension direction of the operation hole A1, the orthographic projection of the third connection terminal 331 is located in the operation hole A1. The scanning mirror assembly 300 also includes a connecting line 340, which is connected between the scanning mirror 320 and the third connection terminal 331 via the operation hole A1.

[0152] In some embodiments, along the extending direction of the operating hole A1, at least the orthographic projection of the scanning mirror circuit board 330 is located in the operating hole A1, and at least the area of ​​the orthographic projection of the scanning mirror circuit board 330 is smaller than the cross-sectional area of ​​the operating hole A1.

[0153] This disclosure provides a lidar system in some embodiments. With the above-described configuration, the connection between the connecting line 340 and the scanning mirror circuit board 330 can be achieved through the operation hole A1 on the side opposite to the fixed shaft 311. This simplifies the operation, streamlines the assembly process of the scanning mirror assembly 300, saves assembly time, and improves the production efficiency of the scanning mirror assembly 300.

[0154] Please refer to Figures 23 to 30. In some embodiments, the scanning mirror assembly 300 includes a scanning mirror circuit board 330, and the fixed shaft 311 is provided with a positioning part G1. The positioning part G1 is exposed outside the scanning mirror 320, and the scanning mirror circuit board 330 is connected to the positioning part G1.

[0155] This disclosure provides a lidar in some embodiments where the scanning mirror circuit board 330 can be installed and positioned via the positioning part G1 of the fixed shaft 311. Compared with related technologies, there is no need to set up a mounting part in the inner shell of the lidar to install the scanning mirror circuit board 330, reducing the positioning and installation steps of the mounting part and simplifying the installation process of the scanning mirror assembly 300. Since the positioning steps are reduced, the installation tolerance between the scanning mirror 320 and the scanning mirror circuit board 330 can be reduced, improving the installation accuracy of the scanning mirror 320 and the scanning mirror circuit board 330. This makes the monitoring of the scanning mirror 320 by the scanning mirror circuit board 330 more accurate, reduces the workload of algorithm calibration, and lowers the research and development costs.

[0156] In some embodiments, the scanning mirror assembly 300 further includes a sensor 350, which is located on the side of the scanning mirror 320 facing the scanning mirror circuit board 330 and is mounted on the scanning mirror 320. The sensor 350 is electrically connected to the scanning mirror circuit board 330.

[0157] For example, sensor 350 includes a ring-shaped code disk structure. Scanning mirror circuit board 330 includes a code reader, and the orthographic projection of the code reader coincides with the orthographic projection of at least one scale line of the code disk along the axial direction of the fixed axis 311. The rotation of the scanning mirror 320 body causes the code disk structure to rotate, and the code reader reads the scale line of the rotating code disk structure.

[0158] This disclosure provides a lidar according to some embodiments, which realizes information interaction between the scanning mirror 320 and the scanning mirror circuit board 330 through the setting of the sensor 350, and the position setting of the sensor 350 facilitates signal transmission between the sensor and the scanning mirror circuit board 330.

[0159] In some embodiments, the sensor includes a code disk configured to transmit position information of the scanning mirror 320 to the scanning mirror circuit board 330.

[0160] This disclosure provides a lidar system through some embodiments, which, by setting up a code disk, facilitates precise information transmission between the scanning mirror 320 and the scanning mirror circuit board 330.

[0161] In some embodiments, the fixed shaft 311 includes a first fixed shaft segment 311a, which is located outside the scanning mirror 320, and at least a portion of the first fixed shaft segment 311a forms a positioning portion G1.

[0162] This disclosure provides a lidar according to some embodiments, which facilitates the connection between the positioning part G1 and the scanning mirror circuit board 330 by setting the first fixed shaft section 311a, and facilitates the assembly and disassembly of the scanning mirror circuit board 330.

[0163] In some embodiments, the first fixed shaft segment 311a includes a first portion and a second portion. The first portion forms a positioning part G1. The second portion is located between the first portion and the scanning mirror 320, the first portion and the second portion are connected, and the cross-sectional area of ​​the second portion is larger than the cross-sectional area of ​​the first portion.

[0164] This disclosure provides a lidar according to some embodiments. Through the above settings, the connection between the scanning mirror 320 and the scanning mirror circuit board 330 can be realized. Since the cross-sectional area of ​​the second part is larger than that of the first part, it can limit the scanning mirror circuit board 330, thereby improving the installation accuracy and stability of the scanning mirror circuit board 330.

[0165] In some embodiments, the fixed shaft 311 further includes a second fixed shaft segment 311b, which is inserted into the scanning mirror 320 and the first fixed shaft segment 311a and the second fixed shaft segment 311b are connected.

[0166] This disclosure provides a lidar system in some embodiments, which achieves rotational engagement between the scanning mirror 320 body and the fixed shaft 311 through the setting of the second fixed shaft segment 311b. The structure is simple and easy to implement.

[0167] In some embodiments, the scanning mirror 320 includes a lens structure 321 and a drive member 322. The lens structure 321 is sleeved on the fixed shaft 311, and the drive member 322 is located between the lens structure 321 and the fixed shaft 311. The drive member 322 drives the lens structure 321 to rotate relative to the fixed shaft 311.

[0168] This disclosure provides a lidar embodiment that drives the lens structure 321 through the configuration of the driving component 322, and the implementation method is simple.

[0169] In some embodiments, the lens structure 321 is an integral structure.

[0170] This disclosure provides a lidar in some embodiments, which improves the stability and accuracy of the lens structure 321 by making the lens structure 321 an integral structure.

[0171] In some embodiments, the lens structure 321 includes four sub-lenses, adjacent sub-lenses are connected to each other, each sub-lens is erected on the bottom wall, and the orthographic projection of the lens structure along the second direction is square.

[0172] This disclosure provides a lidar according to some embodiments, which, through the above-described configuration, facilitates the reflection function of the scanning mirror assembly 300.

[0173] In some embodiments, the drive member 322 includes a stator 3221 and a rotor 3222. The stator 3221 is fixedly sleeved on the fixed shaft 311, the rotor 3222 is rotatably sleeved on the stator 3221, the rotor 3222 is movably connected to the stator 3221, and the rotor 3222 is fixedly connected to the lens structure 321.

[0174] This disclosure provides a lidar according to some embodiments, which realizes the rotation of the lens structure 321 by the driving component 322 including the stator 3221 and the rotor 3222. The stator 3221 and rotor 3222 are implemented in a simple manner.

[0175] In some embodiments, the scanning mirror 320 further includes a bearing structure 323, which is located between the fixed shaft 311 and the lens structure 321. The bearing structure 323 includes an inner ring and an outer ring, the outer ring being rotatable relative to the inner ring, the inner ring being fixedly connected to the fixed shaft 311, and the outer ring being fixedly connected to the lens structure 321.

[0176] This disclosure provides a lidar system in some embodiments, in which the bearing structure 323 supports the lens structure 321, making the lens structure 321 operate more stably and improving the operating accuracy of the scanning mirror assembly 300.

[0177] In some embodiments, the bearing structure 323 includes two sub-bearings 3231, which are distributed on both sides of the drive member 322 along the axial direction of the fixed shaft 311.

[0178] This disclosure provides a lidar system in some embodiments, which supports the lens structure 321 at both ends of the drive component 322 by setting two sub-bearings 3231. The large span between the two sub-bearings 3231 results in high structural stability, further improving the reliability of the lens structure 321. It also makes reasonable use of the internal space of the scanning mirror assembly 300, resulting in a compact structure.

[0179] In some embodiments, along the axial direction of the fixed shaft 311, the minimum vertical distance between the two sub-bearings 3231 is J1, the minimum vertical distance between the scanning mirror assembly 300 is J2, and the ratio of J1 to J2 is between 4:9 and 6:9.

[0180] In related technologies, there is an assembly gap in the fixed shaft 311 during the assembly process. Some embodiments of this disclosure provide a lidar, which, through the above-mentioned arrangement, can increase the distance between the two sub-bearings 3231, reduce the amount of shaking of the fixed shaft 311 during rotation, ensure the stability of the drive component 322 during operation, and improve the imaging quality of the lidar.

[0181] In some embodiments, the scanning mirror 320 further includes a stop assembly 324, which is sleeved on the fixed shaft 311 and abuts against the bearing structure 323 along the axial direction of the fixed shaft 311.

[0182] This disclosure provides a lidar according to some embodiments, in which the bearing structure 323 can be axially limited by the stop assembly 324, and the scanning mirror assembly 300 can be assembled more compactly.

[0183] In some embodiments, the stop assembly 324 includes an elastic member 3241 and a fastener 3242. The elastic member 3241 abuts against the bearing structure 323, and the fastener 3242 is screwed onto the outer wall of the fixed shaft 311, with the fastener 3242 abutting against the side of the elastic member 3241 away from the bearing structure 323.

[0184] This disclosure provides a lidar according to some embodiments, which can absorb vibrations through the setting of elastic element 3241, thereby improving the shock resistance of scanning mirror assembly 300.

[0185] In some embodiments, the stop assembly 324 further includes a gasket 3243, which is sandwiched between the bearing structure 323 and the elastic member 3241.

[0186] In some embodiments, the lens structure 321 includes a first region 3211 and a second region 3212. The first region 3211 is connected to the drive member 322. The second region 3212 is disposed around the first region 3211 and connected to the first region 3211, with at least a partial gap between the first region 3211 and the second region 3212.

[0187] This disclosure provides a lidar system in some embodiments. By configuring the lens structure 321, which includes a first region 3211 and a second region 3212, the lens structure 321 can better meet the requirements of lightweight design, reduce the weight of the scanning mirror assembly 300, facilitate heat dissipation of the drive component 322, and extend the lifespan of the scanning mirror assembly 300.

[0188] In some embodiments, the scanning mirror 320 further includes a bracket 325, which is located between the drive member 322 and the lens structure 321. The bracket 325 is fixedly connected to the lens structure 321, and the drive member 322 is fixedly connected to the bracket 325 and can drive the bracket 325 to rotate.

[0189] This disclosure provides a lidar system in some embodiments. By setting a bracket 325, the lens structure 321 can be in direct contact with the bracket 325. When assembling the scanning mirror 320, the bracket 325 can support the lens structure 321, reducing the probability of damage to the lens structure 321 during the assembly of the scanning mirror 320.

[0190] In some embodiments, at least one of the inner wall of the bracket 325 and the outer wall of the fixed shaft 311 is provided with a first limiting structure, and the drive member 322 is engaged in the first limiting structure. The first limiting structure is configured to prevent the drive member 322 from moving relative to the fixed shaft 311 along the axial direction of the fixed shaft 311.

[0191] This disclosure provides a lidar according to some embodiments, which, through the setting of a first limiting structure, can limit the axial movement of the driving component 322, thereby improving the stability of the driving component 322 during operation and thus improving the operating accuracy of the scanning mirror 320.

[0192] In some embodiments, at least one of the inner wall of the bracket 325 and the outer wall of the fixed shaft 311 is provided with a second limiting structure, and the bearing structure 323 is engaged in the second limiting structure. The second limiting structure is used to prevent the bearing structure 323 from moving relative to the fixed shaft 311 along the axial direction of the fixed shaft 311.

[0193] This disclosure provides a lidar according to some embodiments, which, by setting a second limiting structure, can limit the position of the bearing structure 323, thereby reducing the probability of the bearing structure 323 sliding axially along the second fixed shaft segment 311b.

[0194] Referring to Figures 29 to 30, in some embodiments, the lens structure 321 further includes a drive shaft 3213, which is inserted into the fixed shaft 311. A bearing structure 323 is provided between the drive shaft 3213 and the fixed shaft 311. The rotation of the drive member 322 drives the lens structure 321 to rotate.

[0195] For example, the fixed shaft 311 is a hollow structure, which can meet the lightweight requirements of the scanning mirror assembly 300 and provide a guarantee for the lightweight of the vehicle 1.

[0196] Referring to Figures 31 to 34, in some embodiments, the scanning mirror assembly 300 further includes an encoder 360, which includes a code disk 361 and a chip 362. The code disk 361 is connected to the scanning mirror to rotate with the scanning mirror, and the chip 362 is arranged opposite to the code disk 361.

[0197] The types of encoders include, but are not limited to, optical encoders and magnetic encoders.

[0198] This disclosure provides a lidar system in some embodiments, which, through the arrangement of an encoder 360 including a code disk 361 and a chip 362, facilitates the transmission of information from the scanning mirror 320 and facilitates the monitoring of the status of the scanning mirror assembly 300.

[0199] In some embodiments, encoder 360 is an optical encoder.

[0200] This disclosure provides a lidar system in some embodiments, which uses an encoder 360 to set an optical encoder, thereby improving the monitoring accuracy of the scanning mirror assembly 300.

[0201] Referring to Figures 35 and 36, in some embodiments, the optomechanical assembly 200 includes a transmitting module 210 and a receiving module 220. The transmitting module 210 is configured to emit a first laser beam at the object under test, and the receiving module 220 is configured to receive a second laser beam reflected by the object under test from the first laser beam.

[0202] This disclosure provides a lidar according to some embodiments, which, through the above-described configuration, enables the optomechanical component 200 to perform laser measurement.

[0203] In some embodiments, the transmitting module 210 has a transmitting optical axis, the receiving module 220 has a receiving optical axis, the transmitting optical axis and the receiving optical axis are parallel to each other, the transmitting module 210 and the receiving module 220 are arranged along the second direction Y, and the first direction X intersects the second direction Y.

[0204] This disclosure provides a lidar with some embodiments that, through the above-described configuration, help ensure that the emitted laser beam can be accurately received by the receiving module 220, thereby improving the overall accuracy and reliability of the lidar.

[0205] In some embodiments, the housing assembly 100 further includes an optical window 160, with the scanning mirror assembly 300 and the optomechanical assembly 200 located between the optical window 160 and the main circuit board 400, and the first laser beam and the second laser beam able to pass through the optical window 160.

[0206] This disclosure provides a lidar according to some embodiments, in which the optical window 160 is provided. The optical window 160 also serves to protect the internal components and prevent dust, moisture or other external factors that may interfere with the laser beam or damage sensitive components from entering.

[0207] In some embodiments, the scanning mirror assembly 300 includes an outer wall configured to reflect a first laser beam onto the object being measured and a second laser beam onto the receiving module 220.

[0208] This disclosure provides a lidar according to some embodiments, which, through the above-described settings, can scan and identify surrounding objects being measured.

[0209] In some embodiments, the outer wall includes at least one sub-wall surface, the sub-wall surface with the shortest vertical distance from the optomechanical assembly 200 is a reflective wall surface, and the first included angle between the reflective wall surface and the emission optical axis ranges from 75 degrees to 85 degrees. The first included angle is the angle between the reflective wall surface and the emission optical axis away from the optical window 160.

[0210] This disclosure provides a lidar with some embodiments that, by setting the first included angle between the reflective wall and the emitting optical axis to a range of 75 degrees to 85 degrees, reduces the response time of the lidar and improves the efficiency of lidar measurement because at least one of the lidar's scanning mirror assembly 300 and optomechanical assembly 200 has already deflected when they are in their initial positions.

[0211] In some embodiments, the reflective wall is perpendicular to the first direction X, and the second included angle between the emitted optical axis and the first direction X ranges from 15 to 25 degrees, where the second included angle is the acute angle between the emitted optical axis and the first direction X.

[0212] This disclosure provides a lidar embodiment in which the angle between the reflective wall and the emitting optical axis is adjusted by adjusting the initial angle of the optomechanical component 200, and the adjustment method is relatively convenient.

[0213] In some embodiments, the optical window 160 is sealed to the housing assembly 100.

[0214] This disclosure provides a lidar according to some embodiments. Through the above-described configuration, the overall structural strength can be improved, so that the optical window 160 can be maximized while maintaining high strength.

[0215] In some embodiments, the housing assembly 100 includes a first seal sandwiched between the optical window 160 and the housing assembly 100.

[0216] This disclosure provides a lidar according to some embodiments, in which a first sealing element is provided to achieve a good sealing effect between the optical window 160 and the housing assembly 100.

[0217] In some embodiments, the optical window 160 includes a window body and an anti-reflective film, the window body being embedded in the housing assembly 100. The anti-reflective film is connected to at least one side of the window body.

[0218] This disclosure provides a lidar in some embodiments that, through the setting of an optical window 160 including a window body and an anti-reflection film, can effectively suppress stray light caused by surface reflection, thereby improving the imaging quality of the optomechanical assembly 200.

[0219] In some embodiments, the optical window 160 further includes a temperature control film connected to at least one side of the window body that is away from or near the chamber.

[0220] This disclosure provides a lidar system in some embodiments, which includes a temperature control film in the optical window 160 to eliminate or reduce factors that affect visual clarity, such as fog, frost, snow, and condensation inside the window.

[0221] In some embodiments, the optical window 160 further includes a protective film connected to the window body.

[0222] This disclosure provides a lidar according to some embodiments, which can increase the robustness and stability of the optical window 160 by setting a protective film.

[0223] In some embodiments, the optomechanical assembly 200 further includes a second base 230, on which the transmitting module 210 and the receiving module 220 are disposed, and the second base 230 is connected to the bottom wall 111.

[0224] This disclosure provides a lidar in some embodiments, which, through the arrangement of the optomechanical assembly 200 including a second base 230, facilitates the connection between the optomechanical assembly 200 and the bottom wall 111.

[0225] In some embodiments, the second base 230 includes a base body 231 and a connecting portion 232. The transmitting module 210 and the receiving module 220 are mounted on the base body 231, and the connecting portion 232 connects the base body 231 and the bottom wall 111.

[0226] This disclosure provides a lidar according to some embodiments, in which a second base 230 is provided, including a base body 231 and a connecting part 232. The base body 231 provides a stable mounting platform for the transmitting module 210 and the receiving module 220. The design of the connecting part 232 makes the connection between the base and the bottom wall 111 more convenient, facilitating installation and maintenance.

[0227] Please refer to Figures 37 to 39. In some embodiments, the second base 230 is an integral structure.

[0228] This disclosure provides a lidar system in some embodiments, which simplifies the traditional multi-part base structure by setting the second base 230 as an integral structure, reducing the number of parts and assembly steps, thereby reducing mold investment and parts processing costs.

[0229] In some embodiments, the transmitting module 210 further includes a transmitting circuit board assembly M1, with the light-emitting part 211 mounted on the transmitting circuit board, and the receiving module 220 further includes a receiving circuit board assembly M2, with the detector 222 mounted on the receiving circuit board.

[0230] In some embodiments, the second base 230 includes a first channel and a second channel, with the transmitting module 210 inserted into the second channel and the receiving module 220 inserted into the first channel.

[0231] The transmitting circuit board assembly M1 and the receiving circuit board assembly M2 are set separately.

[0232] Some embodiments of this disclosure also provide an assembly method for an optomechanical component 200, which is applied to the aforementioned optomechanical component 200. The assembly method includes: positioning and installing a second base 230; positioning and installing a transmitting circuit board assembly M1 and a transmitting lens at both ends of a second channel; and positioning and installing a receiving circuit assembly M2 and a receiving lens 221 at both ends of a first channel.

[0233] In the following embodiments, the transmitting lens includes at least a beam expander system 212.

[0234] The steps of positioning and installing the receiving circuit board assembly M2 and the receiving lens 221 at both ends of the first channel, and positioning and installing the transmitting circuit assembly M2 and the transmitting lens at both ends of the second channel include:

[0235] The positions of the control transmitter circuit board assembly M1 and the transmitter lens are in the first preset position; the positions of the control receiver circuit board assembly M2 and the receiver lens 221 are in the second preset position; and the positions of the control transmitter circuit board assembly M1, the transmitter lens, the receiver circuit board assembly M2, and the receiver lens 221 are in the third preset position.

[0236] The steps of controlling the position of the transmitting circuit board assembly M1 and the transmitting lens to a first preset position include: installing the transmitting circuit board assembly M1 at one end of the first channel; obtaining the position of the transmitting circuit board assembly M1 as first position information; and adjusting the position of the transmitting lens according to the first position information.

[0237] The steps for adjusting the position of the transmitting lens according to the first position information include: controlling the transmitting circuit board assembly M1, which is in the first position information, to be in a stationary state; installing the transmitting lens at both ends of the first channel; controlling the transmitting circuit board assembly M1 to emit a first beam and emit a second beam through the transmitting lens and controlling the detector 222 to receive the second beam; obtaining the emission parameter information of the second beam emitted to the detector 222; and adjusting the position of the transmitting lens so that the emission parameter information is within the preset emission range.

[0238] The emission parameter information includes at least one of the following: far-field pointing information of the second beam, collimation information, and emission angle information.

[0239] The steps of controlling the positions of the receiving circuit board assembly M2 and the receiving lens 221 to be in the second preset position include: installing the receiving circuit board assembly M2 at one end of the second channel according to the first position information; obtaining the position of the receiving circuit board assembly M2 as the second position information; and adjusting the position of the receiving lens 221 according to the second position information.

[0240] The steps for adjusting the position of the receiving lens 221 according to the second position information include: controlling the receiving circuit board assembly M2, which is in the second position information, to be in a stationary state; installing the receiving lens 221 at both ends of the second channel; controlling the calibration target to emit a third beam, which is received by the receiving lens 221 as a fourth beam and emitted to the receiving circuit board assembly M2; obtaining the first receiving parameter information of the fourth beam received by the receiving circuit board assembly M2; and adjusting the position of the receiving lens 221 so that the first receiving parameter information is within the first receiving preset range.

[0241] The first receiving parameter information includes at least one of the position information of the fourth beam on the receiving circuit board assembly M2 and the imaging quality information of the fourth beam on the receiving circuit board assembly M2.

[0242] The step of adjusting the position of the receiving lens 221 so that the first received parameter information is within the first received preset range includes: adjusting the position of the receiving lens 221 and connecting the receiving lens 221 to the housing in a first connection state.

[0243] The steps of adjusting the positions of the transmitting circuit board assembly M1, the transmitting lens, the receiving circuit board assembly M2, and the receiving lens 221 to a third preset position include: controlling the transmitting circuit board assembly M1, the transmitting lens, and the receiving circuit board assembly M2 to be in a stationary state; controlling the transmitting circuit board assembly M1 to emit a fifth beam; controlling the fifth beam to be received by the transmitting lens and the receiving lens 221 as a sixth beam and the sixth beam to be received by the receiving circuit board assembly M2; acquiring the second receiving parameter information of the sixth beam received by the receiving circuit board assembly M2; and adjusting the position of the receiving lens 221 so that the second receiving parameter information is within the second receiving preset range.

[0244] The second receiving parameter information includes the imaging area information of the sixth beam in the receiving circuit board assembly M2.

[0245] The step of adjusting the position of the receiving lens 221 so that the second received parameter information is within the second received preset range includes: adjusting the position of the receiving lens 221 and connecting the receiving lens 221 to the housing in a second connection state.

[0246] Referring to Figures 40 to 44, in some embodiments, the transmitting module 210 has a transmitting field of view H1 on the object under test, and a first laser beam is emitted in the transmitting field of view H1. The receiving module 220 has a receiving field of view H2 on the object under test, and the receiving field of view H2 is used to receive a second laser beam. The transmitting field of view H1 covers the receiving field of view H2.

[0247] This disclosure provides a lidar with certain embodiments. Through the above-described configuration, the receiving field of view H2 can be completely covered by the transmitting field of view H1. Since the detector 222 of the receiving module 220 receives the signal from the receiving field of view H2, the receiving detector 222 can be fully utilized, thereby improving the utilization efficiency of the receiving detector 222. This further improves the quality of the received signal of the optomechanical assembly 200 and enhances the sensing capability of the receiving module 220 for the second laser beam, thus improving the detection performance of the lidar.

[0248] In some embodiments, the transmitting module 210 and the receiving module 220 are arranged along the second direction Y. The transmitting module 210 has a transmitting optical axis and the receiving module 220 has a receiving optical axis. The transmitting module 210 includes a light-emitting part 211, which extends along the second direction Y and is used to emit a first laser beam. The light-emitting part 211 has a center point located on the straight line where the transmitting optical axis is located.

[0249] This disclosure provides a lidar according to some embodiments. With the above settings, the light emitted by the first laser beam emitted by the light-emitting part 211 of the emitting module 210 can be symmetrical and directionally accurate, making it easy to control.

[0250] In some embodiments, the maximum dimensional distance of the light-emitting portion 211 along the second direction Y is between 10 mm and 18 mm.

[0251] This disclosure provides a lidar in some embodiments that increases the length of the first laser beam emitted by the light-emitting part 211 along the first direction X, thereby expanding the emission field of view H1 and enabling the receiving field of view H2 to receive more signals.

[0252] In some embodiments, the light-emitting part 211 includes a plurality of light-emitting points.

[0253] This disclosure provides a lidar according to some embodiments, which, through the above-described configuration, can improve the consistency of the first laser beam emitted by the light-emitting unit 211.

[0254] In some embodiments, the light-emitting part 211 includes a plurality of sub-light sources 2111, each of which extends along the second direction Y.

[0255] This disclosure provides a lidar according to some embodiments. Through the above-described configuration, the phenomenon of heat accumulation easily occurring in the light-emitting part 211, which has only one sub-light source 2111, can be reduced, thereby improving the service life and stability of the light-emitting part 211.

[0256] In some embodiments, a straight line extending from the center point along the second direction Y is a preset straight line, and the projections of each sub-light source 2111 onto the preset straight line are continuous with each other.

[0257] This disclosure provides a lidar in some embodiments that increases the detection accuracy of the optomechanical assembly 200 by forming a continuous light spot area on the object being measured using a first laser beam emitted by the light-emitting part 211.

[0258] In some embodiments, each adjacent sub-light source 2111 is located on the opposite side of a preset straight line.

[0259] This disclosure provides a lidar system in some embodiments, which facilitates the installation of each sub-light source 2111 by arranging each adjacent sub-light source 2111 on opposite sides of a preset straight line, thus simplifying the installation process of the optomechanical assembly 200.

[0260] In some embodiments, the emitting module 210 further includes a regulator connected to the light-emitting part 211.

[0261] This disclosure provides a lidar according to some embodiments, in which the transmitting module 210 also includes a controller, which facilitates the control of the signal of the light-emitting part 211.

[0262] In some embodiments, the transmitting module 210 includes a beam expander system 212, and the first laser beam emitted by the light-emitting part 211 is expanded by the beam expander system 212 and then emitted onto the object under test.

[0263] This disclosure provides a lidar according to some embodiments, which, through the above-described configuration, can expand the first laser beam, thereby increasing the emission range of the first laser beam and improving the measurement range of the lidar.

[0264] In some embodiments, the beam expansion angle of the beam expansion system 212 ranges from 20 degrees to 25 degrees.

[0265] This disclosure provides a lidar system in some embodiments. By setting the beam expansion angle of the beam expansion system 212, the transmitting module 210 can emit a wider range of light spots on the object being measured, which is beneficial for the transmitting field of view H1 to cover the receiving field of view H2. The implementation method is simple and easy to implement.

[0266] In some embodiments, the transmitting module 210 further includes a collimation system 213 located between the beam expanding system 212 and the light emitting part 211, and the collimation system 213 is used for collimating the first laser beam.

[0267] This disclosure provides a lidar according to some embodiments, which, through the setting of the collimation system 213, can ensure that the first laser beam has a small divergence angle when it is emitted, thereby maintaining high beam quality and parallelism within a certain distance.

[0268] In some embodiments, the transmitting module 210 further includes a first connector, which is connected between the second base 230 and the beam expanding system 212; the first connector is connected between the second base 230 and the collimation system 213; or, the first connector is connected between the second base 230 and the beam expanding system 212 and the collimation system 213.

[0269] This disclosure provides a lidar with a collimation system 213 that can collimate a first laser beam, thereby reducing the probability of mutual interference between the first laser beams and improving the accuracy of the first laser beam.

[0270] In some embodiments, the transmitting module 210 further includes a connection medium that connects the first connector to the beam expander system 212 and / or the collimation system 213.

[0271] This disclosure provides a lidar according to some embodiments, which includes a connection medium in the transmitting module 210 to facilitate the connection of the beam expander system 212 and / or the collimation system 213.

[0272] In some embodiments, the receiving module 220 includes a receiving lens 221, the focal length of which is in the range of 10mm to 30mm.

[0273] For example, the focal length range includes 10mm, 20mm, and 30mm.

[0274] This disclosure provides a lidar in some embodiments that, by adjusting the focal length of the receiving lens 221, facilitates the complete coverage of the receiving field of view H2 by the transmitting field of view H1, thereby improving the utilization rate of the detector 222 of the optomechanical assembly 200.

[0275] In some embodiments, the receiving module 220 further includes a second connector connected between the second base 230 and the receiving lens 221.

[0276] This disclosure provides a lidar system in some embodiments, which includes a second connector in the receiving module 220 to facilitate the installation of the receiving lens 221.

[0277] In some embodiments, the receiving module 220 further includes a connection medium connected between the second connector and the receiving lens 221.

[0278] This disclosure provides a lidar system in some embodiments, which, through the above-described configuration, achieves an optical connection between the second connector and the receiving lens 221, ensuring that the optical signal can be transmitted efficiently and accurately.

[0279] In some embodiments, the receiving module 220 further includes a detector 222 located on one side of the receiving lens 221, and the detector 222 is configured to receive a second laser beam focused by the receiving lens 221.

[0280] This disclosure provides a lidar system in some embodiments, which, through the configuration of a receiver module 220 including a detector 222, converts received optical signals into electrical signals for subsequent signal processing and analysis.

[0281] In some embodiments, detector 222 includes a SPAD chip, and the SPAD chip includes a plurality of pixels.

[0282] This disclosure provides a lidar with several embodiments. By using a SPAD chip that includes multiple pixels, multiple pixels can be used to monitor the laser signal simultaneously, improving the sensitivity of the detector 222 during the detection process. Compared to single-point pixel reception, the detection range efficiency of the lidar can be improved by increasing the pulse width of the laser emission, increasing the energy of a single emission, and ensuring a certain repetition rate of the light-emitting part 211.

[0283] In some embodiments, the receiving module 220 further includes a filter configured to filter stray light entering the receiving lens 221.

[0284] This disclosure provides a lidar system in some embodiments, in which the receiving module 220 also includes a filter, which can reduce the interference of background light on the receiving module 220 and improve the accuracy of signal transmission.

[0285] In some embodiments, the filter is located on the side of the receiving lens 221 away from the detector 222.

[0286] This disclosure provides a lidar according to some embodiments. With the above-described configuration, it can allow light of a specific wavelength to pass through while absorbing or reflecting light of other wavelengths, thereby achieving the filtering of optical signals and protecting the receiving lens.

[0287] Please refer to Figures 45 to 49. In some embodiments, the positions of the scanning mirror assembly 300 and the optomechanical assembly 200 can be adjusted according to the actual situation.

[0288] For example, the transmitting module 210 and the receiving module 220 can be placed on the same side of the scanning mirror assembly 300 or on opposite sides of the scanning mirror assembly 300.

[0289] In some embodiments, the housing assembly 100 includes a first housing 110 and a second housing 120. The first housing 110 includes a bottom wall 111, and the second housing 120 covers and is connected to the first housing 110. The first housing 110 and the second housing 120 enclose a cavity, in which the scanning mirror assembly 300, the optomechanical assembly 200, and the main circuit board 400 are located.

[0290] This disclosure provides a lidar in some embodiments, which, through the housing assembly 100 including a first housing 110 and a second housing 120, can protect the internal scanning mirror assembly 300, optomechanical assembly 200 and main circuit board 400 from external physical damage, dust and moisture intrusion, thereby extending the service life of the device and facilitating disassembly and assembly.

[0291] In some embodiments, the housing assembly 100 is provided with a heat exchange structure 130.

[0292] This disclosure provides a lidar in some embodiments, which, by providing a heat exchange structure 130 in the housing assembly 100, can effectively transfer the heat generated by the internal components to the outside of the housing assembly 100, thereby improving heat dissipation efficiency.

[0293] In some embodiments, the heat exchange structure 130 includes a first heat exchange structure 131, which is located between the main circuit board 400 and the bottom wall 111.

[0294] This disclosure provides a lidar system in some embodiments, which, through the arrangement of a heat exchange structure 130 including a first heat exchange structure 131, facilitates heat exchange of the main circuit board 400, enabling timely heat exchange of the main circuit board 400 and improving the service life of the main circuit board 400.

[0295] In some embodiments, the heat exchange structure 130 includes a second heat exchange structure 132, which protrudes from the bottom wall 111 and is in at least partial contact with the optomechanical assembly 200.

[0296] This disclosure provides a lidar system in some embodiments, which, through the arrangement of a heat exchange structure 130 including a second heat exchange structure 132, facilitates heat exchange of the optomechanical component 200, enabling timely heat exchange of the optomechanical component 200 and improving the service life of the optomechanical component 200.

[0297] In some embodiments, the first heat exchange structure 131 includes a plurality of first sub-heat exchange elements, each of which is spaced apart.

[0298] This disclosure provides a lidar with some embodiments that, through the above-described configuration, facilitate the achievement of uniform heat exchange efficiency.

[0299] In some embodiments, the material of the first sub-heat exchanger includes a thermally conductive gel material.

[0300] This disclosure provides a lidar according to some embodiments. With the above-described configuration, the material of the first sub-heat exchanger includes thermally conductive gel material, which helps to ensure a better heat exchange effect.

[0301] In some embodiments, the second heat exchange structure 132 includes a heat exchange plate.

[0302] This disclosure provides a lidar solution through some embodiments, which is easy to implement and cost-effective due to the inclusion of a heat exchange plate in the second heat exchange structure 132.

[0303] In some embodiments, the heat exchange structure 130 includes a third heat exchange structure 133 disposed in the second housing 120.

[0304] This disclosure provides a lidar according to some embodiments, which further improves the heat exchange capability of the housing assembly 100 by including a third heat exchange structure 133 in the heat exchange structure 130.

[0305] In some embodiments, the third heat exchange structure 133 includes a heat exchange body 1331, which is embedded in the second housing 120 and protrudes toward the first housing 110.

[0306] This disclosure provides a lidar according to some embodiments, which, through the setting of the heat exchange body 1331, facilitates the exhaust of heat from the inside of the first housing 110 and the second housing 120, thereby extending the service life of the lidar.

[0307] In some embodiments, the heat exchange body 1331 is disposed in contact with the main circuit board 400.

[0308] This disclosure provides a lidar system in some embodiments, in which a heat exchange body 1331 is arranged in contact with a main circuit board 400, which facilitates heat exchange between the heat exchange body 1331 and the main circuit board 400.

[0309] In some embodiments, a heat source is provided on the side of the main circuit board 400 away from the first housing 110, and the heat exchange body 1331 is in contact with the heat source.

[0310] The location of the heat source includes, but is not limited to, the location of components such as chips, capacitors, and resistors on the main circuit board 400.

[0311] This disclosure provides a lidar according to some embodiments. Through the above-described configuration, the heat exchange body 1331 can accurately contact the heat source, thereby improving the heat exchange efficiency of the heat exchange body 1331 for the entire circuit board.

[0312] In some embodiments, the third heat exchange structure 133 further includes a heat exchange boss 1332, which is mounted on the side of the heat exchange body 1331 facing the first housing 110.

[0313] This disclosure provides a lidar system in some embodiments, which facilitates heat dissipation and conduction through the arrangement of heat exchange bosses 1332.

[0314] In some embodiments, a plurality of second sub-heat exchangers are connected to the side of the main circuit board 400 facing the third heat exchange structure 133, and the second sub-heat exchangers are in contact with the third heat exchange structure 133.

[0315] For example, the second heat exchanger is a thermally conductive gel.

[0316] This disclosure provides a lidar system in some embodiments, which, through the arrangement of a second sub-heat exchanger, facilitates the transfer of heat from the total circuit board 400 to the third heat exchange structure 133, thereby improving heat exchange efficiency.

[0317] In some embodiments, the heat exchange structure 130 further includes a fourth heat exchange structure 134, which is disposed in at least one of the first housing 110 or the second housing 120.

[0318] This disclosure provides a lidar according to some embodiments, which further facilitates heat exchange for the lidar by setting a fourth heat exchange structure 134.

[0319] In some embodiments, the fourth heat exchange structure 134 is a heat exchange groove F1, which is formed by the inward indentation of the surface of the first housing 110, or the heat exchange groove F1 is formed by the inward indentation of the surface of the second housing 120, or the heat exchange groove F1 is formed by the inward indentation of both the surface of the first housing 110 and the surface of the second housing 120.

[0320] This disclosure provides a lidar according to some embodiments. By setting a heat exchange tank F1, the heat exchange device outside the lidar can achieve heat exchange with the inside of the housing assembly through the heat exchange tank F1. For example, the heat exchange device includes an air-cooled heat exchange device. The heat exchange fluid can achieve heat exchange through the heat exchange tank F1. The heat exchange tank F1 can increase the contact area between the heat exchange fluid and at least one of the first housing 110 or the second housing 120, thereby facilitating heat exchange.

[0321] In some embodiments, the heat exchange tank F1 includes a plurality of sub-tanks F11, each sub-tank F11 being spaced apart.

[0322] This disclosure provides a lidar system in some embodiments that, through the arrangement of multiple sub-slots F11, further facilitates increasing the contact area between the heat exchange fluid and the third heat exchange structure 133, thereby further improving heat exchange efficiency.

[0323] In some embodiments, the first housing 110 and the second housing 120 are sealed together.

[0324] This disclosure provides a lidar system in some embodiments, which improves the isolation between the inside and outside of the housing assembly 100 by sealing the first housing 110 and the second housing 120, thus ensuring the stability of the operation inside the housing assembly 100.

[0325] In some embodiments, the housing assembly 100 further includes a second seal disposed between the first housing 110 and the second housing 120.

[0326] For example, the material of the second seal may include, but is not limited to, silicone or rubber. The material of the second seal can be selected according to the actual situation, and the shape of the second seal may include, but is not limited to, strip or ring.

[0327] This disclosure provides a lidar in some embodiments, which, through the inclusion of a second seal in the housing assembly 100, facilitates sealing between the first housing 110 and the second housing 120.

[0328] In some embodiments, the housing assembly 100 includes a first positioning structure 140 connected between the scanning mirror assembly 300 and the bottom wall 111.

[0329] This disclosure provides a lidar according to some embodiments, in which the housing assembly 100 includes a first positioning structure 140, which facilitates the installation and positioning of the scanning mirror assembly 300 and the bottom wall 111.

[0330] In some embodiments, the housing assembly 100 includes a second positioning structure 150 connected between the optomechanical assembly 200 and the bottom wall 111.

[0331] This disclosure provides a lidar according to some embodiments, in which the housing assembly 100 includes a second positioning structure 150, which facilitates the installation and positioning of the optomechanical assembly 200 and the bottom wall 111.

[0332] Referring to Figure 50, in some embodiments, the lidar further includes a laser illumination circuit connected to the optomechanical assembly, which is configured to control the optomechanical assembly to emit a first laser beam.

[0333] This disclosure provides a lidar embodiment that facilitates the emission of a first laser beam from an optomechanical component through the configuration of a laser illumination circuit.

[0334] In some embodiments, the lidar further includes a detection circuit and a controller. The detection circuit is connected to the laser illumination circuit, and the controller is connected to the detection circuit. The controller is configured to receive the detection signal output by the detection circuit and determine whether the laser illumination circuit has successfully emitted the first laser beam.

[0335] This disclosure provides a lidar system through some embodiments, which, through the configuration of the detection circuit, facilitates the monitoring of the laser lighting circuit and enables real-time control of it.

[0336] Referring to Figures 51 to 54, in some embodiments, the detection circuit includes: an input sub-circuit and a voltage divider sub-circuit; the input sub-circuit is connected to the laser lighting circuit, and is configured such that when the laser lighting circuit emits laser light, the voltage at the output terminal of the input sub-circuit becomes a preset voltage; the voltage divider sub-circuit is connected to the input sub-circuit, a power supply voltage terminal, and a ground terminal, and is configured to output a detection signal in response to the preset voltage, wherein the voltage of the detection signal is a detectable voltage.

[0337] For example, when the laser illumination circuit 600 of the lidar is not emitting a laser beam, the input sub-circuit 520 is in an open state. Simultaneously, the voltage divider sub-circuit 530 divides the voltage at the power supply terminal VCC to a range detectable by the controller, and outputs this voltage at the output terminal OUT of the voltage divider sub-circuit 530. At this time, the output terminal OUT of the voltage divider sub-circuit 530 outputs the normal signal Z2. The normal signal Z2 refers to the signal output by the output terminal OUT of the voltage divider sub-circuit 530 when the lidar is in a normal state, that is, the signal output by the output terminal OUT of the voltage divider sub-circuit 530 when the lidar's laser illumination circuit 600 is not emitting a laser beam. It can be understood that the voltage of the normal signal Z2 is a voltage detectable by the controller.

[0338] For example, the controller may be a decision logic IC, an MCU, or a control board, etc., and this disclosure does not limit it.

[0339] For example, when the laser illumination circuit 600 of the lidar emits a laser beam, the voltage at the output terminal 521 of the input sub-circuit changes to a preset voltage. Simultaneously, the voltage divider circuit 530 responds to the preset voltage. Under the influence of the preset voltage, the voltage divider circuit 530 divides the preset voltage and the voltage at the power supply voltage terminal VCC to a range detectable by the controller, and outputs this voltage at the output terminal OUT of the voltage divider circuit 530. At this time, the output terminal OUT of the voltage divider circuit 530 outputs the detection signal Z1. The detection signal Z1 refers to the signal output by the output terminal OUT of the voltage divider circuit 530 when the laser illumination circuit 600 of the lidar emits a laser beam. It can be understood that the voltage of the detection signal Z1 is a voltage detectable by the controller, and the voltage of the detection signal Z1 is different from the voltage of the normal signal Z2.

[0340] For example, a controller, such as a logic IC, MCU, or control circuit board, can be connected to the output terminal OUT of the voltage divider circuit 530 to receive the signal output from the output terminal OUT of the voltage divider circuit 530. When the laser illumination circuit 600 of the lidar is not emitting a laser beam, the controller receives a normal signal Z2. According to the internal judgment logic of the controller, after identifying and judging the voltage of the normal signal Z2, the controller outputs, for example, a high level 1. When the laser illumination circuit 600 of the lidar emits a laser beam, the controller receives a detection signal Z1. According to the internal judgment logic of the controller, after identifying and judging the voltage of the detection signal Z1, the controller outputs, for example, a low level 0.

[0341] Therefore, based on the different signals output by the output terminal OUT of the voltage divider circuit 530 in different states of the laser lighting circuit 600, the controller and other means can be used to determine whether the laser radar has successfully emitted a laser beam.

[0342] It is understandable that the output terminal OUT of the voltage divider circuit 530 is the same as the output terminal 100-1 of the detection circuit 500.

[0343] The lidar provided in some embodiments of this disclosure uses a detection circuit 500 as a branch circuit of the laser illumination circuit 600. That is, the detection circuit 500 is a separately installed circuit on the laser product, such as the lidar, and connected to the laser illumination circuit 600. In this way, the installation of the detection circuit 500 does not affect the structure of the laser illumination circuit 600 itself, nor does it affect the luminous efficiency of the laser illumination circuit 600. Simultaneously, the voltage signal output from the output terminal OUT of the voltage divider circuit 530 can be used to determine whether the laser product, such as the lidar, has successfully emitted a laser beam. Furthermore, the detection circuit 500 has a simple structure and low cost.

[0344] In some embodiments, the input sub-circuit includes a first capacitor, a first end of which is connected to the laser lighting circuit, and a second end of which is connected to the voltage divider sub-circuit.

[0345] For example, a capacitor has the characteristic of blocking DC, that is, blocking direct current. Its principle is mainly based on the charging and discharging process of the capacitor. The function of a capacitor in a DC circuit is to block direct current. When a capacitor is connected to a DC circuit, there is a brief charging process. When both the positive and negative plates of the capacitor are fully charged, no current will flow in the DC circuit. That is, when the capacitor is fully charged, it is equivalent to an open circuit, preventing the passage of direct current.

[0346] The lidar provided in some embodiments of this disclosure requires a certain timing pulse trigger for the lidar to illuminate. In order to accurately identify the moment the laser is illuminated and to reduce interference with the laser illumination circuit 600, the DC blocking characteristic of the capacitor charging and discharging can be used to connect the capacitor to the laser illumination circuit 600.

[0347] For example, when the laser illumination circuit 600 of the lidar does not emit a laser beam, the laser illumination circuit 600 charges the first capacitor C1. When the first capacitor C1 is fully charged, the first capacitor C1 is equivalent to an open circuit, that is, the input sub-circuit 520 is in an open state.

[0348] For example, when the laser illumination circuit 600 of the lidar emits a laser beam, for instance, the first terminal C1-1 of the first capacitor C1 is connected to the ground terminal in the laser illumination circuit 600, and the first capacitor C1 discharges into the laser illumination circuit 600. Since the voltage across the capacitor cannot change abruptly, when the first terminal C1-1 of the first capacitor C1 is connected to the ground terminal in the laser illumination circuit 600, the voltage of the first terminal C1-1 of the first capacitor C1 becomes the voltage of the ground terminal in the laser illumination circuit 600, for example, 0V; at this time, since the first capacitor C1 is still discharging into the laser illumination circuit 600, the voltage of the second terminal C1-2 of the first capacitor C1 will become a preset voltage, and the preset voltage is a negative voltage.

[0349] It is understandable that the second terminal C1-2 of the first capacitor C1 is the output terminal 55541 of the input sub-circuit 520.

[0350] In some embodiments, the voltage divider circuit 530 includes a first voltage divider unit 5541, a second voltage divider unit 5542, and a third voltage divider unit 533; the first voltage divider unit 5541 is connected to the second terminal C1-2 of the first capacitor C1, the second voltage divider unit 5542 is connected to the ground terminal GND, and the third voltage divider unit 533 is connected to the power supply voltage terminal VCC; the first voltage divider unit 5541, the second voltage divider unit 5542, and the third voltage divider unit 533 are all connected to the output terminal OUT of the voltage divider circuit 530.

[0351] For example, since the laser lighting circuit 600 often requires a high voltage when emitting a laser beam, but most controllers connected to the output terminal OUT of the voltage divider circuit 530 can only detect reduced voltages, such as voltages from 0V to 5V, it is necessary to use the first voltage divider unit 5541, the second voltage divider unit 5542 and the third voltage divider unit 533 to divide the voltage of the normal signal Z2 and the voltage of the detection signal Z1 into a range that the controller can recognize.

[0352] The lidar provided in some embodiments of this disclosure can utilize a second voltage divider unit 5542 and a third voltage divider unit 533 to divide the voltage of the power supply voltage terminal VCC to a range detectable by the controller, so that the voltage of the normal signal Z2 output by the output terminal OUT of the voltage divider circuit 530 can be detected by the controller. A first voltage divider unit 5541, a second voltage divider unit 5542, and a third voltage divider unit 533 can utilize a first voltage divider unit 5541 and the voltage of the power supply voltage terminal VCC to a range detectable by the controller, so that the voltage of the detection signal Z1 output by the output terminal OUT of the voltage divider circuit 530 can be detected by the controller.

[0353] In some embodiments, the first voltage divider unit 5541 includes a first resistor R1, the first end R1-1 of the first resistor R1 is connected to the second end C1-2 of the first capacitor C1, and the second end R1-2 of the first resistor R1 is connected to the output terminal OUT of the voltage divider circuit 530.

[0354] In some embodiments, the second voltage divider unit 5542 includes a second resistor R2, the first end R2-1 of the second resistor R2 is connected to the output terminal OUT of the voltage divider circuit 530, and the second end R2-2 of the second resistor R2 is connected to the ground terminal GND.

[0355] In some embodiments, the third voltage divider unit 533 includes a third resistor R3, the first end R3-1 of the third resistor R3 is connected to the power supply voltage terminal VCC, and the second end R3-2 of the third resistor R3 is connected to the output terminal OUT of the voltage divider circuit 530.

[0356] For example, the first end R3-1 of the third resistor R3 can be connected to the power supply voltage terminal VCC, the second end R3-2 of the third resistor R3 can be connected to the output terminal OUT of the voltage divider circuit 530, the first end R2-1 of the second resistor R2 can be connected to the output terminal OUT of the voltage divider circuit 530, and the second end R2-2 of the second resistor R2 can be connected to the ground terminal GND; in this way, the power supply voltage terminal VCC, the third resistor R3, the second resistor R2, and the ground terminal GND form a complete loop.

[0357] For example, when the laser illumination circuit 600 of the lidar does not emit a laser beam, the first capacitor C1 is in the open state. At this time, the third resistor R3 and the second resistor R2 divide the voltage output from the power supply voltage terminal VCC to the range that the controller can detect, and output it from the output terminal OUT of the voltage divider circuit 530.

[0358] For example, the first end R1-1 of the first resistor R1 can be connected to the second end C1-2 of the first capacitor C1, and the second end R1-2 of the first resistor R1 can be connected to the output terminal OUT of the voltage divider circuit 530; in this way, the first capacitor C1, the first resistor R1, the second resistor R2, and the ground terminal GND form a complete loop.

[0359] For example, when the laser illumination circuit 600 of the lidar emits a laser beam, the first capacitor C1 discharges into the laser illumination circuit 600, and the voltage at the second terminal C1-2 of the first capacitor C1 becomes a preset voltage, that is, the voltage at the output terminal 55541 of the input sub-circuit 520 becomes a preset voltage. At this time, the preset voltage is too large to be detected by the controller. At this time, the first resistor R1 and the second resistor R2 can divide the preset voltage at the second terminal C1-2 of the first capacitor C1, so that the voltage at the output terminal OUT of the voltage divider sub-circuit 530 is within a certain range.

[0360] For example, since the preset voltage of the second terminal C1-2 of the first capacitor C1 is negative, the voltage output by the output terminal OUT of the voltage divider circuit 530 is also negative after being divided by the first resistor R1 and the second resistor R2. Since the controller, such as the judgment logic IC, MCU or control circuit board, cannot detect the negative voltage and will be damaged by the negative voltage, it is necessary to process the negative voltage output by the output terminal OUT of the voltage divider circuit 530 at this time.

[0361] For example, the power supply voltage terminal VCC, the third resistor R3, the second resistor R2, and the ground terminal GND form a complete circuit. The third resistor R3 and the second resistor R2 can divide the voltage of the power supply voltage terminal VCC to a range that the controller can detect. Since the voltage of the power supply voltage terminal VCC is positive, the third resistor R3 can have the function of pulling up the voltage. The negative voltage in the circuit can be pulled up to the positive voltage that the controller can detect, and then output by the output terminal OUT of the voltage divider circuit 530.

[0362] For example, when the laser illumination circuit 600 of the lidar does not emit a laser beam, the first capacitor C1 is in the open state; at the same time, in the voltage divider circuit 530, the power supply voltage terminal VCC, the third resistor R3, the second resistor R2, and the ground terminal GND form a complete loop. The third resistor R3 and the second resistor R2 divide the voltage output from the power supply voltage terminal VCC to a range that the controller can detect, and output it from the output terminal OUT of the voltage divider circuit 530. At this time, the output terminal OUT of the voltage divider circuit 530 outputs a normal signal Z2, and the voltage of the normal signal Z2 can be, for example, 3V; at this time, the controller determines that the voltage of the normal signal Z2 is high level 1.

[0363] For example, when the laser illumination circuit 600 of the lidar emits a laser beam, the first terminal C1-1 of the first capacitor C1 is connected to the ground terminal in the laser illumination circuit 600, and the first capacitor C1 discharges into the laser illumination circuit 600. At this time, the second terminal C1-2 of the first capacitor C1 becomes a preset voltage, which is a negative voltage. Since the third resistor R3 has the function of pulling up the voltage, the negative voltage in the circuit can be pulled up to a positive voltage that the controller can detect, and output by the output terminal OUT of the voltage divider circuit 530. At this time, the output terminal OUT of the voltage divider circuit 530 outputs the detection signal Z1. The voltage of the detection signal Z1 can be, for example, 0V. At this time, the controller determines that the voltage of the detection signal Z1 is low level 0.

[0364] For example, since the voltage of the detection signal Z1 is different from the voltage of the normal signal Z2, the controller can use the voltage signal output by the output terminal OUT of the voltage divider circuit 530 to determine whether the lidar has successfully emitted a laser beam. For instance, when the lidar's laser illumination circuit 600 does not emit a laser beam, the controller outputs a high level 1; when the lidar's laser illumination circuit 600 emits a laser beam, the controller outputs a low level 0. If there are various problems such as component damage in the laser illumination circuit 600 that prevent the laser beam from emitting normally, the detection circuit 500 will output the normal signal Z2, and the controller will output a high level 1, thus indicating whether the lidar has successfully emitted a laser beam.

[0365] In some embodiments, the first voltage divider unit 5541 further includes a second capacitor C2, the first terminal C2-1 of the second capacitor C2 is connected to the second terminal R1-2 of the first resistor R1, and the second terminal C2-2 of the second capacitor C2 is connected to the ground terminal GND.

[0366] For example, the first resistor R1 and the second capacitor C2 form a low-pass filter, which has a small impedance to low-frequency signals and a large impedance to high-frequency signals, thereby achieving a filtering effect. Specifically, when the input signal is a low-frequency signal, the capacitance effect of the capacitor dominates, forming a low impedance, thus allowing the signal to pass through the circuit; while when the input signal is a high-frequency signal, the resistance effect of the resistor dominates, forming a high impedance, thus preventing the signal from passing through the circuit. This arrangement smooths out signal spikes and oscillations in the circuit.

[0367] In some embodiments, the detection circuit 500 further includes a protection sub-circuit 540 connected to the voltage divider sub-circuit 530, and the protection sub-circuit 540 is configured to maintain the voltage of the detection signal Z1 within a preset range.

[0368] For example, when dealing with special scenarios, the LiDAR adjusts its power by changing the voltage in the laser illumination circuit 600. For instance, in scenarios involving close range, high reflection, or overexposure, the power can be adjusted by reducing the voltage in the laser illumination circuit 600. In this case, the voltage in the laser illumination circuit 600 is not fixed but varies. Thus, the preset voltage at the second terminal C1-2 of the first capacitor C1, after being divided by the first resistor R1 and the second resistor R2, and then pulled up by the third resistor R3, may result in the voltage of the detection signal Z1 output from the output terminal OUT of the voltage divider circuit 530 (i.e., the output terminal 100-1 of the detection circuit 500). This voltage may exceed the controller's voltage detection range, for example, being less than 0V. Consequently, the controller may fail to detect the detection signal Z1 and could potentially be damaged.

[0369] Therefore, a protection sub-circuit 540 can be set in the detection circuit 500 to maintain the voltage of the detection signal Z1 output by the output terminal 100-1 of the detection circuit 500 within a preset range. The preset range means that, according to the controller's own parameter settings, when the voltage of the detection signal Z1 output by the output terminal 100-1 of the detection circuit 500 is within the preset range, it will not damage the controller and can be detected by the controller.

[0370] For example, the protection sub-circuit 540 is connected to the output terminal OUT of the voltage divider sub-circuit 530. The normal signal Z2 or the detection signal Z1 output from the output terminal OUT of the voltage divider sub-circuit 530 is transmitted to the output terminal 100-1 of the detection circuit 500 after passing through the protection sub-circuit 540. The protection sub-circuit 540 is configured to protect the controller connected to the output terminal 100-1 of the detection circuit 500, preventing excessive or insufficient voltage from being transmitted to the controller and thus damaging it.

[0371] In some embodiments, the protection sub-circuit 540 includes a first protection unit 541, which is connected between the power supply voltage terminal VCC and the output terminal OUT of the voltage divider sub-circuit 530. The first protection unit 541 is configured to keep the voltage of the detection signal Z1 output by the detection circuit 500 less than or equal to a first threshold.

[0372] For example, the first protection unit 541 prevents the voltage of the detection signal Z1 output by the detection circuit 500 from being too high and damaging the controller.

[0373] In some embodiments, the first protection unit 541 includes a first diode D1, the anode D1-1 of the first diode D1 is connected to the output terminal OUT of the voltage divider circuit 530, and the cathode D1-2 of the first diode D1 is connected to the power supply voltage terminal VCC. The first diode D1 keeps the voltage of the detection signal Z1 output by the detection circuit 500 less than or equal to a first threshold.

[0374] For example, the positive terminal D1-1 of the first diode D1 is connected to the output terminal OUT of the voltage divider circuit 530, and the negative terminal D1-2 of the first diode D1 is connected to the power supply voltage terminal VCC. The first diode D1 conducts unidirectionally from the output terminal OUT of the voltage divider circuit 530 to the power supply voltage terminal VCC. Thus, when the voltage at the output terminal OUT of the voltage divider circuit 530 is greater than the voltage at the power supply voltage terminal VCC, the voltage at the output terminal 100-1 of the detection circuit 500 will be shaped to be the voltage at the power supply voltage terminal VCC plus the forward voltage of the first diode D1 (VVCC + Vpn). That is, the first diode D1 makes the voltage of the detection signal Z1 output by the output terminal 100-1 of the detection circuit 500 equal to the first threshold. The first threshold is the voltage at the power supply voltage terminal VCC plus the forward voltage of the first diode D1 (VVCC + Vpn).

[0375] In some embodiments, the protection sub-circuit 540 includes a second protection unit 542, which is connected between the output terminal OUT of the voltage divider sub-circuit 530 and the ground terminal GND; the second protection unit 542 is configured to keep the voltage of the detection signal Z1 output by the detection circuit 500 greater than or equal to a second threshold.

[0376] For example, the second protection unit 542 prevents the controller from being damaged by the low voltage of the detection signal Z1 output by the detection circuit 500.

[0377] In some embodiments, the second protection unit 542 includes a second diode D2, the positive terminal D2-1 of the second diode D2 being connected to the ground terminal GND, and the negative terminal D2-2 of the second diode D2 being connected to the output terminal OUT of the voltage divider circuit 530. The second diode D2 ensures that the voltage of the detection signal Z1 output by the detection circuit 500 is greater than or equal to a second threshold.

[0378] For example, the positive terminal D2-1 of the second diode D2 is connected to the ground terminal GND, and the negative terminal D2-2 of the second diode D2 is connected to the output terminal OUT of the voltage divider circuit 530. The second diode D2 conducts unidirectionally from the ground terminal GND to the output terminal OUT of the voltage divider circuit 530. Thus, when the voltage at the output terminal OUT of the voltage divider circuit 530 is less than the voltage at the ground terminal GND, the voltage at the output terminal 100-1 of the detection circuit 500 will be shaped to be the voltage at the ground terminal GND minus the forward voltage of the second diode D2 (VGND-Vpn). That is, the second diode D2 makes the voltage of the detection signal Z1 output by the output terminal 100-1 of the detection circuit 500 equal to the second threshold. The second threshold is the voltage at the ground terminal GND minus the forward voltage of the second diode D2 (VGND-Vpn).

[0379] At this time, the preset range refers to the second threshold to the first threshold, that is, the voltage of the ground terminal GND minus the conduction voltage of the second diode D2 (VGND-Vpn) to the voltage of the power supply voltage terminal VCC plus the conduction voltage of the first diode D1 (VVCC+Vpn).

[0380] For example, the first diode D1 and the second diode D2 can be diodes with low forward voltage. For instance, during circuit design, the resistance ratio can be controlled to reduce the current, thereby reducing the forward voltage of the first diode D1 and the second diode D2. The configuration of the first diode D1 and the second diode D2 can shape the voltage of the detection signal Z1 output from the output terminal 100-1 of the detection circuit 500, preventing the voltage of the detection signal Z1 output from the output terminal 100-1 of the detection circuit 500 from being too high or too low, thereby protecting the controller.

[0381] This disclosure provides a vehicle 1, including the aforementioned lidar, through some embodiments.

[0382] The vehicle 1 provided in some embodiments of this disclosure can save space inside the lidar by setting the internal structure of the lidar, thereby improving the utilization rate of the space inside the vehicle 1.

[0383] In related technologies, the encoder of mechanical lidar is located partly inside the motor and partly on the circuit board outside the motor. This results in too many matching structures between the two parts and too large cumulative errors, which makes it impossible to meet the accuracy requirements of lidar.

[0384] To address the aforementioned issues, some embodiments of this disclosure provide a lidar motor, a lidar, and a vehicle.

[0385] The following description, in conjunction with the accompanying drawings, details some embodiments of the lidar motor, lidar, and vehicle provided in this disclosure, through examples and application scenarios.

[0386] As shown in Figures 55 to 57A, a lidar motor 5000 according to some embodiments of the present disclosure includes: a stator assembly 4, a rotor assembly 3, and an encoder 2; the rotor assembly 3 is rotatably connected to the stator assembly 4, and an installation space 1 is formed between the rotor assembly 3 and the stator assembly 4, and the encoder 2 is disposed in the installation space 1.

[0387] In some embodiments of this disclosure, the rotor assembly 3 is rotatably connected to the stator assembly 4, and an installation space 1 is formed between the rotor assembly 3 and the stator assembly 4. The encoder 2 is disposed within the installation space 1. This reduces the number of mating structures between the internal components of the encoder 2, thereby reducing accumulated errors and improving the detection accuracy of the encoder 2.

[0388] In some embodiments, the encoder 2 is installed inside the lidar motor. By detecting information such as the speed and displacement of the rotor assembly 3 and cooperating with other structural components, it obtains relevant information about the target object to be detected, such as parameters such as target distance, orientation, height, speed, attitude, and even shape, thereby detecting, tracking, and identifying the target object.

[0389] In some embodiments, the encoder 2 includes a code disk 21 and a detection element 22. The code disk 21 is fixed on the rotor assembly 3, and the detection element 22 is fixed on the stator assembly 4. The code disk 21 and the detection element 22 are arranged opposite to each other. The rotor assembly 3 can rotate relative to the stator assembly 4 to drive the code disk 21 to rotate relative to the detection element 22.

[0390] In some embodiments of this disclosure, by fixing the code disk 21 to the rotor assembly 3 and the detection element 22 to the stator assembly 4, with the code disk 21 and the detection element 22 arranged opposite to each other, the rotor assembly 3 can rotate relative to the stator assembly 4, thereby driving the code disk 21 to rotate relative to the detection element 22. This allows the detection element 22 to rotate relative to the code disk 21, enabling the detection element 22 to detect information such as linear velocity and angular velocity on the code disk 21.

[0391] For example, the code disk 21 is a sensor for measuring angular displacement. The code disk has a ring-shaped code track with regularly distributed holes. The detection element 22 can provide relatively accurate angle information based on the periodic changes of the transmissive or non-transmissive areas on the code track area, thereby measuring the angular velocity and angular displacement of the code disk 21.

[0392] In some embodiments, as shown in Figures 55 and 56, the rotor assembly 3 includes a rotor housing 31 and a rotating shaft 32; the stator assembly 4 includes a fixed shaft 41; the rotating shaft 32 is rotatably connected to the fixed shaft 41, the rotor housing 31 is connected to the rotating shaft 32, and the rotor housing 31 and the fixed shaft 41 enclose an installation space 1; the encoder 21 is fixed to the inner wall of the rotor housing 31, the detection element 22 is fixed to the fixed shaft 41, and the encoder 21 and the detection element 22 are arranged opposite to each other.

[0393] In some embodiments of this disclosure, a rotating shaft 32 is rotatably connected to a fixed shaft 41, a rotor housing 31 is connected to the rotating shaft 32, an encoder 21 is fixed to the inner wall of the rotor housing 31, and a detection element 22 is fixed to the fixed shaft 41. In this way, the rotor housing 31 can rotate relative to the fixed shaft 41 via the rotating shaft 32, thereby causing the encoder 21 to rotate relative to the detection element 22, so that the detection element 22 can detect the angular velocity on the rotor housing 31. Simultaneously, since both the detection element 22 and the encoder 21 are disposed within the installation space 1, this improves the space utilization of the installation space 1, thereby reducing the size of the lidar motor.

[0394] In some embodiments, the encoder 2 can be a contact encoder or an optical encoder. For example, when the encoder 2 is an optical encoder, the code disk 21 is a grating code disk, and the detection element 22 is a photoelectric detection element. The grating code disk is fixedly mounted on the inner wall of the rotor housing 31 to rotate with the rotor housing 31, and the photoelectric detection element detects the gratings on the grating code disk to detect the angular displacement of the rotor housing 31 in real time. Specifically, the grating code disk is coaxially arranged with the rotor housing 31, and the photoelectric detection element is fixed on the fixed shaft 41. When the rotor housing 31 rotates relative to the fixed shaft 41, the grating code disk will rotate relative to the photoelectric detection element. During the rotation, the photoelectric detection element will detect different gratings on the grating code disk, thereby detecting the angular displacement of the rotor housing 31 and thus achieving the effect of detecting the motor speed.

[0395] In other embodiments, the lidar motor further includes a circuit board 11 and a wiring harness 12. A detection element 22 is electrically connected to the circuit board 11, and one end of the wiring harness 12 is connected to the circuit board 11, while the other end is electrically connected to the main controller of the lidar motor. In this way, the detection element 22 can transmit the angular displacement of the rotor housing 31 to the main controller of the lidar motor via the circuit board 11, allowing the main controller to adjust accordingly.

[0396] In some embodiments, as shown in Figures 55 and 56, the fixed shaft 41 has a mounting surface 5 on the side facing the mounting space 1, and the detection element 22 is mounted on the mounting surface 5.

[0397] In some embodiments of this disclosure, the detection element 22 is mounted on the mounting surface 5 by providing a mounting surface 5 on the side of the fixed shaft 41 facing the mounting space 1, thereby facilitating the assembly between the detection element 22 and the fixed shaft 41.

[0398] In some embodiments, one end of the fixed shaft 41 is provided with a mounting hole 15, which is used for mounting and fixing with other structures of the lidar.

[0399] In some embodiments, as shown in FIG55, a step is provided on the fixed shaft 41, the circuit board 11 is mounted on the step and coaxially arranged with the fixed shaft 41, and the detection element 22 is disposed on the circuit board 11. Further, as shown in FIG2, a protrusion is provided on the side wall of the fixed shaft 41, and a recess is provided at the corresponding position on the circuit board 11. In this way, the circuit board 11 can be installed and fixed by the recess engaging with the protrusion of the fixed shaft 41.

[0400] In some embodiments, as shown in Figures 55 and 56, the stator assembly 4 further includes a winding 42, and the rotor assembly 3 further includes a magnet 33; both the winding 42 and the magnet 33 are disposed within the mounting space 1, the winding 42 is sleeved on the fixed shaft 41, and the magnet 33 is fixed on the inner wall of the rotor housing 31, with the magnet 33 and the winding 42 being disposed opposite each other.

[0401] In some embodiments of this disclosure, the winding 42 is sleeved on the fixed shaft 41, and the magnet 33 is fixed on the inner wall of the rotor housing 31, with the magnet 33 and the winding 42 arranged opposite to each other. In this way, when the winding 42 is energized, the magnet 33 can rotate relative to the winding 42, thereby driving the rotor housing 31 to rotate relative to the fixed shaft 41.

[0402] In some embodiments, as shown in FIG55, the winding 42 is arranged around the outer periphery of the fixed shaft 41 and fixed to the fixed shaft 41 with glue. The circuit board 11 is electrically connected to the winding 42 so that the winding 42 is energized to generate a magnetic field, thereby causing the magnet 33 to rotate in the magnetic field.

[0403] In some embodiments, as shown in Figures 55 and 56, a bearing 6 is also included; a cavity 7 is provided inside the fixed shaft 41, the bearing 6 is disposed in the cavity 7 and fixedly connected to the fixed shaft 41, and the rotating shaft 32 passes through the bearing 6.

[0404] In some embodiments of this disclosure, the bearing 6 is disposed within the cavity 7 and fixedly connected to the fixed shaft 41, and the rotating shaft 32 passes through the bearing 6. This facilitates a rotational connection between the fixed shaft 41 and the rotor housing 31.

[0405] It should be noted that the specific number of bearings 6 is not limited. For example, there can be two bearings 6, which are distributed at intervals along the axial direction of the fixed shaft 41.

[0406] In some embodiments, as shown in FIG3, the rotor assembly 3 includes a rotor housing 31, and the stator assembly 4 includes a fixed base 43 and a rotating shaft 44; the rotating shaft 44 is mounted on the fixed base 43, the rotor housing 31 is rotatably connected to the rotating shaft 44, and the rotor housing 31 is provided with a mounting part 8 at one end facing the fixed base 43, forming an installation space 1 between the mounting part 8 and the fixed base 43, the code disk 21 is fixed on the mounting part 8, and the detection element 22 is fixed on the fixed base 43, with the code disk 21 and the detection element 22 arranged opposite to each other.

[0407] In some embodiments of this disclosure, the rotor housing 31 is rotatably connected to the rotor shaft 44 by mounting the rotating shaft 44 on the fixed base 43. A mounting portion 8 is provided at one end of the rotor housing 31 facing the fixed base 43, the code disk 21 is fixed to the mounting portion 8, and the detection element 22 is fixed to the fixed base 43. In this way, the rotor housing 31 can rotate relative to the fixed shaft 41, thereby driving the code disk 21 to rotate relative to the detection element 22, so that the detection element 22 can detect the angular velocity on the code disk 21. Simultaneously, by providing the mounting portion 8 at one end of the rotor housing 31 facing the fixed base 43, the size of the mounting portion can be flexibly adjusted according to requirements, thus allowing code disks 21 of different sizes to be mounted on the mounting portion.

[0408] In some embodiments, as shown in FIG3, the mounting portion 8 extends from the rotor housing 31 toward a direction away from the rotating shaft 44 in the radial direction.

[0409] In some embodiments of this disclosure, by providing the mounting portion 8 to extend from the rotor housing 31 toward a direction away from the rotating shaft 44, the size of the mounting portion 8 is increased radially along the rotating shaft 44, thereby allowing a larger code disk 21 to be mounted, thereby improving detection accuracy.

[0410] It should be noted that the larger the size of the code disk 21, the higher the detection accuracy; the smaller the size of the code disk 21, the lower the detection accuracy.

[0411] In some embodiments, as shown in FIG57A, the stator assembly 4 further includes a winding 42, and the rotor assembly 3 further includes a magnet 33; the rotor housing 31, the fixed seat 43, and the rotating shaft 44 enclose a mounting cavity 9, the winding 42 and the magnet 33 are disposed in the mounting cavity 9, the winding 42 is sleeved on the rotating shaft 44, and the magnet 33 is fixed on the inner wall of the rotor housing 31, with the magnet 33 and the winding 42 being disposed opposite each other.

[0412] In some embodiments of this disclosure, the winding 42 and the magnet 33 are disposed within the mounting cavity 9, with the winding 42 sleeved on the rotating shaft 44 and the magnet 33 fixed to the inner wall of the rotor housing 31, and the magnet 33 and the winding 42 being disposed opposite each other. Thus, when the winding 42 is energized, the magnet 33 can rotate relative to the winding 42, thereby driving the rotor housing 31 to rotate relative to the fixed base 43.

[0413] In some embodiments, as shown in FIG3, the winding 42 is arranged around the outer periphery of the rotating shaft 44 and fixed to the rotating shaft 44 with glue. The circuit board 11 is electrically connected to the winding 42 so that the winding 42 is energized to generate a magnetic field, thereby causing the magnet 33 to rotate in the magnetic field.

[0414] In some embodiments, as shown in Figures 55 to 57A, the lidar motor 5000 further includes a bearing 6; the bearing 6 is mounted on the end of the rotating shaft 44 away from the fixed base 43, and the rotor housing 31 is rotatably connected to the rotating shaft 44.

[0415] In some embodiments of this disclosure, the rotor housing 31 is rotatably connected to the shaft 44 by mounting the bearing 6 at the end of the shaft 44 away from the fixed base 43. This facilitates the rotatable connection between the rotor housing 31 and the shaft 44.

[0416] In some embodiments, as shown in FIG57A, since the bearing 6 is installed at the end of the shaft 44 away from the fixed seat 43, the winding 42 can be installed at the end of the shaft 44 close to the fixed seat 43. Since the circuit board 11 is installed on the fixed seat 43, the line between the winding 42 and the circuit board 11 can be shorter, which is beneficial to saving costs.

[0417] In some embodiments, as shown in FIG57A, a boss is provided on the inner wall of the rotor housing 31, and the bearing 6 can be mounted and fixed on the boss. It should be noted that the specific number of bearings 6 is not limited. For example, there can be two bearings 6, which are spaced apart along the axial direction of the rotating shaft 44.

[0418] In some embodiments, the lidar motor further includes a fastener 13 and an elastic element 14; the fastener 13 is mounted on the end of the shaft 44 away from the fixed seat 43, and the elastic element 14 is disposed between the fastener 13 and the bearing 6.

[0419] In some embodiments of this disclosure, by installing the fastener 13 at the end of the rotating shaft 44 away from the fixed seat 43, the elastic element 14 is disposed between the fastener 13 and the bearing 6. In this way, the elastic force of the elastic element 14 can be used to preload the bearing 6, thereby creating a certain limiting effect on the bearing 6 in the axial direction and preventing the bearing 6 from moving in the axial direction.

[0420] It should be noted that the elastic element 14 can be a metal spring or a rubber element, etc., which are elastic. Some embodiments disclosed herein are not limited to this.

[0421] In related technologies, the lens 10 needs to be mounted on the rotor housing 31 via a lens bracket, which results in a long tolerance dimensional chain between the lens 10 and the rotor housing 31, ultimately leading to excessive cumulative optical error and failing to meet the requirements for high-precision optical applications.

[0422] In some embodiments, as shown in Figures 55 to 57A, the lidar motor 5000 further includes a lens 10; the lens 10 is mounted on the outside of the rotor housing 31.

[0423] In some embodiments of this disclosure, by directly mounting the lens 10 to the outside of the rotor housing 31, it is beneficial to reduce the dimensional tolerance chain between the lens 10 and the rotor housing 31, thereby reducing assembly errors. Furthermore, by eliminating the lens support structure, it is beneficial to save materials and reduce costs.

[0424] This disclosure does not limit the shape of the lens 10. For example, it can be a regular polyhedron or an irregular polyhedron.

[0425] Secondly, as shown in FIG57B, some embodiments of this disclosure propose a lidar 6000, which includes a lidar motor 5000 as described in the above embodiments.

[0426] In some embodiments of this disclosure, the rotor assembly 3 is rotatably connected to the stator assembly 4, and an installation space 1 is formed between the rotor assembly 3 and the stator assembly 4. The encoder 2 is disposed within the installation space 1. This reduces the number of mating structures between the internal components of the encoder 2, thereby reducing cumulative errors and improving the detection accuracy of the encoder 2.

[0427] Thirdly, as shown in FIG57C, some embodiments of this disclosure propose a vehicle 7000, including a lidar motor 5000 as described in the above embodiments or a lidar 6000 as described in the above embodiments.

[0428] In some embodiments of this disclosure, the rotor assembly 3 is rotatably connected to the stator assembly 4, and an installation space 1 is formed between the rotor assembly 3 and the stator assembly 4. The encoder 2 is disposed within the installation space 1. This reduces the number of mating structures between the internal components of the encoder 2, thereby reducing accumulated errors and improving the detection accuracy of the encoder 2.

[0429] LiDAR motors require high precision in rotational output. In related technologies, the rotating mirror assembly and rotor assembly are generally connected and locked together using only screws, resulting in a large connection gap between the rotating mirror assembly and the rotor assembly. This makes it easy for relative displacement to occur at the connection position of the rotating mirror assembly and the rotor assembly, which can easily cause axial and radial movement of the rotating mirror assembly, thereby generating noise and vibration and affecting the precision of the LiDAR motor.

[0430] The lidar motor 1 according to some embodiments of the present disclosure is described below with reference to the accompanying drawings.

[0431] As shown in Figures 58-60, the lidar motor 1 according to some embodiments of the present disclosure includes a stator assembly 10, a rotor magnetic ring 20, and a rotating mirror assembly 30.

[0432] The rotor magnetic ring 20 can rotate relative to the stator assembly 10, and the rotating mirror assembly 30 cooperates with the rotor magnetic ring 20 to rotate with the rotor magnetic ring 20.

[0433] The stator assembly 10 includes a fixed shaft 11, on which a bearing 50 is provided. The rotating mirror assembly 30 cooperates with the bearing 50 to support the rotation of the rotating mirror assembly 30 by means of the stator assembly 10 and the bearing 50, providing support force for the rotation of the rotating mirror assembly 30. This helps to reduce the shaking that occurs when the rotating mirror assembly 30 rotates, improves the smoothness of the rotation of the rotating mirror assembly 30, and thus helps to improve the accuracy of the lidar motor 1, improve the scanning effect of the lidar, and improve the imaging quality.

[0434] According to some embodiments of the present disclosure, the lidar motor 1, by providing a bearing 50 between the stator assembly 10 and the rotating mirror assembly 30, supports the rotation of the rotating mirror assembly 30 using the stator assembly 10 and the bearing 50, which has advantages such as reducing the shaking of the rotating mirror assembly 30 during rotation, improving the smoothness of the rotation of the rotating mirror assembly 30, and improving the accuracy of the lidar motor 1.

[0435] The lidar motor 1 according to some embodiments of the present disclosure is described below with reference to the accompanying drawings.

[0436] In some embodiments of this disclosure, as shown in Figures 58-60, the lidar motor 1 includes a stator assembly 10, a rotor magnetic ring 20, and a rotating mirror assembly 30.

[0437] In some embodiments of this disclosure, as shown in FIG59, the rotating mirror assembly 30 includes a lens 300 and a support 40. The support 40 is connected to the rotor magnetic ring 20, and the lens 300 is disposed on the support 40. The support 40 is driven to rotate by the rotor magnetic ring 20, and the lens 300 is driven to rotate by the support 40, so that the lens 300 can rotate, change the direction of the light beam, and thus realize the scanning of the surrounding environment.

[0438] The bracket 40 includes a bracket body 41, a part of which is located on the outside of the rotor magnetic ring 20 and is connected to the rotor magnetic ring 20 so that the magnetic ring drives the bracket body 41 to rotate, thereby driving the lens 300 to rotate.

[0439] In addition, the bracket body 41 can be used as the rotor shell of the rotor magnetic ring 20 to protect the rotor magnetic ring 20. This eliminates the need to set a rotor shell on the outside of the rotor magnetic ring 20, which helps to reduce the number of parts, reduce costs, and reduce assembly errors.

[0440] In some embodiments, the support body 41 is an annular columnar body, and the rotor magnetic ring 20 is bonded to the inner side of the support body 41. In this way, the support body 41 can protect the rotor magnetic ring 20 and reduce the interference of external objects on the rotor magnetic ring 20.

[0441] The stator assembly 10 is located inside the support body 41 and spaced apart from the inner side of the support body 41. The rotor magnetic ring 20 is set inside the support body 41, which makes it easier to reduce the distance between the stator assembly 10 and the rotor magnetic ring 20, thereby enabling the stator assembly 10 to smoothly drive the rotor magnetic ring 20 to rotate and improve the driving force of the stator assembly 10 on the rotor magnetic ring 20.

[0442] It should be explained here that the inner side is relative to the central axis of the support body 41. The side of the support body 41 closer to its central axis is the inner side, and the side of the support body 41 farther from its central axis is the outer side.

[0443] In some optional embodiments of the present invention, as shown in Figures 59, 61 and 62, the fixed shaft 11 has a cavity 111 in the middle, and the bearing 50 is disposed in the cavity 111. The bracket 40 also includes a rotating shaft 42, a part of which extends into the cavity 111 and cooperates with the bearing 50, so that the rotating shaft 42 and the fixed shaft 11 are rotatably connected together by the bearing 50. The rotation of the rotating shaft 42 is supported by the fixed shaft 11 and the bearing 50, thereby supporting the rotation of the bracket body 41 and the lens 300. This facilitates the improvement of the stability of the rotation of the bracket body 41 and the stability of the rotation of the lens 300, thereby facilitating the improvement of the accuracy of the lidar motor 1, the improvement of the lidar scanning effect, and the improvement of the imaging quality.

[0444] For example, the bearing 50 is sleeved on the rotating shaft 42, the inner ring of the bearing 50 is fixed to the rotating shaft 42, and the outer ring of the bearing 50 is fixed to the inner wall of the cavity 111. When the rotor magnetic ring 20 drives the bracket body 41 to rotate, the bracket body 41 drives the rotating shaft 42 to rotate. At this time, the fixed shaft 11 and the bearing 50 support the rotation of the bracket body 41 through the rotating shaft 42 to improve the stability of the rotation of the bracket body 41, thereby improving the stability of the rotation of the lens 300.

[0445] In some embodiments, as shown in FIG59, the bearing 50 includes multiple bearings to support the rotation of the rotating shaft 42. Specifically, the rotating shaft 42 has a certain length and is prone to wobbling when rotating. By using multiple bearings 50 to support the rotation of the rotating shaft 42 from different positions, the smoothness of the rotation of the rotating shaft 42 can be improved, thereby improving the smoothness of the rotation of the bracket body 41 and the lens 300.

[0446] One of the rotating shaft 42 and the fixed shaft 11 has a limiting protrusion 52. The limiting protrusion 52 is located between two adjacent bearings 50 to limit the distance between the two adjacent bearings 50, limit the position of the bearing 50 on the rotating shaft 42 and the fixed shaft 11, prevent the bearing 50 from moving along the axial direction of the rotating shaft 42, and enable the rotating shaft 42 to stably support the rotation of the rotating shaft 42.

[0447] In some embodiments, as shown in Figures 59 and 62, a portion of the fixed shaft 11 on the side near the rotating shaft 42 protrudes in the direction near the rotating shaft 42 to form a limiting protrusion 52. The bearing 50 abuts against one end of the limiting protrusion 52 in the axial direction of the rotor magnetic ring 20 to limit the position of the bearing 50 in the axial direction of the rotor magnetic ring 20 and prevent the bearing 50 from moving along the axial direction of the rotor magnetic ring 20.

[0448] In some examples, the rotor magnetic ring 20 extends axially along a first direction (it should be understood that the above direction is only for the convenience of describing the drawings and does not limit the actual setting position and direction of the lidar motor 1). Two bearings 50 are provided on the fixed shaft 11. In the first direction, the two ends of the cavity 111 have first openings 112. A portion of the middle part of the fixed shaft 11 protrudes towards the direction close to the rotating shaft 42 to define the limiting protrusion 52. The two bearings 50 are adapted to be installed on the fixed shaft 11 from the first openings 112 at both ends along the first direction. When the bearings 50 abut against the ends of the limiting protrusions 52 in the first direction, the bearings 50 are installed in place so that the position of the bearings 50 in the first direction is defined by the limiting protrusions 52.

[0449] In some examples, the lidar motor 1 also includes a retaining ring 55, one end of the bearing 50 abuts against the limiting protrusion 52, and the retaining ring 55 is disposed at the other end of the bearing 50 to clamp the bearing 50 between the retaining ring 55 and the limiting protrusion 52, thereby limiting the position of the bearing 50 and preventing the bearing 50 from moving along the axial direction of the rotor magnetic ring 20.

[0450] In some examples, the retaining ring 55 is fixed to the outer sleeve of the rotating shaft 42 and abuts against the other end of the inner ring of the bearing 50 to define the position of the bearing 50 in the first direction. In other specific examples, the retaining ring 55 is fixed to the inner wall of the cavity 111 and abuts against the other end of the outer ring of the bearing 50 to define the position of the bearing 50 in the first direction.

[0451] In some embodiments, the rotating shaft 42 is integrally formed with the bracket body 41, which makes it easier to reduce the number of parts, thereby reducing the assembly difficulty of the lidar motor 1 and reducing the assembly cost.

[0452] In other embodiments, the pivot 42 is detachably connected to the bracket body 41, which makes it easier to reduce the molding difficulty of the pivot 42 and the bracket body 41, and at the same time facilitates flexible assembly of the lidar motor 1.

[0453] In some embodiments, as shown in Figures 63 and 64, the bracket body 41 has a socket in the middle, and the rotating shaft 42 is inserted into the socket and is interference-fitted with the bracket body 41 to fix the rotating shaft 42 on the bracket body 41, thereby supporting the rotation of the bracket body 41 through the rotating shaft 42.

[0454] In some embodiments, as shown in Figures 65-67, at least one end of the support body 41 protrudes from the rotor magnetic ring 20 in the axial direction and forms a mating part 412. The mating part 412 engages with the bearing 50 so that the support body 41 is rotatably connected to the fixed shaft 11 by means of the bearing 50, so that the rotor magnetic ring 20 and the mating part 412 are misaligned in the axial direction of the rotor magnetic ring 20, thereby avoiding interference between the rotor magnetic ring 20 and the mating part 412.

[0455] For example, the rotation of the bracket body 41 is supported by the fixed shaft 11 and the bearing 50, which in turn supports the rotation of the lens 300. This helps to improve the stability of the rotation of the bracket body 41 and the stability of the lens 300, thereby improving the accuracy of the lidar motor 1, the scanning effect of the lidar, and the imaging quality.

[0456] In some embodiments, as shown in FIG67, the support body 41 is an annular columnar body, a portion of the fixed shaft 11 extends into the support body 41, the rotor magnetic ring 20 and the bearing 50 are both disposed on the inner side of the support body 41, the mating part 412 is located on one side of the rotor magnetic ring 20 in its axial direction, and in the radial direction of the rotor magnetic ring 20, the inner edge of the mating part 412 exceeds the inner edge of the rotor magnetic ring 20, so that in the radial direction of the rotor magnetic ring 20, the rotor magnetic ring 20 is spaced apart from the bearing 50, and the rotor magnetic ring 20 is spaced apart from the fixed shaft 11, so as to avoid mutual interference between the two.

[0457] For example, the inner ring of the bearing 50 is fixed to the fixed shaft 11, and the outer ring of the bearing 50 is fixed to the mating part 412, so as to support the rotation of the bracket body 41 by using the fixed shaft 11 and the bearing 50, so that the bracket body 41 can rotate stably relative to the fixed shaft 11, thereby causing the bracket body 41 to drive the lens 300 to rotate stably.

[0458] In some examples, the projection of the mating part 412 in the axial direction of the rotor magnetic ring 20 is annular, so that the inner wall of the mating part 412 is adapted to the outer ring of the bearing 50, thereby realizing the fixed connection between the outer ring of the bearing 50 and the mating part 412.

[0459] In some embodiments, as shown in FIG67, the bearing 50 includes a plurality of mating parts 412 and fixed shaft 11, one of which has a limiting protrusion 52. The limiting protrusion 52 is located between two adjacent bearings 50 to limit the distance between the two adjacent bearings 50, and at the same time limits the position of the bearing 50 in the axial direction of the rotor magnetic ring 20 to prevent the bearing 50 from moving in the axial direction of the rotor magnetic ring 20, so that the bearing 50 stably supports the rotation of the support body 41.

[0460] In some embodiments, the rotor magnetic ring 20 extends axially along a first direction, and two bearings 50 are provided on the fixed shaft 11. The two ends of the bracket body 41 have second openings, and the middle part of the mating part 412 protrudes toward the fixed shaft 11 to define the limiting protrusion 52. The two bearings 50 are adapted to be installed from the second openings at both ends along the first direction to the mating part 412. When the bearing 50 abuts against the end of the limiting protrusion 52 in the first direction, the bearing 50 is installed in place so as to limit the position of the bearing 50 in the first direction by means of the limiting protrusion 52.

[0461] As shown in Figures 67 and 68A, the lidar motor 1 also includes a retaining ring 55. One end of the bearing 50 abuts against the limiting protrusion 52, and the retaining ring 55 is disposed at the other end of the bearing 50 to clamp the bearing 50 between the retaining ring 55 and the limiting protrusion 52, thereby limiting the position of the bearing 50 and preventing the bearing 50 from moving along the axial direction of the rotor magnetic ring 20.

[0462] In some examples, as shown in Figure 67, the retaining ring 55 is fixed to the fixed shaft 11 and abuts against the other end of the inner ring of the bearing 50 to limit the position of the bearing 50 in the first direction.

[0463] In some examples, as shown in Figures 67 and 68A, the lidar also includes a wave spring 56, which is located between the other end of the inner ring of the bearing 50 and the retaining ring 55. The wave spring 56 is used to apply a preload to the other end of the inner ring of the bearing 50 to press the bearing 50 tight, reduce the clearance of the bearing 50, and prevent the bearing 50 from moving along the first direction.

[0464] In some examples, a washer 57 is provided between the wave spring 56 and the retaining ring 55. The washer 57 is used to bear the force exerted by the wave spring 56 on the retaining ring 55, which makes it easier to increase the force-bearing area.

[0465] In some embodiments, as shown in FIG67, the fixed shaft 11 is hollow or partially hollow, which facilitates the reduction of the weight of the fixed shaft 11, thereby facilitating the lightweight design of the lidar motor 1, and also helps to reduce consumables and lower costs.

[0466] In some specific embodiments of the present invention, as shown in Figures 59 and 67, the stator assembly 10 further includes a base 12, which is located at one end of the fixed shaft 11 for connecting external structural components to install and fix the lidar motor 1 to a designated position for scanning the environment of a preset area.

[0467] As shown in Figure 59, in this embodiment, the bottom of the base 12 is provided with a fixing hole. The fixing component can fix the base 12 to the external structural component through the fixing hole, thereby installing and fixing the lidar motor 1 to the designated position to scan the environment of the preset area.

[0468] For example, fasteners can be pins, screws, or bolts; there are no strict restrictions here.

[0469] In some embodiments, as shown in FIG59, the fixed shaft 11 and the base 12 are integrally formed, which makes it easier to reduce the number of parts, thereby reducing assembly steps and reducing assembly difficulty.

[0470] For example, the fixed shaft 11 defines a cavity 111, and two bearings 50 are provided on the fixed shaft 11. The base 12 has a clearance opening that communicates with the cavity 111. The two first openings 112 of the two bearings 50 are installed into the cavity 111 along a first direction, so that the fixed shaft 11 and the base 12 are integrally formed and will not interfere with the installation of the bearings 50.

[0471] In some embodiments, as shown in FIG67, the fixed shaft 11 is detachably connected to the base 12 to facilitate flexible assembly of the components of the lidar motor 1, for example, after assembling the bearing 50 and the fixed shaft 11, the fixed shaft 11 is then fixed to the base 12.

[0472] For example, the bracket body 41 is an annular columnar body, and two bearings 50 are provided on the fixed shaft 11. The two ends of the bracket body 41 have second openings. At least a part of the fixed shaft 11 extends into the bracket body 41. The two bearings 50 are installed from the second openings at both ends of the bracket body 41 to the outside of the fixed shaft 11. After the bearings 50, the bracket body 41 and the fixed shaft 11 are installed, the fixed shaft 11 is then fixed to the base 12 to avoid the base 12 from blocking the second opening and affecting the installation of the bearings 50.

[0473] In some embodiments, as shown in FIG67, the inner wall surface of the bracket body 41 is provided with an outwardly recessed mounting groove 416. The mounting groove 416 is open at one end in the axial direction of the rotor magnetic ring 20. The rotor magnetic ring 20 is adapted to be installed in the mounting groove 416 and abuts against the other end of the mounting groove 416, so as to reserve space for the installation of the rotor magnetic ring 20. At the same time, the mounting groove 416 is used to limit the position of the rotor magnetic ring 20 in its axial direction, so that the rotor magnetic ring 20 can smoothly drive the bracket body 41 to rotate when rotating, so that the bracket body 41 drives the lens 300 to rotate.

[0474] In some embodiments, the rotor magnetic ring 20 extends axially along a first direction, and the mounting groove 416 has an open opening on one side of the first direction. The rotor magnetic ring 20 is adapted to be mounted into the mounting groove 416 along the first direction. When the rotor magnetic ring 20 abuts against the sidewall of the mounting groove 416 in another direction, the rotor magnetic ring 20 is installed in place to define the position of the rotor magnetic ring 20 in the first direction.

[0475] In some embodiments, the rotor magnetic ring 20 is bonded to the bracket body 41 to fix the bracket body 41 and the rotor magnetic ring 20 together. In this way, when the rotor magnetic ring 20 is rotated by magnetic force, the rotor magnetic ring 20 can drive the bracket body 41 to rotate, and then the bracket body 41 drives the lens 300 to rotate.

[0476] In some embodiments, as shown in FIG67, the two ends of the bracket body 41 protrude from the rotor magnetic ring 20 in the axial direction of the rotor magnetic ring 20, so that the bracket body 41 can act as the rotor shell of the rotor magnetic ring 20 to protect the rotor magnetic ring 20. In this way, there is no need to set a rotor shell on the outside of the rotor magnetic ring 20, which can reduce the number of parts, reduce costs, and reduce assembly errors.

[0477] In some embodiments, as shown in Figures 59 and 67, the lidar motor 1 further includes an encoder, which includes a code disk 81 and a chip 82. The code disk 81 is connected to the rotating mirror assembly 30 to rotate with the rotating mirror assembly 30. The chip 82 is arranged opposite to the code disk 81. When the rotating mirror assembly 30 rotates, the rotating mirror assembly 30 drives the code disk 81 to rotate, so that the chip 82 is arranged opposite to the code disk 81. The chip 82 can measure the number of rotations or the rotation angle of the code disk 81, so as to control the rotation speed and direction of the rotating mirror assembly 30.

[0478] As shown in Figure 59, in this embodiment, the chip 82 and the code disk 81 are located inside the support body 41, and the chip 82 and the code disk 81 are aligned along the axial direction of the rotor magnetic ring 20. This facilitates the effective alignment of the chip 82 and the code disk 81, ensuring that the chip 82 can effectively read the signal from the code disk 81 and provide signal feedback.

[0479] As shown in Figure 67, in this embodiment, the chip 82 is fixed to one end of the bracket body 41 in the first direction. The chip 82 is disposed on the external structural component, which makes it convenient to flexibly set the position of the chip 82 so as to obtain the signal of the code disk 81 according to the requirements.

[0480] In some embodiments, as shown in FIG59, the lidar motor 1 further includes a circuit board 85, which is disposed on the fixed shaft 11 and has a chip 82. The circuit board 85 supplies power to the chip 82, and the chip 82 measures the number of rotations or rotation angle of the code disk 81. This allows the number of rotations or rotation angle of the bracket 40 and the lens 300 to be obtained, so as to control the rotation speed and direction of the bracket 40.

[0481] In some embodiments, as shown in FIG59, a support boss 113 is provided on the outer periphery of the fixed shaft 11. The support boss 113 and the rotor magnetic ring 20 are arranged at intervals along the axial direction of the rotor magnetic ring 20. The circuit board 85 is provided on the support boss 113, and the encoder 81 is provided at one end of the rotor magnetic ring 20 near the support boss 113, so that the circuit board 85 and the rotor magnetic ring 20 are spaced apart, so as to avoid the circuit board 85 interfering with the rotation of the rotor magnetic ring 20.

[0482] In some embodiments, as shown in FIG59, the support body 41 is an annular columnar body, and the support boss 113 extends into the inner side of the support body 41. In the radial direction of the rotor magnetic ring 20, the support boss 113 and the inner wall of the support body 41 are arranged at intervals, which facilitates the wire harness to pass through the gap between the support boss 113 and the support body 41 to lead wires to the circuit board 85.

[0483] In some embodiments, as shown in Figures 59 and 60, the stator assembly 10 further includes an iron core winding 15, which is located outside the fixed shaft 11. The rotor magnetic ring 20 is located outside the iron core winding 15. When the iron core winding 15 is energized, it generates a rotating magnetic field, which drives the rotor magnetic ring 20 to rotate. In turn, the rotor magnetic ring 20 drives the rotating mirror assembly 30 to rotate, thereby scanning the environment near the lidar motor 1.

[0484] In some embodiments, the lens 300 is fixed to the outside of the bracket body 41. During the process of fixing the lens 300, the position of the lens needs to be precisely adjusted to ensure the optical performance.

[0485] As shown in Figure 68B, a lidar 8002 according to some embodiments of the present disclosure is described below. The lidar according to some embodiments of the present disclosure includes the lidar motor 1 described above.

[0486] The lidar according to some embodiments of the present disclosure, by utilizing the lidar motor 1 according to some embodiments of the present disclosure, has advantages such as reducing the shaking that occurs when the rotating mirror assembly 30 rotates, improving the stability of the rotation of the rotating mirror assembly 30, and improving the accuracy of the lidar motor 1, which facilitates improving the scanning accuracy of the lidar and improving the imaging quality of the lidar.

[0487] Other configurations and operations of the lidar according to some embodiments of this disclosure are known to those skilled in the art and will not be described in detail here.

[0488] As shown in FIG68C, a vehicle 8003 according to some embodiments of the present disclosure is described below. The vehicle 8003 according to some embodiments of the present disclosure includes a lidar 8002 according to the above embodiments.

[0489] The vehicle according to some embodiments of the present disclosure, by utilizing the lidar according to some embodiments of the present disclosure, has advantages such as reducing the shaking of the rotating mirror assembly 30 when rotating, improving the smoothness of the rotation of the rotating mirror assembly 30, and improving the accuracy of the lidar motor 1, which facilitates the improvement of the driving experience.

[0490] In lidar technology, the light beam emitted by the lidar's light source (e.g., a linear array light source) is incident on an optical mirror. The mirror is then rotated to change the incident angle of the beam, thus obtaining the horizontal field of view (FOV). The vertical FOV is generally determined by the highest and lowest light sources in the linear array. These light sources typically need to pass through a collimating optical system before entering the optical mirror. Due to limitations of the collimating optical system (e.g., limited by the projection angle), the line spacing of a single lidar light source, after being projected to a distance, is usually relatively large, making it prone to missing detected objects.

[0491] The line count of a lidar system refers to the number of laser beams it can emit and receive in the vertical direction. Line count is a crucial parameter for lidar performance, directly impacting its measurement accuracy, resolution, and coverage. Improving the line count of lidar systems is a pressing issue that needs to be addressed in this field.

[0492] Currently, increasing the number of scan lines by adding more light source units in a single row can improve detection accuracy and coverage, thus preventing omissions when detecting objects. However, there are limitations to increasing the number of light sources (e.g., due to the size and weight limitations of lidar devices), making it difficult to increase the number of scan lines of lidar (e.g., current lidar typically has 128 or 256 lines).

[0493] The lidar 3000 of some embodiments of the present disclosure will now be described in detail.

[0494] Referring to Figures 69 and 70, some embodiments of this disclosure provide a lidar 3000, which includes a light emitter 1000, a light receiver 2000, and a polyhedron 300. The light emitter 1000 includes a first light emitter 1100 and a second light emitter 1200; the light receiver 2000 includes a first light receiver 2100 and a second light receiver 2200; the polyhedron 300 includes a first reflecting surface 301 and a second reflecting surface 302.

[0495] The light emitted by the first light emitter 1100 is directed toward the first reflective surface 301 and reflected by the first reflective surface 301 to the external environment. The reflected light emitted by the first light emitter 1100 is reflected by the first reflective surface 301 to the first light receiver 2100 and is received by the first light receiver 2100.

[0496] The light emitted by the second light emitter 1200 is directed toward the second reflective surface 302 and reflected by the second reflective surface 302 to the external environment. The reflected light emitted by the second light emitter 1200 is reflected by the second reflective surface 302 to the second light receiver 2200 and is received by the second light receiver 2200.

[0497] The optical emitter 1000 can be used to emit laser pulses.

[0498] The optical receiver 2000 can be used to receive laser pulses.

[0499] In some embodiments, the lidar 3000 further includes a reflector 400, which includes a first reflector 401 and a first reflector 402. The first reflector 401 is used to guide light emitted from the first light emitter 1100 to the first reflecting surface 301 of the polyhedron 300 and to guide the reflected light from the first reflecting surface 301 to the first light receiver 2100. The first reflector 402 is used to guide light emitted from the second light emitter 1200 to the second reflecting surface 302 of the polyhedron 300 and to guide the reflected light from the second reflecting surface 302 to the second light receiver 2200.

[0500] In some embodiments, the lidar 3000 further includes a collimation device 500 and a lens module 600. The collimation device 500 is configured to collimate the light emitted by the light emitter; the lens module 600 is configured to focus the light reflected from the external environment.

[0501] For example, the collimating device 500 can be a collimating lens, and the lens module 600 can be a focusing lens. For instance, referring to Figure 1, the collimating device 500 may include a first collimating lens 501 and a second collimating lens 502. The first collimating lens 501 can be used to collimate the light reflected from the light emitter, and the second collimating lens can be used to reflect the light reflected from the mirror 400. As another example, the lens module 600 may include a first lens module 601 and a second lens module 602. The first lens module 601 can be used to focus the reflected light from the polyhedron 300, and the second lens module 602 can be used to focus the reflected light from the mirror 400.

[0502] For example, the collimating device 500 and the lens module 600 may also be at least one of the mirror 400, the grating, and the filter.

[0503] Please refer to Figure 71. The collimation device 500 and the lens module 600 can be connected and isolated in the height direction of the lidar 3000 through the optical structure 700.

[0504] For example, along the height direction of the lidar 3000, the light transmitter and the light receiver are arranged sequentially; or, the light receiver and the light transmitter are arranged sequentially. For example, along the height direction of the lidar 3000, the light transmitter is positioned above the light receiver, or the light receiver is positioned above the light transmitter.

[0505] For example, a lidar 3000 may include a housing 3100, a light emitter, a light receiver, a polyhedron 300, and a reflector 400. The light emitter includes a first light emitter 1100 and a second light emitter 1200, and the light receiver includes a first light receiver 2100 and a second light receiver 2200. The first light emitter 1100 and the first light receiver 2100 are correspondingly arranged, and the second light emitter 1200 and the second light receiver 2200 are correspondingly arranged.

[0506] The polyhedron includes multiple reflective surfaces. For example, referring to Figure 69, taking a polyhedron including reflective surfaces 31, 32, and 33 as an example, during the use of the lidar, the polyhedron rotates continuously to reflect light in different ways, achieving a field of view (FOV) of scanning the horizontal direction in the Y direction. For example, taking the polyhedron rotating clockwise as an example, assuming that at the first moment, the light emitted by the first light emitter hits reflective surface 31 (then reflective surface 31 is the first reflective surface 301), as the polyhedron rotates, at the second moment, when the light emitted by the first light emitter hits reflective surface 302, then the first reflective surface 301 at this time is reflective surface 302. Similarly, as the polyhedron rotates, at the third moment, after the light emitted by the first light emitter hits reflective surface 303, then the first reflective surface 301 at this time is reflective surface 303.

[0507] The polyhedron 300 includes a first reflecting surface 301 and a second reflecting surface 302. The light emitted by the first light emitter 1100 can be guided by the first reflecting mirror 401 to the first reflecting surface 301 of the polyhedron 300, and the light emitted by the second light emitter 1200 can be guided by the first reflecting mirror 402 to the second reflecting surface 302 of the polyhedron 300.

[0508] The reflector 400 includes a first reflector 401 and a first reflector 402. The first reflector 401 is correspondingly arranged with the first light emitter 1100, the first reflective surface 301, and the first light receiver 2100. The first reflector 402 is correspondingly arranged with the second light emitter 1200, the second reflective surface 302, and the second light receiver 2200.

[0509] Referring to Figure 71, the first light emitter 1100, the first reflector 401, the first reflective surface 301, and the first light receiver 2100 are symmetrically arranged on both sides of the axis oo' of the polyhedron 300 in the Y direction, along with the second light emitter 1200, the first reflector 402, the second reflective surface 302, and the second light receiver 2200. The polyhedron 300 and the reflector 400 can be shared by the first light emitter 1100 (first light receiver 2100) and the second light emitter 1200 (second light receiver 2200).

[0510] Referring to Figure 69, the polyhedron 300 also includes a motor 303, a motor control circuit 304, and an encoder 305. The rotor of the motor 303 is embedded inside the polyhedron 300, and the stator of the motor 303 is fixed (e.g., via a motor 303 mount) to the base plate of the lidar 3000 housing. The motor 303 is connected to the lidar 3000's control board via the motor 303 control circuit to obtain control signals and drive current for controlling the motor 303. The encoder 305 is located at the bottom of the rotor of the motor 303 (and the polyhedron 300), above the probe 3041 of the motor 303 control circuit. The first reflecting surface 301 and the second reflecting surface 302 of the polyhedron 300 can rotate under the drive of the motor 303, the motor 303 control circuit, and the encoder 305. The light emitted by the first reflecting surface 301 and the second reflecting surface 302 can scan the horizontal field of view (FOV) in the Y direction.

[0511] For ease of explanation, the implementation principle of this application will be explained using the first light emitter 1100, the first reflector 401, the first reflective surface 301 of the polyhedron 300, and the first light receiver 2100 as examples.

[0512] Referring to Figures 69 and 70, the light emitted by the first light emitter 1100 is first collimated by the first collimating lens, propagates to the first reflecting mirror 401, and is reflected by the first reflecting mirror 401. After being collimated by the second collimating lens, it is directed towards the first reflecting surface 301 of the polyhedron 300, and finally reflected by the first reflecting surface 301 to the external environment. The light emitted by the first light emitter 1100 is reflected by the detected object in the external environment to obtain backlight. The backlight can be reflected by the first reflecting surface 301 to the first lens module 600, focused by the first lens module 600 onto the first reflecting mirror 401, and finally reflected by the first reflecting mirror 401 and focused by the second lens module 600 onto the first light receiver 2100.

[0513] Thus, by setting up a light emitter, a light receiver, and a polyhedron, 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, and the polyhedron includes a first reflective surface and a second reflective surface. Light emitted by the first light emitter strikes the first reflective surface and is reflected into the external environment. The reflected light from the first light emitter is reflected by the first reflective surface to the first light receiver and is received by the first light receiver. Similarly, light emitted by the second light emitter strikes the second reflective surface and is reflected into the external environment. The reflected light from the second light emitter is reflected by the second reflective surface to the second light receiver. The light is emitted and received by a second light receiver. In other words, within the same lidar, two independent sets of light emitters and receivers are configured (the first light emitter and receiver are considered one set; the second light emitter and receiver are considered another set). Each independent set of light emitters and receivers can perform detection and scanning to achieve the lidar's function. By using two independent sets of light emitters and receivers to simultaneously emit and receive light based on the two reflective surfaces of a polyhedron (achieving lidar functionality), a high line count output of the lidar can be achieved, thereby increasing detection density, improving coverage during detection, and ultimately enhancing detection capabilities.

[0514] The optical transmitter 1000 of some embodiments of the present disclosure will now be described in detail.

[0515] Referring to Figure 72, the light emitter 1000 includes a substrate 100 and a plurality of light-emitting units. The light-emitting units include one or more columns, and each column of light-emitting units is arranged along the height direction of the substrate 100. In the multiple columns of light-emitting units of the first light emitter and / or the second light emitter, any two light-emitting units in the same row have different heights.

[0516] The light-emitting units may include one or more columns. For example, the light-emitting units of the first light emitter and the second light emitter may both be in one column; as another example, the light-emitting units of the first light emitter may include one column, and the light-emitting units of the second light emitter may include multiple columns; as yet another example, the light-emitting units of the first light emitter and the light-emitting units of the second light emitter may both include multiple columns.

[0517] The substrate 100 is used to support multiple light-emitting units.

[0518] The light-emitting unit can emit laser pulses.

[0519] In some embodiments, the number of light-emitting units in different columns may be the same or different.

[0520] For example, please refer to Figure 72. The number of light-emitting units in the first column and the number of light-emitting units in the second column can be the same or different.

[0521] For example, the number of columns of light-emitting units can include 2 or 3 columns.

[0522] For example, the light emitter 1000 includes a substrate 100 and multiple light-emitting units, which can be disposed on the substrate 100. The light-emitting units include multiple columns, as shown in Figure 4, where there are two columns; or, as shown in Figure 5, where there are three columns. The number of light-emitting units in different columns may be the same or different (for example, as shown in Figure 4, the first column includes N light-emitting units, the second column includes M light-emitting units, N = M; or, N ≠ M). Each column of light-emitting units is arranged along the height direction z of the substrate 100. In the multiple columns of light-emitting units of the same light emitter (taking the first light emitter as an example), any two light-emitting units in the same row have different heights, as shown in Figure 72, the height z1 of the light-emitting unit 211 in the first row and the height z2 of the light-emitting unit 221 in the second row and the first column are different.

[0523] Please refer to Figure 72. The vertical FOV in the height z direction of the light emitter 1000 is generally determined by the angle between the light emitted by the highest (z1) light-emitting unit 211 and the light emitted by the lowest (zN) light-emitting unit 221. In the same row, the heights of the first column of light-emitting units and the second column of light-emitting units are different (there is a height difference H). During scanning, it can be equivalent to embedding multiple light-emitting units in the second column into the center of the gap between two adjacent light-emitting units. Then, the light beams emitted by the two columns of light-emitting units total N+M. Compared with a single column of light-emitting units (taking the first column of light-emitting units, including N lines as an example), a total of M lines are added within the vertical FOV range in the height z direction, thereby increasing the number of lines when the light emitter 1000 scans.

[0524] Referring to Figure 77, there is a height difference of 1 / 4H between the central axis of the light-emitting unit of the first light emitter 1100 and the central axis of the light-emitting unit of the second light emitter 1200. The central axis of the first column of light-emitting units of the second light emitter 1200 coincides with the central axis of the first column of light-emitting units of the first light emitter 1100, and the central axis of the second column of light-emitting units of the second light emitter 1200 coincides with the central axis of the second column of light-emitting units of the first light emitter 1100. Therefore, from the perspective of the Y direction, it can be seen that each light-emitting unit of the second light emitter 1200 is uniformly embedded between each light-emitting unit of the first light emitter 1100.

[0525] The first and second transmitters, each with multiple rows of light-emitting units in the same row, have different heights. Therefore, when the lidar scans, it can emit light from different heights, thereby increasing the number of light lines and acquiring as many scan lines as possible within the same field of view, further increasing the detection density.

[0526] Thus, by setting multiple rows of light-emitting units on the substrate 100, with each row of light-emitting units arranged along the height direction of the substrate 100, more uniform light coverage can be achieved. Since any two light-emitting units in the same row of multiple light-emitting units have different heights, each light-emitting unit can emit light at different heights, increasing the number of light lines. This allows more scan lines to be acquired within the same field of view (FOV), enabling the scan lines of multiple rows of light-emitting units at different heights on the same scan path to complement each other, increasing the detection density, improving the coverage during detection, and thus improving the detection capability.

[0527] In some embodiments, the light-emitting unit includes a vertical-cavity surface-emitting laser 21 or a laser diode chip 22.

[0528] Please refer to Figure 75. The vertical-cavity surface-emitting laser 21 (VCSEL) includes multiple light-emitting holes, each of which can emit light.

[0529] The multiple light-emitting holes include a central light-emitting hole and edge light-emitting holes. The edge light-emitting holes are arranged around the central light-emitting hole, and the multiple edge light-emitting holes are divided into multiple groups, with each group of edge light-emitting holes arranged in a ring. For example, please continue to refer to Figure 75, the multiple light-emitting holes include a central light-emitting hole A and two groups of edge light-emitting holes (edge ​​light-emitting hole B and edge light-emitting hole C), with the two groups of edge light-emitting holes arranged around the central light-emitting hole in a ring.

[0530] In some embodiments, each light-emitting unit includes a plurality of laser diode chips 22.

[0531] For example, multiple laser diode chips 22 (LD chips) may include a central LD ​​chip and edge LD chips, with the edge LD chips arranged around the central LD ​​chip. The multiple edge LD chips are divided into multiple groups, and each group of edge LD chips is arranged in a ring.

[0532] It is understandable that the power of the light emitted by a single light-emitting unit is positively correlated with the number of light-emitting holes (or the number of LD chips). That is, the more light-emitting holes (or LD chips) a single light-emitting unit has, the higher the power of the light emitted by the single light-emitting unit, and the farther the object can be detected.

[0533] In some embodiments, each light-emitting unit emits light independently; or, multiple light-emitting units are divided into multiple groups, with each group of light-emitting units emitting light independently.

[0534] For example, each light-emitting unit can be controlled individually to emit light independently; or, multiple units can be divided into multiple groups, with each group of light-emitting units emitting light independently. For example, each light-emitting unit can be controlled to emit light sequentially based on a time sequence; or, each group of light-emitting units can be controlled to emit light independently, while each light-emitting unit in each group can emit light simultaneously, etc.

[0535] Please refer to Figure 75. In some embodiments, the column spacing of two adjacent columns of light-emitting units of the light emitter is the same; and / or, the row spacing of two adjacent rows of light-emitting units is the same.

[0536] For example, the same column spacing between two adjacent columns of light-emitting units can mean that the column spacing between two adjacent columns of light-emitting units is less than a preset difference.

[0537] Please refer to Figure 75. Taking a light-emitting unit consisting of 3 columns as an example, the column spacing d1 between the first and second columns of light-emitting units is the same as the column spacing d2 between the second and third columns of light-emitting units; and / or, the row spacing D1 between the first and second rows of light-emitting units is the same as the row spacing D2 between the second and third rows of light-emitting units.

[0538] In some embodiments, the column spacing between adjacent columns of light-emitting units may also be different.

[0539] In some embodiments, the row spacing is determined based on the line resolution, the number of columns of the light-emitting units, and the size of the light emitter 1000.

[0540] For example, line resolution can be the angle between two beams.

[0541] In some embodiments, referring to FIG. 72, the physical dimensions of the substrate 100 of the light emitter 1000 in the height direction z affect the maximum number of rows of multiple light-emitting units. Taking the first column of light-emitting units in FIG. 72 as an example, the line resolution of the light emitted by the light-emitting unit 211 with the highest height (z1) and the light emitted by the light-emitting unit 21N with the lowest height (zN) will affect the detail capture capability during scanning, while the number of columns of light-emitting units will affect the coverage of the scan. Therefore, the row spacing can be determined based on the line resolution, the number of columns of light-emitting units, and the size of the light emitter 1000.

[0542] In some embodiments, the line spacing is greater than a preset line spacing, and after the collimated light emitter 1000 emits light based on the preset line spacing, the divergence of the collimated beam is less than the preset divergence.

[0543] In some embodiments, the row spacing is greater than or equal to the dimension of the light-emitting unit in the height direction, so as to avoid the light-emitting units blocking each other.

[0544] In some embodiments, the preset divergence is related to the light scanning requirements of the light emitter 1000.

[0545] For example, when the line spacing is greater than the preset line spacing, the divergence of the collimated beam after the light emitted by the light emitter 1000 is collimated can be less than the preset divergence, thereby meeting the scanning requirements.

[0546] It is understandable that when the line spacing is greater than the preset line spacing, although the divergence of the collimated beam can be guaranteed, the number of scan lines in the vertical direction will be reduced. However, this application sets up multiple columns of light-emitting units, and in the multiple columns of light-emitting units, any two light-emitting units in the same row have different heights, thereby increasing the number of scan lines while ensuring the divergence of the collimated beam, so as to ensure scanning accuracy.

[0547] In some embodiments, in multiple columns of light-emitting units, the height difference between any two adjacent light-emitting units in the same row and in the height direction is the same.

[0548] If, in a multi-column array of light-emitting units, the height difference between any two adjacent units in the same row along the height direction is different—meaning the density of the light-emitting units in the same row varies—this will lead to uneven detection accuracy when using the light emitter 1000, affecting the detection performance. Therefore, by setting the same height difference, uniform detection accuracy across all areas and positions can be ensured.

[0549] In some embodiments, the height difference is determined based on the number of columns and row spacing of the light-emitting cells.

[0550] For example, the height difference is determined based on the following formula:

[0551] Δd = D / N;

[0552] Where Δd is the height difference, D is the row spacing, and N is the number of columns of the light-emitting unit.

[0553] For example, please refer to Figure 73. Taking a column of 3 light-emitting units as an example, with the row spacing D determined, the height difference Δd = D / 3 is determined according to the ratio of row spacing to column number. In this way, multiple light-emitting units can be embedded between any two adjacent rows of light-emitting units in any column, thereby increasing the number of lines.

[0554] This disclosure also provides an optical receiver 2000, which includes multiple receiving units, and the receiving units are configured in a one-to-one correspondence with the light-emitting units of the optical transmitter 1000.

[0555] For example, the optical receiver 2000 can be a silicon photomultiplier (SiPM) chipset; or it can be a single photon avalanche diode (SPAD) array receiver chip; or it can be an optical receiver module with avalanche photodiodes (APDs) arranged in a linear array.

[0556] Specifically, referring to Figures 72 and 76, the optical receiver 2000 includes multiple receiving units. Each receiving unit corresponds one-to-one with a light-emitting unit of the optical transmitter 1000. That is, when the reflected light emitted by the light-emitting unit is received by the optical receiver 2000, the position and orientation of the receiving unit receiving the reflected light correspond one-to-one with the position and orientation of the light-emitting unit emitting the light. As shown in Figure 76, the receiving unit 311 and the light-emitting unit 211 in Figure 75 are correspondingly arranged, and the reflected light emitted by the light-emitting unit 211 can be received by the receiving unit 311.

[0557] For example, referring to Figure 75, the light emitter 1000 shown in Figure 75 includes three columns of light-emitting units in the Y direction. The first column includes N light-emitting units, the second column includes M light-emitting units, and the third column includes X light-emitting units. The column spacing between the light-emitting units in the first and second columns is d1, and the column spacing between the light-emitting units in the second and third columns is d2. d1 and d2 can be equal or unequal. Assume that the row spacing between adjacent rows of light-emitting units in each column is D1. Then, in the Z direction, the light-emitting units in the second and third columns can both be considered as embedded in the light-emitting units of the first column. In the Y direction, within the same row of light-emitting units, there is a height difference of H1 between the light-emitting units in the first and third columns, a height difference of H2 between the light-emitting units in the second and third columns, and a height difference of H3 between the light-emitting units in the second column and the first column of the next row. H1, H2, and H3 are equal.

[0558] Please refer to Figure 77. In the optical receiver 2000 shown in Figure 77, there are three columns of receiving units in the Y direction. The first column includes N receiving units, the second column includes M receiving units, and the third column includes X receiving units. The column spacing between the receiving units in the first and second columns is d3, and the column spacing between the receiving units in the second and third columns is d4. d3 and d4 may be equal or unequal. In the Y direction, within the same row, the receiving units in the first and third columns have a height difference of H4, the receiving units in the second and third columns have a height difference of H5, and the receiving units in the second column and the first column of the next row have a height difference of H6. H4, H5, and H6 are equal.

[0559] Please refer to Figures 75 and 77. After the N+M+X light beams emitted by the light transmitter 1000 are emitted, the return light of the N+M+X light beams can be received one by one by the N+M+X light receivers 2000.

[0560] In some embodiments, the first ratio of the column spacing between two adjacent columns of light-emitting units to the column spacing between two adjacent columns of receiving units is the same as the second ratio of the row spacing between two adjacent rows of light-emitting units to the row spacing between two adjacent rows of receiving units.

[0561] In some embodiments, the first ratio and the second ratio are equal to the focal length ratio of the collimation module used to collimate the light emitter 1000 and the lens module corresponding to the light receiver 2000.

[0562] In some embodiments, the column spacing between two adjacent columns of light-emitting units and the column spacing between two adjacent columns of receiving units may be the same or different, and the row spacing between two adjacent rows of light-emitting units and the row spacing between two adjacent rows of receiving units may also be the same or different.

[0563] For example, referring to Figures 75 and 77, if the column spacing between two adjacent columns of light-emitting units differs from the first ratio of the column spacing between two adjacent columns of receiving units, and differs from the second ratio of the row spacing between two adjacent rows of light-emitting units and the row spacing between two adjacent rows of receiving units, the receiving unit may be unable to receive the light from the light-emitting units, resulting in a detection blind zone and affecting the accuracy and precision of the detection. Therefore, when the first and second ratios are the same, the light emitted by each light-emitting unit can be received by its corresponding receiving unit. Since the collimation module that collimates the light emitter 1000 affects the divergence angle and propagation path of the light emitted by the light-emitting unit, and the lens module corresponding to the light receiver 2000 affects the divergence angle and propagation path of the light received by the receiving unit, when the first and second ratios are equal to the focal lengths of the collimation module that collimates the light emitter 1000 and the lens module corresponding to the light receiver 2000, the light transmission path between the receiving unit and the light-emitting unit can be kept consistent, improving the intensity of the light received by the receiving unit and enhancing the accuracy and stability of the detection.

[0564] It can be understood that the maximum value of the horizontal field of view (FOV) is limited by the number of reflective surfaces (n) of the polyhedron 300, and the two are related by the following formula:

[0565] FOVmax = 2 * (360 / n)

[0566] Please refer to Figure 76. In the optical path between the second collimating lens and the first reflecting surface 301 shown exemplary in Figure 76, if an object is placed on the section surface S perpendicular to the X direction, and the polyhedron 300 structure and its reflecting surface are in the orientation shown in Figure 1, the light beam of the light-emitting unit 211 of the first light emitter 1100 is projected onto point 10AA1' on section S after passing through the reflector 400, the light beam of the light-emitting unit 212 is projected onto point 10AB1' on section S after passing through the reflector 400, the projection points of the light-emitting units 211 to 21N are 10AA1' to 10AAN' in sequence, the projection points of the light-emitting units 221 to 22M are 10AB1' to 10ABM' in sequence, and so on.

[0567] Please refer to Figures 69, 70, 74, and 78. Motor 303 can drive the first reflective surface 301 and the second reflective surface 302 to rotate. Taking a rotation angle of 120° as an example, after the first reflective surface 301 rotates, the light-emitting unit 211 can project multiple 10AA1' points onto section S. These projected points are connected to form line AA1L. After the first reflective surface 301 rotates, the light-emitting unit 221 can project multiple 10AB1' points onto section S. These projected points are connected to form line AB1L. Thus, the projected points within the vertical field of view (FOV) can be connected to form N+M lines. These N+M lines are all embedded in the middle positions of the N+M lines formed by connecting the projected points of light-emitting units 211 to 21N and 221 to 22M within the vertical FOV. A total of 2*(N+M) lines exist within the vertical FOV of section S (including the first light emitter 1100 and the second light emitter 1200).

[0568] Referring to Figure 79, in the Z direction, there is a height difference of 1 / 4H between the central axis of the light-emitting unit of the first light receiver 2100 and the central axis of the light-emitting unit of the second light receiver 2200. The central axis of the first column of light-emitting units of the second light receiver 2200 coincides with the central axis of the first column of light-emitting units of the first light receiver 2100, and the central axis of the second column of light-emitting units of the second light receiver 2200 coincides with the central axis of the second column of light-emitting units of the first light receiver 2100. Therefore, from the Y direction perspective, it can be seen that each light-emitting unit of the second light receiver 2200 is uniformly embedded between each light-emitting unit of the first light receiver 2100, thereby realizing the return of light from the first light emitter 1100 and each light-emitting unit of the second light emitter.

[0569] Please refer again to Figures 69 and 70. The control board 3200 of the lidar 3000 may also include a timing control chip and an amplification processing circuit. For example, the timing control chip of the control board of the lidar 3000 can control each light-emitting unit of the light emitter to emit light (light pulses) in sequence according to the time sequence.

[0570] The light emitter may also include a driver board. Taking the first light emitter 1100 including a first driver board 1110 and the second light emitter 1200 including a second driver board 1210 as an example, the first driver board 1100 and the second driver board 1210 can be connected to the control board of the lidar 3000 respectively to receive control signals controlling each light-emitting unit of the first light emitter 1100 and the second light emitter 1200. Similarly, the light receiver may also include a tail plate. Taking the first light receiver 2100 including a first tail plate 2110 and the second light receiver 2200 including a second tail plate 2210 as an example, the first tail plate 2110 and the second tail plate 2210 can be connected to the control board of the lidar 3000 respectively. The control board of the lidar 3000 can obtain the time of flight of the light pulse through the drive board and tailboard to calculate the time of flight (TOF) and obtain the detection result (such as the distance between the detected target, etc.). Then, the azimuth information under the TOF is obtained through the motor 303 control circuit and output through the I / O interface 3300. The I / O interface 3300 also receives current from the outside to maintain the power consumption of the lidar 3000.

[0571] The mobile platform can be equipped with radar devices to detect targets. The radar device can transmit light signals to the outside through a transmitting module and receive the light signals reflected back by objects through a receiving module. After processing by the radar device, the distance or other information of the object can be obtained.

[0572] However, multiple modules of a radar device require multiple assembly and adjustment. The transmitting and receiving modules require high-precision assembly and adjustment. The more times they are assembled and adjusted, the greater the total optical tolerance will be due to the superposition of tolerances. After multiple modules are installed, the tolerances of the radar device will be superimposed, resulting in a decrease in the detection accuracy of the radar device.

[0573] To address the aforementioned problems, some embodiments of this disclosure provide a radar device, a mobile platform, and a method for assembling the radar device.

[0574] Referring to Figure 80, a radar device 100 provided in some embodiments of this disclosure includes a housing 10, a transmitting module 30, and a receiving module 50. The housing 10 includes a first surface 101 and a second surface 102 facing away from each other. The housing 10 has a first cavity 11 and a second cavity 12 penetrating through the first surface 101 and the second surface 102, arranged side-by-side. The transmitting module 30 is housed in the first cavity 11 and is used to transmit optical signals to the outside of the radar device 100. The receiving module 50 is housed in the second cavity 12 and is used to receive optical signals reflected back by an object.

[0575] In some embodiments, the housing 10 is a structure that houses the components of the radar device 100. The housing 10 protects other components and has a certain degree of waterproofing to prevent external fluids from flowing into the housing 10. Other components include, but are not limited to, the transmitting module 30 and the receiving module 50. The cross-sectional shape of the housing 10 may be, but is not limited to, circular, elliptical, rectangular, or other polygonal shapes. The material of the housing 10 may be plastic or metal. When the housing 10 is made of plastic, it has good insulation properties, low cost, and light weight. When the housing 10 is made of metal, it has high strength, good wear resistance, and long service life. In this application, the length direction of the housing 10 is taken as the length direction of the radar device 100, the width direction of the housing 10 is taken as the width direction of the radar device 100, and the height direction of the housing 10 is taken as the height direction of the radar device 100. The first surface 101 and the second surface 102 are opposite surfaces of the housing 10 in the length direction.

[0576] The first cavity 11 is used to accommodate the transmitting module 30. In a projection plane perpendicular to its length direction, the cross-sectional shape of the first cavity 11 can be rectangular, circular, or other shapes. For example, the shape and size of the first cavity 11 match the outer contour of the transmitting module 30, allowing the transmitting module 30 to be accommodated in the first cavity 11 without easily shifting, thus avoiding displacement or loosening. The first cavity 11 also has a positioning effect, enabling the transmitting module 30 to be quickly positioned, improving assembly and adjustment efficiency. A certain gap also exists between the first cavity 11 and the transmitting module 30, thereby facilitating the assembly and adjustment of the transmitting module 30 and improving its assembly and adjustment accuracy.

[0577] The second cavity 12 is used to accommodate the receiving module 50. In the projection plane perpendicular to its length direction, the cross-sectional shape of the second cavity 12 can be rectangular, circular, or other shapes. For example, the shape and size of the second cavity 12 match the outer contour of the receiving module 50, allowing the receiving module 50 to be accommodated in the second cavity 12 without easily shifting, thus avoiding displacement or loosening. The second cavity 12 also has a positioning effect, enabling the receiving module 50 to be quickly positioned, improving assembly and adjustment efficiency. A certain gap also exists between the second cavity 12 and the receiving module 50, thereby facilitating the assembly and adjustment of the receiving module 50 and improving its assembly and adjustment accuracy.

[0578] The first cavity 11 and the second cavity 12 are arranged side by side, that is, the center lines of the first cavity 11 and the second cavity 12 are parallel. In embodiments of this application, the first cavity 11 and the second cavity 12 are arranged side by side in the height direction. In some other embodiments, the first cavity 11 and the second cavity 12 can be arranged side by side in the length direction, side by side in the width direction, or side by side in other directions. The side-by-side arrangement allows the first cavity 11 and the second cavity 12 to form a stacked structure, which saves space in the housing 10 and allows for a compact layout of the transmitting module 30 housed in the first cavity 11 and the receiving module 50 housed in the second cavity 12.

[0579] The first cavity 11 and the second cavity 12 are both located in the same housing 10, that is, the receiving module 50 and the transmitting module 30 are both housed in the same housing 10. Compared with the receiving module and the transmitting module being housed in different housings, being housed in the same housing 10 eliminates the need for assembly and adjustment steps between different housings 10. As a result, the tolerances formed by assembly and adjustment between different housings 10 can be eliminated, thereby reducing the total optical tolerance of the radar device 100.

[0580] The transmitting module 30 transmits an optical signal (transmitted optical signal) to the outside of the radar device 100. When the optical signal encounters an object, it is reflected. The receiving module 50 is used to capture and receive the optical signal reflected back by the object (received optical signal). After processing the transmitted and received optical signals, the radar device 100 can extract information about the object. The signal processing includes, but is not limited to, signal amplification, signal filtering, obtaining the time difference between the transmitted and received optical signals, obtaining the phase difference between the transmitted and received optical signals, or obtaining the frequency difference between the transmitted and received optical signals. The object information includes, but is not limited to, the object's position and velocity. The signal processing can be performed by the receiving module 50 or by other modules in the radar device 100.

[0581] For example, this disclosure does not limit the type of radar device 100. In embodiments where the radar device 100 is a lidar, lidar can be classified according to its measurement method as either time-of-flight (ToF) radar or frequency-modulated continuous wave (FMCW) radar. Time-of-flight radar obtains the distance information of an object by measuring the time difference between the light signal emitted by the transmitting module 30 and the light signal reflected back from the object received by the receiving module 50. Time-of-flight radar has the advantages of fast response speed and high detection accuracy. Frequency-modulated continuous wave radar linearly modulates the light signal emitted by the transmitting module 30 and obtains the frequency difference by coherently beating the light signal reflected back from the object received by the receiving module 50 with a reference light, thereby indirectly obtaining the distance information of the object. Frequency-modulated continuous wave radar has the advantages of directly measuring velocity information and strong anti-interference capabilities.

[0582] In some embodiments of the radar device 100, the movable platform 1000, and the assembly method of the radar device 100 disclosed herein, the radar device 100 reduces the number of housings 10 by mounting the transmitting module 30 and the receiving module 50 on the same housing 10. This reduces the number of assembly and adjustment steps between the receiving module 50 and the transmitting module 30, thereby reducing the tolerance of the assembly and adjustment of the receiving module 50 and the transmitting module 30, and lowering the total optical tolerance of the radar device 100. On the one hand, this improves the assembly and adjustment efficiency of the radar device 100, and on the other hand, it improves the assembly and adjustment accuracy of the radar device 100, thereby improving the detection accuracy of the radar device 100.

[0583] Referring to Figures 80 to 82, in some embodiments, the transmitting module 30 includes a first circuit board 31, a first chip 33, and a first lens 35. The first circuit board 31 is mounted on the side of the housing 10 where the first surface 101 is located and covers the first cavity 11. The first chip 33 is mounted on the side of the first circuit board 31 facing the first cavity 11, and the first chip 33 is used to transmit optical signals. The first lens 35 is at least partially mounted in the first cavity 11 and aligned with the first chip 33.

[0584] For example, the first circuit board 31 is mounted on the side where the first surface 101 of the housing 10 is located; that is, the first circuit board 31 and the housing 10 are two different structures. In one example, the first circuit board 31 and the housing 10 can be joined together by a detachable connection, including but not limited to snap-fit ​​connections or threaded connections. In another example, the first circuit board 31 and the housing 10 can be joined together by a non-detachable connection, including but not limited to bonding or soldering.

[0585] In some embodiments, the first circuit board 31 is attached to the first surface 101 of the housing 10 by screws. This ensures a stable connection between the first circuit board 31 and the housing 10, preventing displacement and ensuring that the optical signal emitted by the first chip 33 is not easily deviated. Furthermore, screw attachment is a detachable connection method, making the first circuit board 31 easy to disassemble and repair, thus reducing the scrap rate of the first circuit board 31.

[0586] Furthermore, in some embodiments of this disclosure, the transmitting module 30 uses a first circuit board 31, and the receiving module 50 uses a second circuit board 51. Compared to the transmitting module 30 and the receiving module 50 sharing the same circuit board, this reduces the overall size of the circuit board, decreases the space occupied by the radar device 100, and lowers the cost of the radar device 100. The first circuit board 31 covers the first cavity 11, which can prevent the leakage of optical signals and avoid interference with other components. The first chip 33 is mounted on the side of the first circuit board 31 facing the first cavity 11, so that the optical signal emitted by the first chip 33 can pass through the first cavity 11 and the first lens 35 and be emitted to the outside of the radar device 100.

[0587] The first lens 35 is used to modulate the optical signal emitted by the first chip 33 and guide it to the outside of the radar device 100. The first lens 35 may include one or more lenses. The modulation of the optical signal by the first lens 35 includes, but is not limited to, range modulation, intensity modulation, frequency modulation, phase modulation, amplitude modulation, etc. For example, range modulation of the optical signal includes, but is not limited to, focusing the optical signal and diffusing the optical signal. In embodiments where the first lens 35 includes multiple lenses, the modulation content of the multiple lenses may be different.

[0588] The first lens 35 is at least partially installed within the first cavity 11, which is capable of accommodating a portion of the first lens 35, making it less prone to displacement and preventing shifting or loosening. The first lens 35 is aligned with the first chip 33, meaning the optical axis of the first lens 35 deviates from the center of the first chip 33 by less than a predetermined range. This predetermined range is not limited in this application; for example, the optical axis of the first lens 35 may coincide with the center of the first chip 33.

[0589] In some embodiments, a first flange 351 is provided on the outer side wall of the first lens 35. The first flange 351 abuts against the second surface 102 and is connected to the second surface 102 by adhesive. The first flange 351 protrudes from the outer side wall of the first lens 35 in a direction away from the outer side wall. The side of the first flange 351 closest to the second surface 102 abuts against the second surface 102. Therefore, the contact area between the flange and the housing 10 is relatively large. On the one hand, this provides stable support for the first lens 35, preventing the first lens 35 from shifting or loosening due to vibration or other external forces. On the other hand, the flange helps the first lens 35 to be quickly positioned and fixed, improving the assembly and adjustment efficiency of the first lens 35. In addition, the flange increases the surface area of ​​the first lens 35, which can improve the heat dissipation efficiency of the first lens 35, preventing the first lens 35 from overheating, thereby ensuring the stability of the operation of the transmitting module 30.

[0590] In some embodiments, the first flange 351 is connected to the second surface 102 by adhesive. Since the volume of the first lens 35 is relatively small compared to the housing 10 and the first circuit board 31, the size of the adhesive applied each time is small and the amount of adhesive used is small. In this way, the risk of deformation at the connection between the first flange 351 and the second surface 102 can be reduced, thereby reducing the risk of the first lens 35 shifting relative to the housing 10 and ensuring the detection accuracy of the radar device 100.

[0591] Please refer to Figures 80 to 82. In some embodiments, the far-field pointing of the light signal modulated by the first lens 35 is less than or equal to 0.5°.

[0592] For example, far-field pointing refers to the direction of optical signal propagation after the optical signal has moved away from the first chip 33. Far-field pointing characterizes the collimation degree of the optical signal, that is, the ability of the light beam to remain parallel during propagation. The far-field pointing of the optical signal modulated by the first lens 35 can be 0.05°, 0.1°, 0.15°, 0.18°, 0.2°, 0.25°, 0.3°, 0.34°, 0.4°, or 0.5°. If the far-field pointing of the optical signal modulated by the first lens 35 is greater than 0.5°, the optical signal diverges excessively in the far field, and the intensity of the optical signal decreases during propagation, affecting the detection range and signal quality of the radar device 100. If the far-field pointing of the optical signal modulated by the first lens 35 is less than or equal to 0.5°, the dispersion of optical signal energy can be reduced, ensuring the signal strength of the optical signal, thereby improving the detection range and signal quality.

[0593] Referring to Figures 80 to 82, in some embodiments, the collimation angle of the light signal modulated by the first lens 35 is less than or equal to 0.6°. For example, the collimation angle of the light signal is the divergence angle of the light signal in the far field, that is, the angle at which the light signal diverges outward from the central axis. The collimation angle characterizes the degree of focusing or divergence of the light signal. The collimation angle of the light signal modulated by the first lens 35 can be 0.05°, 0.1°, 0.15°, 0.18°, 0.2°, 0.25°, 0.3°, 0.34°, 0.5°, or 0.6°. If the collimation angle of the light signal modulated by the first lens 35 is greater than 0.6°, the light signal will have a high degree of divergence during propagation, a poor degree of focusing, and is easily affected by environmental factors (such as air flow and temperature changes), causing the propagation direction of the light signal to drift easily, affecting the detection accuracy of the radar device 100. If the collimation angle of the light signal modulated by the first lens 35 is less than or equal to 0.6°, the light signal will have a small degree of divergence during propagation, a good degree of focus, and the direction of propagation will not easily drift, thus ensuring the detection accuracy of the radar device 100.

[0594] Please refer to Figures 80 to 82. In some embodiments, the divergence angle of the light signal modulated by the first lens 35 is 25°±1°, that is, greater than or equal to 24° and less than or equal to 26°.

[0595] For example, the divergence angle of an optical signal is a parameter describing the degree to which the optical signal diverges outward from its center. The divergence angle characterizes the quality of the optical signal. The divergence angle of the optical signal modulated by the first lens 35 can be 24°, 24.2°, 24.45°, 24.88°, 25°, 25.25°, 25.3°, 25.34°, 25.5°, or 26°. If the divergence angle of the optical signal modulated by the first lens 35 is less than 24°, the energy of the optical signal is too concentrated, which limits the propagation range of the optical signal and easily generates excessive radiation in the radiated area, potentially damaging objects within that area. If the divergence angle of the optical signal modulated by the first lens 35 is greater than 26°, the energy of the optical signal is too dispersed, and the optical signal is easily interfered with by other stray signals in the environment. The divergence angle of the light signal modulated by the first lens is greater than or equal to 24° and less than or equal to 26°, which can ensure that the energy of the light signal is moderate. On the one hand, it ensures the propagation range of the light signal, and on the other hand, it is not easy to generate excessive radiation in the part of the light signal radiation area, thus avoiding damage to objects in the area, and it is not easy to be interfered with by other stray signals in the environment.

[0596] Referring to Figures 80 to 82, in some embodiments, the housing 10 further includes a third surface 103 connecting the first surface 101 and the second surface 102. The radar device 100 also includes a shield 70, which is mounted on the third surface 103 and / or the first circuit board 31 and covers at least a portion of the first circuit board 31.

[0597] In some embodiments, the shield 70 is mounted on the third surface 103 and the first circuit board 31; in other embodiments, the shield 70 is mounted on the third surface 103; in yet another embodiment, the shield 70 is mounted on the first circuit board 31. In these embodiments, the shield 70 is bent to form a first portion and a second portion, wherein the second portion is connected to the first circuit board 31.

[0598] On the one hand, the shielding cover 70 can block external electromagnetic waves, preventing them from interfering with the first circuit board 31 and its components (such as the first chip 33). On the other hand, since the light signal emitted by the first chip 33 has a large energy, the shielding cover 70 can reduce the electromagnetic radiation emitted by the first circuit board 31 to the outside world, preventing the light signal emitted by the first chip 33 from affecting other components of the radar device 100.

[0599] Please refer to Figures 80 to 82. In some embodiments, the radar device 100 further includes a fixing plate 80, which is mounted on the side of the first circuit board 31 opposite to the first cavity 11.

[0600] In some embodiments, the fixing plate 80 and the first circuit board 31 may be joined together by a detachable connection, including but not limited to snap-fit ​​connections or threaded connections. In another example, the fixing plate 80 and the first circuit board 31 may be joined together by a non-detachable connection, including but not limited to bonding or welding.

[0601] In some embodiments, the fixing plate 80 is attached to the side of the first circuit board 31 opposite to the first cavity 11 by screws. This ensures a stable connection between the fixing plate 80 and the first circuit board 31, preventing displacement. Furthermore, the screw attachment provides a detachable connection, making the fixing plate 80 easy to disassemble and maintain, thus reducing its failure rate. The fixing plate 80 also prevents dust, moisture, and other environmental factors from corroding the first circuit board 31, thereby extending its service life.

[0602] Please refer to Figures 80 to 82. In some embodiments, the fixing plate 80 is a rigid plate used to reinforce the first circuit board 31.

[0603] For example, the fixing plate 80 can be made of plastic or metal. When the fixing plate 80 is made of plastic, it has good insulation properties, low cost, and light weight. When the fixing plate 80 is made of metal, it has high strength, good wear resistance, and a long service life. The fixing plate 80 can block some external forces, preventing the first circuit board 31 from deforming and displacing when subjected to external forces, thereby ensuring the stability of the first chip 33's position and guaranteeing the detection accuracy of the radar device 100.

[0604] Please refer to Figures 80 to 82. In some embodiments, the fixing plate 80 is provided with a heat dissipation structure. The heat dissipation structure is used to dissipate the heat on the first circuit board 31. The heat dissipation structure can improve the heat dissipation efficiency of the first circuit board 31 and prevent the first circuit board 31 from overheating, thereby ensuring the stability of the operation of the transmitting module 30.

[0605] Referring to Figures 80 to 82, in some embodiments, the fixing plate 80 is provided with a connection structure for connecting to an external device. This connection structure simplifies the installation and maintenance process of the circuit board and improves the installation efficiency of the first circuit board 31.

[0606] Referring to Figure 81, in some embodiments, the radar device 100 further includes a flexible cable 90. The flexible cable 90 includes a first connection end 91 and a second connection end 93. The first connection end 91 is engaged with the first circuit board 31, and the second connection end 93 is used to connect to the main control board of the radar device 100.

[0607] For example, the flexible cable 90 can connect the first circuit board 31 and the main control board, enabling the main control board to control the first circuit board 31. Furthermore, the flexible cable 90 can also connect the second circuit board 51 and the main control board, enabling the main control board to control the second circuit board 51. The flexible cable 90 can connect the first circuit board 31 and the second circuit board 51, enabling interaction between them. The snap-fit ​​connection is a detachable connection method; the first connecting end 91 snaps into the first circuit board 31, facilitating the removal and installation of the flexible cable 90.

[0608] For example, flexible wire 90 includes flexible ribbon cables, highly flexible cables, etc.

[0609] Referring to Figure 81, in some embodiments, the first lens 35 includes a first lens barrel 353 and a first lens group 355. The first lens barrel 353 is installed within the first cavity 11; the first lens group 355 includes at least two lenses. The first lens group 355 is housed within the first lens barrel 353, and the modulation transfer function value of the first lens group 355 is greater than or equal to 0.55.

[0610] For example, the first lens group 355 is housed within the first lens barrel 353. This provides space for the first lens, preventing the first lens group 355 from easily shifting or becoming loose. The lens shape can be circular, elliptical, triangular, quadrilateral, or other polygonal. The material of the lens is not limited in this application. In embodiments where the lens material is glass, glass lenses have low temperature drift and can produce clear images even at extremely high temperatures, improving the resolution accuracy of the radar device 100; plastic lenses are low-cost, reducing the cost of the radar device 100. The materials of the multiple lenses in the first lens group 355 can be the same, all different, or partially different.

[0611] The modulation transfer function (MTF) value of the first lens group 355 characterizes the ability of the transmitting module 30, in which the first lens group 355 is located, to transmit contrast at different spatial frequencies. The MTF value is between 0 and 1, and measures the ratio of the contrast of the output image to the contrast of the input image. The MTF value of the first lens group 355 can be 0.55, 0.61, 0.68, 0.73, 0.75, 0.81, 0.85, 0.93, 0.95, or 1. If the MTF value of the first lens group 355 is less than 0.55, the ability of the first lens group 355 to transmit image details is weak, the ratio of the contrast of the output image to the contrast of the input image is too small, the contrast between light and dark areas of the image is not obvious, and details such as image edges and textures are easily blurred, resulting in insufficient image resolution and a decrease in image quality.

[0612] If the modulation transfer function value of the first lens group 355 is greater than or equal to 0.55, then the first lens group 355 has a high ability to transmit image details, a high ratio of the contrast of the output image to the contrast of the input image, obvious contrast between light and dark in the image, clear details such as image edges and textures, high image resolution, and high image quality.

[0613] Referring to Figure 80, in some embodiments, the first chip 33 is used to emit at least one of a 4-line laser beam, an 8-line laser beam, a 16-line laser beam, a 32-line laser beam, a 64-line laser beam, a 96-line laser beam, and a 128-line laser beam.

[0614] For example, the first chip 33 can emit laser beams with different line counts to adapt to different detection environments. The line count refers to the number of optical signals that the radar device 100 can simultaneously transmit and receive. Low-line-count laser beams (such as 4-line or 8-line laser beams) are low-cost and highly sensitive, suitable for near-field detection by the radar device 100; high-line-count laser beams (such as 64-line or 128-line laser beams) have a wide field of view and dense data acquisition, suitable for far-field detection by the radar device 100.

[0615] Referring to Figure 81, in some embodiments, the receiving module 50 includes a second circuit board 51, a second chip 53, and a second lens 55. The second circuit board 51 is mounted on the side of the housing 10 where the first surface 101 is located, and covers the second cavity 12. The second chip 53 is mounted on the side of the second circuit board 51 facing the second cavity 12, and is used to receive light signals reflected back by an object for distance measurement. The second lens 55 is mounted inside the second cavity 12 and aligned with the second chip 53.

[0616] The second circuit board 51 is mounted on the side of the housing 10 where the first surface 101 is located; that is, the second circuit board 51 and the housing 10 are two different structures. In one example, the second circuit board 51 and the housing 10 can be joined together by a detachable connection, including but not limited to snap-fit ​​connections or threaded connections. In another example, the second circuit board 51 and the housing 10 can be joined together by a non-detachable connection, including but not limited to adhesive bonding or soldering.

[0617] In some embodiments, the second circuit board 51 is attached to the first surface 101 of the housing 10 by screws. This ensures a stable connection between the second circuit board 51 and the housing 10, preventing displacement and ensuring that the optical signal emitted by the second chip 53 is not easily deviated. Furthermore, screw attachment is a detachable connection method, making the second circuit board 51 easy to disassemble and repair, thus reducing the scrap rate of the second circuit board 51.

[0618] Furthermore, in some embodiments of this disclosure, both the transmitting module 30 and the receiving module 50 use the second circuit board 51. Compared to the transmitting module 30 and the receiving module 50 sharing the same circuit board, this reduces the overall size of the circuit board, decreases the space occupied by the radar device 100, and lowers the cost of the radar device 100. The second circuit board 51 covers the second cavity 12, preventing light signal leakage and interference with other components. The second chip 53 is mounted on the side of the second circuit board 51 facing the second cavity 12, so that the light signal emitted by the second chip 53 can pass through the second cavity 12 and the second lens 55 and exit to the outside of the radar device 100.

[0619] The second lens 55 is used to modulate the reflected light signal and guide it to the second chip 53. The second lens 55 may include one or more lenses. The modulation of the light signal by the second lens 55 includes, but is not limited to, range modulation, intensity modulation, frequency modulation, phase modulation, amplitude modulation, etc. For example, range modulation of the light signal includes, but is not limited to, focusing the light signal and diffusing the light signal. For example, in an embodiment where the second lens 55 includes multiple lenses, the modulation content of the multiple lenses may be different.

[0620] The second lens 55 is at least partially installed within the second cavity 12, which is capable of accommodating a portion of the second lens 55, making it less prone to displacement and preventing shifting or loosening. The second lens 55 is aligned with the second chip 53, meaning the optical axis of the second lens 55 deviates from the center of the second chip 53 by less than a predetermined range. This predetermined range is not limited in this application; for example, the optical axis of the second lens 55 may coincide with the center of the second chip 53.

[0621] In some embodiments, a second flange 551 is provided on the outer side wall of the second lens 55. The second flange 551 abuts against the second surface 102 and is connected to the second surface 102 by adhesive. The second flange 551 protrudes from the outer side wall of the second lens 55 in a direction away from the outer side wall. The side of the second flange 551 closest to the second surface 102 abuts against the second surface 102. Therefore, the contact area between the flange and the housing 10 is relatively large. On the one hand, this provides stable support for the second lens 55, preventing the second lens 55 from shifting or loosening due to vibration or other external forces. On the other hand, the flange helps the second lens 55 to be quickly positioned and fixed, improving the assembly and adjustment efficiency of the second lens 55. In addition, the flange increases the surface area of ​​the second lens 55, which can improve the heat dissipation efficiency of the second lens 55, preventing the second lens 55 from overheating, thereby ensuring the stability of the operation of the transmitting module 30.

[0622] In some embodiments, the second flange 551 is connected to the second surface 102 by adhesive. Since the volume of the second lens 55 is relatively small compared to the housing 10 and the second circuit board 51, the size of the adhesive applied each time is small and the amount of adhesive used is small. In this way, the risk of deformation at the connection between the second flange 551 and the second surface 102 can be reduced, thereby reducing the risk of the second lens 55 shifting relative to the housing 10 and ensuring the detection accuracy of the radar device 100.

[0623] Please refer to Figures 81 and 83. In some embodiments, the offset between the optical axis of the second lens 55 and the center of the second chip 53 is less than or equal to 300 μm.

[0624] For example, the offset between the optical axis of the second lens 55 and the center of the second chip 53 is the minimum distance from the center of the second chip 53 to the optical axis of the second lens 55, characterizing the alignment accuracy between the optical axis of the second lens 55 and the center of the second chip 53. The offset between the optical axis of the second lens 55 and the center of the second chip 53 can be 0μm, 140μm, 150μm, 180μm, 200μm, 210μm, 240μm, 270μm, 290μm, or 300μm. If the offset between the optical axis of the second lens 55 and the center of the second chip 53 is greater than 300μm, the distance between them is too large, resulting in low alignment accuracy. The light signal reflected from the object is difficult for the second chip 53 to receive accurately, causing light signal loss and distortion, thus affecting the detection accuracy of the radar device 100.

[0625] If the offset between the optical axis of the second lens 55 and the center of the second chip 53 is less than or equal to 300μm, then the distance between the optical axis of the second lens 55 and the center of the second chip 53 is small, the alignment accuracy is high, the light signal reflected back by the object can be accurately received by the second chip 53, and the loss and distortion of the light signal are less, thereby ensuring the detection accuracy of the radar device 100.

[0626] Referring to Figures 81 and 83, in some embodiments, the second lens 55 includes a second lens barrel 553 and a second lens group 555. The second lens barrel 553 is mounted within the second cavity 12. The second lens group 555 includes at least two lenses. The second lens group 555 is housed within the second lens barrel 553, and the modulation transfer function value of the second lens group 555 is greater than or equal to 0.55.

[0627] For example, the second lens group 555 is housed within the second lens barrel 553. This provides space for the second lens, preventing the second lens group 555 from easily shifting or becoming loose. The lens shape can be circular, elliptical, triangular, quadrilateral, or other polygonal. The material of the lens is not limited in this application. In embodiments where the lens material is glass, glass lenses have low temperature drift and can produce clear images even at extremely high temperatures, improving the resolution accuracy of the radar device 100; plastic lenses are low-cost, reducing the cost of the radar device 100. The materials of the multiple lenses in the second lens group 555 can be the same, all different, or partially different.

[0628] The modulation transfer function (MJF) value of the second lens group 555 characterizes the ability of the receiving module 50, in which the second lens group 555 is located, to transmit contrast at different spatial frequencies. The MJF value is between 0 and 1 and measures the ratio of the contrast of the output image to the contrast of the input image. The MJF value of the second lens group 555 can be 0.55, 0.61, 0.68, 0.73, 0.75, 0.81, 0.85, 0.93, 0.95, or 1. If the MJF value of the second lens group 555 is less than 0.55, the ability of the second lens group 555 to transmit image details is weak, the ratio of the contrast of the output image to the contrast of the input image is too small, the contrast between light and dark areas of the image is not obvious, easily leading to blurred details such as image edges and textures, insufficient image resolution, and a decline in image quality.

[0629] If the modulation transfer function value of the second lens group 555 is greater than or equal to 0.55, then the second lens group 555 has a high ability to transmit image details, a high ratio of the contrast of the output image to the contrast of the input image, obvious contrast between light and dark in the image, clear details such as image edges and textures, high image resolution, and high image quality.

[0630] Please refer to Figure 81. In some embodiments, the transmitting module 30 includes a first chip 33, and the receiving module 50 includes a second chip 53.

[0631] For example, the light signal emitted by the first chip 33 is modulated by the first lens 35 and then transmitted to the outside of the radar device 100. After being reflected by an object, the light signal is modulated by the second lens 55 and received by the second chip 53, thereby realizing the optical detection of the radar device 100.

[0632] In some embodiments, the angle between the extending direction of the first chip 33 and the extending direction of the second chip 53 is less than or equal to 1°.

[0633] For example, the angle between the extending direction of the first chip 33 and the extending direction of the second chip 53 refers to the angle between the axes of the first chip 33 and the second chip 53. This angle characterizes the degree of alignment of the optical axes of the first chip 33 and the second chip 53, ensuring precise alignment of the transmitted and received optical signals.

[0634] The angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 can be 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 0.9°, or 1°. If the angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 is greater than 1°, the alignment of the optical signal emitted by the transmitting module 30 and the optical signal reflected back by the object received by the receiving module 50 will be inaccurate. The optical signal reflected back by the object will be difficult to be accurately received by the second chip 53, and the loss of the optical signal during transmission will increase, resulting in a decrease in the intensity and quality of the optical signal.

[0635] If the angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 is less than or equal to 1°, then the optical signal emitted by the transmitting module 30 and the optical signal reflected back by the object received by the receiving module 50 are accurately aligned. The optical signal reflected back by the object can be accurately received by the second chip 53, and the loss of the optical signal during transmission is small, thereby ensuring the strength and quality of the optical signal reflected back by the object received by the receiving module 50.

[0636] Please refer to Figures 81 and 83. In some embodiments, there is a preset baseline length between the first chip 33 and the second chip 53, and the offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length is less than or equal to 300 μm.

[0637] For example, the actual baseline length between the first chip 33 and the second chip 53 is the length between the center of the first chip 33 and the center of the second chip 53. The offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length can be 10μm, 140μm, 150μm, 180μm, 200μm, 210μm, 240μm, 270μm, 290μm, or 300μm. If the offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length is greater than 300μm, the offset is too large, which may lead to low detection accuracy of the radar device 100.

[0638] The actual baseline length between the first chip 33 and the second chip 53 is less than or equal to 300μm from the preset baseline length. The small offset ensures high detection accuracy of the radar device 100.

[0639] Referring to Figures 81 and 82, in some embodiments, the transmitting module 30 includes a first circuit board 31. The first circuit board 31 is mounted on the side of the housing 10 containing the first surface 101 and covers the first cavity 11. The receiving module 50 includes a second circuit board 51. The second circuit board 51 is mounted on the side of the housing 10 containing the first surface 101 and covers the second cavity 12. The radar device 100 also includes a shield 70, which is mounted on the housing 10 and / or the circuit board and covers at least a portion of the first circuit board 31; in the direction of optical signal transmission, the second circuit board 51 is further away from the second surface 102 than the first circuit board 31.

[0640] For example, the first circuit board 31 covers the first cavity 11, preventing the light signal emitted by the first chip 33 from being affected by external factors. The second circuit board 51 covers the second cavity 12, preventing the light signal received by the receiving module 50 and reflected back by an object from being affected by external factors. The shielding cover 70 covers at least a portion of the first circuit board 31, reducing the impact of the light signal emitted by the first chip 33 on the outside world and on the receiving module 50. Thus, in the direction of light signal transmission, the light signal emitted by the first chip 33 exits from the first cavity 11 to the outside, is reflected by an object, and partially returns to the second cavity 12 to be received by the receiving module 50.

[0641] Please refer to Figures 80, 81, and 84. Some embodiments of this disclosure provide a mobile platform 1000. The mobile platform 1000 includes a mobile platform 1000 body and the radar device 100 described above. The radar device 100 is mounted on the mobile platform 1000 body.

[0642] In some embodiments of this disclosure, a mobile platform 1000 is equipped with a radar device 100. The radar device 100 reduces the number of housings 10 by mounting a transmitting module 30 and a receiving module 50 on the same housing 10. This reduces the number of assembly and adjustment steps between the receiving module 50 and the transmitting module 30, thereby reducing the tolerances in the assembly and adjustment of the receiving module 50 and the transmitting module 30, and lowering the overall optical tolerance of the radar device 100. This improves both the assembly and adjustment efficiency and the assembly and adjustment accuracy of the radar device 100, thus enhancing its detection accuracy. In some embodiments, the mobile platform 1000 includes at least one of an aircraft, vehicle, robot, ship, camera, and mobile phone. The mobile platform 1000 can carry one or more radar devices 100, thereby enabling different mobile platforms 1000 to detect under different environments and requirements.

[0643] Please refer to Figures 80, 81, and 85. Some embodiments of this disclosure provide a method for assembling a radar device 100. The assembly method includes:

[0644] 01: A housing 10 is provided, the housing 10 includes a first surface 101 and a second surface 102 facing away from each other, the housing 10 is provided with a first cavity 11 and a second cavity 12 penetrating the first surface 101 and the second surface 102, the first cavity 11 and the second cavity 12 are arranged side by side;

[0645] 03: The first circuit board 31 with the first chip 33 and the second circuit board 51 with the second chip 53 are both installed on the side of the first surface 101 of the housing 10, respectively covering the first cavity 11 and the second cavity 12, and the relative positions between the first chip 33 and the second chip 53 meet a preset range; and

[0646] 05: The first lens 35 and the second lens 55 are installed in the first cavity 11 and the second cavity 12 respectively using an active alignment process, and the first lens 35 is aligned with the first chip 33, and the second lens 55 is aligned with the second chip 53.

[0647] For example, the Active Alignment (AA) process can determine the relative position and orientation of each optical element in the internal radar device 100. These optical elements include, but are not limited to, the first lens 35, the second lens 55, the first chip 33, and the second chip 53. During assembly, the AA process uses a detection system to monitor and adjust the state (relative position and orientation) of optical elements that are not yet aligned in real time, ensuring that the optical elements achieve optimal relative position and orientation. The AA process effectively reduces assembly tolerances and improves the consistency and reliability of the radar device 100.

[0648] However, although the assembly tolerance of the active alignment process is very small, in the assembly and adjustment schemes of radar devices in related technologies, the housings of the transmitting module and the receiving module are independent and need to be disassembled separately for assembly and adjustment. The more times the assembly and adjustment is performed, the larger the total optical tolerance will be due to the superposition of tolerances, which will greatly affect the performance of the radar device. Performance includes indicators such as detection range, detection accuracy, and field of view. In addition, the assembly and adjustment schemes of related technologies include at least the active alignment of the transmitting lens and the transmitting chip of the transmitting module, the active alignment of the receiving lens and the receiving chip of the receiving module, the active alignment of the receiving lens and the transmitting chip of the transmitting module, and the active alignment of the housings of the transmitting module and the housings of the receiving module (i.e., the relative joint adjustment steps of the receiving module and the transmitting module).

[0649] Therefore, in order to effectively improve the assembly accuracy and efficiency, some embodiments of this disclosure propose an assembly method for a radar device 100. The assembly method of the radar device 100 according to some embodiments of this disclosure can be applied to any embodiment of the radar device 100, and thus possesses the beneficial effects of any radar device 100. In some embodiments of this disclosure, the receiving module 50 and the transmitting module 30 are both housed in the same housing 10, therefore, an active alignment step of the housing is not required, and there is no tolerance generated by the relative adjustment of the receiving module and the transmitting module.

[0650] In the method of 01, the first cavity 11 and the second cavity 12 are both located in the same housing 10, that is, the receiving module 50 and the transmitting module 30 are both housed in the same housing 10. Compared with the receiving module 50 and the transmitting module 30 being housed in different housings 10, the housing in the same housing 10 eliminates the need for assembly and adjustment steps between different housings 10, thereby reducing the number of steps in the assembly method of the radar device 100. As a result, the tolerance formed by assembly and adjustment between different housings 10 can be eliminated, thereby reducing the total optical tolerance of the radar device 100 and improving the assembly accuracy of the assembly method of the radar device 100.

[0651] In method 03, the assembly and adjustment process can be to first fix the first circuit board 31, and then adjust the position of the second circuit board 51 on which the second chip 53 is installed, with the first chip 33 on the first circuit board 31 as a reference; or it can be to first fix the second circuit board 51, and then adjust the position of the first circuit board 31 on which the first chip 33 is installed, with the second chip 53 on the second circuit board 51 as a reference.

[0652] In the assembly process of methods 03 and 05, the components used to adjust the position of the radar device 100 are devices built into the equipment of the active alignment process, collectively referred to in this application as adjustment devices. Adjustment devices include, but are not limited to, moving platforms, rotary adjustment devices, automatic locking systems, or robotic arms. Furthermore, the adjustment devices for different components of the moving radar device 100 may be the same or different.

[0653] The adjustment device performs six-dimensional adjustment of the component's position. This includes six degrees of freedom: three translational dimensions (X, Y, and Z axes) and three rotational dimensions (rotation around the X, Y, and Z axes). Translational adjustment allows for precise positional changes of the component in space along these three coordinate axes. Rotational adjustment around the X-axis (pitch) adjusts the component's vertical tilt, rotational adjustment around the Y-axis (yaw) adjusts the component's horizontal rotation, and rotational adjustment around the Z-axis (roll) adjusts the component's forward and backward tilt. This ensures that the relative positions of the first chip 33 and the second chip 53 meet a preset range, aligning the first lens 35 with the first chip 33, and aligning the second lens 55 with the second chip 53.

[0654] The present disclosure discloses an assembly method for a radar device 100 in some embodiments. By mounting the transmitting module 30 and the receiving module 50 on the same housing 10, the number of housings 10 is reduced. This reduces the number of assembly and adjustment steps for the radar device 100, reduces the tolerance superposition in the active alignment process, and thus reduces the total optical tolerance in the active alignment process. On the one hand, this improves the assembly and adjustment efficiency of the radar device 100, and on the other hand, it improves the assembly and adjustment accuracy of the radar device 100, thereby improving the detection accuracy of the radar device 100.

[0655] Please refer to Figures 80, 81, and 86. In some embodiments, the first circuit board 31 on which the first chip 33 is mounted and the second circuit board 51 on which the second chip 53 is mounted are both mounted on the side of the first surface 101 of the housing 10, respectively covering the first cavity 11 and the second cavity 12, and ensuring that the relative position between the first chip 33 and the second chip 53 meets a preset range, including:

[0656] 031: One of the first circuit board 31 with the first chip 33 installed and the second circuit board 51 with the second chip 53 installed is fixedly installed on the side of the first surface 101 of the housing 10, and covers the first cavity 11 or the second cavity 12.

[0657] 033: The other of the first circuit board 31 with the first chip 33 installed and the second circuit board 51 with the second chip 53 installed is attached to the side where the first surface 101 is located, and covers the second cavity 12 or the first cavity 11.

[0658] 035: Using the chip on the first circuit board 31 and the second circuit board 51 that are first fixed as a reference, adjust the position of the other of the first circuit board 31 with the first chip 33 and the second circuit board 51 with the second chip 53, and monitor the relative position between the first chip 33 and the second chip 53 through the image acquisition device 200; and

[0659] 037: When the relative position meets the preset range, stop the adjustment and fix the other of the first circuit board 31 with the first chip 33 installed and the second circuit board 51 with the second chip 53 installed to the side of the first surface 101 of the housing 10.

[0660] In some embodiments, in the method of 031, the adjustment device fixes the first circuit board 31 on which the first chip 33 is mounted to be located on the side of the first surface 101 of the housing 10 and covers the first cavity 11. The adjustment device can be installed in a detachable or non-detachable manner. In this application, the first circuit board 31 is fastened to the housing 10 by screws. For example, during the screw fastening process, the adjustment device can be a six-axis automatic screw fastening robot. The six-axis automatic screw fastening robot can automatically complete the screw fastening work and reduce labor costs.

[0661] In method 033, using the position of the first chip 33 on the first circuit board 31 as a reference, the adjustment device adjusts the position of the second chip 53 on the second circuit board 51, thereby adjusting the relative position of the second chip 53 relative to the first chip 33 to ensure that the first chip 33 and the second chip 53 meet a preset range. Here, the image acquisition device 200 monitors the relative position between the first chip 33 and the second chip 53 in real time. In some embodiments of this disclosure, the image acquisition device 200 is a charge-coupled device (CCD) camera. The CCD camera can capture high-resolution images of the first chip 33 and the second chip 53, thereby accurately determining the relative position between the first chip 33 and the second chip 53, ensuring that the position of the first chip 33, the position of the second chip 53, and the relative position between the first chip 33 and the second chip 53 meet a preset range. However, this is not limited to the distance between the center of the first chip 33 and the center of the second chip 53, the angle between the extension direction of the first chip 33 and the extension direction of the second chip 53, the baseline length between the first chip 33 and the second chip 53, etc. In the method of 037, when the relative position meets the preset range, the adjustment device stops adjusting and fixes the second circuit board 51 on which the second chip 53 is installed to the side of the first surface 101 of the housing 10, and covers the second cavity 12.

[0662] In other embodiments, in method 031, the adjusting device fixes the second circuit board 51, on which the second chip 53 is mounted, to the side of the housing 10 where the first surface 101 is located, and covers the second cavity 12. The adjusting device can be installed in a detachable or non-detachable manner; for example, the second circuit board 51 is fastened to the housing 10 by screws. In method 033, with the position of the second chip 53 on the second circuit board 51 as a reference, the adjusting device adjusts the position of the first circuit board 31 on which the first chip 33 is mounted, thereby adjusting the relative position of the first chip 33 relative to the second chip 53 to ensure that the first chip 33 and the second chip 53 meet a preset range. For example, the image acquisition device 200 monitors the relative position between the first chip 33 and the second chip 53 in real time. In method 037, when the relative position meets the preset range, the adjusting device stops adjusting and fixes the first circuit board 31 on which the first chip 33 is mounted to the side of the housing 10 where the first surface 101 is located, and covers the first cavity 11.

[0663] The image acquisition device 200 detects the relative positions of the first chip 33 and the second chip 53 in real time, ensuring that the first chip 33 and the second chip 53 meet the preset range. The receiving lens and the transmitting lens adopt the active alignment process and the built-in adjustment device to ensure efficiency, without the need to develop new equipment, thus reducing costs.

[0664] Please refer to Figures 80, 81 and 83. In some embodiments, the preset range includes an angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 that is less than or equal to 1°; and a preset baseline length between the first chip 33 and the second chip 53, wherein the offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length is less than or equal to 300 μm.

[0665] In the assembly method of the radar device 100, the angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 can be 0.1°, 0.2°, 0.3°, 0.4°, 0.5°, 0.6°, 0.7°, 0.8°, 0.9°, or 1°. If the angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 is greater than 1°, the alignment of the optical signal emitted by the transmitting module 30 and the optical signal reflected back by the object received by the receiving module 50 will be inaccurate. The optical signal reflected back by the object will be difficult to be accurately received by the second chip 53, and the loss of the optical signal during transmission will increase, resulting in a decrease in the intensity and quality of the optical signal. If the angle between the extension direction of the first chip 33 and the extension direction of the second chip 53 is less than or equal to 1°, then the optical signal emitted by the transmitting module 30 and the optical signal reflected back by the object received by the receiving module 50 are accurately aligned. The optical signal reflected back by the object can be accurately received by the second chip 53, and the loss of the optical signal during transmission is small, thereby ensuring the strength and quality of the optical signal reflected back by the object received by the receiving module 50.

[0666] In the assembly method of radar device 100, the actual baseline length between the first chip 33 and the second chip 53 is the length between the center of the first chip 33 and the center of the second chip 53. The offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length can be 10μm, 140μm, 150μm, 180μm, 200μm, 210μm, 240μm, 270μm, 290μm, or 300μm. If the offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length is greater than 300μm, the offset is too large and may lead to low detection accuracy of radar device 100. If the offset between the actual baseline length between the first chip 33 and the second chip 53 and the preset baseline length is less than or equal to 300μm, the offset is small and can ensure high detection accuracy of radar device 100.

[0667] Referring to Figures 80, 81, and 87, in some embodiments, an active alignment process is used to mount the first lens 35 and the second lens 55 into the first cavity 11 and the second cavity 12, respectively, and align the first lens 35 with the first chip 33 and the second lens 55 with the second chip 53, including:

[0668] 051: An active alignment process is used to install one of the first lens 35 and the second lens 55 into the first cavity 11 or the second cavity 12, and then fully solidifies it so that one of the first lens 35 and the second lens 55 is aligned with the first chip 33 or the second chip 53.

[0669] 053: An active alignment process is used to install the other of the first lens 35 and the second lens 55 into the second cavity 12 or the first cavity 11, followed by semi-curing; and

[0670] 055: Using the fully solidified one of the first lens 35 and the second lens 55 as a reference, the other of the first lens 35 and the second lens 55 is adjusted using an active alignment process until the other of the first lens 35 and the second lens 55 is aligned with the second chip 53 or the first chip 33 and then fully solidified.

[0671] The first lens 35 and the second lens 55 are installed in the first cavity 11 and the second cavity 12 respectively using an active alignment process, and the first lens 35 is aligned with the first chip 33, and the second lens 55 is aligned with the second chip 53. A total of three active alignment processes are performed, namely 051, 053 and 055.

[0672] In some embodiments, the first active alignment process aligns the first lens 35 and the first chip 33 with the first chip 33 as a reference; the second active alignment process aligns the second lens 55 and the second chip 53 for the first time with the second chip 53 as a reference; and the third active alignment process aligns the second lens 55 and the second chip 53 for the second time with the first lens 35 as a reference. Methods 0511, 0531, and 0551 described below are for this embodiment.

[0673] In other embodiments, the first active alignment process uses the second chip 53 as a reference to align the second lens 55 and the second chip 53; the second active alignment process uses the first chip 33 as a reference to align the first lens 35 and the first chip 33 for the first time; and the third active alignment process uses the second lens 55 as a reference to align the first lens 35 and the first chip 33 for the second time.

[0674] In the method of 051, the adjusting device (e.g., a holder) clamps and fixes the bottom of one of the first lens 35 and the second lens 55. When one of the first circuit board 31 with the first chip 33 and the second circuit board 51 with the second chip 53 is screwed onto the housing 10, the adjusting device places part of the first lens 35 into the first cavity 11 with the center of the first chip 33 or the second chip 53 as a reference, and adjusts the relative position of the first lens 35 and the first chip 33 so that the first lens 35 is aligned with the first chip 33. Alternatively, the adjusting device places part of the second lens 55 into the second cavity 12 and adjusts the relative position of the second lens 55 and the second chip 53 so that the second lens 55 is aligned with the second chip 53.

[0675] During this process, the detection system built into the active alignment process detects the relative position of the first lens 35 and the first chip 33 in real time, or detects the relative position of the second lens 55 and the second chip 53 in real time. The adjustment device continuously adjusts the relative position of the lens (one of the first lens 35 and the second lens 55) and the chip (one of the first chip 33 and the second chip 53) based on the detection results of the detection system, so that the optical axis of the first lens 35 and the second lens 55 deviates from the center of the first chip 33 and the second chip 53 by less than a predetermined range, thereby completing the alignment.

[0676] In the active alignment process after alignment, the dispensing device applies adhesive to the contact area between the first flange 351 and the second flange 551 and the second surface 102. After dispensing, the adhesive is cured using ultraviolet (UV) light. This allows for the alignment of one of the first lens 35 and the second lens 55 with the first chip 33 and the second chip 53, as well as the fixation of one of the first lens 35 and the second lens 55.

[0677] In method 053, the adjusting device clamps and fixes the bottom of the misaligned lens (one of the first lens 35 and the second lens 55) from method 051. Using the center of the misaligned chip (one of the first chip 33 and the second chip 53) as a reference, the adjusting device adjusts the relative position of the misaligned lens and chip from method 051 to align them. During this process, the detection system monitors the relative position of the misaligned lens and chip in real time. The adjusting device continuously adjusts the relative position of the misaligned lens and chip based on the detection results of the detection system, thereby ensuring that the deviation between the optical axis of the misaligned lens and the center of the misaligned chip is less than a predetermined range, thus completing the alignment. After alignment, in the active alignment process, the dispensing equipment applies adhesive to the flange portion (one of the first flange portion 351 and the second flange portion 551) of the misaligned lens at the point where it contacts the second surface 102. After dispensing, ultraviolet semi-curing is performed. This achieves the first alignment of the optical axis of the misaligned lens with the misaligned chip.

[0678] In method 055, using the lens aligned in method 051 (one of the first lens 35 and the second lens 55) as a reference, the relative positions of the lens and chip after the first alignment in method 053 are adjusted to realign them. During this process, the detection system monitors the relative positions of the lens and chip in real time, and the adjustment device continuously adjusts these positions based on the detection results, ensuring that the optical axis of the first aligned lens deviates from the center of the first aligned chip by less than a predetermined range, thus completing the alignment. In the post-alignment active alignment process, the dispensing equipment applies adhesive to the flange of the first aligned lens at the point of contact with the second surface 102, followed by UV curing. This allows for a second alignment of the lens and chip after the first alignment and secures the lens after both alignments.

[0679] Referring to Figures 80, 81, and 88, in some embodiments, an active alignment process is used to mount the first lens 35 and the second lens 55 into the first cavity 11 and the second cavity 12, respectively, and align the first lens 35 with the first chip 33 and the second lens 55 with the second chip 53, including:

[0680] 0511: The first lens 35 is installed in the first cavity 11 using an active alignment process and then fully cured so that one of the first lens 35 and the second lens 55 is aligned with the first chip 33.

[0681] 0531: The second lens 55 is installed in the second cavity 12 using an active alignment process, and then semi-cured; and

[0682] 0551: Using the first lens 35 as a reference, the second lens 55 is adjusted using an active alignment process until the second lens 55 is aligned with the second chip 53 and then fully solidified.

[0683] In method 0511, the adjusting device clamps and fixes the bottom of the first lens 35. With the first circuit board 31, on which the first chip 33 is located, and the housing 10 secured with screws, the adjusting device places the first lens 35 into the first cavity 11, using the center of the first chip 33 as a reference, and adjusts the relative positions of the first lens 35 and the first chip 33 to align them. During this process, the detection system integrated into the active alignment process detects the relative positions of the first lens 35 and the first chip 33 in real time. The adjusting device continuously adjusts the relative positions of the first lens 35 and the first chip 33 based on the detection results of the detection system, thereby ensuring that the deviation between the optical axis of the first lens 35 and the center of the first chip 33 is less than a predetermined range, thus completing the alignment. After alignment, the dispensing device in the active alignment process applies adhesive to the contact area between the first flange 351 and the second surface 102, and then performs ultraviolet curing. In this way, the alignment of the first lens 35 and the first chip 33, as well as the fixation of the first lens 35, can be achieved.

[0684] In method 0531, the adjusting device clamps and fixes the bottom of the second lens 55. With the second circuit board 51, on which the second chip 53 is located, and the housing 10 secured with screws, the adjusting device adjusts the relative position of the second lens 55 and the second chip 53, using the center of the second chip 53 as a reference, to align the second lens 55 with the second chip 53. During this process, the detection system monitors the relative position of the second lens 55 and the second chip 53 in real time. The adjusting device continuously adjusts the relative position of the second lens 55 and the second chip 53 based on the detection results of the detection system, so that the deviation between the optical axis of the second lens 55 and the center of the second chip 53 is less than a predetermined range, thereby completing the alignment. After alignment, the dispensing device used in the active alignment process applies adhesive to the contact area between the second flange 551 and the second surface 102, and then performs UV semi-curing. This achieves the first alignment of the second lens 55 and the second chip 53. Since the semi-cured adhesive is not completely cured, the adjusting device can continue to adjust the position of the second lens 55, further achieving alignment of the second lens 55 and the second chip 53 through method 0551.

[0685] In method 0551, using the first lens 35 as a reference, the adjustment device adjusts the relative positions of the second lens 55 and the second chip 53 to align the second lens 55 with the second chip 53. During this process, the detection system monitors the relative positions of the second lens 55 and the second chip 53 in real time. The adjustment device continuously adjusts the relative positions of the second lens 55 and the second chip 53 based on the detection results of the detection system, thereby ensuring that the deviation between the optical axis of the second lens 55 and the center of the second chip 53 is less than a predetermined range, thus completing the alignment. After alignment, the adhesive dispensing equipment used in the active alignment process applies adhesive to the contact area between the second flange 551 and the second surface 102, and then cures it with ultraviolet light. This achieves a second alignment of the second lens 55 and the second chip 53, as well as the fixation of the second lens 55.

[0686] Please refer to Figures 80, 81, and 89. In some embodiments, an active alignment process is used to mount the first lens 35 into the first cavity 11 and perform full curing to align one of the first lens 35 and the second lens 55 with the first chip 33, including:

[0687] 05111: Place the first lens 35 into the first cavity 11;

[0688] 05113: The position of the first lens 35 in the first cavity 11 is adjusted using an active alignment process, and the far-field pointing, collimation angle, and divergence angle of the light signal emitted through the first lens 35 are detected using a detection system; and

[0689] 05115: When the far-field pointing, collimation angle and divergence angle meet the preset first range, preset second range and preset third range respectively, stop adjusting the position of the first lens 35 in the first cavity 11, and apply glue to fully cure the connection between the first lens 35 and the housing 10.

[0690] For example, in this application, the far-field pointing, collimation angle, and divergence angle of the light signal emitted from the first lens 35 are aligned to satisfy a preset first range, a preset second range, and a preset third range, respectively. In other embodiments of this application, the alignment can be subject to other conditions.

[0691] In methods 0511 and 05113, the detection system is equipped with three sets of detection devices at three angles: 0°, +12°, and -12°. Each set of detection devices is a combination of a lens and a detector. In other embodiments of this application, the arrangement angle of the detection system and the number of detection devices can be different. The detection system determines the far-field pointing, collimation angle, and divergence angle of the light signal by detecting the width and position of the light spot displayed on the detector. During this process, the adjustment device adjusts the position of the first lens 35 in the first cavity 11 based on the far-field pointing, collimation angle, and divergence angle of the light signal. In method 0515, when the far-field pointing, collimation angle, and divergence angle meet the preset first range, preset second range, and preset third range, respectively, the adjustment device stops adjusting the position of the first lens 35 in the first cavity 11, and the dispensing device fully cures the connection between the first lens 35 and the housing 10. Thus, this method can achieve alignment between the first lens 35 and the first chip 33, ensuring that the light signal emitted by the first lens 35 meets the accuracy requirements.

[0692] Please refer to Figures 80, 81 and 83. In some embodiments, the preset first range is less than or equal to 0.5°, the preset second range is less than or equal to 0.6°, and the preset third range is less than, greater than or equal to 24° and less than or equal to 26° (i.e., 25° ± 1°).

[0693] For example, the preset first range is the far-field pointing range of the light signal modulated by the first lens 35. The preset first range can be 0.05°, 0.1°, 0.15°, 0.18°, 0.2°, 0.25°, 0.3°, 0.34°, 0.4°, or 0.5°. If the preset first range is greater than 0.5°, the light signal will diverge too much in the far field, and the intensity of the light signal will decrease during propagation, affecting the detection range and signal quality of the radar device 100. The preset first range can reduce the dispersion of light signal energy, ensure the signal strength of the light signal, and thus improve the detection range and signal quality.

[0694] The preset second range is the collimated angle range of the light signal modulated by the first lens 35°. The preset second range can be 0.05°, 0.1°, 0.15°, 0.18°, 0.2°, 0.25°, 0.3°, 0.34°, 0.5°, or 0.6°. If the preset second range is greater than 0.6°, the light signal diverges significantly during propagation, has poor focusing, and is easily affected by environmental factors (such as airflow and temperature changes), causing the propagation direction to drift and affecting the detection accuracy of the radar device 100. If the preset second range is less than or equal to 0.6°, the light signal diverges less during propagation, has good focusing, and is less prone to drift, thus ensuring the detection accuracy of the radar device 100.

[0695] The preset third range is the range of the divergence angle of the light signal modulated by the first lens (35°). The preset third range can be 24°, 24.2°, 24.45°, 24.88°, 25°, 25.25°, 25.3°, 25.34°, 25.5°, or 26°. If the divergence angle of the light signal modulated by the first lens (35°) is less than 24°, the energy of the light signal is too concentrated, which limits the propagation range of the light signal and easily generates excessive radiation in some areas of the light signal radiation, potentially damaging objects within that area. If the preset third range is greater than 26°, the energy of the light signal is too diffuse, and the light signal is easily interfered with by other stray signals in the environment. A preset third range of 25°±1° ensures that the energy of the light signal is moderate, guaranteeing the propagation range of the light signal while preventing excessive radiation in some areas of the light signal radiation, thus avoiding damage to objects within that area and minimizing interference from other stray signals in the environment.

[0696] Please refer to Figures 80, 81, and 90. In some embodiments, an active alignment process is used to mount the second lens 55 into the second cavity 12, followed by semi-curing, including:

[0697] 05311: Place the second lens 55 into the second cavity 12;

[0698] 05313: The position of the second lens 55 in the second cavity 12 is adjusted by an active alignment process, and the offset between the optical axis of the second lens 55 and the center of the second chip 53 and the modulation transfer function value of the second lens 55 are detected.

[0699] 05315: When the offset and the modulation transfer function value of the second lens 55 meet the preset fourth range and the preset fifth range respectively, stop adjusting the position of the second lens 55 in the second cavity 12, and apply adhesive to semi-cure the connection between the second lens 55 and the housing 10.

[0700] For example, in method 05311, the adjustment device clamps and fixes the second lens 55, housing it within the second cavity 12. This achieves basic alignment between the second lens 55 and the second cavity 12. The adjustment device clamping and fixing the second lens 55 allows for automatic six-dimensional adjustment of the second lens 55. In method 05313, the active alignment process equipment utilizes a specific pattern or feature on a calibration target. A distance reduction device adjusts the focus and direction of the laser signal, enabling the second lens 55 to receive and modulate the specific pattern or feature onto the second chip 53, forming an actual image point. The detection system determines the relative eccentricity of the lens based on the deviation between the actual and theoretical image points. Specifically, the detection system determines the offset between the optical axis of the second lens 55 and the center of the second chip 53. The modulation transfer function (MJF) value of the second lens 55 is detected through five detection points on the second chip 53, where the MJF values ​​at the five detection points do not differ by more than 10%. The five detection points include the center of the second chip 53 and four points on its edges.

[0701] During the testing process, the adjustment device performs six-dimensional adjustment on the second lens 55 based on the offset between the optical axis of the second lens 55 and the center of the second chip 53, and the modulation transfer function value of the second lens 55, until the offset and the modulation transfer function value of the second lens 55 respectively meet the preset fourth and fifth ranges. In the method of 05315, when the offset and the modulation transfer function value of the second lens 55 respectively meet the preset fourth and fifth ranges, the adjustment device stops adjusting the position of the second lens 55 in the second cavity 12, and the dispensing device dispenses adhesive to semi-cur the connection between the second lens 55 and the housing 10, thereby achieving the first alignment of the second lens 55 and the second chip 53.

[0702] Please refer to Figures 80, 81 and 83. In some embodiments, the preset fourth range is less than or equal to 300 μm, and the preset fifth range is greater than or equal to 0.55.

[0703] For example, the preset fourth range is the offset between the optical axis of the second lens 55 and the center of the second chip 53, characterizing the alignment accuracy between the optical axis of the second lens 55 and the center of the second chip 53. The preset fourth range can be 0μm, 140μm, 150μm, 180μm, 200μm, 210μm, 240μm, 270μm, 290μm, or 300μm. If the preset fourth range is greater than 300μm, the distance between the optical axis of the second lens 55 and the center of the second chip 53 is too large, resulting in low alignment accuracy. The light signal reflected back from the object is difficult to be accurately received by the second chip 53, causing light signal loss and distortion, thus affecting the detection accuracy of the radar device 100. If the preset fourth range is less than or equal to 300μm, the distance between the optical axis of the second lens 55 and the center of the second chip 53 is small, resulting in high alignment accuracy. The light signal reflected back from the object can be accurately received by the second chip 53, with less light signal loss and distortion, thereby ensuring the detection accuracy of the radar device 100.

[0704] The preset fifth range is the modulation transfer function value of the second lens group 555, characterizing the ability of the receiving module 50, where the second lens group 555 is located, to transmit contrast for different spatial frequencies. The preset fifth range is between 0 and 1, and can measure the ratio of the contrast of the output image to the contrast of the input image. The preset fifth range can be 0.55, 0.61, 0.68, 0.73, 0.75, 0.81, 0.85, 0.93, 0.95, or 1. If the preset fifth range is less than 0.55, the second lens group 555 has a weak ability to transmit image details, the ratio of the contrast of the output image to the contrast of the input image is too small, the contrast between light and dark areas of the image is not obvious, easily leading to blurred details such as image edges and textures, insufficient image resolution, and a decrease in image quality. If the preset fifth range is greater than or equal to 0.55, then the second lens group 555 has a high ability to transmit image details, a high ratio of the contrast of the output image to the contrast of the input image, obvious contrast between light and dark in the image, clear details such as image edges and textures, high image resolution, and high image quality.

[0705] Please refer to Figures 80, 81, and 91. In some embodiments, with the first lens 35 as a reference, an active alignment process is used to adjust the second lens 55 until the second lens 55 is aligned with the second chip 53, after which full solidification is performed, including:

[0706] 05511: The second lens 55 is translated and adjusted in a two-dimensional plane perpendicular to its optical axis until the light signal emitted by the first chip 33 and reflected back by the object converges to the predetermined area of ​​the second chip 53, and then the connection between the second lens 55 and the housing 10 is fully cured by dispensing adhesive.

[0707] For example, in the method of 05511, the adjustment device only performs two-dimensional translation adjustment on the second lens 55 in the X and Y directions to ensure that the light signal emitted by the first chip 33 and reflected back by the object converges to a predetermined area of ​​the second chip 53. In this application, the predetermined area is the 597*48 area of ​​the second chip 53. In this way, the second lens 55 and the second chip 53 can be further aligned based on the method of 0531, improving alignment efficiency and alignment accuracy.

[0708] Although embodiments of the present disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to the embodiments of the present disclosure without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A lidar (4000), comprising: The housing assembly (100) includes a bottom wall (111); A main circuit board (400) extends along a first direction (X) and is disposed on the bottom wall (111); An optomechanical assembly (200) is mounted on the bottom wall (111), and the optomechanical assembly (200) is electrically connected to the main circuit board (400); as well as A scanning mirror assembly (300) is mounted on the bottom wall (111). The scanning mirror assembly (300) is electrically connected to the main circuit board (400). The optomechanical assembly (200) and the scanning mirror assembly (300) are located on the same side of the main circuit board (400) and arranged along the first direction (X).

2. The lidar (4000) according to claim 1, wherein, The total circuit board (400) includes: Circuit board body (410); and A first connection terminal (420) protrudes from the circuit board body (410) and is electrically connected to the scanning mirror assembly (300).

3. The lidar (4000) according to claim 2, wherein, The main circuit board (400) also includes a first flexible connector (430), which is connected between the first connection terminal (420) and the scanning mirror assembly (300).

4. The lidar (4000) according to claim 3, wherein, The main circuit board (400) further includes a limiting part (440), the first end of which is connected to the circuit board body (410), and the second end of which is engaged with and limited to the first flexible connector (430).

5. The lidar (4000) according to any one of claims 2 to 4, wherein, The main circuit board (400) also includes a second connection terminal (450) protruding from the circuit board body (410), and the second connection terminal (450) is electrically connected to the optomechanical assembly (200).

6. The lidar (4000) according to claim 5, wherein, The main circuit board (400) also includes a second flexible connector (460), which is connected between the second connection terminal (450) and the optomechanical assembly (200).

7. The lidar (4000) according to any one of claims 1 to 6, wherein, The scanning mirror assembly (300) includes: A first base (310) is mounted on the bottom wall (111); and A scanning mirror (320) is disposed on at least a portion of the first base (310) and rotatably connected to the first base (310), and the scanning mirror (320) is electrically connected to the main circuit board (400).

8. The lidar (4000) according to claim 7, wherein, The first base (310) includes: A fixed axis (311) is configured to mount the scanning mirror (320); and A base (312) is provided to support the fixed shaft (311), and the base (312) is connected to the bottom wall (111).

9. The lidar (4000) according to claim 8, wherein, The base (312) is provided with a through-hole (A1), one end of which is located on a surface of the base (312) opposite to the fixed shaft (311).

10. The lidar (4000) according to claim 9, wherein, The fixed shaft (311) includes: First axle segment (3111); and The second shaft segment (3112) is connected between the first shaft segment (3111) and the base (312). The cross-sectional area of ​​the second shaft segment (3112) is larger than that of the first shaft segment (3111). The second shaft segment (3112) includes a guide hole (A2) that is disposed through the interior and communicates with the operating hole (A1).

11. The lidar (4000) according to claim 10, wherein, Both the operating hole (A1) and the guide hole (A2) are arranged along the axial direction of the fixed shaft (311).

12. The lidar (4000) according to any one of claims 8 to 11, wherein, The fixed shaft (311) and the base (312) are an integral structure.

13. The lidar (4000) according to any one of claims 8 to 12, wherein, The scanning mirror assembly (300) further includes a scanning mirror circuit board (330), which is mounted on the first base (310), and the scanning mirror (320) is electrically connected to the main circuit board (400) through the scanning mirror circuit board (330).

14. The lidar (4000) according to claim 13, wherein, The scanning mirror circuit board (330) is mounted on the base (312) near the fixed shaft (311). A third connection terminal (331) is provided on the side of the scanning mirror circuit board (330) near the base (312). Along the extending direction of the operating hole (A1), the orthographic projection of the third connection terminal (331) is located within the operating hole (A1). The scanning mirror assembly (300) also includes a connecting wire (340) which is connected between the scanning mirror (320) and the third connecting terminal (331) via the operating hole (A1).

15. The lidar (4000) according to any one of claims 8 to 14, wherein, The scanning mirror assembly (300) also includes a scanning mirror circuit board (330). The fixed shaft (311) is provided with a positioning part (G1), which is exposed on the scanning mirror (320). The scanning mirror circuit board (330) is connected to the positioning part (G1).

16. The lidar (4000) according to claim 15, wherein, The scanning mirror assembly (300) further includes a sensor (350) located on the side of the scanning mirror (320) facing the scanning mirror circuit board (330) and mounted on the scanning mirror (320). The sensor (350) is electrically connected to the scanning mirror circuit board (330).

17. The lidar (4000) according to claim 16, wherein, The sensor (350) includes a code disk configured to transmit position information of the scanning mirror (320) to the scanning mirror circuit board (330).

18. The lidar (4000) according to any one of claims 7 to 15, wherein, The scanning mirror assembly (300) further includes an encoder (360), which includes a code disk (361) and a chip (362). The code disk (361) is connected to the scanning mirror (320) to rotate with the scanning mirror (320), and the chip (362) is arranged opposite to the code disk (361).

19. The lidar (4000) according to claim 18, wherein, The encoder (360) is an optical encoder.

20. The lidar (4000) according to any one of claims 15 to 19, wherein, The fixed shaft (311) includes a first fixed shaft segment (311a), which is located outside the scanning mirror (320). At least a portion of the first fixed shaft segment (311a) forms a positioning portion (G1) of the fixed shaft (311) of the first base (310).

21. The lidar (4000) according to claim 20, wherein, The first fixed shaft segment (311a) includes: The first part (D1) forms the positioning part (G1); and The second part (D2) is located between the first part (D1) and the scanning mirror (320). The first part (D1) and the second part (D2) are connected. The cross-sectional area of ​​the second part (D2) is greater than that of the first part (D1).

22. The lidar (4000) according to claim 20 or 21, wherein, The fixed shaft (311) further includes a second fixed shaft segment (311b), which is inserted into the scanning mirror (320), and the first fixed shaft segment (311a) is connected to the second fixed shaft segment (311b).

23. The lidar (4000) according to any one of claims 8 to 22, wherein, The scanning mirror (320) includes: Lens structure (321), sleeved on the fixed shaft (311); and A drive member (322) is located between the lens structure (321) and the fixed axis (311), and the drive member (322) is configured to drive the lens structure (321) to rotate relative to the fixed axis (311).

24. The lidar (4000) according to claim 23, wherein, The lens structure (321) is an integral structure.

25. The lidar (4000) according to claim 23 or 24, wherein, The lens structure (321) includes four sub-lenses, adjacent sub-lenses of the four sub-lenses are connected to each other, each sub-lens of the four sub-lenses is erected on the bottom wall (111), and the orthographic projection of the lens structure (321) along the second direction (Y) is square.

26. The lidar (4000) according to any one of claims 23 to 25, wherein, The drive unit (322) includes: Stator (3221), fixedly sleeved on the fixed shaft (311); and The rotor (3222) is rotatably sleeved on the stator (3221), the rotor (3222) is movably connected to the stator (3221), and the rotor (3222) is fixedly connected to the lens structure (321).

27. The lidar (4000) according to any one of claims 23 to 26, wherein, The scanning mirror (320) further includes a bearing structure (323), which is located between the fixed shaft (311) and the lens structure (321). The bearing structure (323) includes an inner ring and an outer ring. The outer ring is rotatable relative to the inner ring. The inner ring is fixedly connected to the fixed shaft (311), and the outer ring is fixedly connected to the lens structure (321).

28. The lidar (4000) according to claim 27, wherein, The bearing structure (323) includes two sub-bearings (3231), which are distributed on both sides of the drive member (322) along the axial direction of the fixed shaft (311).

29. The lidar (4000) according to claim 28, wherein, Along the axial direction of the fixed shaft (311), the minimum vertical distance between the two sub-bearings (3231) is J1, the minimum vertical distance between the scanning mirror assembly (300) is J2, and the ratio of J1 to J2 is between 4:9 and 6:

9.

30. The lidar (4000) according to any one of claims 27 to 29, wherein, The scanning mirror (320) further includes a stop assembly (324), which is sleeved on the fixed shaft (311) and abuts against the bearing structure (323) along the axial direction of the fixed shaft (311).

31. The lidar (4000) according to claim 30, wherein, The stop assembly (324) includes: The elastic element (3241) abuts against the bearing structure (323); and Fastener (3242) is screwed onto the outer wall of the fixed shaft (311), and the fastener (3242) abuts against the side of the elastic member (3241) away from the bearing structure (323).

32. The lidar (4000) according to any one of claims 23 to 31, wherein, The lens structure (321) includes: The first region (3211) is connected to the drive element (322); and A second region (3212) is provided surrounding the first region (3211), the second region (3212) is connected to the first region (3211), and the first region (3211) and the second region (3212) are at least partially spaced apart.

33. The lidar (4000) according to any one of claims 27 to 32, wherein, The scanning mirror (320) also includes a bracket (325), which is located between the drive member (322) and the lens structure (321). The bracket (325) is fixedly connected to the lens structure (321), and the drive member (322) is fixedly connected to the bracket (325) and can drive the bracket (325) to rotate.

34. The lidar (4000) according to claim 33, wherein, At least one of the inner wall of the bracket (325) and the outer wall of the fixed shaft (311) is provided with a first limiting structure, the driving member (322) is engaged in the first limiting structure, and the first limiting structure is configured to prevent the driving member (322) from moving relative to the fixed shaft (311) along the axial direction of the fixed shaft (311).

35. The lidar (4000) according to claim 33 or 34, wherein, At least one of the inner wall of the bracket (325) and the outer wall of the fixed shaft (311) is provided with a second limiting structure, and the bearing structure (323) of the scanning mirror (320) is engaged in the second limiting structure. The second limiting structure is configured to prevent the bearing structure (323) from moving relative to the fixed shaft (311) along the axial direction of the fixed shaft (311).

36. The lidar (4000) according to any one of claims 1 to 35, wherein, The optomechanical assembly (200) includes: The transmitting module (210) is configured to emit a first laser beam at the object being measured; and The receiving module (220) is configured to receive a second laser beam reflected by the first laser beam from the object under test.

37. The lidar (4000) according to claim 36, wherein, The transmitting module (210) has a transmitting optical axis, and the receiving module (220) has a receiving optical axis. The transmitting optical axis and the receiving optical axis are parallel to each other. The transmitting module (210) and the receiving module (220) are arranged along a second direction (Y), and the first direction (X) intersects with the second direction (Y).

38. The lidar (4000) according to claim 37, wherein, The housing assembly (100) further includes an optical window (160), the scanning mirror assembly (300) and the optomechanical assembly (200) are located between the optical window (160) and the main circuit board (400), and the first laser beam and the second laser beam can pass through the optical window (160).

39. The lidar (4000) according to claim 38, wherein, The scanning mirror assembly (300) includes an outer wall configured to reflect the first laser beam toward the object under test and to reflect the second laser beam toward the receiving module (220).

40. The lidar (4000) according to claim 39, wherein, The outer wall includes at least one sub-wall surface, and the sub-wall surface with the shortest vertical distance to the optomechanical module is the reflective wall surface. The first angle between the reflective wall and the emitting optical axis ranges from 75 degrees to 85 degrees, and the first angle is the angle between the reflective wall and the emitting optical axis away from the optical window (160).

41. The lidar (4000) according to claim 40, wherein, The reflective wall is perpendicular to the first direction (X), and the second angle between the emitted optical axis and the first direction (X) is in the range of 15 to 25 degrees. The second angle is the acute angle between the emitted optical axis and the first direction (X).

42. The lidar (4000) according to any one of claims 38 to 41, wherein, The optical window (160) is sealed to the housing assembly (100).

43. The lidar (4000) according to claim 42, wherein, The housing assembly (100) includes a first seal sandwiched between the optical window (160) and the housing assembly (100).

44. The lidar (4000) according to any one of claims 38 to 43, wherein, The optical window (160) includes: The window body is embedded in the housing assembly (100); and An antireflective film is attached to at least one side of the window body.

45. The lidar (4000) according to claim 44, wherein, The optical window (160) further includes a temperature control film, which is connected to at least one side of the window body.

46. ​​The lidar (4000) according to claim 44 or 45, wherein, The optical window (160) also includes a protective film, which is connected to the window body.

47. The lidar (4000) according to any one of claims 36 to 46, wherein, The optomechanical assembly (200) further includes a second base (230), the transmitting module (210) and the receiving module (220) are disposed on the second base (230), and the second base (230) is connected to the bottom wall (111).

48. The lidar (4000) according to claim 47, wherein, The second base (230) includes: The base body (231), the transmitting module (210) and the receiving module (220) are mounted on the base body (231); and The connecting part (232) is connected between the seat body (231) and the bottom wall (111).

49. The lidar (4000) according to claim 47 or 48, wherein, The second base (230) is an integral structure.

50. The lidar (4000) according to any one of claims 37 to 49, wherein, The transmitting module (210) has a transmitting field of view (H1) on the object under test, the first laser beam is emitted in the transmitting field of view (H1), and the receiving module (220) has a receiving field of view (H2) on the object under test, the receiving field of view (H2) is configured to receive the second laser beam, and the transmitting field of view (H1) covers the receiving field of view (H2).

51. The lidar (4000) according to claim 50, wherein, The transmitting module (210) and the receiving module (220) are arranged along a second direction (Y). The transmitting module (210) has a transmitting optical axis, and the receiving module (220) has a receiving optical axis. The emitting module (210) includes a light-emitting part (211) configured to emit the first laser beam. The light-emitting part (211) has a center point located on the straight line of the emitting optical axis.

52. The lidar (4000) according to claim 51, wherein, Along the second direction (Y), the maximum size distance of the light-emitting part (211) is between 10 mm and 18 mm.

53. The lidar (4000) according to claim 51 or 52, wherein, The light-emitting part (211) includes multiple light-emitting points.

54. The lidar (4000) according to any one of claims 51 to 53, wherein, The light-emitting part (211) includes a plurality of sub-light sources (2111), each of the plurality of sub-light sources (2111) extending along the second direction (Y).

55. The lidar (4000) according to claim 54, wherein, A straight line extending from the center point along the second direction (Y) is a preset straight line, and the projections of each sub-light source (2111) onto the preset straight line are continuous with each other.

56. The lidar (4000) according to claim 55, wherein, Each pair of adjacent sub-light sources (2111) among the plurality of sub-light sources (2111) is located on opposite sides of the preset straight line.

57. The lidar (4000) according to any one of claims 51 to 56, wherein, The emitting module (210) also includes a regulator, which is connected to the light-emitting part (211).

58. The lidar (4000) according to any one of claims 51 to 57, wherein, The transmitting module (210) includes a beam expanding system (212), and the first laser beam emitted by the light-emitting part (211) is expanded by the beam expanding system (212) and then emitted onto the object under test.

59. The lidar (4000) according to claim 58, wherein, The beam expansion angle of the beam expansion system (212) ranges from 20 degrees to 25 degrees.

60. The lidar (4000) according to claim 58 or 59, wherein, The transmitting module (210) further includes a collimation system (213), which is located between the beam expanding system (212) and the light emitting part (211). The collimation system (213) is configured to collimate the first laser beam.

61. The lidar (4000) according to claim 60, wherein, The optomechanical assembly (200) includes a second base (230) mounted on the bottom wall (111), and the emission module (210) is inserted into the second base (230). The emission module (210) also includes a first connector connected between the second base (230) and at least one of the beam expansion system (212) or the collimation system (213).

62. The lidar (4000) according to claim 61, wherein, The transmitting module (210) further includes a connection medium, which satisfies one of the following: The connecting medium is connected between the first connector and the beam expander (212); The connecting medium is connected between the first connector and the collimation system (213); The connecting medium is connected between the first connector and the beam expander (212) and the collimation system (213).

63. The lidar (4000) according to any one of claims 50 to 60, wherein, The receiving module (220) includes a receiving lens (221) with a focal length ranging from 10mm to 30mm.

64. The lidar according to claim 63, wherein, The optical engine assembly (200) includes a second base (230) mounted on the bottom wall (111), and the receiving module (220) is inserted into the second base (230). The receiving module (220) also includes a second connector connected between the second base (230) and the receiving lens (221).

65. The lidar (4000) according to claim 64, wherein, The receiving module (220) further includes a connection medium connected between the second connector and the receiving lens (221).

66. The lidar (4000) according to any one of claims 63 to 65, wherein, The receiving module (220) further includes a detector (222) located on one side of the receiving lens (221), and the detector (222) is configured to receive a second laser beam focused by the receiving lens (221).

67. The lidar (4000) according to claim 66, wherein, The detector (222) includes a single-photon avalanche diode (SPAD) chip, and the SPAD chip includes multiple pixels.

68. The lidar (4000) according to claim 66 or 67, wherein, The receiving module (220) also includes a filter configured to filter stray light entering the receiving lens (221).

69. The lidar (4000) according to claim 68, wherein, The filter is located on the side of the receiving lens (221) away from the detector (222).

70. The lidar (4000) according to any one of claims 1 to 69, wherein, The housing assembly (100) includes: The first housing (110) includes the bottom wall (111); and The second housing (120) covers and is connected to the first housing (110). The first housing (110) and the second housing (120) enclose a cavity. The scanning mirror assembly (300), the optomechanical assembly (200), and the main circuit board (400) are all located in the cavity.

71. The lidar (4000) according to claim 70, wherein, The housing assembly (100) is provided with a heat exchange structure (130).

72. The lidar (4000) according to claim 71, wherein, The heat exchange structure (130) includes a first heat exchange structure (131), which is located between the main circuit board (400) and the bottom wall (111).

73. The lidar (4000) according to claim 72, wherein, The first heat exchange structure (131) includes a plurality of first sub-heat exchange elements, wherein every two first sub-heat exchange elements are arranged at intervals.

74. The lidar according to claim 73, wherein, The materials of the plurality of first sub-heat exchangers include thermally conductive gel materials.

75. The lidar (4000) according to any one of claims 71 to 74, wherein, The heat exchange structure (130) includes a second heat exchange structure (132) which protrudes from the bottom wall (111) and is in contact with at least a portion of the optomechanical assembly (200).

76. The lidar (4000) according to claim 75, wherein, The second heat exchange structure (132) includes a heat exchange plate.

77. The lidar (4000) according to any one of claims 71 to 76, wherein, The heat exchange structure (130) includes a third heat exchange structure (133), which is disposed in the second housing (120).

78. The lidar (4000) according to claim 77, wherein, The third heat exchange structure (133) includes a heat exchange body (1331), which is embedded in the second housing (120) and protrudes toward the first housing (110).

79. The lidar (4000) according to claim 78, wherein, The heat exchange body (1331) is in contact with the main circuit board (400).

80. The lidar (4000) according to claim 79, wherein, The main circuit board (400) has a heat source on the side opposite to the first housing (110), and the heat exchange body (1331) is in contact with the heat source.

81. The lidar (4000) according to any one of claims 78 to 80, wherein, The third heat exchange structure (133) further includes a heat exchange boss (1332), which is installed on the side of the heat exchange body (1331) facing the first housing (110).

82. The lidar (4000) according to any one of claims 77 to 81, wherein, The main circuit board (400) is connected to a plurality of second sub-heat exchangers on the side facing the third heat exchange structure (133), and the plurality of second sub-heat exchangers are in contact with the third heat exchange structure (133).

83. The lidar (4000) according to any one of claims 71 to 82, wherein, The heat exchange structure (130) further includes a fourth heat exchange structure (134), which is disposed in at least one of the first housing (110) or the second housing (120).

84. The lidar (4000) according to claim 83, wherein, The fourth heat exchange structure (134) includes a heat exchange groove (F1) that satisfies at least one of the following: the heat exchange groove (F1) is formed by an inward recess from the surface of the first housing (110), and the heat exchange groove (F1) is formed by an inward recess from the surface of the second housing (120).

85. The lidar (4000) according to claim 84, wherein, The heat exchange tank (F1) includes multiple sub-tanks (F11), and every two sub-tanks (F11) are spaced apart.

86. The lidar (4000) according to any one of claims 70 to 85, wherein, The first housing (110) is sealed to the second housing (120).

87. The lidar (4000) according to claim 86, wherein, The housing assembly (100) further includes a second seal, which is sandwiched between the first housing (110) and the second housing (120).

88. The lidar (4000) according to any one of claims 1 to 87, wherein, The housing assembly (100) includes a first positioning structure (140) connected between the scanning mirror assembly (300) and the bottom wall (111).

89. The lidar (4000) according to any one of claims 1 to 88, wherein, The housing assembly (100) includes a second positioning structure (150) connected between the optomechanical assembly (200) and the bottom wall (111).

90. The lidar (4000) according to any one of claims 1 to 89 further includes a laser illumination circuit (600) connected to the optomechanical assembly (200), the laser illumination circuit (600) being configured to control the optomechanical assembly (200) to emit a first laser beam.

91. The lidar (4000) according to claim 90, further comprising: The detection circuit (500) is connected to the laser illumination circuit (600); as well as A controller is connected to the detection circuit (500) and is configured to receive the detection signal output by the detection circuit (500) and determine whether the laser lighting circuit (600) has successfully emitted the first laser beam.

92. The lidar (4000) according to claim 91, wherein, The detection circuit (500) includes: an input sub-circuit (520) and a voltage divider sub-circuit (530); The input sub-circuit (520) is connected to the laser lighting circuit (600), and the input sub-circuit (520) is configured such that when the laser lighting circuit (600) emits laser light, the voltage at the output terminal (521) of the input sub-circuit (520) becomes a preset voltage. The voltage divider circuit (530) is connected to the input sub-circuit (520), the power supply voltage terminal (VCC), and the ground terminal (GND). The voltage divider circuit (530) is configured to output a detection signal (Z1) in response to the preset voltage. The voltage of the detection signal (Z1) is a detectable voltage.

93. The lidar (4000) according to claim 92, wherein, The input sub-circuit (520) includes a first capacitor (C1), the first end (C1-1) of the first capacitor (C1) is connected to the laser lighting circuit (600), and the second end (C1-2) of the first capacitor (C1) is connected to the voltage divider sub-circuit (530).

94. The lidar (4000) according to claim 93, wherein, The voltage divider circuit (530) includes a first voltage divider unit (5541), a second voltage divider unit (5542), and a third voltage divider unit (533); The first voltage divider unit (5541) is connected to the second terminal (C1-2) of the first capacitor (C1), the second voltage divider unit (5542) is connected to the ground terminal (GND), and the third voltage divider unit (533) is connected to the power supply voltage terminal (VCC). The first voltage divider unit (5541), the second voltage divider unit (5542), and the third voltage divider unit (533) are all connected to the output terminal (OUT) of the voltage divider sub-circuit (530).

95. The lidar (4000) according to claim 94, wherein, The first voltage divider unit (5541) includes a first resistor (R1), the first end (R1-1) of the first resistor (R1) is connected to the second end (C1-2) of the first capacitor (C1), and the second end (R1-2) of the first resistor (R1) is connected to the output terminal (OUT) of the voltage divider circuit (530).

96. The lidar (4000) according to claim 95, wherein, The first voltage divider unit (5541) further includes a second capacitor (C2), the first end (C2-1) of the second capacitor (C2) is connected to the second end (R1-2) of the first resistor (R1), and the second end (C2-2) of the second capacitor (C2) is connected to the ground terminal (GND).

97. The lidar (4000) according to any one of claims 94 to 96, wherein, The second voltage divider unit (5542) includes a second resistor (R2), the first end (R2-1) of the second resistor (R2) is connected to the output terminal (OUT) of the voltage divider sub-circuit (530), and the second end (R2-2) of the second resistor (R2) is connected to the ground terminal (GND).

98. The lidar (4000) according to any one of claims 94 to 97, wherein, The third voltage divider unit (533) includes a third resistor (R3), the first end (R3-1) of the third resistor (R3) is connected to the power supply voltage terminal (VCC), and the second end (R3-2) of the third resistor (R3) is connected to the output terminal (OUT) of the voltage divider sub-circuit (530).

99. The lidar according to any one of claims 92 to 98, wherein, The detection circuit (500) further includes: A protection sub-circuit (540) is connected to the voltage divider sub-circuit (530) and is configured to maintain the voltage of the detection signal (Z1) within a preset range.

100. The lidar (4000) according to claim 99, wherein, The protection sub-circuit (540) includes a first protection unit (541) connected between the power supply voltage terminal (VCC) and the output terminal (OUT) of the voltage divider sub-circuit (530); the first protection unit (541) is configured to keep the voltage of the detection signal (Z1) output by the detection circuit (500) less than or equal to a first threshold.

101. The lidar (4000) according to claim 100, wherein, The first protection unit (541) includes a first diode (D1), the positive terminal (D1-1) of the first diode (D1) is connected to the output terminal (OUT) of the voltage divider circuit (530), and the negative terminal (D1-2) of the first diode (D1) is connected to the power supply voltage terminal (VCC).

102. The lidar (4000) according to any one of claims 99 to 101, wherein, The protection sub-circuit (540) includes a second protection unit (542) connected between the output terminal (OUT) of the voltage divider sub-circuit (530) and the ground terminal (GND); the second protection unit (542) is configured to keep the voltage of the detection signal (Z1) output by the detection circuit (500) greater than or equal to a second threshold.

103. The lidar (4000) according to claim 102, wherein, The second protection unit (542) includes a second diode (D2), the positive terminal (D2-1) of the second diode (D2) is connected to the ground terminal (GND), and the negative terminal (D2-2) of the second diode (D2) is connected to the output terminal (OUT) of the voltage divider circuit (530).

104. A lidar motor (5000), comprising: Stator assembly (4); A rotor assembly (3) rotatably connected to the stator assembly (4), wherein an installation space (1) is formed between the rotor assembly (3) and the stator assembly (4); and Encoder (2), which is located within the mounting space (1).

105. The lidar motor (5000) according to claim 104, wherein, The encoder (2) includes a code disk (21) and a detection element (22); the code disk (21) is fixed on the rotor assembly (3), the detection element (22) is fixed on the stator assembly (4), the code disk (21) and the detection element (22) are arranged opposite to each other, the rotor assembly (3) can rotate relative to the stator assembly (4) to drive the code disk (21) to rotate relative to the detection element (22).

106. The lidar motor (5000) according to claim 105, wherein, The rotor assembly (3) includes a rotor housing (31) and a rotating shaft (32); the stator assembly (4) includes a fixed shaft (41); The rotating shaft (32) is rotatably connected to the fixed shaft (41), the rotor housing (31) is connected to the rotating shaft (32), and the rotor housing (31) and the fixed shaft (41) enclose the installation space (1); The code disk (21) is fixed on the inner wall of the rotor housing (31), the detection element (22) is fixed on the fixed shaft (41), and the code disk (21) and the detection element (22) are arranged opposite to each other.

107. The lidar motor (5000) according to claim 106, wherein, The fixed shaft (41) has a mounting surface (5) on the side facing the mounting space (1), and the detection element (22) is mounted on the mounting surface (5).

108. The lidar motor (5000) according to claim 106 or 107, wherein, The stator assembly (4) further includes a winding (42), and the rotor assembly (3) further includes a magnet (33); the winding (42) and the magnet (33) are both disposed in the mounting space (1), the winding (42) is sleeved on the fixed shaft (41), and the magnet (33) is fixed on the inner wall of the rotor housing (31), and the magnet (33) is disposed opposite to the winding.

109. The laser radar motor (5000) according to claim 108 further includes a bearing (6); the fixed shaft (41) has a cavity, the bearing (6) is disposed in the cavity and fixedly connected to the fixed shaft (41), and the rotating shaft (32) passes through the bearing (6).

110. The lidar motor (5000) according to any one of claims 105 to 109, wherein, The rotor assembly (3) includes a rotor housing (31), and the stator assembly (4) includes a mounting base (43) and a rotating shaft (44); The rotating shaft (44) is mounted on the fixed base (43), and the rotor housing (31) is rotatably connected to the rotating shaft (44). The rotor housing (31) has a mounting part (8) at one end facing the fixed base (43). The mounting part (8) and the fixed base (43) form the mounting space (1). The code disk (21) is fixed on the mounting part (8), and the detection element (22) is fixed on the fixed base (43). The code disk (21) and the detection element (22) are arranged opposite to each other.

111. The lidar motor (5000) according to claim 110, wherein, Along the radial direction of the rotating shaft (44), the mounting portion (8) extends from the rotor housing (31) in a direction away from the rotating shaft (44).

112. The lidar motor (5000) according to claim 111, wherein, The stator assembly (4) further includes a winding (42), and the rotor assembly (3) further includes a magnet (33); The rotor housing (31), the fixed base (43), and the rotating shaft (44) enclose and form an installation cavity (9). The winding (42) and the magnet (33) are disposed in the installation cavity (9). The winding (42) is sleeved on the rotating shaft (44). The magnet (33) is fixed on the inner wall of the rotor housing (31). The magnet (33) and the winding (42) are arranged opposite to each other.

113. The lidar motor (5000) according to claim 111 or 112 further includes a bearing (6); the bearing (6) is mounted on the end of the rotating shaft (44) away from the fixed seat (43), and the rotor housing (31) is rotatably connected to the rotating shaft (44).

114. The lidar motor (5000) according to any one of claims 106 to 112 further includes a lens (10); the lens (10) is mounted on the outside of the rotor housing (31).

115. A lidar (6000) comprising a lidar motor (5000) according to any one of claims 104 to 114.

116. A lidar motor (1), comprising: Stator assembly (10); Rotor magnetic ring (20), which is rotatable relative to the stator assembly (10); as well as A rotating mirror assembly (30) cooperates with the rotor magnetic ring (20) to rotate with the rotor magnetic ring (20). The stator assembly (10) includes a fixed shaft (11), on which at least one bearing (50) is provided, and the rotating mirror assembly (30) cooperates with the bearing (50).

117. The lidar motor (1) according to claim 116, wherein, The rotating mirror assembly (30) includes a lens (300) and a support (40), wherein the lens (300) is disposed on the support (40). The bracket (40) includes a bracket body (41), a part of which is located on the outside of the rotor magnetic ring (20), and the bracket body (41) is connected to the rotor magnetic ring (20).

118. The lidar motor (1) according to claim 116 or 117, wherein, The fixed shaft (11) has a cavity (111) in the middle, and the bearing (50) is disposed in the cavity (111). The bracket (40) also includes a rotating shaft (42), a part of which extends into the cavity (111) and cooperates with the bearing (50).

119. The lidar motor (1) according to any one of claims 116 to 118, wherein, The at least one bearing (50) includes a plurality of bearings (50), one of the rotating shaft (42) and the fixed shaft (11) having a limiting protrusion (52) located between two adjacent bearings (50) of the plurality of bearings (50) to limit the distance between the two adjacent bearings (50).

120. The lidar motor (1) according to claim 119, wherein, A portion of the fixed shaft (11) on the side near the rotating shaft (42) protrudes in the direction near the rotating shaft (42) to form the limiting protrusion (52), and the bearing (50) abuts against one end of the limiting protrusion (52) in the axial direction of the rotor magnetic ring (20).

121. The lidar motor (1) according to any one of claims 118 to 120, wherein, The rotating shaft (42) and the support body (41) satisfy one of the following: The rotating shaft (42) is integrally formed with the bracket body (41), or the rotating shaft (42) is detachably connected to the bracket body (41).

122. The lidar motor (1) according to any one of claims 118 to 121, wherein, The bracket body (41) has a socket in the middle, and the rotating shaft (42) is inserted into the socket and is interference-fitted with the bracket body (41).

123. The lidar motor (1) according to claim 117 or 118, wherein, In the axial direction of the rotor magnetic ring (20), at least one end of the support body (41) protrudes from the rotor magnetic ring (20) and forms a mating part (412), which mates with the bearing (50).

124. The lidar motor according to claim 123, wherein, The at least one bearing (50) includes a plurality of bearings (50), One of the mating part (412) and the fixed shaft (11) has a limiting protrusion (52) located between two adjacent bearings (50) of the plurality of bearings (50) to limit the distance between the two adjacent bearings (50).

125. The lidar motor (1) according to claim 123 or 124, wherein, The stator assembly (10) also includes a base (12) located at one end of the fixed shaft (11) and configured to connect to an external structural member.

126. The lidar motor (1) according to claim 125, wherein, The fixed shaft (11) and the base (12) satisfy one of the following: The fixed shaft (11) is integrally formed with the base (12), or the fixed shaft (11) and the base (12) are detachably connected.

127. The lidar motor (1) according to any one of claims 117 to 126, wherein, The inner wall of the bracket body (41) is provided with an outwardly recessed mounting groove (416). The mounting groove (416) is open at one end in the axial direction of the rotor magnetic ring (20). The rotor magnetic ring (20) is adapted to be installed in the mounting groove (416) and abuts against the other end of the mounting groove (416).

128. The lidar motor (1) according to claim 127, wherein, The rotor magnetic ring (20) is bonded to the support body (41).

129. The lidar motor (1) according to any one of claims 117 to 128, wherein, Along the axial direction of the rotor magnetic ring (20), both ends of the support body (41) protrude from the rotor magnetic ring (20).

130. The lidar motor (1) according to any one of claims 116 to 129 further includes an encoder, the encoder including a code disk (81) and a chip (82), the code disk (81) being connected to the rotating mirror assembly (30) to rotate with the rotating mirror assembly (30), and the chip (82) being arranged opposite to the code disk (81).

131. The lidar motor (1) according to claim 130 further includes a circuit board (85), the circuit board (85) being disposed on the fixed shaft (11), and the circuit board (85) having the chip (82).

132. The lidar motor (1) according to claim 131, wherein, The fixed shaft (11) has a support boss (113) on its outer periphery. The support boss (113) is arranged at intervals with the rotor magnetic ring (20) in the axial direction. The circuit board (85) is provided on the support boss (113). The code disk (81) is provided at one end of the rotor magnetic ring (20) near the support boss (113).

133. The lidar motor (1) according to any one of claims 116 to 132, wherein, The stator assembly (10) further includes a core winding (15), which is located outside the fixed shaft (11), and the rotor magnetic ring (20) is located outside the core winding (15).

134. A lidar (8002) comprising a lidar motor (1) according to any one of claims 116 to 133.

135. A lidar (3000), comprising: An optical transmitter, comprising a first optical transmitter and a second optical transmitter; An optical receiver, comprising a first optical receiver and a second optical receiver; as well as A polyhedron, the polyhedron comprising a first reflecting surface and a second reflecting surface; The light emitted by the first light emitter is directed toward the first reflective surface and reflected by the first reflective surface to the external environment. The reflected light emitted by the first light emitter is reflected by the first reflective surface to the first light receiver and is received by the first light receiver. The light emitted by the second light emitter is directed toward the second reflective surface and reflected by the second reflective surface to the external environment. The reflected light emitted by the second light emitter is reflected by the second reflective surface to the second light receiver and is received by the second light receiver.

136. The lidar (3000) according to claim 135, wherein, The light emitter includes: Substrate; and Multiple light-emitting units, the multiple light-emitting units including one or more columns of light-emitting units, each column of light-emitting units being arranged along the height direction of the substrate, wherein any two light-emitting units in the same row of the multiple columns of light-emitting units, either the first light emitter or the second light emitter, have different heights.

137. The lidar (3000) according to claim 135, wherein, The light emitter satisfies at least one of the following: the column spacing of two adjacent columns of light-emitting units of the light emitter is the same; or, the row spacing of two adjacent rows of light-emitting units of the light emitter is the same.

138. The lidar (3000) according to claim 137, wherein, The row spacing of the light emitter is determined based on the line resolution, the number of columns of the light-emitting units, and the size of the light emitter.

139. The lidar (3000) according to claim 137 or 138, wherein, The line spacing of the light emitter is greater than a preset line spacing. After the emitted light from the light emitter is collimated based on the preset line spacing, the divergence of the collimated beam is less than the preset divergence.

140. The lidar (3000) according to claim 139, wherein, The row spacing of the light emitter is greater than or equal to the dimension of the light-emitting unit in the height direction.

141. The lidar (3000) according to claim 137, wherein, In the multiple rows of light-emitting units of the light emitter, the height difference between any two adjacent light-emitting units in the same row and in the height direction is the same.

142. The lidar (3000) according to claim 141, wherein, The height difference is determined based on the number of columns of the light-emitting units and the row spacing.

143. The lidar (3000) according to claim 142, wherein, The height difference is determined based on the following formula: Δd = D / N; Wherein, Δd is the height difference, D is the row spacing, and N is the number of columns of the light-emitting unit.

144. The lidar (3000) according to any one of claims 136 to 143, wherein, The number of light-emitting units in different columns of the light emitter may be the same or different.

145. The lidar (3000) according to any one of claims 136 to 144, wherein, The light-emitting unit of the light emitter includes a vertical cavity surface-emitting laser or a laser diode chip.

146. The lidar (3000) according to claim 145, wherein, The vertical cavity surface-emitting laser includes multiple light-emitting holes.

147. The lidar (3000) according to claim 146, wherein, The plurality of light-emitting holes include a central light-emitting hole and a plurality of edge light-emitting holes, the plurality of edge light-emitting holes being arranged around the central light-emitting hole, the plurality of edge light-emitting holes including a plurality of sets of edge light-emitting holes, each set of edge light-emitting holes being arranged in a ring.

148. The lidar (3000) according to any one of claims 145 to 147, wherein, Each light-emitting unit includes multiple laser diode chips.

149. The lidar (3000) according to any one of claims 145 to 148, wherein, Each light-emitting unit emits light independently; or, the plurality of light-emitting units include multiple groups of light-emitting units, and each group of light-emitting units emits light independently.

150. The lidar (3000) according to any one of claims 136 to 149, wherein, The number of columns of the light-emitting units of the light emitter includes 2 or 3 columns.

151. The lidar (3000) according to any one of claims 135 to 150, wherein, The light transmitter and the light receiver satisfy one of the following: the light transmitter and the light receiver are arranged sequentially along the height direction of the lidar; or the light receiver and the light transmitter are arranged sequentially.

152. The lidar (3000) according to any one of claims 135 to 151, further comprising: The reflector includes a first reflector and a second reflector, wherein the first reflector is configured to guide light emitted from the first light emitter toward the first reflective surface of the polyhedron, and to guide the reflected light from the first reflective surface toward the first light receiver; the second reflector is configured to guide light emitted from the second light emitter toward the second reflective surface of the polyhedron, and to guide the reflected light from the second reflective surface toward the second light receiver.

153. The lidar (3000) according to any one of claims 135 to 152, further comprising: A collimating device configured to collimate the light emitted by the light emitter; as well as A lens module configured to focus light reflected from the external environment.

154. The lidar (3000) according to claim 136, wherein, The optical receiver includes multiple receiving units, and the multiple receiving units are configured in a one-to-one correspondence with the multiple light-emitting units of the optical transmitter.

155. The lidar (3000) according to claim 154, wherein, The first ratio of the column spacing between two adjacent columns of light-emitting units in the plurality of light-emitting units to the column spacing between two adjacent columns of receiving units in the plurality of receiving units is the same as the second ratio of the row spacing between two adjacent rows of light-emitting units to the row spacing between two adjacent rows of receiving units.

156. The lidar (3000) according to claim 155, wherein, The first ratio and the second ratio are equal to the focal length ratio of the collimation module configured to collimate the light emitter and the lens module corresponding to the light receiver.

157. A lidar (100), comprising: The housing (10) includes a first surface (101) and a second surface (102) facing away from each other. The housing (10) is provided with a first cavity (11) and a second cavity (12) penetrating the first surface (101) and the second surface (102). The first cavity (11) and the second cavity (12) are arranged side by side. A transmitting module (30) is housed in the first cavity (11), and the transmitting module (30) is configured to transmit optical signals toward the outside of the lidar (100); and A receiving module (50) is housed in the second cavity (12), the receiving module (50) being configured to receive the light signal reflected back by an object.

158. The lidar (100) according to claim 157, wherein, The transmitting module (30) includes: The first circuit board (31) is installed on the side of the first surface (101) of the housing (10) and covers the first cavity (11); A first chip (33) is mounted on the side of the first circuit board (31) facing the first cavity (11), and the first chip (33) is configured to emit an optical signal; and The first lens (35) is at least partially installed in the first cavity (11) and aligned with the first chip (33).

159. The lidar (100) according to claim 158, wherein, The first lens (35) has a first flange (351) on its outer side wall, and the first flange (351) abuts against the second surface (102).

160. The lidar (100) according to claim 158 or 159, wherein, The light signal modulated by the first lens (35) satisfies at least one of the following: The far-field pointing of the light signal modulated by the first lens (35) is less than or equal to 0.5°; The collimation angle of the light signal modulated by the first lens (35) is less than or equal to 0.6°; or, The divergence angle of the light signal modulated by the first lens (35) is greater than or equal to 24° and less than or equal to 26°.

161. The lidar (100) according to any one of claims 158 to 160, wherein, The housing (10) further includes a third surface (103) connecting the first surface (101) and the second surface (102); the lidar (100) further includes a shield (70) mounted on at least one of the third surface (103) or the first circuit board (31) and covering at least a portion of the first circuit board (31).

162. The lidar (100) according to any one of claims 158 to 161, further comprising: A fixing plate (80) is mounted on the side of the first circuit board (31) opposite to the first cavity (11).

163. The lidar (100) according to claim 162, wherein, The fixing plate (80) satisfies at least one of the following: The fixing plate (80) is a rigid plate and is configured to reinforce the first circuit board (31); The fixing plate (80) is provided with a heat dissipation structure, which is configured to dissipate heat from the first circuit board (31); and, The fixing plate (80) is provided with a connection structure, which is configured to connect to an external device.

164. The lidar (100) according to any one of claims 158 to 163, further comprising: The flexible cable (90) includes a first connecting end (91) and a second connecting end (93). The first connecting end (91) is engaged with the first circuit board (31), and the second connecting end (93) is configured to connect to the main control board of the laser radar (100).

165. The lidar (100) according to any one of claims 158 to 164, wherein, The first lens (35) includes: The first lens tube (353) is installed inside the first cavity (11); and The first lens group (355) includes at least two lenses and is housed within the first lens barrel (353).

166. The lidar (100) according to any one of claims 158 to 165, wherein, The first chip (33) is configured to emit at least one of a 4-line laser beam, an 8-line laser beam, a 16-line laser beam, a 32-line laser beam, a 64-line laser beam, a 96-line laser beam, or a 128-line laser beam.

167. The lidar (100) according to any one of claims 157 to 166, wherein, The receiving module (50) includes: The second circuit board (51) is installed on the side of the housing (10) where the first surface (101) is located, and covers the second cavity (12); A second chip (53) is mounted on the side of the second circuit board (51) facing the second cavity (12), and the second chip (53) is configured to receive the light signal reflected back by the object for distance measurement; and The second lens (55) is installed in the second cavity (12) and aligned with the second chip (53).

168. The lidar (100) according to claim 167, wherein, The second lens (55) has a second flange (551) on its outer side wall, and the second flange (551) abuts against the second surface (102).

169. The lidar (100) according to claim 167 or 168, wherein, The offset between the optical axis of the second lens (55) and the center of the second chip (53) is less than or equal to 300 μm.

170. The lidar (100) according to any one of claims 167 to 169, wherein, The second lens (55) includes: The second lens tube (553) is installed inside the second cavity (12); and The second lens group (555) includes at least two lenses and is housed within the second lens barrel (553).

171. The lidar (100) according to claim 157, wherein, The transmitting module (30) includes a first chip (33), and the receiving module (50) includes a second chip (53); the first chip (33) and the second chip (53) satisfy at least one of the following: The angle between the extending direction of the first chip (33) and the extending direction of the second chip (53) is less than or equal to 1°; or, There is a preset baseline length between the first chip (33) and the second chip (53), and the offset between the actual baseline length between the first chip (33) and the second chip (53) and the preset baseline length is less than or equal to 300 μm.

172. The lidar (100) according to claim 157, wherein, The transmitting module (30) includes a first circuit board (31), which is mounted on the side of the housing (10) where the first surface (101) is located and covers the first cavity (11). The receiving module (50) includes a second circuit board (51), which is mounted on the side of the housing (10) where the first surface (101) is located and covers the second cavity (12). The lidar (100) also includes a shield (70), which is mounted on at least one of the housing (10) or the circuit board and covers at least a portion of the first circuit board (31). In the direction of transmission of the optical signal, the second circuit board (51) is further away from the second surface (102) than the first circuit board (31).

173. A mobile platform (1000), comprising: The mobile platform itself; and The lidar (100) according to any one of claims 157 to 172 is mounted on the movable platform body.

174. The mobile platform (1000) according to claim 173, wherein, The mobile platform (1000) includes at least one of aircraft, vehicles, robots, ships, cameras, and mobile phones.

175. A method for assembling a lidar (100), comprising: A housing (10) is provided, the housing (10) including a first surface (101) and a second surface (102) facing away from each other, the housing (10) having a first cavity (11) and a second cavity (12) penetrating the first surface (101) and the second surface (102), the first cavity (11) and the second cavity (12) being arranged side by side; The first circuit board (31) on which the first chip (33) is installed and the second circuit board (51) on which the second chip (53) is installed are both installed on the side of the first surface (101) of the housing (10), respectively covering the first cavity (11) and the second cavity (12), and the relative position between the first chip (33) and the second chip (53) meets a preset range; and An active alignment process is used to install the first lens (35) and the second lens (55) in the first cavity (11) and the second cavity (12) respectively, and to align the first lens (35) with the first chip (33) and the second lens (55) with the second chip (53).

176. The assembly method according to claim 175, wherein, The steps of mounting the first circuit board (31) on which the first chip (33) is mounted and the second circuit board (51) on which the second chip (53) is mounted are both mounted on the side of the first surface (101) of the housing (10), respectively covering the first cavity (11) and the second cavity (12), and ensuring that the relative position between the first chip (33) and the second chip (53) meets a preset range include: One of the first circuit board (31) with the first chip (33) installed and the second circuit board (51) with the second chip (53) installed is fixedly installed on the side of the first surface (101) of the housing (10) and covers the first cavity (11) or the second cavity (12); The other of the first circuit board (31) with the first chip (33) installed and the second circuit board (51) with the second chip (53) installed is attached to the side where the first surface (101) is located, and covers the second cavity (12) or the first cavity (11); Using the chip on one of the first circuit board (31) and the second circuit board (51) as a reference, the position of the other of the first circuit board (31) with the first chip (33) installed and the second circuit board (51) with the second chip (53) installed is adjusted, and the relative position between the first chip (33) and the second chip (53) is monitored by the image acquisition device (200); and When the relative position meets the preset range, the adjustment is stopped and the other of the first circuit board (31) with the first chip (33) installed and the second circuit board (51) with the second chip (53) installed is fixed to the side of the first surface (101) of the housing (10).

177. The assembly method according to claim 176, wherein, The preset range includes: The angle between the extension direction of the first chip (33) and the extension direction of the second chip (53) is less than or equal to 1°; There is a preset baseline length between the first chip (33) and the second chip (53), and the actual baseline length between the first chip (33) and the second chip (53) is less than or equal to 300 μm of the preset baseline length.

178. The assembly method according to any one of claims 175 to 177, wherein, The active alignment process for mounting the first lens (35) and the second lens (55) into the first cavity (11) and the second cavity (12) respectively, and aligning the first lens (35) with the first chip (33) and the second lens (55) with the second chip (53), includes: An active alignment process is used to install one of the first lens (35) and the second lens (55) into the first cavity (11) or the second cavity (12), and then fully solidifies it so that one of the first lens (35) and the second lens (55) is aligned with the first chip (33) or the second chip (53). An active alignment process is used to install the other of the first lens (35) and the second lens (55) into the second cavity (12) or the first cavity (11), followed by semi-curing; and Using the fully solidified one of the first lens (35) and the second lens (55) as a reference, an active alignment process is used to adjust the other of the first lens (35) and the second lens (55) until the other of the first lens (35) and the second lens (55) are aligned with the second chip (53) or the first chip (33) and then fully solidified.

179. The assembly method according to any one of claims 175 to 177, wherein, The active alignment process for mounting the first lens (35) and the second lens (55) into the first cavity (11) and the second cavity (12) respectively, and aligning the first lens (35) with the first chip (33) and the second lens (55) with the second chip (53), includes: The first lens (35) is installed in the first cavity (11) using an active alignment process and then fully cured so that one of the first lens (35) and the second lens (55) is aligned with the first chip (33). The second lens (55) is installed in the second cavity (12) using an active alignment process, and then semi-cured; and Using the first lens (35) as a reference, the second lens (55) is adjusted using an active alignment process until the second lens (55) is aligned with the second chip (53) and then fully solidified.

180. The assembly method according to claim 179, wherein, The process of installing the first lens (35) into the first cavity (11) using an active alignment process and performing full curing to align one of the first lens (35) and the second lens (55) with the first chip (33) includes: The first lens (35) is housed in the first cavity (11); The position of the first lens (35) in the first cavity (11) is adjusted by an active alignment process, and the far-field pointing, collimation angle and divergence angle of the light signal emitted through the first lens (35) are detected by a detection system. When the far-field pointing, the collimation angle and the divergence angle satisfy the preset first range, the preset second range and the preset third range respectively, stop adjusting the position of the first lens (35) in the first cavity (11) and apply glue to fully cure the connection between the first lens (35) and the housing (10).

181. The assembly method according to claim 180, wherein, The preset first range is less than 0.5°, the preset second range is less than or equal to 0.6°, and the preset third range is less than, greater than or equal to 24° and less than or equal to 26°.

182. The assembly method according to any one of claims 179 to 181, wherein, The process of installing the second lens (55) into the second cavity (12) using an active alignment process and performing semi-curing includes: The second lens (55) is housed in the second cavity (12); The position of the second lens (55) in the second cavity (12) is adjusted by an active alignment process, and the offset between the optical axis of the second lens (55) and the center of the second chip (53) and the modulation transfer function value of the second lens (55) are detected. When the offset and the modulation transfer function value of the second lens (55) satisfy the preset fourth range and the preset fifth range respectively, stop adjusting the position of the second lens (55) in the second cavity (12) and apply adhesive to semi-cure the connection between the second lens (55) and the housing (10).

183. The assembly method according to claim 182, wherein, The preset fourth range is less than or equal to 300 μm, and the preset fifth range is greater than or equal to 0.

55.

184. The assembly method according to any one of claims 179 to 183, wherein, The step of adjusting the second lens (55) using an active alignment process with the first lens (35) as a reference until the second lens (55) is aligned with the second chip (53) and then performing full solidification includes: The second lens (55) is translated and adjusted in a two-dimensional plane perpendicular to its optical axis until the light signal emitted by the first chip (33) and reflected back by the object converges to the predetermined area of ​​the second chip (53). Then, the connection between the second lens (55) and the housing (10) is fully cured by dispensing adhesive.

185. A vehicle comprising one of the following: The lidar (4000) according to any one of claims 1 to 103; The lidar motor (5000) according to any one of claims 104 to 114; The lidar (6000) according to claim 115; and The lidar (8002) according to claim 134.

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