CN208421218U - A kind of reception system for laser radar - Google Patents
A kind of reception system for laser radar Download PDFInfo
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- CN208421218U CN208421218U CN201820881333.3U CN201820881333U CN208421218U CN 208421218 U CN208421218 U CN 208421218U CN 201820881333 U CN201820881333 U CN 201820881333U CN 208421218 U CN208421218 U CN 208421218U
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Abstract
The utility model provides a kind of reception system for laser radar, including successively spaced receiving lens group, reflection microscope group and reception device；The receiving lens group is used to converge the reflected light of object；The reflected light is incident on the reception device for changing the path of light beam by the reflection microscope group；The reception device includes that receiving device, reception circuit carriers and at least one piece of circuit board for receiving, the receiving device and the circuit board for receiving are respectively arranged in the reception circuit carriers.The optical filter of the utility model reception device is set to the receiving device towards the side of the reflection microscope group; stray light can be filtered; the APD detector of receiving device is also covered with metal coating shell, can protect receiving device, and the foreign matters such as dust is avoided to enter damage device.
Description
Technical field
The utility model relates to Radar Technology field, in particular to a kind of reception system for laser radar.
Background technique
As an important ring for intelligent vehicle environment sensing hardware system, laser radar (LIDAR) undertakes in automatic Pilot
Curb detection, obstacle recognition and positioning in real time and vital tasks such as (SLAM) of drawing.LIDAR system includes Laser emission
System and a reception system.Laser emission system is generated and transmitted by light pulse, beats on object and reflects, finally quilt
Receiver is received.Receiver accurately measures light pulse from being emitted to the propagation time being reflected back toward.Because light pulse is with light
Speed is propagated, so receiver always receives the previous pulse being reflected back toward before next pulse sending.It is in view of the light velocity
Known, the propagation time can be converted into the measurement adjusted the distance.Laser radar energy precise measurement target position is (away from walk-off angle
Degree), motion state (speed, vibration and posture) and shape, detection, identification are differentiated and tracking target.Due to measuring speed
Fastly, the advantages that precision is high remote with ranging, laser radar is widely applied on intelligent vehicle.
The laser imaging system of early stage uses single-point laser beam and detector corresponding with single-point laser beam, is visited using scanning
The mode of survey is imaged.As array APD detector gradually appears and the development of optical fiber focal plane array reception technique,
The detection mode of laser imaging system is also changed, and face battle array active probe occurs and alignment pushes away and sweeps the modes such as detection.
The mobile lidar installation weight applied at present is heavier, and it is symmetrical, symmetrical freight space meeting that distribution is mostly
Lead to launching pod and receive the space unreasonable distribution in cabin, is unfavorable for the miniaturization of laser radar.And receive the detector of system
Safeguard measure is not fully taken into account, is easy to be influenced by foreign matters such as stray light and dusts, so as to shorten the service life of detector.
In addition, the weight for receiving each device in storehouse is also heavier, the weight and volume of system is increased, it is difficult to realize the low cost of equipment
And miniaturization.
Utility model content
In order to solve the above technical problems, the utility model discloses a kind of reception systems for laser radar, including according to
Receiving lens group, reflection microscope group and the reception device of minor tick setting；
The receiving lens group is used to converge the reflected light of object；
The reflected light is incident on the reception device for changing the path of light beam by the reflection microscope group；
The reception device includes receiving device, receives circuit carriers and at least one piece of circuit board for receiving, the receiver
Part and the circuit board for receiving are respectively arranged in the reception circuit carriers.
Further, the receiving device includes substrate and at least one APD detector, and the substrate is fixed on described connect
It receives in circuit carriers, the APD detector is set to the substrate one side.
Further, the receiving device further includes protective shell, and the protective shell covers at the APD detector and institute
Protective shell is stated to be installed on the substrate.
Preferably, the receiving device includes multiple APD detectors, and multiple APD detector rows are classified as APD line
Array detector or APD planar array detector.
Further, the reception device includes optical filter, and the optical filter is set to the receiving device described in
The side of microscope group is reflected, the optical filter fitting is installed on one side of the protective shell far from the APD array detector.
Further, APD linear array detector is made of n avalanche photodide, is imitated using the snowslide of photodiode
Electric signal should be converted optical signals to, wherein n >=2；
APD planar array detector is made of the face snow shower avalanche photo diode that NXN arranges, utilizes the snowslide of photodiode
Effect converts optical signals to electric signal, wherein M >=2, N >=2.
Preferably, the material of the protective shell is metal.
Further, the reception device further includes flexible electrical connection, passes through institute between two neighboring circuit board for receiving
State flexible electrical connection connection.
Further, the reception circuit carriers include bottom plate and side plate, and the bottom plate is connect with side plate, the side plate tool
There are first side and second side, multiple circuit board for receiving, which are successively spaced, is installed on the first side, the receiver
Part is installed on the second side.
Further, the first side is equipped with the first groove, offers first through hole in first groove, and described the
Bottom surface and the second side of one through-hole through first groove,
First groove sufficiently merges out circuit for mitigating the weight of bracket while being convenient for the assembly of circuit board for receiving
The assembly space of the elements such as board chip；
The first through hole is used to mitigate the weight of bracket, while being convenient for the assembly of substrate, merges out the members such as substrate chip
The assembly space of part.
Further, the reception device further includes the first screw, nuts and washers, and the washer is sheathed on described first
On screw, first screw and the nut are cooperatively connected.
Further, the edge of the substrate, the side plate and the circuit board for receiving is correspondingly provided with pilot hole；
First screw sequentially passes through the substrate, the side plate and the circuit board for receiving and cooperates with the nut
Connection.
Further, the circuit board for receiving includes first circuit board, second circuit board and tertiary circuit plate.
Further, it is separated between the first circuit board and the second circuit board by the washer；Described second
It is separated between circuit board and the tertiary circuit plate by the washer.
Further, the spacing between multiple circuit board for receiving can be adjusted by the thickness of the washer.
Preferential, the material of the washer is insulating material.
Further, the side plate is vertical with the bottom plate connect, and the second side the bottom plate projection with
The bottom plate is equal to the thickness of the substrate far from the distance between described second side edges of boards.
Preferably, the second side is additionally provided with positioning plate along the short transverse of the side plate, described in quickly positioning
The installation site of substrate.
Further, the bottom plate is extended with protrusive board far from one end of the first side, and the protrusive board offers multiple
For fixing the mounting hole for receiving circuit carriers；
The one end of the bottom plate far from the second side is also extended with assembly ear, and the assembly ear is offered for fixing
The mounting hole for receiving circuit carriers.
Further, the reception device further includes multiple second screws, and second screw will across the mounting hole
The reception circuit carriers are fixed on the rotor of laser radar.
Preferably, the reception circuit carriers are an integral molding structure.
Preferably, the material for receiving circuit carriers is copper, molybdenum, any one or the combination of several of them in aluminium.
Further, the reflection microscope group includes the first reflecting mirror and the second reflecting mirror, first reflecting mirror and second
Reflecting mirror is oppositely arranged.
Further, the object reflected light of the receiving lens group convergence, need to meet the APD array detector and receive
The requirement of field angle.
Further, the bottom plate is equipped with chamfering.
Preferably, the chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
By adopting the above technical scheme, the reception system described in the utility model for laser radar has following beneficial to effect
Fruit:
1) the utility model laser radar receives system, is converged by lens group to object reflection laser, and lead to
It crosses reflection microscope group to handle the laser light incident of convergence to reception device, realizes target three-dimensional image reconstruct.
2) optical filter of the utility model reception device be set to the receiving device towards it is described reflection microscope group side,
Stray light can be filtered, the APD detector of receiving device is also covered with metal coating shell, can protect receiving device, avoid ash
The foreign matters such as dirt enter damage device.
3) between the circuit board for receiving and receiving device of the utility model reception device and muti-piece circuit board for receiving each other
Between be attached using flexible electrical connection, can adapt to the fluctuation during laser radar adjustment, it is convenient for assembly；This reality
It can be adjusted by the thickness of the washer with the spacing spacing of multiple circuit board for receiving of new pattern laser reception device, spirit
Space required for adaptive circuit board component living.
4) side plate of the utility model laser radar is equipped with positioning plate, for quickly positioning the installation site of the substrate.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the schematic diagram that the utility model laser radar receives system；
Fig. 2 is the schematic diagram that the utility model laser radar receives another visual angle of system；
Fig. 3 is the reception device schematic diagram that the utility model laser radar receives system；
Fig. 4 is the main view of the utility model receiving device；
Fig. 5 is the left view of the utility model receiving device；
Fig. 6 is the schematic diagram that the utility model receives circuit carriers；
Fig. 7 is another visual angle schematic diagram that the utility model receives circuit carriers；
Fig. 8 is the stereoscopic schematic diagram of the intractable system lenses group of the utility model.
It remarks additionally below to attached drawing:
1- receiving lens group；The first lens of 11-；The second lens of 12-；13- the third lens；14- lens barrel；2- reflects microscope group；
The first reflecting mirror of 21-；The second reflecting mirror of 22-；3- reception device；31- optical filter；32- receiving device；321- substrate；323- is protected
Protective case；33- receives circuit carriers；331- bottom plate；3311- protrusive board；3312- assembles ear；3313- mounting hole；332- side plate；
3321- first side；3- second side；The first groove of 3323-；3324- first through hole；3325- positioning plate；3326- pilot hole；
34- circuit board for receiving；341- first circuit board；342- second circuit board；343- tertiary circuit plate；The first screw of 35-；36- spiral shell
It is female；37- washer；The second screw of 38-.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are in the premise for not making creative work
Under every other embodiment obtained, fall within the protection scope of the utility model.
" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization side of the utility model
A particular feature, structure, or characteristic in formula.In the description of the present invention, it should be understood that term " on ", "lower",
The orientation or positional relationship of the instructions such as "top", "bottom" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
State the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second "
It is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicates indicated technical characteristic
Quantity." first " is defined as a result, the feature of " second " can be expressed or that imply includes one or more spy
Sign.Moreover, term " first ", " second " etc. are to be used to distinguish similar objects, without specific sequentially or first for describing
Order afterwards.It should be understood that the data used in this way are interchangeable under appropriate circumstances, so as to the utility model described herein
Embodiment can be performed in other sequences than those illustrated or described herein.
Embodiment 1:
As depicted in figs. 1 and 2, a kind of reception system for laser radar, including receiving lens group 1, reflection 2 and of microscope group
Reception device 3；
Receiving lens group 1, for converging the reflected light of object；
Microscope group 2 is reflected, the reflected light is incident on the reception device 3 for changing the path of light beam；
The reception device 3 includes optical filter 31, receiving device 32, receives circuit carriers 33 and muti-piece circuit board for receiving
34, the receiving device 32 and the circuit board for receiving 34 are installed in the reception circuit carriers 33, and the optical filter 31 is set
The receiving device 32 is placed in towards the side of the reflection microscope group 2, for filtering stray light 32；The receiving device 32 is used
In obtaining range information, received optical signal is converted into electric signal；The circuit board for receiving 34 is for handling the receiver
The range information that part 32 obtains.
In conjunction with shown in Fig. 3 to Fig. 5, the receiving device 32 includes substrate 321, APD array detector (not shown)
With protective shell 323, the substrate 321 is fixed in the reception circuit carriers 33, and the APD array detector is set to institute
321 one side of substrate is stated, the protective shell 323 covers at the APD array detector and the protective shell 323 is installed on institute
It states on substrate 321.
In conjunction with shown in Fig. 3 to Fig. 5, the fitting of optical filter 31 is installed on the protective shell 323 and visits far from the APD array
Survey the one side of device.
The APD array detector is APD planar array detector, is made of the face snow shower avalanche photo diode that NXN arranges, benefit
Electric signal is converted optical signals to the avalanche effect of photodiode, wherein M >=2, N >=2.Such as 4 × 4,4 × 8,8 × 8 etc.,
Specifically, the NXN arrangement depends on the laser arrangement of laser radar.
The material of the protective shell 323 is metal.
The reception device 3 further includes flexible electrical connection, passes through the flexibility between two neighboring circuit board for receiving 34
Electrical connector connection.
In conjunction with shown in Fig. 3, Fig. 6 and Fig. 7, the reception circuit carriers 33 include bottom plate 331 and side plate 332, the bottom plate
331 connect with side plate 332, and the side plate 332 has first side 3321 and second side 3, multiple circuit board for receiving 34
Successively interval is installed on the first side 3321, and the receiving device 32 is installed on the second side 3.
As shown in Figure 6 and Figure 7, the first side 3321 is equipped with the first groove 3323, opens in first groove 3323
Equipped with first through hole 3324, bottom surface and the second side 3 of the first through hole 3324 through first groove 3323,
First groove 3323 is sufficiently avoided for mitigating the weight of bracket while being convenient for the assembly of circuit board for receiving 34
The assembly space of the elements such as circuit board chip out；
The first through hole 3324 is used to mitigate the weight of bracket, while being convenient for the assembly of substrate 321, merges out substrate
The assembly space of the original parts such as 321 chips.
As shown in figure 3, the reception device 3 further includes the first screw 35, nut 36 and washer 37, the washer 37 is arranged
On first screw 35, first screw 35 is cooperatively connected with the nut 36.
In conjunction with shown in Fig. 3, Fig. 6 and Fig. 7, the corner of the substrate 321, the side plate 332 and the circuit board for receiving 34
Place is correspondingly provided with pilot hole 3326,
First screw 35 sequentially pass through the substrate 321, the side plate 332 and the circuit board for receiving 34 and with institute
State the mating connection of nut 36.
As shown in figure 3, the circuit board for receiving 34 includes first circuit board 341, second circuit board 342 and tertiary circuit
Plate 343.
It is separated between the first circuit board 341 and the second circuit board 342 by the washer 37；Second electricity
It is separated between road plate 342 and the tertiary circuit plate 343 by the washer 37.
Spacing between multiple circuit board for receiving 34 can be adjusted by the thickness of the washer 37.
The material of the washer 37 is insulating material.
As shown in Figure 6 and Figure 7, the side plate 332 is vertical with the bottom plate 331 connect, and the second side 3 is described
The projection of bottom plate 331 is equal to the thickness of the substrate 321 with the bottom plate 331 far from the distance between described 3 edges of boards of second side
Degree.
As shown in fig. 7, the second side 3 is additionally provided with positioning plate 3325 along the short transverse of the side plate 332, for fast
Speed positions the installation site of the substrate 321.
As shown in fig. 6, the bottom plate 331 is extended with protrusive board 3311 far from one end of the first side 3321, it is described convex
Plate 3311 offers multiple for fixing the mounting hole 3313 for receiving circuit carriers 33；
As shown in fig. 7, the one end of the bottom plate 331 far from the second side 3322 is also extended with assembly ear 3312, institute
Assembly ear 3312 is stated to offer for fixing the mounting hole 3313 for receiving circuit carriers 33.
As shown in figure 3, the reception device 3 further includes multiple second screws 38, second screw 38 passes through the peace
The reception circuit carriers 33 are fixed on the rotor of laser radar by dress hole 3313.
The reception circuit carriers 33 are an integral molding structure.
The material for receiving circuit carriers 33 is copper, molybdenum, any one or the combination of several of them in aluminium.
As shown in Figure 1, the reflection microscope group 2 includes the first reflecting mirror 21 and the second reflecting mirror 22, first reflecting mirror
21 and second reflecting mirror 22 be oppositely arranged.
The object reflected light that the receiving lens group 1 converges, need to meet the APD array detector field of view of receiver angle
It is required that.
As shown in figure 8, the receiving lens group 1, comprising:
First lens 11, have first surface and second surface, and first surface is towards the convex surface of object, second surface
It is aspherical；
Second lens 12 have third surface and the 4th surface, and third surface is equipped with the first recessed portion, on the 4th surface
Equipped with the second recessed portion；
The third lens 13, have the 5th surface and the 6th surface, the 5th surface be it is aspherical, the 6th surface is far from target
The convex surface of object；
First lens 11, the second lens 12 and reception the third lens 13 are arranged successively along optical axis direction；
Lens barrel 14 is used for fixed first lens 11, the second lens 12 and the third lens 13.
The bottom plate 331 is equipped with chamfering.
The chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
APD (Avalanche Photo Diode) detector array, that is, avalanche photodiode detector is by multiple only
Vertical APD single-element detector is integrated, compact-sized, small in size, light-weight.The APD detector is APD single-element detector,
Non-scanning laser detection may be implemented, pulse can three-dimensional imaging；APD array detector can directly acquire three-dimensional information, at
Faster as speed, and system structure is simple.The laser echo signal that detection system receives each unit of detector array into
The processing of row multidiameter delay, and then realize linear array imaging.
Embodiment 2:
As depicted in figs. 1 and 2, a kind of reception system for laser radar, including receiving lens group 1, reflection 2 and of microscope group
Reception device 3；
Receiving lens group 1, for converging the reflected light of object；
Microscope group 2 is reflected, the reflected light is incident on the reception device 3 for changing the path of light beam；
The reception device 3 includes optical filter 31, receiving device 32, receives circuit carriers 33 and muti-piece circuit board for receiving
34, the receiving device 32 and the circuit board for receiving 34 are installed in the reception circuit carriers 33, and the optical filter 31 is set
The receiving device 32 is placed in towards the side of the reflection microscope group 2, for filtering stray light 32；The receiving device 32 is used
In obtaining range information, received optical signal is converted into electric signal；The circuit board for receiving 34 is for handling the receiver
The range information that part 32 obtains.
In conjunction with shown in Fig. 3 to Fig. 5, the receiving device 32 includes substrate 321, APD array detector and protective shell 323,
The substrate 321 is fixed in the reception circuit carriers 33, and the APD detector array is set to 321 side of substrate
Face, the protective shell 323 covers at the APD detector array and the protective shell 323 is installed on the substrate 321.
In conjunction with shown in Fig. 3 to Fig. 5, the fitting of optical filter 31 is installed on the protective shell 323 and visits far from the APD array
Survey the one side of device.
The APD array detector is APD linear array detector, is made of n avalanche photodide, utilizes two pole of photoelectricity
The avalanche effect of pipe converts optical signals to electric signal, wherein n >=2.Such as 2,4,16,32 etc., specifically, the n depends on swashing
The laser arrangement of optical radar.
The material of the protective shell 323 is metal.
The reception device 3 further includes flexible electrical connection, passes through the flexibility between two neighboring circuit board for receiving 34
Electrical connector connection.
In conjunction with shown in Fig. 3, Fig. 6 and Fig. 7, the reception circuit carriers 33 include bottom plate 331 and side plate 332, the bottom plate
331 connect with side plate 332, and the side plate 332 has first side 3321 and second side 3, multiple circuit board for receiving 34
Successively interval is installed on the first side 3321, and the receiving device 32 is installed on the second side 3.
As shown in Figure 6 and Figure 7, the first side 3321 is equipped with the first groove 3323, opens in first groove 3323
Equipped with first through hole 3324, bottom surface and the second side 3 of the first through hole 3324 through first groove 3323,
First groove 3323 is sufficiently avoided for mitigating the weight of bracket while being convenient for the assembly of circuit board for receiving 34
The assembly space of the elements such as circuit board chip out；
The first through hole 3324 is used to mitigate the weight of bracket, while being convenient for the assembly of substrate 321, merges out substrate
The assembly space of the original parts such as 321 chips.
As shown in figure 3, the reception device 3 further includes the first screw 35, nut 36 and washer 37, the washer 37 is arranged
On first screw 35, first screw 35 is cooperatively connected with the nut 36.
In conjunction with shown in Fig. 3, Fig. 4 and Fig. 6, the corner of the substrate 321, the side plate 332 and the circuit board for receiving 34
Place is correspondingly provided with pilot hole 3326,
First screw 35 sequentially pass through the substrate 321, the side plate 332 and the circuit board for receiving 34 and with institute
State the mating connection of nut 36.
The circuit board for receiving 34 includes first circuit board 341, second circuit board 342 and tertiary circuit plate 343.
It is separated between the first circuit board 341 and the second circuit board 342 by the washer 37；Second electricity
It is separated between road plate 342 and the tertiary circuit plate 343 by the washer 37.
Spacing between multiple circuit board for receiving 34 can be adjusted by the thickness of the washer 37.
The material of the washer 37 is insulating material.
As shown in Figure 6 and Figure 7, the side plate 332 is vertical with the bottom plate 331 connect, and the second side 3 is described
The projection of bottom plate 331 is equal to the thickness of the substrate 321 with the bottom plate 331 far from the distance between described 3 edges of boards of second side
Degree.
As shown in fig. 7, the second side 3 is additionally provided with positioning plate 3325 along the short transverse of the side plate 332, for fast
Speed positions the installation site of the substrate 321.
As shown in fig. 6, the bottom plate 331 is extended with protrusive board 3311 far from one end of the first side 3321, it is described convex
Plate 3311 offers multiple for fixing the mounting hole 3313 for receiving circuit carriers 33；
As shown in fig. 7, the one end of the bottom plate 331 far from the second side 3322 is also extended with assembly ear 3312, institute
Assembly ear 3312 is stated to offer for fixing the mounting hole 3313 for receiving circuit carriers 33.
As shown in figure 3, the reception device 3 further includes multiple second screws 38, second screw 38 passes through the peace
The reception circuit carriers 33 are fixed on the rotor of laser radar by dress hole 3313.
The reception circuit carriers 33 are an integral molding structure.
The material for receiving circuit carriers 33 is copper, molybdenum, any one or the combination of several of them in aluminium.
As shown in Figure 1, the reflection microscope group 2 includes the first reflecting mirror 21 and the second reflecting mirror 22, first reflecting mirror
21 and second reflecting mirror 22 be oppositely arranged.
The object reflected light that the receiving lens group 1 converges, need to meet the APD array detector field of view of receiver angle
It is required that.
As shown in figure 8, the receiving lens group 1, comprising:
First lens 11, the first surface and second surface having, first surface are towards the convex surface of object, the second table
Face is aspherical；
Second lens 12, the third surface and the 4th surface having, third surface are equipped with the first recessed portion, the 4th surface
It is equipped with the second recessed portion；
The third lens 13, the 5th surface having and the 6th surface, the 5th surface be it is aspherical, the 6th surface is far from mesh
Mark the convex surface of object；
First lens 11, the third lens 12 and reception the third lens 13 are arranged successively along optical axis direction；
Lens barrel 14 is used for fixed first lens 11, the second lens 12 and the third lens 13.
The bottom plate 331 is equipped with chamfering.
The chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
The bottom plate 331 is equipped with chamfering.
The chamfering is straight flange chamfering, circular arc chamfering or right angle chamfering.
APD (Avalanche Photo Diode) detector array, that is, avalanche photodiode detector is by multiple only
Vertical APD single-element detector is integrated, compact-sized, small in size, light-weight.The APD detector is APD single-element detector,
Non-scanning laser detection may be implemented, pulse can three-dimensional imaging；APD array detector can directly acquire three-dimensional information, at
Faster as speed, and system structure is simple.The laser echo signal that detection system receives each unit of detector array into
The processing of row multidiameter delay, and then realize linear array imaging.
Embodiment 3:
The embodiment the difference from embodiment 1 is that:
The receiving device includes substrate and an APD detector, and the substrate is fixed in the reception circuit carriers,
The APD detector is set to the substrate one side；The receiving device further includes protective shell, and the protective shell covers at institute
It states APD detector and the protective shell is installed on the substrate.
APD (Avalanche Photo Diode) detector array, that is, avalanche photodiode detector is by multiple only
Vertical APD single-element detector is integrated, compact-sized, small in size, light-weight.APD detector described in above-described embodiment is that APD is mono-
First detector, may be implemented non-scanning laser detection, and pulse can three-dimensional imaging；APD array detector can directly acquire three
Information is tieed up, faster, and system structure is simple for image taking speed.Detection system returns the laser that each unit of detector array receives
Wave signal carries out multidiameter delay processing, and then realizes linear array imaging.
By adopting the above technical scheme, the reception system described in the utility model for laser radar has following beneficial to effect
Fruit:
The utility model laser radar receives system, is converged by lens group to object reflection laser, and pass through
Reflection microscope group handles the laser light incident of convergence to reception device, realizes target three-dimensional image reconstruct.
The optical filter of the utility model reception device is set to the receiving device towards the side of the reflection microscope group, energy
Stray light is enough filtered, the APD detector of receiving device is also covered with metal coating shell, can protect receiving device, avoid dust
Equal foreign matters enter damage device.
Between the circuit board for receiving and receiving device of the utility model reception device and muti-piece circuit board for receiving each other it
Between be attached using flexible electrical connection, can adapt to the fluctuation during laser radar adjustment, it is convenient for assembly；This is practical
The spacing of multiple circuit board for receiving of new pattern laser reception device can be adjusted by the thickness of the washer, flexible suitable
Answer space required for circuit board element.
The side plate of the utility model laser radar is equipped with positioning plate, for quickly positioning the installation site of the substrate.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of reception system for laser radar, it is characterised in that: including successively spaced receiving lens group (1),
Reflect microscope group (2) and reception device (3)；
The receiving lens group (1) is used to converge the reflected light of object；
The reflected light is incident on the reception device (3) for changing the path of light beam by reflection microscope group (2)；
The reception device (3) includes receiving device (32), receives circuit carriers (33) and at least one piece of circuit board for receiving (34),
The receiving device (32) and the circuit board for receiving (34) are respectively arranged on the reception circuit carriers (33).
2. a kind of reception system for laser radar according to claim 1, it is characterised in that: the receiving device
It (32) include substrate (321) and at least one APD detector, the substrate (321) is fixed on the reception circuit carriers (33)
On, the APD detector is set to the substrate (321) one side.
3. a kind of reception system for laser radar according to claim 2, it is characterised in that: the receiving device
It (32) further include protective shell (323), the protective shell (323) covers at the APD detector and the protective shell (323) is installed
In on the substrate (321).
4. a kind of reception system for laser radar according to claim 3, it is characterised in that: the receiving device
It (32) include multiple APD detectors, multiple APD detector rows are classified as APD linear array detector or the battle array detection of the face APD
Device.
5. a kind of reception system for laser radar according to claim 4, it is characterised in that: the reception device
It (3) include optical filter (31), the optical filter (31) is set to the receiving device (32) towards the one of reflection microscope group (2)
Side, optical filter (31) fitting are installed on the one side of the protective shell (323) far from the APD detector.
6. a kind of reception system for laser radar according to claim 2, it is characterised in that: the reception circuit branch
Frame (33) includes bottom plate (331) and side plate (332), and the bottom plate (331) connect with side plate (332), and the side plate (332) has
First side (3321) and second side (3322), multiple circuit board for receiving (34), which are successively spaced, is installed on first side
Face (3321), the receiving device (32) are installed on the second side (3322).
7. a kind of reception system for laser radar according to claim 6, it is characterised in that: the first side
(3321) the first groove (3323) are equipped with, are offered first through hole (3324) in first groove (3323), described first is logical
Bottom surface and the second side (3322) of the hole (3324) through first groove (3323).
8. a kind of reception system for laser radar according to claim 7, it is characterised in that: the side plate (332)
It is vertical with the bottom plate (331) to connect, and projection and the bottom plate of the second side (3322) in the bottom plate (331)
(331) it is equal to the thickness of the substrate (321) far from the distance between the second side (3322) edges of boards；
The second side (3322) is additionally provided with positioning plate (3325) along the short transverse of the side plate (332).
9. a kind of reception system for laser radar according to claim 6, it is characterised in that: the bottom plate (331)
One end far from the first side (3321) is extended with protrusive board (3311), and the protrusive board (3311) offers multiple for fixing
The mounting hole (3313) for receiving circuit carriers (33)；
The bottom plate (331) is also extended with assembly ear (3312), the assembly ear far from the one end of the second side (3322)
(3312) it offers for fixing the mounting hole (3313) for receiving circuit carriers (33).
10. a kind of reception system for laser radar according to claim 1, it is characterised in that: the reflection microscope group
It (2) include the first reflecting mirror (21) and the second reflecting mirror (22), first reflecting mirror (21) and the second reflecting mirror (22) are opposite
Setting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820881333.3U CN208421218U (en) | 2018-06-08 | 2018-06-08 | A kind of reception system for laser radar |
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| CN201820881333.3U CN208421218U (en) | 2018-06-08 | 2018-06-08 | A kind of reception system for laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108572359A (en) * | 2018-06-08 | 2018-09-25 | 上海禾赛光电科技有限公司 | A kind of reception system for laser radar |
| CN109917354A (en) * | 2019-04-26 | 2019-06-21 | 上海禾赛光电科技有限公司 | Reception device, laser radar and its echo processing techniques of laser radar |
| WO2021035689A1 (en) * | 2019-08-30 | 2021-03-04 | 上海禾赛光电科技有限公司 | Receiving system for lidar, lidar and method for inhibiting ghost lines |
| WO2021068724A1 (en) * | 2019-10-10 | 2021-04-15 | 深圳市速腾聚创科技有限公司 | Data transmission appparatus, lidar and smart device |
-
2018
- 2018-06-08 CN CN201820881333.3U patent/CN208421218U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108572359A (en) * | 2018-06-08 | 2018-09-25 | 上海禾赛光电科技有限公司 | A kind of reception system for laser radar |
| CN109917354A (en) * | 2019-04-26 | 2019-06-21 | 上海禾赛光电科技有限公司 | Reception device, laser radar and its echo processing techniques of laser radar |
| CN109917354B (en) * | 2019-04-26 | 2020-06-02 | 上海禾赛光电科技有限公司 | Receiving device of laser radar, laser radar and echo processing method thereof |
| WO2021035689A1 (en) * | 2019-08-30 | 2021-03-04 | 上海禾赛光电科技有限公司 | Receiving system for lidar, lidar and method for inhibiting ghost lines |
| WO2021068724A1 (en) * | 2019-10-10 | 2021-04-15 | 深圳市速腾聚创科技有限公司 | Data transmission appparatus, lidar and smart device |
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