CN218003715U

CN218003715U - Laser radar

Info

Publication number: CN218003715U
Application number: CN202222160473.0U
Authority: CN
Inventors: 杜海朝; 周安都; 杨路
Original assignee: Dongguan Liteng Innovation Electronics Co ltd
Current assignee: Dongguan Liteng Innovation Electronics Co ltd
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2022-12-09
Anticipated expiration: 2032-08-17

Abstract

The utility model relates to a laser radar technical field discloses a laser radar. The laser radar includes a housing, a transceiver unit, and a first reflecting mirror. The shell is provided with a through hole; the receiving and transmitting unit is positioned in the shell and comprises a laser transmitter and a laser receiver; first speculum is located the casing, the plane of reflection of seting up light trap and first speculum on the first speculum sets up towards the through-hole, laser emitter is located one side that first speculum carried on the back in the through-hole, first speculum is the angle setting with laser emitter's central optical axis, laser emitter's emergent light can loop through light trap and through-hole and jet out the casing, with the outside object to be measured of directive casing, the reverberation that comes from the object to be measured can pass the through-hole and jet into the casing and reachs laser receiver through the reflection of first speculum. The utility model discloses reduce the required part of laser radar assembly, reduce laser radar's volume and weight, do benefit to reduce cost and assembly size error, improve and survey the precision.

Description

Laser radar

Technical Field

The utility model relates to a laser radar technical field especially relates to a laser radar.

Background

With the development of science and technology, unmanned automobiles are gradually receiving attention from people. The unmanned vehicle acquires surrounding environment information through various sensors mounted on the vehicle, and the sensors commonly used comprise laser radars. The traditional laser radar comprises a lens assembly, a transmitting assembly and a receiving assembly, wherein the lens assembly, the receiving assembly and the transmitting assembly are respectively processed and then assembled after being respectively processed. In order to facilitate transportation and transfer, a set of shell is arranged outside the lens assembly, the receiving assembly and the transmitting assembly during processing, so that the size and the weight of the laser radar are large, and the cost is high; and when laser radar assembles, still need consider laser emitter and correspond shell, laser receiver and correspond the shell and three shell isotructure between the size, the size chain is longer, and accumulative assembly size error is great, reduces laser radar's detection precision, reduces the practicality.

Based on this, there is a need for a laser radar to solve the above mentioned problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a laser radar reduces the required part of laser radar assembly, reduces laser radar's volume and weight, does benefit to reduce cost and accumulated assembly dimensional error, improves laser radar's detection precision.

To achieve the purpose, the utility model adopts the following technical proposal:

a lidar comprising:

the shell is provided with a through hole;

the receiving and transmitting unit is positioned in the shell and comprises a laser transmitter and a laser receiver;

the first reflector is positioned in the shell, a light hole is formed in the first reflector, a reflecting surface of the first reflector faces the through hole, the laser emitter is positioned on one side, back to the through hole, of the first reflector, the first reflector and a central optical axis of the laser emitter are arranged in an angle mode, emergent light of the laser emitter can sequentially pass through the light hole and the through hole to be emitted out of the shell to irradiate towards an object to be detected outside the shell, and reflected light from the object to be detected can penetrate through the through hole to be emitted into the shell and reach the laser receiver through reflection of the first reflector.

As an optional technical solution of the lidar, the lidar further includes a second reflecting mirror, a reflecting surface of the second reflecting mirror is disposed toward a reflecting surface of the first reflecting mirror, and the reflected light of the first reflecting mirror can reach the laser receiver by reflection of the second reflecting mirror.

As an optional technical scheme of the laser radar, an included angle between the second reflecting mirror and a central optical axis of the laser receiver is 45 °.

As an alternative solution to the lidar, the laser transmitter and the laser receiver are located on the same side of the first reflecting mirror.

As an optional technical solution of the laser radar, the laser transmitter and the laser receiver are respectively located at two opposite sides of the first reflecting mirror.

As an optional technical scheme of the laser radar, an included angle between the first reflecting mirror and a central optical axis of the laser transmitter is 45 °.

As an optional technical scheme of the laser radar, the laser transmitter, the light hole and the through holes are arranged at intervals along a central optical axis of the laser transmitter.

As an optional technical scheme of the laser radar, the laser radar further comprises a collimation shaping assembly, the collimation shaping assembly is arranged in the shell and located between the laser transmitter and the first reflector, the collimation shaping assembly is used for collimating and shaping emergent light of the laser transmitter to form parallel light beams parallel to a central optical axis of the laser transmitter, and the parallel light beams can sequentially pass through the light-transmitting hole and the through hole to be emitted out of the shell.

As an optional technical solution of the laser radar, the laser radar further includes a receiving light shaping component, the receiving light shaping component is disposed in the housing, the reflected light of the first mirror can reach the laser receiver through the receiving light shaping component, and the receiving light shaping component is configured to converge the reflected light of the first mirror.

As an optional technical scheme of the laser radar, the laser radar further comprises a filter lens, the filter lens is arranged in the shell, reflected light of the first reflecting mirror can reach the laser receiver through the filter lens, and the filter lens is used for filtering stray light.

The utility model has the advantages that:

the utility model provides a pair of laser radar, it includes casing, transceiver unit and first speculum. The receiving and dispatching unit sets up in the casing, it sets up the shell alone to have avoided laser emitter and laser receiver, the required part of laser radar assembly has been reduced, laser radar's volume and weight have been reduced, the practicality is improved, also do benefit to reduce cost, and when laser radar assembles, laser emitter and shell have been avoided considering, size chain between laser receiver and shell and two shells and the casing isotructure, do benefit to and reduce the assembly size error of accumulation, do benefit to the detection precision who improves laser radar, the practicality is further improved, and all include laser radar's part in the casing, laser radar's modularization degree has also been improved, the installation of laser radar of being convenient for. In addition, the light trap on the first speculum can guarantee that laser emitter's emergent light can jet out the casing through other reflection configuration reflections not, further does benefit to the part that reduces laser radar, and the plane of reflection of first speculum sets up towards the through-hole, has also realized changing the light path direction of the reverberation that comes from the object that awaits measuring according to shell structure, further does benefit to the volume that reduces laser radar.

Drawings

Fig. 1 is a schematic structural diagram of a laser radar according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a laser radar according to a second embodiment of the present invention.

In the figure:

10. an object to be measured;

1. a housing; 11. a through hole; 12. a first mounting portion; 13. a second mounting portion;

2. a transmitting assembly; 21. a laser transmitter; 3. a receiving component; 31. a laser receiver;

4. a first reflector; 5. a collimating and shaping component; 6. a received light shaping component; 7. a filter;

8. a second mirror.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Example one

The present embodiment provides a laser radar. Specifically, as shown in fig. 1, the lidar includes a housing 1, a transceiver unit, and a first reflecting mirror 4. The shell 1 is provided with a through hole 11; the transceiver unit is positioned in the shell 1, the transceiver unit comprises a transmitting component 2 and a receiving component 3, the transmitting component 2 comprises a laser transmitter 21, and the receiving component 3 comprises a laser receiver 31; first speculum 4 is located casing 1, the plane of reflection of having seted up light trap and first speculum 4 on the first speculum 4 sets up towards through-hole 11, laser emitter 21 is located first speculum 4 one side of 11 of through-hole on the back of the body, first speculum 4 is the angle setting with laser emitter 21's central optical axis, laser emitter 21's emergent light can loop through light trap and through-hole 11 and jet out casing 1, with the outside determinand 10 of directive survey of directive casing 1, the reverberation that comes from determinand 10 can pass through-hole 11 and jet into casing 1 and reachs laser receiver 31 through the reflection of first speculum 4.

In this embodiment, the structures and principles of the laser transmitter 21 and the laser receiver 31 may refer to the prior art, and other structures and principles of the transmitting assembly 2 and the receiving assembly 3 may refer to the prior art, which are not important to protect this embodiment, and are not described herein again.

The present embodiment provides a lidar including a housing 1, a transceiver unit, and a first reflecting mirror 4. The receiving and dispatching unit sets up in casing 1, it sets up the shell alone to have avoided laser emitter 21 and laser receiver 31, the required part of laser radar assembly has been reduced, laser radar's volume and weight have been reduced, the practicality is improved, also do benefit to reduce cost, and when laser radar assembles, laser emitter 21 and shell have been avoided considering, size chain between laser receiver 31 and shell and two shells and casing 1 isotructure, do benefit to and reduce the assembly size error of accumulation, do benefit to the detection precision that improves laser radar, the practicality has further been improved, and all include laser radar's part in casing 1, laser radar's modularization degree has also been improved, the installation of laser radar of being convenient for. In addition, the light trap on first speculum 4 can guarantee that laser emitter 21's emergent light can jet out casing 1 through other reflection configuration reflections not, further does benefit to the part that reduces laser radar, and first speculum 4's plane of reflection sets up towards through-hole 11, has also realized changing the light path direction of the reverberation that comes from object 10 that awaits measuring according to casing 1 structure, further does benefit to the volume that reduces laser radar. For convenience of description, a first direction and a second direction perpendicular to each other are set. In the present embodiment, the central optical axis of the laser transmitter 21 extends in the first direction.

Preferably, first speculum 4 is located between through-hole 11 and laser emitter 21, light trap and through-hole 11 are arranged along first direction interval, laser emitter 21's emergent light can directly pass through light trap and through-hole 11, it can penetrate casing 1 to jet out, the emergent light that realizes laser emitter 21 can not be through the reflection of other structures can jet out casing 1, the possibility that other positions of first speculum 4 sheltered from laser emitter 21's emergent light has also been reduced, the loss of emergent light has been reduced, make it energy concentrate in order to realize the farther detection scanning of surveying laser radar, the demand to laser emitter 21's power has been reduced, do benefit to reduce cost.

In this embodiment, a light hole is formed in the middle of the first reflector 4, and an axis of the light hole may be perpendicular to the first reflector 4 or along the first direction, which is not limited herein.

Specifically, the angle between the first reflecting mirror 4 and the central optical axis of the laser transmitter 21 is 45 °, so that the reflected light from the object to be measured 10 and the reflected light of the first reflecting mirror 4 are vertically arranged. It is understood that the reflected light of the first reflecting mirror 4 formed after the reflected light from the object to be measured 10 is reflected by the first reflecting mirror 4 extends in the second direction.

Preferably, the laser radar further comprises a collimation and shaping assembly 5, the collimation and shaping assembly 5 is arranged in the shell 1 and located between the laser emitter 21 and the first reflecting mirror 4, the collimation and shaping assembly 5 is used for collimating and shaping emergent light of the laser emitter 21 to form parallel light beams parallel to a central optical axis of the laser emitter 21, and the parallel light beams can sequentially exit the shell 1 through the light-transmitting hole and the through hole 11. Because there is the contained angle between the emergent light of laser emitter 21 probably and the central optical axis, collimation shaping subassembly 5 can carry out the collimation and the plastic to above-mentioned emergent light, guarantees to shoot the parallel beam of the light beam of first speculum 4 for being on a parallel with the central optical axis of laser emitter 21, has further reduced the loss of above-mentioned emergent light, makes it energy concentrate in order to realize the detection scanning of laser radar farther distance, has reduced the demand to laser emitter 21's power, does benefit to reduce cost. In this embodiment, the outgoing light of the laser emitter 21 can be reduced in divergence angle after passing through the collimating and shaping component 5, and the energy of the light beam emitted out of the housing 1 is further concentrated.

The structure of the collimation shaping assembly 5 can refer to the prior art, for example, the collimation shaping assembly 5 may include at least one optical lens arranged along the first direction, or the collimation shaping assembly 5 may include a collimating lens and a beam combiner, the collimating lens is used for collimating the plurality of laser beams emitted by the emission assembly 2 to reduce the divergence angle thereof; the beam combiner is used for shaping the plurality of laser beams into linear laser beams or planar laser beams with continuous spot energy, and is not limited herein.

Preferably, the central optical axis of the laser transmitter 21 is parallel to the central optical axis of the laser receiver 31, and the above-mentioned structure is favorable for assembling the laser transmitter 21 and the laser receiver 31 in the housing 1, so as to facilitate the production and processing of the laser radar.

Preferably, the laser radar further comprises a second reflecting mirror 8, the reflecting surface of the second reflecting mirror 8 is arranged towards the reflecting surface of the first reflecting mirror 4, the second reflecting mirror 8 is arranged at an angle with the central optical axis of the laser receiver 31, and the reflected light of the first reflecting mirror 4 can reach the laser receiver 31 through the reflection of the second reflecting mirror 8. The second reflecting mirror 8 is arranged to change the light path direction of the reflected light of the first reflecting mirror 4 according to the structure of the shell 1, and further to arrange the laser receiver 31 according to the structure of the shell 1, thereby reducing the size of the laser radar. It can be understood that the reflected light from the first reflecting mirror 4 forms the reflected light of the second reflecting mirror 8 after being reflected by the second reflecting mirror 8, and the reflected light from the object 10 to be measured forms the reflected light of the second reflecting mirror 8 after being reflected twice by the first reflecting mirror 4 and the second reflecting mirror 8.

Preferably, the laser emitter 21 and the laser receiver 31 are both located on the same side of the first reflecting mirror 4, i.e. on the side of the first reflecting mirror 4 where no reflecting surface is provided. That is, the laser emitter 21 and the laser receiver 31 are located at one end of the housing 1, and the through hole 11 is formed in the side wall of the other end of the housing 1, so that the size of the housing 1 along the first direction can be reduced, and the compactness of the internal parts of the housing 1 can be improved. Moreover, the central optical axis of the laser transmitter 21 and the central optical axis of the laser receiver 31 extend along the first direction, which also facilitates the reduction of the size of the housing 1 along the second direction. In the present embodiment, the laser transmitter 21 and the laser receiver 31 are disposed at an interval in the second direction.

As can be seen from the foregoing, the angle between the first reflecting mirror 4 and the central optical axis of the laser emitter 21 is 45 °. Preferably, the included angle between the second reflecting mirror 8 and the central optical axis of the laser receiver 31 is 45 °, and if the reflected light of the first reflecting mirror 4 can be emitted to the reflecting surface of the second reflecting mirror 8, the first reflecting mirror 4 is arranged in parallel with the second reflecting mirror 8, and the reflecting surface of the first reflecting mirror 4 is arranged opposite to the reflecting surface of the second reflecting mirror 8. Above-mentioned structure sets up, does benefit to and reduces casing 1 along the size of second direction, improves laser radar's compact structure degree, also makes the reverberation of first transmitting mirror 4 and the perpendicular setting of the reverberation of second mirror 8, and the reverberation of second mirror 8 can be followed laser receiver 31's central optical axis directive laser receiver 31, has guaranteed laser receiver 31 and has taken advantage of guaranteeing laser radar's detection precision to the receiving effect of the reverberation of second mirror 8.

Preferably, the lidar further comprises a receiving light shaping component 6, and the receiving light shaping component 6 is arranged in the housing 1 and is positioned between the second reflector 8 and the receiving component 3. The reflected light of the second mirror 8 can reach the laser receiver 31 through the received light shaping member 6, and the received light shaping member 6 is used for condensing the reflected light of the second mirror 8. Because the beam cross-sectional area of the reflected light from the object to be measured 10 is large, the reflected light of the second reflecting mirror 8 can reduce the beam cross-sectional area after passing through the receiving light shaping component 6, the energy of the reflected light of the second reflecting mirror 8 is concentrated, the laser receiver 31 can be ensured to receive all or most of the reflected light of the second reflecting mirror 8, the loss of the reflected light of the second reflecting mirror 8 is further reduced, and the detection precision of the laser radar is ensured.

For example, the receiving light shaping component 6 may include at least one optical lens arranged along the first direction, or include a converging lens, or other structures capable of achieving the effect of converging light beams, which is not limited herein.

Preferably, the lidar further comprises an optical filter 7. The optical filter 7 is placed inside the housing 1 between the receiving light shaping member 6 and the laser receiver 31. The reflected light of the first reflector 4 is reflected by the second reflector 8 and then can reach the laser receiver 31 through the filter 7, and the filter 7 is used for filtering stray light. It can be understood that the laser emitter 21 can emit light to the object to be tested 10 outside the housing 1 after passing through the light-transmitting hole and the through hole 11, and the object to be tested 10 reflects the emitted light of the laser emitter 21 to form reflected light of the object to be tested 10. Ambient light outside the housing 1 may also enter the housing 1 through the through hole 11 simultaneously with the reflected light of the object 10 to be measured. The ambient light is used as stray light, so that the detection result of the laser radar is influenced, and the detection precision of the laser radar is reduced. Therefore, before the reflected light of the second reflecting mirror 8 reaches the laser receiver 31, the filter 7 can filter stray light therein, so that only the laser light from the laser transmitter 21 can be received by the laser receiver 31, and the detection accuracy of the laser radar is ensured.

In this embodiment, the housing 1 is a rectangular parallelepiped, and includes a box body with an opening at one end and a cover body capable of blocking the opening, and the transceiver unit, the first reflector 4, the collimation and shaping assembly 5, the reception light shaping assembly 6, the filter 7 and the second reflector 8 are all disposed in the box body. The cover body is parallel to the first direction and the second direction. The side wall of the box body is provided with a through hole 11. The box body and the cover body can be detachably connected through a buckle structure or a bolt.

Example two

As shown in fig. 2, the present embodiment provides a lidar, and the structure of the lidar provided in the present embodiment is substantially the same as that of the first embodiment, and only a part of the structure is different, and the structure that is the same as that of the first embodiment is not described again in the present embodiment.

Preferably, this embodiment does not set up second reflector 8, and laser emitter 21 and laser receiver 31 set up respectively in the relative both sides of first reflector 4, and laser receiver 31 is located one side that first reflector 4 set up the plane of reflection, and the reverberation of first reflector 4 can direct directive laser receiver 31, does benefit to and reduces the inside part quantity of laser radar casing 1, has reduced laser radar's weight and volume, does benefit to reduce cost.

Specifically, the central optical axis of the laser transmitter 21 is disposed perpendicular to the central optical axis of the laser receiver 31, i.e., the central optical axis of the laser receiver 31 extends in the second direction.

In this embodiment, the housing 1 is L-shaped, and includes an L-shaped box with an open end and an L-shaped cover capable of blocking the open end, and the transceiving unit, the first reflector 4, the collimating and shaping component 5, the receiving light shaping component 6 and the filter 7 are all disposed in the box. The cover body is parallel to the first direction and the second direction. The box body comprises a first installation part 12 extending along a first direction and a second installation part 13 extending along a second direction, the first installation part 12 is connected with the second installation part 13 in an L shape, the first installation part 12 is hollow inside, the second installation part 13 is hollow inside, and the inner cavity of the first installation part 12 is communicated with the inner cavity of the second installation part 13 at the connection position of the first installation part 12 and the second installation part 13. The first reflector 4 is arranged at the joint of the first installation part 12 and the second installation part 13, the emission component 2 and the collimation shaping component 5 are installed in the inner cavity of the first installation part 12, the receiving component 3, the received light shaping component 6 and the filter 7 are installed in the inner cavity of the second installation part 13, and the side wall of the second installation part 13 is provided with a through hole 11.

It is to be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A lidar, comprising:

the device comprises a shell (1), wherein a through hole (11) is formed in the shell (1);

a transceiver unit located within the housing (1), the transceiver unit comprising a laser transmitter (21) and a laser receiver (31);

the first reflector (4) is located in the shell (1), a light hole is formed in the first reflector (4), the reflecting surface of the first reflector (4) faces the through hole (11) and is arranged, the laser emitter (21) is located on one side, opposite to the through hole (11), of the first reflector (4), the first reflector (4) and the central optical axis of the laser emitter (21) are arranged in an angle mode, emergent light of the laser emitter (21) can sequentially pass through the light hole and the through hole (11) to be emitted out of the shell (1) and is emitted to an object to be measured (10) outside the shell (1), and reflected light from the object to be measured (10) can penetrate through the through hole (11) to be emitted into the shell (1) and reach the laser receiver (31) through reflection of the first reflector (4).

2. Lidar according to claim 1, characterized in that the lidar further comprises a second mirror (8), a reflective surface of the second mirror (8) being arranged towards a reflective surface of the first mirror (4), the reflected light of the first mirror (4) being able to reach the laser receiver (31) by reflection of the second mirror (8).

3. Lidar according to claim 2, wherein the angle between the second mirror (8) and the central optical axis of the laser receiver (31) is 45 °.

4. Lidar according to claim 2, wherein said laser transmitter (21) and said laser receiver (31) are located on the same side of said first mirror (4).

5. Lidar according to claim 1, wherein said laser transmitter (21) and said laser receiver (31) are located on opposite sides of said first mirror (4).

6. Lidar according to any of claims 1 to 5, wherein the angle between said first mirror (4) and the central optical axis of said laser transmitter (21) is 45 °.

7. Lidar according to any of claims 1 to 5, wherein said laser emitter (21), said light-transmissive hole and said through hole (11) are arranged at intervals along a central optical axis of said laser emitter (21).

8. The lidar according to any of claims 1 to 5, further comprising a collimation shaping assembly (5), wherein said collimation shaping assembly (5) is disposed in said housing (1) between said laser emitter (21) and said first reflector (4), said collimation shaping assembly (5) is configured to collimate and shape the outgoing light of said laser emitter (21) to form a parallel light beam parallel to the central optical axis of said laser emitter (21), said parallel light beam being able to exit said housing (1) sequentially through said light-transmissive hole and said through hole (11).

9. Lidar according to any of claims 1 to 5, further comprising a receiving light shaping component (6), wherein said receiving light shaping component (6) is disposed within said housing (1), wherein the reflected light of said first mirror (4) is capable of reaching said laser receiver (31) through said receiving light shaping component (6), and wherein said receiving light shaping component (6) is adapted to concentrate the reflected light of said first mirror (4).

10. Lidar according to any of claims 1 to 5, characterized in that it further comprises an optical filter (7), said optical filter (7) being placed inside said housing (1), the reflected light of said first mirror (4) being able to pass through said optical filter (7) to said laser receiver (31), said optical filter (7) being adapted to filter stray light.