CN115494478A

CN115494478A - Laser radar

Info

Publication number: CN115494478A
Application number: CN202211425878.0A
Authority: CN
Inventors: 张瓯; 池晓蘅; 朱亚平; 盛蕾佳; 丁鼎; 陈成; 贺广博
Original assignee: Hangzhou Great Star Industrial Co Ltd; Hangzhou Ole Systems Co Ltd
Current assignee: Hangzhou Great Star Industrial Co Ltd; Hangzhou Ole Systems Co Ltd
Priority date: 2022-11-15
Filing date: 2022-11-15
Publication date: 2022-12-20
Anticipated expiration: 2042-11-15
Also published as: CN115494478B

Abstract

The invention relates to the technical field of radars, in particular to a laser radar. The laser radar provided by the invention solves the technical problem that a laser radar rotating part is easy to wear in the prior art. A laser radar comprises a fixed seat and a rotating seat, wherein the fixed seat is provided with a driving mechanism for driving the rotating seat to rotate; the driving mechanism comprises a first worm, a second worm and a worm wheel arranged on the rotary seat, the motor drives the rotary seat in an auxiliary mode through the belt transmission mechanism, and the fixed seat is provided with the air purifier. Air purifier purifies the air and forms the air wall in receiving the lens cone, and the air wall plays the function of protection receiving reflection mirror, through setting up the heat dissipation chamber, can force the heat dissipation to laser radar. Through adopting the mode that worm gear transmission and belt transmission combine to drive the roating seat rotatory, the roating seat atress is more even at rotatory in-process.

Description

Laser radar

Technical Field

The invention relates to the technical field of radars, in particular to a laser radar.

Background

The laser radar is a radar system that detects a characteristic quantity such as a position and a velocity of a target by emitting a laser beam. In general, a laser radar includes a rotating member for driving a laser emitting member and a laser receiving member of the laser radar to rotate, so that a detection range of the laser radar is larger. In practical application, because the rotating part usually has a larger diameter, when the gear mechanism drives the rotating part to rotate, the rotating part is unevenly stressed, which easily causes abrasion of the rotating part, and especially, when the rotating part is converted from a static state to a rotating state, the torque is large, so that the stress of the rotating part is more uneven.

Laser radar among the prior art, the transmission and the receipt of light are coaxial, and when having spot or other foreign matters on the lens, the emergent light just produces the reflection in lens department to directly being regarded as received signal, can producing very big influence to the processing of data like this, reduced laser radar's precision.

In addition, the laser radar shell is of a closed structure, a laser inside the laser shell generates a large amount of heat during working, and the heat dissipation performance of the laser radar directly affects the working stability and reliability of the laser radar. The high-temperature working environment easily causes the device to work beyond the allowable temperature, the service life is reduced, and the service life of the whole radar is finally influenced.

Disclosure of Invention

The laser radar provided by the invention solves the technical problem that a laser radar rotating part is easy to wear in the prior art.

Some embodiments adopted to solve the above technical problems include:

a laser radar comprises a laser transmitter and a receiver for receiving light reflected by a target, wherein the transmitter comprises a light source, a transmitting objective lens and a transmitting reflector, the light emitted by the light source is sequentially output through the transmitting objective lens and the transmitting reflector, the receiver comprises a receiving element, a receiving reflector and a receiving objective lens, and the light reflected by the target sequentially reaches the receiving element through the receiving reflector and the receiving objective lens;

the laser radar also comprises a fixed seat and a rotating seat, wherein the light source, the transmitting objective lens, the receiving objective lens and the receiving element are arranged on the fixed seat, the transmitting reflector and the receiving reflector are arranged on the rotating seat, and the fixed seat is provided with a driving mechanism for driving the rotating seat to rotate;

the driving mechanism comprises a first worm, a second worm and a worm wheel arranged on the rotary seat, the worm wheel comprises a toothed part, the toothed part comprises a first force bearing surface stressed when the first worm drives the worm wheel to rotate and a second force bearing surface stressed when the second worm drives the worm wheel to rotate, the first worm is in contact with the first force bearing surface, and the second worm is in contact with the second force bearing surface;

the driving mechanism further comprises a motor for driving the first worm and the second worm to synchronously rotate, the motor drives the rotating seat in an auxiliary mode through a belt transmission mechanism, the belt transmission mechanism comprises a driven belt wheel arranged on the rotating seat, and the linear speed of the driven belt wheel is equal to that of the worm wheel;

the rotary seat is further provided with a receiving lens cone for installing the receiving reflector, the fixing seat is provided with an air purifier, the air purifier supplies purified air to the receiving lens cone through the rotary seat, in addition, the purified air is formed in the receiving lens cone to prevent dust pollution, an air wall of the receiving reflector is formed, the rotary seat is further provided with a heat dissipation cavity, and the air purifier simultaneously supplies purified air to the heat dissipation cavity and the receiving lens cone.

The roating seat is by the in-process of quiescent condition forward rotation, the motor drives the rotatory while driving worm wheel through first worm and drives the roating seat rotation through driven pulleys in step, at this moment, the roating seat bears two effort, one of them effort is conducted to the worm wheel by first worm, the second effort is that the motor passes through driven pulleys and conducts to the roating seat, because the linear velocity of driven pulleys and worm wheel equals, therefore, driven pulleys and first worm can drive the roating seat rotation simultaneously, first worm is the line contact with the worm wheel, and when driven pulleys transmit power through belt drive mechanism, the effort that driven pulleys bore is surface contact, and, driven pulleys's both sides all bear the effort, thereby make the roating seat atress more even when being converted into the rotation state by the quiescent condition, and then make the roating seat not easy wearing and tearing. Because the belt transmission is friction transmission, the rotation precision of the rotating seat is ensured by the first worm and the worm wheel, and the belt transmission mechanism only has the function of auxiliary drive, so that the rotating seat cannot generate interference when being driven by the first worm and the driving transmission mechanism.

The process of the reverse rotation of the rotary base refers to the process of the forward rotation of the rotary base. Because the first worm is contacted with the first force bearing surface, and the second worm is contacted with the second force bearing surface, the rotating seat can not wait when being transited from the forward rotation to the reverse rotation, namely, the worm wheel is always in a state of being contacted with the first worm and the second worm, thereby the forward rotation and the reverse rotation of the rotating seat can be rapidly switched. Meanwhile, when the rotary seat rotates towards one direction, only one of the first worm and the second worm is in contact with the force bearing surface of the worm wheel, so that the first worm and the second worm cannot interfere with each other.

Preferably, the first worm and the second worm are symmetrically arranged about a symmetry center line of the worm wheel, the motor drives the first worm and the second worm to rotate through a speed change mechanism, the speed change mechanism comprises a gearbox, the gearbox comprises a first output shaft, two ends of the first output shaft are respectively provided with a driving bevel gear, the first worm and the second worm are respectively provided with a driven bevel gear, each driven bevel gear is meshed with the independent driving bevel gear, and the distance from the gearbox to the first worm is equal to the distance from the gearbox to the second worm.

In the technical scheme, the first worm and the second worm are symmetrically arranged about the symmetry center line of the worm wheel, and the first worm and the second worm are positioned on two sides of the worm wheel, so that the worm wheel is uniformly stressed on one hand, and on the other hand, the speed change mechanism is easy to set, and the structure of the speed change mechanism is simplified.

By arranging the driving bevel gear and the driven bevel gear, the transmission direction of the variable force can be conveniently changed, and the structure of the speed change mechanism is further simplified.

Preferably, the motor is a stepping motor, the motor is movably arranged on the gearbox, the change-back box further comprises a second output shaft, the second output shaft is provided with a driving belt wheel, a V-shaped belt is arranged between the driving belt wheel and the driven belt wheel, and an encoder for detecting the rotation angle of the rotating seat is further arranged between the fixed seat and the rotating seat.

Among the above-mentioned technical scheme, step motor has higher drive accuracy to make the roating seat have higher rotation accuracy.

The V-shaped belt can effectively transfer acting force, and has the advantages of small volume and large power transfer compared with a flat belt. For the hold-in range, the V area is changeed and is slided to can prevent driven pulley and worm wheel interference, improve the stability of roating seat.

Through setting up the encoder, the encoder mainly used detects the rotation angle of roating seat.

Preferably, the worm wheel and the rotary base are of an integral structure, the driven pulley is located below the worm wheel, and the distance between the driven pulley and the worm wheel is not less than the thickness of the worm wheel.

Among the above-mentioned technical scheme, be located the below of worm wheel through making driven pulley, V area uses can not contact with the worm wheel after relaxing for a period, has avoided V area and worm wheel contact effectively.

Preferably, the fixing seat is provided with a supporting plate for supporting the first worm and the second worm, the supporting plate is provided with a through hole, rolling bearings are arranged between the first worm and the through hole and between the second worm and the through hole, the supporting plate is respectively arranged at two ends of the first worm and the second worm, the fixing seat is further provided with two vertical plates for supporting the first output shaft, the two vertical plates are respectively arranged at two sides of the gearbox, the distances from the two vertical plates to the gearbox are equal, the vertical plates are both provided with hole bodies, and the rolling bearings are arranged between the first output shaft and the hole bodies.

Among the above-mentioned technical scheme, through setting up backup pad and riser, first worm, second worm and first output shaft all can be supported, fixed effectively, and first worm, second worm and the difficult shake of first output shaft rotation in-process have improved the stability in the speed change mechanism working process.

Preferably, the rotating base is further provided with a receiving lens barrel for mounting the receiving reflector, the fixed base is provided with an air purifier, the air purifier supplies purified air to the receiving lens barrel through the rotating base, an air wall for preventing dust from polluting the receiving reflector is formed in the receiving lens barrel by the purified air, the rotating base is further provided with a heat dissipation cavity, and the air purifier simultaneously supplies the purified air to the heat dissipation cavity and the receiving lens barrel.

Among the above-mentioned technical scheme, laser radar opens air purifier before the work, and the air delivery to receiving lens cone after partly purification of air purifier output, the air wall of formation before receiving the lens cone of air after the purification, the air after the purification contains less impurity, can prevent effectively that the dust from gathering on receiving the speculum to can reduce the influence of spot to receiving the speculum, improve laser radar's detection precision.

Simultaneously, the air after another part of air purifier output purifies gets into the heat dissipation intracavity, dispels the heat to laser radar's other parts that generate heat, can make laser radar's electronic component have better operational environment, has prolonged laser radar's life to, make laser radar's electronic component work more stable.

Preferably, a first air flow channel is arranged in a side wall of the receiving lens barrel, an air flow injection ring forming the air wall is arranged on an inner side wall of the receiving lens barrel, an air flow chamber is arranged in the air flow injection ring, the air flow chamber is communicated with the first air flow channel, the air flow injection ring comprises a first injection hole group facing the receiving reflector and a second injection hole group facing opposite to the first injection hole group, the first injection hole group and the second injection hole group both comprise injection holes, and the injection holes are uniformly distributed in the air flow injection ring.

In the technical scheme, the first spray hole group and the second spray hole group are arranged, the airflow sprayed by the first spray hole group is sprayed to the receiving reflector, dust on the receiving reflector can be blown off, and the dust is prevented from being accumulated on the receiving reflector.

The airflow sprayed out from the second spray hole group is far away from the receiving reflector, so that external dust can be prevented from entering the receiving lens barrel, and the dust can be effectively prevented from accumulating on the receiving reflector.

Preferably, the airflow spray ring protrudes out of the inner side wall of the receiving lens cone towards the center direction of the receiving lens cone, the receiving lens cone and the airflow spray ring are of an integrated structure, and the width of one side of the airflow spray ring, which is in contact with the receiving lens cone, is larger than the width of one side of the airflow spray ring, which is far away from the receiving lens cone.

In the technical scheme, the airflow spray ring protrudes out of the inner side wall of the receiving cylinder, the first spray hole group and the second spray hole group are easy to arrange, and the airflow sprayed by the first spray hole group and the airflow sprayed by the second spray hole group cannot interfere with each other, so that the stability of the air wall is improved.

Preferably, the rotary base is further provided with a second airflow channel independent of the first airflow channel, the second airflow channel is located at the lower end of the rotary base, the air purifier supplies purified air to the first airflow channel and the second airflow channel through an air distribution chamber, the rotary base is further provided with an equipment installation chamber, the equipment installation chamber is not communicated with the first airflow channel, the air in the second airflow channel is discharged through a pipeline after heat exchange with equipment in the equipment installation chamber is completed through the equipment installation chamber, the pipeline is communicated with the equipment installation chamber, and the equipment installation chamber is matched with the second airflow channel to form the heat dissipation cavity.

In the above technical solution, the equipment installation chamber usually has more electronic components, and therefore, the inside of the equipment installation chamber may have higher temperature, and therefore, the purified air should be directly discharged after heat exchange is completed in the equipment installation chamber, so as to prevent heat from being brought to other parts of the rotating base to affect the heat dissipation performance of the rotating base, and therefore, the first air flow channel should not be communicated with the second air flow channel.

Preferably, the rotating base comprises an inner wall and an outer wall, a first air flow channel is formed between the inner wall and the outer wall, a partition plate is arranged in the first air flow channel, the partition plate is welded to the inner wall, and a second air flow channel is formed between the partition plate and the inner wall.

Among the above-mentioned technical scheme, through setting up the baffle, the roating seat includes inner wall and outer wall, has simplified the structure of roating seat for roating seat compact structure makes laser radar can design for littleer volume.

Preferably, the air distribution chamber is fixed to the fixing base, the air purifier is fixed to the fixing base, the air distribution chamber is annular, the air distribution chamber includes a first air chamber and a second air chamber, the air purifier supplies purified air to the first air chamber and the second air chamber through a three-way valve, the first air chamber is not communicated with the second air chamber, the first air chamber is communicated with the first air flow passage, the second air chamber is communicated with the second air flow passage, a seal ring is arranged between the air distribution chamber and the rotating base, at least three sets of seal rings are provided, the three sets of seal rings enclose a first transition air chamber and a second transition air chamber which are independent of each other, the first air chamber supplies purified air to the first air flow passage through the first transition air chamber, and the second air chamber supplies purified air to the second air flow passage through the second transition air chamber.

Among the above-mentioned technical scheme, through setting up the air distribution chamber, the air pressure in first airflow channel, the second airflow channel is even to can prevent effectively that the air pressure in the first airflow channel from appearing undulant, make the air wall more stable.

Compared with the prior art, the laser radar provided by the invention has the following advantages:

1. because the transmitting reflector and the receiving reflector are not in the same area, when the transmitting reflector is affected by dirt or other abnormal conditions, if the transmitted light is reflected by the dirt, the reflected light is not easy to be received as normal reflected light, thereby improving the detection accuracy of the laser radar.

2. Through setting up air purifier, air purifier purifies the back and forms the air wall in receiving the lens cone, and the air wall plays the function of protection receiving reflection mirror, and the dust is difficult for dropping to receiving reflection mirror on to can reduce the dust on the receiving reflection mirror, prevent that the dust from influencing receiving reflection mirror's performance, further improve laser radar's detection precision.

3. Through setting up the heat dissipation chamber, the air admission heat exchange that air purifier purified back carries out the heat exchange in the heat dissipation chamber, can force the heat dissipation to laser radar for laser radar's electronic component has better operational environment, has improved the stability in the electronic component working process. Simultaneously, the air that air purifier purified after forces the heat dissipation, can prevent dust pollution laser radar's the device that generates heat, makes laser radar work more stable, is difficult for being disturbed by impurity or dust.

4. Through adopting the worm gear transmission to rotate with the mode drive roating seat that the belt drive combines, the roating seat atress is more even at rotatory in-process to reduce laser radar moving part's wearing and tearing effectively, prolonged laser radar's life.

5. Through setting up first worm and second worm, worm and worm wheel transmission has the characteristic of unidirectional drive, and the worm can drive the worm wheel rotatory promptly, and the worm wheel can not drive the worm rotatory, consequently, through setting up first worm and second worm, and make first worm and first stress surface contact, the second worm contacts with second stress surface, still has better auto-lock characteristic when reducing roating seat forward, the contrarotation switching time, promptly, after the roating seat moved to certain angle, first worm, second worm can lock the roating seat through the worm wheel, need not set up other locking mechanism.

In addition, the rotary seat usually has a larger volume, the first worm and the second worm are matched with the worm wheel to lock the rotary seat, and the first worm and the second worm are positioned on two sides of the worm wheel, so that the rotary seat has a larger locking torque and better locking performance.

Drawings

For purposes of explanation, several embodiments of the present technology are set forth in the following figures. The following drawings are incorporated herein and constitute a part of the detailed description. In some instances, well-known structures and components are shown in block diagram form in order to avoid obscuring the concepts of the subject technology.

Fig. 1 is a schematic diagram of the internal structure of the laser radar of the present invention.

Fig. 2 is a front view of the lidar of the present invention.

Fig. 3 isbase:Sub>A cross-sectional view taken atbase:Sub>A-base:Sub>A in fig. 2.

Fig. 4 is a schematic diagram of a relative position of the driving mechanism and the rotating base at a first angle.

FIG. 5 is a schematic diagram of a second angle of the relative position of the driving mechanism and the rotating base.

Fig. 6 is a schematic view of the mounting positions of the driven pulley and the worm wheel on the rotary base.

Fig. 7 is a schematic view of the drive mechanism.

FIG. 8 is a schematic view of a gas distribution chamber.

Fig. 9 is a schematic view of the internal structure of the rotary base.

Fig. 10 is a partial schematic view of a receiving barrel.

Fig. 11 is a schematic view of the internal structure of fig. 10.

In the figure:

1. light source, 2, emission objective, 3, emission mirror, 4, receiving element, 5, receiving mirror, 6, receiving objective.

7. Fixing base, 71, receiving lens cone, 72, air purifier, 73, distribution chamber, 731, first air chamber, 732, second air chamber, 733, three-way valve, 74, sealing ring, 75, first transition air chamber, 76, second transition air chamber, 77, supporting plate, 78, riser.

8. The air flow device comprises a rotary seat, 81, a heat dissipation cavity, 811, an inner wall, 812, an outer wall, 813, a partition plate, 82, a first air flow channel, 83, an air flow spray ring, 84, an air flow chamber, 85, a first spray hole group, 86, a second spray hole group, 87, a second air flow channel, 88, an equipment installation chamber, 89 and a pipeline.

9. The driving mechanism 901, a first worm, 902, a second worm, 903, a worm wheel, 904, a motor, 905, a driven pulley, 906, a gearbox, 907, a first output shaft, 908, a driving bevel gear, 909, a driven bevel gear, 910, a second output shaft, 911, a driving pulley, 912 and an encoder.

Detailed Description

The specific embodiments illustrated below are intended as descriptions of various configurations of the subject technology and are not intended to represent the only configurations in which the subject technology may be practiced. Specific embodiments include specific details for the purpose of providing a thorough understanding of the subject technology. It will be clear and apparent to one skilled in the art, however, that the subject technology is not limited to the specific details shown herein and may be practiced without these specific details.

Referring to fig. 1 to 11, a lidar includes a laser transmitter and a receiver for receiving light reflected by a target, where the transmitter includes a light source 1, an emission objective lens 2 and an emission mirror 3, the light emitted by the light source 1 sequentially passes through the emission objective lens 2 and the emission mirror 3 to be output, the receiver includes a receiving element 4, a receiving mirror 5 and a receiving objective lens 6, and the light reflected by the target sequentially passes through the receiving mirror 5 and the receiving objective lens 6 to reach the receiving element 4;

the laser radar also comprises a fixed seat 7 and a rotating seat 8, wherein the light source 1, the transmitting objective lens 2, the receiving objective lens 6 and the receiving element 4 are arranged on the fixed seat 7, the transmitting reflector 3 and the receiving reflector 5 are arranged on the rotating seat 8, and the fixed seat 7 is provided with a driving mechanism 9 for driving the rotating seat 8 to rotate;

the driving mechanism 9 comprises a first worm 901, a second worm 902 and a worm wheel 903 mounted on the rotating base 8, the worm wheel 903 comprises a toothed part, the toothed part comprises a first force-bearing surface stressed when the first worm 901 drives the worm wheel 903 to rotate and a second force-bearing surface stressed when the second worm 902 drives the worm wheel 903 to rotate, the first worm 901 is in contact with the first force-bearing surface, and the second worm 902 is in contact with the second force-bearing surface;

the driving mechanism 9 further includes a motor 904 for driving the first worm 901 and the second worm 902 to rotate synchronously, the motor 904 assists to drive the rotating base 8 through a belt transmission mechanism, the belt transmission mechanism includes a driven pulley 905 arranged on the rotating base 8, and linear speeds of the driven pulley 905 and the worm wheel 903 are equal.

In some embodiments, the rotating base 8 is further provided with a receiving lens barrel 71 for mounting the receiving mirror 5, the fixed base 7 is provided with an air purifier 72, the air purifier 72 supplies purified air to the receiving lens barrel 71 through the rotating base 8, and the purified air forms an air wall in the receiving lens barrel 71 for preventing dust from polluting the receiving mirror 5, the rotating base 8 is further provided with a heat dissipation chamber 81, and the air purifier 72 simultaneously supplies the purified air to the heat dissipation chamber 81 and the receiving lens barrel 71.

Structurally, the transmitting light path and the receiving light path can be separated by a certain distance, and the receiving reflector 5 plays a certain blocking role, so that the receiving light path is not easily interfered.

The specific structures of the fixed seat 7 and the rotating seat 8 are not limited, and can be freely configured according to actual requirements. For example, the shapes of the rotating seat 8 and the fixed seat 7 should be designed according to actual requirements.

Air purifier 72 is the ordinary air purification equipment of prior art, and air purifier 72 mainly used purifies dust in the air to the air that makes after the purification contains less dust, prevents that the dust from influencing laser radar's precision.

When the airflow output by the air purifier 72 cannot meet the demand, an air pump may be added to enable the air purifier 72 to output the airflow meeting the demand.

The airflow flow should be able to meet the heat dissipation requirements simultaneously, and ensure the stability of the air wall.

Referring to fig. 4 to 7, in order to make the force applied to the rotary base 8 more uniform when the drive mechanism 9 drives the rotary base 8 to rotate, the following are provided: the first worm 901 is positioned on the right of the worm wheel 903, the second worm 902 is positioned on the left of the worm wheel 903, and the driven pulley 905 is positioned below the worm wheel 903;

then setting: when the driving mechanism 9 drives the rotating base 8 to rotate along the first direction, the acting force applied by the first worm 901 to the worm wheel 903 is applied from the outside of the paper to the inside of the paper, and at this time, the following force is applied: the side of the driven pulley 905 close to the second worm 902 receives a force from inside the paper surface to outside the paper surface, and at this time, the force receiving direction of the side of the rotating base 8 close to the first worm 901 is opposite to the force receiving direction of the side of the rotating base 8 close to the second worm 902.

Therefore, the driven belt wheel 905 is additionally arranged to assist in driving the rotating seat 8, so that the rotating seat 8 is stressed more uniformly in the rotating process.

The rotation of the rotary base 8 in the opposite direction is opposite to the above setting.

When the worm wheel 903 is matched with a worm, only one surface of the tooth part of the worm wheel 903 is stressed, and when the worm rotates in the opposite direction, the clearance needs to be overcome when the worm is matched with the worm wheel 903. By providing the first worm 901 and the second worm 902, the first worm 901 and the second worm 902 are respectively in contact with two force bearing surfaces of the worm wheel 903, so that when the first worm 901 or the second worm 902 rotates, both can be in direct contact with the worm wheel 903, thereby compensating for a gap at a meshing part of the worm and the worm wheel 903.

After the clearance at the meshing position of the worm and the worm wheel 903 is compensated, the worm wheel 903 cannot drive the worm to rotate according to the characteristic of unidirectional worm transmission of the worm wheel 903, and at the moment, the rotating seat 8 can be effectively and accurately locked at the target position without arranging other locking mechanisms.

Compared with the prior art, the rotating base 8 is locked by locking the main shaft of the prime mover, and when the rotating base 8 is locked by matching the first worm 901 and the second worm 902 with the worm gear 903, the locking precision of the rotating base 8 is high. Moreover, because the first worm 901 and the second worm 902 are located on two sides of the rotating base 8, compared with a locking mode of locking the main shaft, the first worm 901 and the second worm 902 can provide a larger locking torque, and the prime mover is not easily damaged.

In some embodiments, referring to fig. 4 to 7, the first worm 901 and the second worm 902 are symmetrically arranged about a symmetry center line of the worm wheel 903, the electric motor 904 drives the first worm 901 and the second worm 902 to rotate through a speed change mechanism, the speed change mechanism includes a gearbox 906, the gearbox 906 includes a first output shaft 907, a driving bevel gear 908 is respectively arranged at two ends of the first output shaft 907, the first worm 901 and the second worm 902 are respectively provided with a driven bevel gear 909, each driven bevel gear 909 is meshed with a separate driving bevel gear 908, and a distance from the gearbox 906 to the first worm 901 is equal to a distance from the gearbox 906 to the second worm 902.

The speed change of the gearbox 906 can be performed by a stepless speed change or a gear speed change, and the speed change of the first output shaft 907 of the gearbox 906 is the gear speed change because the first worm 901 and the second worm 902 need high transmission precision.

In some embodiments, the electric motor 904 is a stepping motor, the electric motor is mechanically disposed on the transmission case 906, the transmission case further includes a second output shaft 910, the second output shaft 910 is provided with a driving pulley 911, a V-belt is disposed between the driving pulley 911 and the driven pulley 905, and an encoder 912 for detecting a rotation angle of the rotary base 8 is further disposed between the fixed base 7 and the rotary base 8.

The belt transmission mechanism only plays a role of auxiliary driving, the rotation precision of the rotating base 8 is ensured by the first worm 901, the second worm 902 and the worm wheel 903, so that the V belt can be worn and damaged in the using process, and meanwhile, the linear speed of the worm wheel 903 is equal to that of the driven pulley 905, so that the wear is relatively small and acceptable.

The rotation angle of the rotary base 8 should be accurately measured, and the encoder 912 is a common angle measuring device in the prior art, and the working principle of the laser radar is described below with reference to the encoder 912:

the light source 1 serves as a light emission source thereof, and the emitted light passes through the emission objective lens 2, reaches the emission mirror 3, and is emitted to the outside in a direction perpendicular to the rotation axis. The reflecting mirror 3 may be fixed to the transmitting barrel.

The receiving mirror 5 reflects the light reflected from the scanning target toward the receiving objective lens 6, and then reaches the receiving element 4.

The encoder 912 may be mounted in the following manner: the rotary base 8 is driven by the driving mechanism 9 to rotate around the rotating shaft, the encoder 912 includes a multi-pole magnetic ring fixed to the lower portion of the rotary base 8, at least one surface of the magnetic conductive ring is covered on the multi-pole magnetic ring, and the cross section of the multi-pole magnetic ring can be L-shaped or inverted U-shaped. The coded disc is fixed on the lower part of the multi-pole magnetic ring, and the coil plate integrating the motor coil and the coded disc reading chip is positioned below the multi-pole magnetic ring and is not in physical contact with the multi-pole magnetic ring. Since the encoder 912 is a conventional device in the prior art, the installation method and the operation principle thereof can be referred to the prior art.

In the prior art, a laser radar with a coaxial transmitting and receiving light is designed in order to make the laser radar simple in structure and small in size. Such radar-emitting light exits and enters at the same position as the received light. When there is dirt or other obstruction, part of the emitted light will be reflected by the obstruction and received by the receiving portion together with the incident light, and such light does not reach the target at all, which may adversely affect the signal processing.

In another radar with a rotating shaft, a motor is arranged on the top of the radar to drive a reflecting mirror to rotate, so that reflected outgoing light of 360 degrees is formed. The reason why the motor can not be arranged at the lower part at that time is that no proper scheme is available, the motor can be arranged at the lower part and simultaneously can not block a transmitting and receiving optical path system of the radar, and the problem that the motor is arranged at the top part is that a power supply cable needs to pass through from one side, so that the rotary scanning work of the radar can be partially blocked in the structure, and the radar with the structure is generally in a 270-degree working area. By adopting the driving mechanism 9 provided by the invention, the laser radar can have a working area of 360 degrees.

The worm wheel 903 and the rotating seat 8 are of an integrated structure, the driven pulley 905 is located below the worm wheel 903, and the distance between the driven pulley 905 and the worm wheel 903 is not smaller than the thickness of the worm wheel 903. The worm gear 903 and the driven pulley 905 may also be keyed to the swivel base 8.

In some embodiments, referring to fig. 7, the fixing base 7 is provided with a supporting plate 77 for supporting the first worm 901 and the second worm 902, the supporting plate 77 is provided with a through hole, rolling bearings are respectively disposed between the first worm 901 and the through hole and between the second worm 902 and the through hole, the supporting plate 77 is respectively located at two ends of the first worm 901 and the second worm 902, the fixing base 7 is further provided with two vertical plates 78 for supporting the first output shaft 907, the two vertical plates 78 are respectively located at two sides of the transmission case 906, distances from the two vertical plates 78 to the transmission case 906 are equal, the vertical plates 78 are both provided with holes, and the rolling bearings are disposed between the first output shaft 907 and the holes. The supporting plate 77 and the vertical plate 78 can be integrated with the fixing base 7. Alternatively, the support plate 77 and the upright plate 78 may be fixed to the fixing base 7 by bolts.

Referring to fig. 9 to 11, in some embodiments, a first air flow channel 82 is disposed in a side wall of the receiving lens barrel 71, an air flow ring 83 forming the air wall is disposed in an inner side wall of the receiving lens barrel 71, an air flow chamber 84 is disposed in the air flow ring 83, the air flow chamber 84 is communicated with the first air flow channel 82, the air flow ring 83 includes a first air flow hole group 85 facing the receiving reflector 5 and a second air flow hole group 86 facing opposite to the first air flow hole group 85, and the first air flow hole group 85 and the second air flow hole group 86 each include a plurality of spray holes, and the spray holes are uniformly distributed in the air flow ring 83.

The airflow injection ring 83 protrudes from the inner side wall of the receiving lens barrel 71 towards the center direction of the receiving lens barrel 71, the receiving lens barrel 71 and the airflow injection ring 83 are of an integrated structure, and the width of the side, contacting the receiving lens barrel 71, of the airflow injection ring 83 is larger than the width of the side, away from the receiving lens barrel 71, of the airflow injection ring 83.

The number of the air injection rings 83 may be one or plural, and when the number of the air injection rings 83 is plural, plural air walls may be formed, but only the air wall closest to the receiving mirror 5 among the plural air walls is the most rigorous. Other air walls may be cavitated due to air flow disturbances.

Similarly, an air flow ring 83 may be disposed at the reflector 3 to prevent dust from accumulating on the reflector 3.

Referring to fig. 9, in some embodiments, the rotary seat 8 is further provided with a second air flow passage 87 independent from the first air flow passage 82, the second air flow passage 87 is located at a lower end of the rotary seat 8, the air cleaner 72 supplies cleaned air to the first air flow passage 82 and the second air flow passage 87 through an air distribution chamber 73, the rotary seat 8 is further provided with an equipment installation chamber 88, the equipment installation chamber 88 is not communicated with the first air flow passage 82, the air in the second air flow passage 87 passes through the equipment installation chamber 88 to exchange heat with equipment in the equipment installation chamber 88 and then is discharged through a duct 89, the duct 89 is communicated with the equipment installation chamber 88, and the equipment installation chamber 88 and the second air flow passage 87 cooperate to form the heat dissipation chamber 81.

The rotary seat 8 comprises an inner wall 811 and an outer wall 812, a first air flow channel 82 is formed between the inner wall 811 and the outer wall 812, a partition plate 813 is arranged in the first air flow channel 82, the partition plate 813 is welded on the inner wall 811, and a second air flow channel 87 is formed between the partition plate 813 and the inner wall 811. The inner wall 811 and the outer wall 812 may be welded together. The conduit 89 may pass through the inner wall 811 and the outer wall 812 and be welded to the inner wall 811 and the outer wall 822.

The air distribution chamber 73 is fixed to the fixing base 7, the air purifier 72 is fixed to the fixing base 7, the air distribution chamber 73 is circular, the air distribution chamber 73 includes a first air chamber 731 and a second air chamber 732, the air purifier 72 supplies purified air to the first air chamber 731 and the second air chamber 732 through a three-way valve 733, the first air chamber 731 is not communicated with the second air chamber 732, the first air chamber 731 is communicated with the first air flow channel 82, the second air chamber 732 is communicated with the second air flow channel 87, a sealing ring 74 is arranged between the air distribution chamber 73 and the rotating base 8, at least three sets of sealing rings 74 are arranged, the three sets of sealing rings 74 enclose a first transition air chamber 75 and a second transition air chamber 76 which are independent of each other, the first air chamber 731 supplies purified air to the first air flow channel 82 through the first transition air chamber 75, and the second air chamber 732 supplies purified air to the second air flow channel 87 through the second transition air chamber 76. The sealing ring 74 may be bonded to the air distribution chamber 73. The lower end of the rotary base 8 may be provided with two sets of ventilation holes, wherein one set of ventilation holes is communicated with the first transition air chamber 75 and the first air flow channel 82, and the other set of ventilation holes is communicated with the second transition air chamber 76 and the second air flow channel 87.

In general, in order to protect the laser radar, the laser radar is provided with a protective cover, and the protective cover is provided outside the entire laser radar. The laser radar provided with the protective cover can enable the air purifier 72 to continuously work for a period of time when the protective cover is covered by the laser radar, so that the quality of air in the protective cover is optimized, and dust is prevented from polluting the laser radar. The air cleaner 72 is closed after the protective cover is completely covered.

Fig. 1 to 3 are only used to illustrate relative positions of various components of the laser radar, and the structures of the rotating base and the fixed base are not shown in detail for clarity. Fig. 4 to 9 are used to show the specific structure of the driving mechanism, and only the relative positions of the rotating seat and the fixed seat are shown, in practice, the shapes of the rotating seat and the fixed seat should be determined according to the actual requirements, and the specific details are not shown in the drawings. Fig. 10 and 11 show a specific structure of the air-jet ring, and other parts of the rotary base are not shown for clarity.

While the subject matter of the present invention has been described with reference to the accompanying drawings and details, it is to be understood that the above description is merely illustrative of some embodiments of the subject matter of the present invention and that certain details may be omitted from the description.

In addition, in some embodiments of the above invention, there is a possibility that a plurality of embodiments may be combined to be implemented, and various combinations are not listed at length. The above embodiments can be freely combined and implemented by those skilled in the art according to the requirements in the specific implementation so as to obtain a better application experience.

While practicing the subject matter of the present invention, it will be apparent to those skilled in the art that other arrangements of details or figures can be made in accordance with the subject matter of the present invention and the accompanying drawings, and that such details are within the scope of what is encompassed by the subject matter of the present invention without departing from the subject matter of the present invention.

Claims

1. A lidar characterized by: the device comprises a laser transmitter and a receiver for receiving light reflected by a target, wherein the transmitter comprises a light source (1), a transmitting objective lens (2) and a transmitting reflector (3), the light emitted by the light source (1) is sequentially output through the transmitting objective lens (2) and the transmitting reflector (3), the receiver comprises a receiving element (4), a receiving reflector (5) and a receiving objective lens (6), and the light reflected by the target sequentially passes through the receiving reflector (5) and the receiving objective lens (6) to reach the receiving element (4);

the laser radar further comprises a fixed seat (7) and a rotating seat (8), the light source (1), the transmitting objective lens (2), the receiving objective lens (6) and the receiving element (4) are arranged on the fixed seat (7), the transmitting reflector (3) and the receiving reflector (5) are arranged on the rotating seat (8), and the fixed seat (7) is provided with a driving mechanism (9) for driving the rotating seat (8) to rotate;

the driving mechanism (9) comprises a first worm (901), a second worm (902) and a worm wheel (903) mounted on the rotating base (8), the worm wheel (903) comprises a toothed part, the toothed part comprises a first force bearing surface stressed when the first worm (901) drives the worm wheel (903) to rotate and a second force bearing surface stressed when the second worm (902) drives the worm wheel (903) to rotate, the first worm (901) is in contact with the first force bearing surface, and the second worm (902) is in contact with the second force bearing surface;

the driving mechanism (9) further comprises a motor (904) for driving the first worm (901) and the second worm (902) to synchronously rotate, the motor (904) assists in driving the rotating seat (8) through a belt transmission mechanism, the belt transmission mechanism comprises a driven pulley (905) arranged on the rotating seat (8), and the linear speed of the driven pulley (905) is equal to that of the worm wheel (903).

2. The lidar of claim 1, wherein: the first worm (901) and the second worm (902) are symmetrically arranged about a symmetry center line of the worm wheel (903), the electric motor (904) drives the first worm (901) and the second worm (902) to rotate through a speed change mechanism, the speed change mechanism comprises a gearbox (906), the gearbox (906) comprises a first output shaft (907), two ends of the first output shaft (907) are respectively provided with a driving bevel gear (908), the first worm (901) and the second worm (902) are respectively provided with a driven bevel gear (909), each driven bevel gear (909) is meshed with the independent driving bevel gear (908), and the distance from the gearbox (906) to the first worm (901) is equal to the distance from the gearbox (906) to the second worm (902).

3. The lidar of claim 2, wherein: the utility model discloses a motor, including motor (904), gearbox (906), change and go back the case and still include second output shaft (910), second output shaft (910) are provided with driving pulley (911), driving pulley (911) with be provided with the V area between driven pulley (905), fixing base (7) with still set up the detection between roating seat (8) encoder (912) of roating seat (8) rotation angle.

4. The lidar of claim 3, wherein: worm wheel (903) with roating seat (8) formula structure as an organic whole, driven pulley (905) with roating seat (8) formula structure as an organic whole, and, driven pulley (905) are located the below of worm wheel (903), driven pulley (905) with the distance between worm wheel (903) is not less than the thickness of worm wheel (903).

5. The lidar of claim 4, wherein: the fixing seat (7) is provided with a supporting plate (77) for supporting the first worm (901) and the second worm (902), the supporting plate (77) is provided with a through hole, rolling bearings are arranged between the first worm (901) and the through hole and between the second worm (902) and the through hole, the supporting plate (77) is respectively positioned at two ends of the first worm (901) and the second worm (902), the fixing seat (7) is further provided with two vertical plates (78) for supporting the first output shaft (907), the vertical plates (78) are provided with two vertical plates (78), the two vertical plates (78) are respectively positioned at two sides of the gearbox (906), the distances from the two vertical plates (78) to the gearbox (906) are equal, the vertical plates (78) are respectively provided with a hole body, and the rolling bearings are arranged between the first output shaft (907) and the hole body.

6. The lidar according to any of claims 1 to 5, wherein: the rotary seat (8) is further provided with a receiving lens cone (71) for installing the receiving reflector (5), the fixed seat (7) is provided with an air purifier (72), the air purifier (72) supplies purified air to the receiving lens cone (71) through the rotary seat (8), in addition, the purified air is formed in the receiving lens cone (71) to prevent dust pollution, an air wall of the receiving reflector (5) is formed, the rotary seat (8) is further provided with a heat dissipation cavity (81), and the air purifier (72) simultaneously supplies purified air to the heat dissipation cavity (81) and the receiving lens cone (71).

7. The lidar of claim 6, wherein: be provided with first air current channel (82) in the lateral wall of receiving lens cone (71), the inside wall of receiving lens cone (71) is provided with and forms air wall's air current spouts ring (83), be provided with air current room (84) in air current spouts ring (83), air current room (84) with first air current channel (82) communicate with each other, air current spouts ring (83) including towards receive first spout hole group (85) of speculum (5) and with first spout hole group (85) towards opposite second spout hole group (86), first spout hole group (85), second spout hole group (86) all include the orifice, the orifice equipartition in air current spouts ring (83).

8. The lidar of claim 7, wherein: the airflow spray ring (83) protrudes out of the inner side wall of the receiving lens cone (71) towards the center direction of the receiving lens cone (71), the receiving lens cone (71) and the airflow spray ring (83) are of an integrated structure, and the width of one side, contacting with the receiving lens cone (71), of the airflow spray ring (83) is larger than that of one side, away from the receiving lens cone (71), of the airflow spray ring (83).

9. The lidar of claim 7, wherein: the rotary seat (8) is further provided with a second air flow channel (87) independent of the first air flow channel (82), the second air flow channel (87) is located at the lower end of the rotary seat (8), the air purifier (72) supplies purified air to the first air flow channel (82) and the second air flow channel (87) through an air distribution chamber (73), the rotary seat (8) is further provided with an equipment installation chamber (88), the equipment installation chamber (88) is not communicated with the first air flow channel (82), air in the second air flow channel (87) is discharged through a pipeline (89) after heat exchange is completed between the equipment installation chamber (88) and equipment in the equipment installation chamber (88), the pipeline (89) is communicated with the equipment installation chamber (88), and the equipment installation chamber (88) and the second air flow channel (87) are matched to form the heat dissipation cavity (81).

10. The lidar of claim 9, wherein: the rotary seat (8) comprises an inner wall (811) and an outer wall (812), a first air flow channel (82) is formed between the inner wall (811) and the outer wall (812), a partition plate (813) is arranged in the first air flow channel (82), the partition plate (813) is welded on the inner wall (811), and a second air flow channel (87) is formed between the partition plate (813) and the inner wall (811);

the air distribution chamber (73) is fixed to the fixed seat (7), the air purifier (72) is fixed to the fixed seat (7), the air distribution chamber (73) is annular, the air distribution chamber (73) comprises a first air chamber (731) and a second air chamber (732), the air purifier (72) supplies purified air to the first air chamber (731) and the second air chamber (732) through a three-way valve (733), the first air chamber (731) is not communicated with the second air chamber (732), the first air chamber (731) is communicated with the first air flow channel (82), the second air chamber (732) is communicated with the second air flow channel (87), sealing rings (74) are arranged between the air distribution chamber (73) and the rotary seat (8), at least three groups of the sealing rings (74) are provided, the three groups of the sealing rings (74) are provided with a first transition air chamber (75) and a second transition air chamber (76) which are independent from each other, the first air chamber (731) supplies purified air to the first air flow channel (82) through the first transition air chamber (75), and the second transition air chamber (76) supplies purified air to the second transition channel (87) through the first transition air chamber (732).