CN216792446U - Laser radar range finding module and laser radar - Google Patents
Laser radar range finding module and laser radar Download PDFInfo
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- CN216792446U CN216792446U CN202122698160.6U CN202122698160U CN216792446U CN 216792446 U CN216792446 U CN 216792446U CN 202122698160 U CN202122698160 U CN 202122698160U CN 216792446 U CN216792446 U CN 216792446U
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- 238000005192 partition Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 35
- 239000004973 liquid crystal related substance Substances 0.000 claims description 9
- 238000002834 transmittance Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Abstract
The utility model discloses a laser radar ranging module, which comprises: the laser radar ranging module comprises a window sheet, a laser transmitting assembly, a laser receiving assembly and a controller, wherein a partition plate is arranged in a cavity of the window sheet, the cavity is divided into a transmitting cavity and a receiving cavity by the partition plate, a light-transmitting adjusting area is arranged on the partition plate, a matched light-transmitting adjusting piece is configured in the light-transmitting adjusting area, the light-transmitting adjusting piece is connected with the controller, the laser transmitting assembly is arranged in the transmitting cavity, and the receiving assembly is arranged in the receiving cavity.
Description
Technical Field
The utility model relates to the field of laser sensors, in particular to a laser radar ranging module and a laser radar.
Background
The laser ranging module is a core component of the laser radar. The laser ranging module initiatively emits a laser beam, the laser beam irradiates on the target, and the light beam reflected by the target is converged on the detector through the receiving lens. The control circuit calculates the laser emission time and the detector receiving time to obtain the distance data of the target. The laser radar ranging has the characteristics of high precision, high speed and the like, and can obtain enough abundant three-dimensional space information, so that the laser radar ranging has wide application in various directions such as machine vision, unmanned driving, indoor scene scanning reconstruction and the like.
Due to the wide application range of the laser radar, the environmental adaptability of the laser radar is highly required. In general, the use of the laser radar needs to meet the temperature range of-40 degrees to 80 degrees, but a laser light source, a detector and a control circuit in the laser radar are easily influenced by temperature, and have great influence on the ranging accuracy and the ranging precision of the laser radar.
SUMMERY OF THE UTILITY MODEL
The utility model provides a vehicle body structure, this vehicle body structure can reduce the invasion amount of side wall structure among the side impact process, improves vehicle security.
A lidar ranging module, comprising: the laser transmitter comprises a window sheet, a laser transmitting assembly, a laser receiving assembly and a controller, wherein a partition plate is arranged in a cavity of the window sheet, the partition plate divides the cavity into a transmitting cavity and a receiving cavity, a light-transmitting adjusting area is arranged on the partition plate, a matched light-transmitting adjusting piece is configured in the light-transmitting adjusting area, the light-transmitting adjusting piece is connected with the controller, the laser transmitting assembly is arranged in the transmitting cavity, the receiving assembly is arranged in the receiving cavity,
the controller is used for controlling the light transmission adjusting piece to enable the light transmission adjusting area to transmit light when the laser radar ranging module needs zero calibration, so that light beams emitted by the laser radar assembly can penetrate through the light transmission adjusting area, and the light beams are used for zero calibration.
In one optional embodiment, the lidar ranging module further comprises a temperature sensor, the temperature sensor is connected with the controller,
the temperature sensor is used for sensing the temperature of the environment where the laser radar ranging module is located,
and the controller is used for determining whether the laser radar ranging module needs to be subjected to zero calibration or not according to the temperature.
In one optional embodiment, the controller is further configured to control the light transmission adjusting member after the zero point calibration is completed, so that the light beam emitted by the lidar may not transmit through the light transmission adjusting region.
In one optional embodiment, the light-transmitting adjusting member is a liquid crystal light valve, the liquid crystal light valve is connected to the controller, and the controller controls on/off of the liquid crystal light valve to control whether the light-transmitting adjusting region transmits light.
In one optional embodiment, the laser emitting assembly comprises a laser light source and a collimating lens, wherein the laser light source is used for emitting a laser beam; the collimating lens is used for collimating the laser beam to form a parallel beam.
In one optional embodiment, the laser receiving assembly comprises: a receiving lens, a detector;
the receiving lens is used for converging the laser energy reflected by the target object onto the detector.
In one optional embodiment, the light-transmitting adjustment region is elongated.
In an alternative embodiment, the width of the light transmission adjusting area is less than 1mm, and the length of the light transmission adjusting area is equal to the height of the laser light source of the laser emitting assembly.
The application can be when laser radar range unit needs carry out zero calibration, through the adjustment printing opacity adjustment piece, make printing opacity adjustment district printing opacity, at this moment, the light beam of laser radar subassembly transmission can see through printing opacity adjustment district forms the light beam at zero point, carries out zero calibration.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a lidar ranging module according to one embodiment;
FIG. 2 is a schematic diagram illustrating an operation principle of the lidar ranging module during zero calibration according to an embodiment;
FIG. 3 is a schematic diagram illustrating an operation principle of the lidar ranging module in one embodiment when performing ranging;
description of reference numerals:
1 window sheet, 2 laser emitting assembly, 3 laser receiving assembly, 4 controller, 5 partition board, 6 transmission adjusting area, 7 transmission adjusting part, 21 laser light source, 22 collimating lens, 31 detector, 32 receiving lens
Detailed Description
The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.
In one embodiment, a lidar ranging module is provided. FIG. 1 is a schematic diagram of a lidar ranging module according to an embodiment. As shown in fig. 1, the lidar ranging module includes: the laser emission device comprises a window sheet 1, a laser emission assembly 2, a laser receiving assembly 3 and a controller 4, wherein a partition plate 5 is arranged in a cavity of the window sheet, the partition plate 5 divides the cavity into an emission cavity and a receiving cavity, a light transmission adjusting area 6 is arranged on the partition plate 5, the light transmission adjusting area 6 is provided with a matched light transmission adjusting piece 7, the light transmission adjusting piece is connected with the controller, and the laser emission assembly is arranged in the emission cavity;
the controller 4 is used for controlling the light transmission adjusting piece 7 to enable the light transmission adjusting area 6 to transmit light when the laser radar ranging module needs zero calibration, so that light beams emitted by the laser radar emitting assembly can penetrate through the light transmission adjusting area 6, and the light beams are used for zero calibration. Optionally, the laser emitting assembly 2 includes a laser light source 21 and a collimating lens 22, where the laser light source 21 is configured to emit a laser beam; the collimating lens is used for collimating the laser beam to form a parallel beam. Optionally, the laser receiving assembly 3 includes: a receiving lens 32, a detector 31; the receiving lens 32 is used for converging the laser energy reflected by the target object onto the detector 31.
Fig. 2 is a schematic diagram of the operation of the lidar designed by the embodiment when calibration is required. When the laser radar is in the zero calibration mode, the control circuit 4 controls the light transmission adjusting piece to enable the light transmission adjusting area to be in a light transmission state. The laser light source 21 in the laser emitting assembly 2 emits laser light, and the scattered light beam of the laser light penetrates through the light transmission adjusting area to form a zero-point light beam, and the zero-point light beam irradiates the detector 31 of the laser receiving assembly 3. Since the relative positions of the laser light source 21, the detector 31, the light transmission adjusting area 6, the window sheet 1 and the partition 5 are not changed in the using process, the finally received signal is not changed at any moment and is a fixed value, and the finally received signal can be an internal zero point of the laser radar.
Fig. 3 is a schematic diagram of the operation of the lidar ranging module in the embodiment when ranging is performed. When the laser radar measures the distance, the controller 4 controls the light transmission adjusting piece 7 to close the light transmission adjusting area 6, and the light transmission adjusting area 6 is not transparent. The controller 4 controls the laser light source 21 of the laser emitting component 2 to emit light. The laser light source 21 emits laser beams, and the laser beams form collimated beams after passing through the collimating lens 22 of the laser emitting assembly, and the collimated beams penetrate through the window sheet 1 and irradiate on a target object. The reflected beam of the target object passes through the window plate 1 and the receiving lens 32 of the laser receiving assembly 3 to be focused on the receiving probe 31. The detector 31 converts the received optical signal into an electrical signal according to the control signal, and the electrical signal is used for calculating the flight time of the light to obtain the distance value of the target. Optionally, the controller may be an integrated controller with additional functions to an original controller of the laser radar, or may be a controller separately added to the original controller, and the controller is specially used for controlling the light transmission adjusting member. It should be noted that the control signal is generated by the native controller or integrated controller of the lidar and transmitted to the detector.
This scheme can be when laser radar range unit needs carry out zero point calibration, through the adjustment printing opacity adjustment piece makes printing opacity adjustment district printing opacity, at this moment, the light beam of laser radar subassembly transmission can see through printing opacity adjustment district forms the light beam at zero point, carries out zero point calibration.
In one embodiment, the lidar ranging module further comprises a temperature sensor connected with the controller,
the temperature sensor is used for sensing the temperature of the environment where the laser radar ranging module is located,
and the controller is used for determining whether the laser radar ranging module needs to be subjected to zero calibration or not according to the temperature. Alternatively, the temperature sensor may be disposed around the controller for more accurate monitoring of the ambient temperature of the controller.
The temperature is the important factor that influences control circuit, and whether need carry out zero calibration based on the temperature is confirmed laser radar range finding module, and then carries out zero calibration through the scheme of this application embodiment, and this can in time solve the inaccurate problem of range finding precision that leads to by the temperature influence.
In one embodiment, the controller 4 is further configured to control the light transmittance adjusting member after the zero point calibration is completed, so that the light beam emitted by the lidar may not pass through the light transmittance adjusting region.
In one embodiment, the light transmittance adjusting member 7 is a liquid crystal light valve, the liquid crystal light valve is connected to the controller, and the controller controls on/off of the liquid crystal light valve to control whether the light transmittance adjusting region transmits light. In other embodiments, the light transmittance adjusting member may also be a movable shielding plate, and the controller may control the movement of the shielding plate to adjust the light transmittance of the light transmittance adjusting region.
Based on the same inventive concept, in one embodiment, the application further provides a laser radar, and the laser radar comprises the laser radar ranging module in any embodiment.
The preferred embodiments of the present application have been described in detail with reference to the accompanying drawings, however, the present application is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the utility model. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.
In addition, any combination of the various embodiments of the present application is also possible, and the same should be considered as disclosed in the present application as long as it does not depart from the idea of the present application.
Claims (9)
1. The utility model provides a laser radar range finding module which characterized in that includes: the laser transmitter comprises a window sheet, a laser transmitting assembly, a laser receiving assembly and a controller, wherein a partition plate is arranged in a cavity of the window sheet, the partition plate divides the cavity into a transmitting cavity and a receiving cavity, a light-transmitting adjusting area is arranged on the partition plate, a matched light-transmitting adjusting piece is configured in the light-transmitting adjusting area, the light-transmitting adjusting piece is connected with the controller, the laser transmitting assembly is arranged in the transmitting cavity, the receiving assembly is arranged in the receiving cavity,
the controller is used for controlling the light transmission adjusting piece to enable the light transmission adjusting area to transmit light when the laser radar ranging module needs zero calibration, so that light beams emitted by the laser radar assembly can penetrate through the light transmission adjusting area, and the light beams are used for zero calibration.
2. The lidar ranging module of claim 1, further comprising a temperature sensor coupled to the controller,
the temperature sensor is used for sensing the temperature of the environment where the laser radar ranging module is located,
and the controller is used for determining whether the laser radar ranging module needs to be subjected to zero calibration or not according to the temperature.
3. The lidar ranging module of claim 1, wherein the controller is further configured to control the light transmission adjustment member after the zero calibration is completed, so that the light beam emitted by the lidar may not pass through the light transmission adjustment region.
4. The lidar ranging module of any one of claims 1 to 3, wherein the light transmission adjustment member is a liquid crystal light valve, the liquid crystal light valve is connected to the controller, and the controller controls on/off of the liquid crystal light valve to control whether the light transmission adjustment region transmits light.
5. The lidar ranging module of claim 1, wherein the laser transmitter assembly comprises a laser source and a collimating lens, the laser source being configured to emit a laser beam; the collimating lens is used for collimating the laser beam to form a parallel beam.
6. The lidar ranging module of claim 1, wherein the laser receiving assembly comprises: a receiving lens, a detector;
the receiving lens is used for converging the laser energy reflected by the target object onto the detector.
7. The lidar ranging module of claim 1 wherein the light transmissive adjustment region is elongated.
8. The lidar ranging module of claim 7, wherein the light transmission adjustment region has a width of less than 1mm and a length equal to a laser light source of the laser transmitter assembly.
9. Lidar ranging module according to any of claims 1 to 8.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022533028 | 2020-11-05 | ||
| CN2020225330285 | 2020-11-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216792446U true CN216792446U (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122698160.6U Active CN216792446U (en) | 2020-11-05 | 2021-11-05 | Laser radar range finding module and laser radar |
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|---|---|
| CN (1) | CN216792446U (en) |
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2021
- 2021-11-05 CN CN202122698160.6U patent/CN216792446U/en active Active
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Effective date of registration: 20231206 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: 100193 area a, building 12, Zhongguancun Software Park, Haidian District, Beijing Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |