CN117662679A - Laser radar and manufacturing method thereof - Google Patents

Abstract

The embodiment of the application discloses laser radar and manufacturing method thereof, laser radar includes main part and damping structure, and the main part includes fixing base and installs optical system, scanning system on the fixing base, and damping structure includes a plurality of damping units, and each damping unit all connects the fixing base, and each damping unit is used for installing the fixing base in waiting the installed part, and the elastic center of damping structure coincides with the barycenter of main part. According to the embodiment of the application, the optical system and the scanning system are all installed on the same rigid body fixing seat, so that when the laser radar is excited, the shaking of the optical system and the scanning system can be synchronous, the relative displacement and the rotation angle of the optical system and the scanning system are reduced, the NVH problem caused by vibration is solved, the detection performance point cloud imaging quality and precision of the laser radar are further improved, meanwhile, the vibration of the main body in the six degrees of freedom directions is relieved, the relative displacement and the rotation angle of the optical system and the scanning system can be further reduced, and the NVH problem caused by vibration is solved.

Description

Laser radar and manufacturing method thereof

Technical Field

The application relates to the technical field of laser ranging, in particular to a laser radar and a manufacturing method thereof.

Background

The laser radar is a device which obtains information such as a target distance and the like by sending an emitted light signal to an external space target and then receiving an echo light signal of the target and analyzing and comparing the emitted light signal and the echo light signal, and has wide application due to the characteristics of real-time property, stability, richness and the like of data.

In the related art, the laser radar not only comprises an optical system but also comprises a scanning system, wherein the scanning system is used for expanding the detection view angle of the laser radar, however, in the related art, the scanning system can vibrate when a driving motor of the scanning system works in the use process, and can vibrate when being excited by external vibration, so that NVH (noise vibration and harshness) problem is easy to generate, and the detection performance of the laser radar is influenced.

Disclosure of Invention

The embodiment of the application provides a laser radar and a manufacturing method thereof, which are used for solving the problems that in the related art, a scanning system can vibrate when a driving motor works in the using process, and vibration is generated when the scanning system is excited by external vibration, so that NVH (noise vibration and harshness) problem is easy to generate, and the detection performance of the laser radar is influenced.

In a first aspect, embodiments of the present application provide a lidar, including:

the main body comprises an optical system, a scanning system and a fixing seat, wherein the optical system comprises a light emitting component and a light receiving component, the light emitting component is used for emitting an emitted light signal, the scanning system is positioned on a light emitting path of the emitted light signal and used for transmitting the emitted light signal to a shot object, and the scanning system is also positioned on a transmission path of an echo light signal returned by the shot object and used for transmitting the echo light signal to the light receiving component; the optical system and the scanning system are both arranged on the fixed seat;

the vibration reduction structure comprises a plurality of elastic vibration reduction units, each vibration reduction unit is connected with the fixed seat, each vibration reduction unit is used for installing the fixed seat on a piece to be installed, so that the main body is installed on the piece to be installed, and the elastic center of the vibration reduction structure coincides with the mass center of the main body.

In a second aspect, embodiments of the present application provide a method for manufacturing a lidar, including:

providing a main body, wherein the main body comprises an optical system, a scanning system and a fixing seat, the optical system comprises a light emitting component and a light receiving component, the light emitting component is used for emitting an emitted light signal, the scanning system is positioned on a light emitting path of the emitted light signal and used for transmitting the emitted light signal to a shot object, and the scanning system is also positioned on a transmission path of an echo light signal returned by the shot object and used for transmitting the echo light signal to the light receiving component; the optical system and the scanning system are both arranged on the fixed seat;

providing a vibration damping structure, wherein the vibration damping structure comprises a plurality of elastic vibration damping units;

and connecting each vibration reduction unit with the fixed seat, and enabling the elastic center of the vibration reduction structure to coincide with the mass center of the main body.

According to the laser radar and the manufacturing method thereof, the optical system and the scanning system are both arranged on the fixing base, and the fixing base is arranged on a piece to be installed through the vibration reduction structure. The optical system and the scanning system are arranged on the same rigid body fixing seat, so that when the laser radar is excited by the outside, the shaking of the optical system and the scanning system can be synchronous, the relative displacement and the rotation angle of the optical system and the scanning system are reduced, the NVH problem caused by vibration is solved, and the detection performance point cloud imaging quality and the detection performance point cloud imaging precision of the laser radar are further improved; meanwhile, in the embodiment of the application, the elastic center of the vibration reduction structure coincides with the mass center of the main body, so that the vibration of the main body in the six-degree-of-freedom direction can be relieved, the relative displacement and the rotation angle of the optical system and the scanning system can be further reduced, and the NVH problem caused by vibration is solved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic cross-sectional view of a laser radar according to a first embodiment of the present application in a plane perpendicular to a horizontal direction;

fig. 2 is a schematic structural view of a main body in a lidar according to a second embodiment of the present application;

FIG. 3 is a schematic cross-sectional view of a lidar according to a third embodiment of the present application in a plane parallel to the horizontal direction;

FIG. 4 is a schematic cross-sectional view of a lidar according to a fourth embodiment of the present application in a plane perpendicular to the horizontal direction;

FIG. 5 is a schematic perspective view of a main body and a vibration reduction structure in a lidar according to a fifth embodiment of the present application;

fig. 6 is a schematic top view of a lidar according to a sixth embodiment of the present application;

FIG. 7 is a schematic cross-sectional view of the lidar of FIG. 6 in a plane passing through the center of mass of the body and perpendicular to the horizontal;

FIG. 8 is a graph showing the change of the transmissibility beta with the frequency ratio lambda at different damping ratios xi;

FIG. 9 is a schematic view of a connection structure of a vibration damping unit, a main body and a locking member in a lidar according to a seventh embodiment of the present application;

FIG. 10 is a schematic view of a connection structure of a vibration damping unit, a main body, a locking member and a housing in a lidar according to an eighth embodiment of the present application;

FIG. 11 is a schematic illustration of a transmittance curve of a lidar of an embodiment of the present application in a direction of a certain degree of freedom;

FIG. 12 is a graphical illustration of input displacement excitation versus body displacement response of a lidar of an embodiment of the present application in a direction of a certain degree of freedom;

fig. 13 is a flowchart of a method of manufacturing a lidar according to an embodiment of the present application.

Reference numerals illustrate: 100. a laser radar; 110. a main body; 111. an optical system; 1111. a light emitting assembly; 1112. a light receiving assembly; 112. a scanning system; 1121. vibrating mirror; 1122. a turning mirror; 113. a fixing seat; 1131. a first mounting hole; 114. a first sidewall; 115. a second sidewall; 120. a vibration damping structure; 121. a vibration damping unit; 1211. a first vibration damping unit; 1212. a second vibration reduction unit; 1213. a third vibration reduction unit; 1214. a fourth vibration reduction unit; 1215. a damper; 1216. a vibration damping ring; 1217. a vibration damping end plate; 1218. a mounting plate; 1219. a locking member; 1210. a second mounting hole; 130. a housing; 140. a locking member; 150. a boss; a. a support center; b. an elastic center; c. a centroid; d. geometric center.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.

When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

Referring to fig. 1, the embodiment of the present application provides a laser radar 100, where the laser radar 100 includes a main body 110 and a vibration reduction structure 120 connected to the main body 110, so that the main body 110 can be mounted and fixed on a to-be-mounted member through the vibration reduction structure 120, which is favorable for attenuating transmission of vibration generated by the main body 110 to the to-be-mounted member, and attenuating transmission of vibration impact of the to-be-mounted member to the main body 110.

Specifically, referring to fig. 2, the main body 110 includes an optical system 111, a scanning system 112, and a fixing base 113, wherein the optical system 111 includes a light emitting component 1111 and a light receiving component 1112, the light emitting component 1111 is configured to emit a light signal to a subject, and the light receiving component 1112 is configured to receive an echo light signal returned through the subject. The scanning system 112 is located on the light emitting path of the emitted light signal, and is configured to emit the emitted light signal emitted by the light emitting component 1111 to multiple directions, and the scanning system 112 is also located on the transmission path of the echo light signal, and is configured to receive the echo light signal in multiple directions, so as to improve the detection view angle of the laser radar 100.

In this embodiment, the optical system 111 and the scanning system 112 are both mounted on the fixing base 113, and the fixing base 113 is mounted on the to-be-mounted member through the vibration reduction structure 120. That is, the optical system 111 and the scanning system 112 are both installed on the same rigid fixing base 113, so that when the laser radar 100 is excited by the outside, the shake of the optical system 111 and the scanning system 112 can be synchronous, the relative displacement and the rotation angle of the optical system 111 and the scanning system 112 are reduced, the NVH problem caused by vibration is solved, and the detection performance point cloud imaging quality and precision of the laser radar 100 are further improved.

It will be appreciated that referring to fig. 3, lidar 100 further includes a housing 130, and that optical system 111, scanning system 112, etc. may be located within housing 130.

In an exemplary embodiment, the fixing base 113 may be configured as a housing 130 of the laser radar 100, and the vibration reducing structure 120 is located outside the housing 130, and in this case, the to-be-mounted member may be an automobile or the like, and the vibration reducing structure 120 is used to mount the main body 110 on the automobile. Note that, in this exemplary embodiment, the main body 110 may correspond to a laser radar in the related art, and the main body 110 may include a circuit board or the like mounted in the housing 130 in addition to the optical system 111, the scanning system 112, and the housing 130. That is, the lidar 100 in this exemplary embodiment is different from the lidar in the related art in that the vibration reduction structure 120 is added to the outside of the housing 130 and can be mounted on the vehicle waiting mount through the vibration reduction structure 120.

In another exemplary embodiment, referring to fig. 4, the main body 110 may be located in the housing 130, and the vibration damping structure 120 may also be located in the housing 130, where the to-be-mounted member may be the housing 130, and the vibration damping structure 120 is used to mount the main body 110 on the housing 130. It should be noted that, in this exemplary embodiment, the main body 110 includes, in addition to the optical system 111, the scanning system 112, and the fixing base 113, if devices such as a circuit board are also mounted on the fixing base 113, the main body 110 further includes devices such as a circuit board mounted on the fixing base 113, which is not limited in this embodiment. Alternatively, in this exemplary embodiment, referring to fig. 5, the fixing base 113 may be in a plate shape, and the optical system 111 and the scanning system 112 may be installed on the same side of the fixing base 113; the fixing base 113 may be in a housing shape, and the optical system 111, the scanning system 112, and the like may be mounted inside the fixing base 113.

Optionally, the light emitting component 1111 in the optical system 111 includes a light emitter, a light emitting plate and a light emitting lens, the light emitter is used for emitting an emitted light signal, the light emitter is mounted on the light emitting plate, the light emitting lens is located on a transmission path of the emitted light signal emitted by the light emitter, and the light emitting plate and the light emitting lens are both mounted on the fixing base 113. Optionally, the optical receiving component 1112 in the optical system 111 includes an optical receiver, a receiving board and a receiving lens, the optical receiver is mounted on the receiving board, the receiving lens is located on a transmission path of the echo optical signal and is used for transmitting the echo optical signal to the optical receiver, and the receiving board and the receiving lens are both mounted on the fixing base 113. Optionally, the scanning system 112 includes a galvanometer 1121 and/or a turning mirror 1122, where the galvanometer 1121 is mounted on the fixed base 113, where the scanning system 112 includes a turning mirror 1122, where the turning mirror 1122 is mounted on the fixed base 113, and where the scanning system 112 includes a galvanometer 1121 and a turning mirror 1122, both the galvanometer 1121 and the turning mirror 1122 are mounted on the fixed base 113.

Referring to fig. 6 and 7, the vibration damping structure 120 includes a plurality of elastic vibration damping units 121, each vibration damping unit 121 is connected to the fixing base 113, and each vibration damping unit 121 is used for mounting the fixing base 113 on a to-be-mounted member, so as to mount the main body 110 on the to-be-mounted member. Wherein the elastic center b of the vibration damping structure 120 coincides with the centroid c of the main body 110.

The centroid c of the main body 110 refers to the center of mass of the main body 110, and is an imaginary point at which the mass of the main body 110 is concentrated. The elastic center b of the vibration damping structure 120 is determined by the rigidity and the geometric arrangement position of the vibration damping structure 120, and in theory, if the elastic center b of the vibration damping structure 120 coincides with the centroid c of the main body 110, the vibration of the main body 110 in the six degrees of freedom directions can be resolved, so that the relative displacement and the rotation angle of the optical system 111 and the scanning system 112 can be further reduced, and the NVH problem caused by the vibration is solved. The vibration solution of the main body 110 in the six degrees of freedom directions means that the free vibration of the main body 110 in any one degree of freedom direction is independent of the free vibration in the other degree of freedom direction.

The elastic center b of the vibration damping structure 120 coincides with the centroid c of the main body 110, so that the support center a of the vibration damping structure 120 and the centroid c of the main body 110 are located in the same horizontal plane, and the optimal design of the arrangement positions of each vibration damping unit 121 in the vibration damping structure 120 can be realized.

It should be noted that, whether the supporting center a of the shock absorber 1215 and the centroid c of the main body 110 are located in the same horizontal plane or not may be determined by a simulation method, and whether the elastic center b of the shock absorbing structure 120 and the centroid c of the main body 110 are coincident or not.

It is shown by researches that, in the direction of a single degree of freedom, the curves of the transfer rate beta with the frequency ratio lambda at different damping ratios ζ are shown in fig. 8, wherein the transfer rate beta is the ratio of the displacement response amplitude of the main body 110 to the input displacement excitation amplitude, the frequency ratio lambda is the ratio of the external excitation frequency to the system natural frequency, and as can be seen from fig. 8, when λ=1, the beta will greatly exceed 1, and resonance phenomenon occurs, so that when designing a product, the system natural frequency and the external excitation frequency should be avoided to be equal. While whenWhen the transmissibility beta<1, can reach the damping purpose, and along with λ's increase, transfer rate beta is smaller and smaller, and the damping effect is better and better, therefore, the lower limit of damping structure 120 in this application embodiment when the design can satisfy: in the directions of the degrees of freedom, the ratio lambda of the external excitation frequency to the natural frequency of the system is greater than +.>Of course, the ratio λ of the external excitation frequency to the natural frequency of the system is not too large, as can be seen from FIG. 8, when λ>After 3, the vibration reduction effect is improved and slowed down, so the upper limit of the vibration reduction structure 120 in the embodiment of the application in design can be satisfied: in the directions of the degrees of freedom, the ratio lambda of the external excitation frequency to the natural frequency of the system is less than or equal to 3. Specifically, the external excitation frequency is fixed with the system in each degree of freedomThe ratio lambda of the frequencies can be +.>1.5, 1.7, 2, 2.5, 3, etc., which are not limiting examples of the present application.

In the directions of the degrees of freedom, the ratio λ of the external excitation frequency to the natural frequency of the system may be equal, may be partially equal, may be completely unequal, and may be flexibly adjusted in combination with practical situations.

Alternatively, when the ratio λ of the external excitation frequency to the system natural frequency is not exactly equal in the directions of the respective degrees of freedom, it may be designed depending on the installation position of the lidar 100. For example, when the main body 110 is used for mounting on a member to be mounted along a first linear degree of freedom, the vibration reducing structure 120 may satisfy: the damping performance in the first linear degree of freedom direction is better than the damping performance in the other degrees of freedom directions. The method can be concretely represented as follows: in the first linear degree of freedom, the ratio of the external excitation frequency to the natural frequency of the system is λ1, while in the other degrees of freedom, the ratio of the external excitation frequency to the natural frequency of the system is λn, λ1>λn and

it should be noted that, in design, the damping ratio ζ of the vibration reduction structure 120 can be reasonably selected, as can be seen from fig. 8, whenWhen the damping ratio xi is increased, the vibration transmission rate beta is increased, and the vibration reduction effect is poor; the damping ratio ζ is smaller than the resonance area, so that a large vibration can be generated, and the design of the damping ratio ζ of the vibration damping structure 120 can achieve both the amplification factor at resonance and a satisfactory vibration damping effect.

The vibration damping unit 121 may damp vibration of the main body 110 in two or more degrees of freedom among the first, second, third, first, second, and third degrees of freedom. The first freedom of movement, the second freedom of movement and the third freedom of movement are perpendicular to each other, the first freedom of movement is looped around the direction of the first freedom of movement, the second freedom of movement is looped around the direction of the second freedom of movement, and the third freedom of movement is looped around the direction of the third freedom of movement. The first and second degrees of freedom of movement may be degrees of freedom in a horizontal plane.

Referring to fig. 9, each vibration damper 121 includes a vibration damper 1215, the vibration damper 1215 includes a vibration damper ring 1216 and two vibration damper end plates 1217, the vibration damper ring 1216 is connected to the fixed seat 113 of the main body 110, the two vibration damper end plates 1217 are located at opposite sides of the vibration damper ring 1216 along the axial direction of the vibration damper ring 1216, one end of each vibration damper end plate 1217 is connected to the vibration damper ring 1216, the other end extends away from the vibration damper ring 1216 and perpendicular to the axial direction of the vibration damper ring 1216, and one side of at least one vibration damper end plate 1217 facing away from the vibration damper ring 1216 can be used for pressing a piece to be mounted. The shock absorber 1215 can absorb shock of the main body 110 along the axial direction and the radial direction of the shock absorption ring 1216, has simple structural design and is suitable for the application of the laser radar 100 to equipment such as automobiles.

Specifically, when the housing 130 is configured as a fixed seat 113 and the vehicle is to be mounted, the side of the at least one damper end plate 1217 facing away from the damper ring 1216 can be used to press against the vehicle. While the side of the at least one damping end plate 1217 facing away from the damping ring 1216 may be used to press against the housing 130 when the body 110 is positioned within the housing 130 and the housing 130 is used as a mounting member.

In an exemplary scenario, in conjunction with fig. 9, shock absorber 1215 may be directly coupled to anchor 113. For example, the fixing base 113 is provided with a first mounting hole 1131, the vibration damping ring 1216 is located in the first mounting hole 1131, and two vibration damping end plates 1217 are located on two opposite sides of the first mounting hole 1131 respectively. Wherein, the vibration damper ring 1216 and the first mounting hole 1131 may be in interference fit connection.

In another exemplary embodiment, referring to fig. 10, each vibration damping unit 121 further includes a mounting plate 1218, and the vibration dampers 1215 are connected to the fixed base 113 through the mounting plate 1218. For example, a second mounting hole 1210 is formed in the mounting plate 1218, and a damper ring 1216 is positioned within the second mounting hole 1210 and two damper end plates 1217 are positioned on opposite sides of the second mounting hole 1210, respectively. Wherein the vibration damper ring 1216 and the second mounting hole 1210 may be an interference fit connection.

Alternatively, the damper 1215 may be made of any material having elasticity, for example, the damper 1215 may be made of rubber or the like, and the manufacturing cost is low. Alternatively, where the vibration reduction units 121 include vibration absorbers 1215 and a mounting plate 1218, the vibration absorbers 1215 in at least one vibration reduction unit 121 and the mounting plate 1218 may be of unitary construction. Alternatively, the damper 1215 may be made of an elastic material such as rubber, the mounting plate 1218 may be made of a rigid material such as metal, and the damper 1215 and the mounting plate 1218 may be integrally formed by a process such as bi-color injection molding, integral compression molding, or the like.

Optionally, as shown in fig. 9 and 10, the lidar 100 further includes locking members 140 equal to the number of the vibration reduction units 121, and the locking members 140 are used for connecting the vibration reduction units 121 with the members to be mounted in a one-to-one correspondence. Alternatively, where the damper unit 121 includes the damper 1215, the locking member 140 may be disposed through the damper ring 1216 and used to secure the damper unit 121 in connection with the member to be mounted. Wherein the locking member 140 may comprise a screw or the like, the end cap of which may abut against the side of the damper 1215 facing away from the member to be mounted, and the shank of which may be threadedly coupled with the member to be mounted.

Alternatively, since the supporting center a of the vibration damping structure 120 and the center of mass c of the main body 110 are in the same horizontal plane, and the vibration damping structure 120 is lighter and thinner than the main body 110, in order to facilitate connection between the vibration damping structure 120 and the member to be mounted, a boss 150 may be further designed between each vibration damping unit 121 of the vibration damping structure 120 and the member to be mounted, and the boss 150 is fixed on the member to be mounted. Specifically, when the body 110 is positioned in the housing 130 and the housing 130 is used as a to-be-mounted member, the boss 150 may be positioned in the housing 130 and coupled to the housing 130. In the case where the housing 130 is configured as the fixing base 113 and the automobile is used as the mounting member, the boss 150 may be located outside the housing 130 and connected to the automobile.

The number of the vibration damping units 121 included in the vibration damping structure 120 may be arbitrary; alternatively, the vibration damping structure 120 includes three or more vibration damping units 121, for example, the vibration damping structure 120 may include three, four, five, or the like vibration damping units 121. Since when the external excitation frequency is high, if the number of the vibration damping units 121 is high, when the member to be mounted is deformed, a portion of the vibration damping units 121 may be dislocated, so that the main body 110 or the vibration damping units 121 may be damaged due to an excessive stress, the vibration damping structure 120 preferably includes three or four vibration damping units 121. Wherein, the compliance of the three vibration reduction units 121 and the main body 110 is better, because three points determine a plane, the three points are not easily influenced by deformation of a to-be-installed piece, and the natural frequency of the system is low, and the anti-torsional vibration effect is good; the four damper units 121 have good stability and can overcome a large torque reaction force, so that three damper units 121 or four damper units 121 can be selectively designed according to specific situations during actual manufacturing.

The vibration damping structure 120 will be described in detail below by taking the example that the vibration damping structure 120 includes four vibration damping units 121:

referring to fig. 6 again, the peripheral side wall of the main body 110 includes a plurality of side walls perpendicular to a horizontal plane, which are sequentially connected to form, specifically, the peripheral side wall includes a first side wall 114 and a second side wall 115 which are opposite and parallel, the four vibration damping units 121 of the vibration damping structure 120 may be respectively denoted as a first vibration damping unit 1211, a second vibration damping unit 1212, a third vibration damping unit 1213 and a fourth vibration damping unit 1214, the first vibration damping unit 1211 and the second vibration damping unit 1212 are connected to the first side wall 114 of the main body 110, the third vibration damping unit 1213 and the fourth vibration damping unit 1214 are connected to the second side wall 115 of the main body 110, and the first vibration damping unit 1211 and the second vibration damping unit 1212, the third vibration damping unit 1213 and the fourth vibration damping unit 1214 are symmetrical about a first plane, and the second vibration damping unit 1211 and the third vibration damping unit 1213 are symmetrical about a second plane. Wherein the first plane is a vertical plane passing through the centroid c of the body 110 and perpendicular to the first sidewall 114, and the second plane is a vertical plane passing through the geometric center d of the body 110 and parallel to the first sidewall 114. By reasonably designing the arrangement positions of the four vibration reduction units 121 and the main body 110, the design difficulty of decoupling design in each degree of freedom direction is facilitated to be simplified.

Optionally, the support centers of the first vibration damping unit 1211, the second vibration damping unit 1212, the third vibration damping unit 1213 and the fourth vibration damping unit 1214 are all located in the same horizontal plane as the centroid c of the main body 110, thereby realizing that the support center a of the vibration damping structure 120 is located in the same horizontal plane as the centroid c of the main body 110.

Alternatively, the circumferential side wall of the main body 110 includes four side walls, and each two adjacent side walls are perpendicular to each other. Note that, the centroid c of the main body 110 may or may not coincide with the geometric center d of the main body 110.

Optionally, in the same degree of freedom direction, the ratio of the stiffness of the first vibration damping unit 1211 to the stiffness of the third vibration damping unit 1213 is a first ratio, the ratio of the stiffness of the second vibration damping unit 1212 to the stiffness of the fourth vibration damping unit 1214 is a second ratio, and the first ratio is equal to the second ratio. For example, if the stiffness of the first damper unit 1211 is p1, the stiffness of the third damper unit 1213 is p3, the stiffness of the second damper unit 1212 is p2, and the stiffness of the fourth damper unit 1214 is p4 in the first linear degree of freedom, the ratio p1/p3 of the stiffness p1 of the first damper unit 1211 to the stiffness p3 of the third damper unit 1213 is equal to the ratio p2/p4 of the stiffness p2 of the second damper unit 1212 to the stiffness p4 of the fourth damper unit 1214 in the first linear degree of freedom. For another example, in the second linear degree of freedom direction, the stiffness of the first damping unit 1211 is q1, the stiffness of the third damping unit 1213 is q3, in the second linear degree of freedom direction, the stiffness of the second damping unit 1212 is q2, and the stiffness of the fourth damping unit 1214 is q4, and then in the second linear degree of freedom direction, the ratio q1/q3 of the stiffness q1 of the first damping unit 1211 to the stiffness q3 of the third damping unit 1213 is equal to the ratio q2/q4 of the stiffness q2 of the second damping unit 1212 to the stiffness q4 of the fourth damping unit 1214.

Alternatively, in the same degree of freedom direction, the stiffness of the first vibration damping unit 1211 is equal to the stiffness of the second vibration damping unit 1212, and the stiffness of the third vibration damping unit 1213 is equal to the stiffness of the fourth vibration damping unit 1214, so as to realize vibration resolution of the main body 110 in six degrees of freedom directions. For example, in the first linear degree of freedom direction, the stiffness p1 of the first vibration damping unit 1211 is equal to the stiffness p3 of the third vibration damping unit 1213, and the stiffness p2 of the second vibration damping unit 1212 is equal to the stiffness p4 of the fourth vibration damping unit 1214. For another example, in the second linear degree of freedom direction, the stiffness q1 of the first damping unit 1211 is equal to the stiffness q3 of the third damping unit 1213, and the stiffness q2 of the second damping unit 1212 is equal to the stiffness q4 of the fourth damping unit 1214.

The stiffness of the vibration damping unit 121 affects the natural frequency of the system, the stiffness of the first vibration damping unit 1211 is designed to be equal to the stiffness of the second vibration damping unit 1212 in each degree of freedom direction, and the stiffness of the third vibration damping unit 1213 is designed to be equal to the stiffness of the fourth vibration damping unit 1214, which is beneficial to simplifying the design difficulty of the vibration damping structure 120 and reducing the design cost.

Alternatively, the individual damper units 121 within the damper structure 120 may be substantially identical. For example, the structure, the manufacturing material, etc. of each vibration damping unit 121 within the vibration damping structure 120 may be the same.

The laser radar 100 of the embodiment of the application dampens vibration of the main body 110 including the optical system 111 and the scanning system 112, and does not affect internal references between optical devices due to the introduction of vibration isolation links. In addition, the arrangement position and rigidity of each vibration reduction unit 121 are designed according to the mass center position, mass and inertia parameters of the vibration-isolated main body 110, so that the excitation generated by the moving parts in the laser radar 100 can be well attenuated, and excessive relative displacement caused by the introduction of the vibration reduction structure 120 can be avoided.

Referring to fig. 11 and fig. 12, fig. 11 shows a schematic diagram of a transmittance curve of the lidar 100 in a certain degree of freedom direction according to the embodiment of the present application, and it can be seen with reference to fig. 11 that the natural frequency of the system is approximately 133Hz, and a significant attenuation effect can be achieved for external input excitation above 200 Hz. Fig. 12 is a schematic diagram showing a graph of input displacement excitation and displacement response of the main body 110 of the lidar 100 in a certain degree of freedom, and it can be seen in conjunction with fig. 12 that the relative displacement between the displacement response of the main body 110 and the input displacement excitation of the lidar 100 in the embodiment of the application is kept about 0.3mm, and the external parameters of the lidar 100 are less affected.

Referring to fig. 13, the embodiment of the present application further provides a method for manufacturing the laser radar 100, wherein the laser radar 100 may be the laser radar 100 described above, and further description is omitted herein. The manufacturing method of the lidar 100 includes:

step S02, providing a main body 110, where the main body 110 includes an optical system 111, a scanning system 112 and a fixing base 113, the optical system 111 includes a light emitting component 1111 and a light receiving component 1112, the light emitting component 1111 is used for emitting an emitted light signal, the scanning system 112 is located on an outgoing path of the emitted light signal and is used for transmitting the emitted light signal to a subject, and the scanning system 112 is also located on a transmission path of an echo light signal returned by the subject and is used for transmitting the echo light signal to the light receiving component 1112; the optical system 111 and the scanning system 112 are both mounted on the fixing base 113.

In step S04, a vibration damping structure 120 is provided, where the vibration damping structure 120 includes a plurality of elastic vibration damping units 121.

In step S06, each vibration damping unit 121 is connected to the fixing base 113, and the elastic center b of the vibration damping structure 120 coincides with the centroid c of the main body 110.

The execution sequence of step S02 and step S04 may be that step S02 is executed first and then step S04 is executed, step S04 is executed first and then step S02 is executed, or step S02 and step S04 are executed synchronously.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the claims herein, as the equivalent of the claims herein shall be construed to fall within the scope of the claims herein.

Claims (11)

1. A lidar, comprising:

the main body comprises an optical system, a scanning system and a fixing seat, wherein the optical system comprises a light emitting component and a light receiving component, the light emitting component is used for emitting an emitted light signal, the scanning system is positioned on a light emitting path of the emitted light signal and used for transmitting the emitted light signal to a shot object, and the scanning system is also positioned on a transmission path of an echo light signal returned by the shot object and used for transmitting the echo light signal to the light receiving component; the optical system and the scanning system are both arranged on the fixed seat;

the vibration reduction structure comprises a plurality of elastic vibration reduction units, each vibration reduction unit is connected with the fixed seat, each vibration reduction unit is used for installing the fixed seat on a piece to be installed, so that the main body is installed on the piece to be installed, and the elastic center of the vibration reduction structure coincides with the mass center of the main body.

2. The lidar of claim 1, wherein the vibration reduction structure is configured to reduce vibration of the body in at least two degrees of freedom.

3. The lidar of claim 2, wherein the vibration reduction unit comprises a vibration absorber, the vibration absorber comprising:

a vibration damping ring connected to the main body;

the two vibration reduction end plates are respectively located on two opposite sides of the vibration reduction ring along the axial direction of the vibration reduction ring, one end of each vibration reduction end plate is connected with the vibration reduction ring, the other end of each vibration reduction end plate extends towards the direction away from the vibration reduction ring and perpendicular to the axial direction of the vibration reduction ring, and at least one side, away from the vibration reduction ring, of each vibration reduction end plate is used for propping against the to-be-installed piece.

4. A lidar according to claim 3, wherein the fixing base is provided with a first mounting hole, the vibration-damping ring is located in the first mounting hole, and the two vibration-damping end plates are located on two opposite sides of the first mounting hole respectively.

5. A lidar according to claim 3, wherein the vibration reduction unit further comprises a mounting plate, the mounting plate is connected to the fixing base, a second mounting hole is formed in the mounting plate, the vibration reduction ring is located in the second mounting hole, and the two vibration reduction end plates are located on two opposite sides of the second mounting hole respectively.

6. The lidar of claim 5, wherein the mounting plate in at least one of the vibration reduction units is of unitary construction with the vibration reducer.

7. The lidar according to claim 3, further comprising:

the locking pieces are arranged in one-to-one correspondence with the vibration reduction units, and each locking piece penetrates through the vibration reduction ring of the vibration reduction unit and is used for connecting the vibration reduction unit with the to-be-installed piece.

8. The lidar of claim 2, wherein the body is configured to be mounted to the member to be mounted along a first linear degree of freedom, and wherein the vibration reduction structure satisfies: the damping performance in the direction of the first linear degree of freedom is better than the damping performance in the directions of the other degrees of freedom.

9. The lidar of claim 1, wherein the peripheral side wall of the body comprises a first side wall and a second side wall perpendicular to a horizontal plane, the first side wall and the second side wall being disposed opposite and parallel to each other,

the vibration reduction structure comprises four vibration reduction units, namely a first vibration reduction unit, a second vibration reduction unit, a third vibration reduction unit and a fourth vibration reduction unit, wherein the first vibration reduction unit and the second vibration reduction unit are connected with the first side wall, the third vibration reduction unit and the fourth vibration reduction unit are connected with the second side wall,

the first vibration reduction units and the second vibration reduction units, the third vibration reduction units and the fourth vibration reduction units are symmetrical about a first plane, the first vibration reduction units and the third vibration reduction units, the second vibration reduction units and the fourth vibration reduction units are symmetrical about a second plane, the first plane is a vertical plane passing through the mass center of the main body and perpendicular to the first side wall, and the second plane is a vertical plane passing through the geometric center of the main body and parallel to the first side wall.

10. The lidar of claim 9, wherein a ratio of the stiffness of the first damping unit to the stiffness of the third damping unit in the same degree of freedom is a first ratio, and a ratio of the stiffness of the second damping unit to the stiffness of the fourth damping unit is a second ratio, the first ratio being equal to the second ratio.

11. A method of manufacturing a lidar, comprising:

providing a main body, wherein the main body comprises an optical system, a scanning system and a fixing seat, the optical system comprises a light emitting component and a light receiving component, the light emitting component is used for emitting an emitted light signal, the scanning system is positioned on a light emitting path of the emitted light signal and used for transmitting the emitted light signal to a shot object, and the scanning system is also positioned on a transmission path of an echo light signal returned by the shot object and used for transmitting the echo light signal to the light receiving component; the optical system and the scanning system are both arranged on the fixed seat;

providing a vibration damping structure, wherein the vibration damping structure comprises a plurality of elastic vibration damping units;

and connecting each vibration reduction unit with the fixed seat, and enabling the elastic center of the vibration reduction structure to coincide with the mass center of the main body.