CN108572359A - A kind of reception system for laser radar - Google Patents
A kind of reception system for laser radar Download PDFInfo
- Publication number
- CN108572359A CN108572359A CN201810583871.9A CN201810583871A CN108572359A CN 108572359 A CN108572359 A CN 108572359A CN 201810583871 A CN201810583871 A CN 201810583871A CN 108572359 A CN108572359 A CN 108572359A
- Authority
- CN
- China
- Prior art keywords
- receiving
- laser radar
- apd
- speculum
- reception system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003287 optical effect Effects 0.000 claims abstract description 30
- 238000001914 filtration Methods 0.000 claims abstract description 6
- 239000000758 substrate Substances 0.000 claims description 41
- 230000001681 protective effect Effects 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 11
- 229910052751 metal Inorganic materials 0.000 abstract description 6
- 239000002184 metal Substances 0.000 abstract description 6
- 239000011248 coating agent Substances 0.000 abstract description 3
- 238000000576 coating method Methods 0.000 abstract description 3
- 239000000428 dust Substances 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 239000011810 insulating material Substances 0.000 description 3
- 239000011733 molybdenum Substances 0.000 description 3
- 229910052750 molybdenum Inorganic materials 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
The present invention provides a kind of reception system for laser radar, including receiving lens group, speculum group and reception device；Receiving lens group is used to converge the reflected light of object；Reflected light is incident on reception device by speculum group for changing the path of light beam；Reception device includes optical filter, receiving device, receiving circuit holder and polylith circuit board for receiving, and receiving device and circuit board for receiving are installed on receiving circuit holder, and optical filter is set to side of the receiving device towards speculum group, for filtering stray light.The optical filter of reception device of the present invention is set to the receiving device towards the side of the speculum group, can filter stray light, the APD detectors of receiving device are also covered with metal coating shell, can protect receiving device, and the foreign matters such as dust is avoided to enter damage device.
Description
Technical field
The present invention relates to Radar Technology field, more particularly to a kind of reception systems for laser radar.
Background technology
As an important ring for intelligent vehicle environment sensing hardware system, laser radar (LIDAR) undertakes in automatic Pilot
Curb detection, obstacle recognition and positioning in real time and vital tasks such as (SLAM) of drawing.LIDAR system includes Laser emission
System and a reception system.Laser emission system is generated and transmitted by light pulse, beats on object and reflects, finally quilt
Receiver is received.Receiver accurately measures light pulse from being emitted to the propagation time being reflected back toward.Because light pulse is with light
Speed is propagated, so receiver always receives the previous pulse being reflected back toward before next pulse is sent out.It is in view of the light velocity
Known, the propagation time can be converted into the measurement adjusted the distance.Laser radar can accurately measure target location (away from walk-off angle
Degree), motion state (speed, vibration and posture) and shape, detection, identification are differentiated and tracking target.Due to measuring speed
Soon, the advantages that precision is high remote with ranging, laser radar is widely applied on intelligent vehicle.
The laser imaging system of early stage uses single-point laser beam and detector corresponding with single-point laser beam, is visited using scanning
The mode of survey is imaged.As array APD detectors gradually appear and the development of optical fiber focal plane array reception technique,
The detection mode of laser imaging system is also changed, and face battle array active probe occurs and alignment pushes away and sweeps the modes such as detection.
The mobile lidar installation weight applied at present is heavier, and it is symmetrical, symmetrical freight space meeting that distribution is mostly
Lead to launching pod and receive the space unreasonable distribution in cabin, is unfavorable for the miniaturization of laser radar.And receive the detector of system
Safeguard measure is not fully taken into account, is easy to be influenced by foreign matters such as stray light and dusts, so as to shorten the service life of detector.
In addition, the weight for receiving each device in storehouse is also heavier, the weight and volume of system is increased, it is difficult to realize the low cost of equipment
And miniaturization.
Invention content
In order to solve the above technical problems, the invention discloses a kind of reception system for laser radar, including receive saturating
Microscope group, speculum group and reception device；
The receiving lens group is used to converge the reflected light of object；
The reflected light is incident on the reception device by the speculum group for changing the path of light beam；
The reception device includes optical filter, receiving device, receiving circuit holder and polylith circuit board for receiving, the reception
Device and the circuit board for receiving are installed on the receiving circuit holder, and the optical filter is for filtering stray light.
The receiving device includes substrate and at least one APD detectors, and the substrate is fixed on the receiving circuit branch
On frame, the APD detectors are set to the substrate one side.
The receiving device further includes protective shell, and the protective shell covers at the APD detectors and the protective shell is pacified
Loaded on the substrate.
The receiving device includes multiple APD detectors, the APD detector rows be classified as APD linear array detectors or
APD planar array detectors.
Further, the optical filter is set to the receiving device towards the side of the speculum group, the optical filtering
Piece fitting is installed on one side of the protective shell far from the APD array detector.
Further, APD linear array detectors are made of n avalanche photodide, are imitated using the snowslide of photodiode
It should convert optical signals to electric signal, wherein n >=2；
APD planar array detectors, the face snow shower avalanche photo diode arranged by NXN form, and utilize the snowslide of photodiode
Effect converts optical signals to electric signal, wherein M >=2, N >=2.
Preferably, the material of the protective shell is metal.
Further, the reception device further includes flexible electrical connection, passes through institute between two neighboring circuit board for receiving
State flexible electrical connection connection.
Further, the receiving circuit holder includes bottom plate and side plate, and the bottom plate is connect with side plate, the side plate tool
There are first side and second side, multiple circuit board for receiving are spaced successively is installed on the first side, the receiver
Part is installed on the second side.
Further, the first side is equipped with the first groove, offers first through hole in first groove, and described the
One through-hole runs through the bottom surface of first groove and the second side,
First groove is used to mitigate the weight of holder while the assembly convenient for circuit board for receiving, fully merges out circuit
The assembly space of the elements such as board chip；
The first through hole is used to mitigate the weight of holder, while convenient for the assembly of substrate, merging out the members such as substrate chip
The assembly space of part.
Further, the reception device further includes the first screw, nuts and washers, and the washer is sheathed on described first
On screw, first screw is connected with the nut.
Further, the edge of the substrate, the side plate and the circuit board for receiving is correspondingly provided with pilot hole；
First screw sequentially passes through the substrate, the side plate and the circuit board for receiving and coordinates with the nut
Connection.
Further, the circuit board for receiving includes first circuit board, second circuit board and tertiary circuit plate.
Further, it is separated by the washer between the first circuit board and the second circuit board；Described second
It is separated by the washer between circuit board and the tertiary circuit plate.
Further, the spacing between multiple circuit board for receiving can be adjusted by the thickness of the washer.
Preferential, the material of the washer is insulating material.
Further, the side plate and the bottom plate vertical connection, and the second side the bottom plate projection with
The bottom plate is equal to the thickness of the substrate far from the distance between described second side edges of boards.
Preferably, the second side is additionally provided with positioning plate along the short transverse of the side plate, described in quickly positioning
The installation site of substrate.
Further, the one end of the bottom plate far from the first side is extended with protrusive board, and the protrusive board offers multiple
Mounting hole for fixing the receiving circuit holder；
The one end of the bottom plate far from second side plate is also extended with assembly ear, and the assembly ear is offered for fixing
The mounting hole of the receiving circuit holder.
Further, the reception device further includes multiple second screws, and second screw will across the mounting hole
The receiving circuit holder is fixed on the rotor of laser radar.
Preferably, the receiving circuit holder is an integral molding structure.
Preferably, the material of the receiving circuit holder is any one or the combination of several of them in copper, molybdenum, aluminium.
Further, the speculum group includes the first speculum and the second speculum, first speculum and second
Speculum is oppositely arranged.
Further, the object reflected light of the receiving lens group convergence, need to meet the APD array detector and receive
The requirement of field angle.
Further, the bottom plate is equipped with chamfering.
Preferably, the chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
Using above-mentioned technical proposal, the reception system of the present invention for laser radar has the advantages that：
1) laser radar of the present invention receives system, is converged to object reflection laser by lens group, and by anti-
It penetrates microscope group to handle the laser light incident of convergence to reception device, realizes target three-dimensional image reconstruct.
2) optical filter of reception device of the present invention is set to the receiving device towards the side of the speculum group, can
Stray light is filtered, the APD detectors of receiving device are also covered with metal coating shell, can protect receiving device, avoid dust etc.
Foreign matter enters damage device.
3) between the circuit board for receiving and receiving device of reception device of the present invention and between polylith circuit board for receiving
It is attached using flexible electrical connection, can adapt to the fluctuation during laser radar adjustment, it is convenient for assembly；The present invention swashs
The spacing of multiple circuit board for receiving of optical receiver apparatus can be adjusted by the thickness of the washer, flexible adaptive circuit
The required space of board component.
4) side plate of laser radar of the present invention is equipped with positioning plate, the installation site for quickly positioning the substrate.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the schematic diagram that the invention laser radar receives system；
Fig. 2 is the schematic diagram that the invention laser radar receives another visual angle of system；
Fig. 3 is the reception device schematic diagram that the invention laser radar receives system；
Fig. 4 is the front view of the invention receiving device；
Fig. 5 is the left view of the invention receiving device；
Fig. 6 is the schematic diagram of the invention receiving circuit holder；
Fig. 7 is another visual angle schematic diagram of the invention receiving circuit holder；
Fig. 8 is the stereoscopic schematic diagram of the intractable system lenses group of the invention.
It remarks additionally below to attached drawing：
1- receiving lens groups；The first lens of 11-；The second lens of 12-；13- the third lens；14- lens barrels；2- speculum groups；
The first speculums of 21-；The second speculums of 22-；3- reception devices；31- optical filters；32- receiving devices；321- substrates；323- is protected
Protective case；33- receiving circuit holders；331- bottom plates；3311- protrusive boards；3312- assembles ear；3313- mounting holes；332- side plates；
3321- first sides；3- second sides；The first grooves of 3323-；3324- first through hole；3325- positioning plates；3326- pilot holes；
34- circuit board for receiving；341- first circuit boards；342- second circuit boards；343- tertiary circuit plates；The first screws of 35-；36- spiral shells
It is female；37- washers；The second screws of 38-.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
" one embodiment " or " embodiment " referred to herein refers to that may be included at least one realization method of the present invention
A particular feature, structure, or characteristic.In the description of the present invention, it is to be understood that, term "upper", "lower", "top", "bottom" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, do not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can be expressed or what is implied includes one or more this feature.Moreover, term " first ",
" second " etc. is for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that in this way
The data used can be interchanged in the appropriate case, so that the embodiment of the present invention described herein can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.
Embodiment 1：
As depicted in figs. 1 and 2, a kind of reception system for laser radar, including receiving lens group 1,2 and of speculum group
Reception device 3；
Receiving lens group 1, the reflected light for converging object；
The reflected light is incident on the reception device 3 by speculum group 2 for changing the path of light beam；
The reception device 3 includes optical filter 31, receiving device 32, receiving circuit holder 33 and polylith circuit board for receiving
34, the receiving device 32 and the circuit board for receiving 34 are installed on the receiving circuit holder 33, and the optical filter 31 is set
The receiving device 32 is placed in towards the side of the speculum group 2, for filtering stray light 32；The receiving device 32 is used for
Range information is obtained, the optical signal of reception is converted into electric signal；The circuit board for receiving 34 is for handling the receiving device
32 range informations obtained.
In conjunction with shown in Fig. 3 to Fig. 5, the receiving device 32 includes substrate 321, APD array detector (not shown)
With protective shell 323, the substrate 321 is fixed on the receiving circuit holder 33, and the APD array detector is set to described
321 one side of substrate, the protective shell 323 covers at the APD array detector and the protective shell 323 is installed on the base
On plate 321.
In conjunction with shown in Fig. 3 to Fig. 5, the fitting of the optical filter 31 is installed on the protective shell 323 and is visited far from the APD array
Survey the one side of device.
The APD array detector is APD planar array detectors, and the face snow shower avalanche photo diode arranged by NXN forms, profit
Electric signal, wherein M >=2, N >=2 are converted optical signals to the avalanche effect of photodiode.Such as 4 × 4,4 × 8,8 × 8 etc.,
Specifically, laser arrangement of the NXN arrangements depending on laser radar.
The material of the protective shell 323 is metal.
The reception device 3 further includes flexible electrical connection, passes through the flexibility between two neighboring circuit board for receiving 34
Electrical connector connects.
In conjunction with shown in Fig. 3, Fig. 6 and Fig. 7, the receiving circuit holder 33 includes bottom plate 331 and side plate 332, the bottom plate
331 connect with side plate 332, and the side plate 332 has first side 3321 and second side 3, multiple circuit board for receiving 34
Interval is installed on the first side 3321 successively, and the receiving device 32 is installed on the second side 3.
As shown in Figure 6 and Figure 7, the first side 3321 is equipped with the first groove 3323, is opened in first groove 3323
Equipped with first through hole 3324, the first through hole 3324 runs through bottom surface and the second side 3 of first groove 3323,
First groove 3323 is used to mitigate the weight of holder while the assembly convenient for circuit board for receiving 34, fully avoids
Go out the assembly space of the elements such as circuit board chip；
The first through hole 3324 is used to mitigate the weight of holder, while convenient for the assembly of substrate 321, merging out substrate
The assembly space of the original papers such as 321 chips.
As shown in figure 3, the reception device 3 further includes the first screw 35, nut 36 and washer 37, the washer 37 is arranged
With on first screw 35, first screw 35 is connected with the nut 36.
In conjunction with shown in Fig. 3, Fig. 6 and Fig. 7, the substrate 321, the side plate 332 and the circuit board for receiving 34 corner
Place is correspondingly provided with pilot hole 3326,
First screw 35 sequentially pass through the substrate 321, the side plate 332 and the circuit board for receiving 34 and with institute
State the mating connection of nut 36.
As shown in figure 3, the circuit board for receiving 34 includes first circuit board 341, second circuit board 342 and tertiary circuit plate
343。
It is separated by the washer 37 between the first circuit board 341 and the second circuit board 342；Second electricity
It is separated by the washer 37 between road plate 342 and the tertiary circuit plate 343.
Spacing between multiple circuit board for receiving 34 can be adjusted by the thickness of the washer 37.
The material of the washer 37 is insulating material.
As shown in Figure 6 and Figure 7, the side plate 332 and 331 vertical connection of the bottom plate, and the second side 3 is described
The projection of bottom plate 331 is equal to the thickness of the substrate 321 with the bottom plate 331 far from the distance between 3 edges of boards of the second side
Degree.
As shown in fig. 7, the second side 3 is additionally provided with positioning plate 3325 along the short transverse of the side plate 332, for fast
Speed positions the installation site of the substrate 321.
As shown in fig. 6, the one end of the bottom plate 331 far from the first side 3321 is extended with protrusive board 3311, it is described convex
Plate 3311 offers multiple mounting holes 3313 for fixing the receiving circuit holder 33；
As shown in fig. 7, the one end of the bottom plate 331 far from second side plate 332 is also extended with assembly ear 3312, it is described
Assembly ear 3312 offers the mounting hole 3313 for fixing the receiving circuit holder 33.
As shown in figure 3, the reception device 3 further includes multiple second screws 38, second screw 38 passes through the peace
The receiving circuit holder 33 is fixed on the rotor of laser radar by dress hole 3313.
The receiving circuit holder 33 is an integral molding structure.
The material of the receiving circuit holder 33 is any one or the combination of several of them in copper, molybdenum, aluminium.
As shown in Figure 1, the speculum group 2 includes the first speculum 21 and the second speculum 22, first speculum
21 and second speculum 22 be oppositely arranged.
The object reflected light that the receiving lens group 1 converges, need to meet the APD array detector field of view of receiver angle
It is required that.
As shown in figure 8, the receiving lens group 1, including：
First lens 11, the first surface and second surface having, first surface are towards the convex surface of object, the second table
Face is aspherical；
Second lens 12, the third surface and the 4th surface having, third surface are equipped with the first recessed portion, the 4th surface
It is equipped with the second recessed portion；
The third lens 13, the 5th surface having and the 6th surface, the 5th surface are aspherical, and the 6th surface is far from mesh
Mark the convex surface of object；
First lens 11, the second lens 12 and reception the third lens 13 are arranged in order along optical axis direction；
Lens barrel 14 is used for fixed first lens 11, the second lens 12 and the third lens 13.
The bottom plate 331 is equipped with chamfering.
The chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
APD (Avalanche Photo Diode) detector array, that is, avalanche photodiode detector is by multiple only
Vertical APD single-element detectors are integrated, compact-sized, small, light-weight.The APD detectors are APD single-element detectors,
Non-scanning laser detection may be implemented, pulse can three-dimensional imaging；APD array detector can directly acquire three-dimensional information, at
Faster as speed, and system structure is simple.The laser echo signal that detection system receives each unit of detector array into
The processing of row multidiameter delay, and then realize linear array imaging.
Embodiment 2：
As depicted in figs. 1 and 2, a kind of reception system for laser radar, including receiving lens group 1,2 and of speculum group
Reception device 3；
Receiving lens group 1, the reflected light for converging object；
The reflected light is incident on the reception device 3 by speculum group 2 for changing the path of light beam；
The reception device 3 includes optical filter 31, receiving device 32, receiving circuit holder 33 and polylith circuit board for receiving
34, the receiving device 32 and the circuit board for receiving 34 are installed on the receiving circuit holder 33, and the optical filter 31 is set
The receiving device 32 is placed in towards the side of the speculum group 2, for filtering stray light 32；The receiving device 32 is used for
Range information is obtained, the optical signal of reception is converted into electric signal；The circuit board for receiving 34 is for handling the receiving device
32 range informations obtained.
In conjunction with shown in Fig. 3 to Fig. 5, the receiving device 32 includes substrate 321, APD array detector and protective shell 323,
The substrate 321 is fixed on the receiving circuit holder 33, and the APD array detector is set to 321 side of the substrate
Face, the protective shell 323 covers at the APD array detector and the protective shell 323 is installed on the substrate 321.
In conjunction with shown in Fig. 3 to Fig. 5, the fitting of the optical filter 31 is installed on the protective shell 323 and is visited far from the APD array
Survey the one side of device.
The APD array detector is APD linear array detectors, is made of n avalanche photodide, utilizes two pole of photoelectricity
The avalanche effect of pipe converts optical signals to electric signal, wherein n >=1.Such as Isosorbide-5-Nitrae, 16,32 etc., specifically, the n depends on swashing
The laser arrangement of optical radar.
The material of the protective shell 323 is metal.
The reception device 3 further includes flexible electrical connection, passes through the flexibility between two neighboring circuit board for receiving 34
Electrical connector connects.
In conjunction with shown in Fig. 3, Fig. 6 and Fig. 7, the receiving circuit holder 33 includes bottom plate 331 and side plate 332, the bottom plate
331 connect with side plate 332, and the side plate 332 has first side 3321 and second side 3, multiple circuit board for receiving 34
Interval is installed on the first side 3321 successively, and the receiving device 32 is installed on the second side 3.
As shown in Figure 6 and Figure 7, the first side 3321 is equipped with the first groove 3323, is opened in first groove 3323
Equipped with first through hole 3324, the first through hole 3324 runs through bottom surface and the second side 3 of first groove 3323,
First groove 3323 is used to mitigate the weight of holder while the assembly convenient for circuit board for receiving 34, fully avoids
Go out the assembly space of the elements such as circuit board chip；
The first through hole 3324 is used to mitigate the weight of holder, while convenient for the assembly of substrate 321, merging out substrate
The assembly space of the original papers such as 321 chips.
As shown in figure 3, the reception device 3 further includes the first screw 35, nut 36 and washer 37, the washer 37 is arranged
With on first screw 35, first screw 35 is connected with the nut 36.
In conjunction with shown in Fig. 3, Fig. 4 and Fig. 6, the substrate 321, the side plate 332 and the circuit board for receiving 34 corner
Place is correspondingly provided with pilot hole 3326,
First screw 35 sequentially pass through the substrate 321, the side plate 332 and the circuit board for receiving 34 and with institute
State the mating connection of nut 36.
The circuit board for receiving 34 includes first circuit board 341, second circuit board 342 and tertiary circuit plate 343.
It is separated by the washer 37 between the first circuit board 341 and the second circuit board 342；Second electricity
It is separated by the washer 37 between road plate 342 and the tertiary circuit plate 343.
Spacing between multiple circuit board for receiving 34 can be adjusted by the thickness of the washer 37.
The material of the washer 37 is insulating material.
As shown in Figure 6 and Figure 7, the side plate 332 and 331 vertical connection of the bottom plate, and the second side 3 is described
The projection of bottom plate 331 is equal to the thickness of the substrate 321 with the bottom plate 331 far from the distance between 3 edges of boards of the second side
Degree.
As shown in fig. 7, the second side 3 is additionally provided with positioning plate 3325 along the short transverse of the side plate 332, for fast
Speed positions the installation site of the substrate 321.
As shown in fig. 6, the one end of the bottom plate 331 far from the first side 3321 is extended with protrusive board 3311, it is described convex
Plate 3311 offers multiple mounting holes 3313 for fixing the receiving circuit holder 33；
As shown in fig. 7, the one end of the bottom plate 331 far from second side plate 332 is also extended with assembly ear 3312, it is described
Assembly ear 3312 offers the mounting hole 3313 for fixing the receiving circuit holder 33.
As shown in figure 3, the reception device 3 further includes multiple second screws 38, second screw 38 passes through the peace
The receiving circuit holder 33 is fixed on the rotor of laser radar by dress hole 3313.
The receiving circuit holder 33 is an integral molding structure.
The material of the receiving circuit holder 33 is any one or the combination of several of them in copper, molybdenum, aluminium.
As shown in Figure 1, the speculum group 2 includes the first speculum 21 and the second speculum 22, first speculum
21 and second speculum 22 be oppositely arranged.
The object reflected light that the receiving lens group 1 converges, need to meet the APD array detector field of view of receiver angle
It is required that.
As shown in figure 8, the receiving lens group 1, including：
First lens 11, it is towards the convex surface of object, second surface to have first surface and second surface, first surface
It is aspherical；
Second lens 12 have third surface and the 4th surface, and third surface is equipped with the first recessed portion, on the 4th surface
Equipped with the second recessed portion；
The third lens 13, it is aspherical to have the 5th surface and the 6th surface, the 5th surface, and the 6th surface is far from target
The convex surface of object；
First lens 11, the third lens 12 and reception the third lens 13 are arranged in order along optical axis direction；
Lens barrel 14 is used for fixed first lens 11, the second lens 12 and the third lens 13.
The bottom plate 331 is equipped with chamfering.
The chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
The bottom plate 331 is equipped with chamfering.
The chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
APD (Avalanche Photo Diode) detector array, that is, avalanche photodiode detector is by multiple only
Vertical APD single-element detectors are integrated, compact-sized, small, light-weight.The APD detectors are APD single-element detectors,
Non-scanning laser detection may be implemented, pulse can three-dimensional imaging；APD array detector can directly acquire three-dimensional information, at
Faster as speed, and system structure is simple.The laser echo signal that detection system receives each unit of detector array into
The processing of row multidiameter delay, and then realize linear array imaging.
Embodiment 3：
The embodiment and embodiment 1 difference lies in：
The receiving device includes substrate and an APD detector, and the substrate is fixed on the receiving circuit holder,
The APD detectors are set to the substrate one side；The receiving device further includes protective shell, and the protective shell covers at institute
It states APD detectors and the protective shell is installed on the substrate.
APD (Avalanche Photo Diode) detector array, that is, avalanche photodiode detector is by multiple only
Vertical APD single-element detectors are integrated, compact-sized, small, light-weight.APD detectors described in above-described embodiment is that APD is mono-
First detector, may be implemented non-scanning laser detection, and pulse can three-dimensional imaging；APD array detector can directly acquire three
Information is tieed up, faster, and system structure is simple for image taking speed.Detection system returns the laser that each unit of detector array receives
Wave signal carries out multidiameter delay processing, and then realizes linear array imaging.
Using above-mentioned technical proposal, the reception system of the present invention for laser radar has as follows
Advantageous effect：
Laser radar of the present invention receives system, is converged to object reflection laser by lens group, and pass through reflection
Microscope group handles the laser light incident of convergence to reception device, realizes target three-dimensional image reconstruct.
The optical filter of reception device of the present invention is set to the receiving device towards the side of the speculum group, being capable of mistake
Stray light is filtered, the APD detectors of receiving device are also covered with metal coating shell, can protect receiving device, avoid dust etc. different
Object enters damage device.
Between the circuit board for receiving and receiving device of reception device of the present invention and polylith circuit board for receiving is adopted each other
It is attached with flexible electrical connection, can adapt to the fluctuation during laser radar adjustment, it is convenient for assembly；Laser of the present invention
The spacing of multiple circuit board for receiving of reception device can be adjusted by the thickness of the washer, flexible adaptive circuit plate
The required space of component.
The side plate of laser radar of the present invention is equipped with positioning plate, the installation site for quickly positioning the substrate.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of reception system for laser radar, it is characterised in that：Including receiving lens group (1), speculum group (2) and connect
Receiving apparatus (3)；
The receiving lens group (1) is used to converge the reflected light of object；
The reflected light is incident on the reception device (3) by the speculum group (2) for changing the path of light beam；
The reception device (3) includes optical filter (31), receiving device (32), receiving circuit holder (33) and at least one piece reception
Circuit board (34), the receiving device (32) and the circuit board for receiving (34) are installed on the receiving circuit holder (33),
The optical filter (31) is for filtering stray light (32).
2. a kind of reception system for laser radar according to claim 1, it is characterised in that：The receiving device
(32) include substrate (321) and at least one APD detectors, the substrate (321) is fixed on the receiving circuit holder (33)
On, the APD detectors are set to the substrate (321) one side.
3. a kind of reception system for laser radar according to claim 2, it is characterised in that：The receiving device
(32) further include protective shell (323), the protective shell (323) covers at the APD detectors and the protective shell (323) is installed
In on the substrate (321).
4. a kind of reception system for laser radar according to claim 2 or 3, it is characterised in that：The receiver
Part (32) includes multiple APD detectors, and multiple APD detector rows are classified as APD linear array detectors or the battle array detection of the faces APD
Device.
5. a kind of reception system for laser radar according to claim 3, it is characterised in that：The optical filter (31)
It is set to side of the receiving device (32) towards the speculum group (2), optical filter (31) fitting is installed on described
One side of the protective shell (323) far from the APD array detector.
6. a kind of reception system for laser radar according to claim 2, it is characterised in that：The receiving circuit branch
Frame (33) includes bottom plate (331) and side plate (332), and the bottom plate (331) connect with side plate (332), and the side plate (332) has
First side (3321) and second side (3322), multiple circuit board for receiving (34) are spaced successively is installed on first side
Face (3321), the receiving device (32) are installed on the second side (3322).
7. a kind of reception system for laser radar according to claim 6, it is characterised in that：The first side
(3321) it is equipped with the first groove (3323), first through hole (3324) is offered in first groove (3323), described first is logical
Hole (3324) is through the bottom surface of first groove (3323) and the second side (3322).
8. a kind of reception system for laser radar according to claim 7, it is characterised in that：The side plate (332)
With the bottom plate (331) vertical connection, and the second side (3322) is in projection and the bottom plate of the bottom plate (331)
(331) it is equal to the thickness of the substrate (321) far from the distance between the second side (3322) edges of boards；
The second side (3322) is additionally provided with positioning plate (3325) along the short transverse of the side plate (332).
9. a kind of reception system for laser radar according to claim 6, it is characterised in that：The bottom plate (331)
One end far from the first side (3321) is extended with protrusive board (3311), and the protrusive board (3311) offers multiple for fixing
The mounting hole (3313) of the receiving circuit holder (33)；
The one end of the bottom plate (331) far from second side plate (332) is also extended with assembly ear (3312), the assembly ear
(3312) mounting hole (3313) for fixing the receiving circuit holder (33) is offered.
10. a kind of reception system for laser radar according to claim 1, it is characterised in that：The speculum group
(2) include the first speculum (21) and the second speculum (22), first speculum (21) and the second speculum (22) are opposite
Setting.
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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810583871.9A CN108572359B (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310634166.8A Division CN116500588A (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108572359A true CN108572359A (en) | 2018-09-25 |
| CN108572359B CN108572359B (en) | 2023-06-16 |
Family
ID=63573228
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310634166.8A Pending CN116500588A (en) | 2018-06-08 | 2018-06-08 | Receiving system for laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN116500588A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814082A (en) * | 2019-01-21 | 2019-05-28 | 上海禾赛光电科技有限公司 | Optical receiver module and laser radar system |
| CN109856612A (en) * | 2018-11-16 | 2019-06-07 | 上海禾赛光电科技有限公司 | A kind of reception adjustment bracket and laser radar reception device for laser radar |
| CN109917354A (en) * | 2019-04-26 | 2019-06-21 | 上海禾赛光电科技有限公司 | Reception device, laser radar and its echo processing techniques of laser radar |
| CN111077510A (en) * | 2019-12-16 | 2020-04-28 | 上海禾赛光电科技有限公司 | 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012144341A1 (en) * | 2011-04-20 | 2012-10-26 | 三洋電機株式会社 | Laser radar |
| CN103675831A (en) * | 2012-09-13 | 2014-03-26 | 株式会社理光 | Distance measurement apparatus |
| JP2014145671A (en) * | 2013-01-29 | 2014-08-14 | Sanyo Electric Co Ltd | Laser radar |
| DE102014110510A1 (en) * | 2014-07-25 | 2016-01-28 | Valeo Schalter Und Sensoren Gmbh | Circuit board set for the transmitting and receiving combination of an optoelectronic detection device, detection device with such a circuit board set and motor vehicle with such a detection device |
| CN106291575A (en) * | 2016-10-25 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar range-measurement system and method |
| CN107209265A (en) * | 2015-03-20 | 2017-09-26 | 摸索科技有限公司 | light detection and ranging device |
| WO2017193269A1 (en) * | 2016-05-10 | 2017-11-16 | 深圳市速腾聚创科技有限公司 | Multiline lidar |
| CN208421218U (en) * | 2018-06-08 | 2019-01-22 | 上海禾赛光电科技有限公司 | A kind of reception system for laser radar |
-
2018
- 2018-06-08 CN CN202310634166.8A patent/CN116500588A/en active Pending
- 2018-06-08 CN CN201810583871.9A patent/CN108572359B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012144341A1 (en) * | 2011-04-20 | 2012-10-26 | 三洋電機株式会社 | Laser radar |
| CN103415781A (en) * | 2011-04-20 | 2013-11-27 | 三洋电机株式会社 | Laser radar |
| CN103675831A (en) * | 2012-09-13 | 2014-03-26 | 株式会社理光 | Distance measurement apparatus |
| JP2014145671A (en) * | 2013-01-29 | 2014-08-14 | Sanyo Electric Co Ltd | Laser radar |
| DE102014110510A1 (en) * | 2014-07-25 | 2016-01-28 | Valeo Schalter Und Sensoren Gmbh | Circuit board set for the transmitting and receiving combination of an optoelectronic detection device, detection device with such a circuit board set and motor vehicle with such a detection device |
| CN107209265A (en) * | 2015-03-20 | 2017-09-26 | 摸索科技有限公司 | light detection and ranging device |
| WO2017193269A1 (en) * | 2016-05-10 | 2017-11-16 | 深圳市速腾聚创科技有限公司 | Multiline lidar |
| CN106291575A (en) * | 2016-10-25 | 2017-01-04 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar range-measurement system and method |
| CN208421218U (en) * | 2018-06-08 | 2019-01-22 | 上海禾赛光电科技有限公司 | A kind of reception system for laser radar |
Non-Patent Citations (1)
| Title |
|---|
| 师宇斌等: ""光束扫描技术研究新进展"" * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109856612A (en) * | 2018-11-16 | 2019-06-07 | 上海禾赛光电科技有限公司 | A kind of reception adjustment bracket and laser radar reception device for laser radar |
| CN109814082A (en) * | 2019-01-21 | 2019-05-28 | 上海禾赛光电科技有限公司 | Optical receiver module and laser radar system |
| 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 |
| CN109917354A (en) * | 2019-04-26 | 2019-06-21 | 上海禾赛光电科技有限公司 | Reception device, laser radar and its echo processing techniques of laser radar |
| 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 |
| CN111077510A (en) * | 2019-12-16 | 2020-04-28 | 上海禾赛光电科技有限公司 | 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108572359B (en) | 2023-06-16 |
| CN116500588A (en) | 2023-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108572359A (en) | A kind of reception system for laser radar | |
| CN208421218U (en) | A kind of reception system for laser radar | |
| US9800332B2 (en) | Acquisition, tracking, and pointing apparatus for free space optical communications with moving focal plane array | |
| US10281262B2 (en) | Range-finder apparatus, methods, and applications | |
| CN102928831B (en) | Laser measuring bare engine system | |
| KR20160112876A (en) | LIDAR Apparatus | |
| US20100289938A1 (en) | Camera module with light scattering portion | |
| CN106371101A (en) | Intelligent range finding and obstacle avoidance device | |
| US20230145710A1 (en) | Laser receiving device, lidar, and intelligent induction apparatus | |
| CN110275176A (en) | A kind of laser radar | |
| CN113614563A (en) | Mounting arrangement for optoelectronic components in a lidar system | |
| CN211718520U (en) | Multi-line laser radar | |
| CN202393913U (en) | Optical signal receiving device and range finder | |
| CN108761739A (en) | A kind of reception lens optical system and laser radar reception device | |
| CN114690796A (en) | Relative positioning system and method for distance measurement between unmanned aerial vehicles | |
| CN208314187U (en) | A kind of laser radar reception device | |
| CN112986954A (en) | Laser radar transmitting unit, laser radar receiving unit and laser radar | |
| CN211554313U (en) | Multi-line laser radar | |
| CN210347920U (en) | Laser receiving device and laser radar system | |
| CN108572357B (en) | Laser range finder and prism and optical transmitter module thereof | |
| CN111751828A (en) | Laser radar system | |
| CN110007291B (en) | Receiving system and laser radar | |
| CN211786103U (en) | Electronic equipment | |
| CN113030912A (en) | Laser radar system based on scanning galvanometer | |
| WO2022252309A1 (en) | Ranging device, lidar, and mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant after: Shanghai Hesai Technology Co.,Ltd. Address before: Room j385, building 6, 1288 Yecheng Road, Jiading District, Shanghai Applicant before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant after: Shanghai Hesai Technology Co.,Ltd. Address before: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant before: Shanghai Hesai Technology Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |