CN116008954A

CN116008954A - Laser ranging system, laser transmitting and receiving module and double-line laser radar

Info

Publication number: CN116008954A
Application number: CN202210544098.1A
Authority: CN
Inventors: 黄柏良
Original assignee: Hunan Asei Optical Technology Co ltd
Current assignee: Hunan Asei Optical Technology Co ltd
Priority date: 2022-05-19
Filing date: 2022-05-19
Publication date: 2023-04-25
Anticipated expiration: 2042-05-19
Also published as: CN116008954B

Abstract

The invention provides a laser ranging system, a laser transmitting and receiving module and a double-line laser radar. The laser ranging system includes: a light source module for generating emission light; a first optical element for converting the emitted light into a first emitted light and a second emitted light, wherein an included angle between the first emitted light and the second emitted light is an obtuse angle; the first receiving module receives first receiving light formed after the first emitting light is reflected by the detected object; the second receiving module receives second receiving light formed after the second emitting light is reflected by the detected object; the first emitted light and the first received light form a first plane, the second emitted light and the second received light form a second plane, and the first plane is inclined to the second plane. The first optical element is used for converting the emitted light into the first emitted light and the second emitted light, and the first plane where the first emitted light is located is inclined to the second plane where the second emitted light is located, so that the effect of double-line laser scanning by adopting one light source module is achieved.

Description

Laser ranging system, laser transmitting and receiving module and double-line laser radar

Technical Field

The invention belongs to the technical field of ranging, and particularly relates to a laser ranging system, a laser transmitting and receiving module and a double-line laser radar.

Background

In the technical field of the existing sweeping robot, a single-line laser radar is generally adopted to scan the external environment so as to acquire the distance and azimuth information of external obstacles. However, since the single-line laser radar has only one scanning plane, the single-line laser radar cannot scan obstacles which are not on the scanning plane, so that the sweeping robot is easy to collide. In order to improve the obstacle avoidance capability of the sweeping robot, a multi-line laser radar can be adopted to obtain obstacle information on different vertical planes. However, conventional multi-line lidar typically requires the provision of multiple sets of laser transmitters and laser receivers, which undoubtedly increases the cost of the lidar.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a laser ranging system, a laser transmitting and receiving module and a double-line laser radar, so as to solve the problem of higher cost caused by the fact that the double-line laser radar in the prior art is generally provided with two groups of laser transmitters and laser receivers.

One embodiment of the present invention provides a laser ranging system, comprising:

the light source module is used for generating emission light;

a first optical element for converting the emitted light into a first emitted light and a second emitted light, the first emitted light and the second emitted light having an obtuse angle;

the first receiving module is used for receiving first receiving light formed after the first emitting light is reflected by the detection object;

the second receiving module is used for receiving second receiving light formed after the second emitting light is reflected by the detected object;

the first emitted light and the first received light form a first plane, the second emitted light and the second received light form a second plane, and the first plane is inclined to the second plane.

In one embodiment, the emitted light is disposed parallel to a horizontal plane;

the first emitted light and the first received light are disposed obliquely to a horizontal plane;

the second emitted light and the second received light are arranged parallel to a horizontal plane.

In one embodiment, the first receiving module includes a first light receiving port from which the first received light is incident to the first receiving module;

The second receiving module comprises a second light receiving port, and the second receiving light is incident to the second receiving module from the second light receiving port;

wherein the setting position of the first light receiving opening is higher than the setting position of the second light receiving opening; and/or the incidence position of the first received light at the first light receiving opening is higher than the incidence position of the second received light at the second light receiving opening.

In one embodiment, the first optical element comprises a first lens and a second lens:

the first lens is arranged close to the light source module, part of the emitted light is reflected by the first lens to form first emitted light, and part of the emitted light passes through the first lens and enters the second lens;

the second lens is far away from the light source module, and the emitted light passing through the first lens is reflected by the second lens to form second emitted light.

In one embodiment, the first lens is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light; the second lens is disposed perpendicular to a horizontal plane and is disposed obliquely to a vertical plane passing through the incident light.

In one embodiment, the first lens has a first angle with a vertical plane passing through the incident light, the second lens has a second angle with a vertical plane passing through the incident light, and the sum of the first angle and the second angle is 180 degrees;

and/or the included angle between the first lens and the horizontal plane is a third included angle, and the range of the third included angle is 80-87 degrees.

In one embodiment, the light incident surface of the first lens is provided with a semi-transmitting semi-reflecting film, part of the emitted light is reflected by the semi-transmitting semi-reflecting film to form the first emitted light, and part of the emitted light passes through the semi-transmitting semi-reflecting film to be incident to the second lens;

the light incident surface of the second lens is provided with a first total reflection film, and the emitted light passing through the semi-transmission semi-reflection film is reflected by the first total reflection film to form second emitted light.

In one embodiment, the first lens is disposed perpendicular to a horizontal plane and is disposed oblique to a vertical plane passing through the incident light; the second lens is arranged obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light;

Alternatively, the first lens is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light; the second lens is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light.

In one embodiment, the light source module includes:

the optical axis of the light source is perpendicular to the horizontal plane;

and the first reflecting mirror is inclined to the horizontal plane and is used for reflecting the light rays emitted by the light source into horizontal light.

In one embodiment, the light source module further includes a first lens, the first lens is an aspheric lens, an optical axis of the first lens is parallel to a horizontal plane, the optical axis of the first lens and the optical axis of the light source intersect on a same intersection point of the first reflecting mirror, and the light reflected by the first reflecting mirror passes through the first lens to form the emitted light.

In one embodiment, the first receiving module includes:

the second lens is arranged on the first light receiving port, and the first received light is incident into the first receiving module through the second lens;

a second reflecting mirror disposed obliquely to a horizontal plane for reflecting the first received light passing through the second lens downward; and

The first receiving end is arranged below the second reflecting mirror and is used for receiving the first received light reflected by the second reflecting mirror.

In one embodiment, the second receiving module includes:

the third lens is arranged on the second light receiving port, and the second received light is incident into the second receiving module through the third lens;

a third reflecting mirror disposed obliquely to a horizontal plane for reflecting the second received light passing through the third lens downward; and

the second receiving end is arranged below the third reflecting mirror and is used for receiving the second received light reflected by the third reflecting mirror.

In one embodiment, the setting height of the optical axis of the second lens is greater than the setting height of the third lens;

and/or the setting height of the center point of the second reflecting mirror is larger than the setting height of the third reflecting mirror.

One embodiment of the present invention further provides a laser transmitting and receiving module, including:

a first circuit board disposed in a horizontal direction; and

the laser ranging system of any of the above embodiments, the laser ranging system being disposed on the first circuit board.

In one embodiment, the laser transmitting and receiving module further comprises:

the first mounting seat is used for arranging the light source module and the first optical element;

the second mounting seat is used for setting the first receiving module;

the third mounting seat is used for setting the second receiving module;

the first mounting seat, the second mounting seat and the third mounting seat are arranged on the first circuit board.

In one embodiment, the first mount includes:

a base plate having a first end and a second end;

the lower surface of the first end of the first bottom plate is provided with a first accommodating hole for arranging a light source;

a first boss is arranged at the top of the first end of the first bottom plate, and a second accommodating hole is formed in the surface, facing the second end, of the first boss and used for arranging a first lens; the surface of the first boss, which is far away from the second end, is provided with an inclined mounting side wall for arranging a first reflecting mirror;

the upper surface of the second end of first bottom plate is provided with first mounting groove and second mounting groove, first mounting groove is close to first boss setting, the second mounting groove is kept away from first boss setting, first mounting groove is used for setting up first lens, the second mounting groove is used for setting up the second lens.

In one embodiment, the bottom surface of the first mounting groove is inclined to the upper surface of the second end of the first bottom plate, the bottom surface of the first mounting groove includes a first end point, a second end point, a third end point and a fourth end point, the first end point and the second end point are adjacently disposed and disposed at a side close to the first boss, the third end point and the fourth end point are adjacently disposed and disposed at a side far away from the first boss, a distance between the first end point and the upper surface of the second end of the first bottom plate is smaller than a distance between the second end point and the upper surface of the second end of the first bottom plate, and a distance between the third end point and the upper surface of the second end of the first bottom plate is smaller than a distance between the fourth end point and the upper surface of the second end of the first bottom plate.

In one embodiment, the second mounting seat comprises a second bottom plate and a second boss, and the second boss is arranged on the second bottom plate;

a third accommodating hole is formed in the surface, facing the outer side of the first circuit board, of the second boss, a second installation side wall which is obliquely arranged is arranged on the surface, facing the third installation seat, of the second boss, and a second reflecting mirror is arranged on the surface, facing the third installation seat, of the second boss;

The area of the second bottom plate below the second reflecting mirror is provided with a first light-emitting groove, and the first light-emitting groove is in a strip shape and the extending direction of the first light-emitting groove is parallel to the propagation direction of the emitted light.

In one embodiment, the third mounting seat comprises a third bottom plate and a third boss, and the third boss is arranged on the third bottom plate;

a fourth accommodating hole is formed in the surface, facing the outer side of the first circuit board, of the third boss, and is used for arranging a third lens, and a third installation side wall which is obliquely arranged is arranged on the surface, facing the second installation seat, of the third boss, and is used for arranging a third reflector;

the area of the third bottom plate below the third reflector is provided with a second light-emitting groove, the second light-emitting groove is in a strip shape, the extending direction of the second light-emitting groove is parallel to the propagation direction of the emitted light, and the width of the first light-emitting groove is larger than that of the second light-emitting groove.

In one embodiment, the first circuit board has a rotation central axis arranged in a vertical direction, the first circuit board can rotate around the rotation central axis, and the first circuit board is provided with a laser emitting circuit and a laser receiving circuit;

And/or the center position of the first circuit board is provided with a mounting hole, and the mounting hole is used for mounting the first circuit board on an external rotating shaft.

a second circuit board disposed in a horizontal direction, the second circuit board having a rotation center axis disposed in a vertical direction, the second circuit board being rotatable about the rotation center axis, the rotation center axes of the first circuit board and the second circuit board being disposed in coincidence;

the first circuit board is positioned above the second circuit board and is arranged at intervals;

the second circuit board is provided with one or more of an optical communication receiving circuit, a wireless power supply transmitting circuit, a rotating speed and position measuring circuit and a received optical signal processing circuit.

In one embodiment, the first receiving module is disposed at one side of a vertical plane passing through the emitted light;

the second receiving module is arranged at the other side of the vertical plane passing through the emitted light;

the position of the light receiving opening of the first receiving module and the position of the light receiving opening of the second receiving module are arranged at intervals in the vertical direction.

In one embodiment, a center point of the first mirror is located on an optical axis of the first lens;

the center point of the second reflecting mirror is positioned on the optical axis of the second lens;

the center point of the third reflecting mirror is positioned on the optical axis of the third lens;

the center point of the first reflecting mirror, the center point of the second reflecting mirror and the center point of the third reflecting mirror form a first triangle structure together, and the first triangle structure is arranged around the rotation center shaft of the first circuit board;

the center point of the first lens, the center point of the second lens and the center point of the third lens form a second triangle structure together, and the second triangle structure is arranged around the first triangle structure.

The embodiment of the invention also provides a laser ranging system. The laser ranging system includes:

the light source module is used for emitting light along the horizontal direction;

a first lens coated with a semi-reflective semi-transmissive film;

a second lens, wherein a total reflection film is plated on the second lens;

a part of the emitted light is reflected by the semi-reflecting semi-transmitting film and obtains first emitted light with a first deflection angle, and the other part of the emitted light passes through the semi-reflecting semi-transmitting film and is emitted to the second lens;

The total reflection film is used for totally reflecting the other part of the emitted light passing through the first lens and obtaining second emitted light with a second deflection angle, and an included angle between the first emitted light and the second emitted light is an obtuse angle; the second emitted light is not on the same plane as the first emitted light;

the first receiving module is used for receiving a first part of received light of the first emitted light reflected by the detected object and outputting first measurement data; and

the second receiving module is used for receiving the second part of the second emitted light reflected by the detected object, receiving the second part of the second emitted light and outputting second measurement data.

An embodiment of the present invention further provides a two-wire laser radar, including a laser transmitting and receiving module as described in any one of the above.

The laser ranging system, the laser transmitting and receiving module and the double-line laser radar provided by the embodiment of the invention have the following beneficial effects:

1. in the laser ranging system provided by the embodiment of the invention, the first optical element is used for converting the emitted light into the first emitted light and the second emitted light, the first emitted light and the first received light form a first plane together, and the second emitted light and the second received light form a second plane together. Because the first plane is inclined to the second plane, the laser ranging system can realize obstacle scanning of two different planes in the vertical direction, thereby realizing the effect of double-line laser scanning. In addition, as the first emitted light and the second emitted light are converted by the first optical element, the effect of double-line laser scanning can be achieved by only one light source module, and therefore cost of the laser ranging system is effectively saved.

2. In one embodiment, the emitted light is disposed parallel to a horizontal plane; the first emitted light and the first received light are disposed obliquely to a horizontal plane; the second emitted light and the second received light are arranged parallel to a horizontal plane. Since the second emitted light and the second received light are arranged parallel to the horizontal plane, the function of scanning the horizontal plane where the emitted light is located for an obstacle can be realized; since the first emitted light and the first received light are disposed obliquely to the horizontal plane, it can realize a function of scanning an obstacle in a plane different from the emitted light. In one aspect, the first transmitting light and the first receiving light, and the second transmitting light and the second receiving light are arranged in a manner that can achieve the effect of double-line laser scanning. On the other hand, the conventional double-line laser radar is to set multiple groups of laser transmitters and laser receivers so as to realize the scanning of horizontal planes with different vertical heights. However, for a horizontally placed laminar object, a conventional double-line lidar may not be able to scan. In the laser ranging system provided by the embodiment of the invention, the first emitted light and the first received light are inclined to the horizontal plane, so that the laser ranging system still has a good detection effect on a horizontally placed lamellar object, and the measurement accuracy of the laser ranging system is improved.

3. In one embodiment, the first optical element includes a first lens and a second lens, and a portion of the emitted light emitted by the light source module is reflected by the first lens to form a first emitted light, and a portion of the emitted light emitted by the light source module is incident on the second lens through the first lens and is reflected by the second lens to form a second emitted light. The first lens and the second lens are used for converting the emitted light emitted by the light source module into first emitted light and second emitted light, so that the light splitting effect is simply realized. On the one hand, the manufacturing process of the first optical element is simplified, since the preparation of the lens is simpler. On the other hand, when the deflection angle of the first emitted light or the second emitted light needs to be adjusted, the adjustment of the deflection angle of the first emitted light or the second emitted light can be realized only by deflecting the placement angle of the lens without redesigning and manufacturing the first lens or the second lens.

4. In one embodiment, the first optical element includes a prism having a first reflective surface and a second reflective surface. The light source module emits light which is reflected by the first reflecting surface to form first emitted light; the light source module emits light which is reflected by the second reflecting surface to form second emitted light. By arranging the first reflecting surface and the second reflecting surface on the prism, the effect of converting the emitted light of the light source module into the first emitted light and the second emitted light can be achieved. And, because the first reflecting surface and the second reflecting surface reflect two different parts of the light emitted by the light source module, the obtained first light and second light can not influence each other, and the independence between the two is stronger.

5. In one embodiment, the first receiving module includes a first light receiving opening, and the second receiving module includes a second light receiving opening, where a setting position of the first light receiving opening is higher than a setting position of the second light receiving opening; and/or the incidence position of the first received light at the first light receiving opening is higher than the incidence position of the second received light at the second light receiving opening. Since the first light receiving port is for receiving the first received light, the second light receiving port is for receiving the second received light. Therefore, the first light receiving opening is arranged at a position higher than the second light receiving opening, so that the first light receiving opening and the second light receiving opening can receive the first receiving light and the second receiving light more effectively.

6. In one embodiment, the light source module and the first optical element are disposed in a first mount, the first receiving module is disposed in a second mount, and the second receiving module is disposed in a third mount. Through the setting of first mount pad, second mount pad and third mount pad, light source module and first optical element first receiving module and second receiving module can design and make respectively to make the design and the manufacturing process of laser emission and receiving module more standardized and modularized.

7. In one embodiment, the second mounting seat comprises a second bottom plate and a second boss, a first light emitting groove is formed in a region of the second bottom plate below the second reflecting mirror, and the first light emitting groove is in a strip shape and the extending direction of the first light emitting groove is parallel to the propagation direction of the emitted light; the third mounting seat comprises a third bottom plate and a third boss, a second light-emitting groove is formed in the area, located below the third reflecting mirror, of the third bottom plate, and the second light-emitting groove is of a strip shape and the extending direction of the second light-emitting groove is parallel to the propagation direction of the emitted light. The width of the second light-emitting groove is larger than that of the first light-emitting groove. In this embodiment, since the first received light is obliquely incident to the first light receiving port of the first receiving module, the width of the second light-emitting groove needs to be set to be larger than that of the first light-emitting groove so that the first receiving module can more effectively receive the first received light.

Drawings

In order to more clearly illustrate the embodiments of the present invention 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, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a laser ranging system according to one embodiment of the present invention;

FIG. 2 is a schematic partial cross-sectional view of the laser ranging system of FIG. 1;

FIG. 3 is a schematic diagram showing the light transmission of the first optical element in FIG. 1;

FIG. 4 is a schematic view illustrating another direction of light transmission of the first optical element in FIG. 1;

FIG. 5 is an assembled schematic view of the light source module, the first optical element and the first base in FIG. 1;

FIG. 6 is an exploded view of the light source module, the first optical element and the first base of FIG. 5;

FIG. 7 is a schematic cross-sectional view of the light source module, the first optical element and the first base of FIG. 5;

fig. 8 is an assembled schematic view of the first receiving module and the second base in fig. 1;

fig. 9 is an exploded view of the first receiving module and the second base in fig. 8;

fig. 10 is a schematic cross-sectional view of the first receiving module and the second base in fig. 8;

FIG. 11 is an assembled schematic view of the first receiving module and the third housing in FIG. 1;

fig. 12 is an exploded view of the first receiving module and the third housing of fig. 11;

fig. 13 is a schematic cross-sectional view of the first receiving module and the third housing in fig. 11;

FIG. 14 is a schematic top view of the laser ranging system of FIG. 1;

FIG. 15 isbase:Sub>A schematic cross-sectional view of the laser ranging system of FIG. 14 along the direction A-A;

FIG. 16 is a schematic cross-sectional view of the laser ranging system of FIG. 14 along the B-B direction;

FIG. 17 is a schematic diagram of a laser ranging system according to another embodiment of the present invention;

fig. 18 is a schematic partial cross-sectional view of the laser ranging system of fig. 17.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if a directional indication (such as up, down, left, right, front, and rear … …) is involved in the embodiment of the present invention, the directional indication is merely used to explain the relative positional relationship, movement condition, etc. between the components in a specific posture, and if the specific posture is changed, the directional indication is correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments 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 a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" and/or "are used throughout, the meaning includes three parallel schemes, for example," a and/or B "including a scheme, or B scheme, or a scheme where a and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1, one embodiment of the present invention provides a laser ranging system 100. The laser ranging system 100 includes a light source module 110, a first optical element 120, a first receiving module 130, and a second receiving module 140.

The light source module 110 is used for generating emitted light. In this embodiment, the emitted light generated by the light source module 110 is a laser. Specifically, the light source module 110 includes an Edge Exit Laser (EEL), and after the edge exit laser generates laser light, the laser light generated by the edge exit laser is converted into collimated light by a collimating element.

The first optical element 120 is configured to convert the emitted light into a first emitted light and a second emitted light. The included angle between the first emitted light and the second emitted light is an obtuse angle.

The first receiving module 130 is configured to receive a first received light formed by reflecting the first emitted light by the object to be detected. The second receiving module 140 is configured to receive a second received light formed by reflecting the second emitted light by the object to be detected. In this embodiment, the first receiving module 130 and the second receiving module 140 respectively include photosensitive elements. The distance between the probe and the laser ranging system 100 is obtained by detecting the moving distance of the optical signal on the photosensitive element, which receives the optical signal through the photosensitive element. Specifically, the photosensitive element is a CCD (Charge-coupled Device) position sensor. The first receiving module 130 may further include a first measuring module for outputting first measurement data, as needed. The second receiving module 140 may further include a second measuring module for outputting second measurement data.

In the laser ranging system 100 provided in the above embodiment, the emitted light is converted into the first emitted light and the second emitted light by the first optical element 120, and the first emitted light and the first received light are made to constitute a first plane together, and the second emitted light and the second received light are made to constitute a second plane together. Since the first plane is disposed obliquely to the second plane, the laser ranging system 100 can achieve obstacle scanning of two different planes in the vertical direction, thereby achieving the effect of double-line laser scanning. In addition, since the first emitted light and the second emitted light are converted by the first optical element 120, only one light source module 110 is needed to achieve the effect of dual-line laser scanning, so that the cost of the laser ranging system 100 is effectively saved.

Since the second emitted light and the second received light are arranged parallel to the horizontal plane, the function of scanning the horizontal plane where the emitted light is located for an obstacle can be realized; since the first emitted light and the first received light are disposed obliquely to the horizontal plane, it can realize a function of scanning an obstacle in a plane different from the emitted light. In one aspect, the first transmitting light and the first receiving light, and the second transmitting light and the second receiving light are arranged in a manner that can achieve the effect of double-line laser scanning. On the other hand, the conventional double-line laser radar is to set multiple groups of laser transmitters and laser receivers so as to realize the scanning of horizontal planes with different vertical heights. However, for a horizontally placed laminar object, a conventional double-line lidar may not be able to scan. In the laser ranging system 100 provided in the embodiment of the present invention, since the first emitted light and the first received light are disposed obliquely to the horizontal plane, the first emitted light and the first received light still have a good detection effect on the horizontally placed sheet-like object, so that the measurement accuracy of the laser ranging system 100 is improved.

Referring to fig. 2, in one embodiment, the first receiving module 130 includes a first light receiving port 131. The first received light is incident to the first receiving module 130 from the first light receiving port 131.

The second receiving module 140 includes a second light receiving port 141. The second receiving light is incident to the second receiving module 140 from the second light receiving port 141.

Wherein, the setting position of the first light receiving opening 131 is higher than the setting position of the second light receiving opening 141; and/or the incidence position of the first received light at the first light receiving opening 131 is higher than the incidence position of the second received light at the second light receiving opening 141.

Since the first light receiving port 131 is for receiving the first received light, the second light receiving port 141 is for receiving the second received light. Therefore, by setting the position of the first light receiving opening 131 higher than the position of the second light receiving opening 141, the first light receiving opening 131 and the second light receiving opening 141 can more effectively receive the first received light and the second received light.

In one embodiment, the first optical element 120 includes a first lens 121 and a second lens 122.

The first lens 121 is disposed near the light source module 110. A portion of the emitted light is reflected by the first mirror 121 to form the first emitted light. A portion of the emitted light is incident to the second lens 122 through the first lens 121.

The second lens 122 is disposed away from the light source module 110. The emitted light passing through the first mirror 121 is reflected by the second mirror 122 to form the second emitted light.

In the laser ranging system 100 provided in the present embodiment, the emitted light emitted by the light source module 110 is converted into the first emitted light and the second emitted light by the first lens 121 and the second lens 122, so that the light splitting effect is simply achieved. On the one hand, the manufacturing process of the first optical element 120 is simplified, since the preparation of the lens is simpler. On the other hand, when the deflection angle of the first emitted light or the second emitted light needs to be adjusted, the adjustment of the deflection angle of the first emitted light or the second emitted light can be realized only by deflecting the placement angle of the lens without redesigning and manufacturing the first lens or the second lens.

Specifically, in this embodiment, the light incident surface of the first lens 121 is provided with a transflective film. A portion of the emitted light is reflected by the transflective film to form the first emitted light. A portion of the emitted light is incident to the second lens 122 through the semi-transmissive semi-reflective film.

The light incident surface of the second lens 122 is provided with a first total reflection film. The emitted light passing through the semi-transmissive semi-reflective film is reflected by the first total reflection film to form the second emitted light.

In a specific operation process, when the emitted light of the light source module 110 is emitted along the horizontal light path direction, the emitted light first enters the first lens 121 of the first optical element 120. Since the light incident surface of the first lens 121 is provided with a semi-transparent and semi-reflective film, it has both reflection and transmission effects on the emitted light. Therefore, after the emitted light passes through the first lens 121, a part of the light is reflected by the first lens 121 to form a first emitted light, and another part of the light passes through the first lens 121 to be incident on the second lens 122. Wherein the reflected light and the transmitted light are approximately half the light intensity of the initially emitted light. When the light passing through the first lens 121 is incident on the second lens 122, since the light incident surface of the second lens 122 is provided with the first total reflection film, part of the light is reflected by the second lens 122 to form second emission light.

In one embodiment, the first lens 121 is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light. The second lens 122 is disposed perpendicular to a horizontal plane and is disposed obliquely to a vertical plane passing through the incident light. Specifically, since the light source module 110, the first light receiving module 130 and the second light receiving module 140 are all disposed in the laser ranging system 100, the first lens 121 needs to adjust the emission angle of the first emitted light to be approximately towards one side of the first receiving module 130, so that the first emitted light can be effectively received by the first receiving module 130 after being reflected by an obstacle. Similarly, the second lens 122 needs to adjust the emission angle of the second emitted light to be approximately towards one side of the second receiving module 140, so that the second emitted light can be effectively received by the second receiving module 140 after being reflected by the obstacle. Therefore, the second lens 122 is disposed obliquely to the vertical plane passing through the incident light, so that the emission angle of the second emitted light is approximately towards one side of the second receiving module 140, and the second received light after the second emitted light is reflected by the object to be detected can be effectively received by the second receiving module 140. Similarly, the first lens 121 is disposed obliquely to the vertical plane passing through the incident light, so that the emission angle of the first emission light is approximately towards one side of the first receiving module 130, and the first receiving light reflected by the object to be detected can be effectively received by the first receiving module 130. In addition, since the second lens 122 is disposed perpendicular to the horizontal plane, and the emitted light generated by the light source module 110 is disposed parallel to the horizontal plane, when the emitted light of the light source module 110 is reflected by the second lens 122, the generated second emitted light is also horizontal light, thereby realizing the obstacle scanning of the horizontal plane where the emitted light is located. Since the first lens 121 is disposed inclined to the horizontal plane, when the light emitted from the light source module 110 is reflected by the first lens 121, the generated first light is inclined to the horizontal plane direction, thereby realizing the scanning of the obstacle on the other plane.

Referring to fig. 3 and fig. 4 together, in this embodiment, an included angle between the first lens 121 and a vertical plane passing through the incident light is a first included angle θ1, an included angle between the second lens and a vertical plane passing through the incident light is a second included angle θ2, and a sum of the first included angle θ1 and the second included angle θ2 is 180 degrees. Since the sum of the first included angle θ1 and the second included angle θ2 is 180 degrees, when the light distribution emitted by the light source module 110 is reflected by the first lens 121 and the second lens 122, the obtained first light distribution and the second light distribution are located at two sides of the vertical plane passing through the incident light, and the included angles of the first light distribution and the second light distribution and the vertical plane passing through the incident light are approximately equal. The setting range of the first included angle theta 1 is 120-150 degrees according to the requirement; the second included angle θ2 is set in a range of 30 degrees to 60 degrees.

Referring to fig. 7, in the present embodiment, the angle between the first lens element 121 and the horizontal plane is a third angle θ3. In this embodiment, the third included angle θ3 ranges from 80 degrees to 87 degrees. By setting the range of the third included angle θ3 between 80 degrees and 87 degrees, the emitted light emitted by the light source module 110 is reflected by the first lens 121 and then can effectively incline at a certain angle with respect to the horizontal plane, thereby realizing the effect of dual-line laser scanning.

Referring to fig. 5 to fig. 7, in one embodiment, the light source module 110 includes a light source 111 and a first reflector 112.

The optical axis of the light source 111 is arranged perpendicularly to the horizontal plane.

The first reflecting mirror 112 is disposed obliquely to the horizontal plane, and is configured to reflect the light emitted from the light source 111 into horizontal light.

In this embodiment, the light source 111 is an edge-emitting laser. The laser light emitted from the light source 111 passes through the first reflecting mirror 112 and then becomes horizontal light.

In a specific mounting process, the light source module 110 is mounted on a circuit board, and the optical axis of the light source 111 is perpendicular to the plane of the circuit board. The emitted light from the light source 111 irradiates vertically upward onto the first reflecting mirror 112 disposed obliquely to the circuit board, and the propagation path of the emitted light can be changed by reflection of the first reflecting mirror 112, so that the emitted light is emitted outwards along a direction parallel to the circuit board. The light source 111 reserves sufficient space for setting the receiving module on the same plane of the circuit board when realizing that the emitted light is emitted along the horizontal direction, so that the laser emitting module and the receiving module can be arranged on the same circuit board, and the laser ranging system has the characteristics of compact structure and small volume.

In the present embodiment, the angle formed between the first reflecting mirror 112 and the horizontal plane is preferably 45 degrees, and when the laser light emitted from the light source 111 irradiates the first reflecting mirror 112, the incident angle between the laser light and the first reflecting mirror 112 is 45 degrees, and the exit angle is also 45 degrees. Therefore, the first reflecting mirror 112 can emit the laser light emitted from the light source 111 in a direction parallel to the horizontal plane.

In one embodiment, the light source module 110 further includes a first lens 113. The first lens 113 is an aspherical lens, and an optical axis of the first lens 113 is parallel to a horizontal plane. The optical axis of the first lens 113 intersects the optical axis of the light source 111 at the same intersection point of the first reflecting mirror 112. The light reflected by the first reflecting mirror 112 passes through the first lens 113 to form the emitted light.

Since the emitted light from the light source 111 has a large divergence angle, divergence is easy to occur during the propagation process, which tends to affect the effective ranging range of the laser ranging system 100. In this embodiment, the first lens 113 is added to the light source module 110 to collimate the emitted light, so as to reduce the divergence angle of the emitted light, thereby making the laser ranging system 100 provided by the embodiment of the invention have a larger effective ranging range.

The first lens 113 is preferably an aspherical lens. Wherein, the curvature radius of the curved surface of the aspheric lens from the center to the edge of the surface is gradually increased, so that the spherical aberration can be eliminated to the maximum extent. That is, the aspherical lens can concentrate light rays to the same point, thereby providing collimated light of better optical quality. The optical axis of the first lens 113 is parallel to the horizontal plane, and the center point of the first reflecting mirror 112 is located on the optical axis of the first lens 113. The light emitted by the light source 111 is reflected by the first reflecting mirror 112, enters the first lens 113, and is collimated by the first lens 113 to be emitted to the outside.

Referring to fig. 8 to 10, in one embodiment, the first receiving module 130 includes a second lens 132, a second reflecting mirror 133, and a first receiving end 134.

The second lens 132 is disposed on the first light receiving port 131. The first received light is incident into the first receiving module 130 through the second lens 132.

The second reflecting mirror 133 is disposed obliquely to a horizontal plane for reflecting the first received light passing through the second lens 132 downward.

The first receiving end 133 is disposed below the second reflecting mirror 133, and is configured to receive the first received light reflected by the second reflecting mirror 133. In this embodiment, the first receiving end 133 includes a photosensitive element. When the photosensitive element receives the first received light, the photosensitive element converts an optical signal into an electric signal and transmits the electric signal to a control module arranged on the circuit board. In this embodiment, the photosensitive element is a CCD position sensor.

Referring to fig. 11 to 13, in one embodiment, the second receiving module 140 includes a third lens 142, a third mirror 143, and a second receiving end 144.

The third lens 142 is disposed on the second light receiving port 141. The second received light is incident into the second receiving module 140 through the third lens 142.

The third reflecting mirror 143 is disposed obliquely to a horizontal plane for reflecting the second received light passing through the third lens 143 downward.

The second receiving end 144 is disposed below the third reflecting mirror 143, and is configured to receive the second received light reflected by the third reflecting mirror 143. In this embodiment, the second receiving end 143 includes a photosensitive element. When the photosensitive element receives the second received light, the photosensitive element converts an optical signal into an electric signal and transmits the electric signal to a control module arranged on the circuit board. In this embodiment, the photosensitive element is a CCD position sensor.

In one embodiment, the optical axis of the second lens 132 is disposed at a height greater than the height of the third lens 142; and/or, the set height of the center point of the second mirror 133 is greater than the set height of the third mirror 143. Since the first receiving module 130 and the second receiving module 140 distribute the ranging for the obstacles of different heights, the setting height of the optical axis of the second lens 132 is greater than the setting height of the third lens 142, so that the first lens 131 and the second lens 132 can receive the first received light and the second received light more effectively. Also, setting the center point of the second mirror 133 to a greater height than the third mirror 143 allows the first and

third mirrors

133 and 143 to reflect the first and second received lights more efficiently.

The working procedure of the laser ranging system 100 provided in the above embodiment is as follows:

the light source module 110 generates an emission light, which is disposed parallel to a horizontal plane. Specifically, the light source 111 in the light source module 110 generates a vertically upward laser beam. The vertically upward laser beam is reflected by the first reflecting mirror 112 and converted into parallel light parallel to the horizontal plane. The parallel light is collimated by the first lens 113 and then emitted to the outside of the light source module 110 to form emitted light.

The emitted light generated by the light source module 110 is incident into the first lens 121. Since the first lens 121 is provided with the transflective film, a part of the emitted light is reflected by the transflective film to form the first emitted light. A portion of the emitted light passes through the transflective film to exit to the second lens 122. In the present embodiment, the first lens 121 is disposed to be inclined to the horizontal plane and to the vertical plane passing through the incident light. In one aspect, the first lens 121 is disposed obliquely to a vertical plane passing through the incident light, so that an emission angle of the first emission light is approximately towards one side of the first receiving module 130, and the first receiving light after the first emission light is reflected by the object to be detected can be effectively received by the first receiving module 130. On the other hand, the first lens 121 is disposed inclined to the horizontal plane, and when the light emitted from the light source module 110 is reflected by the first lens 121, the generated first light is inclined to the horizontal plane direction, thereby realizing the scanning of the obstacle on the other plane.

The emitted light passing through the semi-transmissive semi-reflective film continues to be incident into the second mirror 122. Since the second mirror 122 is provided with the total reflection film, the emitted light passing through the semi-transmission and semi-reflection film is totally reflected by the second mirror 122 to form the second emitted light. In this embodiment, the second lens 122 is disposed perpendicular to a horizontal plane and is disposed obliquely to a vertical plane passing through the incident light. In one aspect, the second lens 122 is disposed obliquely to a vertical plane passing through the incident light, so that an emission angle of the second emitted light is approximately towards one side of the second receiving module 140, and the second received light after the second emitted light is reflected by the object to be detected can be effectively received by the second receiving module 140. On the other hand, since the second lens 122 is disposed perpendicular to the horizontal plane, and the emitted light generated by the light source module 110 is disposed parallel to the horizontal plane, when the emitted light of the light source module 110 is reflected by the second lens 122, the generated second emitted light is also horizontal light, thereby realizing the obstacle scanning of the horizontal plane where the emitted light is located.

The first emitted light encounters a detector or obstacle in the external environment and is reflected by the detector or obstacle, thereby forming first received light. The second emitted light encounters a detector or obstacle in the external environment and is reflected by the detector or obstacle, thereby forming second received light.

The first receiving light is injected into the first receiving module 130 through the first light receiving opening 131 of the first receiving module 130. The second receiving light is injected into the second receiving module 140 through the second light receiving opening 141 of the second receiving module 140. In this embodiment, the first light receiving opening 131 of the first receiving module 130 is disposed at a greater height than the second light receiving opening 141 of the second receiving module 140. Specifically, the first received light is converged by the second lens 132 after being incident through the first light receiving port 131 of the first receiving module 130. The first received light converged by the second lens 132 is reflected downward by the second reflecting mirror 133, and is received by the first receiving end 134. The second received light is converged by the second lens 142 after being incident through the second light receiving opening 141 of the second receiving module 140. The second received light converged by the second lens 142 is reflected downward by the third reflector 143, and is received by the second receiving end 144.

In this embodiment, the ranging principle of the laser ranging system 100 is a laser triangulation ranging method. Specifically, the laser triangulation ranging method mainly irradiates a detection object with a beam of laser (i.e., first emitted light or second emitted light) at a certain incident angle, and the laser reflects and scatters on the target surface. The reflected laser light (i.e., the first received light or the second received light) is focused and imaged with a lens (i.e., the second lens or the third lens) at another angle, and the spot is imaged on a CCD position sensor (i.e., the first detector or the second detector). When the detected object moves along the laser direction, the light spot on the CCD position sensor moves, and the displacement corresponds to the moving distance of the detected object. Therefore, the distance value between the probe and the laser ranging system 100 can be calculated from the spot displacement distance through algorithm design. Since the incident light and the reflected light form a triangle, the geometric triangle theorem is applied to the calculation of the displacement of the light spot, and the measurement method is called a laser triangle ranging method.

That is, in the present embodiment, by the arrangement of the first lens 121 and the second lens 122, the emitted light can be converted into the first emitted light and the second emitted light, and the first emitted light and the first received light are made to constitute a first plane together, and the second emitted light and the second received light are made to constitute a second plane together. Since the first plane is disposed obliquely to the second plane, the laser ranging system 100 can achieve obstacle scanning of two different planes in the vertical direction, thereby achieving the effect of double-line laser scanning. In addition, since the first emitted light and the second emitted light are converted by the first optical element 120, only one light source module 110 is needed to achieve the effect of dual-line laser scanning, so that the cost of the laser ranging system 100 is effectively saved.

Referring to fig. 14 to 16, one embodiment of the present invention further provides a laser transmitting and receiving module 200. The laser transmitting and receiving module 200 includes a first circuit board 10 and the laser ranging system 100 according to any of the above embodiments.

The first circuit board 10 is disposed in a horizontal direction.

The laser ranging system 100 is disposed on the first circuit board 10.

In one embodiment, the laser transmitter and receiver module 200 further includes a first mount 210, a second mount 220, and a third mount 230.

The first mounting base 210 is used for setting the light source module 110 and the first optical element 120;

the second mounting seat 220 is used for setting the first receiving module 130;

the third mounting seat 230 is used for setting the second receiving module 140;

the first mounting base 210, the second mounting base 220, and the third mounting base 230 are disposed on the first circuit board 10.

By the arrangement of the first mounting base 210, the second mounting base 220 and the third mounting base 230, the light source module 110 and the first optical element 120, the first receiving module 130 and the second receiving module 140 can be respectively designed and manufactured, so that the design and manufacturing process of the laser transmitting and receiving module 200 is more standardized and modularized.

Specifically, in one embodiment, the first mount 210 includes a first base plate 211. The first bottom plate 211 has a first end and a second end.

The first bottom plate 211 is provided with a first receiving hole 2111 on a lower surface thereof for disposing the light source 111.

The top of the first end of the first bottom plate 211 is provided with a first boss 212. A second accommodating hole 2121 is formed in a surface of the first boss 212 facing the second end for disposing the first lens 113; the surface of the first boss 212 remote from the second end is provided with an inclined mounting sidewall 2122 for positioning the first mirror 112;

the upper surface of the second end of the first bottom plate 211 is provided with a first mounting groove 213 and a second mounting groove 214. The first mounting groove 213 is disposed adjacent to the first boss 212, and the second mounting groove 214 is disposed away from the first boss 212. The first mounting groove 213 is used for disposing the first lens 121. The second mounting slot 214 is used to position the second lens 122.

In one embodiment, the bottom surface of the first mounting groove 213 is inclined to the upper surface of the second end of the first bottom plate 211. The bottom surface of the first mounting groove 213 includes a first end point, a second end point, a third end point, and a fourth end point. The first end point and the second end point are disposed adjacent to each other and on a side near the first boss 212. The third end point and the fourth end point are disposed adjacent to each other and on a side away from the first boss 212. The distance between the first end point and the upper surface of the second end of the first bottom plate 211 is smaller than the distance between the second end point and the upper surface of the second end of the first bottom plate 211. The distance between the third end point and the upper surface of the second end of the first bottom plate 211 is smaller than the distance between the fourth end point and the upper surface of the second end of the first bottom plate 211. By the above arrangement, the first lens 121 can be arranged obliquely to the horizontal plane and obliquely to the vertical plane passing through the incident light. In one embodiment, the bottom surface of the second mounting groove 214 is parallel to the upper surface of the second end of the first bottom plate 211.

In one embodiment, the second mounting base 220 includes a second bottom plate 221 and a second boss 222. The second boss 222 is disposed above the second base plate 221.

The surface of the second boss 222 facing the outside of the first circuit board 10 is provided with a third receiving hole 2221 for disposing the second lens 132. The surface of the second boss 222 facing the third mounting seat 230 is provided with a second mounting sidewall 2222 disposed obliquely for disposing the second reflecting mirror 133.

The area of the second bottom plate 221 below the second reflecting mirror 133 is provided with a first light outlet groove 2211. The first light-emitting groove 2211 is in a strip shape and the extending direction is parallel to the propagation direction of the emitted light. In this embodiment, the first light exit slot 2211 is used for disposing a CCD position sensor. As can be seen from the principle of the laser triangulation method, when the distance between the laser transmitting and receiving module 200 and the detected object changes, the light spot on the CCD position sensor will move, and the displacement corresponds to the distance change value between the detected object and the laser transmitting and receiving module 200. Therefore, the distance value between the probe and the laser transmitting and receiving module 200 when the probe is at the first height can be calculated by the light spot displacement distance in the first light emitting slot 2211.

In one embodiment, the third mounting base 230 includes a third bottom plate 231 and a third boss 232. The third boss 232 is disposed above the third bottom plate 231.

The surface of the third boss 232 facing the outside of the first circuit board 10 is provided with a fourth accommodating hole 2321 for disposing the third lens 142. The surface of the third boss 232 facing the second mount 220 is provided with a third mounting sidewall 2322 disposed obliquely for disposing the third mirror 143.

The area of the third bottom plate 231 below the third reflecting mirror 143 is provided with a second light-emitting groove 2311. The second light-emitting groove 2311 is elongated and has an extending direction parallel to the propagation direction of the emitted light, and the width of the first light-emitting groove 2211 is greater than the width of the second light-emitting groove 2311. In this embodiment, the second light-emitting slot 2311 is used for disposing a CCD position sensor. As can be seen from the principle of the laser triangulation method, when the distance between the laser transmitting and receiving module 200 and the detected object changes, the light spot on the CCD position sensor will move, and the displacement corresponds to the distance change value between the detected object and the laser transmitting and receiving module 200. Therefore, the distance value between the probe and the laser transmitting and receiving module 200 when the probe is at the second height can be calculated by the light spot displacement distance in the second light emitting slot 2311. In this embodiment, the second detection height is a height value at which the emitted light is located. The first height is greater than a height value at which the emitted light is located.

The width of the first light emitting groove 2211 is larger than the width of the second light emitting groove 2311 according to the requirement. Since the first received light is obliquely incident to the first light receiving port of the first receiving module 130, the width of the first light-exiting groove 2211 needs to be set to be greater than that of the second light-exiting groove 2311 in order for the first receiving module 130 to be able to more effectively receive the first received light.

In one embodiment, the first circuit board 10 has a rotation center axis disposed in a vertical direction. The first circuit board 10 is rotatable around the rotation center axis. The first circuit board 10 is provided with a laser transmitting circuit and a laser receiving circuit.

And/or, the first circuit board 10 is provided with a mounting hole 11 at a central position. The mounting hole 11 is used for mounting the first circuit board 10 on an external rotation shaft. The first circuit board 10 is driven to rotate by the rotation of the external rotating shaft, so that the detection of the omnibearing obstacle is realized.

In one embodiment, the laser transmitter and receiver module 200 further includes a second circuit board.

The second circuit board is disposed along a horizontal direction. The second circuit board has a rotation center axis disposed in a vertical direction. The second circuit board can rotate around the rotation central axis, and the rotation central axes of the first circuit board and the second circuit board are overlapped. In this embodiment, the first circuit board 10 is located above the second circuit board and is disposed at intervals. The second circuit board is provided with one or more of an optical communication receiving circuit, a wireless power supply transmitting circuit, a rotating speed and position measuring circuit and a received optical signal processing circuit.

In one embodiment, the first receiving module 130 is disposed at one side of a vertical plane passing through the emitted light.

The second receiving module 140 is disposed at the other side of the vertical plane passing through the emitted light.

The position of the light receiving opening of the first receiving module 130 and the position of the light receiving opening of the second receiving module 140 are arranged at intervals in the vertical direction.

By arranging the positions of the light receiving ports of the first receiving module 130 and the light receiving ports of the second receiving module 140 at intervals in the vertical direction, the first receiving module 130 and the second receiving module 140 can respectively receive the information of the first receiving light and the second receiving light with different heights, so that the detection of the distance between the obstacles in the external environment is realized at different detection heights.

In one embodiment, the center point of the first mirror 112 is located on the optical axis of the first lens 113.

The center point of the second reflecting mirror 133 is located on the optical axis of the second lens 132.

The center point of the third mirror 143 is located on the optical axis of the third lens 142.

The center point of the first reflecting mirror 112, the center point of the second reflecting mirror 133, and the center point of the third reflecting mirror 143 together form a first triangle structure. The first triangle structure is disposed around a rotation center axis of the first circuit board 10.

The center point of the first lens 113, the center point of the second lens 132, and the center point of the third lens 143 together form a second triangle structure, and the second triangle structure is disposed around the first triangle structure.

The light source module 110, the first receiving module 130 and the second receiving module 140 together form a laser triangulation ranging structure by combining the center point of the first reflecting mirror 112, the center point of the second reflecting mirror 133 and the center point of the third reflecting mirror 143 to form a first triangle structure, and combining the center point of the first lens 113, the center point of the second lens 132 and the center point of the third lens 143 to form a second triangle structure.

One embodiment of the present invention also provides a laser ranging system 100. The laser ranging system 100 includes:

a light source module 110 for emitting light in a horizontal direction;

a first lens 121, wherein a semi-reflective semi-transparent film is plated on the first lens 121;

a second lens 122, wherein a total reflection film is plated on the second lens 122;

a portion of the emitted light is reflected by the semi-reflective semi-transmissive film and results in a first emitted light having a first deflection angle, and another portion of the emitted light passes through the semi-reflective semi-transmissive film and is directed toward the second mirror 122;

The total reflection film is used for totally reflecting another part of the emitted light passing through the first lens 121 and obtaining second emitted light with a second deflection angle, and an included angle between the first emitted light and the second emitted light is an obtuse angle; the second emitted light is not on the same plane as the first emitted light;

a first receiving module 130, configured to receive a first portion of the received light reflected by the object and output first measurement data; and

the second receiving module 140 is configured to receive a second portion of the second emitted light reflected by the object to be detected, and output second measurement data.

It will be appreciated that the laser ranging system 100 is not limited to the above embodiments. The arrangement of the first lens 121 and the second lens 122 can be adjusted by a person skilled in the art according to the need, and the purpose of converting the emitted light generated by the light source module 110 into the first emitted light and the second emitted light can be achieved.

Referring to fig. 17 and 18, another embodiment of the present invention further provides a laser ranging system 300. The laser ranging system 300 includes a light source module 310, a first optical element 320, a first receiving module 330 and a second receiving module 340.

The light source module 310 is configured to generate emitted light. In this embodiment, the emitted light generated by the light source module 310 is a laser.

The first optical element 320 is configured to convert the emitted light into a first emitted light and a second emitted light. The included angle between the first emitted light and the second emitted light is an obtuse angle.

The first receiving module 330 is configured to receive a first received light formed by reflecting the first emitted light by the object to be detected. The second receiving module 340 is configured to receive a second received light formed by reflecting the second emitted light by the object to be detected.

In the laser ranging system 300 provided in the above embodiment, the emitted light is converted into the first emitted light and the second emitted light by the first optical element 320, and the first emitted light and the first received light are made to constitute a first plane together, and the second emitted light and the second received light are made to constitute a second plane together. Since the first plane is disposed obliquely to the second plane, the laser ranging system 300 can achieve obstacle scanning of two different planes in the vertical direction, thereby achieving the effect of double-line laser scanning. In addition, since the first emitted light and the second emitted light are converted by the first optical element 320, only one light source module 310 is needed to achieve the effect of dual-line laser scanning, so that the cost of the laser ranging system 300 is effectively saved.

In this embodiment, the emitted light is disposed parallel to a horizontal plane;

the first emitted light and the first received light are arranged parallel to a horizontal plane;

the second emitted light and the second received light are disposed obliquely to a horizontal plane.

Since the first emitted light and the first received light are arranged parallel to the horizontal plane, the function of scanning the horizontal plane where the emitted light is located for an obstacle can be realized; since the second emitted light and the second received light are disposed obliquely to the horizontal plane, it can realize a function of scanning an obstacle in a plane different from the emitted light. In one aspect, the first transmitting light and the first receiving light, and the second transmitting light and the second receiving light are arranged in a manner that can achieve the effect of double-line laser scanning. On the other hand, the conventional double-line laser radar is to set multiple groups of laser transmitters and laser receivers so as to realize the scanning of horizontal planes with different vertical heights. However, for a horizontally placed laminar object, a conventional double-line lidar may not be able to scan. In the laser ranging system 300 provided in the embodiment of the present invention, since the second emitted light and the second received light are disposed obliquely to the horizontal plane, the second emitted light and the second received light still have a good detection effect on the horizontally placed lamellar object, so that the measurement accuracy of the laser ranging system 300 is improved.

In this embodiment, the first receiving module 330 includes a first light receiving opening 331. The first received light is incident to the first receiving module 330 from the first light receiving port 331.

The second receiving module 340 includes a second light receiving opening 341. The second received light is incident to the second receiving module 340 from the second light receiving opening 341.

Wherein, the setting position of the first light receiving opening 331 is lower than the setting position of the second light receiving opening 341; and/or the incidence position of the first received light at the first light receiving port 331 is lower than the incidence position of the second received light at the second light receiving port 341.

Since the first light receiving port 331 is for receiving the first received light, the second light receiving port 341 is for receiving the second received light. Therefore, setting the setting position of the first light receiving port 331 lower than the setting position of the second light receiving port 341 makes it possible to more effectively achieve the reception of the first received light and the second received light by the first light receiving port 331 and the second light receiving port 341.

In one embodiment, the first optical element 320 includes a first lens 321 and a second lens 322.

The first lens 321 is disposed near the light source module 310. A portion of the emitted light is reflected by the first mirror 321 to form the first emitted light. A portion of the emitted light is incident through the first lens 321 to the second lens 322.

The second lens 322 is disposed away from the light source module 310. The emitted light passing through the first mirror 321 is reflected by the second mirror 322 to form the second emitted light.

In the laser ranging system 300 provided in the present embodiment, the first lens 321 and the second lens 322 convert the emitted light emitted by the light source module 310 into the first emitted light and the second emitted light, so as to simply achieve the light splitting effect. On the one hand, the manufacturing process of the first optical element 320 is simplified, since the preparation of the lens is simpler. On the other hand, when the deflection angle of the first emitted light or the second emitted light needs to be adjusted, the adjustment of the deflection angle of the first emitted light or the second emitted light can be realized only by deflecting the placement angle of the lens without redesigning and manufacturing the first lens or the second lens.

Specifically, in this embodiment, the light incident surface of the first lens 321 is provided with a transflective film. A portion of the emitted light is reflected by the transflective film to form the first emitted light. A portion of the emitted light is incident on the second mirror 322 through the transflective film.

The light incident surface of the second lens 322 is provided with a first total reflection film. The emitted light passing through the semi-transmissive semi-reflective film is reflected by the first total reflection film to form the second emitted light.

In a specific operation process, when the emitted light of the light source module 310 is emitted along the horizontal light path direction, the emitted light first enters the first lens 321 of the first optical element 320. Since the light incident surface of the first lens 321 is provided with a semi-transparent and semi-reflective film, the reflective and transmissive effects on the emitted light are provided. Therefore, after the emitted light passes through the first lens 321, a part of the light is reflected by the first lens 321 to form a first emitted light, and another part of the light passes through the first lens 321 to be incident on the second lens 322. Wherein the reflected light and the transmitted light are approximately half the light intensity of the initially emitted light. When the light passing through the first lens 321 is incident on the second lens 322, since the light incident surface of the second lens 322 is provided with the first total reflection film, part of the light is reflected by the second lens 122 to form second emission light.

In this embodiment, the first lens 321 is disposed perpendicular to a horizontal plane and is disposed obliquely to a vertical plane passing through the incident light. The second lens 122 is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light. Specifically, since the light source module 310, the first light receiving module 330 and the second light receiving module 340 are all disposed in the laser ranging system 3100, the first lens 321 needs to adjust the emission angle of the first emitted light to be approximately towards one side of the first receiving module 330, so that the first emitted light can be effectively received by the first receiving module 330 after being reflected by an obstacle. Similarly, the second lens 322 needs to adjust the emission angle of the second emitted light to be approximately towards one side of the second receiving module 340, so that the second emitted light can be effectively received by the second receiving module 340 after being reflected by the obstacle. Therefore, the second lens 322 is disposed obliquely to the vertical plane passing through the incident light, so that the emission angle of the second emitted light is approximately towards one side of the second receiving module 340, and the second received light reflected by the object to be detected can be effectively received by the second receiving module 340. Similarly, the first lens 321 is disposed obliquely to the vertical plane passing through the incident light, so that the emission angle of the first emission light is approximately towards one side of the first receiving module 330, and the first receiving light reflected by the object to be detected can be effectively received by the first receiving module 330. In addition, since the first lens 321 is disposed perpendicular to the horizontal plane, and the emitted light generated by the light source module 310 is disposed parallel to the horizontal plane, when the emitted light of the light source module 310 is reflected by the first lens 321, the generated first emitted light is also horizontal light, so as to realize the obstacle scanning of the horizontal plane where the emitted light is located. Since the second lens 322 is disposed inclined to the horizontal plane, when the light emitted from the light source module 310 is reflected by the second lens 322, the generated second light is inclined to the horizontal plane, thereby realizing the scanning of the obstacle on the other plane.

It is to be understood that the arrangement of the first lens 321 and the second lens 322 is not limited to the above arrangement. For example, in one embodiment, the first lens 321 is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light; the second lens 322 is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light. The above arrangement of the first lens 321 and the second lens 322 can also achieve the effect of scanning obstacles on two planes with different heights.

One embodiment of the present invention also provides a two-wire lidar comprising a laser transmit and receive module 200 as described in any of the above.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A laser ranging system, comprising:

the light source module is used for generating emission light;

2. The laser ranging system of claim 1,

the emitted light is arranged parallel to a horizontal plane;

3. The laser ranging system of claim 2,

the first receiving module comprises a first light receiving port, and the first receiving light is incident to the first receiving module from the first light receiving port;

4. The laser ranging system of claim 1, wherein the first optical element comprises a first lens and a second lens:

5. The laser ranging system of claim 4, wherein the first lens is disposed obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light; the second lens is disposed perpendicular to a horizontal plane and is disposed obliquely to a vertical plane passing through the incident light.

6. The laser ranging system of claim 5, wherein,

The included angle between the first lens and the vertical plane passing through the incident light is a first included angle, the included angle between the second lens and the vertical plane passing through the incident light is a second included angle, and the sum of the first included angle and the second included angle is 180 degrees;

7. The laser ranging system of claim 4, wherein,

the light incident surface of the first lens is provided with a semi-transmission semi-reflection film, part of the emitted light is reflected by the semi-transmission semi-reflection film to form the first emitted light, and part of the emitted light passes through the semi-transmission semi-reflection film to be incident to the second lens;

8. The laser ranging system of claim 4, wherein,

the first lens is arranged perpendicular to a horizontal plane and inclined to a vertical plane passing through the incident light; the second lens is arranged obliquely to a horizontal plane and obliquely to a vertical plane passing through the incident light;

9. The laser ranging system of any one of claims 1-8, wherein the light source module comprises:

the optical axis of the light source is perpendicular to the horizontal plane;

10. The laser ranging system according to claim 9, wherein the light source module further comprises a first lens, the first lens is an aspheric lens, an optical axis of the first lens is parallel to a horizontal plane, the optical axis of the first lens and the optical axis of the light source intersect on the same intersection point of the first reflecting mirror, and the light reflected by the first reflecting mirror passes through the first lens to form the emitted light.

11. The laser ranging system of any of claims 1-8, wherein the first receiving module comprises:

12. The laser ranging system of claim 11, wherein the second receiving module comprises:

13. The laser ranging system of claim 12, wherein,

the setting height of the optical axis of the second lens is larger than that of the third lens;

14. A laser transmitting and receiving module, comprising:

A first circuit board disposed in a horizontal direction; and

the laser ranging system of any of claims 1-13, disposed on the first circuit board.

15. The laser transmitter and receiver module of claim 14, comprising:

the second mounting seat is used for setting the first receiving module;

the third mounting seat is used for setting the second receiving module;

16. The laser transmitter and receiver module of claim 15, wherein said first mount comprises:

a base plate having a first end and a second end;

17. The laser transmitting and receiving module as claimed in claim 16, wherein,

the bottom surface of first mounting groove slope in the upper surface setting of the second end of first bottom plate, the bottom surface of first mounting groove includes first extreme point, second extreme point, third extreme point and fourth extreme point, first extreme point with the second extreme point is adjacent to be set up and is being close to one side of first boss, the third extreme point with the fourth extreme point is adjacent to be set up and is keeping away from one side of first boss, the first extreme point with the distance of the upper surface of the second end of first bottom plate is less than the second extreme point with the distance of the upper surface of the second end of first bottom plate, the third extreme point with the distance of the upper surface of the second end of first bottom plate is less than the fourth extreme point with the distance of the upper surface of the second end of first bottom plate.

18. The laser transmitter and receiver module of claim 16, wherein said second mount includes a second base plate and a second boss, said second boss being disposed above said second base plate;

19. The laser transmitter and receiver module of claim 18, wherein the third mount includes a third base plate and a third boss disposed above the third base plate;

20. A laser transmitter and receiver module as claimed in any one of claims 14 to 19, characterized in that,

the first circuit board is provided with a rotation central axis arranged along the vertical direction, can rotate around the rotation central axis and is provided with a laser emitting circuit and a laser receiving circuit;

21. The laser transmitter and receiver module of claim 20, further comprising:

22. A laser transmitter and receiver module as claimed in any one of claims 14 to 19, characterized in that,

the first receiving module is disposed at one side of a vertical plane passing through the emitted light;

23. The laser transmitting and receiving module as claimed in claim 20, wherein,

the center point of the first reflecting mirror is positioned on the optical axis of the first lens;

24. A laser ranging system, the laser ranging system comprising:

a first lens coated with a semi-reflective semi-transmissive film;

a second lens, wherein a total reflection film is plated on the second lens;

25. A two-wire lidar comprising a laser transmit and receive module according to any of claims 14 to 23.