CN115097416A - Laser receiving module and laser radar - Google Patents
Laser receiving module and laser radar Download PDFInfo
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- CN115097416A CN115097416A CN202210877124.2A CN202210877124A CN115097416A CN 115097416 A CN115097416 A CN 115097416A CN 202210877124 A CN202210877124 A CN 202210877124A CN 115097416 A CN115097416 A CN 115097416A
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- light intensity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Semiconductor Lasers (AREA)
Abstract
The invention belongs to the technical field of optical measurement and optical scanning, particularly relates to the technical field of laser radars, and particularly relates to a laser receiving module and a laser radar. The laser receiving module includes: a lens for converging received light; a receiving chip for receiving the converged received light; and a light intensity adjusting component arranged between the lens and the receiving chip and used for adjusting the intensity of the received light after convergence. The light intensity adjusting component can reduce the luminous flux incident to the receiving chip, thereby avoiding exposure and realizing the function of identifying strong reflecting objects.
Description
Technical Field
The invention belongs to the technical field of optical measurement and optical scanning, particularly relates to the technical field of laser radars, and particularly relates to a laser receiving module and a laser radar.
Background
In the technical field of the existing sweeping robot, a laser radar is generally adopted to scan the external environment so as to obtain the distance and the azimuth information of an external obstacle, wherein the laser radar comprises a laser transmitter and a laser receiver. However, when the existing laser radar emits laser to a light-colored or strong-reflection object with a reflection layer, the light intensity of strong reflection light from the strong-reflection object easily exceeds the preset threshold of the laser receiver, and when the reflection light enters the laser receiver in the laser radar, the laser receiver is overexposed, and the strong-reflection object such as a white object is difficult to identify.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a laser receiving module and a laser radar, which aim to solve the problem that when the existing laser radar emits laser to a light-colored or strong-reflection object with a reflection layer, the light intensity of strong reflection light from a strong-reflection object easily exceeds a preset threshold value of a laser receiver, so that the laser receiver is overexposed, and thus the strong-reflection objects such as white objects and the like are difficult to identify.
One aspect of the present invention provides a laser receiving module, including: a lens; a receiving chip; and the light intensity adjusting component is arranged between the lens and the receiving chip, receives light and is incident to the laser receiving module through the lens and is emitted to the receiving chip through the light intensity adjusting component, and the light intensity adjusting component is used for adjusting the intensity of the received light emitted to the receiving chip.
In one preferred aspect of the present invention, the light intensity adjusting unit includes:
the optical filter is rotatably arranged between the lens and the receiving chip, and the rotating shaft of the optical filter is perpendicular to the optical axis of the lens.
In one preferred embodiment of the present invention, the optical filter has a first rotational position and a second rotational position;
when the optical filter is positioned at a first rotating position, the received light which passes through the optical filter and is directed to the receiving chip has first light intensity; when the optical filter is positioned at the second rotating position, the received light which passes through the optical filter and is emitted to the receiving chip has second light intensity; the first light intensity is greater than the second light intensity.
In one preferable aspect of the present invention, the laser receiving module further includes: the detection device is used for detecting the light intensity of the received light incident to the laser receiving module; the driving device is used for rotating the optical filter between a first rotating position and a second rotating position;
when the light intensity of the received light detected by the detection device is smaller than a preset threshold value, the optical filter is located at a first rotating position; when the light intensity of the received light detected by the detection device is greater than or equal to the preset threshold value, the driving device drives the optical filter to be fixed at a second rotating position.
In one preferable scheme of the invention, when the optical filter is positioned at the first rotating position, the optical filter is perpendicular to the optical axis of the lens; when the optical filter is located at the second rotating position, the optical filter is inclined to the optical axis of the lens.
In one preferable embodiment of the present invention, the light intensity adjusting assembly further comprises a rotating bracket,
the rotary support is rotatably arranged between the lens and the receiving chip, the optical filter is arranged on the rotary support, and the rotary support is used for driving the optical filter to rotate.
In one preferred embodiment of the present invention, the light intensity adjusting module further includes:
the first electromagnet is arranged between the rotating bracket and the lens;
the second electromagnet is arranged between the rotating bracket and the receiving chip;
the edge of the rotating bracket is provided with a magnetic attraction device, and when the first electromagnet is electrified, the first electromagnet attracts the magnetic attraction device so that the rotating bracket is positioned at a first rotating position; when the second electromagnet is electrified, the second electromagnet attracts the magnetic attraction device, so that the rotating support is located at a second rotating position.
In one preferred scheme of the invention, the receiving chip is located at the focal position of the lens, and the plane where the receiving chip is located is perpendicular to the optical axis of the lens;
and/or the central symmetry axis of the light intensity adjusting component and the optical axis of the lens are coaxially arranged;
and/or the degree of an included angle formed by rotating the optical filter from the first rotating position to the second rotating position is in the range of 1-40 degrees.
In one preferred embodiment of the present invention, a laser receiving module is further provided, which includes: a lens; a receiving chip; the light intensity adjusting component is arranged between the lens and the receiving chip, and received light is incident to the laser receiving module through the lens and is emitted to the receiving chip through the light intensity adjusting component;
when the light intensity of the received light is smaller than a preset threshold value, the light intensity adjusting component is in a first state; when the intensity of the received light is greater than the preset threshold value, the light intensity adjusting assembly is in a second state and reduces the intensity of the received light emitted to the receiving chip.
In a preferred embodiment of the present invention, a laser radar is further provided, which includes the laser receiving module according to any one of the above aspects.
The laser receiving module and the laser radar provided by the scheme have the following beneficial effects:
1. in one embodiment of the invention, the laser receiving module receives light through the lens in a converging manner, receives the converged received light through the receiving chip, and enables the received light to pass through the light intensity adjusting assembly located between the lens and the receiving chip. Because the light intensity adjustment subassembly can be used to adjust the light intensity of the receipt light after the convergence, avoids exposing, and the laser receiving module can adjust the luminous flux of the receipt light of incidenting to on the receiving chip, avoids receiving the overexposure of chip when receiving strong reflection object such as coming from white object to can discern strong reflection object such as white object.
2. In one embodiment of the invention, the light intensity adjusting assembly includes a filter and a rotating bracket for driving the filter to rotate, and when the intensity of the received light received by the laser receiving module is greater than a preset receiving threshold of the receiving chip, the rotating bracket drives the filter to rotate in a first direction, so that the filter is in an inclined state. At this moment, the receipt light that the lens converged forms the slope contained angle between and the filter plate, and receipt light is inciding into the in-process of filter plate can produce the refraction, has reduced the luminous flux of the receipt light that jets out from the filter plate to avoid overexposure, thereby effectual discernment is surveyed the object distance. When the intensity of the received light received by the laser receiving module is within a receiving preset threshold value of the receiving chip, the rotating bracket drives the filter to rotate towards a second direction, so that the filter is in a horizontal state; at this time, the received light converged by the lens vertically passes through the filter and is incident on the receiving chip.
3. In one embodiment of the present invention, the light intensity adjusting assembly further includes a first electromagnet disposed between the rotating bracket and the lens; the second electromagnet is arranged between the rotating bracket and the receiving chip; the edge of the rotating bracket is provided with a magnetic attraction device, when the intensity of the received light received by the laser receiving module is greater than a receiving preset threshold value of the receiving chip, the first electromagnet is electrified, and the magnetic attraction device is attracted by the first electromagnet, so that the rotating bracket rotates towards a first direction, and the filter is in an inclined state; when the intensity of the received light received by the laser receiving module is within the receiving preset threshold value of the receiving chip, the second electromagnet is electrified, and the second electromagnet attracts the magnetic attraction device, so that the rotary support rotates towards the second direction, and the filter is in a horizontal state. The first electromagnet or the second electromagnet can attract the magnetic attraction device to adjust the rotation condition of the optical filter only by electrifying the first electromagnet or the second electromagnet, the structure is simple, and the inclination state of the optical filter can be adjusted conveniently and rapidly.
4. In one embodiment of the invention, the lens body further includes an annular light barrier disposed in the light passing hole, the annular light barrier is located between the lens and the light intensity adjusting assembly, a central axis of the annular light barrier is parallel to a propagation direction of the received light, the central axis of the annular light barrier is coaxial with an optical axis of the lens, the received light converged by the lens passes through the light passing hole and is emitted from a hollow portion in the center of the annular light barrier to the light intensity adjusting assembly, and stray light irradiated or reflected into the laser receiving module from an ambient light source other than the received light is blocked by the annular light barrier due to deviation of a light path from the central axis of the annular light barrier, so that influence of ambient stray light on a sensing result is reduced when the receiving chip senses the received light.
5. In one embodiment of the laser receiving module, the lens is arranged in a containing hole located in the end face of the lens body, the lens cover is arranged at one end of the lens body close to the containing hole, the outer wall face of the lens body close to the containing hole is in interference fit with a connecting hole of the lens cover, and the lens cover is provided with a tightening angle extending towards the inner side of the connecting hole; the tight-pushing angle is pressed against the light inlet surface of the lens and used for fixing the lens in the lens body; and the lens cap adopts plastic material to make, receives when the striking at laser receiving module, and the lens cap can absorb partly striking stress, avoids the lens impaired to the surface of lens is less than the surface of lens cap, prevents that the surface of lens from taking place to scrape with hard thing, avoids the lens surface mar to appear.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of a laser receiving module according to the present invention;
FIG. 2 is a schematic cross-sectional view of the laser receiver module of FIG. 1 along the direction A-A, wherein the optical filter rotates in a first direction;
FIG. 3 is a schematic cross-sectional view of the laser receiver module of FIG. 1 along the direction B-B, wherein the optical filter rotates in a first direction;
FIG. 4 is a schematic cross-sectional view of the laser receiver module of FIG. 1 along the direction A-A, wherein the optical filter rotates in a second direction;
FIG. 5 is a schematic cross-sectional view of the laser receiver module of FIG. 1 along the direction B-B, wherein the optical filter rotates in a second direction;
FIG. 6 is a schematic structural diagram of an optical filter and a rotating bracket according to an embodiment of the present invention;
FIG. 7 is an exploded view of a lens, a lens body and a lens cover according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a lens body and a lens cover according to an embodiment of the invention;
FIG. 9 is a schematic cross-sectional view of the laser receiving module shown in FIG. 8 along the direction C-C;
FIG. 10 is a schematic cross-sectional view of a lens body according to an embodiment of the invention;
FIG. 11 is a schematic cross-sectional view of a lens cover according to an embodiment of the invention;
FIG. 12 is a cross-sectional view of a lens holder according to an embodiment of the invention;
FIG. 13 is a diagram illustrating a structure of a receiving chip according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a laser receiving module according to an embodiment of the invention;
FIG. 15 is a cross-sectional view of a laser receiving module with an adjustable diaphragm according to a second embodiment of the present invention;
FIG. 16 is a schematic cross-sectional view of another angle of view of a laser receiving module with an adjustable aperture according to a second embodiment of the present invention;
FIG. 17 is a schematic structural diagram of an adjustable diaphragm according to a second embodiment of the present invention;
FIG. 18 is a schematic structural diagram of a laser receiving module with an adjustable diaphragm according to a second embodiment of the present invention;
FIG. 19 is a schematic cross-sectional view of a laser receiving module with electronic glass according to a third embodiment of the present invention;
FIG. 20 is a schematic cross-sectional view of another perspective of a laser receiving module with electronic glass according to a third embodiment of the present invention;
fig. 21 is a schematic structural view of an electronic glass according to a third embodiment of the present invention;
fig. 22 is a schematic structural view of a laser receiving module with electronic glass according to a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 5, a first embodiment of the invention provides a laser receiving module 100, including: a lens 110 for converging received light; a receiving chip 120 for receiving the converged received light; and a light intensity adjusting member 130 disposed between the lens and the receiving chip for adjusting the intensity of the converged received light.
In this embodiment, the lens 110 is used to receive and converge the received light reflected back after the laser irradiates the detected object, and the converged received light is incident to the receiving chip 120; specifically, the lens 110 is a convex lens, the lens 110 includes a first convex surface and a second convex surface, and when receiving light passes through the lens 110, the receiving light is refracted twice in the process of entering the first convex surface and exiting from the second convex surface, the refracted receiving light converges to the focal point of the lens, and the receiving chip 120 is disposed at the focal point of the lens. Further, a light intensity adjusting component 130 is disposed between the lens 110 and the receiving chip 120, the received light converged by the lens 110 passes through the light intensity adjusting component 130, and the light intensity of the received light is reduced by the light intensity adjusting component 130, so as to reduce the luminous flux of the received light incident on the receiving chip 120, and prevent the light intensity of the received light incident on the receiving chip 120 from exceeding the preset threshold of the receiving chip 120, thereby preventing the receiving chip 120 from being overexposed.
Further, when the receiving module 100 receives the received light from the object to be detected with strong reflection, for example, a white object, the received light is converged by the lens 110 and then emitted to the light intensity adjusting assembly 130, so as to reduce the light intensity of the received light passing through the light intensity adjusting assembly 130, and further reduce the light flux incident to the receiving chip 120, so that the light intensity of the received light incident to the receiving chip 120 is smaller than the preset threshold of the receiving module 100, thereby avoiding the exposure of the receiving chip, and enabling the receiving module 100 to recognize the white object and other strong reflection objects.
Referring to fig. 2-5, in a preferred embodiment of the present invention, the light intensity adjusting assembly 130 includes: and an optical filter 131 rotatably disposed between the lens 110 and the receiving chip 120, wherein a rotation axis of the optical filter 131 is perpendicular to an optical axis of the lens 110.
Because the strong reflection object of white, light color or having a reflection mirror surface is stronger to the reflective power of laser, when the transmission light shines this kind of strong reflection object, the luminous intensity of the receipt light of reflection to receiving module is higher, surpasss the receipt of receiving chip 120 easily and predetermines the threshold value, and then leads to receiving chip 120 to overexpose, can't effectual discernment strong reflection object.
In this embodiment, the light intensity adjusting assembly 130 includes an optical filter 131, wherein the optical filter 131 is rotatably disposed between the lens 110 and the receiving chip 120, the received light converged by the lens 110 is incident on the optical filter 131, the light intensity of the received light is adjusted by the optical filter 131, the light intensity of the received light passing through the optical filter 131 is reduced, the luminous flux of the received light finally incident on the receiving chip 120 is reduced, and the receiving chip 120 is prevented from being overexposed.
Further, the rotation angle of the optical filter 131 is adjusted by rotating. Therefore, the rotation axis of the optical filter 131 is perpendicular to the optical axis of the lens 110, so that the optical filter 131 can be always maintained in the extending direction of the optical axis of the lens 110 during the rotation process, the optical filter 131 can effectively filter the received light, filter stray light generated by other light sources contained in the received light, and avoid over-exposure of the receiving chip 120.
Referring to fig. 2-5, in a preferred embodiment of the present invention, the light intensity adjusting assembly 130 further includes: the rotating bracket 132 is rotatably disposed between the lens 110 and the receiving chip 120, the optical filter 131 is disposed on the rotating bracket 132, and the rotating bracket 132 is used for driving the optical filter 131 to rotate.
In this embodiment, the light intensity adjusting component 130 includes the rotating bracket 132, which is used for driving the optical filter 131 to rotate, when the light intensity of the received light received by the laser receiving module 100 is greater than the receiving preset threshold value of the receiving chip 120, the rotating bracket 132 drives the optical filter 131 to rotate towards the second direction, so that the optical filter is in an inclined state, at this time, an inclined included angle is formed between the received light converged by the lens 110 and the optical filter 131, the received light can be reflected in the process of entering the optical filter 131, the luminous flux of the received light emitted from the optical filter 131 is reduced, thereby avoiding overexposure of the receiving chip 120, and thus effectively identifying the distance of the detected object. When the intensity of the received light received by the laser receiving module 100 is within the receiving preset threshold of the receiving chip 120, the rotating bracket 132 drives the optical filter 131 to rotate in the first direction, so that the optical filter 131 is in a horizontal state, and at this time, the received light converged by the lens 110 vertically passes through the optical filter 131 and is incident on the receiving chip 120.
Referring to fig. 2-5, in a preferred embodiment of the present invention, the light intensity adjusting assembly 130 further includes: a first electromagnet 133 disposed between the rotating bracket 132 and the lens 110; a second electromagnet 134 disposed between the rotating bracket 132 and the receiving chip 120;
a magnetic attraction device 135 is arranged at the edge of the rotating bracket 132, and when the first electromagnet 133 is powered on, the first electromagnet 133 attracts the magnetic attraction device 135, so that the rotating bracket 132 rotates to a first rotating position in a first direction; when the second electromagnet 134 is powered on, the second electromagnet 134 attracts the magnetic attraction device 135, so that the rotating bracket 132 rotates to a second rotation position in a second direction.
Referring to fig. 2 to 5, in the receiving module 100 of the present embodiment, the first electromagnet 133 is disposed between the rotating bracket 132 and the lens 110, the second electromagnet 134 is disposed between the rotating bracket 132 and the receiving chip 120, and the rotating bracket 132 with the magnetic attraction device 135 disposed at the attraction edge rotates in the first direction or the second direction by energizing the first electromagnet 133 or the second electromagnet 134, so as to simply achieve the effect of adjusting the intensity of the received light. On one hand, the technology of the electromagnet and the magnetic attraction device is mature, and the manufacturing is simple, so that the manufacturing process of the light intensity adjusting assembly 130 is simplified. On the other hand, when the rotation angle of the rotating bracket 132 needs to be adjusted, the first electromagnet 133 or the second electromagnet 134 can be powered on or powered off only by controlling the power on or off of the first electromagnet 133 or the second electromagnet 134, so that the rotating bracket 132 rotates towards the first direction or the second direction.
Specifically, in this embodiment, the first direction is a clockwise direction, when the first electromagnet 133 is energized, the magnetic attraction device 135 attracting the rotating bracket 132 causes the rotating bracket 132 to rotate clockwise along the rotating shaft to drive the optical filter 131 disposed on the rotating bracket 132, and causes the optical filter 131 to be perpendicular to the optical axis of the lens 110, so that the received light converged by the lens 110 perpendicularly passes through the optical filter 131, thereby reducing the influence of the optical filter 131 on the intensity of the received light.
The second direction is anticlockwise, and when second electro-magnet 134 switched on, the magnetism of actuation runing rest 132 inhales device 135 makes runing rest 132 do anticlockwise rotation along the rotation axis, drives the optical filter 131 that sets up on runing rest 132, makes optical filter 131 forms certain inclination with the optical axis of lens 110 when being located the second turned position, reduces the luminous intensity of the receipt light through optical filter 131.
Referring to fig. 6, in a preferred embodiment of the present invention, the rotating bracket 132 includes: a first rotation lever 1321 provided at an edge of the rotation bracket 132; a second rotating lever 1322 provided at an edge of the rotating bracket 132 at a side opposite to the first rotating lever 1321;
the first rotating rod 1321 and the second rotating rod 1322 are arranged on the same straight line, and the straight line where the first rotating rod 1321 and the second rotating rod 1322 are located is a rotating shaft of the rotating bracket 132; the rotation axis of the rotating bracket 132 is coaxially arranged with the rotation axis of the optical filter 131.
In this embodiment, the first rotating rod 1321 and the second rotating rod 1322 are respectively disposed at two sides of the rotating bracket 132, and the first rotating rod 1321 and the second rotating rod 1322 are located on a straight line where the rotating shaft of the rotating bracket 132 is located, and the first rotating rod 1321 and the second rotating rod 1322 are used for limiting the rotating bracket 132. When the first electromagnet 133 or the second electromagnet 134 is powered on, the magnetic attraction device 135 of the rotating bracket 132 is attracted to the first electromagnet 133 or the second electromagnet 134, and the rotating bracket 132 rotates in the first direction or the second direction with the straight line where the first rotating rod 1321 and the second rotating rod 1322 are located as a rotating shaft. And since the rotation axis of the rotating bracket 132 is coaxially arranged with the rotation axis of the optical filter 131, the synchronous rotation of the optical filter 131 is realized.
Referring to fig. 7-10, in a preferred embodiment of the present invention, the laser receiving module 100 further includes: the lens body 140, the lens body 140 has a containing hole 141, a light passing hole 142 and a positioning portion 143 disposed between the containing hole 141 and the light passing hole 142, the lens 110 is disposed in the containing hole 141, and the lens body 140 is used for containing and positioning the lens 110;
the lens 110 includes a light inlet surface and a light outlet surface, the light outlet surface of the lens abuts against the positioning portion, and the light inlet surface of the lens is far away from the positioning portion.
In the present embodiment, the accommodation hole 141 is provided on the surface of the lens body 140, the light passing hole 142 is communicated with and coaxially provided with the accommodation hole 141, and a positioning portion 143 is provided between the accommodation hole 141 and the light passing hole 142, the positioning portion 143 being used to set the lens 110. The lens 110 is preferably a convex lens, and the lens 110 includes a light inlet surface and a light outlet surface, wherein the curvature of the light inlet surface is greater than the curvature of the light outlet surface, when the lens 110 is coaxially disposed in the accommodating hole 141, the light outlet surface of the lens 110 abuts against the positioning portion, and the light inlet surface of the lens 110 is far away from the positioning portion; the received light converged by the lens 110 is refracted for the first time when entering the light entering surface and refracted for the second time when exiting from the light exiting surface, so that the received light is converged, and the converged received light exits the lens body 140 from the light passing hole 142.
Referring to fig. 7-9 and fig. 11, in a preferred embodiment of the present invention, the laser receiving module 100 further includes: a lens cover 150, wherein a connection hole 151 is formed in the center of the lens cover 150, the lens cover 150 is disposed at one end of the lens body 140 close to the accommodation hole 141, the outer wall surface of the lens body 140 close to the accommodation hole 141 is in interference fit with the connection hole 151, and the lens cover 150 is provided with a tightening angle 152 extending towards the inner side of the connection hole 151; the tightening angle 152 is pressed against the light inlet surface of the lens 110, so as to fix the lens 110 in the lens body 140; and/or, the lens cover 150 is made of plastic material.
In the present embodiment, a connection hole 151 is provided at the center of the lens cover 150, and after the lens 110 is disposed in the accommodation hole 141 located at the end surface of the lens body 140, the lens cover 150 is disposed at one end of the lens body 140 close to the accommodation hole, wherein the outer wall surface of the lens body 140 close to the accommodation hole 141 is in interference fit with the connection hole 151 of the lens cover 150, and a tightening angle 152 extending towards the inside of the connection hole 151 and provided through the lens cover 150 is pressed against the light inlet surface of the lens 110, so as to fix the lens 110 in the lens body 140. Further, the lens cover 150 is made of plastic material, when the receiving module 100 is impacted, the lens cover 150 can absorb a part of impact stress to prevent the lens 110 from being damaged, and the surface of the lens 110 is lower than the surface of the lens cover 150 to prevent the surface of the lens 110 from being scratched by hard objects, so that the surface of the lens 110 is prevented from being scratched.
Referring to fig. 2-5 and 10, in a preferred embodiment of the present invention, the lens body 140 further includes: an annular light barrier 144 disposed within the light passing aperture 142; the central symmetry axis of the annular light barrier 144 is coaxial with the optical axis of the lens 110, and the received light converged by the lens 110 is emitted from the opening at the center of the annular light barrier 144 to the light intensity adjusting assembly.
Since there are a plurality of light sources in the environment, light emitted from different light sources or reflected light formed by different light sources irradiating the detected object may also enter the receiving module 100, which easily affects the sensing of the receiving module 100 for the received light.
In the present embodiment, the annular light barrier 144 is located between the lens 110 and the light intensity adjusting assembly 130, wherein a central axis of the annular light barrier 144 is parallel to a propagation direction of the received light, and the central axis of the annular light barrier 144 is coaxially disposed with an optical axis of the lens 110. When the received light converged by the lens 110 passes through the light-passing hole 142, the received light is emitted to the light intensity adjusting assembly 130 from the hollow portion of the center of the annular light-blocking plate 144, and stray light irradiated or reflected by other environmental light sources except the received light into the laser receiving module 110 is blocked by the annular light-blocking plate 144 due to deviation of the light path and the central axis of the annular light-blocking plate 144, so that the influence of the environmental stray light on the sensing result is reduced when the receiving chip 120 senses the received light.
Referring to fig. 12, in a preferred embodiment of the present invention, the laser receiving module 100 further includes: a lens holder 160, wherein the lens holder 160 has a receiving light channel 161, the receiving light channel 161 includes a light inlet end and a light outlet end, and the receiving light is emitted from the light inlet end to the light outlet end; the lens body 140 is embedded in and disposed at one end of the receiving light channel 161 close to the light input end, the lens 110 is disposed at the light input end of the receiving light channel 161, and the receiving chip 120 is disposed at the light output end of the receiving light channel 161; the rotating bracket 132 is rotatably disposed between the light input end and the light output end of the receiving light path 161.
In one preferred embodiment of the present invention, two opposite first mounting holes 1611 are disposed on the inner wall surface of the receiving light channel 161, the two first mounting holes 1611 are located on the same straight line, and the first mounting holes 1611 penetrate through the lens holder 160 along the cross-sectional diameter of the receiving light channel 161; the first rotating rod 1321 and the second rotating rod 1322 of the rotating bracket 132 are respectively and rotatably disposed in the two first mounting holes 1611, and the rotating bracket 132 is rotatably disposed in the light receiving channel 161 and is used for driving the optical filter 110 to rotate in the light receiving channel 161.
In one preferred embodiment of the present invention, the inner wall surface of the receiving light channel 161 further comprises: a second mounting hole 1612, located between the first mounting hole 1611 and the light inlet end, for installing the first electromagnet 133; a third mounting hole 1613, located between the first mounting hole 1611 and the light emitting end, for disposing the second electromagnet 134;
the first electromagnet 133 and the second electromagnet 134 protrude from the inner wall surface of the receiving light channel 161, and a projection of the first electromagnet 133 and the second electromagnet 134 along the axial direction of the receiving light channel 161 coincides with a projection of the magnetic attraction device 135 along the axial direction of the receiving light channel 161.
Referring to fig. 13, in a preferred embodiment of the present invention, the receiving chip 120 is located at a focal position of the lens 110, a plane of the receiving chip 120 is perpendicular to an optical axis of the lens 110, and the light intensity adjusting assembly 130 is located on the optical axis of the lens 120;
and/or the rotation angle of the rotating bracket 130 towards the first direction and the rotation angle of the rotating bracket 130 towards the second direction are within the range of 1-40 degrees.
In one preferred embodiment of the present invention, the receiving chip 120 includes:
a susceptor 121 for sensing received light and converting an optical signal into an electrical signal; and
and a data cable 122 disposed at one side of the receiving chip 120 and electrically connected to the receiving chip 120, wherein the data cable 122 is used for transmitting the converted electrical signal to a processor.
In a preferred embodiment of the present invention, a laser radar is further provided, which includes the laser receiving module 100 described in any one of the above embodiments.
Referring to fig. 2-5, another embodiment of the present invention is described as follows with reference to the drawings: the optical filter 131 has a first rotation position as shown in fig. 2 and 3, and the optical filter 131 has a second rotation position as shown in fig. 4 and 5;
when the optical filter 131 is located at the first rotation position, the received light passing through the optical filter 131 and received by the receiving chip 120 has a first light intensity;
when the optical filter 131 is located at the second rotation position, the received light passing through the optical filter 131 and received by the receiving chip 120 has a second light intensity;
the first light intensity is greater than the second light intensity.
In this embodiment, the optical filter 131 located at the first rotation position and the optical filter 131 located at the second rotation position have different light intensity reduction effects on the same received light;
specifically, the received light that passes through the optical filter 131 located at the first rotation position and is received by the receiving chip 120 has a first light intensity, the received light that passes through the optical filter 131 located at the second rotation position and is received by the receiving chip 120 has a second light intensity, and the first light intensity is greater than the second light intensity, that is, the effect of the optical filter 131 at the second rotation position on the reduction of the light intensity of the received light is better than the effect of the optical filter 131 at the first rotation position on the reduction of the light intensity of the received light, so that when the laser receiving module receives the received light with different light intensities, the light intensity of the received light that passes through the optical filter 131 is reduced to be less than or equal to the preset threshold value by adjusting the optical filter 131 at the first rotation position or the second rotation position.
Referring to fig. 14, in a preferred embodiment of the present invention, the laser receiving module 100 further includes: a detection device 200 for detecting the light intensity of the received light incident on the optical filter 131; a driving device 300 for rotating the optical filter 131 between a first rotational position and a second rotational position;
when the intensity of the received light detected by the detection device 200 is less than or equal to a preset threshold, the driving device 300 drives the optical filter 131 to be fixed at a first rotating position; when the intensity of the received light detected by the detecting device 200 is greater than the preset threshold, the driving device 300 drives the optical filter 131 to be fixed at the second rotation position, so as to reduce the intensity of the received light emitted from the optical filter 131.
In the present embodiment, the detecting device 200 is disposed between the lens 110 and the optical filter 131, and is used for detecting the light intensity of the received light incident to the optical filter 131; the optical filter 131 is disposed on the driving device 300, and the driving device 300 is configured to rotate the optical filter 131 between a first rotation position and a second rotation position, that is, the light intensity reducing effect of the optical filter 131 on the received light is adjusted by adjusting the angle of the received light incident on the optical filter 131, so as to adjust the light intensity of the received light emitted from the optical filter 131;
specifically, when the intensity of the received light detected by the detecting device 200 is less than or equal to the preset threshold, the driving device 300 drives the optical filter 131 to rotate and fix at the first rotating position shown in fig. 2 and 3, so as to reduce the weakening effect of the received light by the optical filter 131, so that the intensity of the received light emitted from the optical filter 131 is less than the preset threshold;
or, when the intensity of the received light detected by the detecting device 200 is greater than the preset threshold, the driving device 300 drives the optical filter 131 to rotate and fix at the second rotation position shown in fig. 4 and 5, so as to improve the effect of reducing the intensity of the received light by the optical filter 131, and make the intensity of the received light emitted from the optical filter 131 less than or equal to the preset threshold.
In one preferred embodiment of the present invention, when the optical filter 131 is located at the first rotation position, the optical filter 131 is perpendicular to the optical axis of the lens 110;
when the optical filter 131 is located at the second rotation position, the optical filter 131 is inclined to the optical axis of the lens 110.
In this embodiment, when the light intensity of the received light detected by the detecting device 200 is less than or equal to the predetermined threshold, the optical filter 131 is located at the first rotating position, the received light converged by the lens 110 is vertically incident into the optical filter 131, and the incident angle of the received light incident into the optical filter 131 is zero, so as to reduce the reflection effect of the optical filter 131 on the received light and avoid the too low light intensity of the received light emitted from the optical filter 131.
And when the light intensity of the received light detected by the detection device 200 is greater than the preset threshold, the optical filter 131 is located at the second rotation position, the received light converged by the lens 110 is obliquely incident into the optical filter 131, the incident angle of the received light is greater than zero, the reflection effect of the optical filter 131 on the received light is improved, and the light intensity of the received light emitted from the optical filter 131 is reduced to be less than or equal to the preset threshold.
Referring to fig. 15-18, as a second embodiment of the present invention, an adjustable diaphragm 410 is adopted as the light intensity adjusting element 130, and a laser receiving module 400 with an adjustable diaphragm is provided, in which the laser receiving module 400 with an adjustable diaphragm includes: a lens 110; a receiving chip 120; and an adjustable diaphragm 410, disposed between the lens 110 and the receiving chip 120, for receiving light, which is incident to the laser receiving module 400 with the adjustable diaphragm through the lens 110 and is emitted to the receiving chip through the adjustable diaphragm 410, wherein the adjustable diaphragm 410 is used for adjusting the intensity of the received light emitted to the receiving chip 120.
In this embodiment, when the laser receiving module 400 with the adjustable diaphragm receives the received light from the object to be detected with strong reflection, for example, the white object, the received light is converged by the lens 110 and then emitted to the adjustable diaphragm 410, the opening of the adjustable diaphragm 410 is reduced, the light intensity of the received light passing through the adjustable diaphragm 410 is reduced, and further the light flux incident to the receiving chip 120 is reduced, so that the light intensity of the received light incident to the receiving chip 120 is smaller than the preset threshold of the laser receiving module 400 with the adjustable diaphragm, thereby avoiding overexposure of the receiving chip 120, and enabling the laser receiving module 400 with the adjustable diaphragm to recognize the white object and other strong reflection objects.
In one embodiment of the laser receiving module 400 with an adjustable diaphragm of the present invention, the adjustable diaphragm 410 has a light-transmitting hole 411 with an adjustable aperture, and the center of the light-transmitting hole 411 coincides with the optical axis of the lens 110.
In this embodiment, the adjustable diaphragm 410 has a light-transmitting hole 411 with an adjustable aperture for the received light to pass through, and the center of the light-transmitting hole 411 coincides with the optical axis of the lens 110, and the adjustable diaphragm 410 is used to limit the maximum inclination of the marginal ray in the imaging beam of the received light converging in the direction of the optical axis of the lens 110, thereby adjusting the light intensity of the received light passing through the adjustable diaphragm 410.
In one embodiment of the laser receiving module 400 with an adjustable diaphragm of the present invention, the adjustable diaphragm 410 has an initial state and a retracted state;
when the adjustable diaphragm 410 is in the initial state, the received light emitted from the light-transmitting hole 411 and irradiated to the receiving chip 120 has a first light intensity; when the adjustable diaphragm 410 is in the retracted state, the received light emitted from the light-transmitting hole 411 and irradiated to the receiving chip 120 has a second light intensity; the first light intensity is greater than the second light intensity.
In this embodiment, the adjustable diaphragm 410 has an initial state and a retracted state, when the light intensity of the received light entering the laser receiving module 400 with the adjustable diaphragm is smaller than a preset threshold, the adjustable diaphragm 410 is in the initial state, and when the light intensity of the received light entering the laser receiving module 400 with the adjustable diaphragm is greater than or equal to the preset threshold, the adjustable diaphragm 410 is in the retracted state, and is configured to enable the light intensity of the received light entering the receiving chip 120 to be smaller than the preset threshold.
Referring to fig. 18, in one embodiment of the laser receiving module 400 with an adjustable diaphragm of the present invention, the laser receiving module 400 with an adjustable diaphragm further includes: a detection device 200 for detecting the intensity of the received light incident to the laser receiving module 400 with an adjustable diaphragm; a driving device 300 for changing the adjustable diaphragm 410 between an initial state and a retracted state;
when the intensity of the received light detected by the detection device 200 is less than a preset threshold, the adjustable diaphragm 410 is fixed in an initial state; when the intensity of the received light detected by the detecting device 200 is equal to or greater than a preset threshold, the driving device 300 drives the adjustable diaphragm 410 to change to the retracted state.
In one embodiment of the laser receiving module 400 with an adjustable diaphragm of the present invention, the aperture of the light transmission hole 411 of the adjustable diaphragm 410 in the retracted state is smaller than the aperture of the light transmission hole 411 of the adjustable diaphragm 410 in the initial state.
In the present embodiment, the light-transmitting hole 411 is used to limit the maximum inclination of the marginal ray in the imaging beam of received light converging in the optical axis direction of the lens 110, thereby adjusting the light intensity of the received light passing through the adjustable diaphragm 410; specifically, the aperture of the light transmission hole 411 in the initial state is larger than the aperture of the light transmission hole 411 in the contracted state, and the intensity of the received light passing through the light transmission hole 411 in the initial state is larger than the intensity of the received light passing through the light transmission hole 411 in the contracted state.
Referring to fig. 17, in one embodiment of the laser receiving module 400 with an adjustable diaphragm according to the present invention, the adjustable diaphragm 410 includes diaphragm sheets 412, a plurality of diaphragm sheets 412 are disposed around the adjustable diaphragm 410, the diaphragm sheets 412 are movably connected to the adjustable diaphragm 410, the plurality of diaphragm sheets 412 surround the light hole 411, and the diaphragm sheets 412 are in transmission connection with the driving device 300.
In this embodiment, the diaphragm 412 is movably connected to the adjustable diaphragm 410, the diaphragm 412 is driven by the driving device 300 to rotate along a first direction or a second direction, the first direction is opposite to the second direction, when the driving device 300 drives the diaphragm 412 to rotate along the first direction, the aperture of the light hole formed by the plurality of diaphragms 412 is reduced, and when the driving device 300 drives the diaphragm 412 to rotate along the second direction, the aperture of the light hole formed by the plurality of diaphragms 412 is expanded.
In one embodiment of the laser receiving module 400 with an adjustable diaphragm of the present invention, the light-transmitting hole 411 has a maximum adjustable aperture and a minimum adjustable aperture, the adjustable diaphragm 410 is in an initial state when the light-transmitting hole 411 is at the maximum adjustable aperture, and the adjustable diaphragm 410 is in a contracted state when the light-transmitting hole 411 is gradually reduced from the maximum adjustable aperture to the minimum adjustable aperture.
In one embodiment of the laser receiving module 400 with an adjustable diaphragm of the present invention, the receiving chip 120 is located at a focal position of the mirror 110, and the receiving chip 120 is perpendicular to an optical axis of the mirror 110; the adjustable diaphragm 410 is disposed perpendicular to the optical axis of the lens 110.
In this embodiment, the receiving chip 120 is located at the focal position of the lens 110, which helps to converge the received light to the clearest spot on the receiving chip, and the distance from the object to be measured to the laser receiving module can be obtained by calculating the deviation distance between the position of the converged spot and the focal position of the receiving chip.
In one embodiment of the present invention, a laser receiving module 400 with an adjustable diaphragm is further provided, which includes: a lens 110; a receiving chip 120; the adjustable diaphragm 410 is arranged between the lens 110 and the receiving chip 120, and the received light is incident to the laser receiving module 400 with the adjustable diaphragm through the lens 110 and is emitted to the receiving chip 120 through the adjustable diaphragm 410;
when the light intensity of the received light is smaller than a preset threshold value, the adjustable diaphragm 410 is in an initial state, and the received light completely passes through the adjustable diaphragm 410;
when the intensity of the received light is greater than or equal to the preset threshold, the adjustable diaphragm 410 is in a contracted state, and the intensity of the received light directed to the receiving chip 120 is reduced.
Referring to fig. 19-22, as a third embodiment of the present invention, an electronic glass 510 is adopted as the light intensity adjusting element 130, and a laser receiving module 500 with electronic glass is provided, in which the laser receiving module 500 with electronic glass includes: a lens 110; a receiving chip 120; and electronic glass 510, disposed between the lens 110 and the receiving chip 120, for receiving light that is incident to the laser receiving module 500 with electronic glass through the lens 110 and is emitted to the receiving chip 120 through the electronic glass 510, wherein the electronic glass 510 is used for adjusting the intensity of the received light emitted to the receiving chip 120.
In this embodiment, when the laser receiving module 500 with electronic glass receives the received light from the object to be detected with strong reflection, for example, a white object, the received light is converged by the lens 110 and then emitted to the electronic glass 510, the electronic glass 510 is switched to a semi-transparent state, the light intensity of the received light passing through the electronic glass 510 is reduced, and further the light flux incident to the receiving chip 120 is reduced, so that the light intensity of the received light incident to the receiving chip 120 is smaller than the preset threshold of the laser receiving module 500 with electronic glass, and overexposure of the receiving chip 120 is avoided, and the laser receiving module 500 with electronic glass can recognize the white object and other strong reflection objects.
In one embodiment of the laser receiving module 500 with electronic glass of the present invention, the electronic glass 510 is disposed perpendicular to the optical axis of the lens 110.
In this embodiment, the electronic glass 510 is disposed perpendicular to the optical axis of the lens 110, which helps to make the received light enter the electronic glass 510 in a perpendicular direction, and reduce the incident angle of the received light entering the electronic glass 510, so as to avoid too low light intensity of the received light from the electronic glass 510 to the receiving chip 120.
In one embodiment of the laser receiving module 500 with electronic glass of the present invention, the electronic glass 510 has a first state and a second state;
when the electronic glass 510 is in a first state, the received light passing through the electronic glass 510 and directed to the receiving chip 120 has a first light intensity;
when the electronic glass 510 is in the second state, the received light passing through the electronic glass 510 and directed to the receiving chip 120 has a second light intensity;
the first light intensity is greater than the second light intensity.
In this embodiment, the electronic glass 510 has a first state and a second state, when the light intensity of the received light entering the laser receiving module 500 with the electronic glass is smaller than a preset threshold, the electronic glass 510 is in the first state, and when the light intensity of the received light entering the laser receiving module 500 with the electronic glass is greater than or equal to the preset threshold, the electronic glass 510 is in the second state, and the light intensity of the received light entering the receiving chip 120 is smaller than the preset threshold.
Referring to fig. 22, in an embodiment of the laser receiving module 500 with electronic glass of the present invention, the laser receiving module 500 with electronic glass further includes:
a detection device 200 for detecting the intensity of the received light incident to the laser receiving module 500 having electronic glass;
a driving device 300 for switching the electronic glass 510 between a first state and a second state;
when the intensity of the received light detected by the detection device 200 is less than a preset threshold, the driving device 300 keeps the electronic glass 510 in a first state; when the intensity of the received light detected by the detection device 200 is greater than or equal to the preset threshold, the driving device 300 changes and maintains the electronic glass 510 in the second state.
Referring to fig. 21, in an embodiment of the laser receiving module 500 with electronic glass according to the present invention, the electronic glass 510 includes: a first glass 511; a second glass 512; the dimming film 513 is arranged between the first glass 511 and the second glass 512, and the first glass 511, the dimming film 513 and the second glass 512 are glued and fixed;
the received light enters the electronic glass 510 from the first glass 511, and the received light is emitted from the second glass 512 to the receiving chip 120 after passing through the light adjusting film 513.
In one embodiment of the laser receiving module 500 with electronic glass of the present invention, the light adjusting film 513 is a liquid crystal film, and the light adjusting film 513 has a transparent state and an atomized translucent state;
and/or the light adjusting film 513 is electrically connected to the driving device 300.
The electronic glass 510 is preferably an electrically controlled light control glass, which comprises two layers of glass and a liquid crystal film sandwiched between the two layers of glass, and is generally obtained by placing the liquid crystal film between the two layers of glass, and then placing the two layers of glass in an autoclave or a laminating furnace for high-temperature and high-pressure bonding.
In this embodiment, the light adjusting film 513 in the electronic glass 510 is a liquid crystal film, when no power is applied, liquid crystal molecules in the liquid crystal film will be in an irregular scattering state, and at this time, the electronic glass 510 will be in a fog-like semi-transparent appearance state, so as to reduce the light intensity of the received light passing through the electronic glass 510; when the electronic glass 510 is powered on, liquid crystal molecules in the liquid crystal film are arranged in order, light can penetrate through the liquid crystal film freely, the light adjusting glass is in a transparent state instantly, and received light directly penetrates through the electronic glass.
In one embodiment of the laser receiving module 500 with electronic glass according to the present invention, when the driving device 300 and the light adjusting film 513 are powered on to form a current loop, the light adjusting film 513 is in a transparent state, and the electronic glass 510 is in the first state.
In this embodiment, the initial state of the electronic glass 510 is a first state, when the detection device 200 detects that the intensity of the received light incident from the lens 110 to the laser receiving module 500 with the electronic glass is less than a preset threshold, the driving device 300 keeps the dimming film 513 of the electronic glass 510 powered on, keeps the dimming film 513 in a transparent state, receives the light directly through the electronic glass 510 in the first state, and the intensity of the received light incident to the receiving chip is less than the preset threshold.
In one embodiment of the laser receiving module 500 with electronic glass according to the present invention, when the driving device 300 and the light modulation film 513 are not powered on, the light modulation film 513 is in the atomized semi-transparent state, and the electronic glass 510 is in the second state.
In this embodiment, when the detection device 200 detects that the intensity of the received light incident from the lens 110 to the laser receiving module 500 with electronic glass is equal to or greater than the preset threshold, the driving device 300 and the light adjusting film 513 of the electronic glass 510 are powered off, so that the light adjusting film 513 becomes a fog-like semi-transparent state, the received light passes through the electronic glass 510 in the second state, and the intensity of the received light incident to the receiving chip 120 is reduced to be less than the preset threshold.
Referring to fig. 22, in one embodiment of the present invention, a laser receiving module 500 with electronic glass is further provided, including: a lens 110; a receiving chip 120; and
the electronic glass 510 is arranged between the lens 110 and the receiving chip 120, and received light is incident to the laser receiving module 500 with the electronic glass through the lens 110 and is emitted to the receiving chip 120 through the electronic glass 510;
when the intensity of the received light is less than a preset threshold, the electronic glass 510 is in a first state; when the intensity of the received light is greater than the preset threshold, the electronic glass 510 is in a second state and reduces the intensity of the received light directed to the receiving chip 120.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A laser receiving module, comprising:
a lens;
a receiving chip; and
and the light intensity adjusting component is arranged between the lens and the receiving chip, receives light and is incident to the laser receiving module through the lens and is emitted to the receiving chip through the light intensity adjusting component, and the light intensity adjusting component is used for adjusting the intensity of the received light emitted to the receiving chip.
2. The laser receive module of claim 1, wherein the light intensity adjustment assembly comprises:
the optical filter is rotatably arranged between the lens and the receiving chip, and the rotating shaft of the optical filter is perpendicular to the optical axis of the lens.
3. The laser receive module of claim 2, wherein the optical filter has a first rotational position and a second rotational position;
when the optical filter is positioned at a first rotating position, the received light which passes through the optical filter and is directed to the receiving chip has first light intensity;
when the optical filter is positioned at the second rotating position, the received light which passes through the optical filter and is emitted to the receiving chip has second light intensity;
the first light intensity is greater than the second light intensity.
4. The laser receive module of claim 3, further comprising:
the detection device is used for detecting the light intensity of the received light incident to the laser receiving module;
the driving device is used for rotating the optical filter between a first rotating position and a second rotating position;
when the light intensity of the received light detected by the detection device is smaller than a preset threshold value, the optical filter is located at a first rotating position; when the light intensity of the received light detected by the detection device is greater than or equal to the preset threshold value, the driving device drives the optical filter to be fixed at a second rotating position.
5. The laser receiving module of claim 4,
when the optical filter is positioned at a first rotating position, the optical filter is vertical to the optical axis of the lens;
when the optical filter is located at the second rotating position, the optical filter is inclined to the optical axis of the lens.
6. The laser receive module of claim 5, wherein the light intensity adjustment assembly further comprises a rotating bracket,
the rotary support is rotatably arranged between the lens and the receiving chip, the optical filter is arranged on the rotary support, and the rotary support is used for driving the optical filter to rotate.
7. The laser receive module of claim 6, wherein the light intensity adjustment assembly further comprises:
the first electromagnet is arranged between the rotating bracket and the lens;
the second electromagnet is arranged between the rotating bracket and the receiving chip;
the edge of the rotating bracket is provided with a magnetic attraction device, and when the first electromagnet is electrified, the first electromagnet attracts the magnetic attraction device so that the rotating bracket is positioned at a first rotating position; when the second electromagnet is electrified, the second electromagnet attracts the magnetic attraction device, so that the rotating support is located at a second rotating position.
8. The laser receiving module of any one of claims 3 to 7,
the receiving chip is positioned at the focal position of the lens, and the plane of the receiving chip is vertical to the optical axis of the lens;
and/or the central symmetry axis of the light intensity adjusting component and the optical axis of the lens are coaxially arranged;
and/or the degree of an included angle formed by rotating the optical filter from the first rotating position to the second rotating position is in the range of 1-40 degrees.
9. A laser receiving module, comprising:
a lens;
a receiving chip; and
the light intensity adjusting component is arranged between the lens and the receiving chip, and received light is incident to the laser receiving module through the lens and is emitted to the receiving chip through the light intensity adjusting component;
when the light intensity of the received light is smaller than a preset threshold value, the light intensity adjusting component is in a first state;
when the intensity of the received light is greater than the preset threshold value, the light intensity adjusting assembly is in a second state and reduces the intensity of the received light emitted to the receiving chip.
10. A lidar comprising the laser receiver module of any of claims 1-9.
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