CN113567958A

CN113567958A - Receiving device and adjusting method of laser radar and laser radar

Info

Publication number: CN113567958A
Application number: CN202011158311.2A
Authority: CN
Inventors: 刘佳尧; 廉振锋; 石拓
Original assignee: Zvision Technologies Co Ltd
Current assignee: Zvision Technologies Co Ltd
Priority date: 2020-05-14
Filing date: 2020-10-26
Publication date: 2021-10-29
Anticipated expiration: 2040-10-26
Also published as: CN113567957A; CN113567957B; CN113589302A; CN113589302B; CN113589303A; CN113589303B; CN113567958B

Abstract

The invention relates to the technical field of laser radars, and provides a receiving device of a laser radar, an installation and adjustment method and the laser radar, wherein the receiving device mainly comprises: a first receiving module horizontally arranged for receiving the remote laser; and a second receiving module which is disposed in a manner of inclining to the horizontal direction and receives the short-distance laser, wherein each receiving module is provided with a filter, a diaphragm, a lens group and an APD module. The invention realizes the miniaturization of the device, and is convenient for installation and mass production while ensuring the receiving efficiency and the receiving range.

Description

Receiving device and adjusting method of laser radar and laser radar

Technical Field

The invention relates to the technical field of laser radars, in particular to a receiving device and an adjusting method of a laser radar and the laser radar with the receiving device.

Background

The laser radar is an apparatus for measuring parameters such as distance and speed of a target object by transmitting a laser to the surface of the object and measuring the arrival time of a reflected light beam, and is an optical instrument which is controlled by an optical device, a mechanical structure, electricity and software. With the development of technologies such as autonomous driving, there are more and more scenes in which a laser radar is integrated and mounted on a vehicle or the like for use.

For example, when the laser radar is mounted on a vehicle or the like, the laser radar is desired to satisfy requirements for integration, miniaturization, a large field of view, and convenience and reliability in mounting. However, in the laser radar in the prior art, the submodules of the receiving device are restricted with each other, and it is difficult to replace one submodule alone, and the size is large, so that the power, the receiving range, the size and the like of the receiving device cannot be balanced.

Disclosure of Invention

Based on the situation, the invention provides a receiving device of a laser radar, an assembling and adjusting method and the laser radar, and aims to solve the problems that in the prior art, sub-modules of the receiving device are restricted with each other, a certain sub-module is difficult to replace independently, the size is large, and the power, the receiving range, the size and the like of the receiving device cannot be balanced.

A first aspect of the present embodiment provides a receiving apparatus for a laser radar, including:

a first receiving module horizontally arranged for receiving the remote laser; and

a second receiving unit which is disposed to be inclined with respect to the horizontal direction and receives the short-distance laser beam,

each receiving assembly comprises an optical filter, a diaphragm, a lens group and an APD module.

Optionally, at least two first receiving assemblies and at least one second receiving assembly are included;

the first receiving component and the second receiving component are configured to: the second receiving member is disposed between the adjacent first receiving members as viewed from the first direction, and the second receiving member is disposed between the adjacent first receiving members as viewed from the second direction.

Optionally, the receiving apparatus includes: 3 of said first receiving assemblies and 2 of said second receiving assemblies.

Optionally, thermal conductive silicone sheets are respectively disposed at the APD modules of the first receiving assembly and the second receiving assembly, and thermal conductive silicone grease is respectively applied to the mounting surfaces of the first receiving assembly and the second receiving assembly.

Optionally, the first receiving component further includes: a first receiving bracket provided with a plurality of mounting grooves; the optical filter, the diaphragm, the lens group and the APD module of the first receiving assembly are all arranged in the corresponding mounting grooves in the first receiving bracket;

the second receiving component further comprises: a second receiving bracket provided with a plurality of mounting grooves; and the optical filter, the diaphragm, the lens group and the APD module of the second receiving assembly are all arranged in the corresponding mounting grooves in the second receiving bracket.

Optionally, each of the first receiving assemblies further includes: a first flange disposed on a first side of the first receiving component and a second flange disposed on a side of the first receiving component opposite the first side; wherein the screw holes of the second flange and the screw holes of the first flange are of different types.

Optionally, each of the second receiving assemblies includes: a third flange disposed in the middle of the second receiving member for fixing the lens group.

A second aspect of the present embodiment provides a lidar comprising a transmitting apparatus for laser light and the receiving apparatus provided by the first aspect of the embodiment.

Optionally, the first receiving assembly and the second receiving assembly of the receiving device are arranged around the transmitting device in a manner of surrounding the transmitting device.

A third aspect of the present embodiment provides an installation and adjustment method for a receiving apparatus of a laser radar, including:

the lens group, the diaphragm, the optical filter and the APD module are sequentially arranged along the advancing direction of the optical path to form a first receiving assembly, and the optical filter, the diaphragm, the lens group and the APD module are sequentially arranged along the advancing direction of the optical path to form a second receiving assembly; the first receiving assembly is used for receiving short-distance laser, and the second receiving assembly is used for receiving long-distance laser;

the first receiving member is installed horizontally, and the second receiving member is installed in a manner inclined with respect to a horizontal direction.

Optionally, the first receiving component includes: a first receiving bracket provided with a plurality of mounting grooves;

loading all the lenses of the first receiving assembly into the mounting grooves corresponding to the first receiving support from front to back one by one in a stacking mode;

the second receiving component comprises: a third flange; the lens group of the second receiving assembly comprises two lenses;

and arranging the third flange in the middle of the cylinder of the second receiving component, and taking the third flange as a reference, arranging one lens group of the second receiving component on one side of the third flange, and arranging the other lens group of the second receiving component on the other side of the second flange.

Optionally, all screw holes for installing the first receiving assembly and/or the second receiving assembly are subjected to an oxide layer removing treatment.

Advantageous effects of the invention

According to the present invention, the integration, miniaturization, and large field of view of the receiving device of the laser radar can be realized. The receiving device can receive the reflected signal in a large range, and can ensure the expected receiving power and receiving range, namely, the receiving device is miniaturized while ensuring the receiving power and the receiving range, and the balance among the power, the receiving range and the volume of the receiving device is achieved.

Drawings

Fig. 1 is a schematic perspective view of a receiving apparatus in a laser radar system according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a first receiving assembly according to an embodiment of the present invention.

Fig. 3 is a schematic exploded perspective view of a first receiving assembly according to an embodiment of the present invention.

Fig. 4 is a schematic exploded perspective view of a second receiving assembly provided in an embodiment of the present invention.

Fig. 5 is a schematic perspective view of a front window assembly provided by an embodiment of the present invention.

Fig. 6 is a schematic perspective view of a receiving apparatus provided in an embodiment of the present invention installed in a main housing of a lidar system.

Description of the reference numerals

100 a laser radar system; 1-a main housing; 2-a rear housing; 3-a front window assembly; 20-a transmitting device; 30-a receiving device; 17, 27-heat sink fins; 30A-a first receiving component; 30B-a second receiving component;

11A-a mounting face of the first receiving component; 11B-a mounting face of the second receiving component;

12A-mounting screws of the first receiving assembly; 12B-mounting screws of the second receiving assembly;

13-an emission assembly mounting face; 14-front window mounting screws; 15-main housing mounting holes;

33-receiving a mask; 34-an emission mask; 35-an outer frame body; 36-an inner frame; 51-mounting holes;

52-a mounting flange; 53-thermally conductive layer; 54A, 54B-filters; 55A, 55B-diaphragm;

56A, 56B-receiving brackets; 57A, 57B-lens group; 58A,58B-APD modules;

59A, 59B-thermally conductive sheet; 61-mounting hole.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings.

The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. In terms of working principle, a detection signal (laser beam) is transmitted to a target, and then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, can be obtained. Radars operating in the infrared and visible bands and using laser as the operating beam are known as lidar. The laser changes the electric pulse into light pulse and emits it, and the light receiver restores the reflected light signal from the target into electric signal.

The basic functions of lidar are mainly: the function of transmitting working beams, the function of receiving target reflected beam identification, the function of processing identification signals and outputting information such as distance and angle and the like. The product can be divided into a transmitting device, a receiving device, an electric processing device and a mechanical execution device according to the functions of all parts of the product. In this embodiment, only the receiving module of the laser radar is specifically described.

Referring to fig. 1, a schematic structural diagram of a receiving apparatus of a laser radar according to this embodiment is shown, and a structure of the receiving apparatus of the laser radar is described below with reference to fig. 1.

The receiving apparatus 30 of the laser radar of the present invention mainly includes: a first receiving component 30A and a second receiving component 30B. The first receiving module 30A is horizontally arranged for receiving the remote laser light; the second receiving unit 30B is disposed to be inclined (herein, as an example, inclined downward) with respect to the horizontal direction, and receives the short-range laser light; each receiving assembly comprises an optical filter, a diaphragm, a lens group and an APD module. The configuration mode of each receiving component ensures the receiving efficiency and the receiving range and realizes the miniaturization of the receiving device.

Referring to fig. 1, a laser radar system 100 mainly includes a main housing 1, a rear housing 2, a front window assembly 3, a transmitting device 20, a receiving device 30, and heat dissipating fins 17,27, wherein the receiving device 30 includes a first receiving assembly 30A and a second receiving assembly 30B. As can be seen from the figure, in the front space of the main casing 1, the receiving device 30 of the lidar is disposed around the upper and both sides of the transmitting device 20 of the laser light in the front space.

The overall design of the receiving device 30 enables the installation sub-modules to be independent from each other, the first receiving assemblies 30A or the second receiving assemblies 30B can be independently and interchangeably arranged, one receiving assembly breaks down, other receiving assemblies of the same type can be replaced, the maintenance is simple and rapid, the receiving efficiency and the stability of the receiving device are guaranteed, each independent sub-module can be produced in batch, and the manufacturing cost is reduced.

The existing laser radar products are mostly integrally debugged and assembled, each submodule is constrained, and the requirement of batch production cannot be met. Therefore, the embodiment aims to ensure that each installation submodule is mutually independent, each submodule can be directly used as a single submodule to be produced, each submodule can be independently replaced, the method is suitable for mass production, and the cost is effectively reduced.

In one embodiment, the receiving device 30 includes at least two first receiving components 30A and at least one second receiving component 30B. Wherein, the first receiving component 30A and the second receiving component 30B are in a positional relationship, and the second receiving component 30B is disposed between the adjacent first receiving components 30A when viewed from the first direction; the second receiving member 30B is disposed at a position between the adjacent first receiving members 30A as viewed from the second direction.

For example, referring to fig. 6, the first receiving component 30A of the receiving device 30 of the lidar is mounted on the mounting surface 11A of the first receiving component 30A by the mounting screw 12A of the first receiving component 30A; the second receiving block 30B of the receiving device 30 for laser radar is attached to the attachment surface 11B of the second receiving block 30B by the attachment screws 12B of the second receiving block 30B. The second receiving block 30B is installed lower than the first receiving block 30A above the transmitter as viewed in the up-down direction (first direction), and the second receiving block 30B is disposed at a position between the adjacent first receiving blocks 30A; the second receiving member 30B is installed between the adjacent first receiving members 30A as viewed from the left-right direction (second direction). In fig. 6, 13 is a mounting surface of

transmitter

20, 14 is a mounting screw of

front window assembly

3, and 15 is a mounting hole of main housing 1 of laser radar system 100.

Optionally, the receiving apparatus 30 of this embodiment includes: 3 first receiving assemblies 30A and 2 second receiving assemblies 30B.

As can be seen from fig. 1 and 6, all receiving components are arranged at the foremost end of the main housing of the lidar system. Wherein, 3 first receiving component 30A set up respectively in the top of emitter 20, left side down and right side down, and 2 second receiving component 30B set up respectively in the upper left side of emitter 20 and upper right side, and emitter 20 and receiving arrangement 30 are overall to be interior transmission, the surrounding type structure of receiving outward.

Disposing a first receiving component 30A above rather than below the emitting device 20 can reduce the interference of stray light. If the first receiving member 30A is disposed below the transmitting device 20, there may be a cross between transmission and reception, and interference may be formed between the transmitted light and the received light. The emitted light is directed via a receiving beam path onto the ground, possibly reflected by the dust in the middle back to the receiving device 30 of the lidar. Therefore, the present embodiment forms a form of middle emission, upper left and right three sides surrounding reception. The 3 first receiving modules 30A are horizontally mounted. The 2 second receiving assemblies 30B are installed in a downward inclined mode, and cavities for accommodating the second receiving assemblies 30B are designed to be of space curved surface structures, so that the structure after the second receiving assemblies 30B are installed is more compact while the requirement of a view field is guaranteed, and the space is saved. In addition, the front end face formed by the transmitting assembly and the receiving assembly is in a cylinder body, and interference is avoided.

It should be noted that the number of the first receiving assemblies 30A and the second receiving assemblies 30B in the above embodiments is only exemplary, and is not limited in particular, and the number of the first receiving assemblies 30A and the second receiving assemblies 30B may be increased or decreased as appropriate according to the size of the laser radar system, the field of view requirement, and the like.

Further, in practical applications, the structure of the lidar system according to this embodiment may be inserted in order from the rear to the front when mounting. Optionally, there is an overlapping portion between the receiving device 30 and the transmitting device 20 in the embodiment, and when detaching, the receiving device 30 of the laser radar needs to be detached first, and then the transmitting device 20 needs to be detached. The lower tier of the emitting device 20 occupies a large width, while the emitting beam expander is smaller in width, so there is unused space under the left and right of the main housing 1. In order to achieve the effect of volume compression, a first receiving assembly 30A is arranged in the unused space at the lower left and the lower right, a second receiving assembly 30B is arranged at the upper left and the upper right, the cross section of the main shell assembly in the vertical direction is completely occupied, the maximum utilization of the space is realized, and the volume of the laser radar system is reduced.

In practical application, in order to facilitate processing, the preparation cutter can continuously move according to a reference plane to form a containing cavity of the receiving devices 30 of the plurality of laser radars, and in order to be more stable, the receiving devices 30 of the laser radars are fixed through screws, so that certain gaps exist between the receiving devices 30 of the laser radars and the cavities for containing the receiving devices, and the screws can be conveniently installed. Optionally, all screw holes of this embodiment are unilateral installation, can install from a direction promptly, and is succinctly the simplest in the installation, need not trade the direction, for example, set up main casing 1 behind the mounting platform, the installation only need once fix a position, just can follow a direction and insert into the inside part of main casing 1 in proper order. In addition, the electric screwdriver can be used during batch installation, only one station of the electric screwdriver is needed, and the installation process is reduced. Therefore, with the design structure of the present embodiment, the installation mode is simple, the front part of the main housing 1 is installed at one time, the transmitting device 20 is inserted first, and then the 5 receiving devices 30 are inserted into the installation respectively, that is, the receiving devices 30 are inserted into the installation in the order from the back to the front when the receiving devices 30 are installed.

In addition, for the reason of designing the front-to-rear mounting structure, the rear half part of the main housing 1 is also mounted from front to rear in the same manner, and all the screw holes face in one direction. All screw holes of the whole main housing 1 structure are divided into three directions: the rear shell is provided with screw holes from the front, the rear and the oblique installation, so that the clamping time is reduced to the maximum extent, and the types of installation tools are reduced. The front half part and the rear half part inside the main shell 1 are installed layer by layer, and the space is saved to the maximum extent.

Optionally, the outer surfaces of the first receiving assembly 30A and the second receiving assembly 30B of this embodiment are both provided with a heat conductive silicone sheet. Illustratively, referring to fig. 2, the first receiving assembly 30A may further include a mounting hole 51, a mounting flange 52 and a heat conducting layer 53, wherein the heat conducting layer 53 is a heat conducting silicone sheet. Specifically, referring to fig. 3 and 4, the first receiving assembly 30A includes an optical filter 54A, a diaphragm 55A, a first receiving bracket 56A, a lens group 57A, APD module 58A, and a heat-conducting sheet 59A; the second receiving assembly 30B includes an optical filter 54B, a diaphragm 55B, a second receiving bracket 56B, a lens group 57B, APD module 58B, a heat-conducting sheet 59B, and a mounting hole 61.

Optionally, at the foremost end of the main housing 1 of the laser radar system 100, the cavity for accommodating the second receiving assembly 30B is a curved cavity. The curved cavity can enable the second receiving assembly 30B to be fixed more stably, meanwhile, the maximum utilization of space can be achieved, and the size of the laser radar system is reduced.

Optionally, in this embodiment, when the receiving device 30 is mounted on each mounting surface at the foremost end of the main housing 1 of the laser radar system 100, a heat-conducting silicone grease is applied to the mounting position of the receiving device 30 and/or the mounting surface of the main housing 1, so that all receiving components and the main housing 1 are attached more tightly.

The receiving device 30 of the laser radar is fixedly mounted on the main casing 1 by screws (for example, 2, 4, or more) and when the receiving device 30 is mounted on each mounting surface of the main casing 1, heat-conducting silicone grease is applied to the mounting position and/or the mounting surface, so that all the receiving components can be attached to the main casing 1 more closely while ensuring that each laser component in the casing has good heat dissipation.

In one embodiment, the first receiving component 30A may further comprise: a first receiving bracket provided with a plurality of mounting grooves; the optical filter, the diaphragm, the lens group and the APD module of the first receiving assembly 30A are all installed in the corresponding installation grooves in the first receiving support.

With the first receiving member 30A, all the devices may be mounted from front to back or in the order from back to front, that is, the lenses are mounted one by one in a stacked manner. When actually processing, use CNC technology to process out the accurate boss on receiving the support, utilize the boss to carry on spacingly, install lens and adopt the viscose behind the preset position, do not use the mode of fix with screw, the reason lies in, the space that the screw needs to occupy is many, and the shared space of bonding is little. The APD modules in the receiving module are mounted from the back to the front in a manner that minimizes the volume of the receiving module and meets the requirements for signal shielding.

As shown in fig. 1 and fig. 3, the first receiving assembly 30A of this embodiment can be integrally formed into a column, flanges for mounting screws are disposed on two sides of the column, and a wire is extended from the tail of the column and connected to an APD module disposed at the tail of the column. The front end of the first receiving assembly 30A is a lens, the rear end is an APD circuit board, and except the front lens for receiving light, other directions in the lens group 57A require strict shielding to avoid interference of stray light entering from other directions, and if the lens is installed in an insertion manner, light leakage exists around the lens. Therefore, the present embodiment mounts each device in the first receiving assembly 30A into the cylinder in order from front to back, that is, into the first receiving bracket in order, or mounts each device into the cylinder in order from back to front, or mounts the other two lenses of the lens group 57A from both sides with reference to the stop 54A, the filter 55A and one lens (the lens in the lens group 57A next to the stop 54A), so that the mounting structure is more compact, and at the same time, the lens group 57A is ensured to be mounted accurately and light-tight.

Optionally, in this embodiment, the first receiving assembly 30A further includes: a first flange disposed on a first side of the first receiving set 30A of articles and a second flange disposed on a side of the first receiving set 30A opposite the first side; wherein the screw holes of the second flange and the screw holes of the first flange are of different types.

Specifically, referring to fig. 2 and 3, the first receiving member 30A is provided with two left and right screw holes, and the screw holes for fixing are different according to the installation position. The method for designing the structural members into a unified manner can achieve different effects through different assembly modes, reduce the types of the structural members, and form modules with different functions by using the same structural members through matching with the APD modules connected in different positions, for example, respectively completing the left-view function and the right-view function.

The second receiving component 30B may further include: a second receiving bracket provided with a plurality of mounting grooves; the optical filter, the diaphragm, the lens group and the APD module of the second receiving assembly 30B are all installed in the corresponding installation grooves in the second receiving support.

The receiving support is provided with the mounting groove corresponding to each device, so that each device can be fixed more stably, and the miniaturization of the receiving assembly is realized. Optionally, the receiving support of this implementation still includes installation primary and secondary mouth, and the location accuracy of every device installation has been guaranteed to installation primary and secondary mouth, has compatible the convenience of installation simultaneously. The design of the small module ensures that the production of the small module can be independent and becomes a production line, and the independence of batch production is ensured. Optionally, the individual supports may be CNC (computer numerical control) machined, ensuring their accuracy and reducing manufacturing and assembly costs. Optionally, the lens group and the receiving support can be bonded through UV glue, so that the optical assembly and adjustment are simple and feasible.

Optionally, each of the second receiving assemblies may further include: a third flange disposed in the middle of the second receiving member for fixing the lens group.

Specifically, since the lenses in the second receiving assembly 30B are extremely thin, if the lenses are installed in a one-time manner in one direction, a certain space needs to be reserved at the rear part of the second receiving assembly 30B for arranging a support frame, which causes waste of space, in this embodiment, the screw flanges in the second receiving assembly 30B are arranged in the middle of the cylinder of the second receiving assembly 30B, and the space between the two lenses is reasonably utilized, so that the space of the support frame for supporting the lenses does not need to be reserved at the front part and the rear part of the second receiving assembly 30B, the lenses can be installed in a front-to-rear manner, the other lens can be installed in a rear-to-front manner, and the screw flanges in the middle form a reference location, which not only reduces the size, but also ensures the overall sealing. The two second receiving assemblies 30B are mirror-image structures when being mounted, and the symmetrical structure and the smallest flange type mounting structure are formed, so that the installation is convenient, and the optical design and debugging are convenient.

Optionally, in order to reduce the cost and ensure the stability of mass production, the lens is manufactured by using an injection molding process.

In one embodiment, a front window assembly is provided in front of (in the direction from which the laser light is returned from) the laser receiver and laser transmitter of the present invention to enclose the laser receiver and laser transmitter within a space of a housing (not shown) for receiving the laser receiver and laser transmitter without affecting the transmission of the laser light.

As shown in fig. 5, the front window assembly 3 has a curved surface shape that protrudes to one side (the side opposite to the side where the receiving device is located), and the curved surface is divided into two parts by a rigid frame (e.g., a metal frame), namely: a centrally located emission mask and a receiving mask located around the emission mask. The "center" herein means a circumferential center of a curved surface of a portion through which laser light can pass, and includes a central upper portion, a central lower portion, a midpoint, and the like.

The front window assembly 3 includes an outer frame 35 and an inner frame 36 surrounded by the outer frame 35. A transmitting mask through which laser light can pass is attached to the inner frame 36, and a receiving mask through which laser light can pass is attached between the inner frame 36 and the outer frame 35. In a state where the front window assembly 3 is mounted to the outer case of the laser radar, the transmitting light cover faces the transmitting device of the laser light, and the receiving light cover faces the receiving device of the laser light. For example, the laser light emitting device may be disposed around the upper portion and both sides of the laser light emitting device so that the laser light emitting device faces the light emitting cover and the laser light receiving device faces the light receiving cover.

The outer frame 35 and the inner frame 36 are formed integrally of a rigid member such as metal (e.g., aluminum alloy) or resin (opaque). For example, it can be made by CNC (numerical control machining) or casting.

The receiving mask and the transmitting mask are bonded to the inner frame and the outer frame, respectively, by an adhesive (e.g., epoxy glue) to ensure sufficient structural strength and sealability of each mask. The intermediate annular metal layer constituting the inner frame 36 ensures optical isolation between the emitted light and the received light, and prevents crosstalk inside the window (crosstalk between the received-light transmitting region and the emitted-light transmitting region).

The front window assembly 3 is designed to be a circular arc surface (curved surface) as a whole. The curved surface shape of the front window unit 3 is a curved surface shape that enables uniform emission or incidence of laser light, and is, for example, a spherical crown shape or a cylindrical curved surface formed by a part of a cylindrical side surface. The "cylindrical curved surface formed by a part of the cylindrical side surface" may be regarded as a part of the cylindrical side surface formed by cutting a cylindrical body with a plane parallel to the cylindrical axis, for example.

In the present embodiment, the front window assembly 3 is a cylindrically curved surface formed by a part of a cylindrical side surface. As shown in fig. 3, the front window assembly 3 has a rectangular shape when the front window assembly 3 is viewed from the front or the rear. The front window assembly 3 has a straight cross section when the front window assembly 3 is cut longitudinally by a plane along the radial direction of the circular arc of the front window assembly 3. Such an arc-shaped design of the front window assembly 3 mainly meets the optical equidistant requirements and is compatible with the characteristic of easy manufacture.

The optical design requires equal optical path distance from the optical center to the window (mask), i.e. uniform thickness and equal distance to the optical origin. Therefore, the front window assembly 3 may be spherical cap shaped from the viewpoint of optical design, but reduction of production cost is not facilitated due to the spherical cap shape. On the other hand, although it is designed as a flat plate which is easy to manufacture, it is not preferable from the viewpoint of space utilization and optical requirements. The cylindrical structure adopted by the invention effectively meets the dual requirements of optics and cost.

As the material of the receiving mask and the transmitting mask, for example, a PC material, a plating hardening film, an antireflection film, a water repellent film, or the like can be used. The material of the photomask is not particularly limited, and may be arbitrarily selected in consideration of optical transmittance, scratch prevention, surface contamination in rainy and snowy weather, and the like.

In addition, in the present embodiment, the oxide layer may be removed from each mounting screw hole to make the contact portion electrically conductive, thereby making it possible to use the mounting screw hole as a grounding point necessary for electromagnetic compatibility.

In the embodiment, the receiving device does not take a cuboid in space as a boundary, all the modules are arranged in a mode of mutually filling, all the modules in the assembly are directly positioned and installed on the support, the installation is stable and reliable, and the mutual influence among all the modules is small; each subassembly rational utilization cross space improves space volume utilization ratio, reduces the volume effectively, realizes integrating, miniaturization and the big field of vision of laser radar system, can receive the reflection signal in a large scale, can ensure desired received power and receiving range, has realized receiving arrangement's miniaturization when having guaranteed received power and receiving range promptly, has reached the equilibrium between receiving arrangement's power, receiving range and volume.

Based on the receiving apparatus of the laser radar in the foregoing embodiment, the present embodiment further provides an installation and adjustment method of the receiving apparatus of the laser radar, which is detailed as follows:

the lens group, the diaphragm, the optical filter and the APD module are sequentially arranged along the advancing direction of the optical path to form a first receiving assembly, and the optical filter, the diaphragm, the lens group and the APD module are sequentially arranged along the advancing direction of the optical path to form a second receiving assembly; the first receiving assembly is used for receiving short-distance laser, and the second receiving assembly is used for receiving long-distance laser.

The first receiving member is then mounted horizontally, and the second receiving member is mounted in a manner inclined with respect to the horizontal direction.

Optionally, the first receiving component further includes: a first receiving bracket provided with a plurality of mounting grooves.

And loading all the lenses of the first receiving assembly into the mounting grooves corresponding to the first receiving bracket from front to back one by one in a stacking mode.

The second receiving component comprises: a third flange; the lens group of the second receiving assembly includes two lenses.

The installation and adjustment method of the embodiment does not use a cuboid in space as a boundary, the modules are mutually filled, and the modules in the assembly are directly positioned and installed on the support, so that the installation is stable and reliable, the mutual influence among the modules is small, the space volume utilization rate is improved, the volume is effectively reduced, the integration, the miniaturization and the large visual field of the laser radar system are realized, the reflected signals in a large range can be received, the expected receiving power and the receiving range can be ensured, namely, the miniaturization of the receiving device is realized while the receiving power and the receiving range are ensured, and the balance among the power, the receiving range and the volume of the receiving device is achieved.

The embodiment also provides a laser radar system, which comprises a transmitting device and/or the receiving device provided by any one of the above embodiments, and has any beneficial effect of the receiving device provided by the above embodiments. The first receiving member and the second receiving member of the receiving device are arranged around the transmitting device in such a manner as to surround the transmitting device.

Furthermore, the features and benefits of the present invention are described with reference to exemplary embodiments. Accordingly, the invention is expressly not limited to these exemplary embodiments illustrating some possible non-limiting combination of features which may be present alone or in other combinations of features.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims

1. A receiving apparatus for a laser radar, comprising:

2. The lidar receiving apparatus of claim 1, comprising at least two of the first receiving components and at least one of the second receiving components;

3. The lidar receiving apparatus according to claim 1 or 2, wherein the receiving apparatus comprises: 3 of said first receiving assemblies and 2 of said second receiving assemblies.

4. The lidar receiver apparatus of claim 1, wherein thermal silicone sheets are disposed at APD modules of the first receiver module and the second receiver module, and thermal silicone grease is applied to mounting surfaces of the first receiver module and the second receiver module.

5. The lidar receiving apparatus of claim 1, wherein the first receiving assembly further comprises: a first receiving bracket provided with a plurality of mounting grooves; the optical filter, the diaphragm, the lens group and the APD module of the first receiving assembly are all arranged in the corresponding mounting grooves in the first receiving bracket;

6. The lidar receiving apparatus of claim 1, wherein each of the first receiving assemblies further comprises: a first flange disposed on a first side of the first receiving component and a second flange disposed on a side of the first receiving component opposite the first side; wherein the screw holes of the second flange and the screw holes of the first flange are of different types.

7. The lidar receiving apparatus of claim 1, wherein each of the second receiving modules comprises: a third flange disposed in the middle of the second receiving member for fixing the lens group.

8. A lidar comprising a transmitting device of laser light and the receiving device of any of claims 1 to 7.

9. Lidar according to claim 8,

the first receiving member and the second receiving member of the receiving device are arranged around the transmitting device in such a manner as to surround the transmitting device.

10. A method for adjusting a receiving device of a laser radar is characterized by comprising the following steps: