LiDAR and its receiving module

Abstract

An embodiment of the present invention provides a lidar and a receiving module thereof. The receiving module includes: a detection module adapted to receive an optical signal and convert the optical signal into an electrical signal; a receiving front plate for assembling the detection module; and a receiving back plate electrically connected to the detection module through a flexible electrical connector, adapted to receive the electrical signal of the detection module, and located on a side of the receiving front plate away from the detection module. The lidar and the receiving module provided by the embodiment of the present invention can reduce the size of the lidar while ensuring the detection and processing capabilities of the lidar.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of laser detection, and particularly to a lidar and its receiving module. Background Art

[0002] A lidar is a general term for a laser active detection sensor device, which is used to obtain the distance between the lidar and an object.

[0003] During the working process, the transmitter of the lidar emits a laser beam. After the laser beam encounters an object, it generates diffuse reflection. A part of the reflected light returns and is received by the receiver of the lidar. According to the time interval between sending and receiving the laser beam, multiplied by the speed of light and then divided by 2, the distance between the lidar and the object can be calculated. Moreover, as the rotating part of the lidar drives the transmitter and receiver to continuously rotate for spatial scanning, the detection of the three-dimensional contour of the target area is realized.

[0004] Due to the requirements of the application environment of the lidar, it is required that the lidar has a small size while also having high detection and processing capabilities.

[0005] Therefore, how to reduce the size of the lidar on the basis of ensuring its detection and processing capabilities has become an urgent technical problem to be solved. Summary of the Invention

[0006] The technical problem solved by the embodiments of the present invention is to provide a lidar and its receiving module to reduce the size of the lidar on the basis of ensuring its detection and processing capabilities.

[0007] To solve the above problems, an embodiment of the present invention provides a receiving module, including:

[0008] A detection module, adapted to receive an optical signal and convert the optical signal into an electrical signal;

[0009] A receiving front panel, for assembling the detection module;

[0010] A receiving back panel, electrically connected to the detection module through a flexible electrical connector, receiving the electrical signal of the detection module, and located on the side of the receiving front panel away from the detection module.

[0011] Optionally, the included angle between the extension plane of the receiving back panel and the extension plane of the receiving front panel is greater than 0 degree and not more than 90 degrees.

[0012] Optionally, the number of the receiving back panels is at least two, and each receiving back panel is electrically connected to the detection module through a flexible electrical connector directly connected thereto.

[0013] Optionally, the detection module includes at least two photodetectors arranged in a linear array, and each receiving backplane is electrically connected to at least one photodetector in one linear array.

[0014] Optionally, each photodetector is electrically connected to one receiving backplane.

[0015] Optionally, at least two of the receiving backplanes have different sizes.

[0016] Optionally, the flexible electrical connector includes a flexible flat cable.

[0017] To solve the above problems, an embodiment of the present invention further provides a lidar, including:

[0018] An optical-mechanical rotor, provided with a receiving chamber;

[0019] A receiving optical component, installed on the optical-mechanical rotor;

[0020] The receiving module described in any one of the foregoing items, the receiving module is disposed in the receiving chamber and fixedly connected to the optical-mechanical rotor, and receives the optical signal shaped by the receiving optical component.

[0021] Optionally, it further includes:

[0022] A heat conduction component, disposed between two adjacent receiving backplanes and fixed to the optical-mechanical rotor.

[0023] Optionally, the heat conduction component includes:

[0024] A heat conduction frame, fixedly connected to the optical-mechanical rotor;

[0025] A heat conduction pad, fixed to the side of the heat conduction frame.

[0026] Optionally, it further includes:

[0027] A front plate bracket, fixedly installed on the optical-mechanical rotor, and the receiving front plate of the receiving module is fixedly connected to the front plate bracket;

[0028] A backplane bracket, fixedly installed on the optical-mechanical rotor, and the receiving backplane of the receiving module is fixedly connected to the backplane bracket.

[0029] Optionally, the backplane bracket includes:

[0030] A bottom surface bracket, parallel to the bottom surface of the optical-mechanical rotor and fixed to the bottom of the optical-mechanical rotor; [[ID=II]]

[0031] A side surface bracket, perpendicular to and fixedly connected to the bottom surface bracket, and the receiving backplane is fixedly connected to the side surface bracket.

[0032] Optionally, the receiving backplane is provided with backplane connection holes, the side brackets are provided with side connection holes, and the heat conduction frame is provided with heat conduction frame connection holes;

[0033] The lidar further includes:

[0034] A connecting screw, the connecting screw passes through the backplane connection hole, the side connection hole and the heat conduction frame connection hole to connect the receiving backplane, the heat conduction component and the side brackets.

[0035] Optionally, the optical machine rotor is provided with a front plate bracket connection waist slot hole and a back plate bracket connection adjustment hole. The front plate bracket is fixedly installed on the optical machine rotor through a connecting device passing through the front plate bracket connection waist slot hole, and the back plate bracket is fixedly installed on the optical machine rotor through a connecting device passing through the back plate bracket connection adjustment hole.

[0036] Compared with the prior art, the technical solution of the embodiment of the present invention has the following advantages:

[0037] The lidar and its receiving module provided by the embodiment of the present invention. The receiving module includes a detection module for receiving an optical signal and converting the optical signal into an electrical signal, and a receiving backplane electrically connected to the detection module through a flexible electrical connector. The detection module is assembled on the receiving front plate, and the receiving backplane is located on the side of the receiving front plate away from the detection module. Thus, for the receiving module provided by the embodiment of the present invention, since the receiving front plate for installing the detection module and the receiving backplane for receiving the electrical signal of the detection module are separately arranged, and a flexible electrical connector with a position adjustment function is used to connect the detection module and the receiving backplane. Therefore, during installation, it is only necessary to ensure that the detection module installed on the receiving front plate can receive the optical signal, and the receiving backplane can receive the electrical signal of the detection module. Therefore, the relative position between the receiving backplane and the receiving front plate can be adjusted according to the spatial situation during installation. When the overall area of the receiving backplane ensures the processing ability, the required installation space can be reduced, and the available space of the device for installing the receiving module can be fully utilized. In a limited space, more receiving backplanes can be installed, the size of the device for installing the receiving module can be reduced while ensuring the processing ability, and the size requirements of the device for installing the receiving module can be met. It can be seen that for the receiving module provided by the embodiment of the present invention, by separately arranging the receiving front plate and the receiving backplane, and using a flexible electrical connector to connect the detection module and the receiving backplane, the flexibility of their installation can be improved, the occupied space can be reduced while ensuring the detection and processing ability, and further the size of the device (lidar) for installing the receiving module can be reduced.

[0038] In an alternative solution, the number of receiving backplanes provided in the embodiment of the present invention is at least two, and each of the receiving backplanes is electrically connected to the detection module through a flexible electrical connection member directly connected thereto. In this way, the electrical signal of the detection module is directly transmitted to the corresponding receiving backplane through the flexible electrical connection member connected thereto, without passing through other receiving backplanes, thereby reducing the electrical crosstalk between different receiving backplanes, improving the accuracy of the received electrical signal, and further improving the processing accuracy of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0040] Figure 1 Schematic structural diagram of a lidar receiving module

[0041] Figure 2 Schematic structural diagram of the optical-mechanical rotor of the lidar provided in the embodiment of the present invention;

[0042] Figure 3 Schematic diagram of the detection module of the receiving module provided in the embodiment of the present invention;

[0043] Figure 4 Exploded structural diagram of the receiving module and related structures provided in the embodiment of the present invention;

[0044] Figure 5 Partial structural diagram of the lidar provided in the embodiment of the present invention;

[0045] Figure 6 Exploded structural diagram of the heat conduction component of the lidar provided in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] As can be seen from the description of the prior art, existing lidars are difficult to maintain a small size while ensuring detection and processing capabilities.

[0047] Please refer to Figures 1-3 , Figure 1 Schematic structural diagram of a lidar in the prior art; Figure 2 Schematic structural diagram of the optical-mechanical rotor of the lidar provided in the embodiment of the present invention; Figure 3 Schematic diagram of the detection module of the receiving module provided in the embodiment of the present invention.

[0048] As Figure 1As shown, the lidar includes a laser 10, a transmitting circuit board 11, and a receiving module 12. The receiving module 12 includes a detection module 9 (shown in Figure 3 ), a receiving front plate 122, and a receiving back plate 121. Each receiving back plate 121 is arranged in parallel with the receiving front plate 122, and the detection module 9 is electrically connected to an adjacent receiving back plate 121 through a connector (not shown in the figure) of the receiving back plate 121. The receiving back plates 121 are also electrically connected to each other through connectors (not shown in the figure).

[0049] With the improvement of the requirements for lidar, higher requirements are also put forward for the ranging accuracy of lidar. Lidar is developing towards a higher number of lines, which requires an increase in the number of photodetectors in the detection module 9. Correspondingly, an increase in the number of receiving back plates 121 or an increase in the size of each receiving back plate 121 is needed to meet the increased data processing and transmission requirements; thus, the required installation space will also increase.

[0050] Please refer to Figure 1 for reference. Figure 2 For a mechanically rotating lidar, the rotating shaft 13 penetrates through the optomechanical rotor 30, and a rotating shaft cavity 34 for the rotating shaft 13 to pass through needs to be left inside the optomechanical rotor. Therefore, the optical components and the transceiver module can only be arranged around the rotating shaft cavity 34. As Figure 2 shown, a rotating shaft cavity 34 for the rotating shaft to penetrate is provided inside the optomechanical rotor 30. The optomechanical rotor 30 rotates under the drive of the rotating shaft at its center, and then drives the optical components, the laser 10, the transmitting circuit board 11, the receiving module 12, etc. installed thereon to rotate, so as to detect the objects around the lidar.

[0051] From Figure 2 it can be seen that due to the existence of the columnar rotating shaft cavity 34, the laser 10, the transmitting circuit board 11, and the receiving module 12 can only be arranged in the space outside the rotating shaft cavity 34. Because of the limited space, more or larger-sized receiving back plates 121 cannot be installed. Therefore, only the size of the optomechanical rotor 30 can be increased. However, in the development trend of lidar becoming more and more miniaturized, it is not desirable to increase the number of lines by increasing the size of the lidar.

[0052] In order to reduce the size of the lidar while ensuring the processing ability of the lidar, an embodiment of the present invention provides a lidar and its receiving module. The receiving module includes:

[0053] A detection module, adapted to receive an optical signal and convert the optical signal into an electrical signal;

[0054] A receiving front plate, which assembles the detection module;

[0055] A receiving backplane, which is electrically connected to the detection module through a flexible electrical connector, receives the electrical signal of the detection module, and is located on the side of the receiving front plate facing away from the detection module.

[0056] In the receiving module provided by the embodiment of the present invention, since the receiving front plate for installing the detection module and the receiving backplane for receiving the electrical signal of the detection module are separately arranged, and a flexible electrical connector with a position adjustment function is used to connect the detection module and the receiving backplane, when installing, it only needs to ensure that the detection module installed on the receiving front plate receives the optical signal and the receiving backplane can receive the electrical signal of the detection module. Therefore, the relative position between the receiving backplane and the receiving front plate can be adjusted according to the space situation during installation. When the overall area of the receiving backplane ensures the processing ability, the required installation space can be reduced, and the available space of the device for installing the receiving module can be fully utilized. In a limited space, more receiving backplanes can be installed, the size of the device for installing the receiving module can be reduced while ensuring the processing ability, and the size requirements of the device for installing the receiving module can be met.

[0057] It can be seen that in the receiving module provided by the embodiment of the present invention, by separately arranging the receiving front plate and the receiving backplane, and using a flexible electrical connector to connect the detection module and the receiving backplane, the flexibility of their installation can be improved, the occupied space can be reduced while ensuring the detection and processing ability, and further the size of the device (lidar) for installing the receiving module can be reduced.

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] It should be noted that the directions or positional relationships indicated in this specification are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of description and simplification of description, rather than indicating or implying that the device referred to must have a specific direction and be constructed in a specific direction. Therefore, it should not be construed as a limitation to the present invention.

[0060] Please combine Figure 3 Refer to Figure 4 , Figure 4 which is an exploded structural schematic diagram of the receiving module and related structures provided by the embodiment of the present invention.

[0061] As shown in the figure, the receiving module provided by the embodiment of the present invention includes:

[0062] a detection module 9 adapted to receive optical signals and convert the optical signals into electrical signals;

[0063] Receive the front plate 20 and assemble the detection module 9;

[0064] The receiving back plate 21 is electrically connected to the detection module 9 via a flexible electrical connector, receives the electrical signal from the detection module 9 , and is located on a side of the receiving front plate 20 away from the detection module 9 .

[0065] The detection module 9 is installed on the side of the receiving front plate 20 facing the incident direction of light, so that it can receive optical signals, and the receiving back plate 21 is located on the other side of the receiving front plate 20. While receiving electrical signals, it avoids blocking the optical signals. It is easy to understand that the receiving back plate 21 described in this article is located on the side of the receiving front plate 20 away from the detection module 9, which means that the receiving back plate 21 will not block the reception of the optical signal of the detection module 9, and can be electrically connected to the detection module 9. Therefore, when the installation is realized, the receiving back plate 21 can also be located above the receiving front plate 20 (the orientation shown in the figure) and other positions.

[0066] In addition, it is easy to understand that the receiving back plate 21 is located on the side of the receiving front plate 20 away from the detection module 9. The receiving back plate 21 can be mechanically connected to the receiving front plate 20, or it can be not mechanically connected to the receiving front plate 20 and simply placed on the side of the receiving front plate 20 away from the detection module 9. In addition, the relative position between the receiving back plate 21 and the receiving front plate 20 is not further restricted, and the angle between the two can be any angle.

[0067] During operation, at least one photodetector (not shown in the figure) in the detection module 9 receives the light signal reflected by the object, then converts the light signal into an electrical signal, and transmits the electrical signal to the receiving backplane 21, which processes the received electrical signal.

[0068] Because the photodetector needs to receive optical signals, the detection module 9 must be installed in a position where it can receive the optical signal and cooperate with the receiving optical component to focus the light beam. Therefore, the installation position of the receiving module must be precisely determined according to the optical path, and the relative position cannot be adjusted. In other words, when installing the receiving module, the position of the receiving front plate 20 is fixed according to the predetermined position of the detection module 9, and the receiving back plate 21 must be installed within the space reserved for it. Therefore, the position of the receiving back plate 21 needs to be adjusted according to the installation space.

[0069] For each transceiver channel of the lidar, the fields of view of the laser and the detector need to be precisely aligned. For multi-line lidars, due to the large number of transceiver channels, the assembly and adjustment are more difficult. A plurality of detectors are respectively assembled on the receiving front plate 20, and the position of each detector corresponds precisely to the laser of the corresponding channel. Then, the receiving front plate 20 is fixed at a position suitable for receiving optical signals to precisely position the detectors. In the receiving module provided by the embodiment of the present invention, since the receiving front plate 20 for mounting the detection module 9 and the receiving back plate 21 for receiving the electrical signals of the detection module 9 are separately provided, and a flexible electrical connector with a position adjustment function is used to connect the detection module 9 and the receiving back plate 21, the positioning and fixed installation of the receiving front plate 20 can be preferentially performed, and the receiving back plate 21 can be positioned by matching the position of the receiving front plate 20 and the space of the receiving chamber, thereby greatly improving the assembly flexibility.

[0070] In a specific embodiment, to facilitate the arrangement of the receiving back plate 21 and the receiving front plate 20, the included angle between the extension surface of the receiving back plate 21 and the extension surface of the receiving front plate 20 is greater than 0 degree and does not exceed 90 degrees. That is, the extension surface of the receiving back plate 21 is not parallel to the extension surface of the receiving front plate 20.

[0071] Limited by the installation space of the receiving module, the included angle range between the extension surface of the receiving back plate 21 and the extension surface of the receiving front plate 20 can be greater than 0 degree and does not exceed 90 degrees. When the included angle between the extension surface of the receiving back plate 21 and the extension surface of the receiving front plate 20 is 90 degrees, the connection between the receiving back plate 21 and the detection module 9 can be conveniently performed, simplifying the installation difficulty; when the included angle between the extension surface of the receiving back plate 21 and the extension surface of the receiving front plate 20 is greater than 0 degree and less than 90 degrees, the included angle between the two can be adjusted according to the installation space of the receiving module to adapt to the shape and size of the receiving chamber, realizing the installation of the receiving back plate 21 in a limited space.

[0072] In this way, during installation, it is only necessary to ensure that the detection module 9 mounted on the receiving front plate 20 receives optical signals and the receiving back plate 21 can receive the signals transmitted by the detection module 9. Therefore, the relative position between the receiving back plate 21 and the receiving front plate 20 can be adjusted. While ensuring the processing capacity of the receiving back plate 21, the required installation space can be reduced, or the available space of the device for installing the receiving module can be fully utilized, thereby reducing the size of the device for installing the receiving module and meeting the size requirements of the device for installing the receiving module.

[0073] It can be seen that for the receiving module provided by the embodiments of the present invention, by separately arranging the receiving front plate 20 and the receiving back plate 21, the flexibility of their installation can be improved, and the occupied space can be reduced while the number of photodetectors remains unchanged and the overall area of the receiving back plate 21 remains unchanged to ensure the detection and processing capabilities. Furthermore, the size of the device (such as a lidar) for installing the receiving module can be reduced to meet the size requirements of the device.

[0074] With the requirements for lidar performance, the processing capabilities of the receiving back plate 21 also need to be continuously improved. To ensure that the electrical signals of the photodetectors corresponding to each receiving back plate 21 can be transmitted to the corresponding receiving back plate 21 in a timely and rapid manner, and there is no electrical crosstalk to other receiving back plates 21 during the transmission process, which may affect the accuracy of the electrical signals of other receiving back plates 21. Therefore, in a specific embodiment, the number of receiving back plates 21 can be at least two, and each of the receiving back plates 21 is electrically connected to the detection module 9 through a flexible electrical connector 22 directly connected thereto.

[0075] Of course, it is easy to understand that to ensure the connection, the ends of each flexible electrical connector are provided with gold fingers for mating with connectors, so that it can be very conveniently electrically connected to the detection module 9.

[0076] Since the flexible flat cable has stable performance, low cost and convenient installation, in a specific embodiment, the flexible electrical connector 22 can include a flexible flat cable, that is, the flexible flat cable can be used to achieve the electrical connection between the detection module 9 and the receiving back plate 21.

[0077] In this way, for the receiving module provided by the embodiments of the present invention, the number of the receiving back plates is at least two, and each of the receiving back plates is electrically connected to the detection module 9 through a flexible electrical connector directly connected thereto. The electrical signals of the detection module 9 are directly transmitted to the corresponding receiving back plate through the flexible electrical connector connected thereto, without passing through other receiving back plates, thereby reducing the electrical crosstalk between different receiving back plates, improving the accuracy of the received electrical signals, and further improving the processing accuracy of the device.

[0078] However, to improve the ranging accuracy, multi-line lidars usually adopt an uneven number of lines in the vertical direction. The area close to the center in the vertical direction is the area of interest, where more transceiver channels are set, that is, more lasers and detectors, to increase the line density in the central area, as Figure 3 shown. The photodetectors can be arranged using APD, SiPM, SPAD arrays, etc., as Figure 3 shown. One or more photodetectors can be fabricated on the same chip 8, and a line array of photodetectors can be formed by arranging multiple chips 8 at a certain interval in the length direction.

[0079] In the most ideal case, the number of receiving backplanes 21 corresponds one-to-one with the linear array of photodetectors, that is, the electrical signals of each column of photodetectors are respectively processed and transmitted by the receiving backplane 21 directly electrically connected thereto. However, limited by the size of the receiving chamber 32 (shown in Figure 2 ), and the number of photodetectors, it may not be suitable to place so many receiving backplanes 21. The number of receiving backplanes 21 can be adaptively adjusted according to the size of the receiving chamber 32 and the number of photodetectors. Therefore, in a specific embodiment, in order to reduce the space occupied by the receiving module and avoid increasing the size of the lidar, each receiving backplane 21 is electrically connected to at least one column of the photodetectors.

[0080] As Figure 3 shown, there are 7 columns of photodetectors, and 5 receiving backplanes 21 can be set for signal transmission. For the middle 3 columns with a relatively large number of photodetectors, a receiving backplane 21 can be respectively set to be directly electrically connected to each column of photodetectors to process and transmit the electrical signals of this column of photodetectors; for the left two columns / right two columns with a relatively small number of photodetectors, because the corresponding data volume is small, the two-line photodetectors can be commonly connected to one receiving backplane 21, so as to reduce the space occupied by the receiving module and avoid increasing the size of the lidar.

[0081] Of course, each of the photodetectors is electrically connected to a receiving backplane, so as to ensure that the signal of each photodetector is transmitted to the receiving backplane.

[0082] On the other hand, in order to further improve the utilization rate of space, limited by the shape of the receiving chamber 32 (shown in Figure 2 ), the sizes of at least two of the receiving backplanes 21 in each receiving backplane 21 can be made different. Specifically, as Figure 3 shown, the sizes of the receiving backplanes 21 can be made to increase sequentially from the direction close to the rotor cavity to the direction away from the shaft cavity.

[0083] To solve the foregoing problems, an embodiment of the present invention further provides a lidar. Please refer to Figure 2 and Figure 4 for reference. Figure 5 Figure 5 is a partial structural schematic diagram of the lidar provided by the embodiment of the present invention.

[0084] As shown in the figure, the lidar provided by the embodiment of the present invention includes:

[0085] An opto-mechanical rotor 30, provided with a receiving chamber 32;

[0086] A receiving optical component (not shown in the figure), installed on the opto-mechanical rotor 30;

[0087] The receiving module is disposed within the receiving chamber 32 and is fixedly connected to the optical machine rotor 30 to receive the optical signal shaped by the receiving optical component.

[0088] Specifically, the driving receiving optical component includes an optical lens and a mirror disposed along the optical path, which is adapted to receive the laser reflected by an object and irradiate the photodetector (not shown in the figure) of the receiving module after passing through the optical lens and the mirror. Among them, the optical lens is disposed on the housing of the optical machine rotor 30, and the mirror is disposed within the receiving chamber 32.

[0089] The receiving module is disposed within the receiving chamber 32 and is fixedly connected to the optical machine rotor 30. Since the shape of the receiving chamber 32 of the optical machine rotor 30 is arc-shaped, the front receiving plate 20 (shown in Figure 4 the) and the back receiving plate 21 (shown in Figure 4 the) of the receiving module are separately disposed, the installation position of the front receiving plate 20 can be adjusted so that the detection module 9 fixed to the front receiving plate 20 can receive the optical signal shaped by the receiving optical component. At the same time, the setting mode of the back receiving plate 21 can be adjusted according to the space of the receiving chamber 32, making full use of the space of the receiving chamber 32. On the basis that the size of the receiving circuit backplane meets the processing capacity requirements, it is disposed within the receiving chamber 32 to improve the structural compactness of the lidar.

[0090] To facilitate the installation of the receiving module in the receiving cavity, in a specific embodiment, as shown in Figure 2 and Figure 3 the lidar provided by the embodiment of the present invention further includes:

[0091] A front plate bracket 40, fixedly installed on the optical machine rotor 30, and the front receiving plate 20 of the receiving module is fixedly connected to the front plate bracket 40;

[0092] A back plate bracket 50, fixedly installed on the optical machine rotor 30, and the back receiving plate 21 of the receiving module is fixedly connected to the back plate bracket 50.

[0093] When assembling, for the receiving front plate 20, the receiving front plate 20 can be first installed on the front plate bracket 40, and then the front plate bracket 40 is installed on the optical machine rotor 30, or the front plate bracket 40 is first installed on the optical machine rotor 30, and then the receiving front plate 20 is installed on the front plate bracket 40; for the receiving back plate 21, the back plate bracket 50 can be first placed in the receiving chamber 32 of the optical machine rotor 30, and then the receiving back plate 21 is placed at the installation position in the receiving chamber 32. During the placement process, the inclination direction of the receiving back plate 21 is continuously adjusted according to the space of the receiving chamber 32, and at the same time, the position of the back plate bracket 50 in the receiving chamber 32 is adjusted. After determining the position, the back plate bracket 50 is fixed to the optical machine rotor 30, and the receiving back plate 21 is fixed to the back plate bracket 50.

[0094] The receiving front plate 20 can be easily fixed to the optical machine rotor 30 through the front plate bracket 40, and the receiving back plate 21 can also be fixedly installed with the fixed optical machine rotor 30 through the back plate bracket 50. There is no limitation on the positional relationship between the front plate bracket 40 and the back plate bracket 50, and it can be adjusted according to needs, which can meet the adjustment requirements of the relative positions between the receiving front plate 20 and the receiving back plate 21.

[0095] Furthermore, in order to improve the firmness and convenience of the connection of the receiving back plate 21, in a specific embodiment, the back plate bracket 50 of the lidar provided by the embodiment of the present invention includes:

[0096] A bottom surface bracket 502, parallel to the bottom surface of the optical machine rotor 30 and fixed to the bottom of the optical machine rotor 30;

[0097] A side surface bracket 501, perpendicular to and fixedly connected to the bottom surface bracket 502, and the receiving back plate 21 is fixedly connected to the side surface bracket 501.

[0098] It should be noted that after installation, the receiving back plate 21 is located above the bottom surface bracket 502, and it can contact the bottom surface bracket 502 or not contact the bottom surface bracket 502 and be suspended above the bottom surface bracket 502.

[0099] Limited by the structure of the receiving back plate 21, the receiving back plate 21 needs to be fixed to the back plate bracket 50 by a connecting component on the side. Therefore, the back plate bracket 50 includes a side surface bracket 501. Limited by the receiving chamber 32 of the optical machine rotor 30, the thickness of the side surface bracket 501 should not be too thick. Therefore, it is difficult for the side surface bracket 501 to be firmly fixed directly to the bottom surface of the optical machine rotor, while the bottom surface bracket 502 can be directly fixed to the bottom surface of the optical machine rotor and can provide a larger fixing plane to ensure the firmness of the fixing. Fixing the side surface bracket 501 to the bottom surface bracket 502 can achieve the fixing of the receiving back plate 21 and ensure the firmness of the fixing at the same time.

[0100] Of course, in other specific embodiments, the backplane bracket 50 may also have other structures, as long as it can fix the receiving backplane 21 in the receiving chamber 32.

[0101] In this way, by fixing the receiving backplane 21 to the side bracket 501, connecting the side bracket 501 to the bottom bracket 502, and connecting the bottom bracket 502 to the bottom of the optical machine rotor 30, the receiving backplane 21 can be fixed to the optical machine rotor 30, while ensuring the firmness of the fixation. Moreover, the large area of the bottom bracket 502 provides greater flexibility for adjusting the position of the backplane bracket 50, thereby improving the installation flexibility of the receiving backplane 21 in the receiving chamber 32.

[0102] Since the receiving backplane 21 generates heat during operation, in order to improve the heat dissipation capacity of the lidar, in a specific embodiment, please continue to refer to Figure 4 , the lidar provided by the embodiment of the present invention may further include:

[0103] A heat conduction component 60, which is disposed between two adjacent receiving backplanes 21 and fixed to the optical machine rotor 30.

[0104] The heat conduction component 60 is located between two adjacent receiving backplanes 21, can absorb the heat generated by the receiving backplane 21, and then transfer it to the optical machine rotor 30 to achieve heat dissipation.

[0105] In order to facilitate the installation of the heat conduction component and ensure the heat dissipation efficiency, in a specific embodiment, please refer to Figure 6 , the heat conduction component 60 may include:

[0106] A heat conduction frame 601, which is fixedly connected to the optical machine rotor;

[0107] A heat conduction pad 602, which is fixed to the side of the heat conduction frame 601.

[0108] The setting of the heat conduction frame 601 ensures the fixed connection between the heat conduction component 60 and the optical machine rotor 30, and ensures that the heat conduction component can be disposed between two adjacent receiving backplanes 21, enabling the heat conduction pad 602 to absorb heat in a timely manner. The setting of the heat conduction pad 602 enables the heat conduction component 60 to absorb the heat of the receiving backplane 21 on the side, improving the heat dissipation efficiency.

[0109] In a specific embodiment, the number of the heat conduction pads 602 of the heat conduction component 60 may be two, which are arranged in parallel on both sides of the heat conduction frame, so that the heat conduction pads 602 can absorb the heat of the receiving backplanes 21 on both sides at the same time, improving the heat dissipation efficiency. In order to ensure the installation of the receiving backplane 21 and the heat conduction component 60, in a specific embodiment, please refer toFigure 2 and Figure 5 The receiving backplane 21 is provided with a backplane connection hole 221, the side bracket 501 is provided with a side connection hole 503, and the heat conduction frame 601 is provided with a heat conduction frame connection hole 603;

[0110] The lidar further includes:

[0111] A connecting screw 70, the connecting screw 70 passes through the backplane connection hole 221, the side connection hole 503 and the heat conduction frame connection hole 603 to connect the receiving backplane 21, the heat conduction component 60 and the side bracket 501.

[0112] In this way, during the assembly process, after the positions of the backplane bracket 50 and the receiving backplane 21 and the heat conduction component 60 are adjusted, the backplane bracket 50 is connected to the optical machine rotor 30, and then the receiving backplane 21 and the heat conduction component 60 are fixed to the side bracket 501 of the backplane bracket 50 by using the connecting screw 70 in sequence.

[0113] The arrangement of the connecting screw 70 and the backplane connection hole 221, the side connection hole 503, and the heat conduction frame connection hole 603 can conveniently realize the installation of the receiving backplane 21 and the heat conduction component 60 on the side bracket 501, simplify the installation procedure, and improve the installation efficiency.

[0114] Furthermore, the connecting screw 70 and the backplane connection hole 221, the side connection hole 503, and the heat conduction frame connection hole 603 are all provided in two, which can avoid relative shaking between the receiving backplane, the heat conduction frame and the connecting screw.

[0115] Furthermore, since during the installation process, it is necessary to adjust the positions of the receiving front plate 20 and the receiving backplane 21 according to the space of the receiving chamber 32 and the installation requirements of the receiving front plate 20 and the receiving backplane 21. For the convenience of position adjustment, as Figure 4 shown, in a specific embodiment, the optical machine rotor 30 can be provided with a front plate bracket connection waist slot hole 31 and a backplane bracket connection adjustment hole 33, the front plate bracket 40 is fixedly installed on the optical machine rotor 30 through a connecting device passing through the front plate bracket connection waist slot hole 31, and the backplane bracket 50 is fixedly installed on the optical machine rotor 30 through a connecting device passing through the backplane bracket connection adjustment hole 33.

[0116] Further, since each receiving backplane 21 is separately provided and can rotate relative to the receiving front plate 20, when installing the receiving backplane 21, it can be installed in sequence according to the size and position of the receiving backplane 21, for example: installing from small to large, installing from the inside to the outside.

[0117] During installation, each receiving backplane 21 can align the backplane connection holes 221 with the side connection holes 503 respectively. After all the backplane connection holes 221 and the heat conduction frame connection holes 603 are aligned with the side connection holes 503, the connection screw 70 is inserted for fixation. Therefore, the receiving module of the embodiment of the present invention has high assembly flexibility, which is beneficial to improving the installation efficiency and the yield rate.

[0118] Specifically, in order to adjust the connection position between the backplane bracket and the optical machine rotor 30, the shape of the backplane bracket connection adjustment hole 33 can be a waist slot hole or a connection hole with a size larger than the required size for connection to meet the adjustment of the connection position.

[0119] The settings of the front plate bracket connection waist slot hole and the backplane bracket connection adjustment hole 33 on the optical machine rotor 30 can provide continuous adjustment positions, offering more selectivity and flexibility for the installation of the front plate bracket 40 and the backplane bracket 50, ensuring that the installation position of the receiving front plate 20 enables the detection module 9 located thereon to receive optical signals and the electrical connection between the receiving backplane 21 and the detection module 9, while being able to be installed in the receiving chamber 32 and reducing the installation requirements.

[0120] Although the embodiments of the present invention are disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be determined by the scope defined by the claims.

Claims

1. A receiving module, characterized in that: Applied to laser radar, the laser radar includes an optical rotor with a receiving chamber, and the receiving module includes: a detection module, adapted to receive an optical signal and convert the optical signal into an electrical signal; Receive the front panel and assemble the detection module; a receiving backplane, electrically connected to the detection module via a flexible electrical connector, adapted to receive electrical signals from the detection module, and located on a side of the receiving front plate facing away from the detection module; Among them, the receiving back plate and the receiving front plate are both arranged in the receiving chamber and fixed at the bottom of the optical rotor. The installation position of the receiving back plate in the receiving chamber is determined based on the position of the receiving front plate and the space of the receiving chamber, and the angle between the extension surface of the receiving back plate and the extension surface of the receiving front plate is greater than 0 degrees and does not exceed 90 degrees.

2. The receiving module according to claim 1, wherein: There are at least two receiving backplanes, and each receiving backplane is electrically connected to the detection module via a flexible electrical connector directly connected thereto.

3. The receiving module according to claim 2, wherein: The detection module includes at least two photodetectors, which are arranged in a line array, and each receiving backplane is electrically connected to at least one of the photodetectors on the line array.

4. The receiving module according to claim 3, wherein: Each of the photodetectors is electrically connected to a receiving backplane.

5. The receiving module according to claim 2, wherein: At least two of the receiving backplanes have different sizes.

6. The receiving module according to any one of claims 1 to 5, wherein: The flexible electrical connector includes a flexible flat cable.

7. A laser radar, characterized in that: include: The optical machine rotor is provided with a receiving chamber; a receiving optical component mounted on the optical mechanical rotor; The receiving module according to any one of claims 1 to 6 is arranged in the receiving chamber and fixedly connected to the optical rotor to receive the optical signal shaped by the receiving optical component.

8. The laser radar according to claim 7, wherein: Also includes: The heat conducting component is arranged between two adjacent receiving back plates.

9. The laser radar according to claim 8, wherein The heat conducting component comprises: A heat-conducting frame, the heat-conducting frame is fixedly connected to the optical engine rotor; The thermal pad is fixed to the side of the thermal frame.

10. The laser radar according to claim 9, wherein: Also includes: A front plate bracket is fixedly mounted on the optical mechanical rotor, and a receiving front plate of the receiving module is fixedly connected to the front plate bracket; A backplane bracket is fixedly mounted on the optical engine rotor, and a receiving backplane of the receiving module is fixedly connected to the backplane bracket.

11. The laser radar according to claim 10, wherein: The backplane bracket comprises: a bottom support, parallel to the bottom surface of the optical mechanical rotor and fixed to the bottom of the optical mechanical rotor; The side bracket is perpendicular to and fixedly connected to the bottom bracket, and the receiving back plate is fixedly connected to the side bracket.

12. The laser radar according to claim 11, wherein The receiving back plate is provided with a back plate connection hole, the side bracket is provided with a side connection hole, and the heat conducting frame is provided with a heat conducting frame connection hole; The laser radar further includes: A connecting screw passes through the back plate connecting hole, the side connecting hole and the heat conducting frame connecting hole to connect the receiving back plate, the heat conducting component and the side bracket.

13. The laser radar according to claim 10, wherein: The optical rotor is provided with a front plate bracket connecting waist slot hole and a back plate bracket connecting adjustment hole. The front plate bracket is fixedly installed on the optical rotor by a connecting device passing through the front plate bracket connecting waist slot hole, and the back plate bracket is fixedly installed on the optical rotor by a connecting device passing through the back plate bracket connecting adjustment hole.

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