CN216013646U - Laser radar receiving and dispatching module and range finding equipment - Google Patents
Laser radar receiving and dispatching module and range finding equipment Download PDFInfo
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- CN216013646U CN216013646U CN202121800009.2U CN202121800009U CN216013646U CN 216013646 U CN216013646 U CN 216013646U CN 202121800009 U CN202121800009 U CN 202121800009U CN 216013646 U CN216013646 U CN 216013646U
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Abstract
The utility model relates to the technical field of laser radar ranging, and particularly discloses a laser radar transceiving module and ranging equipment. The laser radar transceiving module comprises a first circuit board, a light emitting module and a light receiving module; the first circuit board is provided with a first surface; the light emitting module comprises a light emitting device, a first mounting bracket, a collimating lens and a wedge-shaped prism, wherein the light emitting device is arranged on the first surface; the first mounting bracket is arranged corresponding to the light-emitting device and is provided with a light transmission channel; the collimating lens and the wedge prism are arranged in the light transmission channel and used for deflecting and projecting the light path of the light generated by the light-emitting device at a preset angle; the light receiving module and the light emitting module are spaced and arranged on the same side of the first surface. The laser radar transceiving module and the distance measuring equipment have the characteristics of low debugging difficulty, high measuring precision and stability and the like.
Description
Technical Field
The utility model relates to the technical field of laser radar ranging, in particular to a laser radar transceiving module and ranging equipment.
Background
The principle of the triangular distance measurement is that a laser transmitter, an object to be measured and a receiving system are arranged according to a fixed included angle, the laser transmitter transmits pulse laser, the pulse laser generates diffuse reflection after encountering an obstacle (the object to be measured), and the diffuse reflection is focused on the receiving system (such as a linear image sensor) through a lens, so that a triangular relation is formed, and then a distance value can be calculated through a triangular distance measurement formula. The requirement of triangulation on the stability of the light path is very strict, and the tiny deviation of the light path can bring great influence on the measurement precision.
Most laser triangulation ranging radar all adopts oblique formula structure at present, and it adorns laser emitter and collimating lens in same lens cone, during the assembly, needs allotment laser emitter's position structure and collimating lens's position structure simultaneously, and this can lead to the installation to transfer the degree of difficulty great, and has great uncertainty. In addition, a specially designed support structure is needed to fix the lens, and the optical axis deflection angle of the laser transmitter and the optical axis deflection angle of the receiving system also need to be adjusted by the support structure, so that the measurement accuracy and the stability are difficult to guarantee.
SUMMERY OF THE UTILITY MODEL
One of the purposes of the embodiments of the present invention is to provide a laser radar transceiver module, which aims to solve the problems of great debugging difficulty, difficulty in ensuring measurement accuracy and stability, and the like in the existing laser triangulation ranging.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
a lidar transceiver module comprising:
a first circuit board having a first surface;
the light emitting module comprises a light emitting device, a first mounting bracket, a collimating lens and a wedge prism, wherein the light emitting device is arranged on the first surface; the first mounting bracket is arranged corresponding to the light-emitting device, and a light transmission channel is formed in the first mounting bracket; the collimating lens and the wedge prism are arranged in the light transmission channel and are used for deflecting and projecting the light path of the light generated by the light-emitting device at a preset angle;
a light receiving module spaced from the light emitting module and disposed on the same side of the first surface.
In one possible embodiment, the collimating lens is disposed between the light emitting device and the wedge prism along the optical path, or the wedge prism is disposed between the light emitting device and the collimating lens along the optical path.
In a possible embodiment, the collimating lens and the wedge prism are spaced apart, or the collimating lens and the wedge prism are attached to each other.
In one possible embodiment, the collimating lens includes a first mirror surface and a second mirror surface, wherein the first mirror surface is a plane surface, the second mirror surface is an arc surface, and the first mirror surface is disposed corresponding to the wedge prism.
In a possible embodiment, the inner surface of the first mounting bracket is provided with a connection mounting portion for connecting with the collimating lens and/or the wedge prism;
and the inner surface of the first mounting bracket is parallel to or arranged at an angle with the light emitting direction of the light emitting device.
In one possible embodiment, the first circuit board is detachably connected to the first mounting bracket.
In a possible implementation manner, the lidar transceiver module further comprises a threaded fixing member, the first circuit board is provided with a first connecting portion, the first mounting bracket is provided with a second connecting portion, and the threaded fixing member is in threaded connection with the second connecting portion through the first connecting portion.
In one possible embodiment, the light receiving module includes a light receiving device, a second mounting bracket, and a receiving lens group;
the light receiving device is arranged on the first surface, the second mounting bracket is arranged corresponding to the light receiving device, a light receiving channel is formed in the second mounting bracket, and the receiving lens group is arranged in the light receiving channel.
In a possible implementation manner, the lidar transceiver module further includes a second circuit board and a fixing bracket, the first circuit board and the second circuit board are fixed to the fixing bracket, and the second circuit board are arranged in a different plane.
Another object of the embodiments of the present invention is to provide a distance measuring apparatus, which adopts the following specific technical scheme:
the distance measuring equipment comprises the laser radar transceiving module.
The utility model has the beneficial effects that:
compared with the prior art, according to the laser radar transceiver module provided by the embodiment of the utility model, the light emitting module and the light receiving module are arranged on the first circuit board and are arranged at the same side at intervals, and the collimating lens and the wedge prism in the light emitting module are both arranged in the light transmission channel along the light path, so that the light path can be deflected at a preset angle and projected according to the preset angle, the debugging difficulty of the laser radar transceiver module is effectively reduced, the first circuit board is fixedly arranged at the same side of the light emitting module and the light receiving module, and the measurement precision and the stability of the laser radar transceiver module can be effectively improved. In addition, the collimating lens and the wedge prism are arranged in the light transmission channel, so that the space occupied by the laser radar receiving and transmitting module can be reduced, and the miniaturization development of the laser radar receiving and transmitting module is facilitated; meanwhile, a special support structure is not required to be designed to fix the light emitting module, so that the cost of the laser radar receiving and transmitting module is reduced.
The distance measuring equipment provided by the embodiment of the utility model has the characteristics of low debugging difficulty, high measuring precision and stability and the like due to the adoption of the laser radar receiving and transmitting module.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a lidar transceiver module according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional view of a lidar transceiver module according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a lidar transceiver module according to another embodiment of the present invention;
fig. 4 is a schematic cross-sectional view of a lidar transceiver module according to another embodiment of the present invention;
fig. 5 is a schematic cross-sectional view of a lidar transceiver module according to yet another embodiment of the present invention.
Reference numerals:
10. a laser radar transceiver module;
11. a first circuit board; 110. a first surface;
12. a light emitting module; 121. a light emitting device; 122. a first mounting bracket; 1220. a light transmission channel; 123. a collimating lens; 1231. a first mirror surface; 1232. a second mirror surface; 124. a wedge prism; 1241. a third mirror surface; 1242. a fourth mirror surface;
13. a light receiving module; 131. a light receiving device; 132. a second mounting bracket; 1320. a light receiving channel; 133. the receiving lens group.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 to 5 show schematic structural diagrams of a lidar transceiver module 10 according to an embodiment of the present invention.
Referring to fig. 1 and fig. 2, a lidar transceiver module 10 according to an embodiment of the present invention specifically includes a first circuit board 11, a light emitting module 12, and a light receiving module 13; wherein, the first circuit board 11 has a first surface 110; the light emitting module 12 includes a light emitting device 121, a first mounting bracket 122, a collimating lens 123 and a wedge prism 124, the light emitting device 121 being disposed on the first surface 110; the first mounting bracket 122 is formed with a light transmission channel 1220, and the first mounting bracket 122 is disposed corresponding to the light emitting device 121 such that light generated from the light emitting device 121 enters the light transmission channel 1220; the collimating lens 123 and the wedge prism 124 are disposed in the light transfer channel 1220 for deflecting and projecting the light path of the light generated from the light emitting device 121 by a preset angle; the light receiving module 13 is spaced apart from the light emitting module 12 and disposed on the same side of the first surface 110. In this embodiment, the light emitting module 12 and the light receiving module 13 are mounted on the first circuit board 11, and the light emitting module 12 and the light receiving module 13 are arranged at the same side and spaced from each other, and the collimating lens 123 and the wedge prism 124 in the light emitting module 12 are both arranged in the light transmission channel 1220 along the light path, so that the light path can be deflected by a preset angle and projected according to the preset angle, and the debugging difficulty of the laser radar transceiver module 10 is effectively reduced; because optical transmission module 12 and optical receiving module 13 all install on first circuit board 11, need not debug optical transmission module 12 and optical receiving module 13 respectively, reduced the debugging degree of difficulty, can effectively improve laser radar transceiver module 10's measurement accuracy and stability, simultaneously, can also reduce the space that laser radar transceiver module 10 occupied, be favorable to laser radar transceiver module 10's miniaturized development. In addition, because light emitting module 12 and light receiving module 13 are installed in first circuit board 11 simultaneously for laser radar transceiver module 10 no longer need design special supporting structure and fix light emitting module 12, the angle that light emitting module 12 and light receiving module 13 optical axis deflected also no longer need lean on special designed supporting structure to adjust, is favorable to reducing laser radar transceiver module 10's manufacturing cost.
Referring to fig. 1 and 2, in some embodiments, the collimating lens 123 includes a first mirror 1231 and a second mirror 1232, the first mirror 1231 and the second mirror 1232 are disposed opposite to each other, the first mirror 1231 is a plane, the second mirror 1232 is an arc, and the first mirror 1231 is disposed corresponding to the wedge prism 124.
Referring to fig. 1 and 2, the arrangement of the wedge prism 124 may shorten the distance between each component of the laser radar transceiver module 10 under the condition that the optical path of the laser radar transceiver module 10 is not changed, which is beneficial to reducing the three-dimensional space of the laser radar transceiver module 10, and is beneficial to the miniaturization of the laser radar transceiver module 10. In some embodiments, the wedge prism 124 includes a third mirror 1241 and a fourth mirror 1242, the third mirror 1241 and the fourth mirror 1242 being disposed opposite each other, the third mirror 1241 and the fourth mirror 1242 both being planar, and the third mirror 1241 and the fourth mirror 1242 being disposed at an angle, the third mirror 1241 and the first mirror 1231 being disposed opposite each other.
Referring to fig. 1 and 2, in some embodiments, the collimating lens 123 and the wedge prism 124 are attached to each other, and the collimating lens 123 is disposed between the light emitting device 121 and the wedge prism 124 along the light path. When the collimating lens 123 and the wedge prism 124 are disposed in this manner, the third mirror 1241 and the first mirror 1231 are opposite to each other and attached to each other, and the collimating lens 123 and the wedge prism 124 may be adhesively bonded. Of course, the collimating lens 123 and the wedge prism 124 are not limited to the adhesive bonding connection, and the connection may be achieved by other means. At this time, the laser emitted from the light emitting device 121 is collimated into approximately parallel light by the collimating lens 123, and the optical axis of the optical path is deflected by a certain angle by the wedge prism 124, so that the light emitted from the wedge prism 124 is emitted in a manner of deflecting by a certain angle with the optical axis emitted by the light emitting device 121, thereby achieving the purpose of emitting the system. The light beam that shoots out directly through collimating lens 123 is perpendicular to the first mirror surface 1231 of collimating lens 123, and then jets into wedge prism 124 with the third mirror surface 1241 that is perpendicular to wedge prism 124, because collimating lens 123 and wedge prism 124 laminate each other, first mirror surface 1231 and third mirror surface 1241 coincide completely, no longer need debug respectively to both, reduced laser radar transceiver module 10's the debugging degree of difficulty, improved measuring stability simultaneously.
Referring to fig. 1 and 3, in some embodiments, the collimating lens 123 and the wedge prism 124 are attached to each other, and the wedge prism 124 is disposed between the light emitting device 121 and the collimating lens 123 along the optical path. When the collimating lens 123 and the wedge prism 124 are arranged in this way, the third mirror 1241 and the first mirror 1231 are opposite to each other and are attached to each other, the collimating lens 123 and the wedge prism 124 can be bonded by an adhesive, and the arrangement of this structure can realize optical axis deflection and light beam collimation. Of course, the collimating lens 123 and the wedge prism 124 are not limited to the adhesive bonding connection, and the connection may be achieved by other means. The laser emitted by the light emitting device 121 is deflected to the optical axis of the optical path through the wedge prism 124, and is collimated by the collimating lens 123 to be emitted in a manner of approximately parallel light, so as to achieve the purpose of emitting a system. Specifically, the collimating lens 123 and the wedge prism 124 may be deflected as a whole by a certain angle according to a predetermined incident angle of a chief ray, and then the collimating lens 123 and the wedge prism 124 are mounted on the first mounting bracket 122, so that the chief ray incident from the fourth mirror 1242 of the wedge prism 124 is deflected by the third mirror 1241 and then emitted out and enters the collimating lens 123, and a path of the light in the collimating lens 123 completely coincides with an optical axis of the collimating lens 123, thereby achieving the effect of deflecting and collimating the light path.
Referring to fig. 1 and 4, in some embodiments, the collimating lens 123 and the wedge prism 124 are spaced apart, and the wedge prism 124 is disposed between the light emitting device 121 and the collimating lens 123 along the optical path. When the collimating lens 123 and the wedge prism 124 are disposed in this manner, the third mirror 1241 and the first mirror 1231 are opposite to each other with a space therebetween, and are independently connected to the first mounting bracket 122, respectively, to have the functions of deflecting the optical axis and collimating the light beam. At this time, the laser emitted by the light emitting device 121 is deflected to the optical axis of the optical path through the wedge prism 124, and is collimated by the collimating lens 123 to be emitted in an approximately parallel light manner, thereby achieving the purpose of emitting a system. Specifically, according to a predetermined incident angle of the chief ray of the light emitting device 121, it is ensured that the light emitted from the wedge prism 124 and the chief ray emitted from the light emitting device 121 form a deflection angle θ, the light emitted from the third mirror 1241 is perpendicular to the collimating lens 123 and enters the collimating lens 123, and the emergent light collimated by the collimating lens 123 coincides with the optical axis of the collimating lens 123, so that the light path deflection collimation effect is achieved. In the present embodiment, the angle formed by the first mirror 1231 of the collimator lens 123 and the radial direction of the light transmission channel 1220 is also θ.
Referring to fig. 1 and 5, in some embodiments, the collimating lens 123 and the wedge prism 124 are spaced apart, and the collimating lens 123 is disposed between the light emitting device 121 and the wedge prism 124 along the optical path. When the collimating lens 123 and the wedge prism 124 are disposed in this manner, the third mirror 1241 and the first mirror 1231 are opposed to each other with a space therebetween. At this time, the laser emitted by the light emitting device 121 is collimated into approximately parallel light by the collimating lens 123, and then deflected by a certain angle with respect to the optical axis of the optical path by the wedge prism 124, and emitted out in a manner of being deflected by a certain angle with respect to the optical axis emitted by the light emitting device 121, thereby achieving the purpose of an emission system. The light beams collimated by the collimating lens 123 enter the vertical collimating lens 123 through the first mirror 1231 and the third mirror 1241 of the vertical wedge prism 124, and the first mirror 1231 and the third mirror 1241 are parallel to each other, so that the two mirrors can be completely overlapped.
Referring to fig. 1 and 2, in some embodiments, the first mounting bracket 122 is provided with a connection mounting portion (not shown) disposed on an inner surface of the first mounting bracket 122 for connecting with the collimating lens 123 and/or the wedge prism 124, so that the collimating lens 123 and/or the wedge prism 124 can be mounted in the light transmission channel 1220. In some embodiments, the inner surface of the first mounting bracket 122 is disposed parallel to or at an angle with respect to the light emitting direction of the light emitting device 121.
Referring to fig. 1 and 2, in some embodiments, the first circuit board 11 is detachably connected to the first mounting bracket 122. In some embodiments, the lidar transceiver module 10 further includes a threaded fastener (not shown), the first circuit board 11 is provided with a first connecting portion (not shown), the first mounting bracket 122 is provided with a second connecting portion (not shown), and the threaded fastener is threadedly connected to the second connecting portion through the first connecting portion.
Referring to fig. 1 and 2, the light receiving modules 13 and the light emitting modules 12 are dispersedly disposed on the first circuit board 11, which is beneficial to eliminating stress generated by the light receiving modules 13 and the light emitting modules 12 due to the superposition combination of respective components and displacement risk generated by the combination of the components, and is beneficial to improving the structural accuracy and structural stability of the lidar transceiver module 10. In some embodiments, the light receiving module 13 includes a light receiving device 131, a second mounting bracket 132, and a receiving mirror group 133; wherein the light receiving device 131 is disposed on the first surface 110; the second mounting bracket 132 is formed with a light receiving channel 1320, the second mounting bracket 132 is disposed corresponding to the light receiving device 131 so that light can enter the light receiving module 13 along the light receiving channel 1320 and be received by the light receiving device 131, and the receiving mirror group 133 is disposed in the light receiving channel 1320.
Referring to fig. 1 and 2, in some embodiments, the lidar transceiver module 10 further includes a second circuit board (not shown) and a fixing bracket (not shown), the first circuit board 11 and the second circuit board are fixed to the fixing bracket, and the second circuit board are disposed on different surfaces. For example, in some embodiments, the fixing bracket has a third surface (not shown), a fourth surface (not shown), a fifth surface (not shown), and a sixth surface (not shown), wherein the third surface and the fourth surface are disposed opposite to each other, the fifth surface and the sixth surface respectively extend from the third surface to the fourth surface and are respectively connected to the fourth surface, the second circuit board is disposed on the sixth surface, the first circuit board 11 is disposed on the fourth surface, and the light emitting modules 12 and the light receiving modules 13 on the first circuit board 11 are disposed in parallel and spaced apart from each other on the fifth surface and extend toward the third surface. Of course, the different surfaces of the first circuit board 11 and the second circuit board are not limited to the sixth surface and the fourth surface, and the first circuit board 11 may be disposed on the third surface and the second circuit board may be disposed on the sixth surface; alternatively, the first circuit board 11 is provided on the fifth surface, the second circuit board is provided on the third surface, and so on. In some embodiments, the second circuit board is a communications circuit board.
Based on the lidar transceiver module 10 provided in the embodiment of the present invention, an embodiment of the present invention further provides a ranging apparatus, which includes the lidar transceiver module 10. Because laser radar transceiver module 10 has characteristics such as the debugging degree of difficulty is low, the structure precision is high and stability is good, and the debugging degree of difficulty is also lower when the range unit uses to also have higher measurement accuracy and stability, thereby can make range unit have longer life.
The above is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A laser radar transceiver module, comprising:
a first circuit board having a first surface;
the light emitting module comprises a light emitting device, a first mounting bracket, a collimating lens and a wedge prism, wherein the light emitting device is arranged on the first surface; the first mounting bracket is arranged corresponding to the light-emitting device, and a light transmission channel is formed in the first mounting bracket; the collimating lens and the wedge prism are arranged in the light transmission channel and are used for deflecting and projecting the light path of the light generated by the light-emitting device at a preset angle;
a light receiving module spaced from the light emitting module and disposed on the same side of the first surface.
2. The lidar transceiver module of claim 1, wherein the collimating lens is optically positioned between the light emitting device and the wedge prism or the wedge prism is optically positioned between the light emitting device and the collimating lens.
3. The lidar transceiver module of claim 2, wherein the collimating lens and the wedge prism are spaced apart, or wherein the collimating lens and the wedge prism are attached to each other.
4. The lidar transceiver module of claim 3, wherein the collimating lens comprises a first mirror surface and a second mirror surface, wherein the first mirror surface is a planar surface, the second mirror surface is an arcuate surface, and the first mirror surface is disposed corresponding to the wedge prism.
5. The lidar transceiver module of any of claims 1 to 4, wherein an inner surface of the first mounting bracket is provided with a connection mounting portion for connection with the collimating lens and/or the wedge prism;
and the inner surface of the first mounting bracket is parallel to or arranged at an angle with the light emitting direction of the light emitting device.
6. The lidar transceiver module of any of claims 1 to 4, wherein the first circuit board is removably coupled to the first mounting bracket.
7. The lidar transceiver module of claim 6, further comprising a threaded fastener, wherein the first circuit board is provided with a first connection portion, wherein the first mounting bracket is provided with a second connection portion, and wherein the threaded fastener is threadedly coupled to the second connection portion via the first connection portion.
8. The lidar transceiver module of any of claims 1 to 4, wherein the light receiving module comprises a light receiving device, a second mounting bracket, and a set of receiver mirrors;
the light receiving device is arranged on the first surface, the second mounting bracket is arranged corresponding to the light receiving device, a light receiving channel is formed in the second mounting bracket, and the receiving lens group is arranged in the light receiving channel.
9. The lidar transceiver module of any of claims 1-4, further comprising a second circuit board and a mounting bracket, wherein the first circuit board and the second circuit board are mounted to the mounting bracket and the second circuit board are disposed on opposite sides.
10. A ranging apparatus comprising a lidar transceiver module according to any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121800009.2U CN216013646U (en) | 2021-08-03 | 2021-08-03 | Laser radar receiving and dispatching module and range finding equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121800009.2U CN216013646U (en) | 2021-08-03 | 2021-08-03 | Laser radar receiving and dispatching module and range finding equipment |
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| CN216013646U true CN216013646U (en) | 2022-03-11 |
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| CN202121800009.2U Active CN216013646U (en) | 2021-08-03 | 2021-08-03 | Laser radar receiving and dispatching module and range finding equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114660580A (en) * | 2022-04-06 | 2022-06-24 | 惠州越登智能科技有限公司 | Debugging device and method for laser radar receiving light path |
| WO2024120387A1 (en) * | 2022-12-05 | 2024-06-13 | Hesai Technology Co., Ltd. | Opto-mechanical component of lidar and lidar |
| WO2024125599A1 (en) * | 2022-12-14 | 2024-06-20 | Hesai Technology Co., Ltd. | Lidar and alignment method of the lidar |
-
2021
- 2021-08-03 CN CN202121800009.2U patent/CN216013646U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114660580A (en) * | 2022-04-06 | 2022-06-24 | 惠州越登智能科技有限公司 | Debugging device and method for laser radar receiving light path |
| CN114660580B (en) * | 2022-04-06 | 2023-11-24 | 深圳玩智商科技有限公司 | Laser radar receiving light path debugging device and method |
| WO2024120387A1 (en) * | 2022-12-05 | 2024-06-13 | Hesai Technology Co., Ltd. | Opto-mechanical component of lidar and lidar |
| WO2024125599A1 (en) * | 2022-12-14 | 2024-06-20 | Hesai Technology Co., Ltd. | Lidar and alignment method of the lidar |
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