A laser radar and intelligent sensing device

Abstract

The present application provides a laser radar and intelligent sensing equipment, the laser radar includes a structural frame, a receiving end lens group, an integrated circuit board and a reflector assembly, the receiving end lens group is arranged on the side of the structural frame; the integrated circuit board is arranged on the top of the structural frame, and the integrated circuit board is integrated with a detector assembly and a signal processing unit chip; the reflector assembly is arranged on the structural frame, and is used to reflect the laser passing through the receiving end lens group to the optical design convergence point where the detector assembly is located on the integrated circuit board. The laser radar is used to solve the technical problems of the long echo electric signal path and limited radar ranging capability in the prior art.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and more specifically, to a laser radar and intelligent sensing equipment. Background Art

[0002] Laser radar 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 a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify targets such as aircraft and missiles. At the same time, with the development of optoelectronic technology, the application of laser radar is widespread in people's production and life.

[0003] The structural design of the LiDAR is critical to its ranging capability. The structure of the LiDAR usually consists of two parts: the transmitter and receiver. The functional part of the receiver structure generally includes an optical lens group, a photodetector, and a signal processing unit. Usually, when designing, the design of the receiver is particularly important. In addition to meeting the basic requirements of optical design, it is also necessary to consider the optical crosstalk between the transmitter and receiver, the influence of ambient light noise, the electrical radiation crosstalk of the transmitter and receiver control, and the influence of electrical noise of the control system.

[0004] The structure of the existing laser radar is as follows: each detector is individually arranged on a circuit board or multiple detectors are arranged on the same circuit board, the circuit board is placed behind the receiving lens group, and the signal processing unit is arranged on the main control circuit board, and the main control circuit board is placed above the receiving lens group, resulting in a long path for the receiving echo electrical signal. Since the electromagnetic environment inside the radar is relatively complex, the longer the path, the more susceptible the echo electrical signal is to interference from electrical radiation or the introduction of other noise, and the echo electrical signal is relatively weak and easily submerged in the noise, and even cannot be effectively identified, the signal-to-noise ratio deteriorates, and the ranging capability is limited. In addition, the circuit board where the detector is located is an active structure. Since there are electrical connection wires on the circuit board, the circuit board is not a free entity during debugging, which makes debugging inconvenient and difficult, and fixing after debugging is also difficult and complicated. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a laser radar to solve the technical problems in the prior art of long echo electrical signal path and limited radar ranging capability.

[0006] An embodiment of the present application provides a laser radar, which includes a structural frame, a receiving end lens group, an integrated circuit board and a reflector assembly, wherein the receiving end lens group is arranged on the side of the structural frame; the integrated circuit board is arranged on the top of the structural frame, and a detector assembly and a signal processing unit chip are integrated on the integrated circuit board; the reflector assembly is arranged on the structural frame, and is used to reflect the laser passing through the receiving end lens group to the optical design convergence point on the integrated circuit board where the detector assembly is located.

[0007] In the above implementation process, when the laser radar is actually working, on the receiving side, the echo laser beam first passes through the receiving lens group, and then is projected onto the reflector assembly. After being reflected by the reflector assembly, it is projected onto the optical design convergence point where the upper detector assembly is located, and then is sensed by the detector assembly.

[0008] This application integrates the detector assembly and the signal processing unit chip on the same integrated circuit board, shortening the path of the echo electrical signal, thereby reducing electrical noise and improving the signal-to-noise ratio, which can effectively improve the ranging capability of the laser radar. In the laser radar structural design, the space above the receiving end lens group is larger than the space behind it. Therefore, the integrated circuit board is set at the top of the structural frame, that is, above the receiving end lens group and cooperates with the reflector assembly to change the path of the echo laser beam, which can obtain a larger installation space, facilitate the installation of the detector assembly and the signal processing unit chip and the arrangement of the power supply line.

[0009] In summary, the above-mentioned laser radar integrates the detector assembly and the signal processing unit on an integrated circuit board located on the top of the structural frame, and cooperates with the reflector assembly to change the path of the echo laser beam, thereby greatly shortening the path of the echo signal. At the same time, the integrated circuit board is arranged above the receiving lens group to obtain a larger installation space, which facilitates the installation of the integrated circuit board and improves the manufacturability of the laser radar.

[0010] In order to achieve different functional requirements, it is generally necessary to perform debugging operations such as changing the field of view or improving the angular resolution of the laser radar. Among them, improving the resolution requires increasing the number of detectors in the receiving structure and increasing the density of the detector arrangement. In the existing laser radar structure, the space behind the receiving lens group is limited. If the number of detectors is increased, it is generally necessary to increase the board frame behind the laser radar structure frame to expand the space for placing components. Correspondingly, the height of the laser radar is increased, or the number of rear board frames is increased horizontally to expand the space for placing components. Correspondingly, the diameter of the laser radar is increased, and an adjustable gap needs to be left between the board frames. Therefore, the existing laser radar structure has a more complicated installation scheme to improve the resolution. In addition, changing the field of view angle generally corresponds to a change in the size of the receiving lens group or a change in the arrangement of the detectors. Both of these changes need to take into account changes in factors such as the position and size of the circuit board behind the receiving lens group. Correspondingly, the installation scheme will also change.

[0011] From the above content, it can be seen that in the prior art, based on the structure of the existing laser radar, debugging is generally performed by adjusting the position and angle of the circuit board where the detector assembly is located, but the circuit board is an active structure, that is, there are multiple wires led out of the circuit board and there is a connection relationship with other structures. Therefore, the debugging operation by adjusting the angle or position of the circuit board is difficult and complicated, and the difficulty of fixing after debugging is also high.

[0012] In a possible implementation, the reflector assembly includes a reflector and an angle adjustment device, wherein the angle adjustment device is disposed on the structural frame, and the angle adjustment device is used to adjust the angle of the reflector.

[0013] In the above implementation process, since the echo laser beam passing through the receiving end lens group is reflected by the reflective lens assembly and then projected onto the circuit board, the position and angle of the echo laser beam projected onto the circuit board are determined by the installation angle of the reflector in the reflector assembly. Therefore, the laser radar in this application is provided with an angle adjustment device for adjusting the angle of the reflector.

[0014] During the debugging process of improving angular resolution or changing the field of view, since the detector of the laser radar in this application is directly integrated on the integrated circuit board above the receiving lens group, the space on the integrated circuit board above is larger and there is no need to change the size. The number of integrated detectors can be directly increased on the integrated circuit board or the arrangement of the detectors can be changed. Subsequently, the debugging can be completed by changing the reflection angle of the echo laser beam in conjunction with the angle adjustment device. The debugging solution is simple and reliable and does not involve changes in the size or structure of the laser radar structure frame, thereby improving the productivity of the laser radar.

[0015] Compared with the existing debugging methods, the laser radar in this application only needs to change the number and arrangement of detectors on the integrated circuit board, and adjust the reflector to complete the debugging operation of improving the angular resolution or changing the field of view. Since the angle adjustment device is a passive device and does not involve electrical connection, the debugging operation is simple and convenient, and the subsequent fixation is simple and reliable. Therefore, for laser radars with different resolutions and angular fields of view, the adjustment scheme is the same, which reduces the difficulty of installation and adjustment.

[0016] In a possible implementation, the structural frame includes a mounting plate having an adjustment hole; the angle adjustment device includes a bracket and an adjustment end fixed to the bracket, the adjustment end passes through the adjustment hole and can move along the axis of the adjustment hole and rotate around the axis of the adjustment hole; the reflector is mounted on the bracket and can be flipped up and down along the bracket.

[0017] In the above implementation process, the movement and rotation of the adjustment end in the adjustment hole can drive the reflector to achieve position adjustment in two dimensions, and the up and down flipping of the reflector relative to the bracket achieves position adjustment in the third dimension. Therefore, the reflector can be adjusted in three dimensions relative to the receiving end lens group through the above-mentioned angle adjustment device, thereby ensuring that the echo laser beam can be projected to any point on the integrated circuit board through the angle adjustment device, thereby meeting various debugging requirements.

[0018] In a possible implementation, a rotating shaft is rotatably mounted on the bracket, the axis of the rotating shaft is parallel to the integrated circuit board and perpendicular to the main axis of the receiving end lens group, and the reflector is fixedly mounted on the rotating shaft.

[0019] In the above implementation process, the axis of the rotating shaft is parallel to the integrated circuit board and perpendicular to the main axis of the receiving end lens group, so the rotating shaft rotates along the bracket to drive the reflector to flip up and down relative to the integrated circuit board.

[0020] In a possible implementation manner, a shielding cover is provided on the integrated circuit board, and the shielding cover covers the detector assembly and the signal processing unit chip.

[0021] In the above implementation process, a covering detector component and a signal processing unit chip are set on the integrated circuit board, which can effectively eliminate the influence of various electrical radiation noises in the radar on the receiving end, reduce the background noise of the receiving end signal, and improve the signal-to-noise ratio and the ranging capability of the laser radar.

[0022] In a possible implementation, the shielding cover includes an annular base and a cover plate, the annular base is fixedly mounted on the integrated circuit board, and the cover plate is buckled on the annular base.

[0023] In the above implementation process, the cover plate is buckled on the annular base, and the cover plate and the annular base can be disassembled to facilitate maintenance and inspection.

[0024] In a possible implementation, the laser radar further includes a light baffle, which cooperates with the structural frame and the integrated circuit board to form a sealed cavity, and the reflector assembly is located in the sealed cavity.

[0025] In the above implementation process, the provision of the light shielding plate can eliminate ambient light noise, and the light shielding plate, the structural frame and the integrated circuit board form a sealed cavity, which can play a certain role in resisting electrical noise.

[0026] In a possible implementation, the laser radar further includes a filter assembly disposed between the reflector and the integrated circuit board.

[0027] In the above implementation process, setting the filter component can filter out ambient light noise and improve the ranging effect.

[0028] In a possible implementation, the filter assembly includes a support member and a filter, and the filter is fixedly mounted on the structural frame via the support member.

[0029] In the above implementation process, the filter is installed on the structural frame through a support member, which has a stable structure and can protect the structure of the filter. The support member can be installed on the structural frame by screws or bonded to the structural frame by adhesive.

[0030] The present application integrates the detector assembly and the signal processing unit on a circuit board located above the receiving end lens group, and changes the direction of the echo laser beam passing through the receiving end lens group through the reflector assembly, so that the echo laser beam is projected onto the specified optical design convergence point, shortening the path of the echo electrical signal, reducing electrical noise and improving the signal-to-noise ratio, thereby improving the ranging capability of the laser radar. In addition, the angle of the reflector in the reflector assembly is adjustable, and the existing traditional multiple debugging movable parts are optimized into a reflector angle adjustment device. The adjustment operation is simple and convenient, shortening the debugging time, making the laser radar have excellent manufacturability, and greatly reducing the production and assembly steps. The adjustment scheme for laser radars with different resolutions and angular fields of view is the same, which reduces the difficulty of installation and adjustment, and when it is necessary to increase the receiving field of view and angular resolution, except for the integrated circuit board, other structures of the laser radar can be directly inherited without changing the debugging method.

[0031] An embodiment of the present application also provides an intelligent sensing device, which includes the laser radar described in any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A structural diagram of a laser radar provided in an embodiment of the present application;

[0034] Figure 2 A structural diagram of a structural frame provided in an embodiment of the present application;

[0035] Figure 3 A structural diagram of a reflector assembly provided in an embodiment of the present application;

[0036] Figure 4 A diagram of the installation structure of a shielding cover and an integrated circuit board provided in an embodiment of the present application;

[0037] Figure 5 A diagram of the installation structure of a filter assembly and a structural frame provided in an embodiment of the present application;

[0038] Figure 6 A structural diagram of a sealed cavity formed by a light-blocking plate, a structural frame and an integrated circuit board provided in an embodiment of the present application.

[0039] Icons: 100-structure frame; 200-receiving end lens group; 300-integrated circuit board; 400-reflector assembly; 410-reflector; 420-angle adjustment device; 110-mounting plate; 120-adjustment hole; 421-bracket; 422-adjustment end; 423-rotation axis; 500-shielding cover; 510-annular base; 520-cover plate; 530-light hole; 600-light baffle; 700-filter assembly; 710-support; 720-filter; 130-side frame; 140-mounting hole; 150-bottom plate. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0041] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0042] In the receiving end structure of the laser radar in the prior art, the detector and the signal processing unit chip are integrated on different circuit boards respectively. Since both the detector and the signal processing unit chip require additional peripheral circuits, the circuit scale is relatively large. The radar is generally divided into two cavities, the receiving end and the transmitting end. The space of each cavity is limited. Therefore, when designing the receiving end structure, the main control circuit board where the signal processing unit is located is generally set above the receiving end lens group, while the detector in the existing laser radar receiving end structure is generally set directly behind the receiving end lens group. The laser beam is directly projected onto the detector after passing through the receiving end lens group. Therefore, the detector is set behind the receiving end lens group, and the signal processing unit chip is set above the receiving end lens group. This position setting results in a long path for the echo electrical signal, large electrical noise, and poor signal-to-noise ratio.

[0043] Based on the above problems, due to the limited space behind the receiving lens group, it is difficult to place the signal processing unit and the detector on a circuit board behind the receiving lens group. If multiple circuit boards are considered, the difficulty of installation and adjustment will increase, and the manufacturability will be low. In addition, flexible circuit boards or connectors are generally used for electrical connection between multiple circuit boards. This part of the structure will also increase the signal path, introduce interference, and reduce the signal-to-noise ratio. In addition, the above structure will be limited by factors such as the circuit board power supply connection when improving the angular resolution or changing the receiving field of view for debugging. The debugging and fixing operations are difficult and the manufacturability is poor.

[0044] Please refer to Figure 1 The embodiment of the present application provides a laser radar, which includes a structural frame 100, a receiving end lens group 200, an integrated circuit board 300 and a reflector assembly 400. The receiving end lens group 200 is arranged on the side of the structural frame 100; the integrated circuit board 300 is arranged on the top of the structural frame 100, and the integrated circuit board 300 is integrated with a detector assembly and a signal processing unit chip; the reflector assembly 400 is arranged on the structural frame 100, and is used to reflect the laser passing through the receiving end lens group 200 to the optical design convergence point where the detector assembly is located on the integrated circuit board 300.

[0045] In the above implementation process, when the laser radar is actually working, at the receiving end side, the echo laser beam first passes through the receiving end lens group 200, and then is projected onto the reflector assembly 400. After being reflected by the reflector assembly 400, it is projected onto the optical design convergence point where the upper detector assembly is located, and then is sensed by the detector assembly.

[0046] The present application integrates the detector assembly and the signal processing unit chip on the same integrated circuit board 300, shortening the path of the echo electrical signal, thereby reducing electrical noise and improving the signal-to-noise ratio, which can effectively improve the ranging capability of the laser radar. In the laser radar structure design, the space above the receiving end lens group 200 is larger than the space behind it, so the integrated circuit board 300 is set at the top of the structural frame 100, that is, above the receiving end lens group 200 and cooperates with the reflector assembly 400 to change the path of the echo laser beam, which can obtain a larger installation space, facilitate the installation of the detector assembly and the signal processing unit chip and the arrangement of the power supply line.

[0047] It should be noted that the optical design convergence point where the above-mentioned detector assembly is located specifically refers to the photosensitive surface of the photodetector.

[0048] In summary, the above-mentioned laser radar integrates the detector component and the signal processing unit on the integrated circuit board 300 located on the top of the structural frame 100, and cooperates with the reflector assembly 400 to change the path of the echo laser beam, thereby greatly shortening the path of the echo signal. At the same time, the integrated circuit board 300 is arranged above the receiving lens group 200 to obtain a larger installation space, which facilitates the installation of the integrated circuit board 300 and improves the manufacturability of the laser radar.

[0049] The above-mentioned receiving end lens group 200 is arranged on the side of the structural frame 100, and the integrated circuit board 300 is arranged on the top of the structural frame 100. It should be understood that the main axis of the receiving end lens group 200 and the integrated circuit board 300 are arranged in a roughly parallel state.

[0050] It should be noted that the above-mentioned structural frame 100 mainly plays a structural support role in the laser radar structure, and is used to support and install multiple functional components of the laser radar, and combine multiple functional components together to form an integral structure. The present application does not limit the specific structural shape of the structural frame 100. Optionally, please refer to Figure 2 The structural frame 100 includes a bottom plate 150 and a side frame 130. The side frame 130 is arranged on the bottom plate 150. The receiving end lens group 200 is arranged on the side frame 130. The integrated circuit board 300 is arranged on the side of the side frame 130 away from the bottom plate 150, that is, the integrated circuit board 300 is arranged opposite to the bottom plate 150 and is respectively arranged at both ends of the side frame 130. The side frame 130 is provided with a mounting hole 140 for mounting the receiving end lens group 200.

[0051] In addition, in addition to the detector assembly and the signal processing unit chip, the integrated circuit board 300 also integrates other functional units, such as a transimpedance amplifier, an operational amplifier, etc. The detector assembly may include one or more photodetectors, and multiple photodetectors may also be arranged in an array. The signal processing unit chip may select a mode converter, a high-speed comparator, or a time-to-digital conversion chip, etc., which is not limited in the embodiment of the present application;

[0052] In order to achieve different functional requirements, it is generally necessary to perform debugging operations such as changing the field of view or improving the angular resolution of the laser radar. Among them, improving the resolution requires increasing the number of detectors in the receiving structure and increasing the density of the detector arrangement. In the existing laser radar structure, the space behind the receiving lens group is limited. If the number of detectors is increased, it is generally necessary to increase the board frame behind the laser radar structure frame to expand the space for placing components. Correspondingly, the height of the laser radar is increased, or the number of rear board frames is increased horizontally to expand the space for placing components. Correspondingly, the diameter of the laser radar is increased, and an adjustable gap needs to be left between the board frames. Therefore, the existing laser radar structure has a more complicated installation scheme to improve the resolution. In addition, changing the field of view angle generally corresponds to a change in the size of the receiving lens group or a change in the arrangement of the detectors. Both of these changes need to take into account changes in factors such as the position and size of the circuit board behind the receiving lens group. Correspondingly, the installation scheme will also change.

[0053] From the above content, it can be seen that in the prior art, based on the structure of the existing laser radar, debugging is generally performed by adjusting the position and angle of the circuit board where the detector assembly is located, but the circuit board is an active structure, that is, there are multiple wires led out of the circuit board and there is a connection relationship with other structures. Therefore, the debugging operation by adjusting the angle or position of the circuit board is difficult and complicated, and the difficulty of fixing after debugging is also high.

[0054] In one possible implementation, see Figure 1 and Figure 3 The reflector assembly 400 includes a reflector 410 and an angle adjustment device 420 . The angle adjustment device 420 is disposed on the structural frame 100 . The angle adjustment device 420 is used to adjust the angle of the reflector 410 .

[0055] In the above implementation process, since the echo laser beam passing through the receiving end lens group 200 is reflected by the reflector assembly 400 and then projected onto the circuit board, the position and angle at which the echo laser beam is projected onto the circuit board are determined by the installation angle of the reflector 410 in the reflector assembly 400. Therefore, the laser radar in the present application is provided with an angle adjustment device 420 for adjusting the angle of the reflector 410.

[0056] During the debugging process of improving angular resolution or changing the field of view, since the detector assembly of the laser radar in the present application is directly integrated on the integrated circuit board 300 above the receiving lens group, the space of the integrated circuit board 300 above is relatively large and there is no need to change the size. The number of integrated detectors can be directly increased or the arrangement of the detectors can be changed on the integrated circuit board 300. Subsequently, the debugging can be completed by changing the reflection angle of the echo laser beam in conjunction with the angle adjustment device 420. The debugging solution is simple and reliable, and does not involve changes in the size or structure of the laser radar structure frame 100, thereby improving the productivity of the laser radar.

[0057] Therefore, compared with the existing debugging method, the laser radar in this application only needs to change the number and arrangement of detectors on the integrated circuit board 300, and cooperate with adjusting the angle adjustment device 420 of the reflector assembly 400 to complete the debugging operation of improving the angular resolution or changing the field of view. And because the angle adjustment device 420 is a passive device, it does not involve electrical connection, the debugging operation is simple and convenient, and the subsequent fixation is simple and reliable. Therefore, for laser radars with different resolutions and angular fields of view, the adjustment scheme is the same, which reduces the difficulty of installation and adjustment.

[0058] Optionally, types of the reflector 410 include but are not limited to a plane reflector 410 and a triangular reflector 410 .

[0059] In one possible implementation, see Figure 2 and Figure 3 The structural frame 100 includes a mounting plate 110, on which an adjustment hole 120 is opened; the angle adjustment device 420 includes a bracket 421 and an adjustment end 422 fixed on the bracket 421, the adjustment end 422 passes through the adjustment hole 120 and can move along the axis of the adjustment hole 120 and rotate around the axis of the adjustment hole 120; the reflector 410 is installed on the bracket 421 and can be flipped up and down along the bracket 421.

[0060] In the above implementation process, the movement and rotation of the adjustment end 422 in the adjustment hole 120 can drive the reflector 410 to achieve two-dimensional position adjustment, and the up and down flipping of the reflector 410 relative to the bracket 421 achieves the position adjustment of the third dimension. Therefore, the reflector 410 can be adjusted in three dimensions relative to the receiving end lens group 200 through the above-mentioned angle adjustment device 420, thereby ensuring that the echo laser beam can be projected to any point on the integrated circuit board 300 through the angle adjustment device 420 to meet various debugging requirements.

[0061] Specifically, the reflector 410 is located between the mounting plate 110 and the receiving end lens group 200. In addition, the shape of the adjustment end 422 is a cylinder, and the axis of the adjustment end 422 is parallel to the main axis of the receiving end lens group 200.

[0062] Optionally, the shape of the bracket 421 may be circular, rectangular or triangular, which is not limited in the present embodiment. The shape of the reflector 410 may also be circular, rectangular or triangular, which is not limited in the present embodiment.

[0063] It should be noted that the reflector 410 can be flipped up and down along the bracket 421 , which means that the reflector 410 is flipped up and down relative to the circuit board above, and the axis of the flipping is perpendicular to the main axis of the receiving end lens group 200 .

[0064] In a possible implementation, a rotating shaft 423 is rotatably mounted on the bracket 421 , the axis of the rotating shaft 423 is parallel to the integrated circuit board 300 and perpendicular to the main axis of the receiving end lens group 200 , and the reflector 410 is fixedly mounted on the rotating shaft 423 .

[0065] In the above implementation process, the axis of the rotating shaft 423 is parallel to the integrated circuit board 300 and perpendicular to the main axis of the receiving end lens group 200, so the rotating shaft 423 rotates along the bracket 421 to drive the reflector 410 to flip up and down relative to the integrated circuit board 300.

[0066] In one possible implementation, see Figure 4 A shielding cover 500 is disposed on the integrated circuit board 300, and the shielding cover 500 covers the detector assembly and the signal processing unit chip.

[0067] In the above implementation process, a covering detector component and a signal processing unit chip are set on the integrated circuit board 300, which can effectively eliminate the influence of various electrical radiation noises in the radar on the receiving end, reduce the background noise of the receiving end signal, and improve the signal-to-noise ratio and the ranging capability of the laser radar.

[0068] Furthermore, the entire shielding cover 500 is only provided with a light-transmitting hole 530 at the position corresponding to the photosensitive surface of the detector assembly.

[0069] In a possible implementation, the shielding cover 500 includes an annular base 510 and a cover plate 520 . The annular base 510 is fixedly mounted on the integrated circuit board 300 , and the cover plate 520 is buckled on the annular base 510 .

[0070] In the above implementation process, the cover plate 520 is buckled on the annular base 510, and the cover plate 520 and the annular base 510 can be disassembled to facilitate maintenance and inspection.

[0071] In one possible implementation, see Figure 6 The above-mentioned laser radar also includes a light baffle 600, which cooperates with the structural frame 100 and the integrated circuit board 300 to form a sealed cavity, and the reflector assembly 400 is located in the sealed cavity.

[0072] In the above implementation process, the provision of the light shielding plate 600 can eliminate ambient light noise, and the light shielding plate 600 cooperates with the structural frame 100 and the integrated circuit board 300 to form a sealed cavity, which can play a certain role in resisting electrical noise.

[0073] In one possible implementation, see Figure 5 The above-mentioned laser radar also includes a filter component 700, which is arranged between the reflector 410 and the integrated circuit board 300.

[0074] In the above implementation process, setting the filter assembly 700 can filter out some ambient light noise and improve the distance measurement effect.

[0075] In a possible implementation, the filter assembly 700 includes a support member 710 and a filter 720 , and the filter 720 is fixedly mounted on the structural frame 100 via the support member 710 .

[0076] In the above implementation process, the filter 720 is installed on the structural frame 100 through a support member 710, which is structurally stable and can protect the structure of the filter 720. The support member 710 can be installed on the structural frame 100 by screws or bonded to the structural frame 100 by adhesive.

[0077] Optionally, the filter 720 is a narrow-band filter 720. The number of the filters 720 can be one or more, and the multiple filters 720 are stacked up and down.

[0078] The present application integrates the detector assembly and the signal processing unit on a circuit board located above the receiving end lens group 200, and changes the direction of the echo laser beam passing through the receiving end lens group 200 through the reflector assembly 400, so that the echo laser beam is projected onto the specified optical design convergence point, shortening the path of the echo electrical signal, reducing electrical noise and improving the signal-to-noise ratio, thereby improving the ranging capability of the laser radar. In addition, the angle of the reflector 410 in the reflector assembly 400 is adjustable, and the existing traditional multiple debugging movable parts are optimized into a reflector 410 angle adjustment device 420, which is simple and convenient to adjust, shortens the debugging time, and makes the laser radar have excellent manufacturability, and greatly reduces the production and assembly steps. The adjustment schemes for laser radars with different resolutions and angular fields of view are the same, which reduces the difficulty of installation and adjustment, and when it is necessary to increase the receiving field of view and angular resolution, except for the integrated circuit board 300, other structures of the laser radar can be directly inherited without changing the debugging method.

[0079] It should be noted that the above-mentioned laser radar can be a single-line or multi-line radar, and the detector component can adopt array or non-array APD (avalanche photodiode), SPAD (single photon avalanche diode), SiPM (silicon photomultiplier) and other photoelectric detectors, ADC (analog-to-digital converter) or TDC (time-to-digital converter) solutions, etc.

[0080] An embodiment of the present application also provides an intelligent sensing device, which includes the laser radar described in any of the above embodiments.

[0081] The above-mentioned intelligent sensing devices can be cars, drones, robots, and other devices that involve the use of lidar for intelligent sensing and detection.

[0082] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0083] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0084] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A laser radar, characterized in that: include: Structural frame; A receiving end lens group is arranged on the side of the structural frame; An integrated circuit board is arranged on the top of the structural frame, and a detector component and a signal processing unit chip are integrated on the integrated circuit board; A reflector assembly, arranged on the structural frame, for reflecting the laser light passing through the receiving end lens group to the optical design convergence point where the detector assembly is located on the integrated circuit board; A shielding cover is provided on the integrated circuit board, and the shielding cover covers the detector assembly and the signal processing unit chip; The shielding cover comprises an annular base and a cover plate, wherein the annular base is fixedly mounted on the integrated circuit board, and the cover plate is buckled on the annular base; It also includes a light shielding plate, the light shielding plate cooperates with the structural frame and the integrated circuit board to form a sealed cavity, and the reflector assembly is located in the sealed cavity; It also includes a filter assembly, which is arranged between the reflector and the integrated circuit board.

2. The laser radar according to claim 1, characterized in that: The reflector assembly comprises a reflector and an angle adjustment device, wherein the angle adjustment device is arranged on the structural frame and is used to adjust the angle of the reflector.

3. The laser radar according to claim 2, characterized in that: The structural frame comprises a mounting plate, and the mounting plate is provided with an adjustment hole; The angle adjustment device comprises a bracket and an adjustment end fixed on the bracket, wherein the adjustment end passes through the adjustment hole and can move along the axis of the adjustment hole and rotate around the axis of the adjustment hole; The reflector is mounted on the bracket and can be turned up and down along the bracket.

4. The laser radar according to claim 3, characterized in that: A rotating shaft is rotatably mounted on the bracket, the axis of the rotating shaft is parallel to the integrated circuit board and perpendicular to the main axis of the receiving end lens group, and the reflector is fixedly mounted on the rotating shaft.

5. The laser radar according to claim 1, characterized in that: The optical filter assembly comprises a support and an optical filter, and the optical filter is fixedly mounted on the structural frame through the support.

6. An intelligent sensing device, characterized in that: A laser radar comprising any one of claims 1-5.

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