WO2024098771A1 - 激光雷达 - Google Patents

激光雷达 Download PDF

Info

Publication number
WO2024098771A1
WO2024098771A1 PCT/CN2023/102395 CN2023102395W WO2024098771A1 WO 2024098771 A1 WO2024098771 A1 WO 2024098771A1 CN 2023102395 W CN2023102395 W CN 2023102395W WO 2024098771 A1 WO2024098771 A1 WO 2024098771A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
prism
laser radar
galvanometer
receiving
Prior art date
Application number
PCT/CN2023/102395
Other languages
English (en)
French (fr)
Inventor
王瑞
杨野
张海武
疏达
Original Assignee
北醒（北京）光子科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北醒（北京）光子科技有限公司 filed Critical 北醒（北京）光子科技有限公司
Publication of WO2024098771A1 publication Critical patent/WO2024098771A1/zh

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
    • G02B7/181—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors with means for compensating for changes in temperature or for controlling the temperature; thermal stabilisation
    • G02B7/1815—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors with means for compensating for changes in temperature or for controlling the temperature; thermal stabilisation with cooling or heating systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the present invention relates to the technical field of optical detection equipment, and in particular to a laser radar.
  • Radar is an electronic device that uses electromagnetic waves to detect targets. Radar emits electromagnetic waves to illuminate the target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), direction, and altitude. Due to the characteristics of lasers such as good monochromaticity, high brightness, and strong directionality, lidar has received more and more attention and is also widely used in self-driving cars. In order to obtain more comprehensive road condition information, in the use scenario of self-driving cars, the point cloud data output by the lidar needs to be dense enough.
  • the existing technology is to stack a large number of transmitting sources and receivers in one direction, for example, the number of both is more than one hundred, so as to increase the amount of data in this direction, and then use a one-dimensional scanning component to scan the outside.
  • the transmitting sources and receivers need to be stacked further, which places high demands on components and makes the optical matching and debugging between transmitting, receiving and scanning more complicated.
  • the object of the present invention is to provide a laser radar that can collect sufficiently dense point cloud data while simplifying the optical matching and debugging between the transmitting, receiving and scanning structures.
  • the present invention provides a laser radar, comprising a housing and a laser emitting module, a laser receiving module, a galvanometer and a prism arranged in the housing;
  • the housing is provided with a light-transmitting portion
  • the laser emission module includes a plurality of laser emission sources for emitting light
  • the laser receiving module includes a plurality of receiving sensors
  • the prism and the galvanometer are both rotatable relative to the housing, wherein the rotation axis of the prism is perpendicular to the rotation axis of the galvanometer;
  • the galvanometer and the prism are used to reflect the light emitted by the laser emission source and emit it from the light-transmitting portion, and to reflect the echo signal formed by the light emitted after being reflected by external objects to the receiving sensor.
  • the plurality of laser emission sources are arranged in at least one row, wherein the light emitted by all the laser emission sources is shaped into a laser beam by an optical shaping element and then emitted to the galvanometer.
  • all the light emitted by the laser emission sources is shaped into a laser beam by an optical shaping element, and the laser beam is a linear beam or a rectangular beam.
  • all of the laser emission sources emit light simultaneously.
  • all of the receiving sensors are arranged in a row, the receiving sensor group in each row includes a plurality of receiving sensor units for receiving the echo signals, and all of the receiving sensors in the receiving sensor group in each row are arranged in sequence.
  • all the receiving sensors are arranged into at least two columns, each column of the receiving sensors is a receiving sensor group, and along the arrangement direction of the receiving sensors in each receiving sensor group, the receiving sensors in two adjacent receiving sensor groups are alternately arranged in sequence.
  • all of the receiving sensors operate simultaneously.
  • a receiving lens is provided on the optical path of the laser receiving module, and the receiving lens is used to converge the echo signal reflected by the prism and the galvanometer to the receiving sensor.
  • all of the laser emission sources are arranged in at least one row, and all of the receiving sensors are arranged in at least one row, and the arrangement direction of each row of the laser emission sources and each row of the receiving sensors is parallel to the rotation axis of the prism.
  • the laser radar further includes a first reflector, which is disposed in the housing and is configured to reflect light emitted by the laser emission source to the galvanometer.
  • the laser radar further includes a second reflector, and the second reflector is used to reflect the echo signal after being reflected by the prism and the galvanometer to the laser receiving module.
  • the laser radar further includes a galvanometer motor located in the shell, a stator of the galvanometer motor is fixed relative to the shell, and the galvanometer is connected to a rotor of the galvanometer motor.
  • the laser radar further includes a prism motor located in the shell, a stator of the prism motor is fixed relative to the shell, and the prism is connected to a rotor of the prism motor.
  • the prism is a hollow structure, and the rotor of the prism motor is located inside the prism.
  • the shell includes a bottom wall and a side wall connected to the bottom wall at an angle
  • the laser receiving module, the galvanometer and the prism are arranged on the bottom wall
  • the rotation axis of the galvanometer is parallel to the bottom wall
  • the rotation axis of the prism is perpendicular to the bottom wall
  • the side wall is provided with the light-transmitting portion.
  • the laser emitting module adopts an array laser emitting source
  • the laser receiving module adopts an array receiving sensor.
  • a two-dimensional scanning structure composed of a galvanometer and a prism whose rotation axes are perpendicular to each other
  • changing the rotation angle of the galvanometer and the prism can change the emission angle of the light emitted by the laser emitting source, thereby realizing vertical and horizontal scanning of the laser radar, thereby collecting sufficiently dense point cloud data to meet the vertical and horizontal field of view requirements of the laser radar.
  • FIG1 is a partial exploded schematic diagram of a laser radar according to an embodiment of the present invention.
  • FIG2 is an exploded schematic diagram of the prism, prism motor and mounting member in FIG1 ;
  • FIG3 is a top view of the prism, heat sink and transceiver module in FIG1 ;
  • FIG4 is a perspective schematic diagram of the heat sink in FIG3 ;
  • FIG. 5 is a perspective schematic diagram of a heat sink in another embodiment of the present invention.
  • Icon 10-shell; 11-bottom shell; 110-window; 111-bottom wall; 112-side wall; 13-upper cover; 15-window mirror; 20-transceiver module; 21-laser emission module; 23-laser receiving module; 30-first reflector; 31-second reflector; 40-prism; 41-prism motor; 43-mounting; 50-galvanometer; 51-galvanometer motor; 53-mounting frame; 60-heat sink; 61-first curved surface; 63-wing; 630-second curved surface; A-preset direction.
  • the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inside”, “outside”, etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms “first”, “second”, “third”, etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
  • horizontal does not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted.
  • “horizontal” only means that its direction is more horizontal than “vertical”, and does not mean that the structure must be completely horizontal, but can be slightly tilted.
  • the terms “set”, “install”, “connected” and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between two components.
  • the specific meanings of the above terms in the present invention can be understood in specific circumstances.
  • an embodiment of the present invention provides a laser radar, which includes a housing 10 , a transceiver module 20 , a prism 40 , a galvanometer 50 , a first reflector 30 , a second reflector 31 and other components.
  • the housing 10 is hollow in structure, so that components such as the transceiver module 20 , the prism 40 , the galvanometer 50 , the first reflector 30 , and the second reflector 31 can be disposed therein.
  • the shape of the shell 10 can be a rectangular parallelepiped, a square, etc., and its specific shape is not specifically limited in this embodiment. That is to say, the shape of the shell 10 can be arbitrary, as long as it can meet the placement of components such as the transceiver module 20, the prism 40, the galvanometer 50, the first reflector 30 and the second reflector 31.
  • the material of the shell 10 can be selected from high-strength anti-corrosion materials, such as copper-containing die-cast aluminum alloy, to adapt to harsh outdoor environments, or it can be a commonly used metal material.
  • the shell 10 is also provided with a light-transmitting portion, which can be a window mirror 15 made of a transparent material.
  • a window 110 is provided on one side of the corresponding shell 10 for installing the window mirror 15, so that light can enter or exit the shell 10 through the window mirror 15.
  • the housing 10 mainly includes a bottom shell 11 and an upper cover 13.
  • the bottom shell 11 is roughly in the shape of a rectangular parallelepiped with an open top, and includes a bottom wall 111 and a side wall 112 connected to the bottom wall 111 in an angled shape.
  • the bottom wall 111 is used for arranging components such as the transceiver module 20, the prism 40, the galvanometer 50, the first reflector 30, and the second reflector 31.
  • the upper cover 13 is covered on the top of the bottom shell 11, that is, the upper cover 13 is detachably covered on the side of the side wall 112 away from the bottom wall 111 to close the top opening of the bottom shell 11.
  • the side wall 112 of the bottom shell 11 is provided with a window 110 for installing the window mirror 15.
  • the transceiver module 20 is mainly used for transmitting and receiving laser beams, and includes a laser transmitting module 21 and a laser receiving module 23 .
  • the laser emission module 21 has a plurality of laser emission sources for emitting light, such as 2, 4, 6 or 8 laser emission sources, or 4, 8, 16 or 32 laser emission sources.
  • the specific number of laser emission sources can be selected and set according to actual needs. All laser emission sources are arranged in at least one row along a direction perpendicular to the bottom wall 111 of the shell 10 (hereinafter referred to as the vertical direction).
  • the laser emission source can specifically use an edge-emitting laser (EEL) as the light source.
  • EEL edge-emitting laser
  • the edge-emitting laser is a semiconductor laser whose laser emission direction is parallel to the wafer surface, thereby forming a linear array emitting light source in the vertical direction.
  • All laser emission sources of the laser emission module 21 can emit light at the same time. These emitted light rays are collimated and homogenized by optical shaping elements and then converged into a laser beam for output.
  • the laser beam can be a linear beam or a rectangular beam, etc., so as to output higher energy and more concentrated light and reduce the light energy loss in the external environment.
  • the optical shaping elements include but are not limited to spherical lenses, cylindrical lenses, microlens arrays and/or diffractive optical elements (DOE) to achieve collimation and homogenization.
  • the laser emission source can also be a vertical-cavity surface-emitting Laser (VCSEL), the laser beam is circularly symmetrical, and a lens group is correspondingly arranged as an optical shaping element to achieve shaping into a linear beam output.
  • VCSEL vertical-cavity surface-emitting Laser
  • the laser receiving module 23 has a plurality of receiving sensors, such as 8, 16, 32, 64 or 128, and the specific number of receiving sensors can be selected and set according to actual needs.
  • the receiving sensor is mainly used to receive the echo signal formed by the light emitted by the laser emission source and then reflected by the external object.
  • all the receiving sensors can be arranged in at least one column, and each column of receiving sensors is arranged in the vertical direction.
  • Each column of receiving sensors is a receiving sensor group.
  • the receiving sensors in the two adjacent receiving sensor groups are arranged in the vertical direction.
  • the sensors are arranged in a staggered manner, that is, the positions of two adjacent rows of receiving sensors in the horizontal direction parallel to the bottom wall 111 of the housing 10 do not overlap.
  • Each receiving sensor may be a silicon photomultiplier (SiPM) array sensor. All receiving sensors can work simultaneously to ensure that all echo signals reflected by the prism 40 and the galvanometer 50 are received as much as possible.
  • SiPM silicon photomultiplier
  • the receiving sensor can also be an avalanche photo diode (APD) or a single photon avalanche diode (SPAD), etc.
  • APD avalanche photo diode
  • SPAD single photon avalanche diode
  • the first reflector 30 is mainly used to reflect the laser beam emitted by the laser emission module 21 to the galvanometer 50, and the galvanometer 50 then reflects the laser beam to the prism 40. Finally, the laser beam is reflected by the prism 40 and then emitted from the window mirror 15 to the external environment. When the emitted laser beam irradiates an object in the external environment, it will be reflected to form an echo signal (laser). The echo signal is incident through the window mirror 15, and is reflected by the prism 40 and the galvanometer 50 to the second reflector 31 in turn. The second reflector 31 then reflects the echo signal to the laser receiving module 23 to realize the reception of the echo signal. Thereafter, the distance between the external environment object and the laser radar is calculated based on the time-of-flight method through the time difference between the emitted laser and the echo signal.
  • a receiving lens or a lens group is arranged on the optical path of the laser receiving module 23, so as to converge the echo signal to the laser receiving sensor, thereby realizing the convergence and detection of the echo signal.
  • the galvanometer 50 and the prism 40 can both rotate in the shell 10, thereby changing the transmission path and direction of the laser, wherein the rotation axis of the prism 40 is perpendicular to the optical axes of the laser emitting module 21 and the laser receiving module 23, and the rotation axis of the galvanometer 50 is perpendicular to the rotation axis of the prism 40, thereby realizing the vertical field of view and horizontal field of view requirements of the laser radar through the rotation of the prism 40 and the galvanometer 50.
  • the rotation axis of the galvanometer 50 is parallel to the bottom wall 111 of the housing 10.
  • the galvanometer 50 is specifically cyclically rotated in two opposite directions to achieve a sawtooth wave reciprocating swing, so that the emission angle of the laser beam changes in the vertical direction to achieve vertical scanning.
  • the galvanometer 50 can also rotate continuously and at a constant speed in one direction, which can also meet the requirement of vertical scanning.
  • the rotation axis of the prism 40 is perpendicular to the bottom wall 111 of the housing 10, and thus perpendicular to the rotation axis of the galvanometer 50, so that the emission angle of the laser beam changes in the horizontal direction parallel to the bottom wall 111 of the housing 10, meeting the horizontal field of view requirements of the laser radar.
  • the number of reflective surfaces of the prism 40 can be 2 to 8, such as the four shown in FIG. 2, and these reflective surfaces are connected end to end in sequence, and the rounded corners between two adjacent reflective surfaces are transitioned to ensure the continuity of the reflected laser, wherein the prism 40 continuously rotates at a uniform speed in one direction.
  • the laser emitting module in the present invention adopts an array laser emitting source
  • the laser receiving module adopts an array receiving sensor.
  • a two-dimensional scanning structure composed of a galvanometer 50 and a prism 40 whose rotation axes are perpendicular to each other
  • the emission angle of the light emitted by the laser emitting source can be changed by changing the rotation angle of the galvanometer 50 and the prism 40, thereby realizing the scanning of the laser radar in the vertical and horizontal directions, thereby collecting sufficiently dense point cloud data to meet the vertical field of view and horizontal field of view requirements of the laser radar, requiring fewer stacked laser emitting sources and receiving sensors, and optical matching and debugging between the emitting, receiving and scanning structures is also simpler.
  • the combination of the galvanometer 50 and the prism 40 can obtain high-density point cloud data of, for example, 256/512 lines.
  • the prism 40 and the transceiver module 20 are arranged in sequence in a preset direction A, that is, the prism 40, the laser emitting module 21 and the laser receiving module 23 are arranged in sequence in the preset direction A, and the optical axis of the laser emitting module 21 and the optical axis of the laser receiving module 23 are parallel to each other.
  • the preset direction A is also perpendicular to the rotation axis of the prism 40.
  • the light output end of the laser emitting module 21 and the light input end of the laser receiving module 23 are arranged side by side in the preset direction A, so the first reflector 30 and the second reflector 31 are arranged opposite to each other, and the first reflector 30 and the second reflector 31 are both arranged at 45° to the optical axis of the laser emitting module 21, and the rotation axis of the galvanometer 50 is also arranged at 45° to the optical axis of the laser emitting module.
  • the rotation of the prism 40 can be achieved through the prism motor 41.
  • the interior of the prism 40 is hollow to present a hollow structure.
  • the prism motor 41 can be an external rotor motor, and its rotor is entirely arranged inside the prism 40 and fixed relative to the prism 40.
  • the stator of the prism motor 41 is fixedly connected to the bottom wall 111 of the shell 10. In this way, when the prism motor 41 is working, the prism motor 41 can drive the prism 40 to rotate.
  • the manufacturing material of the prism 40 can also be reduced, thereby reducing costs, while reducing the occupied space in the shell 10, making the overall structure highly compact.
  • the rotor speed of the prism motor 41 can be 1500 rpm, specifically 3000 rpm, and the prism motor 40 is provided with an encoder, so that the rotation position information of the prism 40 can be accurately obtained for easy control.
  • a mounting member 43 is fixed on the bottom wall 111 of the shell 10.
  • the mounting member 43 is roughly plate-shaped and is used to fix the stator of the prism motor 41.
  • the mounting member 43 can be fixed in the shell 10 by screw connection, welding, etc., and the specific connection form is not specifically limited.
  • the rotation of the galvanometer 50 can be achieved through the galvanometer motor 51.
  • the galvanometer motor 51 can be an inner rotor motor, and its stator is fixed on the bottom wall 111 of the bottom shell 11 through the mounting frame 53.
  • the rotor of the galvanometer motor 51 is clamped and connected to the galvanometer 50 by a chuck, thereby driving the galvanometer 50 to rotate when the galvanometer motor 51 is working.
  • the power consumption of the transmitting laser is getting higher and higher. Due to the size limitation of the radar, the laser arrangement of the transmitting module is more dense, resulting in an increase in local thermal power density. In addition, in order to meet the point cloud density requirements and measurement accuracy requirements, the rotation speed of the prism 40 must be maintained above a certain value (for example, above 6000r/min). Since the prism 40 will be affected by air resistance when rotating, the power consumption of the prism motor 41 will be large, further increasing the thermal power consumption.
  • the heat dissipation effect of LiDAR directly affects its performance and reliability.
  • the heat dissipation of LiDAR is mainly based on air cooling, which requires the installation of fans and The ventilation duct takes up a large amount of space inside the radar, and the fan also brings additional power consumption and noise.
  • the housing 10 is made of metal material, its thermal conductivity is much better than that of power consumption components, and the heat conduction is fast, and the heat conduction principle can be used to greatly improve the heat dissipation effect.
  • the laser radar also includes a heat sink 60, which is arranged corresponding to the prism 40 and is spaced from the prism 40 to reduce the air pushed by the prism 40 when it rotates, so that the air flow field between the prism 40 and other spaces in the shell 10 is isolated by setting the heat sink 60, and the air resistance encountered by the prism 40 when it rotates is reduced, thereby reducing the power consumption of the prism motor 41 and reducing the heat generation.
  • a heat sink 60 which is arranged corresponding to the prism 40 and is spaced from the prism 40 to reduce the air pushed by the prism 40 when it rotates, so that the air flow field between the prism 40 and other spaces in the shell 10 is isolated by setting the heat sink 60, and the air resistance encountered by the prism 40 when it rotates is reduced, thereby reducing the power consumption of the prism motor 41 and reducing the heat generation.
  • the heat sink 60 is connected to the bottom wall 111 and the side wall 112 of the bottom shell 11 of the shell 10, so as to ensure that the heat can be quickly extracted.
  • the connection method of the heat sink 60 and the bottom shell 11 is not specifically limited in this embodiment.
  • it can be adhesive connection, screw connection, riveting, welding, etc., as long as the heat sink 60 and the shell 10 are in close contact, the heat can be quickly conducted.
  • the heat sink 60 can also be directly constructed as one body with the shell 10, that is, the heat sink 60 and the shell 10 are an integrally formed structure, which is more conducive to the rapid extraction of heat.
  • the material of the heat sink 60 can be consistent with the shell 10, both of which are made of copper-containing die-cast aluminum alloy to have good thermal conductivity.
  • the transceiver module 20 is also arranged on the side of the heat sink 60 in the shell 10 facing away from the prism 40, that is, the prism 40, the heat sink 60 and the transceiver module 20 are arranged in sequence in the preset direction A.
  • the heat sink 60 can separate the transceiver module 20 from the prism 40, and can reduce the stray light reflected to the transceiver module 20 during the rotation of the prism 40, thereby reducing the influence of the stray light inside the whole machine on the measurement effect and measurement accuracy, thereby improving the whole machine test performance of the laser radar.
  • the orthographic projection of the prism 40 on the preset plane is always located within the outer boundary of the orthographic projection of the heat sink 60 on the preset plane, wherein the preset plane is perpendicular to the preset direction A.
  • the outer boundary of the side of the heat sink 60 facing the prism 40 can completely cover the prism 40.
  • the prior art in order to solve the problem of regional heat concentration in the laser radar receiving module and excessive heat density at a certain point, although the prior art adopts TEC (semiconductor refrigerator) solution for heat dissipation, this solution has problems such as high cost and poor reliability.
  • the introduction of TEC is equivalent to adding an additional heating device.
  • passive heat dissipation the transceiver module 20 generally transfers heat to the circuit board fixing structure through thermal conductive glue, and then transfers it to the shell.
  • the thermal conductive glue has poor heat conduction effect, the heat dissipation path is long, and the heat dissipation effect is poor.
  • the side of the heat sink 60 facing away from the prism 40 is set to be in close contact with the transceiver module 20.
  • the heat generated by the transceiver module 20 can be directly conducted to the heat sink 60, and then conducted out by the housing 10. Therefore, through the direct contact between the transceiver module 20 and the heat sink 60, the heat transfer path is shortened, the heat exchange rate is improved, and the heat can be quickly and efficiently transferred.
  • the forced airflow generated when the prism 40 rotates quickly takes away the heat, thereby alleviating the high heat power consumption of the transceiver module 20 and the problem of excessively high local heat density, and at the same time simplifying the difficulty of the whole machine assembly process and reducing the production cost.
  • the side of the heat sink 60 facing away from the prism 40 can be directly bonded to the transceiver module 20, or it can be bonded through a thermal conductive sheet.
  • the thermal conductive sheet can be an indium sheet, which has strong plasticity and good ductility, and its thermal conductivity is more than dozens of times that of thermal conductive glue or thermal conductive silicone grease, thereby being able to improve the thermal conductivity rate and enable efficient heat transfer.
  • one of the laser emitting module 21 and the laser receiving module 23 in the transceiver module 20 can be attached to the side of the heat sink 60 facing away from the prism 40.
  • the prism 40, the heat sink 60, the laser emitting module 21 and the laser receiving module 23 are arranged in sequence in the preset direction A, that is, the laser emitting module 21 is close to the prism 40 relative to the laser receiving module 23, and the side of the heat sink 60 facing away from the prism 40 is in close contact with the laser emitting module 21.
  • the heat power consumption of the optical emission module 21 is higher than that of the laser receiving module 23 . Therefore, the laser emission module 21 with higher heat power consumption is closely attached to the heat sink 60 , thereby achieving a better heat dissipation effect.
  • the laser receiving module 23 may be in close contact with the heat sink 60 .
  • the heat sink 60 may also be spaced apart from the transceiver module 20 , thereby only serving to reduce the wind resistance of the prism 40 and reduce the thermal power consumption of the prism motor 41 .
  • the heat sink 60 has a concave first curved surface 61 on one side facing the prism 40, and the center of curvature of the first curved surface 61 is located on the side of the first curved surface 61 close to the prism 40.
  • the second curved surface 630 is set as a cylindrical arc surface, and the central axis of the first curved surface 61 coincides with the rotation axis of the prism 40, so that the first curved surface 61 is concentric with the swept space of the prism 40 when it rotates, so that the amount of air pushed by the prism 40 when it rotates remains uniform, reducing air resistance, reducing the thermal power consumption of the prism motor 41 and improving the heat dissipation effect.
  • a plurality of fins 63 are disposed on a surface of the heat sink 60 facing the prism 40 , and the fins 63 are sequentially arranged at intervals along the direction of the rotation axis of the prism 40 .
  • the provision of the fins 63 can increase the contact area between the heat sink 60 and the air, thereby increasing the heat conduction area, so as to better conduct heat and improve the heat dissipation efficiency.
  • the cross section of the fins 63 can have any shape, which is not limited in this embodiment, such as a triangular cross section, a trapezoidal cross section, a semicircular cross section, a semi-elliptical cross section, etc.
  • each wing 63 has a concave second curved surface 630 on one side facing the prism 40.
  • the function of the second curved surface 630 is similar to that of the first curved surface 61, and it is also to make the amount of air pushed by the prism 40 as uniform as possible. Therefore, the center of curvature of the second curved surface 630 is located on the side of the second curved surface 630 close to the prism 40.
  • the second curved surface 630 is a cylindrical arc surface, and the central axis of the second curved surface 630 coincides with the rotation axis of the prism 40 .
  • micro-arc oxidation, painting, and sandblasting are also performed on parts such as the laser emitting module 21 , the laser receiving module 23 , and the prism motor 41 .
  • the laser radar provided in the embodiment of the present invention has a two-dimensional scanning structure composed of a galvanometer 50 and a prism 40 whose rotation axes are perpendicular to each other.
  • the emission angle of the laser beam can be changed simply by changing the rotation angle of the galvanometer 50 and the prism 40, thereby realizing the scanning of the laser radar in the vertical and horizontal directions, thereby collecting sufficiently dense point cloud data to meet the vertical and horizontal field of view requirements of the laser radar.
  • the structure is simpler, fewer components are required, the requirements for components are lower, and the optical matching and debugging between transmission and reception are also simpler.
  • the air resistance encountered by the prism 40 when it rotates is reduced, thereby reducing the power consumption of the prism motor 41 and reducing the heat generation.
  • a forced airflow is formed between the prism 40 and the heat sink 60, thereby actively dissipating the heat of other electronic devices in the shell 10, thereby improving the heat dissipation effect, and there is no need to provide a separate fan, thereby improving the utilization rate of the internal space of the laser radar.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optics & Photonics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

本发明实施例提供了一种激光雷达，涉及光学探测设备技术领域，激光发射模组采用阵列激光发射源，激光接收模组采用阵列接收传感器，结合转动轴线相互垂直的振镜和棱镜构成的二维扫描结构，通过改变振镜和棱镜的转动角度改变激光发射源发出光线的出射角度，实现激光雷达在垂直方向和水平方向的扫描，从而采集到足够密集的点云数据，满足激光雷达的垂直视场需求和水平视场需求，需要堆叠的激光发射源和接收传感器的数量更少，且发射、接收与扫描系统之间的光学匹配调试也更为简单。

Description

激光雷达
相关申请的交叉引用
本发明主张2022年11月08日提交的申请号为202211388105X，名称为激光雷达的发明申请的优先权。
技术领域
本发明涉及光学探测设备技术领域，尤其是涉及一种激光雷达。
背景技术
雷达是利用电磁波探测目标的电子设备。雷达发射电磁波对目标进行照射并接收其回波，由此获得目标至电磁波发射点的距离、距离变化率(径向速度)、方位、高度等信息。由于激光具有单色性好、亮度高、方向性强等特点，使激光雷达得到越来越多的关注，也被广泛用于自动驾驶汽车；而为了更全面获得路况信息，在自动驾驶汽车使用场景中，需要激光雷达输出的点云数据足够密集。
目前，现有技术中是通过在一个方向上堆叠较多数量的发射源和接收器，例如两者的数量均为一百以上，从而增加该方向上的数据量，再配合一维扫描部件对外部进行扫描。
然而，如果需要获得更多的点云密度，需要继续堆叠发射源和接收器，对元器件的要求高且发射、接收与扫描之间的光学匹配调试更为复杂。
发明内容
本发明的目的在于提供一种激光雷达，在采集到足够密集的点云数据的同时，发射、接收及扫描结构之间的光学匹配调试更为简单。
第一方面，本发明提供了一种激光雷达，包括壳体以及设置于所述壳体内的激光发射模组、激光接收模组、振镜和棱镜；
所述壳体设置有透光部；
所述激光发射模组包括用于发射光线的多个激光发射源；
所述激光接收模组包括多个接收传感器；
所述棱镜和所述振镜均相对于所述壳体能够转动，其中，所述棱镜的转动轴线和所述振镜的转动轴线垂直；
所述振镜和所述棱镜用于将所述激光发射源发出的光线反射后从所述透光部出射，并用于将出射后光线经外界物体反射形成的回波信号反射至所述接收传感器。
在可选的实施方式中，多个所述激光发射源排布为至少一列，其中，全部所述激光发射源发出的光线经光学整形元件整形为一道激光光束后射向所述振镜。
在可选的实施方式中，全部所述激光发射源发出的光线经光学整形元件整形为一道激光光束，所述激光光束为线光束或者矩形光束。
在可选的实施方式中，全部所述激光发射源同时发射光线。
在可选的实施方式中，全部所述接收传感器排成一列，每列的所述接收传感器组包括用于接收所述回波信号的多个接收传感器单元，每列所述接收传感器组中的全部所述接收传感器依次排列。
在可选的实施方式中，全部所述接收传感器排成至少两列，每列所述接收传感器为一个接收传感器组，沿着每个所述接收传感器组中所述接收传感器的排列方向，相邻两个所述接收传感器组中的所述接收传感器依次交错设置。
在可选的实施方式中，全部所述接收传感器同时工作。
在可选的实施方式中，所述激光接收模组的光路上设置有接收透镜，所述接收透镜用于将经过所述棱镜和所述振镜反射后的所述回波信号汇聚至所述接收传感器。
在可选的实施方式中，全部所述激光发射源排成至少一列，全部所述接收传感器排成至少一列，每列所述激光发射源以及每列所述接收传感器的排列方向均平行于所述棱镜的转动轴线。
在可选的实施方式中，所述激光雷达还包括第一反射镜，所述第一反射镜设置于所述壳体内，所述第一反射镜用于将所述激光发射源发出的光线反射至所述振镜。
在可选的实施方式中，所述激光雷达还包括第二反射镜，所述第二反射镜用于将经过所述棱镜和所述振镜反射后的所述回波信号反射至所述激光接收模组。
在可选的实施方式中，所述激光雷达还包括位于所述壳体内的振镜马达，所述振镜马达的定子相对于所述壳体固定，所述振镜连接在所述振镜马达的转子上。
在可选的实施方式中，所述激光雷达还包括位于所述壳体内的棱镜马达，所述棱镜马达的定子相对于所述壳体固定，所述棱镜连接在所述棱镜马达的转子上。
在可选的实施方式中，所述棱镜为中空构造，所述棱镜马达的转子位于所述棱镜的内部。
在可选的实施方式中，所述壳体包括底壁以及夹角连接在底壁上的侧壁，所述激光接收模组、所述振镜和所述棱镜设置于所述底壁上，所述振镜的转动轴线平行于所述底壁，所述棱镜的转动轴线垂直于所述底壁，所述侧壁设置有所述透光部。
本发明实施例的有益效果包括：
激光发射模组采用阵列激光发射源，激光接收模组采用阵列接收传感器，通过转动轴线相互垂直的振镜和棱镜构成的二维扫描结构，改变振镜和棱镜的转动角度，可改变激光发射源发出光线的出射角度，实现激光雷达在垂直方向和水平方向的扫描，从而采集到足够密集的点云数据，满足激光雷达的垂直视场需求和水平视场需求，需要堆叠的激光发射源和接收传感器的数量更少，且发射、接收及扫描结构之间的光学匹配调试也更为简单。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一个实施例激光雷达的局部分解示意图；
图2为图1中棱镜、棱镜马达和安装件的分解示意图；
图3为图1中棱镜、散热件和收发模块的俯视图；
图4为图3中散热件的立体示意图；
图5为本发明另一个实施例中散热件的立体示意图。
图标：10-壳体；11-底壳；110-窗口；111-底壁；112-侧壁；13-上盖；15-窗口镜；20-收发模块；21-激光发射模组；23-激光接收模组；30-第一反射镜；31-第二反射镜；40-棱镜；41-棱镜马达；43-安装件；50-振镜；51-振镜马达；53-安装架；60-散热件；61-第一曲面；63-翅条；630-第二曲面；A-预设方向。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
此外，术语“水平”、“竖直”、“悬垂”等术语并不表示要求部件绝对水平或悬垂，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。
在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接， 也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参考图1，本发明实施例提供了一种激光雷达，该激光雷达包括壳体10、收发模块20、棱镜40、振镜50、第一反射镜30和第二反射镜31等零部件。
壳体10呈中空构造，从而可以在其内部设置收发模块20、棱镜40、振镜50、第一反射镜30和第二反射镜31等零部件。
壳体10的形状可以是长方体形，正方形等，其具体形状在本实施例中不做具体限定，也就是说，壳体10的形状可以是任意的，只需要能够满足收发模块20、棱镜40、振镜50、第一反射镜30和第二反射镜31等零部件的放置即可，壳体10的材料可以是选用高强度防腐蚀材料，例如含铜压铸铝合金材质制成，以适应室外较恶劣环境，也可以是常用的金属材料。
为了进光和出光，因此壳体10还设置有一透光部，该透光部可以是透明材质制成的窗口镜15，相应壳体10的一侧设置有窗口110来用于安装该窗口镜15，由此光线可以通过该窗口镜15进入或射出壳体10之外。
壳体10主要包括底壳11和上盖13两部分，底壳11大致呈顶部开口状的长方体形，其包括底壁111以及呈夹角状连接在底壁111上的侧壁112，底壁111用于供收发模块20、棱镜40、振镜50、第一反射镜30和第二反射镜31等部件设置，由此在将收发模块20、棱镜40、振镜50、第一反射镜30和第二反射镜31等零部件安装在底壳11内之后，将上盖13盖设在底壳11的顶部，也即，将上盖13可拆卸盖设在侧壁112远离底壁111的一侧，以将底壳11的顶部开口封闭。底壳11的侧壁112上设有窗口110以用于安装窗口镜15。
收发模块20主要用于发射以及接收激光光束，其包括激光发射模组21和激光接收模组23。
激光发射模组21，该激光发射模组21具有用于发射光线的多个激光发射源，例如2、4、6或8等数量的激光发射源，又或者为4、8、16或32等数量的激光发射源，激光发射源具体数量可以根据实际需求进行选择设置，全部激光发射源沿着垂直于壳体10底壁111的方向(下称垂直方向)排成至少一列。
激光发射源具体可采用边发射激光器(Edge-Emitting Laser，EEL)作为光源，边发射激光器是一种激光发射方向平行于晶圆表面的半导体激光器。从而形成垂直方向上的线阵发射光源。
激光发射模组21全部激光发射源能够同时发射光线，这些发射的光线经过光学整形元件准直和匀光后汇聚一道激光光束后输出，该激光光束可以是线光束或者矩形光束等，以此输出能量更高且更为集中的光线，减少光线在外接环境中的光能量损失。其中，光学整形元件包括点不限于球透镜、柱透镜、微透镜阵列和/或衍射光学元件(Diffractive Optical Elements,DOE)来实现准直和匀光。
此外，激光发射源还可以是垂直腔面激光发射器(Vertical-cavity Surface-emitting Laser，VCSEL)，激光束呈圆形对称，并相应设置透镜组作为光学整形元件实现整形为线光束出射。
激光接收模组23具有多个接收传感器，例如8、16、32、64或128等数量，接收传感器的具体数量可以根据实际需求进行选择设置。接收传感器主要用于接收激光发射源发出的光线照射至外界物体后反射形成的回波信号。其中，全部的接收传感器可以排成至少一列，每列接收传感器沿着垂直方向排列。每列接收传感器为一个接收传感器组。当存在至少两个接收传感器组的情况下，沿着垂直方向，相邻的两个接收传感器组中的接收 传感器位置依次交错设置，即相邻两列接收传感器在平行于壳体10底壁111的水平方向上的位置不重叠。
其中，每个接收传感器可以采用硅光电倍增管(Silicon photomultiplier，SiPM)阵列传感器。全部接收传感器能够同时工作，以尽量保证经过棱镜40和振镜50反射的回波信号全部被接收。
此外，接收传感器还可以是雪崩二极管(avalanche photo diode，APD)或者单光子雪崩二极管(Single Photon Avalanche Diode，SPAD)等。
第一反射镜30主要用于将激光发射模组21发射的激光光束反射至振镜50，由此振镜50再将激光光束反射至棱镜40，最终激光光束经棱镜40反射后从窗口镜15射出进入到外部环境，当出射的激光光束照射到外部环境中的物体时就会反射形成回波信号(激光)，回波信号通过窗口镜15入射，依次经棱镜40和振镜50反射至第二反射镜31，再由第二反射镜31将回波信号反射至激光接收模组23，以实现回波信号的接收，之后通过出射激光和回波信号之间的时间差，基于飞行时间法计算外部环境物体与激光雷达之间的距离。
激光接收模组23的光路上设置有接收透镜或者透镜组，从而将回波信号汇聚至激光接收传感器，实现回波信号的汇聚和探测。
振镜50和棱镜40在壳体10内均能够转动，由此改变激光的传输路径和方向，其中，棱镜40的转动轴线与激光发射模组21以及激光接收模组23的光轴均垂直，振镜50的转动轴线与棱镜40的转动轴线垂直，以此通过棱镜40的转动和振镜50的转动来实现激光雷达的垂直视场与水平视场需求。
具体来说，振镜50的转动轴线平行于壳体10底壁111，该振镜50具体为循环往复的朝两个相反的方向不断转动以达到锯齿波往复摆动，从而使得激光光束的出射角度在垂直方向发生变化，以实现垂直方向的扫描， 以满足激光雷达的垂直视场需求。当然，在一些实施例中，振镜50也可以是朝一个方向不断连续匀速转动，也能够满足垂直方向扫描的需求。
棱镜40的转动轴线则垂直于壳体10底壁111，从而垂直于振镜50的转动轴线，以使得激光光束的出射角度在平行于壳体10底壁111的水平方向发生变化，满足激光雷达的水平视场需求。该棱镜40的反光面的数量可以为2～8个，例如图2中所示的四个，这几个反光面依次首尾连接，且相邻两个反光面之间圆角过渡，从而保证反射激光的连续性，其中，该棱镜40为朝着一个方向不断连续匀速转动。
这样一来，本发明中激光发射模组采用阵列激光发射源，激光接收模组采用阵列接收传感器，通过转动轴线相互垂直的振镜50和棱镜40构成的二维扫描结构，改变振镜50和棱镜40的转动角度，即可改变激光发射源发出光线的出射角度，实现激光雷达在垂直方向和水平方向的扫描，从而采集到足够密集的点云数据，满足激光雷达的垂直视场需求和水平视场需求，需要堆叠的激光发射源和接收传感器的数量更少，且发射、接收与扫描结构之间的光学匹配调试也更为简单。
以激光发射模组21有在垂直方向上排成一列的4个激光发射源，激光接收模组23有垂直方向上排成一列的16个接收传感器为例，结合振镜50和棱镜40能够获得例如256/512线的高密度点云数据。
棱镜40和收发模块20在预设方向A上依次设置，即棱镜40、激光发射模组21和激光接收模组23在预设方向A上依次设置，且激光发射模组21的光轴和激光接收模组23的光轴相互平行，该预设方向A同时也垂直于棱镜40的转动轴线。
激光发射模组21的出光端和激光接收模组23的入光端在预设方向A上并列，因此第一反射镜30和第二反射镜31呈相对设置，且第一反射镜30和第二反射镜31均与激光发射模组21的光轴呈45°设置，振镜50的转动轴线与激光发射模组的光轴也呈45°设置。
其中，结合图2，棱镜40的转动可以是通过棱镜马达41实现，具体而言，棱镜40的内部中空以呈现中空结构，棱镜马达41可以是外转子马达，其转子整体设置在棱镜40的内部，且相对于棱镜40固定，棱镜马达41的定子则与壳体10底壁111固定连接，这样一来，在棱镜马达41工作时，棱镜马达41即可带动棱镜40转动，此外，由于棱镜40的内部构造为中空来安装棱镜马达41的转子，因此还可以减少棱镜40的制造材料，降低成本，同时减少在壳体10内的占用空间，使得结构整体的紧凑性高。
棱镜马达41的转子转速可以为1500转/分钟，具体可以是3000转/分钟，且棱镜40电机设置有编码器，从而可以准确获取棱镜40的转动位置信息，便于控制。
在本实施例中，壳体10底壁111上固定有安装件43，该安装件43大致呈板状，以用于固定棱镜马达41的定子，其中，该安装件43可以是通过螺钉连接、焊接等方式固定在壳体10内，具体连接形式不做具体限制。
继续参考图1，振镜50的转动可以是通过振镜马达51实现，具体而言，振镜马达51可以是内转子马达，其定子通过安装架53固定在底壳11底壁111上，振镜马达51的转子则通过夹头夹持连接振镜50，由此在振镜马达51工作时即可带动振镜50转动。
需要说明的是，由于点云密度、测量精度与测量距离的要求不断提高，其发射激光器功耗越来越高，而由于雷达尺寸限制，发射模组激光器排布更加密集，导致局部热功率密度增加，此外，为了满足点云密度要求与测量精度要求，棱镜40的转速要维持在一定数值以上(例如6000r/min以上)，由于棱镜40转动时会受到空气阻力，因此会使得棱镜马达41功耗大，进一步提高了热功耗。
激光雷达的散热效果直接影响其性能和可靠性，而现有技术中针对激光雷达的散热主要还是以风冷散热为主，需要在激光雷达内部设置风扇和 通风孔道，占用雷达内部的较多空间尺寸，另外风扇还会带来额外的功耗和噪声。
在本实施例中，由于壳体10为金属材料，其导热性能大大优于功耗元件，热传导快，进而可以利用热传导原理，大大提高散热效果。
此外，结合图3，在本实施例中，激光雷达还包括散热件60，散热件60对应于棱镜40设置，并与棱镜40相间隔，以减少棱镜40在转动时所推挤的空气，从而通过设置该散热件60来隔断棱镜40与壳体10内其他空间的空气流场，降低棱镜40转动时受到的空气阻力，由此能够减少棱镜马达41的功耗，从而降低发热量，此外，在棱镜40高速转动时，棱镜40和散热件60之间会形成强迫气流，以此对壳体10内的其他电子器件进行主动散热，提高了散热效果，而且不需要再单独设置风扇，提高了激光雷达内部空间的利用率。
其中，散热件60与壳体10的底壳11的底壁111和侧壁112相连，从而确保热量能够快速导出，可以理解的是，散热件60和底壳11的相连的方式在本实施例中并不进行具体限定，例如可以是胶粘连接，螺钉连接，铆接，焊接等等，只要保证散热件60和壳体10之间紧密接触，能够使热量快速传导即可。当然，散热件60还可以是直接与壳体10构造为一体，即散热件60和壳体10为一体成型的结构，从而更有利于热量的快速导出。散热件60的材质则可以与壳体10一致，均为含铜压铸铝合金材质，以具有良好的导热性。
在本实施例中，还通过将收发模块20设置壳体10内散热件60背向棱镜40的一侧，即棱镜40、散热件60和收发模块20在预设方向A上依次设置，由此该散热件60可以起到将收发模块20与棱镜40隔开，能够起到减少棱镜40转动过程中反射到收发模块20的杂散光，从而降低整机内部杂散光对测量效果与测量精度影响，提高了激光雷达的整机测试性能。
为了使散热件60更好地阻隔棱镜40反射的杂散光，因此在本实施例中，棱镜40在预设平面上的正投影始终位于散热件60在预设平面上的正投影的外边界之内，其中，预设平面垂直于预设方向A，换句话说，即散热件60朝向棱镜40的一面的外边界能够完全罩覆棱镜40。
在现有技术中，针对激光雷达内收模块区域性热集中以及某点位热密度过高的问题，虽现有技术中有采用TEC(半导体制冷器)方案进行散热来解决，但是该方案存在成本高、可靠性差等问题，另外TEC的引入相当于增加额外发热器件。而在被动散热中，一般为收发模块20通过导热胶将热量传到电路板固定结构件，然后再传递到外壳，此方案中结构件与外壳连接存在间隙，导热胶导热效果差，散热路径长，散热效果差。
为了改善上述缺陷，因此在本实施例中，将散热件60背向棱镜40的一面设置为与收发模块20紧贴。从而使得收发模块20产生的热量能够直接传导至散热件60，再由壳体10导出，因此，通过收发模块20与散热件60直接接触，缩短传热路径，提高热交换率热量能够快速高效传递，再有棱镜40转动时产生的强迫气流快速将热量带走，由此缓解了收发模块20热功耗高，局部热密度过高问题，同时也了简化整机组装工艺难度，降低生产成本。
其中，散热件60背向棱镜40的一面与收发模块20可以是直接贴合，也可以是通过导热片贴合，例如该导热片可以是铟片，其塑性强，延展性好，其导热系数为导热胶或导热硅脂的数十倍以上，从而能够提高导热速率，使得热量高效传递。
还需要说明的是，收发模块20中激光发射模组21和激光接收模组23的其中一者与散热件60背向棱镜40的一面贴合即可，例如图1和图3所示，棱镜40、散热件60、激光发射模组21和激光接收模组23在预设方向A依次设置，即激光发射模组21相对于激光接收模组23靠近棱镜40，且散热件60背向棱镜40的一面与激光发射模组21紧贴，这样一来，由于激 光发射模组21的热功耗较激光接收模组23的热功耗较高的特点，将热功耗较高激光发射模组21与散热件60紧贴，从而达到更好的散热效果。
当然，在一些实施例中，也可以是激光接收模组23与散热件60紧贴。
还可以理解的是，在一些实施例中，散热件60也可以是与收发模块20相间隔设置，从而仅起到降低棱镜40风阻和降低棱镜马达41的热功耗的作用。
结合图4，在一个实施例中，散热件60朝向棱镜40的一面具有凹陷的第一曲面61，第一曲面61的曲率中心位于第一曲面61靠近棱镜40的一侧，由此使得棱镜40转动时，其棱边与散热件60之间的距离尽可能保持相同，使得棱镜40推挤的空气量尽量保持均匀，以减小空气阻力，利于空气流动，降低棱镜马达41的热功耗以及提高散热效果。
由于棱镜40转动时的扫掠空间一般呈圆柱形，因此在本实施例中，将第二曲面630设置为圆柱形弧面，且第一曲面61的中心轴线与棱镜40的转动轴线重合，从而使得该第一曲面61与棱镜40转动时的扫掠空间同心，使得棱镜40在转动时推挤的空气量保持均匀，减小空气阻力，降低棱镜马达41的热功耗以及提高散热效果。
结合图5，在另一个实施例中，散热件60朝向棱镜40的一面设有多个翅条63，各翅条63沿着棱镜40的转动轴线的方向依次间隔排布。
翅条63的设置可提高散热件60与空气的接触面积，从而增大导热面积，以便更好地传导热量，提高散热效率。在此，该翅条63的截面可具有任意形状，本实施例中并不进行限制，例如三角形截面、梯形截面、半圆形截面、半椭圆形截面等。
其中，每个翅条63朝向棱镜40的一面具有凹陷的第二曲面630，该第二曲面630所起到的作用与第一曲面61的类似，也是为了使棱镜40推挤的空气量尽量保持均匀，因此第二曲面630的曲率中心位于第二曲面630靠近棱镜40的一侧。
更为具体的，为了适配棱镜40转动时的圆柱形扫掠空间，因此在本实施例中，第二曲面630为圆柱形弧面，且第二曲面630的中心轴线与棱镜40的转动轴线重合。
需要说明的是，在本实施例中，还对激光发射模组21、激光接收模组23，棱镜马达41等零件采用微弧氧化、喷漆、喷砂处理。
综上，本发明实施例提供的激光雷达，通过转动轴线相互垂直的振镜50和棱镜40构成的二维扫描结构，只需要通过改变振镜50和棱镜40的转动角度即可改变激光光束的出射角度，实现激光雷达在垂直方向和水平方向的扫描，从而采集到足够密集的点云数据，满足激光雷达的垂直视场需求和水平视场需求，结构更为简单，需要元器件的数量更少，对元器件的要求更低，且发射与接收之间的光学匹配调试也更为简单。
此外，通过设置散热件60来隔断棱镜40与壳体10内其他空间的空气流场，降低棱镜40转动时受到的空气阻力，由此能够减少棱镜马达41的功耗，从而降低发热量，此外，在棱镜40高速转动时，棱镜40和散热件60之间会形成强迫气流，以此对壳体10内的其他电子器件进行主动散热，提高了散热效果，而且不需要再单独设置风扇，提高了激光雷达内部空间的利用率。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (15)

  1. 一种激光雷达，其特征在于，包括壳体以及设置于所述壳体内的激光发射模组、激光接收模组、振镜和棱镜；
    所述壳体设置有透光部；
    所述激光发射模组包括用于发射光线的多个激光发射源；
    所述激光接收模组包括多个接收传感器；
    所述棱镜和所述振镜均相对于所述壳体能够转动，其中，所述棱镜的转动轴线和所述振镜的转动轴线垂直；
    所述振镜和所述棱镜用于将所述激光发射源发出的光线反射后从所述透光部出射，并用于将出射后光线经外界物体反射形成的回波信号反射至所述接收传感器。
  2. 根据权利要求1所述的激光雷达，其特征在于，多个所述激光发射源排布为至少一列，其中，全部所述激光发射源发出的光线经光学整形元件整形为一道激光光束。
  3. 根据权利要求1所述的激光雷达，其特征在于，全部所述激光发射源发出的光线经光学整形元件整形为一道激光光束，所述激光光束为线光束或者矩形光束。
  4. 根据权利要求1-3任一项所述的激光雷达，其特征在于，全部所述激光发射源同时发射光线。
  5. 根据权利要求1所述的激光雷达，其特征在于，全部所述接收传感器排成一列。
  6. 根据权利要求1所述的激光雷达，其特征在于，全部所述接收传感器排成至少两列，每列所述接收传感器为一个接收传感器组，沿着每个所述接收传感器组中所述接收传感器的排列方向，相邻两个所述接收传感器组中的所述接收传感器依次交错设置。
  7. 根据权利要求1、5或6所述的激光雷达，其特征在于，全部所述接收传感器同时工作。
  8. 根据权利要求1所述的激光雷达，其特征在于，所述激光接收模组的光路上设置有接收透镜，所述接收透镜用于将所述回波信号汇聚至所述接收传感器。
  9. 根据权利要求1所述的激光雷达，其特征在于，全部所述激光发射源排成至少一列，全部所述接收传感器排成至少一列，每列所述激光发射源以及每列所述接收传感器的排列方向均平行于所述棱镜的转动轴线。
  10. 根据权利要求1所述的激光雷达，其特征在于，所述激光雷达还包括第一反射镜，所述第一反射镜设置于所述壳体内，所述第一反射镜用于将所述激光发射源发出的光线反射至所述振镜。
  11. 根据权利要求1所述的激光雷达，其特征在于，所述激光雷达还包括第二反射镜，所述第二反射镜用于将经过所述棱镜和所述振镜反射后的所述回波信号反射至所述激光接收模组。
  12. 根据权利要求1所述的激光雷达，其特征在于，所述激光雷达还包括位于所述壳体内的振镜马达，所述振镜马达的定子相对于所述壳体固定，所述振镜连接在所述振镜马达的转子上。
  13. 根据权利要求1所述的激光雷达，其特征在于，所述激光雷达还包括位于所述壳体内的棱镜马达，所述棱镜马达的定子相对于所述壳体固定，所述棱镜连接在所述棱镜马达的转子上。
  14. 根据权利要求13所述的激光雷达，其特征在于，所述棱镜为中空构造，所述棱镜马达的转子位于所述棱镜的内部。
  15. 根据权利要求1所述的激光雷达，其特征在于，所述壳体包括底壁以及夹角连接在底壁上的侧壁，所述激光接收模组、所述振镜和所述棱 镜设置于所述底壁上，所述振镜的转动轴线平行于所述底壁，所述棱镜的转动轴线垂直于所述底壁，所述侧壁设置有所述透光部。
PCT/CN2023/102395 2022-11-08 2023-06-26 激光雷达 WO2024098771A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211388105.X 2022-11-08
CN202211388105.XA CN115598619A (zh) 2022-11-08 2022-11-08 激光雷达

Publications (1)

Publication Number Publication Date
WO2024098771A1 true WO2024098771A1 (zh) 2024-05-16

Family

ID=84852340

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/102395 WO2024098771A1 (zh) 2022-11-08 2023-06-26 激光雷达

Country Status (2)

Country Link
CN (3) CN115598619A (zh)
WO (1) WO2024098771A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115598619A (zh) * 2022-11-08 2023-01-13 北醒（北京）光子科技有限公司（Cn） 激光雷达

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111157975A (zh) * 2020-03-05 2020-05-15 深圳市镭神智能系统有限公司 一种多线激光雷达及自移动车辆
CN211426799U (zh) * 2019-09-21 2020-09-04 深圳奥锐达科技有限公司 一种二维扫描激光雷达装置及电子设备
WO2022016380A1 (zh) * 2020-07-21 2022-01-27 深圳市速腾聚创科技有限公司 激光雷达及自动驾驶设备
CN114089311A (zh) * 2022-01-19 2022-02-25 探维科技(北京)有限公司 一种激光雷达系统
WO2022213814A1 (zh) * 2021-04-09 2022-10-13 华为技术有限公司 一种探测装置及其控制方法
CN115598619A (zh) * 2022-11-08 2023-01-13 北醒（北京）光子科技有限公司（Cn） 激光雷达

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11125787A (ja) * 1997-08-21 1999-05-11 Hewlett Packard Co <Hp> 光ビーム走査装置
CN110736973A (zh) * 2019-11-15 2020-01-31 上海禾赛光电科技有限公司 激光雷达的散热装置和激光雷达
CN114594446A (zh) * 2020-12-04 2022-06-07 上海禾赛科技有限公司 激光雷达及其散热装置
CN217305525U (zh) * 2022-01-11 2022-08-26 森思泰克河北科技有限公司 激光雷达散热结构及激光雷达

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN211426799U (zh) * 2019-09-21 2020-09-04 深圳奥锐达科技有限公司 一种二维扫描激光雷达装置及电子设备
CN111157975A (zh) * 2020-03-05 2020-05-15 深圳市镭神智能系统有限公司 一种多线激光雷达及自移动车辆
WO2022016380A1 (zh) * 2020-07-21 2022-01-27 深圳市速腾聚创科技有限公司 激光雷达及自动驾驶设备
WO2022213814A1 (zh) * 2021-04-09 2022-10-13 华为技术有限公司 一种探测装置及其控制方法
CN114089311A (zh) * 2022-01-19 2022-02-25 探维科技(北京)有限公司 一种激光雷达系统
CN115598619A (zh) * 2022-11-08 2023-01-13 北醒（北京）光子科技有限公司（Cn） 激光雷达

Also Published As

Publication number Publication date
CN219737761U (zh) 2023-09-22
CN118011360A (zh) 2024-05-10
CN115598619A (zh) 2023-01-13

Similar Documents

Publication Publication Date Title
US11474207B2 (en) Lidar system and method
US11592532B2 (en) Integrated light transmission/reception optical system module and scanning lidar having same
CN108872965B (zh) 一种激光雷达
EP3958012A1 (en) Prism and multi-beam lidar system
WO2020062110A1 (zh) 扫描模组、测距装置、测距组件、距离探测设备及移动平台
WO2024098771A1 (zh) 激光雷达
US20220171071A1 (en) Lidar and automated driving device
EP3851878A1 (en) Laser measurement module and laser radar
CN108983197A (zh) 基于mems微镜的三维扫描激光雷达
CN216209860U (zh) 测距模组、激光雷达及可移动平台
WO2020142957A1 (zh) 一种测距装置及移动平台
CN211402711U (zh) 一种激光雷达
JP6351090B2 (ja) 光源ユニット、光源ユニットを用いた照明光学系
CN210376672U (zh) 多线激光雷达
US10969473B2 (en) Infrared range-measurement device and TIR lens
CN110596675A (zh) 一种激光发射装置及激光雷达系统
WO2020062112A1 (zh) 测距组件及移动平台
WO2020142963A1 (zh) 测距装置及移动平台
WO2020062115A1 (zh) 距离探测设备及移动平台
CN211627823U (zh) 测距装置、距离探测设备及移动平台
CN211206773U (zh) 扫描模组、测距组件及移动平台
CN211236239U (zh) 距离探测设备及移动平台
US20240159875A1 (en) Systems, methods, and devices for combining multiple optical component arrays
CN211718524U (zh) 一种可拆卸探测装置及移动平台
JP2023028729A (ja) 測距装置