WO2020228001A1 - Laser receiving array, lidar, and smart sensing device - Google Patents

Abstract

Disclosed are a laser receiving array, a lidar, and a smart sensing device. The laser receiving array (1) comprises a laser receiving board (20) and a light blocking board (10). The laser receiving board is provided on one side with at least two laser receiving units (201 and 202). The light blocking board is provided on the side of the laser receiving board having the laser receiving units. Through holes (101 and 102) are provided on the light blocking board at positions corresponding to the laser receiving units and are used for allowing laser signals to pass through. A light blocking strip (103) is provided between the through holes and is used for separating the laser signals transmitted to the at least two laser receiving units. By means of the through holes and the light blocking strip provided on the light blocking board, implemented is the mitigation of the problem of optical crosstalk when the laser receiving units receive the laser signals.

Description

Laser receiving array, lidar and intelligent sensing equipment Technical field

This application relates to the technical field of lidar, and in particular to a laser receiving array, lidar and smart sensing equipment.

Background technique

With the development of technology, lidar is widely used in the fields of intelligent equipment such as autonomous driving, intelligent robot navigation, unmanned aerial vehicles, etc., and is used in scenarios such as environment detection and space modeling. Lidar is a radar system that emits a laser beam to detect the position and speed of the target object. Its working principle is to first emit a detection laser beam to the target object, and then the received reflected signal from the target object and the emission The signals are compared and processed to obtain relevant information about the target object, such as target distance, azimuth, height, speed, posture and shape parameters.

The inventor of the present application discovered during the research process that, as the number of lines of the lidar becomes higher and higher, the light interference becomes more and more serious for the laser emitting area array and the laser receiving area array, and crosstalk prevention is performed. Space is getting smaller and smaller, and it is getting more and more difficult.

Summary of the invention

The purpose of the embodiments of the present application is to provide a laser receiving array, a laser radar, and a smart sensing device, which can solve or partially solve the above technical problems.

An embodiment of the present invention provides a laser receiving array, including: a laser receiving plate and a light barrier;

At least two laser receiving units are provided on one side of the laser receiving board;

The light blocking plate is arranged on the side of the laser receiving plate with the laser receiving unit, and the light blocking plate is provided with a through hole at a position opposite to the laser receiving unit for passing the laser signal; There is a light blocking strip between them, which is used to isolate the laser signals incident on the at least two laser receiving units.

Preferably, at least two laser receiving unit arrays are provided on the side of the laser receiving plate opposite to the light blocking plate;

The laser receiving unit array includes at least two laser receiving units;

A through slot is provided on the light barrier at a position opposite to the laser receiving unit array for passing laser signals; a light barrier is provided between the through slots to isolate the at least two laser receivers. Laser signal of the cell array.

Preferably, the light blocking plate is provided with positioning protrusions on the side of the light blocking strip opposite to the laser receiving plate;

Positioning holes are arranged between the laser receiving unit arrays on the laser receiving board;

The light blocking plate and the laser receiving plate are positioned by the positioning protrusion and the positioning hole.

Preferably, the light barrier is provided with an edge strip opposite to the edge of the laser receiving plate, and the edge strip forms a first accommodating space. When the light barrier and the laser receiving plate are relatively fixed, the laser The receiving board is accommodated in the first accommodation space.

Preferably, a fifth fixing hole is provided on the side strip, and the light blocking plate and the laser receiving plate are fixed through the fifth fixing hole.

Preferably, a card is provided at one end of the positioning protrusion on the light blocking plate, and the light blocking plate and the laser receiving plate are locked and fixed by the card and the positioning hole.

Preferably, it further comprises a filter plate, and the filter plate is arranged on a side of the light blocking plate away from the laser receiving plate.

Preferably, a side strip is provided on the side edge of the light blocking plate away from the laser receiving plate, and the side strip forms a second accommodating space. When the light blocking plate and the filter plate are relatively fixed, the filter plate is accommodated In the second containing space.

Preferably, a fourth fixing hole is provided on the side strip, and the light blocking plate and the filter plate are fixed through the fourth fixing hole.

Preferably, the light blocking plate is provided with a second fixing hole, the laser receiving plate is provided with a first fixing hole, the filter plate is provided with a third fixing hole, and the light blocking plate, the laser receiving plate and the filter plate pass through the The second fixing hole, the first fixing hole and the third fixing hole are fixed.

An embodiment of the present invention also provides a laser radar, which includes a housing, a body, a base, and the above-mentioned laser receiving array, where the laser receiving array is located in the body.

An embodiment of the present invention also provides a smart device, including at least one laser radar, and the laser radar is the above-mentioned laser receiving array.

Based on the above content, the embodiment of the present invention implements the problem of reducing the optical crosstalk when the laser receiving unit receives the laser signal by arranging the through hole and the light blocking bar on the light blocking plate. At the same time, the laser receiving plate and the filter plate are compacted by the light blocking plate. The combination of the two forms a complete laser receiving array, which makes the structure more compact and the laser signal receiving effect is better.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. Elements with the same reference numbers in the drawings are represented as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a limitation of scale.

Figure 1 is a structural diagram of a laser receiving array provided by an embodiment of the present invention;

2 is a structural diagram of another laser receiving array provided by an embodiment of the present invention;

Figure 3 is a perspective view of a laser receiving array provided by an embodiment of the present invention;

Fig. 4 is a structural diagram of a lidar provided by an embodiment of the present invention.

The reference signs in the specific implementation are as follows:

Laser receiving array 1	First base 184
Light barrier 10	Second base 183
Through hole (101, 102)	Laser receiving board 20
Light barrier (103, 120, 140)	Laser receiving unit (201, 202, 211, 212, 213)
Positioning protrusion 121, 141	Laser receiving unit array (210, 230, 250)
Card 123	Positioning hole (221, 241)
Through slot (110, 130, 150)	First fixing hole 209
Article side (171, 181, 191)	Filter 30
Second sidebar (172, 182, 192)	The third fixing hole 309
Second fixing hole 189	Body 2
Fourth fixing hole 185	Shell 3
Fifth fixing hole 186	Base 4

Detailed ways

The embodiments of the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, and therefore are only used as examples, and cannot be used to limit the protection scope of the present application.

In order to solve the problems in the prior art, the embodiment of the present invention proposes a laser receiving array 1, as shown in FIG. 1, which includes a laser receiving plate 20 and a light barrier 10; Laser receiving units 201, 202; the light blocking plate 10 is arranged on the side of the laser receiving plate 20 with laser receiving units 201, 202, and the light blocking plate 10 is provided with through holes 101, 102 at positions opposite to the laser receiving units 201, 202, Used to pass laser signals; a light blocking strip 103 is provided between the through holes 101 and 102 to isolate the laser signals incident on the at least two laser receiving units 201 and 202. In FIG. 1, the laser receiving board 20 may be an APD board or other laser receiving boards. The laser receiving plate 20 and the light blocking plate 10 cooperate with each other. Through holes 101 and 102 are respectively provided on the light blocking plate 10 and the corresponding positions of the laser receiving unit 201 and the laser receiving unit 202 on the laser receiving plate 20 to ensure that the laser signal can reach The laser receiving unit, at the same time, between the through holes 101 and 102, a light blocking strip 103 is provided. When the light blocking plate 10 and the laser receiving plate 20 are attached and fixed to each other, the light blocking strip 103 can connect the laser receiving unit 201 and The incident light of the laser receiving unit 202 is isolated, which has a good effect of preventing optical crosstalk.

Preferably, for a laser radar with a higher number of lines, there will be multiple laser emitting units that emit multiple laser signals at the same time. Correspondingly, multiple laser receiving units will also be provided on the laser receiving board 20. This embodiment of the present invention A plurality of laser receiving units are arranged in an array to form a laser receiving unit array 210. As shown in FIG. 1, the embodiment of the present invention forms laser receiving unit arrays 210, 230 and 250 in a column. Each laser receiving unit array contains at least two laser receiving units. For example, the laser receiving unit array 210 includes laser receiving units 211, 212 and 213; the laser receiving units in the same laser receiving unit array can receive laser signals in a time-sharing manner. , Therefore, there is no optical crosstalk between them. Optical crosstalk may occur between laser receiving unit arrays. In the embodiment of the present invention, through slots 110, 130, and 150 are provided on the light barrier 10 corresponding to the positions of the laser receiving arrays 210, 230, and 250, and the laser receiving array 210 The receiving units 211, 212, 213 receive laser signals through the through slot 110, each laser receiving unit in the laser receiving array 230 receives laser signals through the through slot 130, each laser receiving unit in the laser receiving array 250 receives laser signals through the through slot 150, and so on. Correspondingly, light- shielding bars 120 and 140 are respectively provided between the through slots 110, 130 and 150 on the light-shielding plate 10 to block the laser signals incident on the laser receiving unit arrays 210, 230 and 250, respectively, to prevent light from being generated between the laser receiving unit arrays. Crosstalk. Since the laser receiving units within the same laser receiving unit array receive laser signals in a time-sharing manner, no optical crosstalk is generated. Therefore, in the embodiment of the present invention, there is no light-blocking bar inside the through groove, and the laser receiving unit array The laser receiving unit is shielded, which simplifies the structure of the light barrier. Of course, further, it is also possible to shield multiple laser receiving units inside the laser receiving unit array, and only need to be inside the corresponding through grooves on the light blocking plate 10 in a direction perpendicular to the light blocking strips of the laser receiving unit array. Just set the light barrier for each laser receiving unit.

There are many ways to form the laser emitting unit array. For example, the adjacent laser emitting units in the same column can be set to the same laser emitting unit array, or the laser emitting units at a slightly distant position can be set to the same laser emitting unit array. Laser emitting unit array, as shown in Figure 1, although the laser emitting unit 213 is not closely adjacent to the laser emitting units 211 and 212, but because they belong to the same column, for convenience, they can be regarded as the same laser emitting The unit array, correspondingly, on the light barrier 10, the through slot 110 can be extended to cover the laser emitting unit 213, which is easier to implement and simpler in structure.

On the light blocking plate 10, the through holes and through grooves can be mixedly arranged, and the shapes can be various, as long as they can play a role in blocking light, which are only illustrated here and are not limited.

Preferably, in the actual application process, in order to better realize the mutual cooperation and fixation of the laser receiving plate 20 and the light barrier 10, as shown in FIG. 2, in the embodiment of the present invention, the light barrier on the light barrier 10 A positioning protrusion 121 is provided on the side of 120 opposite to the laser receiving plate 20; at the same time, positioning holes 221 are provided between the laser receiving unit arrays 210 and 230 on the laser receiving plate 20; the light blocking plate 10 and the laser receiving plate 20 pass through The positioning protrusion 121 and the positioning hole 221 perform positioning. Through the positioning holes 221 and positioning protrusions 121, when the laser receiving plate 20 and the light blocking plate 10 are installed, the positioning function can be well played, so that the laser emitting unit 201, 202 or the laser emitting unit array 210, 230, 250 can be well positioned. The ground is located in the through holes 101, 102 or the through slots 110, 130, and 150 to avoid damage to the laser emitting unit due to inaccurate positioning during installation.

At the same time, in the embodiment of the present invention, a card 123 is provided at one end of the positioning protrusion 121 on the light barrier 10, and the light barrier 10 and the laser receiving board 20 are locked and fixed by the card 123 and the positioning hole 221. There are many ways to engage. A card slot (not shown) can be provided on the side wall of the positioning hole 221, and the card 123 can be engaged with the card slot in the positioning hole 221 to fix the laser receiving plate 20 and The function of the light barrier 10, in this way, makes the combination more compact and saves space. Of course, the length of the positioning protrusion 121 can also be lengthened, so that the card 123 can pass through the positioning hole 221 and be clamped on the other side of the laser receiving plate to fix the laser receiving plate 20 and the light blocking plate 10.

Further, in order to better combine the laser receiving plate 20 and the light blocking plate 10, the structure is more compact. As shown in FIG. 2, the embodiment of the present invention is provided with side bars on the edge of the light blocking plate 10 opposite to the laser receiving plate 20. 172, 182, 192, the side bars cooperate with each other to form a first accommodating space. When the light blocking plate 10 and the laser receiving plate 20 are relatively fixed, the laser receiving plate 20 is accommodated in the first accommodating space, preferably The thickness of the side strip is the same as the thickness of the laser receiving plate 20, so that the light blocking plate 10 and the laser receiving plate 20 can be seamlessly fixed to form a plane. Of course, the setting of the above side strips can be combined at will, which can be 1, 2, 3 or 4, which is not limited here.

Preferably, a fifth fixing hole 186 is provided on the side strip 182, and the light blocking plate 10 and the laser receiving plate 20 are fixed through the fifth fixing hole 186, as shown in FIG. The light board 10 is also provided with a first base 184. When the side bars are set, the side bars 182 and the first base 184 can be set together, and the laser receiving board 20 is fixed to the light blocking board 10 through the fifth fixing hole 186 to make it The structure can be more compact. At the same time, the first base 184 can also be used as the base of the laser receiving array 1, and the first base 184 is fixed to other devices, such as lidar.

In the embodiment of the present invention, the laser receiving array 1 further includes a filter plate 30. The filter plate 30 is arranged on the side of the light blocking plate 10 away from the laser receiving plate 20. The filter plate 30 and the laser receiving plate 20 are respectively located on the light blocking plate. On both sides of 10, the filter plate 30 can filter the incident laser signal, filter out interference light, and make the signal received by the laser receiving unit more accurate.

Preferably, side strips 171, 181, 191 are provided on the edge of the light barrier 10 away from the laser receiving plate 20, and the side strips 171, 181, 191 form a second receiving space. When the light barrier 10 and the filter plate When the 30 is relatively fixed, the filter plate 30 is accommodated in the second accommodation space. Preferably, the thickness of the side strip is the same as the thickness of the filter plate 30, so that the light blocking plate 10 and the filter plate 30 can be seamlessly fixed to form a plane. Of course, the setting of the above side strips can be combined at will, which can be 1, 2, 3 or 4, which is not limited here.

Preferably, the edge strip 181 is provided with a fourth fixing hole 185, and the light blocking plate 10 and the filter plate 30 are fixed by the fourth fixing hole 185. As shown in FIG. 1, the light blocking plate 10 is A second base 183 is also provided. When the side bars are set, the side bars 181 and the second base 183 can be set together, and the filter plate 30 is fixed to the light blocking plate 10 through the fourth fixing hole 185, so that the structure can be improved. Compact. At the same time, the second base 183 can be used as the second base of the laser receiving array 1 and can be fixed by the second base and other devices, such as a lidar.

Preferably, the light blocking plate 10, the laser receiving plate 20, and the filter plate 30 can be fixed in other ways. For example, at least one second fixing hole 189 is provided on the light blocking plate 10, and the laser receiving plate 20 At least one first fixing hole 209 is provided on the filter plate 30, and at least one third fixing hole 309 is provided on the filter plate 30. The light blocking plate 10, the laser receiving plate 20 and the filter plate 30 pass through the second fixing holes 189, The fixing hole 209 and the third fixing hole 309 are fixed. The position of the fixing hole can be set at any position of the light blocking plate 10, the laser receiving plate 20 and the filter plate 30 except for the laser receiving unit and the through hole or the through groove. The method can also be fixed by screws or riveting, which is not limited here.

In the embodiment of the present invention, the laser receiving plate 20 and the filter plate 30 are compactly combined through the light barrier 10 to form a complete laser receiving array 1, as shown in FIG. 3, which is a three-dimensional view of the laser receiving array 1. By arranging through holes and light blocking bars on the light blocking plate 10, the problem of optical crosstalk when the laser receiving unit receives laser signals is reduced. At the same time, through this design, the structure is more compact and the laser signal receiving effect is better.

The embodiment of the present invention also proposes a laser radar, as shown in FIG. 4, including a body 2, a housing 3, and a base 4. The body 2 includes the laser receiving array 1 described in the foregoing embodiment, and the laser receiving array is shown It is arranged inside the body 2 and can be fixed in the inside of the body 2 through the second base 183 and the first base 184 of the laser receiving array 1. The details are not repeated here.

The embodiment of the present invention also provides a smart sensing device. The smart sensing device includes at least one laser radar. The laser radar includes the laser receiving array 1 in the foregoing embodiment. The function and structure of the laser receiving array 1 are the same as those of the foregoing embodiment. The description in is the same, so I won’t repeat them here.

The smart sensing device is a device that can detect the location and distance of surrounding objects, and make decisions based on the location and distance of surrounding objects, such as smart robots, smart cars, smart airplanes, and so on.

It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the embodiments of the present application should be the ordinary meanings understood by those skilled in the art to which the embodiments of the present application belong.

In the description of the new embodiment of this implementation, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear" ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", " The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply the pointed device or The element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present application.

In addition, the technical terms “first”, “second”, etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. In the description of the embodiments of the present application, "multiple" means two or more, unless otherwise clearly defined.

In the description of the new embodiment of the present implementation, unless otherwise clearly specified and limited, the technical terms "installation", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection. It can also be detachably connected or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal communication of two components or the mutual connection of two components Role relationship. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the embodiments of the present application can be understood according to specific circumstances.

In the description of the new embodiment of the present embodiment, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be in direct contact with the first and second features, or the first and second features Features are indirectly contacted through intermediaries. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the application The scope shall be covered by the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any manner. This application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims (12)

1. A laser receiving array (1), which is characterized by comprising: a laser receiving board (20) and a light barrier (10);

   At least two laser receiving units (201, 202) are provided on one side of the laser receiving board (20);

   The light blocking plate (10) is arranged on the side of the laser receiving plate (20) where the laser receiving unit (201, 202) is provided, and the light blocking plate (10) is provided at a position opposite to the laser receiving unit (201, 202). The through holes (101, 102) are used to pass laser signals; a light barrier (103) is arranged between the through holes (101, 102) to isolate the laser signals incident on the at least two laser receiving units (201, 202).
2. The laser receiving array according to claim 1, wherein at least two laser receiving unit arrays (210, 230) are provided on the side of the laser receiving plate (20) opposite to the light barrier (10);

   The laser receiving unit array (210, 230) includes at least two laser receiving units (211, 212);

   The light barrier (10) is provided with through slots (110, 130) at positions opposite to the laser receiving unit arrays (210, 230) for passing laser signals; light barrier strips are provided between the through slots (110, 130) (120), used for isolating laser signals incident on the at least two laser receiving unit arrays (210, 230).
3. The laser receiving array according to claim 2, wherein the light blocking plate (10) is provided with positioning protrusions (121) on the side of the light blocking strip (120) opposite to the laser receiving plate (20);

   Positioning holes (221) are provided between the laser receiving unit arrays (210, 230) on the laser receiving board (20);

   The light blocking plate (10) and the laser receiving plate (20) are positioned by the positioning protrusion (121) and the positioning hole (221).
4. The laser receiving array according to claim 1, wherein the light blocking plate (10) is provided with side strips (172, 182, 192) on one side edge of the laser receiving plate (20), and the side strips (172, 182, 192) form a first containing space, and when the light blocking plate (10) and the laser receiving plate (20) are relatively fixed, the laser receiving plate (20) is contained in the first housing In the space.
5. The laser receiving array according to claim 1, wherein a fifth fixing hole (186) is provided on the side strip (182), and the light blocking plate (10) and the laser receiving plate (20) pass through the The fifth fixing hole (186) is used for fixing.
6. The laser receiving array according to claim 3, wherein a card (123) is provided at one end of the positioning protrusion (121) on the light barrier (10), and the light barrier (10) and the laser receiving plate (20) ) The card (123) and the positioning hole (221) are clamped and fixed.
7. The laser receiving array according to any one of claims 1 to 6, further comprising a filter plate (30), and the filter plate (30) is arranged on the light blocking plate (10) away from the laser receiving plate (20) One side.
8. The laser receiving array according to claim 7, characterized in that the edge strips (171, 181, 191) are provided on the edge of the light blocking plate (10) away from the laser receiving plate (20), and the edge strips ( 171, 181, 191) form a second accommodating space, and when the light blocking plate (10) and the filter plate (30) are relatively fixed, the filter plate (30) is accommodated in the second accommodating space.
9. The laser receiving array according to claim 7, wherein a fourth fixing hole (185) is provided on the side strip (181), and the light blocking plate (10) and the filter plate (30) pass through the The fourth fixing hole (185) is fixed.
10. The laser receiving array according to claim 7, wherein at least one second fixing hole (189) is provided on the light blocking plate (10), and at least one first fixing hole is provided on the laser receiving plate (20) (209), at least one third fixing hole (309) is provided on the filter plate (30), and the light blocking plate (10), the laser receiving plate (20) and the filter plate (30) pass through the at least one second The fixing hole (189), at least one first fixing hole (209) and at least one third fixing hole (309) are fixed.
11. A laser radar, characterized by comprising a housing (3), a body (2), a base (4) and the laser receiving array (1) according to any one of claims 1-10, the laser receiving array ( 1) Located in the body (2).
12. An intelligent device, characterized by comprising at least one laser radar, the laser radar comprising the laser receiving array (1) according to any one of claims 1-10.

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