CN210119561U

CN210119561U - Laser radar

Info

Publication number: CN210119561U
Application number: CN201920247312.0U
Authority: CN
Inventors: 文少剑; 刘猛
Original assignee: Shenzhen JPT Optoelectronics Co Ltd
Current assignee: Shenzhen JPT Optoelectronics Co Ltd
Priority date: 2019-02-27
Filing date: 2019-02-27
Publication date: 2020-02-28
Anticipated expiration: 2029-02-27

Abstract

The present application relates to a laser radar. The laser radar includes a turntable and a first laser group. The turntable includes a first surface. The first laser group includes a plurality of lasers. The plurality of lasers are arranged on the first surface at intervals. And in the laser radar installation and debugging process, the plurality of lasers are attached to the first surface. The turntable provides a horizontal mounting surface for the plurality of lasers. The installation personnel can use the first surface as a supporting surface to install and debug the plurality of lasers. The turntable provides a mounting plane for the plurality of lasers, thereby avoiding suspended operation and facilitating the installation and debugging of the laser radar.

Description

Laser radar

Technical Field

The application relates to the technical field of laser, in particular to a laser radar.

Background

With the development of laser technology, laser scanning technology is more and more widely applied to the fields of measurement, traffic, driving assistance, unmanned aerial vehicles, mobile robots and the like. The laser can receive and transmit laser light. By measuring the time difference of the laser, the distance to the obstacle can be measured.

The range plane of the laser is related to the emission angle of the laser. The laser emitting angles are different, the scanning planes are different, and the measuring ranges of the lasers are different. Existing multiline lidar includes multiple lasers. The plurality of lasers are vertically arrayed on the vertical cambered surface of the rotating shaft. An installer needs to install and debug a plurality of lasers in a hanging manner by arms, so that the existing multi-line laser radar is difficult to install and debug.

SUMMERY OF THE UTILITY MODEL

Therefore, the laser radar is needed to solve the problems that a plurality of lasers of the laser radar are mounted on the arc surface in a suspended mode and are difficult to mount and debug.

A laser radar includes a turntable and a first laser group. The turntable includes a first surface. The first laser group includes a plurality of lasers. The plurality of lasers are arranged on the first surface at intervals. The laser includes a base. The base includes a bottom surface. The bottom surface is attached to the first surface. The emitting direction of the laser and the included angle of the bottom surface are the emitting angle of the laser, and the emitting angle of the laser is different.

In one embodiment, the plurality of annular arrays of lasers are arranged inside the periphery of the turntable.

In one embodiment, the emission angles of the plurality of lasers arranged in sequence inside the periphery of the turntable are in an arithmetic progression.

In one embodiment, the opposite extensions of the emission directions of the plurality of lasers intersect the rotational axis of the turntable.

In one embodiment, the lidar further includes a first circuit board. The first circuit board is arranged between the rotary disc and the first laser group, is electrically connected with the lasers and is used for controlling the lasers.

In one embodiment, the carousel further comprises a second surface opposite the first surface. The laser radar further comprises a second laser group, and the second laser group is symmetrically arranged on the second surface relative to the rotary table.

In one embodiment, the carousel further comprises a second circuit board. The second circuit board is arranged between the rotary disc and the second laser group.

In one embodiment, the turntable comprises a hollow inner ring for arranging the drive means.

In one embodiment, the laser further comprises a transmitting module. The transmitting module is arranged on the base. The emitting module includes an emitting surface, and an emitting direction of the laser is perpendicular to the emitting surface.

In one embodiment, the laser further comprises a receiving module. The receiving module is arranged on the base. The receiving module includes a receiving surface that is parallel to the emitting surface.

In one embodiment, the emitting module includes an emitting anode and an emitting cathode. The laser also includes a first anode and a first cathode. The first positive electrode and the first negative electrode are laid on the base. A first isolation region is arranged between the first anode and the first cathode. The first positive electrode is connected with the emission positive electrode, and the first negative electrode is connected with the emission negative electrode.

In one embodiment, the receiving module includes a receiving anode and a receiving cathode. The laser also includes a second anode and a second cathode. The second positive pole and the second negative pole are laid on the base, and a second isolation area is arranged between the second positive pole and the second positive pole. The second positive electrode is connected with the receiving positive electrode, and the second negative electrode is connected with the receiving negative electrode.

In one embodiment, the base further comprises a top surface opposite the bottom surface. The emitting module is arranged on the top surface.

In one embodiment, the base further comprises a side surface sandwiched between the top surface and the bottom surface. The side surface is connected with the top surface and the bottom surface. The receiving module is arranged on the side face.

In one embodiment, the emitting surface protrudes the side face by 200 um.

The application provides laser radar includes carousel and first laser group. The turntable includes a first surface. The first laser group includes a plurality of lasers. The plurality of lasers are arranged on the first surface at intervals. The turntable provides a horizontal mounting surface for the plurality of lasers. And in the laser radar installation and debugging process, the plurality of lasers are attached to the first surface. The installation personnel can use the first surface as a supporting surface to install and debug the plurality of lasers. The turntable provides mounting surfaces for the plurality of lasers, suspension operation is avoided, and the laser radar is convenient to mount and debug.

Drawings

Fig. 1 is a schematic overall structural diagram of the lidar provided in an embodiment of the present application;

FIG. 2 is a side view of the laser radar provided in one embodiment of the present application;

FIG. 3 is an enlarged partial view of portion A of the laser provided in one embodiment of the present application;

fig. 4 is a schematic view of the overall structure of the laser provided in an embodiment of the present application.

Reference numerals:

laser radar 10

Turntable 20

First surface 201

Axle center 202

Second surface 203

Inner ring 204

First laser group 30

Laser 40

First positive electrode 401

First cathode 402

First isolation region 403

Second positive electrode 404

Second cathode 405

Second isolation region 406

Base 410

Bottom surface 411

Top surface 412

Side 413

Emission angle theta

Transmitting module 420

Emitting surface 421

Emitting anode 422

Emissive cathode 423

Receiving module 430

Receiving surface 431

Receiving anode 432

Receiving cathode 433

First circuit board 50

Second laser group 60

Second circuit board 70

Conducting wire 80

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and fig. 2, an embodiment of the present disclosure provides a laser radar 10, where the laser radar 10 includes a turntable 20 and a first laser group 30, the turntable 20 includes a first surface 201, the first laser group 30 includes a plurality of lasers 40, the plurality of lasers 40 are disposed at intervals on the first surface 201, the lasers 40 include a base 410, the base 410 includes a bottom surface 411, the bottom surface 411 is attached to the first surface 201, an included angle between an emission direction α of the laser 40 and the bottom surface 411 is an emission angle θ of the laser 40, and the emission angles θ of the different lasers 40 are different.

The present application provides the lidar 10. The plurality of lasers 40 are spaced apart from the first surface 201. The turntable 20 provides a horizontal mounting surface for the plurality of lasers 40. During the installation and debugging process of the laser radar 10, the plurality of lasers 40 are attached to the first surface 201 through the base 410. The turntable 20 provides a horizontal mounting surface for the plurality of lasers 40. An installer can install and adjust the plurality of lasers 40 using the first surface 201 as a support plane. The turntable 20 provides a mounting plane for the plurality of lasers 40, which avoids suspended operation and facilitates installation and debugging of the laser radar 10.

The turntable 20 is used for connecting with a driving device. The turntable 20 is driven and rotated by the driving means. The turntable 20 provides a mounting platform for the first laser group 30. The shape of the turntable 20 may be square, circular or other irregular shapes in cross-section. In one embodiment, the turntable 20 has a circular cross-sectional shape, and the rotational moment at the edge is the same when rotating, reducing drag. The material of the turntable 20 can be alloy steel, plastic or polyurethane. The diameter range of the turntable 20 is 100mm-500mm, which not only can provide enough installation plane, but also can reduce the range of laser scanning dead angle.

The first laser group 30 comprises a plurality of lasers 40. The plurality of lasers 40 may emit and receive laser light. The laser 40 emits laser light at a set time, and the laser light is reflected when it encounters an obstacle. The emitted laser light is received by the laser 40. The distance of the obstacle can be calculated by calculating the angle of the laser and the laser difference between the laser and the laser. The plurality of lasers 40 may emit laser light simultaneously or at intervals. The lasers 40 may emit laser light at the same frequency or different frequencies.

The plurality of lasers 40 are spaced apart from the first surface 201, the plurality of lasers 40 emit laser light in a diverging manner, the plurality of lasers 40 are spaced apart from the first surface 201, and it is ensured that the emitting directions α of the plurality of lasers 40 are different, in the above embodiment, the plurality of lasers 40 may be arranged in a radial direction of the turntable 20, and the emitting directions α of the plurality of lasers 40 are different.

Referring to fig. 3, the laser 40 is mounted on the first surface 201 through the base 410, so that the transceiver of the laser 40 can be prevented from being directly mounted and fixed on the tray 20, and the probability of damage to the transceiver is reduced. The bottom surface 411 of the base 410 is attached to the first surface 201. During the installation of the laser radar 10, the first surface 201 is used as an installation plane. The first surface 201 provides the same mounting plane for the plurality of lasers 40, the mounting reference is the same, and the mounting precision is improved. The first surface 201 also provides a horizontal mounting support point for the plurality of lasers 40, avoiding overhead operations, and facilitating installation and debugging of the lidar 10.

In one embodiment, the plurality of lasers 40 are arranged in an annular array inside the periphery of the turntable 20. The number of the plurality of lasers 40 is 4, and the lasers are respectively arranged on the inner side of the periphery of the turntable 20. The plurality of lasers 40 rotate 360 with the turntable 20. The laser emitted from the laser 40 gradually expands outward as a spiral wave to form a scanning surface. The laser light will reflect back when encountering an obstacle. The time difference of the laser can be known by calculating the rotation speed of the turntable 20. The propagation speed of the laser in the air is 300 m/s. The product of time and velocity is the optical path.

When the emission angles θ of the plurality of lasers 40 are the same, the scanning planes of the lasers are the same. The emission angles θ of the plurality of lasers 40 are different, and different scanning planes can be formed. The plurality of scan planes form a scan space. In one embodiment, the emission angles θ of the plurality of lasers 40 sequentially arranged inside the periphery of the turntable 20 are in an arithmetic progression. The scanning planes of the plurality of lasers 40 are spaced at the same distance. The number of the plurality of lasers 40 is four, and the scanning angles of the plurality of lasers 40 are 1 °, 3 °, 5 °, and 7 °, and the scanning angles may be set as needed.

In the above embodiment, the opposite extensions of the emitting directions α of the plurality of lasers 40 intersect with the rotation axis 202 of the turntable 20, the source points of the scanning planes of the plurality of lasers 40 converge at the axis 202, so as to avoid overlapping and loss of the reflected laser light due to intersection of the plurality of scanning planes.

In one embodiment, the lidar 10 further includes a first circuit board 50. The first circuit board 50 is disposed between the turntable 20 and the first laser group 30, electrically connected to the plurality of lasers 40, and configured to control the plurality of lasers 40.

The first circuit board 50 is a circuit main control module, and can control the emission time of the plurality of lasers 40 and the rotation speed of the driving device. The shape of the one circuit board 50 is the same as the shape of the first surface 201. The first circuit board 50 is disposed on the first surface 201, and the space volume is reduced. The first circuit board 50 is directly connected with the plurality of lasers 40, so that the wires are saved, and the resources are saved.

In one embodiment, the turntable 20 further comprises a second surface 203 opposite the first surface 201. The lidar 10 further comprises a second laser group 60. The second set of lasers 60 is disposed on the second surface 203 symmetrically with respect to the turret 20. The second laser group 60 increases the sweep range of the lidar 10.

The plurality of lasers 40 of the second laser group 60 are symmetrical to the plurality of lasers 40 of the first laser group 30 with respect to the turntable 20. The emission angles θ of the plurality of lasers 40 of the second laser group 60 are in an arithmetic progression. The scanning planes of the plurality of lasers 40 are spaced at the same distance. The number of the plurality of lasers 40 is four, and the scanning angles of the plurality of lasers 40 are 1 °, 3 °, 5 °, and 7 °, and the scanning angles may be set as needed.

The opposite extension lines of the emitting directions α of the lasers 40 of the second laser group 60 intersect with the rotating shaft center 202 of the turntable 20, the source points of the scanning planes of the lasers 40 are collected at the shaft center 202, and the intersection of the scanning planes and the confusion of the reflection time are avoided.

In one embodiment, the turntable 20 further includes a second circuit board 70. The second circuit board 70 is disposed between the turntable 20 and the second laser group 60.

The second circuit board 70 is a circuit main control module, and can control the emission time of the plurality of lasers 40 and the rotation speed of the driving device. The shape of the one circuit board 50 is the same as the shape of the first surface 201. The second circuit board 70 is disposed on the second surface 203, so that the space volume is reduced. The second circuit board 70 is directly connected with the plurality of lasers 40, so that the wires and the resources are saved.

In one embodiment, the turntable 20 includes a hollow inner ring 204 for positioning the drive means.

The drive means may be a motor. The rotating shaft of the motor is mounted on the hollow inner ring 204 through a bearing. The driving device drives the turntable 20 to rotate together. The plurality of lasers 40 of the first and

second laser groups

30, 60 rotate with the turntable 20.

Referring also to fig. 4, in one embodiment, the laser 40 further includes an emitting module 420, the emitting module 420 is disposed on the base 410, the emitting module 420 includes an emitting surface 421, and an emitting direction α of the laser 40 is perpendicular to the emitting surface 421.

The emitting module 420 is used for emitting laser, and the emitting module 420 comprises an emitting port which is arranged on the emitting surface 421, and the emitting direction α of the laser is perpendicular to the emitting surface 421, so that the scanning area of the laser is ensured to be maximum.

In one embodiment, the laser 40 further comprises a receiving module 430. The receiving module 430 is disposed on the base 410. The receiving module 430 includes a receiving surface 431. The receiving surface 431 is parallel to the emitting surface 421.

The receiving module 430 is configured to receive laser light. The receiving module 430 includes a receiving port, and the receiving port is disposed on the receiving module 430. The receiving surface 431 is parallel to the transmitting surface 421, so that the receiving module 430 has a larger receiving range and avoids signal loss.

The structure connection mode of the transmitting module 420 and the base 410 can be welding, bonding or plugging. In one embodiment, the transmitter module 420 is structurally coupled to the base 410 to facilitate installation and debugging.

In one embodiment, the transmitting module 420 includes a transmitting anode 422 and a transmitting cathode 423. The laser 40 further comprises a first positive electrode 401 and a first negative electrode 402. The first positive electrode 401 and the first negative electrode 402 are laid on the base 410. A first isolation region 403 is arranged between the first positive electrode 401 and the first negative electrode 402, so as to prevent the first positive electrode 401 and the first negative electrode 402 from being short-circuited and burning components. The first positive electrode 401 is connected to the emitting positive electrode 422, and the first negative electrode 402 is connected to the emitting negative electrode 423.

The transmitting module 420 receives a control signal through the first positive pole 401 and the first negative pole 402. The first positive electrode 401 and the emitting positive electrode 422 may be connected by a wire 80. The first negative electrode 402 and the emitting negative electrode 423 may be connected by the wire 80. The wire 80 is a gold wire, which has good conductivity to avoid signal loss. The connection form is welding, and smoothness of signal transmission is guaranteed. The first positive electrode 401 and the first negative electrode 402 are formed by spraying a gold thin layer on the surface of the base 410, so that the operation is simple and the space is saved.

In one embodiment, the receiving module 430 includes a receiving positive pole 432 and a receiving negative pole 433. The laser 40 further comprises a second anode 404 and a second cathode 405. The second positive electrode 404 and the second negative electrode 405 are laid on the base 410, and a second isolation region 406 is disposed between the second positive electrode 404 and the second positive electrode 404. The second positive electrode 404 is connected to the receiving positive electrode 432, and the second negative electrode 405 is connected to the receiving negative electrode 433.

The second isolation region 406 prevents the second anode 404 and the second cathode 405 from being short-circuited to burn out components. The second anode 404 and the second cathode 405 are sprayed with a gold thin layer on the surface of the base 410, so that the operation is simple and the space is saved.

The receiving module 430 receives a control signal through the second positive electrode 404 and the second negative electrode 405, and outputs the received laser signal. The second positive electrode 404 and the receiving positive electrode 432 may be connected by the wire 80. The second negative electrode 405 and the receiving negative electrode 433 may also be connected by the wire 80. The wire 80 is a gold wire, which has good conductivity to avoid signal loss. The connection form is welding, and smoothness of signal transmission is guaranteed.

In one embodiment, the base 410 further includes a top surface 412 opposite the bottom surface 411. The emitting module 420 is disposed on the top surface 412 to prevent obstacles from blocking the emitting port.

In one embodiment, the base 410 further includes a side 413 sandwiched between the top surface 412 and the bottom surface 411. The side surfaces 413 are connected to the top surface 412 and the bottom surface 411. The surface condition of the obstacle is different, and the angle of laser reflection is different. The receiving module 430 is disposed on the side 413, which ensures that the receiving module 430 has a larger receiving angle so as to receive all the reflected laser light.

In one embodiment, the emitting surface 421 protrudes the side 413200um, so as to effectively prevent the side 413 from shielding the emitting port, so that the laser can be emitted smoothly.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A lidar, comprising:

a turntable (20), the turntable (20) comprising a first surface (201);

a first laser group (30), wherein the first laser group (30) comprises a plurality of lasers (40), the plurality of lasers (40) are arranged on the first surface (201) at intervals, the lasers (40) comprise a base (410), the base (410) comprises a bottom surface (411), and the bottom surface (411) is attached to the first surface (201);

the included angle between the emission direction of the laser (40) and the bottom surface (411) is the emission angle of the laser (40), and the emission angles of the different lasers (40) are different.

2. Lidar according to claim 1, wherein said plurality of lasers (40) are arranged in an annular array inside a periphery of said turret (20).

3. Lidar according to claim 2, wherein the emission angles of said plurality of lasers (40) arranged in sequence inside the periphery of said turret (20) are in an arithmetic progression.

4. Lidar according to claim 1, wherein a reverse extension of the emission direction of said plurality of lasers (40) intersects the rotational axis (202) of said turret (20).

5. The lidar of claim 1, further comprising:

the first circuit board (50) is arranged between the rotary table (20) and the first laser group (30), is electrically connected with the lasers (40) and is used for controlling the lasers (40).

6. Lidar according to claim 1, wherein said turret (20) further comprises a second surface (203) opposite said first surface (201), said lidar (10) further comprising:

a second set of lasers (60), said second set of lasers (60) being symmetrically disposed on said second surface (203) with respect to said turret (20).

7. Lidar according to claim 6, wherein said turret (20) further comprises:

a second circuit board (70) disposed between the turntable (20) and the second laser group (60).

8. Lidar according to claim 1, wherein said turntable (20) comprises a hollow inner ring (204) for providing a drive means.

9. Lidar according to claim 1, wherein said laser (40) further comprises:

a transmitting module (420) disposed at the base (410), the transmitting module (420) including an emitting surface (421), an emitting direction of the laser (40) being perpendicular to the emitting surface (421).

10. Lidar of claim 9, wherein said laser (40) further comprises:

a receiving module (430) disposed at the base (410), the receiving module (430) including a receiving surface (431), the receiving surface (431) being parallel to the emitting surface (421).

11. Lidar according to claim 10, wherein said transmitting module (420) comprises a transmitting positive pole (422) and a transmitting negative pole (423);

the laser (40) further comprises a first positive electrode (401) and a first negative electrode (402) which are laid on the base (410), and a first isolation region (403) is arranged between the first positive electrode (401) and the first negative electrode (402);

the first positive pole (401) is connected to the emitting positive pole (422), and the first negative pole (402) is connected to the emitting negative pole (423).

12. Lidar according to claim 11, wherein said receiving module (430) comprises a receiving positive pole (432) and a receiving negative pole (433);

the laser (40) further comprises a second anode (404) and a second cathode (405), the second anode (404) and the second cathode (405) are laid on the base (410), and a second isolation region (406) is arranged between the second anode (404) and the second anode (404);

the second positive pole (404) is connected to the receiving positive pole (432), and the second negative pole (405) is connected to the receiving negative pole (433).

13. Lidar of claim 10, wherein said base (410) further comprises a top surface (412) opposite said bottom surface (411), said transmitting module (420) being disposed at said top surface (412).

14. Lidar according to claim 13, wherein said base (410) further comprises a side surface (413) interposed between said top surface (412) and said bottom surface (411), said side surface (413) being connected to said top surface (412) and said bottom surface (411), said receiving module (430) being arranged at said side surface (413).

15. Lidar according to claim 14, wherein said emitting surface (421) protrudes 200um beyond said side surface (413).