CN221039417U - Laser transmitting device, laser receiving device and laser radar system - Google Patents

Abstract

The application relates to the technical field of laser, and discloses a laser transmitting device, a laser receiving device and a laser radar system, wherein the laser transmitting device comprises: a first base; the first carrier comprises a fixing part and a suspending part, and the fixing part and one side of the first base are mutually fixed; the light source is arranged on one side of the first carrier, which is away from the first base, and is positioned on the fixed part and used for outputting a laser beam; the first lens is arranged on the light emitting side of the light source, is positioned on the same side of the first carrier as the light source and is positioned on the suspending part, and is used for shaping the laser beam and then emitting the laser beam; and the first support piece is at least partially arranged between the first base and the suspension part and is used for supporting the suspension part when the first carrier is deformed so as to reduce the angle of the main optical axis of the first lens deviating from the optical axis of the laser beam. By the mode, the application reduces the influence of thermal strain on the pointing angle of the laser beam.

Description

Laser transmitting device, laser receiving device and laser radar system

Technical Field

The embodiment of the application relates to the technical field of lasers, in particular to a laser transmitting device, a laser receiving device and a laser radar system.

Background

In general, the laser radar not only requires the laser transmitting device to have high-precision transmitting and receiving alignment at normal temperature, but also requires the laser transmitting device to maintain high-precision alignment under severe environments such as high and low temperatures or under reliability experiment conditions.

When the thermal expansion coefficient (Coefficient of Thermal Expansion, CTE) between the base (housing, base) of the laser emitting device and the carrier carrying the light source and the optical lens is greatly different, under the condition of high and low temperature change or under the condition of reliability experiment, the structural deformation of the laser emitting device is caused, the pointing angle of the laser beam emitted by the laser emitting device is greatly changed, so that the emitted laser beam cannot reach the target object, and the target object cannot be detected.

Disclosure of utility model

In view of the above problems, embodiments of the present application provide a laser transmitting device, a laser receiving device, and a laser radar system, which reduce the influence of thermal strain on the pointing angle of a laser beam.

According to an aspect of an embodiment of the present application, there is provided a laser emitting apparatus including: a first base; the first carrier comprises a fixing part and a suspending part, and the fixing part and one side of the second base are mutually fixed; the light source is arranged on one side of the first carrier, which is away from the first base, and is positioned on the fixed part and used for outputting a laser beam; the first lens is arranged on the light emitting side of the light source, is positioned on the same side of the first carrier as the light source and is positioned on the suspending part, and is used for shaping the laser beam and then emitting the laser beam; and the first support piece is at least partially arranged between the first base and the suspension part and is used for supporting the suspension part when the first carrier is deformed so as to reduce the angle of the main optical axis of the first lens deviating from the optical axis of the laser beam.

In an alternative manner, the horizontal distance between the first support and the first lens is smaller than the horizontal distance between the first support and the light source to support the suspended portion when the first carrier is deformed by buckling.

In an alternative, the first support is of unitary construction with the first base or the first carrier.

In an alternative manner, one end of the first support member is fixed to the first base or the suspended portion by adhesive bonding or by solder welding.

In an alternative, the other end of the first support is coated with an adhesive or solder so that the adhesive or solder contacts the suspended portion when the first carrier is deformed.

In an alternative mode, the suspending part is provided with a through hole at a position between the light source and the first lens, and the first supporting piece penetrates through the through hole and is fixed with the suspending part.

In an alternative, the first support member is fixed to the suspended portion by adhesive bonding or by solder welding.

In an alternative, the first support has a coefficient of thermal expansion that is less than a coefficient of thermal expansion of the first base.

According to another aspect of an embodiment of the present application, there is provided a laser receiving apparatus including: a second base; the second carrier comprises a fixing part and a suspending part, and the fixing part and one side of the second base are mutually fixed; the second lens is arranged on one side of the second carrier, which is away from the second base, and is positioned on the fixed part and used for receiving the laser beam reflected by the target detection area and converging the reflected laser beam; the detector is arranged on the same side of the second carrier as the second lens and is positioned on the fixed part and used for receiving the laser beams converged by the second lens; and the second support piece is at least partially arranged between the second base and the suspension part and is used for supporting the suspension part when the second carrier is deformed so as to reduce the angle of the main optical axis of the second lens deviating from the optical axis of the converged laser beam.

According to still another aspect of an embodiment of the present application, there is provided a lidar system including: the laser emitting device provided by the above embodiment and/or the laser receiving device provided by the above embodiment, where the laser emitting device is configured to emit a laser beam to the target detection area, and the laser receiving device is configured to receive the laser beam reflected by the target detection area.

In the laser emission device, through the fixed part fixed setting of first carrier on first base to and through setting up first support piece on the unsettled portion of first base or first carrier, and make first support piece be located between unsettled portion of first base and first carrier, make first support piece support unsettled portion when first carrier takes place to warp, with the off-axis degree of the first lens that sets up on the fixed part of reduction first carrier and unsettled portion, and then reduce the angle of the laser beam optical axis skew first lens of light source output, thereby reduce the directional angle variation of laser beam of laser emission device transmission, reduce the influence of thermal strain to the directional angle of laser beam.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic diagram of a laser transmitter and a laser receiver in a laser radar when aligned;

FIG. 2 is a schematic view of a laser emitting device in a normal state;

FIG. 3 is a schematic view of a deformed state of a laser emitting device;

FIG. 4 is a schematic diagram of the structure of a laser radar in which a laser beam emitted from a laser emitting device is deflected;

Fig. 5a is a schematic structural diagram of a laser emitting device according to an embodiment of the present application;

FIG. 5b is a schematic diagram of a laser emitting device according to another embodiment of the present application;

fig. 6 is a schematic structural diagram of a laser emitting device according to another embodiment of the present application;

Fig. 7a is a schematic structural diagram of a laser receiving device according to an embodiment of the present application;

Fig. 7b is a schematic structural diagram of a laser receiving device according to another embodiment of the present application;

fig. 7c is a schematic structural diagram of a laser receiving device according to another embodiment of the present application;

fig. 8 is a schematic structural diagram of a lidar system according to an embodiment of the present application.

Reference numerals in the specific embodiments are as follows:

10. A lidar system;

100. a laser emitting device; 110. a first base; 120. a first carrier; 121. a fixing part; 122. a suspending part; 1221. a through hole; 130. a light source; 140. a first lens; 150. a first support;

200. A laser receiving device; 210. a second base; 220. a second carrier; 221. a fixing part; 222. a suspending part; 2221. a through hole; 230. a second lens; 240. a detector; 250. and a second support.

Detailed Description

Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.

In the description of embodiments of the present application, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: there are three cases, a, B, a and B simultaneously. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two), and "plural sheets" means two or more (including two).

In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.

Similar to a laser range finder, the vehicle-mounted laser radar can obtain a ground object three-dimensional coordinate with higher precision by utilizing the characteristics of good monochromaticity, good coherence, strong directivity and the like of laser while maintaining higher measurement efficiency so as to realize high-precision metering and detection.

Generally, a laser radar includes a laser emitting device and a laser receiving device (may be collectively referred to as a laser transceiver), where the laser emitting device generally includes a point light source, a line light source within a field of view, and a surface light source covering the field of view, where the point light source and the line light source have high requirements for alignment functions of the laser emitting device and the laser receiving device, and not only require high-precision emission and receiving alignment at normal temperature, but also require that a high-precision alignment state be maintained in severe environments such as high and low temperatures.

Alignment of the laser transceiver means that the laser beam emitted by the laser emitting device reaches a position where the reflected laser beam can be received by the laser receiving device. Fig. 1 shows a schematic structural diagram of a laser transmitting device and a laser receiving device in a laser radar when the laser transmitting device and the laser receiving device are aligned, as shown in fig. 1, when the laser transmitting device and the laser receiving device are aligned, the laser transmitting device transmits a laser beam for detection to a target object a, and after the laser beam reaches the target object a through the reflection of a scanning system and is reflected back by the target object a, the laser receiving device can just receive the laser beam reflected back by the target object a, so that the effective detection of the target object a is completed.

However, since the laser radar uses materials with large CTE (thermal expansion coefficient (coefficient of thermal expansion)) difference at the same time, in a high-low temperature environment, different deformations of materials with different CTE in the laser transceiver are easily caused, for example, different deformations of the base and the carrier carrying the light source and the optical lens on the base in the laser transmitter are caused, so that the pointing angle of the laser beam emitted by the light source in the laser transmitter is greatly changed, and fig. 2 and fig. 3 show schematic structural diagrams of a normal state and a deformed state of the laser transmitter respectively, as shown in fig. 2, in the normal state, the base and the carrier of the laser transmitter are not deformed, in the high-low temperature environment, one of the two deformed states shown in fig. 3 is usually generated, namely, the first deformation (crying face deformation, namely, the upward arching of the middle parts of the base and the carrier), or the second deformation (also called laughing face deformation, namely, the downward recessing of the middle parts of the base and the carrier, and the upward buckling of the two ends of the carrier) are usually generated.

Fig. 4 is a schematic structural diagram of the laser radar according to fig. 1 when the laser beam emitted by the laser emitting device is offset, and the laser transceiver is aligned under normal conditions, that is, when the laser emitting device is not offset, the laser beam emitted by the laser emitting device reaches the target object a through the reflection energy of the scanning system, and the laser receiving device can receive the laser beam reflected by the target object a, so as to complete the detection of the target object a. As shown in fig. 4, when the laser emitting device is shifted, the pointing angle of the laser beam emitted by the laser emitting device is greatly changed, so that the laser beam emitted by the laser emitting device actually reaches the target object B after being reflected by the scanning system, and the laser receiving device can only receive the laser beam reflected by the target object a.

Therefore, when the base (housing, base) of the laser emitting device is made of a high CTE material (such as aluminum), and the carrier carrying the light source and the optical lens is made of a low CTE material with CTE close to that of the optical glass, i.e. CTE difference between the base and the carrier is large, and the laser emitting device is deformed as shown in fig. 3 under the condition of high-low temperature change, the pointing angle of the laser beam emitted by the laser emitting device is greatly changed, so that the emitted laser beam cannot reach the target, and the target cannot be detected.

Based on this, the present application proposes a laser emitting device, by adding a first supporting piece fixed in a unidirectional non-contact manner between a first base (i.e. the base) and a suspension portion of a first carrier (i.e. the carrier), so as to support the first carrier when the first carrier is deformed, thereby solving the problem that the first base and the first carrier deform due to high-low temperature change to cause different axes between a light source on the fixing portion of the first carrier and a first lens on the suspension portion of the first carrier, so as to reduce the variation of the pointing angle of the laser beam emitted by the laser emitting device, and reduce the influence of thermal strain on the pointing angle of the laser beam.

Referring to fig. 5 a-5 b, fig. 5 a-5 b show schematic structural diagrams of a laser emitting device according to an embodiment of the present application, where the laser emitting device 100 includes: the first lens assembly includes a first base 110, a first carrier 120, a light source 130, a first lens 140, and a first support 150. The first carrier 120 includes a fixing portion 121 and a suspending portion 122, where the fixing portion 121 and one side of the first base 110 are fixed to each other. The light source 130 is disposed on a side of the first carrier 120 facing away from the first base 110 and on the fixing portion 121 for outputting a laser beam. The first lens 140 is disposed on the light emitting side of the light source 130, is located on the same side of the first carrier 120 as the light source 130, and is located on the suspending portion 122 for shaping the laser beam and emitting the laser beam. The first support 150 is disposed between the first base 110 and the suspending portion 122, and is used for supporting the suspending portion 122 when the first carrier 120 is deformed, so as to reduce an angle of the main optical axis of the first lens 140 deviating from the optical axis of the laser beam.

The first base 110 may be a housing of a lidar, and is generally made of a high CTE material such as aluminum in order to realize a lightweight housing. The first carrier 120 is a carrier for carrying the circuit board of the light source 130 and the first lens 140, and is generally made of a metal material with CTE close to that of optical glass, and a laser chip is disposed on the circuit board of the light source 130, so as to emit a laser beam.

Note that, the first base 110 is not in direct contact with the first carrier 120. In the drawing, the hatched portion indicates that the fixing portion 121 of the first carrier 120 and one side of the first base 110 are fixed to each other, and the fixing manner is not particularly limited, for example, the fixing portion 121 of the first carrier 120 may be fixed to the first base 110 by a filler or by a screw to achieve the purpose of fixing the first carrier 120 to the first base 110, specifically, a gap between the fixing portion 121 of the first carrier 120 and the first base 110 is filled with glue, or a plurality of through holes are formed in the fixing portion 121 of the first carrier 120 and the first base 110, respectively, and then the fixing portion 121 of the first carrier 120 and the first base 110 are fixed by passing the screw through the through holes. The suspending portion 122 of the first carrier 120 is suspended and is not contacted with the first base 110.

The first lens 140 is disposed on the light emitting side of the light source 130, and the first lens 140 is disposed on the suspended portion 122 of the first carrier 120, so that the first lens 140 can shape the laser beam output by the light source 130. The first lens 140 may be a collimator lens or a beam expander lens, or a lens group formed by the collimator lens and the beam expander lens, or an optical lens for realizing a corresponding optical shaping function according to actual requirements. Taking the first lens 140 as a lens group formed by a collimating lens and a beam expander as an example, firstly the collimating lens collimates the laser beam output by the light source 130 so as to enable the laser beam to be emitted to the beam expander at a very small divergence angle, then the beam expander expands the collimated laser beam so as to change the diameter and the divergence angle of the laser beam, and the diameter of the collimated laser beam is expanded to be larger and then is output, so that the laser emitting device 100 is applied to the laser radar to realize effective detection in a larger range.

Specifically, in the case where the first lens 140 is disposed on the light emitting side of the light source 130 and the light source 130 is disposed on the fixing portion 121 of the first carrier 120, and the first lens 140 is disposed on the suspending portion 122 of the first carrier 120, a specific position of the light source 130 on the fixing portion 121 and a specific position of the first lens 140 on the suspending portion 122 are not limited, for example, the light source 130 may be disposed at an end of the fixing portion 121 away from the suspending portion 122, the first lens 140 may be disposed at an end of the suspending portion 122 away from the fixing portion 121, the light source 130 may be disposed in the middle of the fixing portion 121, the first lens 140 may be disposed in the middle of the suspending portion 122, the light source 130 may be disposed at an end of the fixing portion 121 near the suspending portion 122, and the first lens 140 may be disposed at an end of the suspending portion 122 near the fixing portion 121.

Since the fixing portion 121 of the first carrier 120 is fixed to one side of the first base 110, the suspending portion 122 of the first carrier 120 is suspended, and after the environment of high-low temperature change, the deformation amount of the fixing portion 121 of the first base 110 and the first carrier 120 is small, and the deformation amount of the suspending portion 122 of the first carrier 120 is large, so that an asymmetric smiling face or crying face appears after the deformation of the first carrier 120. In this case, the first support 150 is disposed between the first base and the suspended portion 122 of the first carrier 120, so that the suspended portion 122 can be supported when the first carrier 120 is deformed.

The first support 150 may be a cylinder, prism, or other column. Specifically, the first support 150 may be disposed at a position (a position where the suspended portion 122 of the first carrier 120 is bent downward) as shown in fig. 5a and 5b to support the suspended portion 122 of the first carrier 120 when the first carrier 120 is deformed in the first type shown in fig. 3; the first support 150 may also be disposed at a concave position of the suspended portion 122 of the first carrier 120 to support the suspended portion 122 of the first carrier 120 when the first carrier 120 is deformed in the second manner as shown in fig. 3. The first support 150 may be made of the same or different material as the first base 110, or the first carrier 120.

Further, the first support 150 may be located entirely between the first base 110 and the suspended portion 122 of the first carrier 120, or a portion of the first support 150 is located between the first base 110 and the suspended portion 122 of the first carrier 120, and another portion is located outside the suspended portion 122 of the first base 110 or the first carrier 120. Specifically, as shown in fig. 5a, the first supporting member 150 may be disposed on the first base 110 and connected to the first base 110, where the first supporting member 150 and the suspended portion 122 of the first carrier 120 do not contact with each other, so that a gap exists between the first supporting member 150 and the suspended portion 122 of the first carrier 120, that is, a vertical distance H (a distance along the y-axis direction) exists between the first supporting member 150 and the suspended portion 122 of the first carrier 120, where H < (d1+d2) -D3, D1 is deformation displacement of the first base 110, D2 is deformation displacement of the first supporting member 150, and D3 is deformation displacement of the first carrier 120; the first support 150 may also be disposed on the first carrier 120 as shown in fig. 5b and connected to the suspended portion 122 of the first carrier 120, at this time, the first support 150 and the first base 110 are not in contact with each other, such that a vertical distance H exists between the first support 150 and the first base 110, wherein H < (d3+d2) -D1. When the distance between the first support 150 and the suspended portion 122 of the first base 110 or the first carrier 120 in the vertical direction is within the vertical distance H, it is indicated that the deformation of the first base 110 or the first carrier 120 is within a normal range, i.e., an error range of the change of the pointing angle of the laser beam.

As shown in fig. 5a, when the first support 150 is disposed on the first base 110 and the first carrier 120 is deformed by buckling due to the high-low temperature change, the first support 150 abuts against the suspended portion 122 of the first carrier 120, so that the suspended portion 122 supporting the first carrier 120 is not buckled any more, and the deviation angle between the optical axis of the laser beam and the main optical axis of the first lens 140 on the suspended portion 122 is within an error range, thereby reducing the variation of the pointing angle of the laser beam. As shown in fig. 5b, when the first support 150 is disposed at the suspended portion 122 of the first carrier 120, and the first carrier 120 is deformed by buckling due to the high-low temperature change, the first support 150 is displaced downward along with the suspended portion 122 until the first support 150 abuts against the first base 110, so that the suspended portion 122 of the first carrier 120 is supported by the first base 110 through the first support 150 without buckling, and the deviation angle between the optical axis of the laser beam and the main optical axis of the first lens 140 on the suspended portion 122 is within the error range, thereby reducing the pointing angle variation of the laser beam.

In the laser emitting apparatus 100, the fixing portion 121 of the first carrier 120 is fixedly disposed on the first base 110, and the first supporting member 150 is disposed on the first base 110 or the suspended portion 122 of the first carrier 120, so that the first supporting member 150 is located between the first base 110 and the suspended portion 122 of the first carrier 120, and the first supporting member 150 can support the suspended portion 122 when the first carrier 120 is deformed, so as to reduce the off-axis degree of the light source 130 disposed on the fixing portion 121 of the first carrier 120 and the first lens 140 disposed on the suspended portion 122, and further reduce the angle of the laser beam optical axis output by the light source 130 deviating from the main optical axis of the first lens 140, thereby reducing the variation of the pointing angle of the laser beam emitted by the laser emitting apparatus 100, and reducing the influence of thermal strain on the pointing angle of the laser beam.

Since the first lens 140 is fixedly disposed on one side of the suspended portion 122 of the first carrier 120, the other side of the suspended portion 122 is more likely to shrink after being changed at high and low temperatures, so that the suspended portion 122 is deformed in a downward bending manner, and the first lens 140 is displaced downward along with the suspended portion 122.

In order to reduce the variation of the pointing angle of the laser beam output by the laser emitting apparatus 100, the present application further proposes an embodiment, and please continue to refer to fig. 5a and 5b, in which the horizontal distance (the distance along the x-axis direction) between the first support 150 and the first lens 140 is smaller than the horizontal distance between the first support 150 and the light source 130, so as to support the suspended portion 122 when the first carrier 120 is deformed by buckling.

In this embodiment, when the first lens 140 is disposed at one end of the suspended portion 122 of the first carrier 120, the position of the first support 150 is set such that the horizontal distance between the first support and the first lens 140 is smaller than the horizontal distance between the first support and the light source 130, i.e. the suspended portion 122 is supported when the first carrier 120 is deformed by bending down due to the high-low temperature change, so as to effectively limit the displacement of the first lens 140 on the suspended portion 122 relative to the light source 130, thereby avoiding the situation that the main optical axis of the first lens 140 deviates from the optical axis of the laser beam output by the light source 130 by too much, and reducing the variation of the pointing angle of the laser beam emitted by the light source 130.

In order to improve the processing efficiency of the laser emitting device 100, the present application further provides an embodiment, and please continue to refer to fig. 5a and 5b, in which the first supporting member 150 is integrally formed with the first base 110 or the first carrier 120.

Specifically, the first support 150 may be manufactured as a one-piece structure with the first base 110 or the first support 150 may be manufactured as a one-piece structure with the first carrier 120 by die casting. In this way, the first supporting member 150 does not need to be assembled on the first base 110 or the first carrier 120, so that not only can the processing procedure be reduced, but also the assembling difficulty of the first base 110 and the first carrier 120 can be reduced, thereby improving the processing efficiency.

In order to facilitate finer control of the variation of the pointing angle of the laser beam, the present application further proposes an embodiment in which one end of the first support 150 is fixed to the first base 110 or the suspended portion 122 by adhesive bonding or by soldering.

Specifically, one end of the first support 150 is adhered and fixed to the first base 110 by an adhesive or welded and fixed to the first base 110 by a solder, and the other end of the first support 150 is not in contact with the suspended portion 122 of the first carrier 120, and has a vertical distance H, or one end of the first support 150 is adhered and fixed to the suspended portion 122 of the first carrier 120 by an adhesive or welded and fixed to the suspended portion 122 of the first carrier 120 by a solder, and the other end of the first support 150 is not in contact with the first base 110, and has a vertical distance H, wherein the adhesive and the solder are both made of a low CTE material. By adhering or welding one end of the first support 150 to the suspended portion 122 of the first base 110 or the first carrier 120, the vertical distance H between the other end of the first support 150 and the suspended portion 122 of the first base 110 or the first carrier 120 can be adjusted by adjusting the thickness of the adhesive or the solder during the processing, so that the vertical distance H between the other end of the first support 150 and the suspended portion 122 of the first base 110 or the first carrier 120 can be more easily controlled, and the deviation angle between the optical axis of the laser beam and the main optical axis of the first lens 140 on the suspended portion 122 is within an error range, so as to more precisely control the pointing angle variation of the reduced laser beam.

In order to achieve the protection of the first base 110 or the first carrier 120, the present application further proposes an embodiment in which the other end of the first support 150 is coated with an adhesive or solder so that the adhesive or solder contacts the suspended portion 122 when the first carrier 120 is deformed.

When the first carrier 120 is deformed due to the high-low temperature change to cause the suspension 122 to abut against the other end of the first support 150, the adhesive or solder coated on the other end of the first support 150 can directly contact with the suspension 122 of the first carrier 120, so as to play a role in buffering, prevent the first support 150 of metal from directly colliding with the first carrier 120 of metal to generate scratches, thereby preventing the first carrier 120 from being damaged and improving the internal stability of the laser emitting device 100.

In order to facilitate finer control of the variation of the pointing angle of the laser beam, the present application further proposes an embodiment, referring to fig. 6, in which fig. 6 shows a schematic structural diagram of the laser emitting device according to the embodiment of the present application, as shown in the drawings, the suspending portion 122 is provided with a through hole 1221 at a position between the light source 130 and the first lens 140, and the first supporting member 150 penetrates through the through hole 1221 and is fixed to the suspending portion 122.

Specifically, the first supporting member 150 is fixed to the suspending portion 122 of the first carrier 120 through the through hole 1221, and the first supporting member 150 and the first base 110 are not contacted with each other, and there is a vertical distance H. The first supporting member 150 makes a downward displacement along with the suspended portion 122 when the first carrier 120 is deformed due to a downward bending caused by a high-low temperature change until the first carrier is abutted against the first base 110, and then the first base 110 supports the suspended portion 122 of the first carrier 120 through the first supporting member 150, so that the suspended portion 122 of the first carrier 120 is prevented from continuing to make a downward displacement. Through the through hole 1221 formed in the suspended portion 122 of the first carrier 120, and the first supporting member 150 penetrates through the through hole 1221 and is fixed to the suspended portion 122 of the first carrier 120, the vertical distance H between the first supporting member 150 and the first base 110 can be regulated and controlled more easily, so that the variation of the pointing angle of the reduced laser beam can be controlled more precisely.

In order to further refine the control of the variation of the laser beam pointing angle, the present application further proposes an embodiment, in which, in the embodiment shown in fig. 6, that is, in the manner of forming the through hole 1221 in the first carrier 120, the first supporting member 150 and the suspended portion 122 are adhered and fixed by an adhesive or welded and fixed by solder.

The first support 150 is adhered or welded in the through hole 1221 of the suspended portion 122 using an adhesive or a solder, and the vertical distance H between the first support 150 and the first base 110 can be adjusted by adjusting the thickness of the adhesive or the solder during the process, so that the vertical distance H between the first support 150 and the first base 110 can be more easily controlled, so that the deviation angle between the optical axis of the laser beam and the main optical axis of the first lens 140 is within an error range, to more finely control the reduction of the variation of the pointing angle of the laser beam.

In order to more easily control the vertical distance H between the first support 150 and the first base 110 or the first carrier 120, the present application further proposes an embodiment in which the thermal expansion coefficient of the first support 150 is smaller than that of the first base 110.

In the embodiment of the present application, since the CTE of the first carrier 120 is smaller than the CTE of the first base 110, when the CTE of the first support 150 is smaller than the CTE of the first base 110, the CTE of the first support 150 may be the same as or close to the CTE of the first carrier 120.

Since the first base 110 is made of a material having a high CTE, when the first support 150 is disposed on the first base 110, even though the CTE of the first support 150 is the same as or close to that of the first carrier 120, the first support 150 has a strong dependency on the first base 110, the relative displacement amount under the condition of high and low temperature variation is still large, and the difficulty in process operation is relatively large, so that it is more difficult to control the variation amount of the laser beam pointing angle.

When the first support 150 is disposed on the suspended portion 122 of the first carrier 120, the CTE of the first support 150 is the same as or close to that of the first carrier 120, so that the first support 150 and the first carrier 120 are similar to an integral structure, and therefore, the deformation and displacement of the first support 150 and the first carrier 120 under high and low temperature changes can be effectively reduced, the degree of relative displacement between the first lens and the light source 130 is further reduced, and the distance between the first support 150 and the first base 110 is more easily controlled and the variation of the pointing angle of the laser beam is maintained.

If the carrier carrying the detector and the optical lens in the laser radar system is deformed, the laser receiving device is offset, so that the laser beam reflected by the target detection area cannot be received, and effective detection cannot be completed. The principle of the laser emitting device is similar to that of the laser emitting device, and the related description of the laser emitting device can be referred to specifically, and the description is omitted here. Therefore, the above improvement of the laser emitting device is also applicable to the laser receiving device, and the application further provides the laser receiving device based on the above improvement.

Fig. 7a to 7c are schematic structural diagrams of a laser receiving device according to several embodiments of the present application, and as shown in the drawings, a laser receiving device 200 includes: a second base 210, a second carrier 220, a second lens 230, a detector 240, and a second support 250. The second carrier 220 includes a fixing portion 221 and a suspending portion 222, where the fixing portion 221 and one side of the second base 210 are fixed to each other. The second lens 230 is disposed on a side of the second carrier 220 facing away from the second base 210 and on the suspending portion 222, and is configured to receive the laser beam reflected by the target detection area and collect the reflected laser beam. The detector 240 and the second lens 230 are disposed on the same side of the second carrier 220 and on the fixing portion 221, for receiving the laser beam converged by the second lens 230. At least a portion of the second support 250 is disposed between the second base 210 and the suspending portion 222, for supporting the suspending portion 222 when the second carrier 220 is deformed, so as to reduce an angle of the main optical axis of the second lens 230 deviating from the optical axis of the converged laser beam. The second supporting members 250 in the laser receiving device 200 shown in fig. 7a and fig. 7b are all disposed between the second base 210 and the suspended portion 222 of the second carrier 220, specifically, the second supporting members 250 may be disposed on the second base 210 as shown in fig. 7a, connected to the second base 210, or may be disposed on the second carrier 220 as shown in fig. 7b, connected to the suspended portion 222 of the second carrier 220; in the laser receiving apparatus 200 shown in fig. 7c, the second supporting member 250 is partially disposed between the second base 210 and the suspending portion 222 of the second carrier 220, and the suspending portion 222 of the second carrier 220 is provided with a through hole 2221, and the second supporting member 250 penetrates through the through hole 2221 and is fixed to the suspending portion 222.

The second base 210 may be a housing of the laser radar system, the second carrier 220 is a metal carrier carrying a circuit board of the detector 240, the second lens 230 may be an optical lens or an optical lens group for converging the light beam, and a chip of the detector 240 is disposed on the circuit board to normally receive the laser beam reflected by the target detection area received and converged by the second lens 230, so as to realize effective detection.

In the laser receiving device 200, the fixing portion 221 of the second carrier 220 is fixedly arranged on the second base 210, and the second supporting member 250 is arranged on the second base 210 or the suspending portion 222 of the second carrier 220, so that at least part of the second supporting member 250 is positioned between the second base 210 and the suspending portion 222 of the second carrier 220, and the second supporting member 250 can support the suspending portion 222 when the second carrier 220 is deformed, so that the off-axis degree of the detector 240 arranged on the fixing portion 221 of the second carrier 220 and the second lens 230 arranged on the suspending portion 222 is reduced, and the angle of the optical axis of the converged laser beam deviating from the main optical axis of the second lens 230 is further reduced, the change amount of the pointing angle of the reflected laser beam received by the laser receiving device 200 is reduced, and the influence of thermal strain on the pointing angle of the reflected laser beam is reduced.

In some embodiments, the specific implementation and the working principle of each component of the laser receiving device 200 are similar to those of the foregoing embodiments of the laser emitting device 100, and reference may be made to the descriptions of the foregoing embodiments, which are not repeated herein.

In accordance with another aspect of the embodiment of the present application, referring to fig. 8, fig. 8 shows a schematic structural diagram of a lidar system according to an embodiment of the present application, where the lidar system 10 includes: the laser emitting device 100 provided in any of the above embodiments, and/or the laser receiving device 200 provided in the above embodiments, where the laser emitting device 100 is configured to emit a laser beam to a target detection area, and the laser receiving device 200 is configured to receive the laser beam reflected by the target detection area.

In the laser radar system 10 according to the embodiment of the present application, by using the laser emitting device 100 provided in the above embodiment, the amount of change in the pointing angle of the laser beam emitted by the laser emitting device 100 can be reduced, and by using the laser receiving device 200 provided in the above embodiment, the amount of change in the pointing angle of the reflected laser beam received by the laser receiving device 200 can be reduced, so that the laser radar system 10 can realize effective detection.

Claims (10)

1. A laser emitting apparatus, comprising:

a first base;

The first carrier comprises a fixing part and a suspending part, and the fixing part and one side of the first base are mutually fixed;

The light source is arranged on one side of the first carrier, which is away from the first base, and is positioned on the fixing part and used for outputting a laser beam;

The first lens is arranged on the light emitting side of the light source, is positioned on the same side of the first carrier as the light source, is positioned on the suspension part and is used for shaping the laser beam and then emitting the laser beam;

And the first support piece is at least partially arranged between the first base and the suspension part and is used for supporting the suspension part when the first carrier is deformed so as to reduce the angle of the main optical axis of the first lens deviating from the optical axis of the laser beam.

2. The laser light emitting device according to claim 1, wherein a horizontal distance between the first support and the first lens is smaller than a horizontal distance between the first support and the light source to support the suspended portion when the first carrier is deformed by buckling.

3. The laser emitting device of claim 1, wherein the first support is of unitary construction with the first base or the first carrier.

4. The laser light emitting device according to claim 1, wherein one end of the first support member is fixed to the first base or the suspended portion by adhesive bonding or by solder welding.

5. The laser light emitting device according to claim 4, wherein the other end of the first support member is coated with the adhesive or the solder so that the adhesive or the solder contacts the suspended portion when the first carrier is deformed.

6. The laser light emitting device according to claim 1, wherein the suspending portion is provided with a through hole at a position between the light source and the first lens, and the first supporting member is fixed to the suspending portion through the through hole.

7. The laser light emitting device of claim 6, wherein the first support member and the suspended portion are fixed by adhesive bonding or by solder welding.

8. The laser light emitting device of any one of claims 1-7, wherein a coefficient of thermal expansion of the first support is less than a coefficient of thermal expansion of the first base.

9. A laser light receiving device, characterized in that the laser light receiving device comprises:

A second base;

The second carrier comprises a fixing part and a suspending part, and the fixing part and one side of the second base are mutually fixed;

The second lens is arranged on one side of the second carrier, which is away from the second base, and is positioned on the suspension part and used for receiving the laser beam reflected by the target detection area and converging the reflected laser beam;

The detector is arranged on the same side of the second carrier as the second lens and is positioned on the fixing part and used for receiving the laser beam converged by the second lens;

and the second support piece is at least partially arranged between the second base and the suspending part and is used for supporting the suspending part when the second carrier is deformed so as to reduce the angle of the main optical axis of the second lens deviating from the optical axis of the converged laser beam.

10. A lidar system, the lidar system comprising: the laser emitting device of any one of claims 1-8, and/or the laser receiving device of claim 9, for emitting a laser beam to a target detection area, the laser receiving device for receiving the laser beam reflected by the target detection area.