CN110678780B

CN110678780B - Laser receiving array, laser radar and intelligent sensing equipment

Info

Publication number: CN110678780B
Application number: CN201980002324.XA
Authority: CN
Inventors: 叶高山
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2022-04-12
Anticipated expiration: 2039-05-16
Also published as: CN110678780A; WO2020228001A1

Abstract

The application relates to the technical field of laser radars, and discloses a laser receiving array, laser radar and intelligent induction equipment, the laser receiving array includes: a laser receiving plate and a light barrier; at least two laser receiving units are arranged on one side of the laser receiving plate; the light barrier is arranged on one side of the laser receiving plate, which is provided with the laser receiving unit, and a through hole is formed in the position, opposite to the laser receiving unit, of the light barrier and is used for allowing a laser signal to pass through; and a light blocking strip is arranged between the through holes and is used for isolating laser signals incident to the at least two laser receiving units. Through setting up through-hole and light barrier on the barn door, realized reducing the problem of the optical crosstalk when laser receiving element receives laser signal.

Description

Laser receiving array, laser radar and intelligent sensing equipment

Technical Field

The application relates to the technical field of laser radars, in particular to a laser receiving array, a laser radar and intelligent sensing equipment.

Background

With the development of the technology, the laser radar is widely used in the fields of intelligent equipment such as automatic driving, intelligent robot navigation and unmanned aerial vehicles, and is applied to scenes such as environment detection and space modeling. The laser radar is a radar system which emits laser beams to detect characteristic quantities such as the position, the speed and the like of a target object, and the working principle of the radar system is that the detection laser beams are emitted to the target object, then received reflection signals reflected from the target object are compared with the emission signals, and after processing, relevant information of the target object, such as parameters of target distance, direction, height, speed, posture, shape and the like, is obtained.

The inventor of the application finds that, in the research process, as the line number of the laser radar is higher and higher, the optical crosstalk is more and more serious for a laser emitting area array and a laser receiving area array, and the space for preventing crosstalk is smaller and more difficult.

Disclosure of Invention

An object of the embodiment of the present application is to provide a laser receiving array, a laser radar and an intelligent sensing device, which can solve or partially solve the above technical problems.

The embodiment of the invention provides a laser receiving array, which comprises: a laser receiving plate and a light barrier;

at least two laser receiving units are arranged on one side of the laser receiving plate;

the light barrier is arranged on one side of the laser receiving plate, which is provided with the laser receiving unit, and a through hole is formed in the position, opposite to the laser receiving unit, of the light barrier and is used for allowing a laser signal to pass through; and a light blocking strip is arranged between the through holes and is used for isolating laser signals incident to the at least two laser receiving units.

Preferably, at least two laser receiving unit arrays are arranged on one side of the laser receiving plate opposite to the light barrier;

the laser receiving unit array comprises at least two laser receiving units;

a through groove is formed in the position, opposite to the laser receiving unit array, of the light barrier and is used for allowing a laser signal to pass through; and light blocking strips are arranged between the through grooves and used for isolating laser signals incident to the at least two laser receiving unit arrays.

Preferably, the light barrier is provided with a positioning protrusion on one side of the light barrier strip opposite to the laser receiving plate;

positioning holes are formed among the laser receiving unit arrays on the laser receiving plate;

the light barrier and the laser receiving plate are positioned through the positioning protrusions and the positioning holes.

Preferably, an edge strip is arranged on one side edge of the light barrier relative to the laser receiving plate, the edge strip forms a first accommodating space, and when the light barrier and the laser receiving plate are relatively fixed, the laser receiving plate is accommodated in the first accommodating space.

Preferably, a fifth fixing hole is formed in the edge strip, and the light barrier and the laser receiving plate are fixed through the fifth fixing hole.

Preferably, a clamping piece is arranged at one end of the positioning protrusion on the light barrier, and the light barrier and the laser receiving plate are clamped and fixed through the clamping piece and the positioning hole.

Preferably, the laser device further comprises a filter plate, wherein the filter plate is arranged on one side of the light barrier, which is far away from the laser receiving plate.

Preferably, an edge strip is arranged on one side edge of the light barrier, which is far away from the laser receiving plate, the edge strip forms a second accommodating space, and when the light barrier and the filter plate are relatively fixed, the filter plate is accommodated in the second accommodating space.

Preferably, a fourth fixing hole is formed in the edge strip, and the light barrier and the filter plate are fixed through the fourth fixing hole.

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

The embodiment of the invention also provides a laser radar which comprises a shell, a machine body, a base and the laser receiving array, wherein the laser receiving array is positioned in the machine body.

The embodiment of the invention also provides intelligent equipment which comprises at least one laser radar, wherein the laser receiving array of the laser radar is provided.

Through the above, the embodiment of the invention realizes the reduction of the problem of optical crosstalk when the laser receiving unit receives the laser signal by arranging the through hole and the light blocking strip on the light blocking plate, and simultaneously, the laser receiving plate and the filter plate are compactly combined together by the light blocking plate to form a complete laser receiving array, so that the structure of the laser receiving array is more compact, and the laser signal receiving effect is better.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic diagram of a laser receiving array according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of another laser receiving array according to an embodiment of the present invention;

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

fig. 4 is a structural diagram of a laser radar according to an embodiment of the present invention.

The reference numbers in the detailed description are as follows:

laser receiving array 1	First base 184
		Light barrier 10	Second base 183
Via (101,102)	Laser receiving board 20
		Light barrier (103, 120, 140)	Laser receiving unit (201,202, 211,212, 213)
Positioning protrusions 121, 141	Laser receiving unit array (210,230, 250)
		Card 123	Positioning hole (221, 241)
Through groove (110,130, 150)	First fixing hole 209
		First regula (171, 181, 191)	Filter plate 30
Second regula (172, 182, 192)	Third fixing hole 309
		Second fixing hole 189	Body 2
Fourth fixing hole 185	Outer cover 3
		Fifth fixing hole 186	Base 4

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely used to more clearly illustrate the technical solutions of the present application, and therefore are only examples, and the protection scope of the present application is not limited thereby.

In order to solve the problems in the prior art, the embodiment of the present invention provides a laser receiving array 1, as shown in fig. 1, including a laser receiving plate 20 and a light barrier 10; at least two

laser receiving units

201 and 202 are arranged on one side of the laser receiving plate 20; the light barrier 10 is arranged at one side of the laser receiving plate 20 with the

laser receiving units

201 and 202, and through

holes

101 and 102 are arranged at the positions, opposite to the

laser receiving units

201 and 202, of the light barrier 10 and are used for passing through laser signals; a light barrier 103 is disposed between the through

holes

101 and 102 for isolating the laser signals incident to the at least two

laser receiving units

201 and 202. In fig. 1, the laser receiving board 20 may be an APD board, or may be another laser receiving board. The laser receiving board 20 and the light barrier 10 are matched with each other, through the through

holes

101 and 102 respectively arranged on the light barrier 10 and the positions corresponding to the laser receiving unit 201 and the laser receiving unit 202 on the laser receiving board 20, it is ensured that the laser signal can reach the laser receiving unit, meanwhile, the light barrier 103 is arranged between the through

holes

101 and 102, when the light barrier 10 and the laser receiving board 20 are mutually attached and fixed, the light barrier 103 can isolate the incident light of the laser receiving unit 201 and the laser receiving unit 202, and a good effect of preventing optical crosstalk is achieved.

Preferably, for the laser radar with a high line number, a plurality of laser emitting units are provided to emit a plurality of laser signals simultaneously, and correspondingly, a plurality of laser receiving units are also provided on the laser receiving plate 20, in the embodiment of the present invention, the plurality of laser receiving units are arranged in an array manner to form a laser receiving unit array 210, as shown in fig. 1, in the embodiment of the present invention, the laser receiving units are grouped into laser receiving unit arrays 210,230, and 250 in a column manner, each laser receiving unit array includes at least two laser receiving units, for example, the laser receiving unit array 210 includes laser receiving units 211,212, and 213; the laser receiving units in the same laser receiving unit array can receive laser signals in a time-sharing mode, and therefore optical crosstalk cannot be generated between the laser receiving units. In the embodiment of the present invention, through grooves 110,130, and 150 are respectively disposed on the light barrier 10 at positions corresponding to the laser receiving arrays 210,230, and 250, the laser receiving units 211,212, and 213 in the laser receiving array 210 receive laser signals through the through groove 110, each laser receiving unit in the laser receiving array 230 receives laser signals through the through groove 130, each laser receiving unit in the laser receiving array 250 receives laser signals through the through groove 150, and so on. Accordingly, light-

blocking bars

120 and 140 are respectively disposed between the through slots 110,130 and 150 of the light-blocking panel 10 to block laser signals incident to the laser receiving cell arrays 210,230 and 250, respectively, thereby preventing optical crosstalk between the laser receiving cell arrays. Because the laser receiving units belonging to the same laser receiving unit array receive laser signals in a time-sharing manner and do not generate optical crosstalk, in the embodiment of the invention, no light blocking strip is arranged in the through groove to block the laser receiving units in the laser receiving unit array, so that the structure of the light blocking plate is simplified. Of course, further, a plurality of laser receiving units in the laser receiving unit array may also be shielded, and it is only necessary to set a light blocking strip for each laser receiving unit in the corresponding through groove on the light blocking plate 10 in the direction perpendicular to the light blocking strips of the laser receiving unit array.

As for the formation manner of the laser emitting unit array, there may be various manners, for example, only in the same column, the adjacent laser emitting units may be set as the same laser emitting unit array, or the laser emitting units located slightly farther away may be set as the same laser emitting unit array, as shown in fig. 1, although the laser emitting units 213 are not closely adjacent to the

laser emitting units

211 and 212, since they belong to the same column, they may be regarded as the same laser emitting unit array for convenience, and accordingly, on the light blocking plate 10, the through groove 110 may be extended to cover the laser emitting units 213, which is easier to implement and simpler in structure.

On the light barrier 10, the through holes and the through grooves may be mixed, and the shape thereof may be various as long as the light barrier can function to block light, which is only illustrated and not limited herein.

Preferably, in the practical application process, in order to better achieve the mutual matching and fixing of the laser receiving plate 20 and the light barrier 10, as shown in fig. 2, in the embodiment of the present invention, a positioning protrusion 121 is disposed on one side of the light barrier 120 on the light barrier 10 opposite to the laser receiving plate 20; meanwhile, positioning holes 221 are arranged between the laser

receiving unit arrays

210 and 230 on the laser receiving plate 20; the light-blocking plate 10 and the laser-receiving plate 20 are positioned by the positioning bosses 121 and the positioning holes 221. Through the arrangement of the positioning holes 221 and the positioning protrusions 121, the laser receiving panel 20 and the light barrier 10 can be well positioned when being installed, so that the

laser emitting units

201 and 202 or the laser emitting unit arrays 210,230 and 250 can be well positioned in the through

holes

101 and 102 or the through grooves 110,130 and 150, and the situation that the laser emitting units are damaged due to inaccurate positioning during installation is avoided.

Meanwhile, in the embodiment of the present invention, a card 123 is disposed at one end of the positioning protrusion 121 on the light barrier 10, and the light barrier 10 and the laser receiving plate 20 are fastened and fixed through the card 123 and the positioning hole 221. The clamping manner is various, and a clamping groove (not shown) may be disposed on the side wall of the positioning hole 221, and the card 123 may be clamped with the clamping groove in the positioning hole 221 to fix the laser receiving plate 20 and the light barrier 10. Of course, the length of the positioning protrusion 121 may also be lengthened, so that the card 123 may pass through the positioning hole 221 and be clamped on the other side of the laser receiving plate, thereby fixing the laser receiving plate 20 and the light barrier 10.

Further, in order to better combine the laser receiving plate 20 and the light barrier plate 10, and make the structure more compact, as shown in fig. 2, in the embodiment of the present invention, the

edge strips

172, 182, 192 are disposed at the edge of one side of the light barrier plate 10 opposite to the laser receiving plate 20, and the edge strips cooperate with each other to form a first accommodating space, when the light barrier plate 10 and the laser receiving plate 20 are relatively fixed, the laser receiving plate 20 is accommodated in the first accommodating space, preferably, the thickness of the edge strips is consistent with the thickness of the laser receiving plate 20, so that the light barrier plate 10 and the laser receiving plate 20 can be seamlessly fixed, and a plane is formed. Of course, the arrangement of the edge strips can be combined randomly, and the number of the edge strips can be 1,2,3 or 4, which is not limited herein.

Preferably, the edge strip 182 is provided with a fifth fixing hole 186, and the light barrier 10 and the laser receiving panel 20 are fixed through the fifth fixing hole 186, as shown in fig. 2, the light barrier 10 is further provided with a first base 184, when the edge strip is arranged, the edge strip 182 and the first base 184 can be arranged together, and the laser receiving panel 20 is fixed with the light barrier 10 through the fifth fixing hole 186, so that the structure of the laser receiving panel can be more compact. Meanwhile, the first base 184 may also serve as a base of the laser receiving array 1, and is fixed to other devices, such as a laser radar, through the fixing of the first base 184.

In the embodiment of the present invention, the laser receiving array 1 further includes a filter 30, the filter 30 is disposed on one side of the light barrier 10 away from the laser receiving plate 20, the filter 30 and the laser receiving plate 20 are respectively located on two sides of the light barrier 10, and the filter 30 can filter an incident laser signal and filter interference light, so that the signal received by the laser receiving unit is more accurate.

Preferably, the

edge strips

171, 181, 191 are disposed on an edge of one side of the light barrier 10 away from the laser receiving plate 20, and the

edge strips

171, 181, 191 form a second receiving space, so that when the light barrier 10 and the filter 30 are relatively fixed, the filter 30 is received in the second receiving space. Preferably, the thickness of the edge strips is the same as the thickness of the filter plate 30, so that the light barrier 10 and the filter plate 30 can be seamlessly fixed to form a plane. Of course, the arrangement of the edge strips can be combined randomly, and the number of the edge strips can be 1,2,3 or 4, which is not limited herein.

Preferably, the edge strip 181 is provided with a fourth fixing hole 185, and the light barrier 10 and the filter plate 30 are fixed through the fourth fixing hole 185, as shown in fig. 1, the light barrier 10 is further provided with a second base 183, when the edge strip is arranged, the edge strip 181 and the second base 183 can be arranged together, and the filter plate 30 is fixed with the light barrier 10 through the fourth fixing hole 185, so that the structure of the filter plate can be more compact. Meanwhile, the second base 183 may serve as a second base of the laser receiving array 1, and is fixed to other devices, such as a laser radar.

Preferably, the light barrier 10, the laser receiving plate 20 and the filter plate 30 may be fixed in other manners, for example, at least one second fixing hole 189 is disposed on the light barrier 10, at least one first fixing hole 209 is disposed on the laser receiving plate 20, at least one third fixing hole 309 is disposed on the filter plate 30, the light barrier 10, the laser receiving plate 20 and the filter plate 30 are fixed by the second fixing hole 189, the first fixing hole 209 and the third fixing hole 309, and the positions of the fixing holes may be set at any positions of the light barrier 10, the laser receiving plate 20 and the filter plate 30 except for the laser receiving unit and the through hole or the through slot, and the fixing manners may also be fixed by screws or rivets, which is not limited herein.

In the embodiment of the present invention, the laser receiving panel 20 and the filter 30 are compactly combined together by the light barrier 10 to form a complete laser receiving array 1, as shown in fig. 3, which is a perspective view of the laser receiving array 1. Through setting up through-hole and light barrier on barn door 10, realized reducing the problem of the optical crosstalk when laser receiving element receives laser signal, simultaneously, through this design, make its structure compacter, laser signal reception effect is also better.

An embodiment of the present invention further provides a laser radar, as shown in fig. 4, including a body 2, a housing 3, and a base 4, where the body 2 includes the laser receiving array 1 described in the foregoing embodiment, and the laser receiving array is disposed inside the body 2 and may be fixed inside the body 2 through a second base 183 and a first base 184 of the laser receiving array 1, which is not described herein again.

An embodiment of the present invention further provides an intelligent sensing device, where the intelligent sensing device includes at least one laser radar, where the laser radar includes the laser receiving array 1 in the foregoing embodiment, and functions and structures of the laser receiving array 1 are consistent with those described in the foregoing embodiment, and are not described herein again.

The intelligent sensing device is a device capable of detecting the orientation and distance of a peripheral object and making a decision based on the orientation and distance of the peripheral object, for example: intelligent robots, intelligent cars, intelligent airplanes, and the like.

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

In the description of the present embodiments, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations and positional relationships that are based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the embodiments of the present application and for simplicity in description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the embodiments of the present application.

Furthermore, the technical terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

In the description of the novel embodiments of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

In describing the novel embodiments of this embodiment, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein but is to cover all embodiments that may fall within the scope of the appended claims.

Claims

1. A laser receiving array (1), comprising: a laser receiving plate (20), a light barrier (10) and a light filter plate (30);

at least two laser receiving units (201,202) are arranged on one side of the laser receiving plate (20);

the light barrier (10) is arranged on one side of the laser receiving plate (20) with the laser receiving units (201,202), and through holes (101,102) are formed in the position, opposite to the laser receiving units (201,202), of the light barrier (10) and used for allowing laser signals to pass through; a light blocking strip (103) is arranged between the through holes (101,102) and is used for isolating laser signals incident to the at least two laser receiving units (201, 202);

the light filter plate (30) is arranged on one side, far away from the laser receiving plate (20), of the light barrier plate (10); and edge strips (171, 181, 191) are arranged at the edge of one side of the light barrier (10) far away from the laser receiving plate (20), a second accommodating space is formed by the edge strips (171, 181, 191), and when the light barrier (10) and the filter plate (30) are relatively fixed, the filter plate (30) is accommodated in the second accommodating space.

2. The laser light receiving array according to claim 1, wherein at least two laser light receiving cell arrays (210,230) are provided on a side of the laser light receiving panel (20) opposite to the light barrier (10);

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

a through groove (110,130) is arranged on the light barrier (10) at a position opposite to the laser receiving unit array (210,230) and is used for passing through a laser signal; light blocking strips (120) are arranged between the through grooves (110,130) and used for isolating laser signals entering the at least two laser receiving unit arrays (210, 230).

3. The laser light receiving array according to claim 2, wherein the light barrier (10) is provided with a positioning projection (121) on a side of the light barrier (120) opposite to the laser light receiving panel (20);

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

the light barrier (10) and the laser receiving plate (20) are positioned by the positioning boss (121) and the positioning hole (221).

4. The laser light receiving array according to claim 1, wherein the light barrier (10) is provided with an edge strip (172, 182, 192) opposite to one side edge of the laser light receiving panel (20), the edge strip (172, 182, 192) forms a first receiving space, and when the light barrier (10) and the laser light receiving panel (20) are relatively fixed, the laser light receiving panel (20) is received in the first receiving space.

5. The laser light receiving array according to claim 1, wherein a fifth fixing hole (186) is provided on the edge strip (182), and the light blocking plate (10) and the laser light receiving plate (20) are fixed by the fifth fixing hole (186).

6. The laser receiving array as claimed in claim 3, wherein a card (123) is disposed at one end of the positioning protrusion (121) on the light barrier (10), and the light barrier (10) and the laser receiving plate (20) are fixed by the card (123) and the positioning hole (221).

7. The laser light receiving array according to claim 1, wherein a fourth fixing hole (185) is provided on the rim (181), and the light blocking plate (10) and the filter plate (30) are fixed by the fourth fixing hole (185).

8. The laser light receiving array according to claim 1, wherein at least one second fixing hole (189) is provided in the light blocking plate (10), at least one first fixing hole (209) is provided in the laser light receiving plate (20), at least one third fixing hole (309) is provided in the filter plate (30), and the light blocking plate (10), the laser light receiving plate (20), and the filter plate (30) are fixed by the at least one second fixing hole (189), the at least one first fixing hole (209), and the at least one third fixing hole (309).