CN115825922B - Optical sensing structure and laser radar - Google Patents
Optical sensing structure and laser radar Download PDFInfo
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- CN115825922B CN115825922B CN202111525883.4A CN202111525883A CN115825922B CN 115825922 B CN115825922 B CN 115825922B CN 202111525883 A CN202111525883 A CN 202111525883A CN 115825922 B CN115825922 B CN 115825922B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The embodiment of the application discloses an optical sensing structure and a laser radar. The optical sensing structure comprises a photoelectric switch, a first structure part, a second structure part and a light blocking piece, wherein the first structure part is provided with a containing groove, and the photoelectric switch is arranged in the containing groove; the second structure part is arranged at the opening of the accommodating groove to cover the photoelectric switch in the accommodating groove, and a gap communicated with the accommodating groove is formed between the second structure part and the first structure part; the light blocking piece is arranged corresponding to the gap and used for blocking light entering the accommodating groove through the gap. This application sets up photoelectric switch in first structure portion and second structure portion, and accessible first structure portion and second structure portion block outside light and get into the storage tank in, reduce the influence of parasitic light to photoelectric switch testing result, promote photoelectric switch's detection accuracy. And the gap between the first structure part and the second structure part is additionally provided with the light blocking part, so that the light entering the accommodating groove through the gap can be further blocked by the light blocking part, and the detection precision of the photoelectric switch is improved.
Description
Technical Field
The application relates to the technical field of laser detection, in particular to an optical sensing structure and a laser radar.
Background
The photoelectric sensing structure detects information of the detected object by an optical signal. For example, a photoelectric switch in the photoelectric sensing structure determines whether or not an object is present by blocking or reflecting light by the object. The photoelectric sensing structure is widely applied because the photoelectric sensing structure can not cause damage to the detected object when detecting the detected object, however, the photoelectric sensing structure is sensitive to light rays, the photoelectric sensing structure in the related art is easy to be interfered by external stray light, and the detection precision is required to be improved.
Disclosure of Invention
The application provides an optical sensing structure and laser radar for solve the photoelectric sensing structure among the correlation technique and receive the interference of outside stray light easily, detect the problem that the precision remains to promote.
In a first aspect, the present application provides an optical sensing structure comprising:
a first structure part provided with a containing groove;
the photoelectric switch is arranged in the accommodating groove;
a second structure part arranged at an opening of the accommodating groove for covering the photoelectric switch in the accommodating groove, wherein a gap communicated with the accommodating groove is formed between the second structure part and the first structure part;
the light blocking piece is arranged corresponding to the gap and used for blocking light entering the accommodating groove through the gap.
In a second aspect, the present application provides a lidar comprising:
the optical sensing structure;
a laser emission component for emitting a laser signal to a subject;
the laser receiving component is used for receiving echo laser signals reflected by the shot object; the laser emitting component and the laser receiving component are connected with the first structural part, or, the laser emitting component and the laser receiving component are both connected with the second structural part.
The optical sensing structure and the laser radar have the advantages that the photoelectric switch is arranged in the first structural part and the second structural part, external light can be blocked from entering the accommodating groove through the first structural part and the second structural part, the influence of stray light on the detection result of the photoelectric switch is reduced, and the detection accuracy of the photoelectric switch is improved. And the gap between the first structure part and the second structure part is additionally provided with the light blocking part, so that the light entering the accommodating groove through the gap can be further blocked by the light blocking part, and the detection precision of the photoelectric switch is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a cross-sectional view of a first optical sensing structure provided in an embodiment of the present application;
FIG. 2 is an enlarged view of the structure at A in FIG. 1;
FIG. 3 is an enlarged view of the structure at B in FIG. 2;
FIG. 4 is a perspective view of a second optical sensing structure provided in an embodiment of the present application;
FIG. 5 is a partial cross-sectional view of a third optical sensing structure provided in an embodiment of the present application;
FIG. 6 is a partial cross-sectional view of a fourth optical sensing structure provided in an embodiment of the present application;
FIG. 7 is a partial cross-sectional view of a fifth optical sensing structure provided in an embodiment of the present application;
FIG. 8 is a partial cross-sectional view of a sixth optical sensing structure provided in an embodiment of the present application;
FIG. 9 is a partial cross-sectional view of a seventh optical sensing structure provided in an embodiment of the present application;
FIG. 10 is a perspective cross-sectional view of an eighth optical sensing structure provided in an embodiment of the present application;
FIG. 11 is an exploded view of the optical sensing structure shown in FIG. 10;
fig. 12 is a perspective view of a ninth optical sensing structure provided in an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
Embodiments of the present application provide an optical sensing structure 100. Referring to fig. 1, the optical sensing structure 100 includes a photoelectric switch 110, and the photoelectric switch 110 determines whether the detected object exists by using the shielding or reflection of the detected object to light. For example, the photoelectric switch 110 may include a transmitting portion 111 and a receiving portion 112, where the transmitting portion 111 may transmit light, and the receiving portion 112 may determine whether an object to be detected exists on a transmission path of the light according to information such as whether the light is received, a time difference between the received light and the transmitted light, and the like.
The photoelectric switch 110 is sensitive to light, and if external stray light enters the photoelectric switch 110, the detection result of the photoelectric switch 110 is easily affected. For example, the wavelength range of the receiving spectrum of the photoelectric switch 110 is approximately between 700nm and 1200nm, and because the sunlight contains the spectrum, when the sunlight enters the photoelectric switch 110, the signal of the photoelectric switch 110 is disturbed, so that a 'false zero' phenomenon occurs, and the quality of the point cloud is affected. In order to avoid the external stray light from interfering with the detection result of the photoelectric switch 110, the optical sensing structure 100 of the embodiment of the present application may further include a first structure portion 120 and a second structure portion 130, where the first structure portion 120 has a receiving groove 121, the photoelectric switch 110 may be disposed in the receiving groove 121, and the second structure portion 130 may be disposed at an opening 122 of the receiving groove 121 to shield the photoelectric switch 110 in the receiving groove 121. The design of the first structure portion 120 and the second structure portion 130 can block external stray light from entering the photoelectric switch 110 in the accommodating groove 121, so as to improve the detection accuracy of the photoelectric switch 110.
The connection manner between the first structure portion 120 and the second structure portion 130 may be a clamping connection, a lapping connection, a gluing connection, a rotatable connection, etc., which is not limited in the embodiment of the present application. Because the first structure portion 120 and the second structure portion 130 may not be connected in place or require a relative movement, a gap 123 is formed between the two structures and is communicated with the accommodating groove 121, stray light may enter the accommodating groove 121 through the gap 123 and reach the photoelectric switch 110 in the accommodating groove 121, when the stray light enters the gap 123 at a specific angle, the reflection times of light are smaller, the intensity of light signals is higher, if the light reaches the photoelectric switch 110, the high-level signal of the photoelectric switch 110 directly falls below a threshold value, and the detection result of the photoelectric switch 110 is affected. Therefore, the optical sensing structure 100 of the embodiment of the present application may further include a light blocking member 140 disposed corresponding to the gap 123, so as to block the light entering the accommodating groove 121 through the gap 123 and/or increase the number of reflection times of the light, thereby achieving the effect of weakening the light intensity, enabling the high-level signal of the photoelectric switch 110 to be always above the threshold value, and improving the detection precision of the photoelectric switch 110.
Referring to fig. 2, the arrangement of the light blocking member 140 corresponding to the gap 123 may be: the light blocking member 140 is disposed at least one of a portion of the first structure portion 120 corresponding to the gap 123, a portion of the second structure portion 130 corresponding to the gap 123, and a region of the accommodating groove 121 corresponding to the gap 123. Since the gap 123 is formed between the first structure portion 120 and the second structure portion 130, when the light blocking member 140 is disposed on the first structure portion 120 and/or the second structure portion 130, the light blocking member 140 can be positioned on the first structure portion 120 and/or the second structure portion 130 more accurately, and the light blocking effect is better. When the light blocking member 140 is disposed in the accommodating groove 121, the space of the accommodating groove 121 is larger than that of the gap 123, so that the size of the light blocking member 140 positioned in the accommodating groove 121 can be designed to be larger, and the assembly is more convenient.
Alternatively, when the light blocking member 140 is disposed at a portion of the first structure portion 120 corresponding to the gap 123, the light blocking member 140 may include a first protrusion 141, and the first protrusion 141 may be connected to the first wall surface 124 of the first structure portion 120 forming the gap 123. Referring to fig. 4, the first protrusion 141 may extend in the direction of the edge line of the opening 122. By disposing the first protrusion 141 on the first wall surface 124 of the first structure portion 120, after the external stray light enters the gap 123, at least a portion of the light is reflected by the first protrusion 141 and exits the gap 123 in a direction away from the accommodating groove 121, so as to reduce the intensity of the stray light, and even if the light reflected by the first protrusion 141 enters the accommodating cavity 121, the intensity of the light can be reduced due to multiple reflections of the light passing through the first protrusion 141, so as to reduce the influence of the stray light on the photoelectric switch 110.
In an exemplary aspect, the first protrusion 141 may be disposed entirely along the edge line direction of the opening 122. In this way, the first protruding portion 141 can provide a shielding effect against stray light incident from different portions of the gap 123, and further ensure the detection accuracy of the photoelectric switch 110. In still another exemplary aspect, the first protrusion 141 may be disposed only at a portion of the first structure portion 120 near the photoelectric switch 110. In this way, the size of the first protrusion 141 can be reduced, and the manufacturing cost of the photoelectric sensing structure can be reduced.
Alternatively, referring to fig. 2 again, the light blocking member 140 may include a plurality of first protrusions 141 spaced apart along the first direction x, and the plurality of first protrusions 141 are connected to the first wall surface 124 of the first structure portion 120; wherein, the first direction x may be directed from one end of the gap 123 far from the accommodating groove 121 to one end of the gap 123 communicating with the accommodating groove 121. By arranging the plurality of first protrusions 141, part of stray light can be reflected by one of the first protrusions 141 and is emitted out of the gap 123 towards the direction far away from the accommodating groove 121, and the residual light which is not reflected by the first protrusions 141 can be reflected by the other first protrusions 141 and is emitted out of the gap 123 towards the direction far away from the accommodating groove 121, so that the intensity of light entering the accommodating groove 121 through the gap 123 is reduced, and the detection accuracy of the photoelectric switch 110 is improved.
When the light blocking member 140 includes a plurality of first protrusions 141, all of the first protrusions 141 may be disposed entirely along the edge line direction of the opening 122. When the light blocking member 140 includes a plurality of first protrusions 141, all the first protrusions 141 may be uniformly disposed at a portion of the first structure portion 120 near the photoelectric switch 110. When the light blocking member 140 includes a plurality of first protrusions 141, among all the first protrusions 141, a part of the first protrusions 141 may be disposed entirely along the edge line direction of the opening 122, and a part of the first protrusions 141 may be disposed at a portion of the first structure portion 120 near the photoelectric switch 110. The structural design of the first protruding portion 141 is diversified, and can be flexibly adjusted according to practical situations.
Alternatively, when a part of the first convex portion 141 is disposed entirely along the edge line of the opening 122, the part of the first convex portion 141 is disposed at a portion of the first structure portion 120 near the photoelectric switch 110: of all the first protrusions 141, the first protrusion 141 located at an end of the gap 123 remote from the receiving groove 121 may be disposed along the edge line of the opening 122 throughout the circle. That is, among all the first protrusions 141, the first protrusion 141 located at the outermost side is disposed along the edge line of the opening 122 in a complete circle, so that the first protrusion 141 can block at least part of the light entering the gap 123 from each position, thereby achieving the effect of reducing the light intensity; since the light intensity has been greatly attenuated after passing through the outermost first convex portion 141, other first convex portions 141 may be selectively designed to be disposed along the edge line of the opening 122 or disposed at the position of the first structure portion 120 near the photoelectric switch 110 in combination with factors such as precision requirement, which is not limited in this embodiment of the present application.
Referring to fig. 2 and 3, fig. 3 is an enlarged view of the structure at B in fig. 2, the first protrusion 141 has a first surface 1411 far from the bottom wall of the receiving groove 121 along the first direction x, and the distance from the first surface 1411 to the second wall surface 131 of the second structure portion 130 along the first direction x may be gradually reduced. Thus, the first surface 1411 receives more light entering the gap 123 and reflects the light to exit the gap 123.
The first surface 1411 may be a plane, a curved surface, a bent surface, etc., which is not limited in this embodiment. The first protrusion 141 may further have a third surface 1412 that is close to the bottom wall of the accommodating groove 121 along the first direction x, the third surface 1412 may be connected to the first surface 1411, and both ends of the third surface 1412 and the first surface 1411 that are far away from each other may be connected to the first wall surface 124 of the first structural portion 120. The third surface 1412 may be a plane, a curved surface, a bent surface, etc., which is not limited in this embodiment of the present application. Alternatively, the distance between the third surface 1412 and the second wall surface 131 of the second structure portion 130 may gradually increase in the first direction x.
Alternatively, the cross section of the first protrusion 141 may include a triangle, a trapezoid, etc. along a plane perpendicular to the bottom wall of the receiving groove 121, which is not limited in the embodiment of the present application. Preferably, the cross section of the first protrusion 141 may include a triangle. The first protrusion 141 is simple in structural design and convenient to manufacture. For example, the first surface 1411 and the third surface 1412 may each be planar and disposed at an angle to the first wall 124.
In an exemplary embodiment, referring to fig. 5, the first protrusion 141 may be directly disposed on the first wall 124 of the first structure portion 120, and integrally protrudes from the first wall 124, so as to enhance the blocking effect of the first protrusion 141 on light. In another exemplary embodiment, referring to fig. 2 to 4, a mounting groove may be disposed on the first wall surface 124, the first protrusion 141 may be disposed in the mounting groove, and an end of the first protrusion 141 away from the bottom wall of the mounting groove may be flush with the first wall surface 124 or protrude from the first wall surface 124. Thus, the first structure 120 can be miniaturized and the stray light can be reduced.
Referring to fig. 2 again, when the light blocking member 140 is disposed at a portion of the second structure portion 130 corresponding to the gap 123, the light blocking member 140 may optionally include a second protrusion 142, and the second protrusion 142 may be connected to the second wall 131 of the second structure portion 130 forming the gap 123. Referring to fig. 4, the second protrusion 142 may extend along an edge line direction of the opening 122. By disposing the second protrusion 142 on the second wall 131 of the second structure portion 130, after the external stray light enters the gap 123, at least a portion of the light is reflected by the second protrusion 142 and exits the gap 123 in a direction away from the accommodating groove 121, so as to reduce the intensity of the stray light, and even if the light reflected by the second protrusion 142 enters the accommodating cavity 121, the intensity of the light can be reduced due to multiple reflections of the light passing through the second protrusion 142, so as to reduce the influence of the stray light on the photoelectric switch 110.
In one exemplary version, the second protrusions 142 may be disposed along the edge line of the opening 122 throughout a circle. In this way, the second protruding portion 142 can provide shielding effect for stray light incident from different portions of the gap 123, and further ensure detection accuracy of the photoelectric switch 110. In still another exemplary aspect, the second protruding portion 142 may be disposed only at a portion of the second structure portion 130 near the photoelectric switch 110. In this way, the size of the second protruding portion 142 can be reduced, and the manufacturing cost of the photoelectric sensing structure can be reduced.
Alternatively, referring to fig. 2 again, the light blocking member 140 may include a plurality of second protrusions 142 spaced apart along the first direction x, and the plurality of second protrusions 142 are connected to the second wall 131 of the second structure portion 130; wherein, the first direction x may be directed from one end of the gap 123 far from the accommodating groove 121 to one end of the gap 123 communicating with the accommodating groove 121. By arranging the plurality of second protrusions 142, part of stray light can be reflected by one of the second protrusions 142 and is emitted out of the gap 123 towards the direction far away from the accommodating groove 121, and the rest light not reflected by the second protrusions 142 can be reflected by the other second protrusions 142 and is emitted out of the gap 123 towards the direction far away from the accommodating groove 121, so that the intensity of light entering the accommodating groove 121 through the gap 123 is reduced, and the detection accuracy of the photoelectric switch 110 is improved.
When the light blocking member 140 includes a plurality of second protrusions 142, all of the second protrusions 142 may be disposed along the edge line of the opening 122 in a full circle. When the light blocking member 140 includes a plurality of second protruding portions 142, all the second protruding portions 142 may be uniformly disposed at a portion of the second structure portion 130 near the photoelectric switch 110. When the light blocking member 140 includes a plurality of second protrusions 142, a part of the second protrusions 142 may be disposed along the edge line of the opening 122, and a part of the second protrusions 142 may be disposed at a portion of the second structure portion 130 near the photoelectric switch 110, among all the second protrusions 142. The structural design of the second protruding portion 142 is diversified, and can be flexibly adjusted according to practical situations.
Alternatively, when a part of the second protruding portion 142 is disposed entirely along the edge line of the opening 122, the part of the second protruding portion 142 is disposed at a position of the second structure portion 130 close to the photoelectric switch 110: of all the second protrusions 142, the second protrusions 142 located at the end of the gap 123 away from the receiving groove 121 may be disposed along the edge line of the opening 122 throughout the circle. That is, among all the second protrusions 142, the second protrusions 142 located at the outermost side are disposed along the edge line of the opening 122 in a circle, so that the second protrusions 142 can block at least part of the light entering the gap 123 from each position, thereby achieving the effect of reducing the intensity of the light; since the light intensity has been greatly attenuated after passing through the outermost second convex portion 142, the other second convex portions 142 may be selectively designed to be disposed along the edge line of the opening 122 or disposed at the position of the second structure portion 130 near the photoelectric switch 110 in combination with factors such as precision requirement, which is not limited in this embodiment of the present application.
Referring to fig. 2 and 3, the second protrusion 142 has a second surface 1421 far from the bottom wall of the accommodating groove 121 along the first direction x, and the distance from the second surface 1421 to the first wall 124 of the first structure portion 120 along the first direction x may be gradually reduced. Thus, the second surface 1421 may receive more light entering the gap 123 and reflect the light to exit the gap 123.
The second surface 1421 may be a plane, a curved surface, a bent surface, etc., which is not limited in the embodiment of the present application. The second protrusion 142 may further have a fourth surface 1422 adjacent to the bottom wall of the accommodating groove 121 along the first direction x, the fourth surface 1422 may be connected to the second surface 1421, and one end of the fourth surface 1422 and one end of the second surface 1421 away from each other may be connected to the second wall 131 of the first structure portion 120. The fourth surface 1422 may be a plane, a curved surface, a bent surface, etc., which is not limited in the embodiment of the present application. Alternatively, the distance from the fourth surface 1422 to the first wall 124 of the first structure portion 120 may gradually increase in the first direction x.
Alternatively, the cross section of the second protrusion 142 may include a triangle, a trapezoid, etc. along a plane perpendicular to the bottom wall of the receiving groove 121, which is not limited in the embodiment of the present application. Preferably, the cross section of the second protrusion 142 may include a triangle. The second protruding portion 142 is simple in structural design and convenient to manufacture. For example, the second surface 1421 and the fourth surface 1422 may be planar and disposed at an angle to the second wall 131.
In an exemplary embodiment, referring to fig. 5, the second protrusion 142 may be directly disposed on the second wall 131 of the second structure portion 130, and integrally protrudes from the second wall 131, so as to enhance the blocking effect of the second protrusion 142 on light. In another exemplary embodiment, referring to fig. 2 to 4, the second wall 131 may be provided with a mounting groove, the second protrusion 142 may be disposed in the mounting groove, and an end of the second protrusion 142 remote from the bottom wall of the mounting groove may be flush with the second wall 131 or protrude from the second wall 131. Thus, the second structure 130 can be miniaturized and the stray light can be reduced.
Alternatively, when the light blocking member 140 includes the first protrusion 141 and the second protrusion 142, the first protrusion 141 and the second protrusion 142 may be disposed in a staggered manner along the first direction x. The first protrusion 141 and the second protrusion 142 are staggered, so that the light entering the gap 123 can be reflected by one of the first protrusion 141 and the second protrusion 142, and at least part of the light can be reflected to the other of the first protrusion 141 and the second protrusion 142, so as to increase the reflection times of the light and further reduce the intensity of the light.
Further alternatively, when the light blocking member 140 includes a plurality of first protrusions 141 and a plurality of second protrusions 142, referring to fig. 6, in the first direction x, at least one second protrusion 142 may be disposed between every two adjacent first protrusions 141, or at least one first protrusion 141 may be disposed between every two adjacent second protrusions 142. Preferably, there is one second protrusion 142 between every adjacent two first protrusions 141 along the first direction x. So that the number of reflections of light through the first and second protrusions 141 and 142 may be greater, the light attenuation phenomenon may be more serious, and the influence on the photoelectric switch 110 may be less when the same number of first and second protrusions 141 and 142 are provided.
Referring to fig. 2 to 4 again, when the light blocking member 140 is disposed in the accommodating groove 121, optionally, the light blocking member 140 may include a light blocking plate 143, the light blocking plate 143 may be disposed in the accommodating groove 121 and corresponding to the gap 123, and the light blocking plate 143 may be connected to the first structure portion 120 or the second structure portion 130.
The light barrier 143 may include a first plate 1431 and a second plate 1432 disposed at an included angle, the first plate 1431 may be disposed near the first structure portion 120, the second plate 1432 may be disposed near the second structure portion 130, the first plate 1431 may be connected with the first structure portion 120 or the second plate 1432 may be connected with the second structure portion 130. The first plate 1431 and the second plate 1432 are designed to be V-shaped, so that the blocking effect on light is better.
The first structure portion 120 may include a bottom plate 125 and a peripheral plate 126 connected to the bottom plate 125, where the bottom plate 125 and the peripheral plate 126 enclose to form a receiving groove 121, and when the first plate 1431 is connected to the first structure portion 120, specifically, the first plate 1431 may be disposed at an included angle with the peripheral plate 126 of the first structure portion 120 and connected to the peripheral plate 126. The light barrier 143 is connected to the peripheral plate 126 of the first structure portion 120, and the connection is convenient because the peripheral plate 126 is large. The light barrier 143 and the first structural portion 120 may be assembled together by bonding, welding, or the like, or the light barrier 143 and the first structural portion 120 may be an integral structure, which is not limited in the embodiment of the present application. Alternatively, the first plate 1431 may be perpendicular to the peripheral plate 126 of the first structure portion 120, so that the optical sensor structure 100 has a regular layout and better blocking effect on stray light.
Alternatively, the second structural portion 130 may have a substantially plate shape, and when the second plate 1432 is connected to the second structural portion 130, specifically, the second plate 1432 may be disposed at an angle with respect to the second structural portion 130 and connected to the second structural portion 130. The light barrier 143 and the second structural portion 130 may be assembled together by bonding, welding, or the like, or the light barrier 143 and the second structural portion 130 may be an integral structure, which is not limited in the embodiment of the present application. Optionally, the second plate 1432 may be perpendicular to the second structure portion 130, so that the optical sensing structure 100 has a regular layout and better blocking effect on stray light.
Alternatively, the second structure portion 130 may be at least partially located in the accommodating groove 121, and the second structure portion 130 may be integrally located on a side of the accommodating groove 121 where the end surface of the opening 122 is located. When at least part of the second structure portion 130 is located in the accommodating groove 121, the contact area between the second structure portion 130 and the first structure portion 120 can be increased, and the connection reliability between the second structure portion 130 and the first structure portion 120 can be improved; and the setting of accommodation groove 121 is also convenient for the location when second structure portion 130 is connected with first structure portion 120, does benefit to the quick accurate equipment of second structure portion 130 and first structure portion 120. When the entire second structure portion 130 is located on the side where the end face of the opening 122 of the accommodating groove 121 is located, that is, the second structure portion 130 is mounted on the first structure portion 120, the connection manner between the second structure portion 130 and the first structure portion 120 is simpler.
It should be noted that, referring to fig. 7 and 8, when the second structure portion 130 is entirely located on the side of the end face of the opening 122 of the accommodating groove 121, the gaps 123 between the second structure portion 130 and the first structure portion 120 may be distributed substantially along a direction parallel to the plate surface of the second structure portion 130. Referring to fig. 2, when the second structure portion 130 is entirely located in the accommodating groove 121, the gaps 123 between the second structure portion 130 and the first structure portion 120 may be substantially distributed along a direction parallel to the side surface of the second structure portion 130. Referring to fig. 9, when the second structural portion 130 is partially located inside the accommodating groove 121 and partially located outside the accommodating groove 121, the gap 123 between the second structural portion 130 and the first structural portion 120 includes a first gap 1231 substantially distributed in a direction parallel to the plate surface of the second structural portion 130, and a second gap 1232 substantially distributed in a direction parallel to the side surface of the second structural portion 130; in this case, the first protrusion 141 may be provided corresponding to the first gap 1231 or the second gap 1232, and the second protrusion 142 may be provided corresponding to the first gap 1231 or the second gap 1232. Preferably, the first protrusion 141 and the second protrusion 142 may be disposed corresponding to the first gap 1231 and/or corresponding to the second gap 1232 at the same time, so that the first protrusion 141 and the second protrusion 142 may act together to block light, and the attenuation effect on light is better.
The photoelectric switch 110 may be used for angular displacement measurement, counting, positioning, etc., which is not limited in this application. In the following, referring to fig. 10 and 11, the optical sensing structure 100 may further include a code wheel 150 used in conjunction with the photoelectric switch 110, where the code wheel 150 may be provided with a plurality of detection portions 151 distributed at intervals along a circumferential direction, and the code wheel 150 may be movable relative to the photoelectric switch 110 so that each of the detection portions 151 on the code wheel 150 may sequentially pass through the photoelectric switch 110.
Alternatively, one of the photoelectric switch 110 and the code wheel 150 may be connected to the first structural portion 120, the other of the photoelectric switch 110 and the code wheel 150 may be connected to the second structural portion 130, and the second structural portion 130 may rotate relative to the first structural portion 120 to implement movement of the code wheel 150 relative to the photoelectric switch 110. Specifically, the second structure portion 130 may rotate relative to the first structure portion 120 about the second direction y, the second direction y may be parallel to the extending direction of the accommodating groove 121, and the plurality of detection portions 151 on the code wheel 150 may be spaced apart about the second direction y, so that when the second structure portion 130 rotates relative to the first structure portion 120 about the second direction y, each detection portion 151 on the code wheel 150 may sequentially pass through the photoelectric switch 110.
Alternatively, the photoelectric switch 110 may include a transmitting portion 111 and a receiving portion 112 that are disposed at intervals, and each detecting portion 151 on the code wheel 150 may sequentially pass through the photoelectric switch 110, and between the transmitting portion 111 and the receiving portion 112, for each detecting portion 151. When the detecting portions 151 are located between the transmitting portions 111 and the receiving portions 112, light emitted by the transmitting portions 111 cannot be received by the receiving portions 112, and when gaps 123 between two adjacent detecting portions 151 correspond to the transmitting portions 111 and the receiving portions 112, light emitted by the transmitting portions 111 can be received by the receiving portions 112 due to the fact that the light is not blocked by the detecting portions 151, accordingly, the photoelectric switch 110 can count the number of the detecting portions 151 passing between the transmitting portions 111 and the receiving portions 112 on the code disc 150 in a period of time, and accordingly obtain the rotating angle of the code disc 150, so that measurement of angular displacement is achieved. For example, when the included angle between the center of each two adjacent detection portions 151 on the code wheel 150 and the rotation center of the code wheel 150 is 1 °, if the photoelectric switch 110 counts that the two detection portions 151 on the code wheel 150 pass through between the transmitting portion 111 and the receiving portion 112 within one minute, the angle through which the code wheel 150 rotates is substantially greater than 1 ° and less than 3 °. By increasing the number of the detecting portions 151 on the code wheel 150 and reducing the included angle between two adjacent detecting portions 151, the detection accuracy of the photoelectric switch 110 can be improved.
Each of the detecting portions 151 on the code wheel 150 may extend in the second direction y or may extend in a direction perpendicular to the second direction y. The size of the code wheel 150 along the direction perpendicular to the second direction y may be reduced when each detecting portion 151 on the code wheel 150 extends along the direction parallel to the second direction y, the size of the code wheel 150 along the direction parallel to the second direction y may be reduced when each detecting portion 151 on the code wheel 150 extends along the direction perpendicular to the second direction y, and the size may be flexibly adjusted according to the actual requirement during actual production, which is not limited in this embodiment of the present application. Fig. 10 shows a case where the photoelectric switch 110 is connected to the first structure portion 120, the code wheel 150 is connected to the second structure portion 130, and each of the detection portions 151 on the code wheel 150 extends in the second direction y.
The optical sensing structure 100 may further include a driving portion 160 for driving the movement of the code wheel 150 relative to the optoelectronic switch 110. The driving part 160 may be located in the receiving groove 121. The driving part 160 may include a stator 161 and a rotor 162 rotating with respect to the stator 161, one of the stator 161 and the rotor 162 may be connected to the code wheel 150, and the other of the stator 161 and the rotor 162 may be connected to the photo switch 110. Alternatively, when the code wheel 150 is connected to one of the first and second structural parts 120 and 130, the photoelectric switch 110 is connected to the other of the first and second structural parts 120 and 130, one of the stator 161 and the rotor 162 may be connected to the first structural part 120, and the other of the stator 161 and the rotor 162 may be connected to the second structural part 130. The connection between the stator 161 and the rotor 162 and the code wheel 150 and the connection between the photoelectric switch 110 and the first and second structures 120 and 130 are converted, and the first and second structures 120 and 130 are larger in size, so that the assembly is more convenient.
The optical sensing structure 100 may further include a circuit board 170, and the circuit board 170 may be electrically connected with the driving part 160 and the optoelectronic switch 110 to provide electrical signals, control signals, etc. to the driving part 160 and the optoelectronic switch 110. The circuit board 170 may be positioned in the receiving groove 121. Alternatively, when the first structure portion 120 includes the bottom plate 125 and the peripheral side plate 126, a boss 1251 may be provided on a surface of the bottom plate 125 facing the peripheral side plate 126, and the circuit board 170 may be provided on the boss 1251 and spaced apart from the bottom plate 125. In this way, the vibration generated when the driving unit 160 operates can be reduced, and noise can be reduced.
The optical sensing structure 100 may further include an optical cover 180, and the optical cover 180 may be located at a side of the first structure portion 120 where the second structure portion 130 is located, so as to further play a role in shielding light.
Referring to fig. 12, the first structure portion 120 may have a substantially cylindrical structure, and the optical cover 180 may have a substantially cylindrical structure, and the structures of the first structure portion 120 and the optical cover 180 are not limited in this embodiment.
In a second aspect, embodiments of the present application provide a lidar. The lidar may be a mechanical lidar. The laser radar comprises a laser emitting component, a laser receiving component and the optical sensing structure 100, wherein the laser emitting component is used for emitting laser signals to a shot object, the laser receiving component is used for receiving echo laser signals reflected by the shot object, and the received echo laser signals are compared with the emitted laser signals and are processed appropriately to obtain relevant information of a target; for example, information about the distance, azimuth, altitude, speed, attitude, and even shape of the target can be obtained.
The laser emitting assembly and the laser receiving assembly may each be connected to the first structure portion 120, or the laser emitting assembly and the laser receiving assembly may each be connected to the second structure portion 130. When the second structure portion 130 rotates relative to the first structure portion 120, the light emitting path of the laser emitting assembly can be changed, so as to achieve the purpose of detecting objects in different areas. Because the second structural portion 130 is connected with the code wheel 150 by one of the first structural portions 120, and the second structural portion 130 is connected with the photoelectric switch 110 by the other of the first structural portions 120, the rotation of the second structural portion 130 relative to the first structural portion 120 is synchronous with the rotation of the code wheel 150 relative to the photoelectric switch 110, based on this, the measurement of the rotation angular displacement of the second structural portion 130 relative to the first structural portion 120 can be obtained through the measurement of the rotation angular displacement of the code wheel 150 relative to the photoelectric switch 110, and then the rotation angles of the laser emitting component and the laser receiving component mounted in more than one of the second structural portion 130 and the first structural portion 120 are known, so that the detection amount of the laser emitting component and the laser receiving component to the designated area is realized.
The foregoing disclosure is only illustrative of the preferred embodiments of the present application and is not intended to limit the scope of the claims herein, as the equivalent of the claims herein shall be construed to fall within the scope of the claims herein.
Claims (9)
1. An optical sensing structure, comprising:
a first structure part provided with a containing groove;
the photoelectric switch is arranged in the accommodating groove;
a second structure part arranged at an opening of the accommodating groove for covering the photoelectric switch in the accommodating groove, wherein a gap communicated with the accommodating groove is formed between the second structure part and the first structure part;
the light blocking piece is arranged corresponding to the gap and used for blocking light entering the accommodating groove through the gap;
the light blocking piece comprises a first protruding portion, the first structure portion is provided with a first wall surface forming the gap, and the first protruding portion is connected to the first wall surface and extends along the edge line direction of the opening; the number of the first convex parts is a plurality, and the first convex parts are distributed at intervals along the first direction; and/or the light blocking member includes a second protrusion having a second wall surface forming the gap, the second protrusion being connected to the second wall surface and extending in an edge line direction of the opening; the number of the second convex parts is a plurality, and the second convex parts are distributed at intervals along the first direction;
wherein, the first direction is by clearance intercommunication the holding groove one end directional clearance is kept away from the holding groove one end.
2. The optical sensing structure of claim 1, wherein the flag comprises:
the light barrier is positioned in the accommodating groove and corresponds to the gap, is connected with the first structure part or the second structure part and extends along the edge line direction of the opening.
3. The optical sensing structure of claim 1, wherein if the light blocking member includes the first protrusion and the second protrusion, the first protrusion and the second protrusion are disposed offset along the first direction.
4. The optical sensing structure according to claim 1, wherein if the light blocking member includes the first protrusion, the first protrusion has a first surface away from a bottom wall of the accommodating groove in the first direction, and a distance from the first surface to the second wall surface of the second structure portion in the first direction gradually decreases; and/or, if the light blocking member includes the second protrusion, the second protrusion has a second surface far away from the bottom wall of the accommodating groove along the first direction, and a distance from the second surface to the first wall surface of the first structural portion along the first direction gradually decreases.
5. The optical sensing structure of claim 2, wherein the light barrier comprises:
the first plate body is positioned in the accommodating groove and corresponds to the gap, and is arranged at intervals with the second structure part and connected with the first structure part;
the second plate body is positioned in the accommodating groove, one end of the second plate body is connected with one end of the first plate body, which is far away from the first structure part, and the other end of the second plate body extends towards the direction, which is close to the second structure part.
6. The optical sensing structure of claim 1, wherein at least a portion of the second structure portion is located within the receiving groove.
7. The optical sensing structure of any one of claims 1 to 6, wherein the second structure portion is rotatable relative to the first structure portion about a second direction, the second direction being parallel to an extension direction of the receiving groove.
8. The optical sensing structure of claim 7, further comprising:
the coded disc is provided with a plurality of detection parts which are distributed at intervals around the second direction, the coded disc is connected with one of the first structural parts and the second structural parts, the photoelectric switch is connected with the other of the first structural parts and the second structural parts, and when the second structural parts rotate around the second direction relative to the first structural parts, the detection parts on the coded disc can sequentially pass through the photoelectric switch.
9. A lidar, comprising:
the optical sensing structure of any one of claims 1 to 8;
a laser emission component for emitting a laser signal to a subject;
the laser receiving component is used for receiving echo laser signals reflected by the shot object; the laser emitting component and the laser receiving component are both connected with the first structural part, or the laser emitting component and the laser receiving component are both connected with the second structural part.
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| CN115825922A (en) | 2023-03-21 |
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