CN219122402U - Laser radar - Google Patents

Abstract

The utility model discloses a laser radar, which comprises a shell, a laser receiving and transmitting module, a micro mirror module and a reflecting module, wherein the shell comprises a light window arranged on one side, and an accommodating space is formed in the shell; the laser transceiver module is arranged in the accommodating space and is used for sending out laser beams and receiving echo beams; the micro-mirror module is arranged in the accommodating space and comprises an MEMS micro-mirror for reflecting the laser beam to the optical window and reflecting the echo beam from the optical window; the reflection module is arranged in the accommodating space and is used for reflecting the laser beam from the laser receiving and transmitting module to the micro-mirror module and reflecting the echo beam from the micro-mirror module to the laser receiving and transmitting module; the reflecting module is positioned above the MEMS micro-mirror in the vertical direction, so that the laser beam from the reflecting module is obliquely downwards emitted to the light window after being reflected by the MEMS micro-mirror. The laser beam emitted downwards obliquely after being reflected by the MEMS micro-mirror is not interfered by the reflecting module, so that the angle of view of the laser radar in the vertical direction is increased.

Description

Laser radar

Technical Field

The utility model relates to the technical field of radars, in particular to a laser radar.

Background

Lidar is a radar system that emits laser light to detect characteristic amounts such as distance, azimuth, and speed of a target object, and in recent years, demand for lidar has been growing as the market for unmanned vehicles (including autonomous vehicles, AGVs, UAVs, and the like) is vigorously developed.

Some lidars on automobiles typically radiate laser light in an obliquely downward manner to detect obstacles or to monitor overtaking situations. In the prior art, the reflecting mirror is arranged below the micro mirror, so that when the micro mirror scans at an ultra-large angle (more than 50 degrees of optical angle), light at the edge of a field of view is easy to interfere with the reflecting mirror, and the angle of view of the laser radar in the vertical direction is smaller.

Disclosure of Invention

In view of the above, the present utility model provides a lidar to solve the problem that the angle of view of the existing lidar in the vertical direction is smaller.

The laser radar comprises a shell, a laser receiving and transmitting module, a micro-mirror module and a reflecting module, wherein the shell comprises a light window arranged on one side, and an accommodating space is formed in the shell; the laser transceiver module is arranged in the accommodating space and is used for sending out laser beams and receiving echo beams; the micro-mirror module is arranged in the accommodating space and comprises an MEMS micro-mirror for reflecting the laser beam to the optical window and reflecting the echo beam from the optical window; the reflecting module is arranged in the accommodating space and is used for reflecting the laser beam from the laser receiving and transmitting module to the micro-mirror module and reflecting the echo beam from the micro-mirror module to the laser receiving and transmitting module; the reflecting module is positioned above the MEMS micro-mirror in the vertical direction, so that the laser beam from the reflecting module is obliquely downwards emitted to the light window after being reflected by the MEMS micro-mirror.

In some embodiments, the laser transceiver module comprises a laser light source, a laser detector, and a transceiver body; the receiving and transmitting main body is provided with a laser emitting surface and a laser receiving surface, and transmits laser beams generated by the laser source from the laser emitting surface to the reflecting module and returns echo beams collected by the laser receiving surface to the laser detector; the laser emitting surface and the laser receiving surface are located above the micromirror module in the vertical direction.

In some embodiments, the shell further comprises a lower shell and an upper cover which covers the top of the lower shell, the light window is arranged at an opening formed on one side of the lower shell to form the accommodating space in a surrounding manner; the reflecting module is connected to the upper cover at an angle of inclination downward of the reflecting surface, and the micro mirror module is connected to the upper cover at an angle of inclination upward of the MEMS micro mirror.

In some embodiments, the micromirror module further includes a micromirror package structure, where the micromirror package structure includes a package body for mounting the MEMS micromirror and two protruding portions disposed at upper and lower ends of the package body, the two protruding portions are away from the side surfaces of the package body and protrude from the side surfaces of the MEMS micromirror facing the optical window, two opposite sides of the two protruding portions are respectively provided with a wedge surface, and a distance between the two wedge surfaces increases gradually from the package body to a direction away from the MEMS micromirror.

In some embodiments, the laser transceiver module includes n transceiver bodies disposed at intervals, and the micromirror module is disposed between adjacent transceiver bodies, where n is an integer greater than or equal to 2.

In some embodiments, n is an even number, and n transceiver bodies are symmetrically disposed on two sides of the micromirror module.

In some embodiments, the laser transceiver module further comprises an LD plate connected to the transceiver body, and the laser light source is located on the LD plate.

In some embodiments, the laser light source and the corresponding laser detector are disposed along the same optical axis.

In some embodiments, the light exit surface of the light window is disposed obliquely downward, so that the laser beam from the micromirror module is not perpendicular to the light exit surface and forms an included angle smaller than or equal to 30 ° with the normal line of the light exit surface.

In some embodiments, the light emitting surface forms an included angle of 15-25 degrees with the vertical direction.

According to the laser radar provided by the utility model, the reflecting module is arranged above the MEMS micro-mirror, so that the laser beam reflected by the reflecting module is reflected by the micro-mirror module and then is emitted to the optical window in a vertical view field downwards in an inclined manner, therefore, the laser beam reflected by the MEMS micro-mirror is not interfered by the reflecting module, and the view angle of the laser radar in the vertical direction is increased.

Drawings

FIG. 1 is a schematic diagram of a laser radar according to an embodiment of the present utility model;

FIG. 2 is a bottom view of the lidar shown in FIG. 1;

FIG. 3 is a schematic cross-sectional view of the lidar shown in FIG. 1;

FIG. 4 is a partially exploded schematic view of the lidar shown in FIG. 1;

FIG. 5 is an assembled schematic view of the MEMS micromirror and micromirror package structure shown in FIG. 4;

FIG. 6 is a schematic view of the lidar shown in FIG. 1 with the housing removed;

fig. 7 is a side view of the laser transceiver module shown in fig. 4.

In the figure: 10. a laser radar; 12. an accommodating space; 14. a housing; 16. a micromirror module; 18. a laser transceiver module; 20. a reflection module; 22. a light window; 24. a light-emitting surface; 26. a lower case; 28. an upper cover; 30. an opening; 221. a plane; 222. a cambered surface; 32. a first seal ring; 34. a rear cover; 36. a through hole; 38. a second seal ring; 40. a power panel; 42. a MEMS micromirror; 44. a micromirror packaging structure; 46. a package body; 48. a protruding portion; 50. wedge surface; 52. a driving plate; 54. a micromirror support; 56. a reflecting mirror; 58. a mounting base; 60. a transmitting and receiving main body; 62. an LD panel; 64. a receiving plate; 66. a main board; 68. and a main board bracket.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.

It should be noted that, in the embodiments of the present utility model, all directional indicators (such as up, down, left, right, front, back, inner, outer, top, bottom … …) are merely used to explain the relative positional relationship between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators correspondingly change.

It will also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to fig. 1 to 4, a laser radar 10 according to an embodiment of the present utility model is preferably applied to the fields of automobiles and the like. The laser radar 10 includes a housing 14 provided with a receiving space 12, and a micromirror module 16, a laser transceiver module 18 and a reflection module 20 disposed in the receiving space 12, wherein the laser transceiver module 18 is configured to emit a laser beam and receive an echo beam, the reflection module 20 is configured to reflect the laser beam from the laser transceiver module 18 to the micromirror module 16 or reflect the echo beam from the micromirror module 16 to the laser transceiver module 18, and the micromirror module 16 is configured to reflect the laser beam from the reflection module 20 or reflect the echo beam reflected by a target object. Specifically, the laser transceiver module 18 emits a laser beam toward the reflector module 20, the reflector module 20 reflects the laser beam to the micromirror module 16, and the micromirror module 16 reflects the laser beam to the outside and directs the laser beam to the target object. According to the reversible distance of the optical path, the echo light beam reflected by the target object is emitted to the micro mirror module 16, the micro mirror module 16 reflects the echo light beam to the reflection module 20, the reflection module 20 reflects the echo light beam to the laser transceiver module 18, and finally the laser transceiver module 18 receives the echo light beam.

The housing 14 includes an optical window 22 provided at one side thereof, the optical window 22 being for passing the laser beam and the echo beam. The reflection module 20 is located between the optical window 22 and the micromirror module 16, and the micromirror module 16 is disposed facing the optical window 22 to reflect the laser beam from the reflection module 20 toward the optical window 22 or reflect the echo beam from the optical window 22 toward the reflection module 20.

In some embodiments, the light exit surface 24 of the light window 22 is disposed obliquely downward, so that the laser beam from the micromirror module 16 is not perpendicular to the light exit surface 24 and forms an angle smaller than or equal to 30 ° with the normal of the light exit surface 24, that is, the angle between the laser and the normal of the light exit surface 24 is greater than 0 ° and smaller than or equal to 30 °, and the light exit surface 24, that is, the light window 22 is far from the outer side surface of the accommodating space 12. By tilting the light exit surface 24 of the light window 22 downward, the laser light is not perpendicular to the light exit surface 24, thereby avoiding reflection problems caused by the perpendicular. Further, by controlling the angle to be within a range of 30 ° or less, the problem of low laser transmittance due to an excessively large angle can be avoided. Specifically, the light-emitting surface 24 forms an included angle of 15 ° to 25 ° with the vertical direction.

In the present embodiment, the light window 22 is sheet-shaped, and the inner side surface of the light window 22 near the accommodating space 12 and the outer side surface far from the accommodating space 12 are parallel to each other.

The housing 14 further includes a lower shell 26 and an upper cover 28 covering the top of the lower shell 26, an opening 30 is formed on one side of the lower shell 26, the shape of the opening 30 is the same as that of the light window 22, and the light window 22 is disposed at the opening 30 and encloses the lower shell 26 and the upper cover 28 to form the accommodating space 12.

The specific shape of the light window 22 is not limited, and may be, for example, a flat sheet, an arc-shaped sheet, or a combination of both. In the embodiment shown in fig. 2, the light window 22 is divided into a middle portion and two side portions located on both sides of the middle portion, respectively. The surfaces of the middle part, which are close to and far from the accommodating space 12, are planes 221, and the surfaces of the two side parts, which are close to and far from the accommodating space 12, are cambered surfaces 222, namely the middle part of the light window 22 is in a straight sheet shape, and the side parts of the light window 22 are in an arc sheet shape. By forming the plane 221 in the middle of the optical window 22 and forming the arc 222 in the side of the optical window 22, the laser beam reflected by the micromirror module 16 is prevented from impinging on the optical window 22 vertically.

In some embodiments, a first sealing ring 32 is disposed between the upper cover 28 and the lower shell 26, and the first sealing ring 32 surrounds the outer periphery of the accommodating space 12, so that the waterproof performance of the laser radar 10 is improved, and the electrical safety is ensured. It will be appreciated that the upper cover 28 and/or the lower housing 26 may be provided with an annular groove around the periphery of the receiving space 12 for receiving the first sealing ring 32.

The housing 14 further includes a rear cover 34, and a through hole 36 is formed through a side of the lower case 26 away from the optical window 22, the through hole 36 communicates with the outside and the accommodating space 12, and the rear cover 34 is connected to a side of the lower case 26 away from the optical window 22 and covers the through hole 36.

A second sealing ring 38 is arranged between the rear cover 34 and the lower shell 26, and the second sealing ring 38 surrounds the periphery of the opening 30, so that the waterproof performance of the laser radar 10 is enhanced, and the electrical safety is ensured. It will be appreciated that the rear cover 34 and/or the lower housing 26 may be provided with an annular groove around the periphery of the through bore 36 for receiving the second seal 38.

In some embodiments, power board 40 is provided on rear cover 34, and power board 40 is electrically connected to micro-mirror module 16 and laser transceiver module 18. When rear cover 34 is mounted to lower housing 26, power board 40 is received within receiving space 12. The power board 40 is used to connect to an external power source to provide power to the laser transceiver module 18 and the micro mirror module 16.

The micromirror module 16 includes a MEMS (Micro-Electro-Mechanical System) micromirror 42 received in the receiving space 12, and the MEMS micromirror 42 is disposed facing the optical window 22 for reflecting the laser beam toward the optical window 22 and reflecting the echo beam from the optical window 22. The micro-mirror module 16 is connected to the upper cover 28 at an angle of the MEMS micro-mirror 42 inclined upward, and the reflection module 20 is connected to the upper cover 28 at an angle of the reflecting surface inclined downward, so that the MEMS micro-mirror 42 can direct the laser beam reflected by the reflection module 20 toward the optical window 22 in an inclined downward direction.

In some embodiments, the reflective module 20 is positioned vertically above the MEMS micro-mirror 42 such that the laser beam from the reflective module 20 is directed in a diagonally downward direction toward the optical window 22 after being reflected by the MEMS micro-mirror 42. Since the reflective module 20 is above the MEMS micro-mirror 42, the MEMS does not interfere with the reflective module 20 when directing the laser beam obliquely downward toward the optical window 22, thereby increasing the field angle of the lidar 10 in the vertical direction.

Referring to fig. 3 and 5, the micromirror module 16 further includes a micromirror package structure 44, and the micromirror package structure 44 includes a package body 46 for mounting the MEMS micromirrors 42 and two protrusions 48 provided at upper and lower ends of the package body 46, an upper end being an end portion near the upper cover 28, and a lower end being an end portion far from the upper cover 28. The two protruding portions 48 are located at a side of the package body 46 facing the optical window 22 and spaced apart from each other, so that the package body 46 forms a shape with convex ends and concave middle, the MEMS micro-mirror 42 is located between the two protruding portions 48, and a side of the protruding portion 48 away from the package body 46 protrudes from a side of the MEMS micro-mirror 42 facing the optical window 22. Specifically, the side of the MEMS micro-mirror 42 facing the optical window 22 is flush with the side of the package body 46 facing the optical window 22.

The two opposite sides of the two protruding portions 48 are respectively provided with a wedge surface 50, that is, one side of each protruding portion 48 close to the MEMS micro-mirror 42 is provided with a wedge surface 50, the distance between the two wedge surfaces 50 gradually increases from the package main body 46 to a direction away from the MEMS micro-mirror 42, that is, the two wedge surfaces 50 respectively extend from the package main body 46 to a direction away from the MEMS micro-mirror 42 to form a mode of opposite extension, and finally, the distance between the two wedge surfaces 50 gradually increases in a direction of the MEMS micro-mirror 42 facing the optical window 22. By providing the wedge surface 50 on the side of the protrusion 48 near the MEMS micro-mirror 42, the problem that the MEMS micro-mirror 42 reduces the vertical field of view due to the shielding of the laser beam by the protrusion 48 when reflecting the laser beam toward the optical window 22 can be avoided.

The micromirror module 16 further includes a driving plate 52, wherein the driving plate 52 is fixed to a side of the micromirror package structure 44 away from the light window 22, and is used for driving the micromirror package structure 44 to vibrate.

The inside of the upper cover 28 is provided with a micromirror bracket 54, and the micromirror package structure 44 is coupled to the micromirror bracket 54 to mount the micromirror module 16 on the upper cover 28.

Referring to fig. 4, the reflection module 20 includes a reflection mirror 56 and a mounting seat 58, the mounting seat 58 is fixed on the upper cover 28, the reflection mirror 56 is fixed on the mounting seat 58 and is located above the MEMS micro-mirror 42, and the reflection mirror 56 faces the laser transceiver module 18 and the micro-mirror module 16 to reflect the laser beam emitted by the laser transceiver module 18 to the micro-mirror module 16 or reflect the echo beam of the micro-mirror module 16 to the laser transceiver module 18.

Referring to fig. 3, 6 and 7, the laser transceiver module 18 includes a laser light source, a laser detector and a transceiver body 60, the laser light source is used for emitting a laser beam, the transceiver body 60 is fixed on the upper cover 28 and has a laser emitting surface and a laser receiving surface, the transceiver body 60 emits the laser beam generated by the laser light source from the laser emitting surface to the reflecting module 20 and returns an echo beam collected by the laser receiving surface to the laser detector, and the laser emitting surface and the laser receiving surface are located above the micromirror module 16 in a vertical direction.

The relative positions of the laser light source and the laser detector are not limited, and in this embodiment, the laser light source and the laser detector are disposed along the same optical axis, so that the laser beam emitted by the laser light source and the echo beam received by the laser detector are the same optical axis, so as to facilitate assembly and adjustment.

The laser transceiver module 18 includes n transceiver bodies 60 disposed at intervals, and the micromirror module 16 is disposed between two adjacent transceiver bodies 60, where n is an integer greater than or equal to 2. The micro-mirror module 16 is arranged between the two transceiver bodies 60, so that the space arrangement structure is more compact, and the miniaturization of the laser radar 10 is facilitated.

In some embodiments, n is an even number, and n transceiver bodies 60 are symmetrically disposed on both sides of the micromirror module 16. The specific value of n is not limited, and in the present embodiment, n=2.

The Laser transceiver module 18 further includes an LD (Laser Diode) board 62, and a Laser light source is located on the LD board 62. The LD plate 62 is provided with a laser diode for generating laser light, that is, a laser light source of the laser transceiver module 18.

The LD plate 62 is connected to the transceiver body 60, for example, by an optical fiber, so as to transmit the laser beam generated by the laser light source to the transceiver body 60, and then to emit the laser beam from the laser emitting surface of the transceiver body 60 to the reflection module 20.

The laser transceiver module 18 also includes a receiving plate 64, and a laser detector is located on the receiving plate 64. The receiving board 64 is connected to the transceiving body 60 to receive the echo light beams collected by the corresponding transceiving body 60 and convert the optical signals into electrical signals.

The specific number of the LD plates 62 and the receiving plates 64 is not limited, and may be one or a plurality, for example, one LD plate 62 and one receiving plate 64 may be provided for each of the transceiver bodies 60, or one LD plate 62 and one receiving plate 64 may be provided for a plurality of transceiver bodies 60.

In some embodiments, lidar 10 includes a motherboard 66 and a motherboard bracket 68, motherboard 66 being mounted on motherboard bracket 68 and electrically connected to drive board 52, LD board 62, receiver board 64, and power supply board 40. The main board bracket 68 is fixedly connected to the upper cover 28, and the transceiver body 60 is mounted on the main board bracket 68.

According to the laser radar 10 of the utility model, the reflecting module 20 is arranged above the MEMS micro-mirror 42, so that the laser beam reflected by the reflecting module 20 is reflected by the micro-mirror module 16 and then is emitted to the optical window 22 in a vertical view field obliquely downwards, and therefore, the laser beam reflected by the MEMS micro-mirror 42 is not interfered by the reflecting module 20, and the view angle of the laser radar 10 in the vertical direction is increased.

The above embodiments are only preferred embodiments of the present utility model, and the scope of the present utility model is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present utility model are intended to be within the scope of the present utility model as claimed.

Claims (10)

1. A lidar, comprising:

a housing (14) including a light window (22) provided on one side, wherein an accommodating space (12) is formed in the housing (14);

the laser receiving and transmitting module (18) is arranged in the accommodating space (12) and is used for sending out laser beams and receiving echo beams;

a micromirror module (16) disposed in the housing space (12), the micromirror module (16) including a MEMS micromirror (42) for reflecting a laser beam toward the optical window (22) and for reflecting an echo beam from the optical window (22);

the reflecting module (20) is arranged in the accommodating space (12) and is used for reflecting the laser beam from the laser receiving and transmitting module (18) to the micro mirror module (16) and reflecting the echo beam from the micro mirror module (16) to the laser receiving and transmitting module (18);

the reflecting module (20) is located above the MEMS micro-mirror (42) in the vertical direction, so that the laser beam from the reflecting module (20) is obliquely downwards emitted to the optical window (22) after being reflected by the MEMS micro-mirror (42).

2. The lidar according to claim 1, wherein the laser transceiving module (18) comprises a laser light source, a laser detector and a transceiving body (60); the receiving and transmitting main body (60) is provided with a laser emitting surface and a laser receiving surface, the receiving and transmitting main body (60) emits laser beams generated by the laser light source from the laser emitting surface to the reflecting module (20), and returns echo beams collected by the laser receiving surface to the laser detector; the laser emitting surface and the laser receiving surface are located above the micromirror module (16) in a vertical direction.

3. The lidar according to claim 1, wherein the housing further comprises a lower case (26) and an upper cover (28) covering the top of the lower case (26), and the light window (22) is disposed at an opening (30) formed at one side of the lower case (26) to form the accommodating space (12) by enclosing; the reflective module (20) is connected to the upper cover (28) at an angle where the reflective surface is inclined downward, and the micromirror module (16) is connected to the upper cover (28) at an angle where the MEMS micromirror (42) is inclined upward.

4. A lidar according to claim 3, wherein the micromirror module (16) further comprises a micromirror package structure (44), the micromirror package structure (44) comprises a package body (46) for mounting the MEMS micromirrors (42) and two protruding portions (48) arranged at the upper and lower ends of the package body (46), the two protruding portions (48) protrude from the side surface of the MEMS micromirrors (42) facing the optical window (22) away from the side surface of the package body (46), wedge surfaces (50) are respectively arranged at the opposite sides of the two protruding portions (48), and the distance between the wedge surfaces (50) gradually increases from the package body (46) to the direction away from the MEMS micromirrors (42).

5. The lidar according to claim 2, wherein the laser transceiver module (18) includes n transceiver bodies (60) disposed at a distance from each other, and the micromirror module (16) is disposed between adjacent transceiver bodies (60), wherein n is an integer equal to or greater than 2.

6. The lidar according to claim 5, wherein n is an even number, and n transceiver bodies (60) are symmetrically arranged at both sides of the micromirror module (16).

7. The lidar according to claim 2, wherein the laser transceiver module (18) further comprises an LD plate (62) connected to the transceiver body (60), the laser light source being located on the LD plate (62).

8. The lidar according to claim 2, wherein the laser light source and the corresponding laser detector are arranged along the same optical axis.

9. The lidar according to claim 1, wherein the light exit surface (24) of the light window (22) is arranged obliquely downwards such that the laser beam from the micromirror module (16) is non-perpendicular to the light exit surface (24) and forms an angle with the normal of the light exit surface (24) of less than or equal to 30 °.

10. The lidar according to claim 9, wherein the light exit surface (24) forms an angle of 15 ° to 25 ° with the vertical direction.

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