CN108318874B - Area array laser radar and mobile platform - Google Patents
Area array laser radar and mobile platform Download PDFInfo
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- CN108318874B CN108318874B CN201810326681.9A CN201810326681A CN108318874B CN 108318874 B CN108318874 B CN 108318874B CN 201810326681 A CN201810326681 A CN 201810326681A CN 108318874 B CN108318874 B CN 108318874B
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- 230000003287 optical effect Effects 0.000 claims abstract description 36
- 238000007493 shaping process Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000017525 heat dissipation Effects 0.000 claims description 20
- 238000007789 sealing Methods 0.000 claims description 15
- 230000005693 optoelectronics Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims 2
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 238000009792 diffusion process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 229910021389 graphene Inorganic materials 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
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Classifications
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
Abstract
The invention relates to an area array laser radar and a mobile platform. An emission lens, comprising: the optical shaping structure is arranged along the light ray emission direction of the emission light source and comprises at least one columnar lens, the length direction of a columnar bulge arranged on one side, close to the emission light source, of the columnar lens is perpendicular to the divergence direction of the emission light beam, and the emission light beam is a uniform light beam with a set divergence angle and a set shape after passing through the optical shaping structure. The area array laser radar comprises an area array light emitting mechanism, an area array light receiving mechanism and a main control board, wherein the area array light emitting mechanism comprises an emitting light source, a driving emitting circuit and an emitting lens. A movable platform is also provided. The problem of the emitting system of ordinary area array laser radar emit the light beam inhomogeneous is solved, the security and the accuracy of test and operation have been improved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a transmitting lens, an area array laser radar and a mobile platform.
Background
LiDAR (Light Detection and Ranging), which is a short term for light detection and ranging system, the laser radar is an active distance detection device using a laser or LED as a light source and adopting a photoelectric detection technique. Lidar is an advanced detection method combining laser technology with modern photoelectric detection technology. The system mainly comprises a transmitting system, a receiving system, information processing and the like. The emission system includes various forms of lasers or LEDs; the receiving system employs a receiving lens and various forms of photodetectors.
The common emitting modules in the mechanical rotary laser radar are all linear light beams, and then the planar array scanning is realized through mechanical rotation. The high requirements are put on the design of the scanning mechanism and the precision of the optical machine assembly, so that the production efficiency of the mass production link is low, and the cost is high. Compared with the traditional mechanical rotary laser radar, the solid-state laser radar has the advantages of reducing mechanical rotary functional components and coding equipment, simplifying the structure, reducing the assembly difficulty, along with stable performance and high ranging frequency.
The area array laser radar is used as one of the solid-state laser radars, is beneficial to high-efficiency mass production, and greatly reduces the manufacturing cost. The existing area array laser radar is difficult to realize uniform emission of light beams in a large detection area.
Disclosure of Invention
The embodiment of the invention aims to provide a transmitting lens, which solves the problems of complex light scanning structure and low refreshing frequency of a mechanical laser radar and the problem of uneven transmitting light beams of a transmitting system of a common area array laser radar by virtue of the structural arrangement of a cylindrical lens.
The embodiment of the invention also aims to provide an area array laser radar, which solves the problems that light beams emitted by a light source in the prior art are not matched with an area array photoelectric chip after passing through a transmitting lens and cannot uniformly cover a measuring area through the matching arrangement of the transmitting lens and the area array photoelectric chip.
The invention further provides a movable platform, through the transmitting lens or the area array laser radar with the transmitting lens, the area array laser radar can position the obstacle in the measuring area more accurately, and the safety and the accuracy of the operation of the movable platform are improved.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
an emission lens, comprising: the optical shaping structure is arranged along the light ray emission direction of the emission light source and comprises at least one columnar lens, the length direction of a columnar bulge arranged on one side, close to the emission light source, of the columnar lens is perpendicular to the divergence direction of the emission light beam, a connecting groove is smoothly connected between every two adjacent columnar bulges on one side, close to the emission light source, of the columnar lens, and the emission light beam is a uniform light beam with a preset divergence angle and a preset shape after passing through the optical shaping structure.
As one of the preferable schemes of the technical scheme, the divergence angle of the emission light beam is P degrees, the emission light beam is uniform light beam with a horizontal divergence angle M degrees and a vertical divergence angle N degrees after passing through the optical shaping structure, wherein M is more than 0 and less than 180,0, N is more than 180,0 and less than 180;
when P is more than M or P is more than N, a converging lens is arranged between the emitting light source and the columnar lens.
As one of the preferable schemes of the technical scheme, the surface of the columnar bulge is an even aspheric surface, and the surface equation of the even aspheric surface is that
，
Wherein R is the curvature radius of the vertex of the even aspheric surface, Y is a continuous value variable, k is a conical coefficient, wherein R is a normal number, k is a constant, and A 2 、A 4 、A 6 、A 8 The value of (2) is a positive constant.
As one of the preferable schemes of the technical scheme, the value range of R is as follows: r is more than 0 and less than or equal to 4; the value range of k is as follows: -2.ltoreq.k.ltoreq.0.5, the A 2 、A 4 、A 6 And A 8 The range of the values of (2) is: 0 is less than or equal to A 2 ≤7，0≤A 4 ≤7，0≤A 6 ≤7，0≤A 8 ≤7。
As one of preferable embodiments of the present invention, r=1.5, k=0.7, a2=0.323, a4=0.103, a6=0.085, and a8=0.
As one of the preferable aspects of the present invention, the optical shaping structure includes a cylindrical lens disposed along a light emission direction, and when p=m, the emission beam of the emission light source passes through the cylindrical lens to form a rectangular beam having a horizontal divergence angle P and a vertical divergence angle n°;
when p=n, the emission beam of the emission light source passes through the lenticular lens to become a rectangular beam with a horizontal divergence angle M and a vertical divergence angle P.
As one of the preferable schemes of the technical scheme, the optical shaping structure comprises two columnar lenses arranged along the light emission direction, when P is smaller than M and P is smaller than N, the emitted light beam of the emitted light source is changed into a rectangular light beam with a horizontal divergence angle of P and a vertical divergence angle of N after passing through the first columnar lens, and is changed into a rectangular light beam with a horizontal divergence angle of M and a vertical divergence angle of N after passing through the second columnar lens;
alternatively, the emitted light beam of the emitted light source is changed into a rectangular light beam with a horizontal divergence angle of M and a vertical divergence angle of P after passing through the first cylindrical lens, and is changed into a rectangular light beam with a horizontal divergence angle of M and a vertical divergence angle of N after passing through the second cylindrical lens.
As one of the preferable schemes of the technical scheme, when P is more than M and more than N, or M is less than P and less than N, the optical shaping structure comprises a converging lens and a cylindrical lens, wherein the converging lens is arranged along the light emission direction, the light beam emitted by the emitting light source becomes a light beam with a divergence angle of N degrees after passing through the converging lens, and becomes a light beam with a horizontal divergence angle of M degrees and a vertical divergence angle of N degrees after passing through the cylindrical lens.
As one of preferable embodiments of the present invention, the emitted light beam is converged into a light beam having a horizontal divergence angle s ° and a vertical divergence angle s ° after passing through the converging lens.
The surface array laser radar comprises a surface array light emitting mechanism, a surface array light receiving mechanism and a main control board, wherein the surface array light emitting mechanism comprises an emitting light source, a driving emitting circuit and an emitting lens, the surface array light receiving mechanism comprises a surface array photoelectric chip and a receiving lens, the main control board is connected with the surface array photoelectric chip, and the surface array photoelectric chip is connected with the driving emitting circuit.
As one of the preferable schemes of the technical scheme, the receiving lens comprises a lens barrel and a receiving lens arranged on the lens barrel in a sealing way, the outer end of the lens barrel is connected with a receiving panel in a sealing way, and a receiving diaphragm is arranged between the receiving lens and the receiving panel.
As one of the preferable schemes of the technical scheme, the receiving diaphragm comprises a diaphragm body which sequentially contracts along the direction from the receiving lens to the area array photoelectric chip, stray light eliminating structures are arranged in the diaphragm body, and the stray light eliminating structures are optical steps or diffuse reflection surfaces.
As one of preferable aspects of the present technical solution, a surface of the optical step is provided with a diffuse reflection surface layer.
As one of the preferable schemes of the technical scheme, the bottom of the lens barrel is connected with a first optical filter in a sealing way; and/or the receiving panel is connected with a second optical filter or is plated with an optical filter film.
As one of the preferable schemes of the technical scheme, the emission driving circuit is arranged on an emission circuit board, an installation through hole is formed in the emission circuit board, an emission light source is further connected to the emission circuit board, the area array photoelectric chip is connected to the main control board, the area array photoelectric chip is connected with a receiving lens in a sealing mode, and the receiving lens penetrates through the installation through hole and is abutted to the receiving panel.
As one of the preferable schemes of the technical scheme, the radiating fins are further connected to the radiating circuit board, the radiating fins are respectively provided with a light source through hole, and the radiating light source is fixed on the radiating circuit board and extends out of the light source through holes.
As one of preferable embodiments of the present invention, the emission light source is a VCSEL light source.
As one of the preferable modes of the technical scheme, the front cover and the rear cover which are in sealing connection with the front cover are also included, and the receiving panel and the cylindrical lens are in sealing connection with the front cover.
As one of the preferable schemes of the technical scheme, the upper parts of the front cover and the rear cover are provided with upper radiating fins which are communicated along the front-rear direction of the area array laser radar;
and/or lower radiating fins are arranged at the lower parts of the front cover and the rear cover, and the lower radiating fins penetrate along the front-rear direction of the area array laser radar.
As one of the preferable schemes of the technical scheme, the main control board is also connected with a navigation plugboard, and the navigation plugboard is connected with an upper computer through a navigation plugboard port arranged on the rear cover.
As one of the preferable schemes of the technical scheme, the main control board is also provided with a heat dissipation block, the aviation plug board is provided with a heat dissipation through hole, and the heat dissipation block passes through the heat dissipation through hole to be abutted on the rear cover.
The invention also provides a movable platform, which comprises the transmitting lens and/or the area array laser radar.
The beneficial effects are that: the embodiment of the invention realizes the uniform treatment of the light intensity of the emitted light beam, performs reliable collimation and diffusion, adaptively integrates the shape of the light beam, fully utilizes the light energy of the emitted light beam, solves the problems of complex light scanning structure and low refreshing frequency of the mechanical laser radar and the problem of nonuniform emitted light beam of the emitting system of the common area array laser radar, improves the measurement accuracy and measurement efficiency of products, improves the stability of the products, reduces the assembly difficulty and is convenient for mass production of the products.
According to the embodiment of the invention, through the matching arrangement of the transmitting lens and the area array photoelectric chip, the light beam emitted by the transmitting light source becomes the uniform divergent light beam matched with the area array photoelectric chip after passing through the transmitting lens, the uniform coverage measuring area is realized, the light beam correspondingly and uniformly enters the area array photoelectric chip after being reflected by the obstacle in the measuring area, the photoelectric signal output by the area array photoelectric chip is clearer and more accurate, the area array laser radar locates the obstacle in the measuring area more accurately, the ranging stability of the laser radar is improved, the product assembly difficulty is reduced, and the method is suitable for mass production.
Drawings
Fig. 1 is a horizontal top view of an emission lens according to embodiment 1 of the present invention.
Fig. 2 is a vertical side view of the emission lens provided in embodiment 1 of the present invention.
Fig. 3 is a structural diagram of a lenticular lens provided in embodiment 1 of the present invention.
Fig. 4 is a schematic view showing the structures of the columnar projections and the connecting grooves in the columnar lens according to embodiment 1 of the present invention.
Fig. 5 is a schematic structural diagram of an area array lidar according to embodiment 1 of the present invention.
Fig. 6 is an exploded view of an area array lidar according to embodiment 1 of the present invention.
Fig. 7 is a cross-sectional view of an area array lidar according to embodiment 1 of the present invention.
In the figure:
1. a transmitting lens; 2. a transmitting circuit board; 3. an emission light source; 4. a main control board; 5. an area array photoelectric chip; 6. receiving a lens; 7. the aviation plug board; 8. a front cover; 9. a rear cover; 11. a lenticular lens; 12. a converging lens; 21. mounting through holes; 22. a heat sink; 61. a lens barrel; 62. a receiving lens; 63. a receiving diaphragm; 81. a receiving panel; 82. pressing a frame; 101. an upper heat sink fin; 102. a lower heat sink fin; 111. columnar bulges; 112. and a connecting groove.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures 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 in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
An embodiment of the present invention provides an emission lens, as shown in fig. 1, including: the optical shaping structure is arranged along the light emission direction of the emission light source 3, and comprises at least one columnar lens 11, as shown in fig. 4, the length direction of a columnar protrusion 111 arranged on one side, close to the emission light source 3, of the columnar lens 11 is perpendicular to the divergence direction of the emission light beam, a connecting groove 112 is smoothly connected between every two adjacent columnar protrusions 111 on one side, close to the collimating lens, of the columnar lens 11, and the emission light beam is a uniform light beam with a set divergence angle and a set shape after passing through the optical shaping structure.
Through the setting of the cylindrical lens 11, the light intensity of the emission light beam emitted by the emission light source is uniform and reliable in collimation and diffusion, the shape of the light beam is adaptively integrated, the light energy of the emission light beam is fully utilized, the problems that the light scanning structure of the mechanical laser radar is complex and the refreshing frequency is low are solved, the light intensity of the emission light beam of the common area array laser radar is uneven, the problems of setting the divergence angle and the shape of the emission light spot cannot be achieved, the measurement accuracy and the measurement efficiency of a product are improved, the stability of the product is improved, the assembly difficulty is reduced, and the large-scale mass production of the product is facilitated.
The divergence angle of the emission light beam is P degrees, and the emission light beam of the emission light source 3 is a uniform light beam with a horizontal divergence angle of M degrees and a vertical divergence angle of N degrees after passing through the optical shaping structure. Wherein M is more than 0 and less than 180,0, N is more than 180,0 and P is more than 180. As shown in fig. 2-3, when P > M or P > N, a converging lens 12 is further disposed between the emission light source 3 and the lenticular lens 11. When P < M or P < N, the optical shaping structure comprises 1 or 2 cylindrical lenses 11 with different divergent shaping directions.
In order to ensure that the light intensity of the emission beam emitted by the emission light source is uniform after passing through the cylindrical lens 11 and is diffused according to a set angle, the surface of the cylindrical protrusion 111 is an even aspheric surface, and the surface equation of the even aspheric surface is that
，
Wherein R is the curvature radius of the vertex of the even aspheric surface, Y is a continuous value variable, k is a conical coefficient, wherein R is a normal number, k is a constant, and A 2 、A 4 、A 6 、A 8 The value of (2) is a positive constant. The configuration of the even aspheric columnar protrusions 111 makes the light intensity of the emitted light beam uniformly distributed after passing through the columnar lenses 11, and the conical emitted light beam becomes a rectangular light beam after being shaped, so that the conical emitted light beam is more adaptive to the area array photoelectric chip 5.
In order to make the beam passing through the lenticular lens 11 diverge more uniformly and the light intensity distribution more uniform, it is preferable that the value range of R is: r is more than 0 and less than or equal to 4; the value range of k is as follows: -2.ltoreq.k.ltoreq.0.5, the A 2 、A 4 、A 6 And A 8 The range of the values of (2) is: 0 is less than or equal to A 2 ≤7，0≤A 4 ≤7，0≤A 6 ≤7，0≤A 8 And is less than or equal to 7. As one of the most preferred options, r=1.5, k= -0.7, a 2 =0.323, said a 4 =0.103, said a 6 =0.085, the a 8 =0。
In order to obtain uniform light beams passing through the emission lens 1 at a horizontal divergence angle M ° and a vertical divergence angle N °, the number and arrangement of the cylindrical lenses 11 adopted by the emission lens 1 are different according to the numerical values of M, N and P. When selecting the emission light source, in order to reduce the space occupation of the laser radar, an emission light source with a slightly smaller divergence angle or a slightly closer divergence angle to the set divergence angle and a relatively uniform light intensity is preferred, so that in the measurement process of the area array laser radar, when the divergence angle of the emission light beam of the emission light source 3 is equal to the set horizontal divergence angle or the set vertical divergence angle of the shaped emission light beam, as shown in fig. 1, the optical shaping structure comprises a cylindrical lens 11 arranged along the light ray emission, and when p=m, the emission light beam of the emission light source 3 becomes a rectangular light beam with a horizontal divergence angle P and a vertical divergence angle N after passing through the cylindrical lens 11; when p=n, the emission beam of the emission light source 3 passes through the lenticular lens 11 to be a rectangular beam having a horizontal divergence angle M and a vertical divergence angle P.
When the divergence angle of the emitted light beam of the emitted light source 3 is smaller than the set horizontal divergence angle or vertical divergence angle of the shaped emitted light beam, the optical shaping structure comprises two cylindrical lenses arranged along the light emitting direction, and when P is smaller than M and P is smaller than N, the emitted light beam of the emitted light source 3 becomes a rectangular light beam with the horizontal divergence angle of P and the vertical divergence angle of N after passing through the first cylindrical lens 11, and becomes a rectangular light beam with the horizontal divergence angle of M and the vertical divergence angle of N after passing through the second cylindrical lens 11;
alternatively, the emitted light beam of the emitted light 3 source is formed into a rectangular light beam with a horizontal divergence angle M ° and a vertical divergence angle P ° after passing through the first cylindrical lens 11, and is formed into a rectangular light beam with a horizontal divergence angle M ° and a vertical divergence angle N ° after passing through the second cylindrical lens 11.
When the divergence angle of the emission beam of the emission light source 3 is larger than the set horizontal divergence angle or vertical divergence angle of the shaped emission beam, the divergence angle of the emission beam of the emission light source 3 needs to be adjusted before shaping, and therefore, a converging lens 12 is further arranged between the emission light source 3 and the lenticular lens 11. When P > M is larger than or equal to N, or M < P < N, as shown in fig. 2-3, the optical shaping structure comprises a converging lens 12 and a columnar lens 11 which are arranged along the light emission direction, the emitted light beam of the emitting light source 3 becomes a light beam with a divergence angle of N degrees after passing through the converging lens 12, and becomes a rectangular light beam with a horizontal divergence angle of M degrees and a vertical divergence angle of N degrees after passing through the columnar lens 11.
Of course, in the implementation, even if the divergence angle of the emission light beam of the emission light source 3 is smaller than the set horizontal divergence angle or vertical divergence angle of the shaped emission light beam, the emission light beam can be optically shaped and uniformly distributed in light intensity through the lenticular lens 11 after being converged by the converging lens 12.
In specific implementation, the emission light source 3 is preferably a VCSEL laser emitter, the divergence angle of the emission light beam of the VCSEL laser emitter is 25 °, preferably, M is 60, N is 4 based on the matching of the photoelectric chip and the requirements of the applicable scene, the emission lens 1 includes a converging lens 12 and a cylindrical lens 11 sequentially arranged along the light emission direction, the emission light beam of the emission light source 3 is converged into a conical light beam with a horizontal divergence angle and a vertical divergence angle of 4 ° after passing through the converging lens 12, and becomes a rectangular light beam with a uniform light intensity with a horizontal divergence angle of 60 ° and a vertical divergence angle of 4 ° after passing through the cylindrical lens 11. The longitudinal direction of the columnar protrusion 111 of the lenticular lens 11 is perpendicular to the horizontal direction.
The invention also provides an area array laser radar, as shown in fig. 5-7, which comprises an area array light emitting mechanism, an area array light receiving mechanism and a main control board 4, wherein the area array light emitting mechanism comprises an emitting light source 3, a driving emitting circuit and the emitting lens 1, the area array light receiving mechanism comprises an area array photoelectric chip 5 and a receiving lens 6, the main control board 4 is connected with the area array photoelectric chip 5, and the area array photoelectric chip 5 is connected with the driving emitting circuit. The planar array photoelectric chip 5 can adjust parameters such as the transmitting power, the transmitting frequency, the transmitting time and the like of the driving transmitting circuit through the selection of the testing area. The driving emission circuit emits infrared light with a set wave band according to a set frequency under the instruction of the area array photoelectric chip, preferably, the infrared light is infrared light with a wavelength of 850nm, and the emission light source 3 is preferably a VCSEL vertical cavity surface emitting laser, and has the advantages of small volume and high energy efficiency relative to an LED light source. The number of the emission light sources 3 is at least one, the number of the emission light sources 3 can be correspondingly adjusted according to different measuring ranges and power selection of the emission light sources 3, preferably, eight emission light sources 3 are adopted, and the area array photoelectric chips 5 are taken as the center, and the left and right emission light sources are 4.
Through the cooperation setting of emission lens 1 and face array photo-electric chip 5 for the light beam that emission light source 3 sent becomes after emission lens 1 and receives the even rectangle light beam of angle of vision assorted with face array photo-electric chip 5, evenly covers the measuring region, corresponds even entering face array photo-electric chip 5 after the barrier reflection in the measuring region, makes the photoelectric signal of face array photo-electric chip 5 output more clear accurate, makes face array laser radar more accurate to the barrier location in the measuring region, has improved laser radar's range finding stability, has reduced the product equipment degree of difficulty, suitable volume production.
After being reflected by an obstacle in a test area after the emission light beam of the emission light source 3 is emitted, part of the reflected light beam is incident to the area array photoelectric chip 5, so that stray light beams which are incident to the area array photoelectric chip 5 are better filtered, stray light which is not collimated in the reflected light beam which is incident to the area array photoelectric chip 5 is lost after being reflected for multiple times, interference of the stray light is reduced, utilization efficiency of received light beams is improved, operation load is reduced, the receiving lens 6 comprises a lens barrel 61 and a receiving lens 62 which is arranged on the lens barrel 61, a receiving diaphragm 63 is further connected to the outer part of the receiving lens 62 in a sealing mode, and the receiving diaphragm 63 is abutted to a receiving panel 81. The receiving diaphragm 63 includes a diaphragm body that sequentially contracts in a direction from the receiving lens 62 to the area array optoelectronic chip 5, and stray light eliminating structures are arranged in the diaphragm body, and the stray light eliminating structures are optical steps or diffuse reflection surfaces. Further, the surface of the optical step is provided with a diffuse reflection surface layer.
In order to eliminate the incident light rays with different wave bands from the emission light source 3 and reduce the noise of the area array photoelectric chip 5, the bottom of the lens barrel 61 is connected with a first optical filter in a sealing way, the first optical filter is a band-pass optical filter, and the band-pass optical filter only allows the light with the wavelength of 850+/-30 nm to pass through; the receiving panel 81 is connected with a second filter or a filter film which allows only light having a dominant wavelength of 700nm or more to pass therethrough, or allows only light having a dominant wavelength of 900nm or less to pass therethrough.
For the equipment and the reduction structure space occupation of being convenient for area array light receiving mechanism and area array light emitting mechanism, emission drive circuit sets up on emission circuit board 2, set up mounting hole 21 on the emission circuit board 2, still be connected with emission light source 3 on the emission circuit board 2, area array photoelectric chip 5 connects on main control board 4, area array photoelectric chip 5 sealing connection receiving lens 6, receiving lens 6 passes and the butt is on receiving panel 81 from mounting hole 21. The structure that receiving lens 6 passed from transmitting circuit board 2 has both guaranteed that area array photoelectric chip 5 and emission light source 3 are on the coplanar, and reasonable space stack that has utilized transmitting circuit board 2 and area array photoelectric chip 5 and main control board 4 has still spaced the heat dissipation space between each circuit board simultaneously again, has improved radiating efficiency. Preferably, at least one of the emission light sources 3 and the area array photoelectric chip 5 are on the same horizontal line, so as to improve the probability that the emission light beam emitted by the emission light source 3 is incident to the area array photoelectric chip 5 after being reflected by the obstacle in the measurement area.
In order to ensure that the planar array photoelectric chip 5 keeps a good running state in a constant temperature state, the radiating fins 22 are further connected to the transmitting circuit board 2, the radiating fins 22 are respectively provided with a light source through hole, and the transmitting light source 3 is fixed on the transmitting circuit board 2 and extends out of the light source through holes. Preferably, the heat dissipation plate 22 is a graphite sheet or graphene, and the heat dissipation plate 22 integrally covers one side of the emission circuit board 2 close to the front cover 8, so as to facilitate timely and rapid derivation of heat generated by the emission light source 3, and prevent error generation caused by decrease of photoelectric conversion efficiency of the area array photoelectric chip 5 due to excessively rapid internal temperature rise of the area array laser radar.
In order to further improve the heat dissipation efficiency of the area array laser radar, the area array laser radar further comprises a front cover 8 and a rear cover 9 which is in sealing connection with the front cover 8, and the front cover 8 and the rear cover 9 are in sealing connection through sealing strips. The upper parts of the front cover 8 and the rear cover 9 are provided with upper radiating fins 101, the upper radiating fins 101 penetrate along the front-rear direction of the area array laser radar, and preferably, the upper radiating fins 101 penetrate along the front-rear direction of the area array laser radar in a wave shape. The upper radiating fins 101 are of wave-shaped structures, conform to thermodynamics, and improve the radiating efficiency of the front cover 8 and the rear cover 9.
The lower parts of the front cover 8 and the rear cover 9 are provided with lower radiating fins 102, the lower radiating fins 102 penetrate along the front-rear direction of the area array laser radar, and preferably, the lower radiating fins 102 penetrate straight along the front-rear direction of the area array laser radar, so that the bottom can radiate heat rapidly. The structure of the upper radiating fins 101 and the lower radiating fins 102, which are matched with each other, enables the heat generated by the area array laser radar to be rapidly and uniformly led out, and particularly, the structure of the lower radiating fins 102 solves the problem that the heat at the bottom cannot be rapidly emitted due to the fact that the area array laser radar is attached to an upper computer during installation, enables the overall heat dissipation of the area array laser radar to be uneven, and influences the working stability of the area array photoelectric chip 5. In order to adapt to various measuring environments, the safety and stability of the area array laser radar are protected, and the area array laser radar has protection standards of IP65 and IP 67.
The receiving panel 81 and the lenticular lens 11 are hermetically connected to the front cover 8. For the area array laser radar and the upper computer plug and play, the operation and the use are more convenient, the main control board 4 is also connected with the aviation plug board 7, and the aviation plug board 7 is connected with the upper computer through an aviation plug interface arranged on the rear cover 9.
In order to further improve the heat dissipation efficiency of the area array laser radar, the main control board 4 is further provided with a heat dissipation block, the aviation plug board 7 is provided with a heat dissipation through hole, and the heat dissipation block passes through the heat dissipation through hole to be abutted on the rear cover 9. The heat dissipation blocks connected to the main control board 4, the aviation plug board 7 and the rear cover 9 conduct heat generated on the main control board 4 and the aviation plug board 7 to the outer side of the rear cover 9 rapidly and efficiently and conduct heat to air or other heat dissipation mechanisms.
The invention also provides a movable platform, which comprises the emission lens.
The invention also provides a movable platform, which comprises the area array laser radar. The movable platform can be an intelligent device such as an unmanned automobile, a robot, an unmanned plane and the like.
In summary, through the structural arrangement of the lenticular lens, the light intensity uniformity of the emitted light beam is realized, the reliable collimation and diffusion are carried out, the adaptability integration is carried out on the shape of the light beam, the light energy of the emitted light beam is fully utilized, the problems that the light scanning structure of the mechanical laser radar is complex and the refreshing frequency is low are solved, the problem that the light intensity uniformity of the emitted light beam of the emitting system of the common area array laser radar is improved, the measurement accuracy and the measurement efficiency of a product are improved, the stability of the product is improved, the assembly difficulty is reduced, and the large-scale mass production of the product is facilitated.
Through the cooperation setting of emission lens and area array photoelectric chip for the light beam that the emission light source sent becomes after the emission lens with area array photoelectric chip assorted evenly diverges the light beam, evenly covers the measuring region, corresponds evenly entering area array photoelectric chip after the barrier reflection in the measuring region, makes the photoelectric signal of area array photoelectric chip output more clear accurate, makes area array laser radar more accurate to the barrier location in the measuring region, has improved laser radar's range finding stability, has reduced the product equipment degree of difficulty, suitable volume production.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (10)
1. The area array laser radar is characterized by comprising an area array light emitting mechanism, an area array light receiving mechanism and a main control board, wherein the area array light emitting mechanism comprises an emitting light source, a driving emitting circuit and an emitting lens, the area array light receiving mechanism comprises an area array photoelectric chip and a receiving lens, the main control board is connected with the area array photoelectric chip, and the area array photoelectric chip is connected with the driving emitting circuit;
the receiving lens comprises a lens barrel and a receiving lens arranged on the lens barrel, and a receiving panel is arranged at the outer end of the lens barrel; a receiving diaphragm is further arranged between the receiving lens and the receiving panel, the receiving diaphragm comprises a diaphragm body which sequentially contracts along the direction from the receiving lens to the area array photoelectric chip, stray light eliminating structures are arranged in the diaphragm body, and the stray light eliminating structures are optical steps or diffuse reflection surfaces;
the light source emits an emission light beam, an optical shaping structure is arranged along the emission direction of the emission light beam, the optical shaping structure comprises at least one cylindrical lens, the divergence angle of the emission light beam is P degrees, the emission light beam is a uniform rectangular light beam with a horizontal divergence angle M degrees and a vertical divergence angle N degrees after passing through the optical shaping structure, wherein M is more than 0 and less than 180,0, N is more than 180,0 and less than 180;
when P is more than M or P is more than N, a converging lens is arranged between the emitting light source and the columnar lens;
when P is more than M and more than or equal to N, or M is less than P and less than N, the optical shaping structure comprises a converging lens and a columnar lens, wherein the converging lens is arranged along the light emission direction, the emission light beam of the emission light source becomes a light beam with a divergence angle of N degrees after passing through the converging lens, and becomes a uniform rectangular light beam with a horizontal divergence angle of M degrees and a vertical divergence angle of N degrees after passing through the columnar lens.
2. The area array lidar of claim 1, wherein the receiving lens comprises a lens barrel and a receiving lens arranged on the lens barrel in a sealing manner, and a receiving panel is connected to the outer end of the lens barrel in a sealing manner.
3. The area array lidar of claim 1, wherein the bottom of the lens barrel is hermetically connected with a first optical filter; and/or the receiving panel is connected with a second optical filter or is plated with an optical filter film.
4. The area array lidar according to any of claims 1 to 3, wherein the driving transmitting circuit is arranged on a transmitting circuit board, a mounting through hole is formed in the transmitting circuit board, a transmitting light source is further connected to the transmitting circuit board, the area array optoelectronic chip is connected to the main control board, the area array optoelectronic chip is connected with a receiving lens in a sealing manner, and the receiving lens passes through the mounting through hole and abuts against the receiving panel.
5. The area array lidar of claim 4, wherein the radiating circuit board is further connected with a heat sink, and the heat sinks are respectively provided with a light source through hole, and the radiating light source is fixed on the radiating circuit board and extends out of the light source through hole.
6. The area array lidar of claim 4, further comprising a front cover and a rear cover sealingly connected to the front cover, wherein the receiving panel and the transmitting lens are sealingly connected to the front cover.
7. The area array lidar of claim 6, wherein upper heat radiation fins are arranged at upper parts of the front cover and the rear cover, and the upper heat radiation fins penetrate along the front-rear direction of the area array lidar; and/or lower radiating fins are arranged at the lower parts of the front cover and the rear cover, and the lower radiating fins penetrate along the front-rear direction of the area array laser radar.
8. The area array lidar of claim 6, wherein the main control board is further connected with a navigation plug board, the navigation plug board is connected with the upper computer through a navigation plug interface arranged on the rear cover, the main control board is further provided with a heat dissipation block, the navigation plug board is provided with a heat dissipation through hole, and the heat dissipation block passes through the heat dissipation through hole and is abutted to the rear cover.
9. The area array lidar of claim 1, wherein the transmitting lens comprises: the length direction of the columnar bulge arranged on one side, close to the emission light source, of the columnar lens is perpendicular to the divergence direction of the emission light beam, a connecting groove is smoothly connected between every two adjacent columnar bulges on one side, close to the emission light source, of the columnar lens, and the emission light beam is a uniform light beam with a set divergence angle and a set shape after passing through an optical shaping structure.
10. A movable platform comprising the emission lens of claim 9; and/or an area array lidar according to any of claims 1 to 8.
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