Detection device for laser radar and laser radar

Abstract

The invention provides a detection device for a laser radar and the laser radar, and the detection device comprises a lens cone which is configured to accommodate a transmitting lens group and a receiving lens group, and the lens cone is made of plastic; the light emitter is configured to emit detection light, and the emission lens group is located on a light path of the detection light; the light receiver is configured to receive echo light after the detection light is reflected by a target object, and the receiving lens group is located on a light path of the echo light; and a driving circuit board, wherein the light emitter and the light receiver are both arranged on the driving circuit board. According to the detection device, on the premise that the heat dissipation requirement is met, the cost of the lens cone of the laser radar is reduced, batch production is easy, the product size consistency is better, and the weight is lighter.

Description

Technical Field

[0001] The present application relates to the field of laser radar, and in particular to a detection device for laser radar and a laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to emit detection light to the target, and then process the received echo light reflected from the target to obtain relevant information about the target, such as distance, spatial position, speed and other parameters.

[0003] The laser radar includes an optical transmitter, an optical receiver, a transmitting lens, a receiving lens, a signal processing system, etc., wherein the optical transmitter can be driven to transmit detection light, the transmitting lens is used to collimate the detection light, the optical receiver is used to receive the echo light after the detection light is reflected by the target object, and the receiving lens is used to converge the echo light.

[0004] The above-mentioned transmitting lens and receiving lens usually include a lens barrel and a lens (including a single lens or a lens group of multiple lenses) arranged in the lens barrel. Since the laser radar will generate a lot of heat when working for a long time, the lens barrel of the laser radar is currently limited by the heat dissipation requirements and is basically made of metal materials to facilitate the heat dissipation of the laser radar. However, it will cause the laser radar lens barrel to be heavy, the processing technology to be complicated, it is difficult to open the mold, the production cycle to be long, the dimensional consistency is not easy to ensure, and the cost is relatively high, which is not conducive to mass production. Summary of the invention

[0005] The present application provides a detection device and a laser radar for a laser radar, which can reduce the cost of the laser radar barrel while meeting the heat dissipation requirements, facilitate mass production, have better product size consistency, and be lighter in weight.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a detection device for a laser radar, comprising a lens barrel configured to accommodate a transmitting lens group and a receiving lens group, wherein the lens barrel is made of plastic;

[0008] A light emitter is configured to emit detection light, wherein the emission lens group is located on the optical path of the detection light;

[0009] an optical receiver configured to receive the echo light after the detection light is reflected by the target object, the receiving lens group being located on the optical path of the echo light; and

[0010] A driving circuit board, on which the optical transmitter and the optical receiver are both arranged.

[0011] According to some embodiments of the present application, the lens barrel includes a lens barrel body and a first light-isolating member; the lens barrel body includes an emitting cavity and a receiving cavity, the emitting cavity is formed in the lens barrel body and is configured to accommodate the emitting lens group; the receiving cavity is formed in the lens barrel body and is configured to accommodate the receiving lens group; the first light-isolating member is arranged between the emitting cavity and the receiving cavity to separate the emitting cavity and the receiving cavity.

[0012] According to some embodiments of the present application, the lens barrel body and the first light isolation member are integrally formed.

[0013] According to some embodiments of the present application, the optical axis of the transmitting lens group is parallel to the optical axis of the receiving lens group.

[0014] According to some embodiments of the present application, the lens barrel body is divided into multiple lens barrel segments along a direction perpendicular to the driving circuit board, each of the lens barrel segments has a different inner diameter to match emitting lenses and / or receiving lenses of different sizes, and each of the lens barrel segments has the same wall thickness.

[0015] According to some embodiments of the present application, the lens barrel is made of fiber-reinforced PPS plastic.

[0016] According to some embodiments of the present application, the lens barrel is made of glass fiber reinforced PPS plastic, and the glass fiber content in the glass fiber reinforced PPS plastic is 40%.

[0017] According to some embodiments of the present application, the detection device further includes a heat sink, which is disposed at an end of the lens barrel and is configured to dissipate heat from the driving circuit board and / or the lens barrel.

[0018] According to some embodiments of the present application, the driving circuit board is disposed between the lens barrel and the heat sink.

[0019] According to some embodiments of the present application, the heat sink includes a heat dissipation fin group, and the heat dissipation fin group is connected to the driving circuit board and / or the lens barrel.

[0020] According to some embodiments of the present application, the detection device also includes a base, and the lens barrel is mounted on the base.

[0021] According to some embodiments of the present application, the optical axes of the emitting lens group and the receiving lens group in the lens barrel are tilted relative to the base.

[0022] According to some embodiments of the present application, the vertical field of view angle of the detection device is greater than or equal to 105°.

[0023] According to some embodiments of the present application, the lens barrel includes a lens barrel body, which is tilted relative to the base; and a support body, which is integrally formed with the lens barrel body and connected to the base, and the support body is arranged on both sides of the lens barrel body, and the support body is configured to support the lens barrel body, the driving circuit board and the heat sink.

[0024] According to some embodiments of the present application, the support body is provided with reinforcing ribs, and the reinforcing ribs are integrally formed with the support body.

[0025] According to some embodiments of the present application, a channel is provided on the lens barrel body, an inlet end of the channel is connected to the outside of the lens barrel body, and an outlet end of the channel is connected to the emitting lens and / or receiving lens inside the lens barrel body, so as to guide the adhesive into the connection between the lens and the lens barrel body.

[0026] According to some embodiments of the present application, a cross-sectional area of ​​an inlet end of the channel is larger than a cross-sectional area inside the channel.

[0027] According to some embodiments of the present application, the lens barrel includes a first positioning portion configured to position the lens barrel with the driving circuit board and / or to position the lens barrel with the heat sink; and a second positioning portion configured to position the lens barrel with the base.

[0028] According to some embodiments of the present application, the detection device also includes a control circuit board, which is arranged on a side of the base away from the lens barrel, and the drive circuit board has an electrical connector, and a hole is provided on the base, and the electrical connector passes through the hole and is electrically connected to the control circuit board.

[0029] According to some embodiments of the present application, the lens barrel body includes an exit port, which is located on the optical path of the detection light and downstream of the emitting cavity; a receiving port, which is located on the optical path of the echo light and upstream of the receiving cavity; a mounting portion, which is located between the exit port and the receiving port; and a second light isolation member, which is installed on the outside of the lens barrel body through the mounting portion to separate the detection light and the echo light outside the lens barrel body.

[0030] According to some embodiments of the present application, the optical transmitter is a VCSEL, and the optical receiver is a single photon detector.

[0031] In a second aspect, an embodiment of the present application provides a laser radar, including:

[0032] The detection device described in any embodiment of the first aspect above; and

[0033] The rotating support device is configured to drive the detection device to rotate so as to detect the surrounding environment of the laser radar.

[0034] The detection device for laser radar and the laser radar provided in the embodiments of the present application have at least the following beneficial effects:

[0035] 1. In the detection device for laser radar provided in the embodiment of the present application, since the light transmitter and the light receiver are both arranged on the same driving circuit board, a structure of a transmitter and receiver on the same board is adopted. In the structure of a transmitter and receiver on the same board, the lens barrel can adopt an integrated transmitter and receiver design, that is, the transmitting lens barrel and the receiving lens barrel are combined into the same lens barrel, and the integrated lens barrel can be installed in conjunction with the light transmitter and the light receiver on the same board without installation and adjustment, thereby facilitating mass production; and the lens barrel is made of plastic, which can reduce the weight of the lens barrel, reduce processing costs, improve production efficiency, and improve product size consistency.

[0036] 2. The detection device for laser radar provided in the embodiment of the present application simplifies the production and assembly process, improves production efficiency, and facilitates mass production because the first light-isolating member is integrally formed with the lens barrel body. The integrally formed structure has higher strength and greater durability, which can improve the reliability and service life of the laser radar when it rotates for a long time.

[0037] 3. The detection device for laser radar provided in the embodiment of the present application has a barrel body divided into multiple barrel sections along a direction perpendicular to the driving circuit board, and the inner diameters of the barrel sections are different to match transmitting lenses and / or receiving lenses of different sizes, and the wall thicknesses of the barrel sections are the same, thereby ensuring that the strength of the barrel body in various places in the direction perpendicular to the driving circuit board is consistent, avoiding local deformation of the barrel body, and the barrel structure can be realized through an injection molding process when plastic materials are used, with low production costs, good product consistency, and easy mass production.

[0038] 4. The detection device for laser radar provided in the embodiment of the present application has a lens barrel made of fiber-reinforced PPS plastic. Compared with ordinary PPS plastic, fiber-reinforced PPS plastic can improve the corresponding performance of the material according to actual needs, so that the lens barrel has higher mechanical strength, better insulation, corrosion resistance, high temperature resistance and other advantages.

[0039] 5. The laser radar provided in the embodiments of the present application, since it adopts the detection device described in any of the above embodiments, can reduce the weight of the laser radar, reduce the pressure on the rotating support device supporting the detection device, and improve the rotational stability of the rotating support device, thereby improving the reliability and service life of the laser radar; and can reduce the cost of the laser radar, improve the production efficiency of the laser radar, which is conducive to the mass production of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of the structure of a detection device provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of the external structure of a detection device provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the external structure of the lens barrel in the detection device provided in an embodiment of the present application;

[0044] Figure 4 A cross-sectional view of a detection device provided in an embodiment of the present application;

[0045] Figure 5 for Figure 4 A magnified view of part A;

[0046] Figure 6 An exploded view of a base and a control circuit board in a detection device provided in an embodiment of the present application;

[0047] Figure 7 An exploded diagram of a detection device provided in an embodiment of the present application;

[0048] Figure 8 A schematic diagram of the structure of the laser radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following description provides specific application scenarios and requirements of this specification, with the purpose of enabling those skilled in the art to make and use the contents of this specification. Various local modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but to the widest scope consistent with the claims.

[0050] The terms used herein are only used for the purpose of describing specific example embodiments and are not restrictive. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include plural forms. When used in this specification, the terms "include", "comprise" and / or "contain" mean that the associated integers, steps, operations, elements and / or components exist, but do not exclude the existence of one or more other features, integers, steps, operations, elements, components and / or groups or that other features, integers, steps, operations, elements, components and / or groups may be added in the system / method.

[0051] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0052] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0053] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0054] In view of the following description, these and other features of the present specification, as well as the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the parts can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0055] In order to solve the problems that the laser radar of the prior art has a heavy barrel weight, complex processing technology, and is not easy to ensure dimensional consistency, and the cost is relatively high, which is not conducive to mass production. The present application provides a detection device for laser radar, including a barrel, which is configured to accommodate a transmitting lens group and a receiving lens group, and the barrel is made of plastic; a light transmitter, which is configured to emit detection light, and the transmitting lens group is located on the optical path of the detection light; a light receiver, which is configured to receive the echo light after the detection light is reflected by the target object, and the receiving lens group is located on the optical path of the echo light; and a driving circuit board, on which the light transmitter and the light receiver are both arranged. The detection device for laser radar provided in the embodiment of the present application can reduce the cost of the laser radar barrel, facilitate mass production, and have better product dimensional consistency and lighter weight while meeting the heat dissipation requirements.

[0056] The present application is described in detail below through specific embodiments:

[0057] like Figure 1 As shown, the embodiment of the present application provides a detection device for laser radar, which includes a lens barrel 1, a light transmitter 2, a light receiver 3 and a driving circuit board 4. The light transmitter 2 and the light receiver 3 are both arranged on the driving circuit board 4, and the driving circuit board 4 is fixed to one side of the lens barrel 1. Specifically, along the optical path direction of the detection light L1, the lens barrel 1 is located downstream of the driving circuit board 4; or along the optical path direction of the echo light L2, the lens barrel 1 is located upstream of the driving circuit board 4. The light transmitter 2 is used to transmit the detection light L1, and the light receiver 3 is used to receive the echo light L2 after the detection light L1 is reflected by the target object; the lens barrel 1 is made of plastic, and a transmitting lens group 5 and a receiving lens group 6 are arranged in the lens barrel 1. The transmitting lens group 5 is located on the optical path of the detection light L1, and the receiving lens group 6 is located on the optical path of the echo light L2.

[0058] In the detection device for laser radar provided by the embodiment of the present application, the light transmitter 2 and the light receiver 3 are both arranged on the same driving circuit board 4, and the light transmitter 2 is used to transmit the detection light L1, and after being shaped (collimated) by the transmitting lens group 5, the target in the external environment of the laser radar is detected, and the target reflects the detection light to form the echo light L2, and the echo light L2 is shaped (converged) by the receiving lens group 6 and received by the light receiver 3. The above structure adopts a structure of transmitting and receiving on the same board, that is, the light transmitter and the light receiver are arranged on the same driving circuit board, and the driving circuit board is respectively provided with a driving circuit for driving the light transmitter to transmit the detection light and driving the light receiver to receive the echo light. In the structure of transmitting and receiving on the same board, the lens barrel can adopt an integrated design of transmitting and receiving, that is, the transmitting lens barrel and the receiving lens barrel are combined into the same lens barrel, and the integrated lens barrel can be installed without adjustment when it is matched with the light transmitter and the light receiver of the transmitting and receiving board, so that it is easy to mass produce. In addition, the lens barrel is made of plastic, which can reduce the weight of the lens barrel, reduce the processing cost, improve the production efficiency, and improve the size consistency of the product.

[0059] The structure of the lens barrel 1 is as follows Figure 1 , Figure 2 , Figure 3 As shown, it includes a lens barrel body 11, a transmitting cavity 12, a receiving cavity 13 and a first light barrier 14 formed in the lens barrel body 11. The transmitting cavity 12 is used to accommodate the transmitting lens group 5, and the receiving cavity 13 is used to accommodate the receiving lens group 6. The first light barrier 14 is arranged between the transmitting cavity 12 and the receiving cavity 13 to separate the transmitting cavity 12 and the receiving cavity 13 to avoid mutual interference between the detection light and the echo light, thereby affecting the detection result obtained by the detection device, such as the distance and position of the target object. Therefore, the use of the integrated lens barrel 1 fixes the relative position of the transmitting lens group 5 and the receiving lens group 6. Compared with the solution of using a separate transmitting lens barrel and a receiving lens barrel, in which the transmitting lens group 5 and the receiving lens group 6 are respectively arranged in the transmitting lens barrel and the receiving lens barrel, the use of the integrated lens barrel 1 is convenient for assembly and debugging, and avoids the assembly of multiple parts when assembling the lens barrel 1, thereby simplifying the assembly process of the lens barrel 1, improving the production and assembly efficiency, and facilitating mass production.

[0060] The first light-isolating member 14 can be manufactured in one piece with the lens barrel body 11. The first light-isolating member 14 can be made of the same plastic material as the lens barrel body 11, and can be integrally formed by injection molding, thereby simplifying the production and assembly process, and the integrally formed structure has higher strength and durability, thereby improving the reliability and service life of the laser radar when it rotates for a long time.

[0061] In the above-mentioned design in which the light transmitter 2 and the light receiver 3 share a driving circuit board 4, the light transmitter 2 can adopt a VCSEL (Vertical Cavity Surface Emitting Laser) laser; the light receiver 3 can adopt a single photon detector, such as SiPM (Silicon photomultiplier) and SPAD (Single Photon Avalanche Diode).

[0062] Since the photon detection efficiency (PDE) of the single-photon detector used in the laser radar is significantly improved, the laser's luminous power does not need to be very high, resulting in a reduction in the VCSEL luminous power, thereby reducing the power consumption of the optical transmitter 2 and the optical receiver 3. Therefore, the heat dissipation requirements for the optical transmitter and the optical receiver are not high, and the metal lens barrel 1 does not need to be relied upon for heat dissipation, so that the lens barrel 1 can be made of plastic material, thereby reducing the weight of the lens barrel 1, reducing processing costs, improving production efficiency, and improving product size consistency.

[0063] Since the VCSEL emits the detection light in a direction perpendicular to the driving circuit board 4, and the single-photon detector receives the echo light in a direction perpendicular to the driving circuit board 4, the emission optical path of the detection light emitted by the optical transmitter 2 is parallel to the receiving optical path of the echo light received by the optical receiver 3, and the optical axis of the corresponding emission lens group 5 is parallel to the optical axis of the receiving lens group 6, so that the emission cavity 12 and the receiving cavity 13 in the lens barrel body 11 can be arranged in a direction perpendicular to the driving circuit board 4, which can save the space occupied by the emission cavity 12 and the receiving cavity 13. In addition, since the emission optical path of the optical transmitter 2 and the receiving optical path of the optical receiver 3 are both perpendicular to the driving circuit board 4, and no beam deflection element (such as a reflector, etc.) is arranged outside the lens barrel 1, the optical paths of the detection light L1 and the echo light L2 are transmitted in a straight line in the laser radar without being folded.

[0064] It should be noted that the above-mentioned transmitting lens group 5 can include one transmitting lens or multiple transmitting lenses. When it includes multiple transmitting lenses, the multiple transmitting lenses are arranged in sequence along the optical path of the detection light L1, and the outer diameters of each transmitting lens are different; similarly, the above-mentioned receiving lens group 6 can include one receiving lens or multiple receiving lenses. When it includes multiple receiving lenses, the multiple receiving lenses are arranged in sequence along the optical path of the echo light, and the outer diameters of each receiving lens are different.

[0065] like Figure 2 , Figure 4As shown, the lens barrel body 11 can be divided into a plurality of lens barrel sections (11a, 11b, 11c, 11d) along a direction perpendicular to the driving circuit board 4, and the inner diameters of the lens barrel sections are different to match lenses (transmitting lenses or receiving lenses) of different sizes. Figure 4 As shown, the sizes of the emitting lenses in the emitting lens group 5 are different, and the outer diameters of the emitting lenses decrease in sequence along the transmission direction of the detection light L1. Correspondingly, the sizes of the receiving lenses in the receiving lens group 6 are different, and the outer diameters of the receiving lenses increase in sequence along the transmission direction of the echo light L2. At this time, if the outer diameters of the barrel sections are the same, the wall thicknesses of the barrel sections will be different, resulting in inconsistent strengths of the barrel body 11 at various locations in the direction perpendicular to the drive circuit board 4, and the barrel sections with thinner wall thickness are prone to deformation. Therefore, the outer diameter of each barrel section can be set to match its inner diameter, that is, the outer diameter of the barrel section with a larger inner diameter is also larger, and the outer diameter of the barrel section with a smaller inner diameter is also smaller, thereby making the wall thickness of each barrel section close to equal, thereby ensuring that the strength of the barrel body 11 at various locations in the direction perpendicular to the drive circuit board 4 is consistent, and avoiding local deformation of the barrel body 11. It should be noted that the above-mentioned stepped lens barrel structure can be realized through injection molding when plastic materials are used, but when a metal lens barrel is used, it needs to be formed through mechanical processing. Therefore, it is not easy to achieve, and the cost is high. The product size consistency is poor, which is not conducive to mass production.

[0066] In order to ensure the stability of optical performance, an adhesive can be used to bond the lens L (including the transmitting lens group 5 and the receiving lens group 6) and the lens barrel body 11. The structure of the lens barrel 1 is as follows: Figure 4 , Figure 5 As shown, a channel 111 is provided on the side wall of the lens barrel body 11, an inlet end 111a of the channel 111 is communicated with the outside of the lens barrel body 11, and an outlet end 111b of the channel 111 is communicated with the lens in the lens barrel body 11, so as to guide the adhesive to enter the connection between the lens L and the lens barrel body 11. When installing the lens L, the lens can be placed at a preset installation position in the lens barrel body 11, and the installation position can be positioned by a step structure 112 formed on the inner wall of the lens barrel body 11. After the lens L is placed, the adhesive can be introduced into the channel 111 and squeezed into the contact portion between the lens L and the lens barrel body 11, so as to achieve bonding of the lens L to the lens barrel body 11.

[0067] In order to facilitate the adhesive to enter the inlet end 111a of the channel 111, as shown in FIG. Figure 4 , Figure 5As shown, the cross-sectional area of ​​the inlet end 111a of the channel 111 can be set to be larger than the cross-sectional area inside the channel 111. Specifically, when the channel 111 is a circular through hole, the diameter of the inlet end 111a of the channel is larger than the inner diameter of the channel 111. As a result, the accommodation space of the inlet end 111a is larger, which makes it easier for the adhesive to enter the channel 111, thereby leaving a larger operating space, improving work efficiency, and preventing the adhesive from overflowing and affecting the appearance.

[0068] like Figure 2 , Figure 4 As shown, the lens barrel body 11 also includes an emission port 113 and a receiving port 114, the emission port 113 is located downstream of the emitting cavity 12 along the optical path of the detection light so that the detection light is emitted from the emitting cavity 12, and the receiving port 114 is located upstream of the receiving cavity 13 along the optical path of the echo light so that the echo light enters the receiving cavity 13. In order to prevent the detection light and the echo light from interfering with each other at the emission port 113 and the receiving port 114, a mounting portion can be provided on the end surface of the lens barrel body 11 provided with the emission port 113 and the receiving port 114, and the mounting portion is located between the emission port 113 and the receiving port 114, and a second light-isolating member 115 is provided at the mounting portion to separate the detection light outside the emission port 113 and the echo light outside the receiving port 114, so as to prevent the detection light and the echo light from interfering with each other. The second light-isolating member 115 can be a light-isolating plate, and the light-isolating plate can be vertically arranged with the end surface of the lens barrel body 11.

[0069] Specifically, the material of the lens barrel 1 can be selected to be fiber-reinforced PPS (Polyphenylenesulfide) plastic. Compared with ordinary PPS plastic, fiber-reinforced PPS plastic can improve the corresponding properties of the material according to actual needs. For example, glass fiber reinforced PPS plastic, glass fiber reinforced PPS plastic or carbon fiber reinforced PPS plastic can be selected. Among them, glass fiber reinforced PPS plastic is to add glass fiber to PPS plastic, and glass fiber has the advantages of high mechanical strength, good insulation performance, corrosion resistance, high temperature resistance, etc., so that PPS plastic can have the above-mentioned properties. Specifically, the content of the added glass fiber can be 40%, which is a mass ratio, so that the various parameters of the glass fiber reinforced PPS plastic can be more suitable for manufacturing the lens barrel 1.

[0070] In order to achieve better heat dissipation effect, such as Figure 4 , Figure 6 As shown, a heat sink 7 can be provided at the end of the lens barrel 1. The heat sink 7 can be connected to the drive circuit board 4 for heat dissipation of the drive circuit board 4; it can also be connected to the lens barrel 1 for heat dissipation of the lens barrel 1; it can also be connected to the drive circuit board 4 and the lens barrel 1 for heat dissipation of the lens barrel 1 and the drive circuit board 4 at the same time. When heat is dissipated from the lens barrel 1 and the drive circuit board 4 at the same time, as shown in FIG. Figure 3 , Figure 4 As shown, the driving circuit board 4 can be arranged between the lens barrel 1 and the heat sink 7, and the first positioning portion 16 of the lens barrel 1 passes through the driving circuit board 4 and is connected to the heat sink 7, so as to realize the positioning and fixed connection between the lens barrel 1, the driving circuit board 4 and the heat sink 7, so that the driving circuit board 4 and the lens barrel 1 are cooled simultaneously by the heat sink 7.

[0071] Specifically, Figure 4 As shown, the structure of the heat sink 7 may include a base 71 and a heat sink fin group 72. The heat sink fin group 72 is composed of a plurality of heat sink fins parallel to each other. The heat sink fins are all sheet-shaped and perpendicular to the base 71. The plurality of heat sink fins are arranged in a direction parallel to the base 71. There is a gap between two adjacent heat sink fins, so that the contact area between the heat sink 7 and the air is larger, thereby improving the heat conduction efficiency between the heat sink 7 and the air. The heights of the plurality of heat sink fins on the base 71 may be the same or different. Figure 4 In the illustrated solution, the height of the plurality of heat dissipation fins on the base 71 gradually decreases from the middle to both sides, thereby reducing mutual shielding between the heat dissipation fins and facilitating full contact between the external air and the heat dissipation fins, thereby improving heat dissipation efficiency.

[0072] like Figure 4 , Figure 6 , Figure 7 As shown, in order to facilitate the fixing of the detection device, a base 8 can be set at the bottom of the lens barrel 1. The base 8 is used to connect the detection device and the rotating support device of the laser radar, so that the rotating support device drives the detection device to rotate. In order to increase the vertical field of view of the laser radar, the optical axis of the transmitting lens group 5 and the optical axis of the receiving lens group 6 in the lens barrel 1 are tilted relative to the base 8, that is, the transmitting cavity 12 and the receiving cavity 13 are tilted relative to the base 8, so that the detection device can be moved away from the base 8 in the vertical field of view direction, thereby increasing the detection range of the detection device in the vertical field of view direction. Specifically, when the inclination angle of the optical axis of the transmitting lens group 5 and the optical axis of the receiving lens group 6 is set, the vertical field of view angle of the detection device can be greater than or equal to 105°.

[0073] There are many ways to connect the lens barrel 1 and the base 8. For example, the tilted lens barrel body 11 can be directly connected to the base 8. In addition, in another connection method, Figure 2 , Figure 3As shown, support bodies 15 can be arranged on both sides of the lens barrel body 11, wherein the lens barrel body 11 is arranged obliquely relative to the base 8, the support bodies 15 are integrally formed with the lens barrel body 11, and are vertically connected to the base 8, and the support bodies 15 are used to support the lens barrel body 11, the driving circuit board 4 and the heat sink 7. At this time, the lens barrel body 11 is still arranged obliquely, but due to the existence of the support bodies 15, the support bodies 15 are arranged in a direction perpendicular to the base 8 and are located on both sides of the lens barrel body 11, so the inclined lens barrel body 11 can be connected to the base 8 in a direction perpendicular to the base 8, so that the contact area when the lens barrel 1 and the base 8 are connected is larger, and the connection is more stable.

[0074] In the above implementation, the support body 15 can be implemented in a plate-shaped, columnar or block-shaped structure, such as Figure 3 As shown, when the support body 15 adopts a plate-like structure, in order to prevent the support body 15 from being deformed, a reinforcing rib 151 can also be provided on the side of the support body 15, and the bottom of the reinforcing rib 151 abuts against the base 8, thereby making the connection between the support body 15 and the base 8 more stable and preventing the support body 15 from being deformed.

[0075] It should be noted that the lens barrel body 11 , the support body 15 and the reinforcing ribs 151 can all be made of plastic material during integral molding, and can be integrally molded using an injection molding process, thereby simplifying the production and assembly process.

[0076] In order to realize the positioning between the lens barrel 1 and the driving circuit board 4, and the positioning between the lens barrel 1 and the heat sink 7, a first positioning portion 16 can be provided between the lens barrel 1 and the driving circuit board 4, and between the lens barrel 1 and the heat sink 7, and the positioning between the lens barrel 1 and the driving circuit board 4, and the positioning between the lens barrel 1 and the heat sink 7 are realized by the first positioning portion 16. Specifically, there are many ways to realize the first positioning portion 16, for example, a positioning protrusion can be provided at the end of the lens barrel body 11, and positioning holes can be provided on the driving circuit board 4 and the heat sink 7, and the positioning protrusion is penetrated in the positioning hole to realize the positioning. In addition, a through hole for penetrating a screw can also be provided at the end of the lens barrel body 11, and a threaded hole can be provided on the driving circuit board 4 and the heat sink 7, and then the screw is passed through the through hole and threadedly connected with the threaded hole to realize the positioning connection between the lens barrel 1 and the driving circuit board 4, and the positioning connection between the lens barrel 1 and the heat sink 7.

[0077] In addition, if Figure 3As shown, in order to realize the positioning of the lens barrel 1 and the base 8, a second positioning portion 17 can be provided between the lens barrel 1 and the base 8, and the positioning of the lens barrel 1 and the base 8 can be realized by the second positioning portion 17. Specifically, there can be multiple ways to realize the second positioning portion 17, for example, a positioning protrusion can be provided at the bottom of the support body 15, and a positioning hole can be provided on the base 8, or a positioning protrusion can be provided on the base 8, and a positioning hole can be provided at the bottom of the support body 15, and the positioning protrusion can be penetrated in the positioning hole to realize positioning. In addition, a through hole for penetrating a screw can also be provided at the bottom of the support body 15, and a threaded hole can be provided on the base 8, and then the screw can be passed through the through hole and threadedly connected with the threaded hole to realize the positioning connection between the lens barrel 1 and the base 8.

[0078] In order to realize the positioning among the lens barrel 1, the base 8 and the control circuit board 9, as shown in FIG. Figure 3 , Figure 6 As shown, the second positioning portion 17 can be Figure 3 The base 8 is provided with a first positioning recess 81, and the control circuit board 9 is provided with a second positioning recess 92. The second positioning portion 17 is passed through the first positioning recess 81 and the second positioning recess 92 in sequence to achieve positioning among the lens barrel 1, the base 8 and the control circuit board 9. In addition, as Figure 6 As shown, the base 8 and the control circuit board 9 can be connected in a mating manner. Specifically, a screw hole column 82 can be set on the base 8, and a screw 93 can be set on the control circuit board 9. The base 8 and the control circuit board 9 are fixedly connected by the threaded cooperation of the screw 93 and the screw hole column 82.

[0079] It should be noted that, since the lens barrel 1 is made of plastic, the first positioning portion 16 and the second positioning portion 17 provided on the lens barrel 1 in the above embodiment can be integrally injection molded with the plastic lens barrel 1, thereby reducing the number of parts and facilitating improved production efficiency.

[0080] like Figure 4 , Figure 6 , Figure 7As shown, the detection device also includes a control circuit board 9, which is electrically connected to the drive circuit board 4 to process the detection signal received by the drive circuit board 4. In the specific connection, the control circuit board 9 can be set on the side of the base 8 away from the lens barrel 1, and a hole is set on the base 8, and the drive circuit board 4 is electrically connected to the control circuit board 9 through an electrical connector 91 inserted through the hole. Since the lens barrel 1 is tilted relative to the base 8, the drive circuit board 4 is also tilted relative to the base 8. The above-mentioned electrical connector 91 can be realized by a transmission line, a circuit board or a flexible cable. When a flexible cable is used, multiple lines are integrated together, and the structure is neat. The flexible cable can be passed through the base 8 and bent and then electrically connected to the control circuit board 9. At this time, the electrical connector 91 is located between the base 8 and the control circuit board 9, and the electrical connector 91 is parallel to the base 8, thereby saving space and reducing the overall size of the laser radar.

[0081] The present application also provides a laser radar, such as Figure 8 As shown, it includes the detection device 100 described in any of the above embodiments, and the rotating support device 200. The detection device 100 is arranged on the rotating support device 200, and the rotating support device 200 can drive the detection device 100 to rotate 360 ​​degrees to detect the surrounding environment of the laser radar.

[0082] The laser radar provided in the embodiment of the present application adopts the detection device 100 described in any of the above embodiments. Therefore, the weight of the laser radar can be reduced, the pressure on the rotating support device 200 can be reduced, and the rotation stability of the rotating support device 200 can be improved; and the cost of the laser radar can be reduced, the production efficiency of the laser radar can be improved, which is conducive to the mass production of the laser radar.

[0083] The above is a description of a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require a specific order or a continuous order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0084] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented only by way of example and may not be limiting. Although not explicitly stated herein, those skilled in the art will appreciate that this specification requires various reasonable changes, improvements and modifications to the embodiments. These changes, improvements and modifications are intended to be proposed by this specification and are within the spirit and scope of the exemplary embodiments of this specification.

[0085] In addition, certain terms in this specification have been used to describe embodiments of this specification. For example, "one embodiment", "an embodiment" and / or "some embodiments" mean that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this specification. Therefore, it can be emphasized and should be understood that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various parts of this specification do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics may be appropriately combined in one or more embodiments of this specification.

[0086] It should be understood that in the foregoing description of the embodiments of this specification, in order to help understand a feature and for the purpose of simplifying this specification, this specification combines various features in a single embodiment, drawing or its description. However, this does not mean that the combination of these features is necessary. When reading this specification, it is entirely possible for a person skilled in the art to extract some of the features and understand them as separate embodiments. In other words, the embodiments in this specification can also be understood as the integration of multiple secondary embodiments. This is also true when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0087] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, etc., cited herein may be incorporated herein by reference in its entirety for all purposes, except for any prosecution document history related thereto, any equivalent that may be inconsistent or conflicting with this document, or any equivalent prosecution document history that may have a limiting effect on the broadest scope of the claims now or later associated with this document. For example, if there is any inconsistency or conflict between the description, definition, and / or use of a term associated with any of the incorporated materials and the term, description, definition, and / or use associated with this document, the term in this document shall control.

[0088] It should also be noted that the content of the background technology section is only the information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure.

[0089] Finally, it should be understood that the embodiments of the application disclosed herein are explanations of the principles of the embodiments of this specification. Other modified embodiments are also within the scope of this specification. Therefore, the embodiments disclosed in this specification are only used as examples and not as limitations. Those skilled in the art can adopt alternative configurations according to the embodiments in this specification to implement the applications in this specification. Therefore, the embodiments of this specification are not limited to the embodiments accurately described in the application.

Claims

1. A detection device for laser radar, characterized in that: include: A lens barrel configured to accommodate a transmitting lens group and a receiving lens group, wherein the lens barrel is made of plastic; A light emitter is configured to emit detection light, wherein the emission lens group is located on the optical path of the detection light; An optical receiver configured to receive the echo light after the detection light is reflected by the target object, and the receiving lens group is located on the optical path of the echo light; as well as A driving circuit board, on which the optical transmitter and the optical receiver are both arranged.

2. The detection device according to claim 1, characterized in that: The lens barrel comprises: The lens barrel body comprises: an emission cavity formed in the lens barrel body and configured to accommodate the emission lens group, and a receiving cavity formed in the lens barrel body and configured to accommodate the receiving lens group; and The first light-isolating member is disposed between the emitting cavity and the receiving cavity to separate the emitting cavity from the receiving cavity.

3. The detection device according to claim 2, characterized in that: The lens barrel body and the first light isolation member are integrally formed.

4. The detection device according to claim 3, characterized in that: The optical axis of the transmitting lens group is parallel to the optical axis of the receiving lens group.

5. The detection device according to claim 2, characterized in that: The lens barrel body is divided into a plurality of lens barrel sections along a direction perpendicular to the driving circuit board. The inner diameters of the lens barrel sections are different to match transmitting lenses and / or receiving lenses of different sizes, and the wall thicknesses of the lens barrel sections are the same.

6. The detection device according to claim 1, characterized in that: The lens barrel is made of fiber-reinforced PPS plastic.

7. The detection device according to claim 6, characterized in that: The lens barrel is made of glass fiber reinforced PPS plastic, and the glass fiber content in the glass fiber reinforced PPS plastic is 40%.

8. The detection device according to claim 1, characterized in that: The detection device further comprises a heat sink, which is disposed at an end of the lens barrel and is configured to dissipate heat from the driving circuit board and / or the lens barrel.

9. The detection device according to claim 8, characterized in that: The driving circuit board is arranged between the lens barrel and the heat sink.

10. The detection device according to claim 9, characterized in that: The heat sink comprises a heat dissipation fin group, and the heat dissipation fin group is connected to the driving circuit board and / or the lens barrel.

11. The detection device according to claim 1, characterized in that: The detection device also includes a base, and the lens barrel is installed on the base.

12. The detection device according to claim 11, characterized in that: The optical axes of the emitting lens group and the receiving lens group in the lens barrel are arranged tilted relative to the base.

13. The detection device according to claim 12, characterized in that: The vertical viewing angle of the detection device is greater than or equal to 105°.

14. The detection device according to claim 12, characterized in that: The lens barrel comprises: The lens barrel body is tilted relative to the base; and A support body is formed integrally with the lens barrel body and connected to the base. The support body is arranged on both sides of the lens barrel body and is configured to support the lens barrel body, the driving circuit board and the heat sink.

15. The detection device according to claim 14, characterized in that: The support body is provided with reinforcing ribs, and the reinforcing ribs are integrally formed with the support body.

16. The detection device according to claim 14, characterized in that: The lens barrel body is provided with a channel, the inlet end of the channel is connected to the outside of the lens barrel body, and the outlet end of the channel is connected to the emitting lens and / or receiving lens in the lens barrel body to guide the adhesive into the connection between the lens and the lens barrel body.

17. The detection device according to claim 16, characterized in that: The cross-sectional area of ​​the inlet end of the channel is larger than the cross-sectional area of ​​the interior of the channel.

18. The detection device according to claim 11, characterized in that: The lens barrel comprises: a first positioning portion configured to position the lens barrel and the driving circuit board, and / or to position the lens barrel and a heat sink; and The second positioning portion is configured to position the lens barrel and the base.

19. The detection device according to claim 11, characterized in that: The detection device also includes a control circuit board, which is arranged on a side of the base away from the lens barrel. The drive circuit board has an electrical connector, and a hole is provided on the base. The electrical connector passes through the hole and is electrically connected to the control circuit board.

20. The detection device according to claim 2, characterized in that: The lens barrel body comprises: An exit port, located on the optical path of the detection light and downstream of the emission cavity; A receiving port, located on the optical path of the echo light and upstream of the receiving cavity; A mounting portion, located between the emission port and the receiving port; and The second light isolating member is installed on the outside of the lens barrel body through the installation portion to separate the detection light and the echo light outside the lens barrel body.

21. The detection device according to claim 1, characterized in that The optical transmitter is a VCSEL, and the optical receiver is a single photon detector.

22. A laser radar, characterized in that: include: The detection device according to any one of claims 1 to 21; as well as The rotating support device is configured to drive the detection device to rotate so as to detect the surrounding environment of the laser radar.

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