CN116569060A - Laser radar probe and laser radar - Google Patents
Laser radar probe and laser radar Download PDFInfo
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- CN116569060A CN116569060A CN202280005753.4A CN202280005753A CN116569060A CN 116569060 A CN116569060 A CN 116569060A CN 202280005753 A CN202280005753 A CN 202280005753A CN 116569060 A CN116569060 A CN 116569060A
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- laser
- module
- mounting hole
- lidar
- probe
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar probe and a laser radar, wherein the laser radar probe comprises a shell, a laser emission module and a laser receiving module, the shell is arranged along the vertical direction, a first mounting hole and a second mounting hole are concavely arranged at the upper end of the shell, the laser emission module is embedded at the inner bottom of the first mounting hole, the upper end of the laser emission module is provided with a laser emission head for emitting laser beams upwards, the laser receiving module is embedded at the inner bottom of the second mounting hole, the upper end of the laser receiving module is provided with a laser receiving probe for receiving the laser beams reflected back after being emitted by the laser emission module, an optical component is arranged at the orifice of the first mounting hole and used for adjusting the spot size and the light path direction of the laser beams emitted by the laser emission head, and a light filtering component is arranged at the air port of the second mounting hole and used for filtering interference light rays.
Description
Technical Field
The invention belongs to the field of laser ranging equipment and optical wireless communication, and particularly relates to a laser radar probe and a laser radar.
Background
At present, the laser radar has poor detection precision on materials with low reflectivity, and the phenomenon of data detection errors easily occurs when the laser radar detects the materials with low reflectivity. And when a plurality of similar devices work simultaneously in the same space, the laser radar and the laser radar probe in the current market are easy to generate unpredictable abnormality and even failure due to mutual interference.
Disclosure of Invention
In order to solve the above technical problems, one of the purposes of the present invention is to provide a single-wire lidar probe with simple structure, high ranging accuracy and good sensitivity.
In order to achieve the above object, the technical scheme of the present invention is as follows: the utility model provides a laser radar probe, includes casing, laser emission module and laser receiving module, the casing sets up along vertical direction, just the upper end of casing is concave to be equipped with first mounting hole and second mounting hole, first mounting hole and second mounting hole interval set up, laser emission module inlays the dress and is in the interior bottom of first mounting hole, laser emission module's upper end has laser emission head, laser emission head is used for upwards transmitting laser beam, laser receiving module inlays the dress and is in the interior bottom of second mounting hole, laser receiving module's upper end has laser receiving probe, laser receiving probe is used for receiving the laser beam that reflects back, the drill way department of first mounting hole is equipped with optical subassembly, optical subassembly is used for adjusting the spot size and the light path direction of laser beam that laser emission head transmitted, the air interface department of second mounting hole is equipped with filtering component, filtering component is used for filtering from the interference light in the laser beam that is reflected back after the laser emission module launches.
The beneficial effects of the technical scheme are that: therefore, the optical component can be used for adjusting the spot size and the light path direction of the laser beam emitted by the laser emission head, and the filter component can prevent visible light or other unnecessary infrared light from entering the second mounting hole so as to influence the measurement accuracy.
In the above technical solution, the optical component is formed by combining one or more of a first optical lens, a grating component, a reflecting mirror, an optical filter or an optical prism, wherein the effect of the optical filter can be achieved by adopting a film plating processing mode on other optical elements (lens, optical prism, grating component) or using a material with a filtering effect to process the optical element to achieve the same or similar filtering effect.
The beneficial effects of the technical scheme are that: the optical component can be flexibly configured as required, so that the spot size and the light path direction of the laser beam emitted by the laser emission head can be adjusted.
In the above technical solution, the filter component is an optical filter or a second optical lens.
The beneficial effects of the technical scheme are that: the optical filter has good optical filtering effect, and can filter interference light affecting the ranging precision as required.
According to the technical scheme, the first mounting hole is internally provided with the first light absorption backing ring at the upper end of the laser emission module, the laser emission head is located at the inner hole of the first light absorption backing ring, the second mounting hole is internally provided with the second light absorption backing ring at the upper end of the laser receiving module, and the laser receiving probe is located at the inner hole of the second light absorption backing ring.
The beneficial effects of the technical scheme are that: therefore, the reduction and even failure of measurement accuracy caused by the reflection of the laser beam in the first mounting hole and the second mounting hole can be avoided.
In the above technical scheme, the cross sections of the first mounting holes and/or the second mounting holes are round, and the apertures of the first mounting holes and/or the second mounting holes gradually decrease from top to bottom or from two ends to the middle, and the apertures of the first mounting holes and/or the second mounting holes gradually decrease from two ends to the middle.
The beneficial effects of the technical scheme are that: the laser signal that can reflect back focuses on the laser receiving module more effectively, if the aperture of first mounting hole also adopts from top to bottom gradually reduced or from both ends to the design mode that the middle part received waist to gradually reduced, so can shrink or increase laser beam's firing angle, also can collimate partial light.
In the above technical scheme, the inner walls of the first mounting hole and the second mounting hole are coated with a layer of mirror coating.
The beneficial effects of the technical scheme are that: therefore, the reflection performance of the first mounting hole and the second mounting hole can be improved, and reflected laser signals can be more effectively focused on the laser receiving module, so that the detection and receiving efficiency of the whole laser radar probe and the laser radar is improved, and the required laser power is greatly reduced under the requirement of the same detection distance and range, so that the power consumption of the whole laser radar probe and the laser radar is reduced 。
According to the technical scheme, the laser radar probe further comprises a signal decoding and demodulating module and a signal encrypting and modulating module, the laser transmitting module is electrically connected with the signal encrypting and modulating module, the signal encrypting and modulating module is electrically connected with an external controller, the laser receiving module is electrically connected with the signal decoding and demodulating module, and the signal decoding and demodulating module is electrically connected with the external controller.
The beneficial effects of the technical scheme are that: the electric signal can be subjected to noise removal processing through a band-pass filter in the signal decoding module, and the length of the pulse signal can be identified at intervals, frequencies and duty ratios of each pulse period, so that the accuracy of the electric signal is further improved.
The second purpose of the invention is to provide a laser radar capable of measuring 360 degrees.
In the above technical scheme, the laser emitting modules and the laser receiving modules are all arranged in plurality, the laser emitting modules are embedded at the inner bottom of the first mounting hole, the laser receiving modules are embedded at the inner bottom of the second mounting hole, and at the moment, the first mounting hole and the second mounting hole can be designed into a plurality.
The other technical scheme of the invention is as follows: the utility model provides a laser radar, includes external control ware and a plurality of laser radar probe as described above, a plurality of the laser radar probe annular interval is even sets up, and a plurality of the laser radar probe concave one end that is equipped with first mounting hole and second mounting hole each other deviates from, a plurality of the laser radar probe all with external control ware electricity is connected.
The beneficial effects of the technical scheme are that: therefore, the plurality of laser radar probes share one external controller, and the laser radar probes can jointly form the laser radar which can detect at 360 degrees and has high detection precision.
Drawings
FIG. 1 is a schematic view of a lidar probe according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of another construction of a lidar probe according to embodiment 1 of the present invention;
FIG. 3 is a diagram showing the optical path of the laser beam in the optical module according to embodiment 1 of the present invention;
FIG. 4 is a schematic view of a laser radar according to embodiment 2 of the present invention;
fig. 5 is a circuit connection diagram of the laser receiving module and the signal decoding module in embodiment 1 of the present invention;
fig. 6 is a circuit connection diagram of a laser emitting module and a signal encrypting module in embodiment 1 of the present invention;
FIG. 7 is a circuit diagram of a laser emitting module and a signal encrypting module according to embodiment 3 of the present invention;
fig. 8 is a schematic diagram of a laser radar probe and a laser radar according to embodiment 4 of the present invention.
In the figure: 1 laser radar probe, 11 casing, 111 first mounting hole, 112 second mounting hole, 12 laser emission module, 121 laser emission head, 13 laser receiving module, 131 laser receiving probe, 14 optical subassembly, 141 optical lens or light filter, 142 speculum, 143 grating subassembly or light filter, 15 filter subassembly, 16 first extinction backing ring, 17 second extinction backing ring.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Example 1
As shown in fig. 1 or fig. 2, this embodiment provides a laser radar probe, including a housing 11, a laser emitting module 12 and a laser receiving module 13, the housing 11 is disposed along a vertical direction, and a first mounting hole 111 and a second mounting hole 112 are concavely disposed at an upper end of the housing 11, the first mounting hole 111 and the second mounting hole 112 are disposed at intervals, the laser emitting module 12 is embedded at an inner bottom of the first mounting hole 111, a laser emitting head 121 is disposed at an upper end of the laser emitting module 12, the laser emitting head 121 is used for emitting a laser beam upward, the laser receiving module 13 is embedded at an inner bottom of the second mounting hole 112, a laser receiving probe 131 is disposed at an upper end of the laser receiving module 13, the laser receiving probe 131 is used for receiving a laser beam reflected back from the laser emitting module 12, an optical component 14 is disposed at an aperture of the first mounting hole 111, the optical component 14 is used for adjusting a spot size and an optical path direction of the laser beam emitted by the laser emitting head 121, a filter component 15 is disposed at an air aperture of the second mounting hole 112, the filter component 15 is disposed at an air aperture of the second mounting hole, the filter component is used for filtering the laser beam from the second optical component to prevent the laser beam from being reflected from the optical component from being reflected from the second optical component, and from being reflected from the optical component from the second optical component, and the optical component can not being affected by the optical component can be filtered, and the optical filter accuracy can be prevented from being affected by the laser beam can be further reflected by the laser beam. The laser transmitting module and the laser receiving module are both in the prior art, and are not described herein.
In the above technical solution, the optical component 14 is formed by combining one or more of a first optical lens, a filter, a grating component, a reflecting mirror or an optical prism (forming an optical path to emit a laser beam after being processed frequently), so that the optical component can be flexibly configured according to needs to adjust the spot size and the optical path direction of the laser beam emitted by the laser emitting head, where the first optical lens may be a convex lens, a concave-convex combined lens, a TIR lens or a fresnel lens, and specifically as shown in fig. 3, the optical component 14 may be formed by the first optical lens or the filter 141, the reflecting mirror 142 and the grating component or the filter 143 together.
In the above technical solution, the filter assembly 15 is a filter or a second optical lens (convex lens, concave-convex combined lens, TIR lens or fresnel lens), and is preferably a filter, which has a good filtering effect, and can filter the interference light affecting the ranging accuracy as required, and the second optical lens can also use a material with a filtering effect.
In the above technical solution, the first mounting hole 111 is internally located at the upper end of the laser emission module 12 and horizontally provided with the first light absorption backing ring 16, the laser emission head 121 is located at the inner hole of the first light absorption backing ring 16, the second mounting hole 112 is internally located at the upper end of the laser receiving module 13 and horizontally provided with the second light absorption backing ring 17, and the laser receiving probe 131 is located at the inner hole of the second light absorption backing ring 17, so that the decrease of the measurement accuracy caused by the internal reflection of the laser beam in the first mounting hole 111 and the second mounting hole 112 can be avoided.
In the above technical solution, the cross section of the first mounting hole 111 is circular, and the aperture of the first mounting hole 111 gradually decreases from top to bottom or the aperture of the first mounting hole 111 gradually decreases from top to bottom from the middle to the middle, so that the emission angle of the laser beam can be shrunk or increased, and part of the light can be collimated, thereby increasing the emission distance of the laser beam.
Further, single-line laser radar probes with effective detection distances of 8m or more are currently on the market, and most of the single-line laser radar probes use optical devices to modulate the angle of view of laser light to +/-0.1 degrees to +/-2 degrees. Most of the power supply design requirements meet more than 5V_500mA, the actual average power consumption is more than 0.3W, and the main power consumption is from a laser light source (a laser emitting module) at an emitting end. In the equipment such as unmanned aerial vehicle, sweeping machine, robot that need battery power supply, its laser radar probe consumption occupies more, has reduced the duration of equipment by a wide margin.
At present, intelligent devices such as unmanned aerial vehicles, robots, floor sweeping machines and the like in the market are limited by the sensitivity of a laser radar, the unmanned aerial vehicles can be crashed onto objects with low light reflectivity such as glass, wires and branches to cause crash accidents, and intelligent devices such as robots, floor sweeping machines and the like can crash furniture with thin feet and other objects with low light reflectivity due to the sensitivity limitation of the laser radar, so that the furniture and the devices are damaged.
Due to the limitation of factors such as requirements of eye safety and laser power, the existing vehicle-mounted pure solid-state laser radar cannot achieve the detection distance of 200 meters for an object with the reflectivity of 10%. When a plurality of similar products appear on the periphery of a part of vehicle-mounted laser radar, the phenomenon of radar ranging abnormality can appear.
In order to solve the above technical problem, the inner walls of the first mounting hole 111 and the second mounting hole 112 may be coated with a layer of mirror coating or a shell made of a high-reflectivity material (high-reflectivity metal, high-reflectivity composite material), and the inner walls of the first mounting hole 111 and the second mounting hole 112 are processed into mirrors to improve the reflection effect on the laser beam, and the reflected laser signal can be more effectively focused to the laser receiving module 12, so that the detection sensitivity of the whole laser radar probe is improved, and the laser radar probe with smaller transmitting power can also achieve the expected detection effect, so as to reduce the power consumption of the laser radar probe. In addition, the aperture of the second mounting hole 112 may also gradually decrease from top to bottom, or the aperture of the second mounting hole may gradually decrease from two ends to the middle.
In the above technical scheme, the laser radar probe further comprises a signal decoding and demodulating module and a signal encrypting and modulating module, the laser transmitting module 12 is electrically connected with the signal encrypting and modulating module, the signal encrypting and modulating module is electrically connected with an external controller, the laser receiving module 13 is electrically connected with the signal decoding and demodulating module, the signal decoding and demodulating module is electrically connected with the external controller, and the electric signal is subjected to noise removal processing through a band-pass filter in the signal decoding module, so that the accuracy of the electric signal is further improved.
As shown in fig. 5, the signal decoding and demodulating module includes a pre-amplifying circuit, an automatic gain control circuit, a first control circuit, a band-pass filter and a demodulating circuit, wherein the pre-amplifying circuit and the automatic gain control circuit are used for amplifying the electric signal converted by the laser receiving module; the band-pass filter is used for filtering the amplified electric signals and can filter out interference signals generated by sunlight background and other lamplight; the demodulation circuit modulates the electric signal output by the band-pass filter into an encrypted pulse signal sent by the transmitting end. The connection mode is as follows: the receiving module is connected with the pre-amplifier, the pre-amplifier is connected with the automatic gain control circuit, the automatic gain control circuit is connected with the band-pass filter, the band-pass filter is connected with the modulating circuit, and the first control circuit is respectively connected with the automatic gain control circuit, the band-pass filter and the modulating circuit for controlling the gain effect, the signal frequency range through the band-pass filter and the modulating circuit for modulating the frequency and the duty ratio. The demodulation circuit may also restore the signals of the wireless communication and the encrypted wireless communication.
At present, a laser radar probe and a laser radar in the market cannot transmit data and instructions, and in certain scenes needing to transmit data and instructions, only a Bluetooth or WIFI module can be additionally arranged, and the two wireless communication modes have respective defects, so that the communication bandwidth of the Bluetooth module in the civil field is low and the transmission distance is also low; although the WIFI module is higher in transmission bandwidth, the power consumption is larger, most of the power supplies are required to meet the instant power supply of 3.3V_500mA, and even the WIFI communication in the industrial field is realized, the theoretical communication distance is only 300 meters; meanwhile, electromagnetic waves are used for WIFI and Bluetooth communication, and interference to the WIFI and Bluetooth communication and surrounding equipment is different in degree during operation. The laser radar probe and the laser radar can realize wireless transmission of data and instructions.
As shown in fig. 6, the signal encryption and modulation module includes a second control circuit, a signal generator circuit and a modulation module circuit, where the signal generator circuit can autonomously generate a pulse signal, and the connection manner is as follows: the modulation module circuit is connected with the signal generator circuit, the signal generator circuit is connected with the laser emission module, and the second control circuit is respectively connected with the modulation module circuit and the signal generator circuit. The second control circuit and the modulation module circuit cooperate with the controllable signal generator to generate pulse signal length and interval, frequency and duty cycle of each pulse period. The modulation module circuit can modulate the wireless communication and wireless encryption communication signals at the same time.
The traditional electromagnetic wave wireless communication is easy to capture in certain special fields due to the self propagation mode, and the optical wireless communication can use a point-to-surface communication mode or a point-to-point communication mode, so that the method has remarkable advantages in the aspect of safety.
Gain effect and test conditions:
under the condition that the maximum diameter of the first mounting hole 111 and the second mounting hole 112 is 10mm and no optical component or optical filter is used, a laser light source (a laser emitting module) with rated power consumption of 0.2W and rated radiation intensity of 65mW/sr and center wavelength of 940nm is used, the voltage of a laser emitting end is 1.7V, the current limiting resistor 15KR, namely the maximum power consumption of the laser light source is about 0.11mW, the effective view field angle is +/-8 degrees, the effective detection distance of a laser receiving module reaches 65cm when the minimum response irradiance is 0.12mW/m < 2 >, the effective detection distance of a black ABS computer case and common transparent glass (the reflectivity is about 10 percent) reaches 55cm, the effective detection distance of a black blanket (the reflectivity is about 3 percent) reaches 40cm, and the effective detection distance of a white cross screwdriver rod with the diameter of 6mm is 45cm; when the current limiting resistance is changed into 1.5KR, namely the maximum power consumption of the laser light source is about 1.1mW, the effective detection distance of an object with the reflectivity of 70% reaches 8m, and the effective detection distance of common transparent glass (with the reflectivity of about 10%) reaches 7m.
Example 2
As shown in fig. 4, this embodiment provides a laser radar, including external control ware and a plurality of laser radar probe 1 as embodiment 1, a plurality of laser radar probe 1 annular interval even setting, and a plurality of laser radar probe 1 is equipped with the one end of first mounting hole 111 and second mounting hole 112 and all deviates from each other, a plurality of laser radar probe 1 all with external control ware is connected, so can constitute a laser radar that can 360 detection and detection precision are high jointly by a plurality of laser radar probes, wherein, the number of laser radar probe is not less than two, and specific number can design by oneself according to the scope that single laser emission module 12 covered, and a plurality of laser radar probes are static relatively this moment, and its range finding encloses and forms 360 regions.
Example 3
As shown in fig. 7, the present embodiment provides another circuit connection mode of the lidar probe, which can directly output the lidar probe and the detection data of the lidar to the external device, and can avoid the influence of the cable length between the lidar probe and the external controller on the detection accuracy of the lidar probe and the lidar.
Example 4
As shown in fig. 8, the present embodiment provides another laser radar probe, where when there are more than 2 laser receiving modules in the laser radar probe, the detection accuracy of the close range detection of the laser radar probe can be further improved; when more than 2 laser emitting modules exist, the detection range of the laser radar probe can be increased, and the embodiment can also be combined with an external controller to form a laser radar with local range scanning.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The utility model provides a laser radar probe, its characterized in that includes casing (11), laser emission module (12) and laser receiving module (13), casing (11) are along vertical direction setting, just the upper end of casing (11) is concave to be equipped with first mounting hole (111) and second mounting hole (112), first mounting hole (111) and second mounting hole (112) interval setting, laser emission module (12) inlay in the interior bottom of first mounting hole (111), the upper end of laser emission module (12) has laser emission head (121), laser emission head (121) are used for upwards transmitting laser beam, laser receiving module (13) inlay in the interior bottom of second mounting hole (112), the upper end of laser receiving module (13) has laser receiving probe (131), laser receiving probe (131) are used for receiving from laser beam that is reflected back after the transmission of laser emission module (12), the drill way department of first mounting hole (111) is equipped with optical subassembly (14), optical subassembly (14) are used for adjusting the big light beam of laser beam (121) and are equipped with the empty mouth of light path (15), the filter assembly (15) is used for filtering interference light rays in the laser beam reflected back after being emitted from the laser emitting module (12).
2. The lidar probe according to claim 1, wherein the optical component (14) is one or more of a first optical lens, a grating component, a mirror, a filter or an optical prism.
3. Lidar probe according to claim 1, characterized in that the filter assembly (15) is a filter or a second optical lens.
4. The laser radar probe according to claim 1, wherein a first light absorbing backing ring (16) is horizontally arranged at the upper end of the laser transmitting module (12) in the first mounting hole (111), the laser transmitting head (121) is positioned at the inner hole of the first light absorbing backing ring (16), a second light absorbing backing ring (17) is horizontally arranged at the upper end of the laser receiving module (13) in the second mounting hole (112), and the laser receiving probe (131) is positioned at the inner hole of the second light absorbing backing ring (17).
5. The lidar probe according to any of claims 1 to 4, wherein the cross sections of the first mounting hole (111) and the second mounting hole (112) are circular, and the aperture of the first mounting hole (111) and the aperture of the second mounting hole (112) gradually decrease from top to bottom or taper from both ends to the middle.
6. The lidar probe according to claim 5, wherein the inner wall of the first mounting hole (111) and the inner wall of the second mounting hole (112) are each coated with a mirror coating or the housing is made of a high-reflectivity material, and the inner wall of the first mounting hole (111) and the inner wall of the second mounting hole (112) are mirror-finished.
7. The lidar probe according to claim 6, further comprising a signal decoding and demodulation module and a signal encryption and modulation module, wherein the laser emitting module (12) is electrically connected to the signal encryption and modulation module, the signal encryption and modulation module is electrically connected to an external controller, and the laser receiving module (13) is electrically connected to the signal decoding and demodulation module, and the signal decoding and demodulation module is electrically connected to the external controller.
8. The lidar probe according to claim 6, further comprising a signal decoding and demodulation module and a signal encryption and modulation module, wherein the laser emitting module (12) is electrically connected to the signal encryption and modulation module, wherein the signal encryption and modulation module is electrically connected to an external controller, wherein the laser receiving module (13) is electrically connected to the signal decoding and demodulation module, and wherein the signal decoding and demodulation module is electrically connected to a timing circuit.
9. The laser radar probe according to claim 1, wherein the laser transmitting module (12) and the laser receiving module (13) are each provided in plural, the plural laser transmitting modules (12) are fitted into the inner bottoms of the first mounting holes (111), and the plural laser receiving modules (13) are fitted into the inner bottoms of the second mounting holes (112).
10. A lidar characterized by comprising an external controller and a plurality of lidar probes (1) according to any of claims 1-9, wherein a plurality of lidar probes (1) are arranged at uniform circumferential intervals, and a plurality of lidar probes (1) are provided with first mounting holes (111) and second mounting holes (112) in a concave manner, wherein one ends of the lidar probes (1) are respectively away from each other, and a plurality of lidar probes (1) are electrically connected with the external controller.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111490575.2 | 2021-12-08 | ||
| CN202111490575.2A CN114397666A (en) | 2021-12-08 | 2021-12-08 | Single line laser radar probe and laser radar |
| PCT/CN2022/132358 WO2023103728A1 (en) | 2021-12-08 | 2022-11-16 | Laser radar probe and laser radar |
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| Publication Number | Publication Date |
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| CN116569060A true CN116569060A (en) | 2023-08-08 |
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| CN202111490575.2A Withdrawn CN114397666A (en) | 2021-12-08 | 2021-12-08 | Single line laser radar probe and laser radar |
| CN202280005753.4A Pending CN116569060A (en) | 2021-12-08 | 2022-11-16 | Laser radar probe and laser radar |
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| WO (1) | WO2023103728A1 (en) |
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| CN114397666A (en) * | 2021-12-08 | 2022-04-26 | 陈伟红 | Single line laser radar probe and laser radar |
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| CN110456325A (en) * | 2019-08-31 | 2019-11-15 | 上海禾赛光电科技有限公司 | A kind of recognition methods of laser radar system and target object |
| CN113030912B (en) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | Laser radar system based on scanning galvanometer |
| CN114397666A (en) * | 2021-12-08 | 2022-04-26 | 陈伟红 | Single line laser radar probe and laser radar |
-
2021
- 2021-12-08 CN CN202111490575.2A patent/CN114397666A/en not_active Withdrawn
-
2022
- 2022-11-16 CN CN202280005753.4A patent/CN116569060A/en active Pending
- 2022-11-16 WO PCT/CN2022/132358 patent/WO2023103728A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN114397666A (en) | 2022-04-26 |
| WO2023103728A1 (en) | 2023-06-15 |
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