CN108572359B - Receiving system for laser radar - Google Patents
Receiving system for laser radar Download PDFInfo
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- CN108572359B CN108572359B CN201810583871.9A CN201810583871A CN108572359B CN 108572359 B CN108572359 B CN 108572359B CN 201810583871 A CN201810583871 A CN 201810583871A CN 108572359 B CN108572359 B CN 108572359B
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- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a receiving system for a laser radar, which comprises a receiving lens group, a reflecting mirror group and a receiving device; the receiving lens group is used for converging the reflected light of the target object; the reflecting mirror group is used for changing the path of the light beam to make the reflected light incident on the receiving device; the receiving device comprises a light filter, a receiving device, a receiving circuit support and a plurality of receiving circuit boards, wherein the receiving device and the receiving circuit boards are arranged on the receiving circuit support, and the light filter is arranged on one side of the receiving device, facing the reflecting mirror group, and is used for filtering stray light. The optical filter of the receiving device is arranged on one side of the receiving device facing the reflecting mirror group, so that stray light can be filtered, and the APD array detector of the receiving device is also covered with the metal protective shell, so that the receiving device can be protected, and foreign matters such as dust can be prevented from entering the damaged device.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a receiving system for a laser radar.
Background
As an important ring of intelligent vehicle environment sensing hardware systems, laser radar (LIDAR) plays important roles of road edge detection, obstacle recognition, real-time positioning and mapping (SLAM) and the like in automatic driving. The LIDAR system includes a laser transmitter system and a receiver system. The laser emission system generates and emits pulses of light that impinge on the object and are reflected back to be received by the receiver. The receiver accurately measures the propagation time of the light pulse from the emission to the reflection back. Because the light pulse propagates at the speed of light, the receiver always receives the previous reflected pulse before the next pulse is sent out. In view of the fact that the speed of light is known, the travel time can be converted into a measure of distance. The laser radar can accurately measure the position (distance and angle), motion state (speed, vibration and gesture) and shape of a target, and detect, identify, distinguish and track the target. The laser radar is widely applied to intelligent vehicles due to the advantages of high measurement speed, high precision, long distance measurement and the like.
Early laser imaging systems used single point laser beams and detectors corresponding to the single point laser beams, with scanning detection. With the gradual appearance of the array APD detector and the development of the optical fiber focal plane array receiving technology, the detection mode of the laser imaging system is changed, and the modes of area array active detection, linear array push-broom detection and the like are presented.
The weight of the currently applied vehicle-mounted laser radar device is heavier, the distribution is more symmetrical, and the space distribution of a transmitting cabin and a receiving cabin can be unreasonable due to the symmetrical distribution of cabin positions, so that the miniaturization of the laser radar is not facilitated. Moreover, the detector of the receiving system is not fully considered with the protection measures, and is easily influenced by the stray light, dust and other foreign matters, so that the service life of the detector is shortened. In addition, the weight of each device in the receiving bin is also heavy, increasing the weight and volume of the system, making it difficult to achieve low cost and miniaturization of the apparatus.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a receiving system for a laser radar, which comprises a receiving lens group, a reflecting mirror group and a receiving device;
the receiving lens group is used for converging the reflected light of the target object;
the reflecting mirror group is used for changing the path of the light beam to make the reflected light incident on the receiving device;
the receiving device comprises an optical filter, a receiving device, a receiving circuit support and a plurality of receiving circuit boards, wherein the receiving device and the receiving circuit boards are arranged on the receiving circuit support, and the optical filter is used for filtering stray light.
The receiving device comprises a substrate and at least one APD array detector, wherein the substrate is fixed on the receiving circuit bracket, and the APD array detector is arranged on one side surface of the substrate.
The receiving device further comprises a protective shell, wherein the protective shell is covered on the APD array detector and is mounted on the substrate.
The receiving device comprises a plurality of APD array detectors which are arranged as APD linear array detectors or APD area array detectors.
Further, the optical filter is arranged on one side, facing the reflector group, of the receiving device, and the optical filter is mounted on one side, far away from the APD array detector, of the protective shell in a fitting mode.
Further, the APD linear array detector consists of n avalanche photodiodes, and converts optical signals into electric signals by utilizing the avalanche effect of the photodiodes, wherein n is more than or equal to 2;
the APD area array detector consists of N array avalanche photodiodes, and converts optical signals into electric signals by utilizing the avalanche effect of the photodiodes, wherein M is more than or equal to 2, and N is more than or equal to 2.
Preferably, the material of the protective housing is metal.
Further, the receiving device further comprises a flexible electric connecting piece, and two adjacent receiving circuit boards are connected through the flexible electric connecting piece.
Further, the receiving circuit support comprises a bottom plate and a side plate, the bottom plate is connected with the side plate, the side plate is provided with a first side face and a second side face, a plurality of receiving circuit boards are sequentially installed on the first side face at intervals, and the receiving device is installed on the second side face.
Further, the first side surface is provided with a first groove, a first through hole is arranged in the first groove, the first through hole penetrates through the bottom surface and the second side surface of the first groove,
the first groove is used for reducing the weight of the bracket, simultaneously facilitating the assembly of the circuit board, and fully avoiding the assembly space of the circuit board chip and other elements;
the first through hole is used for reducing the weight of the bracket, is convenient for the assembly of the substrate, and avoids the assembly space of the substrate chip and other elements.
Further, the receiving device further comprises a first screw, a nut and a gasket, wherein the gasket is sleeved on the first screw, and the first screw is connected with the nut in a matched mode.
Further, the corners of the base plate, the side plates and the receiving circuit board are correspondingly provided with assembly holes;
the first screw sequentially penetrates through the base plate, the side plate and the receiving circuit board and is connected with the nut in a matched mode.
Further, the receiving circuit board comprises a first circuit board, a second circuit board and a third circuit board.
Further, the first circuit board and the second circuit board are separated by the gasket; the second circuit board is separated from the third circuit board by the gasket.
Further, the spacing between the plurality of receiving circuit boards can be adjusted by the thickness of the gasket.
Preferably, the gasket is made of an insulator material.
Further, the side plate is vertically connected with the bottom plate, and the distance between the projection of the second side surface on the bottom plate and the edge, away from the second side surface, of the bottom plate is equal to the thickness of the substrate.
Preferably, the second side surface is further provided with a positioning plate along the height direction of the side plate, and the positioning plate is used for rapidly positioning the mounting position of the substrate.
Further, a convex plate extends from one end of the bottom plate away from the first side surface, and a plurality of mounting holes for fixing the receiving circuit bracket are formed in the convex plate;
the bottom plate is kept away from the one end of second curb plate still extends has the assembly ear, the assembly ear has been seted up and is used for fixing the mounting hole of receiving circuit support.
Further, the receiving device further comprises a plurality of second screws, and the second screws penetrate through the mounting holes to fix the receiving circuit bracket on the rotor of the laser radar.
Preferably, the receiving circuit bracket is an integrally formed structure.
Preferably, the material of the receiving circuit bracket is any one or a combination of a plurality of copper, molybdenum and aluminum.
Further, the reflector group comprises a first reflector and a second reflector, and the first reflector and the second reflector are oppositely arranged.
Furthermore, the target object collected by the receiving lens group reflects light, and the requirement of receiving the field angle of the APD array detector needs to be met.
Further, the bottom plates are provided with chamfers. Preferably, the chamfer is a straight-edge chamfer, an arc chamfer or a right-angle chamfer.
By adopting the technical scheme, the receiving system for the laser radar has the following advantages that
The beneficial effects are that:
1) According to the laser radar receiving system, the laser reflected by the target object is converged through the lens group, and the converged laser is incident to the receiving device through the reflector group for processing, so that the reconstruction of the target three-dimensional image is realized.
2) The optical filter of the receiving device is arranged on one side of the receiving device facing the reflecting mirror group, so that stray light can be filtered, and the APD array detector of the receiving device is also covered with the metal protective shell, so that the receiving device can be protected, and foreign matters such as dust can be prevented from entering the damaged device.
3) The receiving circuit boards and the receiving devices of the receiving device and the receiving circuit boards are connected by adopting the flexible electric connecting pieces, so that the receiving device can adapt to fluctuation in the laser radar adjustment process and is convenient to assemble; the spacing between a plurality of receiving circuit boards of the laser receiving device can be adjusted through the thickness of the gasket, so that the laser receiving device can flexibly adapt to the space required by circuit board components.
4) The side plate of the laser radar is provided with a positioning plate for rapidly positioning the mounting position of the substrate.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a lidar receiving system of the present invention;
FIG. 2 is a schematic diagram of another view angle of the lidar receiving system of the present invention;
FIG. 3 is a schematic diagram of a receiving device of the lidar receiving system of the present invention;
fig. 4 is a front view of the receiving device of the present invention;
fig. 5 is a left side view of the receiving device of the present invention;
FIG. 6 is a schematic diagram of a receiver circuit holder of the present invention;
FIG. 7 is another schematic view of a receiving circuit holder according to the present invention;
fig. 8 is a schematic perspective view of a lens assembly of the inventive ratchet system.
The following supplementary explanation is given to the accompanying drawings:
1-a receiving lens group; 11-a first lens; 12-a second lens; 13-a third lens; 14-a lens barrel; 2-a mirror group; 21-a first mirror; 22-a second mirror; 3-receiving means; 31-an optical filter; 32-receiving means; 321-a substrate; 323 protective shell; 33-a receiving circuit holder; 331-a bottom plate; 3311—a convex plate; 3312-fitting ears; 3313-mounting holes; 332-side plates; 3321—a first side; 3322—second side; 3323—a first groove; 3324—first through hole; 3325-locating plate; 3326—fitting hole; 34-a receiving circuit board; 341-a first circuit board; 342-a second circuit board; 343-a third circuit board; 35-a first screw; 36-nut; 37-washers; 38-second screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may include one or more of the feature, either explicitly or implicitly. Moreover, the terms "first," "second," and the like, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
Example 1:
as shown in fig. 1 and 2, a receiving system for a laser radar includes a receiving lens group 1, a mirror group 2, and a receiving device 3;
a receiving lens group 1 for converging the reflected light of the target object; a mirror group 2 for changing the path of the light beam to make the reflected light incident on the receiving device 3; the receiving device 3 comprises a light filter 31, a receiving device 32, a receiving circuit bracket 33 and a plurality of receiving circuit boards 34, wherein the receiving device 32 and the receiving circuit boards 34 are arranged on the receiving circuit bracket 33, and the light filter 31 is arranged on one side of the receiving device 32 facing the reflector group 2 and is used for filtering stray light; the receiving device 32 is configured to acquire distance information, and convert a received optical signal into an electrical signal; the receiving circuit board 34 is used for processing the distance information acquired by the receiving device 32.
As shown in fig. 3 to 5, the receiving device 32 includes a substrate 321, an APD array detector (not shown in the drawings) and a protective case 323, the substrate 321 is fixed on the receiving circuit support 33, the APD array detector is disposed on one side of the substrate 321, the protective case 323 is covered on the APD array detector, and the protective case 323 is mounted on the substrate 321.
As shown in fig. 3 to 5, the optical filter 31 is mounted on a side of the protective housing 323 away from the APD array detector.
The APD array detector is an APD area array detector and consists of N-distributed area array avalanche photodiodes, and the avalanche effect of the photodiodes is utilized to convert optical signals into electric signals, wherein M is more than or equal to 2, and N is more than or equal to 2. Such as 4 x 4,4 x 8,8 x 8, etc., in particular, the NXN arrangement depends on the laser arrangement of the lidar.
The material of the protective shell 323 is metal.
The receiving device 3 further comprises a flexible electrical connector, through which two adjacent receiving circuit boards 34 are connected.
As shown in fig. 3, 6 and 7, the receiving circuit support 33 includes a bottom plate 331 and a side plate 332, the bottom plate 331 is connected to the side plate 332, the side plate 332 has a first side surface 3321 and a second side surface 3322, a plurality of receiving circuit boards 34 are sequentially mounted on the first side surface 3321 at intervals, and the receiving device 32 is mounted on the second side surface 3322.
As shown in fig. 6 and 7, the first side surface 3321 is provided with a first groove 3323, a first through hole 3324 is formed in the first groove 3323, the first through hole 3324 penetrates through the bottom surface of the first groove 3323 and the second side surface 3322,
the first groove 3323 is used for reducing the weight of the bracket and simultaneously facilitating the assembly 7 of the receiving circuit board 34, and fully avoiding the assembly space of the circuit board chip and other elements;
the first through hole 3324 is used for reducing the weight of the bracket, and is convenient for assembling the substrate 321, and avoiding the assembling space of the original elements such as the substrate 321 chip.
As shown in fig. 3, the receiving device 3 further includes a first screw 35, a nut 36, and a washer 37, where the washer 37 is sleeved on the first screw 35, and the first screw 35 is connected with the nut 36 in a matching manner.
As shown in fig. 3, 6 and 7, the corners of the base 321, the side plates 332 and the receiving circuit board 34 are correspondingly provided with assembly holes 3326,
the first screw 35 passes through the base plate 321, the side plate 332, and the receiving circuit board 34 in order and is coupled to the nut 36 in a mating manner.
As shown in fig. 3, the receiving circuit board 34 includes a first circuit board 341, a second circuit board 342, and a third circuit board 343.
The first circuit board 341 and the second circuit board 342 are separated by the gasket 37; the second circuit board 342 is separated from the third circuit board 343 by the gasket 37.
The spacing between the plurality of the receiving circuit boards 34 can be adjusted by the thickness of the washers 37.
The gasket 37 is made of an insulator material.
As shown in fig. 6 and 7, the side plate 332 is vertically connected to the bottom plate 331, and a distance between a projection of the second side surface 3322 on the bottom plate 331 and a plate edge of the bottom plate 331 away from the second side surface 3322 is equal to the thickness of the base plate 321.
As shown in fig. 7, the second side surface 3322 is further provided with a positioning plate 3325 along the height direction of the side plate 332 for rapidly positioning the mounting position of the base plate 321.
As shown in fig. 6, a convex plate 3311 extends from an end of the bottom plate 331 away from the first side surface 3321, and the convex plate 3311 is provided with a plurality of mounting holes 3313 for fixing the receiving circuit bracket 33;
as shown in fig. 7, an end of the bottom plate 331 away from the second side surface 3322 further extends to form a mounting lug 3312, and the mounting lug 3312 is provided with a mounting hole 3313 for fixing the receiving circuit bracket 33.
As shown in fig. 3, the receiving device 3 further includes a plurality of second screws 38, and the second screws 838 pass through the mounting holes 3313 to fix the receiving circuit bracket 33 to the rotor of the lidar.
The receiving circuit support 33 is an integrally formed structure.
The material of the receiving circuit support 33 is any one or a combination of copper, molybdenum and aluminum. As shown in fig. 1, the mirror group 2 includes a first mirror 21 and a second mirror 22, and the first mirror 21 and the second mirror 22 are disposed opposite to each other.
The target object collected by the receiving lens group 1 reflects light, and the requirement of receiving the field angle of the APD array detector needs to be met.
As shown in fig. 8, the receiving lens group 1 includes:
a first lens 11 having a first surface and a second surface, the first surface being a convex surface facing the target object, the second surface being an aspherical surface;
a second lens 12 having a third surface with a first concave portion and a fourth surface with a second concave portion;
a third lens 13 having a fifth surface and a sixth surface, the fifth surface being an aspherical surface, the sixth surface being a convex surface away from the object;
the first lens 11, the second lens 12, and the receiving third lens 13 are arranged in order in the optical axis direction;
a lens barrel 14 for fixing the first lens 11, the second lens 12, and the third lens 13. The bottom plates 331 are provided with chamfers.
The chamfer is a straight-edge chamfer, an arc chamfer or a right-angle chamfer.
APD (AvalanchePhotoDiode) array detector, avalanche photodiode detector, is integrated with multiple independent APD cell detectors, and has compact structure, small volume and light weight. The APD array detector is an APD unit detector, so that scanning-free laser detection can be realized, and single pulse can be used for three-dimensional imaging; the APD array detector can directly acquire three-dimensional information, the imaging speed is higher, and the system structure is simple. The detection system carries out multipath parallel processing on the laser echo signals received by each unit of the array detector, thereby realizing linear array imaging.
Example 2:
as shown in fig. 1 and 2, a receiving system for a laser radar includes a receiving lens group 1, a mirror group 2, and a receiving device 3;
a receiving lens group 1 for converging the reflected light of the target object;
a mirror group 2 for changing the path of the light beam to make the reflected light incident on the receiving device 3;
the receiving device 3 comprises a light filter 31, a receiving device 32, a receiving circuit bracket 33 and a plurality of receiving circuit boards 34, wherein the receiving device 32 and the receiving circuit boards 34 are arranged on the receiving circuit bracket 33, and the light filter 31 is arranged on one side of the receiving device 32 facing the reflector group 2 and is used for filtering stray light; the receiving device 32 is configured to acquire distance information, and convert a received optical signal into an electrical signal; the receiving circuit board 34 is used for processing the distance information acquired by the receiving device 32.
As shown in fig. 3 to 5, the receiving device 32 includes a substrate 321, an APD array detector and a protective case 323, the substrate 321 is fixed on the receiving circuit support 33, the APD array detector is disposed on a side surface of the substrate 321, the protective case 323 is covered on the APD array detector, and the protective case 323 is mounted on the substrate 321.
As shown in fig. 3 to 5, the optical filter 31 is mounted on a side of the protective housing 323 away from the APD array detector.
The APD array detector is an APD linear array detector and consists of n avalanche photodiodes, and the avalanche effect of the photodiodes is utilized to convert optical signals into electric signals, wherein n is more than or equal to 1. Such as 1,4,16,32, in particular, said n depends on the laser arrangement of the lidar.
The material of the protective shell 323 is metal.
The receiving device 3 further comprises a flexible electrical connector, through which two adjacent receiving circuit boards 34 are connected.
As shown in fig. 3, 6 and 7, the receiving circuit support 33 includes a bottom plate 331 and a side plate 332, the bottom plate 331 is connected to the side plate 332, the side plate 332 has a first side surface 3321 and a second side surface 3322, a plurality of receiving circuit boards 34 are sequentially mounted on the first side surface 3321 at intervals, and the receiving device 32 is mounted on the second side surface 3322.
As shown in fig. 6 and 7, the first side surface 3321 is provided with a first groove 3323, a first through hole 3324 is formed in the first groove 3323, the first through hole 3324 penetrates through the bottom surface of the first groove 3323 and the second side surface 3322,
the first groove 3323 is used for reducing the weight of the bracket and simultaneously facilitating the assembly of the receiving circuit board 34, and fully avoiding the assembly space of the circuit board chip and other elements;
the first through hole 3324 is used for reducing the weight of the bracket, and is convenient for assembling the substrate 321, and avoiding the assembling space of the original elements such as the substrate 321 chip.
As shown in fig. 3, the receiving device 3 further includes a first screw 35, a nut 36, and a washer 37, where the washer 37 is sleeved on the first screw 35, and the first screw 35 is connected with the nut 36 in a matching manner.
As shown in fig. 3, 4 and 6, the corners of the base 321, the side plates 332 and the receiving circuit board 34 are correspondingly provided with assembly holes 3326,
the first screw 35 passes through the base plate 321, the side plate 332, and the receiving circuit board 34 in order and is coupled to the nut 36 in a mating manner.
The receiving circuit board 34 includes a first circuit board 341, a second circuit board 342, and a third circuit board 343.
The first circuit board 341 and the second circuit board 342 are separated by the gasket 37; the second circuit board 342 is separated from the third circuit board 343 by the gasket 37.
The spacing between the plurality of the receiving circuit boards 34 can be adjusted by the thickness of the washers 37.
The gasket 37 is made of an insulator material.
As shown in fig. 6 and 7, the side plate 332 is vertically connected to the bottom plate 331, and a distance between a projection of the second side surface 3322 on the bottom plate 331 and a plate edge of the bottom plate 331 away from the second side surface 3322 is equal to the thickness of the base plate 321.
As shown in fig. 7, the second side surface 3322 is further provided with a positioning plate 3325 along the height direction of the side plate 332 for rapidly positioning the mounting position of the base plate 321.
As shown in fig. 6, a convex plate 3311 extends from an end of the bottom plate 331 away from the first side surface 3321, and the convex plate 3311 is provided with a plurality of mounting holes 3313 for fixing the receiving circuit bracket 33;
as shown in fig. 7, an end of the bottom plate 331 away from the second side surface 3322 further extends to form a mounting lug 3312, and the mounting lug 3312 is provided with a mounting hole 3313 for fixing the receiving circuit bracket 33.
As shown in fig. 3, the receiving device 3 further includes a plurality of second screws 38, and the second screws 38 pass through the mounting holes 3313 to fix the receiving circuit bracket 33 to the rotor of the lidar.
The receiving circuit support 33 is an integrally formed structure.
The material of the receiving circuit support 33 is any one or a combination of copper, molybdenum and aluminum.
As shown in fig. 1, the mirror group 2 includes a first mirror 21 and a second mirror 22, and the first mirror 21 and the second mirror 22 are disposed opposite to each other.
The target object collected by the receiving lens group 1 reflects light, and the requirement of receiving the field angle of the APD array detector needs to be met.
As shown in fig. 8, the receiving lens group 1 includes:
a first lens 11 having a first surface and a second surface, the first surface being a convex surface facing the target object, the second surface being an aspherical surface;
a second lens 12 having a third surface with a first concave portion and a fourth surface with a second concave portion;
a third lens 13 having a fifth surface and a sixth surface, the fifth surface being aspheric, the sixth surface being convex away from the object;
the first lens 11, the third lens 12, and the receiving third lens 13 are arranged in order in the optical axis direction;
a lens barrel 14 for fixing the first lens 11, the second lens 12, and the third lens 13.
The bottom plates 331 are provided with chamfers.
The chamfer is a straight-edge chamfer, an arc chamfer or a right-angle chamfer.
The bottom plates 331 are provided with chamfers.
The chamfer is a straight-edge chamfer, an arc chamfer or a right-angle chamfer. APD (avalanche photo diode)
An (avalanchephotosetting) array detector, namely an avalanche photodiode detector, is integrated by a plurality of independent APD cell detectors, and has compact structure, small volume and light weight. The APD array detector is an APD unit detector, so that scanning-free laser detection can be realized, and single pulse can be used for three-dimensional imaging; the APD array detector can directly acquire three-dimensional information, the imaging speed is higher, and the system structure is simple. The detection system carries out multipath parallel processing on the laser echo signals received by each unit of the array detector, thereby realizing linear array imaging.
Example 3:
this embodiment differs from embodiment 1 in that:
the receiving device comprises a substrate and an APD array detector, the substrate is fixed on the receiving circuit bracket, and the APD array detector is arranged on one side surface of the substrate; the receiving device further comprises a protective shell, wherein the protective shell is covered on the APD array detector and is mounted on the substrate.
APD (AvalanchePhotoDiode) array detector, avalanche photodiode detector, is integrated with multiple independent APD cell detectors, and has compact structure, small volume and light weight. In the embodiment, the APD array detector is an APD unit detector, so that scanning-free laser detection can be realized, and three-dimensional imaging can be realized by single pulse; the APD array detector can directly acquire three-dimensional information, the imaging speed is higher, and the system structure is simple. The detection system carries out multipath parallel processing on the laser echo signals received by each unit of the array detector, thereby realizing linear array imaging.
By adopting the technical scheme, the receiving system for the laser radar has the following advantages that
The beneficial effects are that:
according to the laser radar receiving system, the laser reflected by the target object is converged through the lens group, and the converged laser is incident to the receiving device through the reflector group for processing, so that the reconstruction of the target three-dimensional image is realized.
The optical filter of the receiving device is arranged on one side of the receiving device facing the reflecting mirror group, so that stray light can be filtered, and the APD array detector of the receiving device is also covered with the metal protective shell, so that the receiving device can be protected, and foreign matters such as dust can be prevented from entering the damaged device.
The receiving circuit boards and the receiving devices of the receiving device and the receiving circuit boards are connected by adopting the flexible electric connecting pieces, so that the receiving device can adapt to fluctuation in the laser radar adjustment process and is convenient to assemble; the spacing between a plurality of receiving circuit boards of the laser receiving device can be adjusted through the thickness of the gasket, so that the laser receiving device can flexibly adapt to the space required by circuit board components.
The side plate of the laser radar is provided with a positioning plate for rapidly positioning the mounting position of the substrate.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A receiving system for a lidar, characterized by: comprises a receiving lens group (1), a reflecting mirror group (2) and a receiving device (3);
the receiving lens group (1) is used for converging the reflected light of the target object;
the reflector group (2) is used for changing the path of the light beam to make the reflected light incident on the receiving device (3);
the receiving device (3) comprises an optical filter (31), a receiving device (32), a receiving circuit support (33) and at least one receiving circuit board (34), wherein the receiving device (32) and the receiving circuit board (34) are arranged on the receiving circuit support (33), and the optical filter (31) is used for filtering stray light;
the receiving circuit support (33) comprises a bottom plate (331) and a side plate (332), the bottom plate (331) is connected with the side plate (332), the side plate (332) is provided with a first side surface (3321) and a second side surface (3322), a plurality of receiving circuit boards (34) are sequentially installed on the first side surface (3321) at intervals, and the receiving device (32) is installed on the second side surface (3322).
2. A receiving system for a lidar according to claim 1, wherein: the receiving device (32) comprises a substrate (321) and at least one APD array detector, wherein the substrate (321) is fixed on the receiving circuit support (33), and the APD array detector is arranged on one side surface of the substrate (321).
3. A receiving system for a lidar according to claim 2, characterized in that: the receiving device (32) further comprises a protective shell (323), wherein the protective shell (323) is covered on the APD array detector, and the protective shell (323) is mounted on the substrate (321).
4. A receiving system for a lidar according to claim 2 or 3, characterized in that: the receiving device (32) comprises a plurality of APD array detectors which are arranged as APD linear array detectors or APD area array detectors.
5. A receiving system for a lidar according to claim 3, characterized in that: the optical filter (31) is arranged on one side, facing the reflector group (2), of the receiving device (32), and the optical filter (31) is mounted on one side, far away from the APD array detector, of the protective shell (323) in a fitting mode.
6. A receiving system for a lidar according to claim 2, characterized in that: the first side (3321) is provided with a first groove (3323), a first through hole (3324) is formed in the first groove (3323), and the first through hole (3324) penetrates through the bottom surface of the first groove (3323) and the second side (3322).
7. A receiving system for a lidar according to claim 6, wherein: the side plate (332) is vertically connected with the bottom plate (331), and the distance between the projection of the second side surface (3322) on the bottom plate (331) and the plate edge of the bottom plate (331) away from the second side surface (3322) is equal to the thickness of the base plate (321);
the second side surface (3322) is also provided with a positioning plate (3325) along the height direction of the side plate (332).
8. A receiving system for a lidar according to claim 2, characterized in that: a convex plate (3311) extends from one end of the bottom plate (331) far away from the first side surface (3321), and a plurality of mounting holes (3313) for fixing the receiving circuit bracket (33) are formed in the convex plate (3311);
and one end, far away from the second side surface (3322), of the bottom plate (331) is further extended to form an assembly lug (3312), and the assembly lug (3312) is provided with a mounting hole (3313) for fixing the receiving circuit bracket (33).
9. A receiving system for a lidar according to claim 1, wherein: the reflector group (2) comprises a first reflector (21) and a second reflector (22), and the first reflector (21) and the second reflector (22) are oppositely arranged.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310634166.8A CN116500588A (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
| CN201810583871.9A CN108572359B (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810583871.9A CN108572359B (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
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| CN202310634166.8A Division CN116500588A (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
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| CN108572359A CN108572359A (en) | 2018-09-25 |
| CN108572359B true CN108572359B (en) | 2023-06-16 |
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| CN202310634166.8A Pending CN116500588A (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
| CN201810583871.9A Active CN108572359B (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109856612B (en) * | 2018-11-16 | 2020-05-19 | 上海禾赛光电科技有限公司 | Receiving and adjusting support for laser radar and laser radar receiving device |
| CN109814082B (en) * | 2019-01-21 | 2021-10-22 | 上海禾赛科技有限公司 | Light receiving module and laser radar system |
| CN109917354B (en) * | 2019-04-26 | 2020-06-02 | 上海禾赛光电科技有限公司 | Receiving device of laser radar, laser radar and echo processing method thereof |
| CN111077510B (en) * | 2019-12-16 | 2022-12-02 | 上海禾赛科技有限公司 | Laser radar's receiving terminal and laser radar |
| CN111708003A (en) * | 2020-05-15 | 2020-09-25 | 宁波傲视智绘光电科技有限公司 | Device and method for eliminating stray light and detection equipment |
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| CN116500588A (en) | 2023-07-28 |
| CN108572359A (en) | 2018-09-25 |
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