Lidar

Abstract

The application relates to the technical field of detection radars, and provides a laser radar, which comprises a visible light isolation wall structure, a shell and a laser transceiving module, the shell is provided with a window, the visible light isolation wall structure is installed in the shell towards the window, so as to divide the internal space of the shell into a first chamber close to the window and a second chamber far away from the window, the laser transceiving module is installed in the second chamber, and the visible light isolation wall structure is used for preventing visible light entering the inside of the shell from entering the second chamber from the first chamber; a light transmission hole is formed through the visible light isolation wall structure and corresponds to the laser transceiving module, and the light transmission hole is communicated with the first chamber and the second chamber. The laser radar provided by the application can effectively prevent part of visible light from entering the laser transceiving module in the second chamber through multiple reflections in the first chamber, has a signal anti-interference effect, and is favorable for improving the detection precision of the laser radar.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of detection radars, and more particularly to a laser radar. BACKGROUND

[0002] In recent years, with the increasing maturity of laser radar technology, it has become a general trend to deploy laser radars along the roadside to realize vehicle-road cooperation and intelligent networking. The biggest advantage of laser radars is that they can generate three-dimensional position information, quickly determine the position, size, and external shape of objects, and obtain data and generate high-precision digital maps.

[0003] Compared with cameras and other sensors, laser radars have a longer detection distance, higher measurement accuracy, and more sensitive response speed, and are not affected by environmental light. Therefore, laser radars have more and more application scenarios and a wider range of applications.

[0004] For example, the Chinese patent with application number 202123076116.8 discloses an optical path structure and a laser radar. The optical path structure includes an adapter plate, a laser emitting assembly, a laser receiving assembly, a receiving lens, a mirror, and a motor assembly. A light shielding piece for shielding stray light is arranged on the emitting light path of the semiconductor laser. The light shielding piece includes a filter and two light shielding pieces.

[0005] According to the related technology in the above, the inventors believe that the following defects exist:

[0006] The existing laser radars generally use a silicon photomultiplier as a receiving sensor. The silicon photomultiplier (SiPM) is very sensitive to sunlight interference. The filter of the laser radar is generally made of plastic or glass, which allows the laser light source to pass through while also introducing some visible light into the shell of the laser radar. The visible light reflected in the shell will eventually enter the receiving sensor, causing signal interference. Obviously, the light shielding piece of the above design cannot prevent this part of the visible light from entering the receiving sensor, affecting the detection accuracy of the laser radar. SUMMARY

[0007] The purpose of the embodiments of the present application is to provide a laser radar to solve the technical problem that the light shielding piece in the shell of a common laser radar cannot prevent some visible light from entering the receiving sensor.

[0008] To achieve the above purpose, the technical solution adopted by the present application is:

[0009] Provided is a laser radar, comprising a visible light isolation wall structure, a shell, and a laser transceiver module, the shell is provided with a window, the visible light isolation wall structure is installed in the shell towards the window to divide the internal space of the shell into a first chamber close to the window and a second chamber away from the window, the laser transceiver module is installed in the second chamber, and the visible light isolation wall structure is used to prevent visible light entering the inside of the shell from entering the second chamber from the first chamber.

[0010] A light transmission hole is provided through the visible light isolation wall structure corresponding to the laser transceiver module, and the light transmission hole communicates the first chamber and the second chamber.

[0011] In an implementable technical solution of the present application, the visible light isolation wall structure comprises a galvanometer support, a galvanometer, and a light blocking sheet, the galvanometer support is arranged on the inner shell wall of the shell, the light transmission hole is arranged on the galvanometer support, and the galvanometer and the light blocking sheet are both installed on the galvanometer support towards the window.

[0012] In an implementable technical solution of the present application, the light blocking sheet comprises a first light blocking part and a second light blocking part, the second light blocking part is installed on the galvanometer support towards the window, and the first light blocking part is bent and extended towards the window from one end of the second light blocking part away from the galvanometer support.

[0013] In an implementable technical solution of the present application, the light-incident surface of the first light blocking part is provided with a plurality of first protrusions arranged in parallel at intervals; and / or,

[0014] The light-incident surface of the second light blocking part is provided with a plurality of second protrusions arranged in parallel at intervals.

[0015] In an implementable technical solution of the present application, the two sides of the galvanometer are provided with first mounting parts protruding therefrom, and the first mounting parts are fixedly connected with the galvanometer support through locking members.

[0016] In an implementable technical solution of the present application, a light filter cover is arranged at the window.

[0017] In an implementation of the present application, the laser transceiver module comprises a housing, a laser emitting unit and a beam splitter, the laser emitting unit and the beam splitter are located at opposite sides of the housing, the housing is provided with a first light channel and an extinction chamber, the first light channel connects the laser emitting unit and the beam splitter, the extinction chamber is located at a side of the first light channel, and two ends of the extinction chamber are a closed end and an open end, respectively, the open end is arranged close to the beam splitter and is connected to the first light channel, the closed end is arranged close to the laser emitting unit, and an opening is provided at a side of the extinction chamber away from the first light channel, and the opening is sealed by a part of the housing.

[0018] In an implementation of the present application, the laser transceiver module further comprises a collimating unit, the collimating unit is installed in the first light channel, the collimating unit is located between the beam splitter and the laser emitting unit, the collimating unit comprises a fast-axis collimating lens and a slow-axis collimating lens, a first extinction channel for light passing through is provided between the fast-axis collimating lens and the slow-axis collimating lens, and the first extinction channel gradually increases from one end close to the fast-axis collimating lens to one end close to the slow-axis collimating lens.

[0019] In an implementation of the present application, the first extinction channel is formed by a housing and two extinction side plates arranged at intervals, the extinction side plates, the fast-axis collimating lens and the slow-axis collimating lens are installed in the housing, extinction teeth are arranged on inner side walls of the two extinction side plates, the extinction side plates are perpendicular to the inner surface of the housing, the extinction teeth are arranged perpendicularly to the optical axis of the fast-axis collimating lens or the optical axis of the slow-axis collimating lens, and a plurality of extinction teeth are arranged along the direction of the optical axis of the fast-axis collimating lens or the optical axis of the slow-axis collimating lens.

[0020] In an implementation of the present application, the laser transceiver module further comprises a receiving unit, a mirror and a diaphragm, the receiving unit is installed at a side of the housing close to the laser emitting unit, the mirror is installed at a side of the housing close to the beam splitter, the housing is further provided with a second light channel arranged in parallel and at intervals with the first light channel, the second light channel connects the receiving unit and the mirror, an extinction threaded hole is arranged at an end of the second light channel close to the receiving unit, and the diaphragm is installed at a side of the receiving unit close to the extinction threaded hole.

[0021] In summary, the present application at least includes the following beneficial technical effects:

[0022] Because of the existence of the visible light isolation wall structure, part of the visible light will be consumed by multiple reflections in the first chamber until it disappears, thereby effectively preventing part of the visible light from entering the laser transceiver module inside the second chamber, which has a significant signal anti-interference effect and is conducive to improving the detection accuracy of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 The structure schematic diagram of the laser radar provided in the embodiments of the present application.

[0025] Figure 2 The structure schematic diagram of the laser radar provided in the embodiments of the present application.

[0026] Figure 3 The installation structure schematic diagram of the laser transceiver module in the embodiments of the present application.

[0027] Figure 4 The structure schematic diagram of the visible light isolation wall structure in the embodiments of the present application.

[0028] Figure 5 The structure schematic diagram of the galvanometer support in the embodiments of the present application.

[0029] Figure 6 The three-dimensional structure schematic diagram of the laser transceiver module in the embodiments of the present application.

[0030] Figure 7 The plane cross-sectional structure schematic diagram of the laser transceiver module in the embodiments of the present application.

[0031] In the drawings, various reference signs represent:

[0032] 100, visible light isolation wall structure; 11, galvanometer support; 111, clamping groove; 112, second mounting portion; 113, light transmission hole; 12, galvanometer; 121, first mounting portion; 13, light blocking sheet; 131, first light blocking portion; 1311, first protruding strip; 132, second light blocking portion; 1321, second protruding strip; 14, locking member;

[0033] 200, housing; 21, light filter cover; 22, heat dissipation hole; 23, sealing plate;

[0034] 300, laser transceiver module; 31, housing; 311, extinction chamber; 3111, opening; 3112, inclined section; 3113, straight section; 312, first extinction passage; 3121, extinction side plate; 31211, extinction tooth; 313, extinction threaded hole; 314, first clamping groove; 315, second clamping groove; 32, laser emission unit; 321, emission circuit driving board; 322, emission shield; 33, beam splitter; 34, collimation unit; 341, fast-axis collimation lens; 342, slow-axis collimation lens; 35, receiving unit; 351, receiving circuit driving board; 352, receiving shield; 36, reflecting mirror; 37, diaphragm; 38, first metal piece; 39, second metal piece. DETAILED DESCRIPTION

[0035] In order to make the technical problems to be solved, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0039] Please refer to Figures 1-7 , now the laser radar provided by the embodiments of the present application will be described.

[0040] The embodiments of the present application provide a laser radar, please refer to Figure 1 , Figure 2 andFigure 3 , comprising a visible light isolation wall structure 100, a shell 200 and a laser transceiver module 300, the shell 200 is provided with a window, the visible light isolation wall structure 100 is installed in the shell 200 towards the window, so as to divide the internal space of the shell 200 into a first chamber close to the window and a second chamber away from the window, the laser transceiver module 300 is installed in the second chamber, the visible light isolation wall structure 100 is used to prevent the visible light entering the inside of the shell 200 from entering the second chamber from the first chamber;

[0041] The visible light isolation wall structure 100 is provided with a light transmission hole 113 (see Figure 4 and Figure 5 ) corresponding to the laser transceiver module 300, the light transmission hole 133 communicates the first chamber and the second chamber.

[0042] Please refer to Figure 2 and Figure 4 , the visible light isolation wall structure 100 includes a galvanometer support 11, a galvanometer 12 and a light shielding sheet 13, the galvanometer support 11 is arranged on the inner shell wall of the shell 200, the galvanometer support 11 is provided with a light transmission hole 113, the galvanometer 12 and the light shielding sheet 13 are both installed on the galvanometer support 11 towards the window.

[0043] The laser radar provided by the application has the following predictable beneficial technical effects compared with the prior art:

[0044] The laser radar makes full use of the indispensable accessories inside the laser radar: the galvanometer 12 and the galvanometer support 11, and then adds the light shielding sheet 13 according to the characteristics of the above two, thereby forming the visible light isolation wall structure 100, after the visible light enters the inside of the shell 200, part of the visible light will be consumed by multiple reflections in the first chamber until it disappears due to the existence of the visible light isolation wall structure 100, thereby effectively preventing part of the visible light from entering the laser transceiver module 300 inside the second chamber, which has obvious signal anti-interference effect and is conducive to improving the detection accuracy of the laser radar.

[0045] The window is provided with a light filter cover 21, the light filter cover 21 and the edge of the window are sealingly connected, the light filter cover 21 is located on one side of the shell 200, the light filter cover 21 is square arc-shaped, and the first chamber is a light path isolation chamber.

[0046] The part of the shell 200 different from the light filter cover 21 is provided with a plurality of heat dissipation holes 22, the heat dissipation holes 22 and the light path isolation chamber are not communicated, the design of the heat dissipation holes 22 can make the air inside and outside the shell 200 circulate, which is conducive to taking away the heat generated by the electronic components inside the shell 200 during work by cold air, and the heat dissipation effect is better, and the visible light outside will not enter the light path isolation chamber along the heat dissipation holes 22, further reducing the possibility of visible light interfering with the signal.

[0047] Please refer to Figure 4 and Figure 5 The light blocking sheet 13 comprises a first light blocking part 131 and a second light blocking part 132, the second light blocking part 132 is installed towards the window on the galvanometer support 11, the first light blocking part 131 is bent and extended from one end of the second light blocking part 132 away from the galvanometer support 11 towards the window, and the first light blocking part 131 and the second light blocking part 132 are both plate-shaped structures, and the first light blocking part 131 and the second light blocking part 132 are arranged perpendicular to each other, the light receiving surface of the first light blocking part 131 is provided with a plurality of first convex strips 1311 arranged in parallel, and the light receiving surface of the second light blocking part 132 is provided with a plurality of second convex strips 1321 arranged in parallel.

[0048] Through the above technical solution, the design of the first convex strip 1311 and the second convex strip 1321 can form a concave-convex texture structure on the corresponding surface of the light blocking sheet 13, and these texture structures can reflect visible light back and forth, thereby also having a certain absorption effect on visible light, further avoiding the problem of visible light interfering with the signal.

[0049] Specifically, the light transmission hole 113 is a threaded hole, and the light transmission hole 113 is provided with five, three of which are located below the galvanometer 12, and two of which are located below the two light blocking sheets 13, and the light transmission hole 113 located below the light blocking sheet 13 is slightly higher than the light transmission hole 113 located below the galvanometer 12.

[0050] Through the above technical solution, even if a small part of the visible light follows the reflected laser beam through the light transmission hole 113 of the galvanometer support 11 into the second chamber, but because the internal thread can reflect the visible light back and forth, thereby also having a certain absorption effect on the visible light, further avoiding the problem of visible light interfering with the signal.

[0051] Moreover, the surfaces of the galvanometer support 11 and the light blocking sheet 13 are provided with a dull black sandblasted layer, which is not specifically indicated in the drawings of the specification, and the dull black sandblasted layer has a good absorption effect on visible light, further avoiding the problem of visible light interfering with the signal.

[0052] The upper surface of the galvanometer support 11 is provided with a clamping groove 111 for clamping part of the galvanometer 12, the clamping groove 111 has a certain pre-fixing and positioning effect on the galvanometer 12, facilitating quick positioning and assembly between the galvanometer 12 and the galvanometer support 11, and the assembly is more convenient.

[0053] The galvanometer 12 has a first mounting part 121 protruding from both sides. The first mounting part 121 is fixedly connected to the galvanometer bracket 11 by a locking member 14. In this embodiment, the locking member 14 is a round head screw. In other embodiments, it can be a screw or pin of other shapes. Through the above technical solution, it is beneficial to detachably and firmly assemble the galvanometer 12 and the galvanometer bracket 11, and the structure is more stable.

[0054] The light-blocking plate 13 and the galvanometer bracket 11 can also be assembled using screws.

[0055] The galvanometer support 11 has second mounting portions 112 on both sides. Each second mounting portion 112 is a plate-like structure with rounded corners. Three spaced mounting holes are provided on each second mounting portion 112; these holes are threaded holes for screw tightening. The screws pass through the mounting holes and are threaded into the housing 200. This technical solution facilitates the secure installation of the galvanometer support 11, resulting in a more robust structure.

[0056] There are two light-blocking plates 13, and the two light-blocking plates 13 are located on both sides of the galvanometer 12. The above structure design is simple, the layout is more reasonable, and the installation and manufacturing are more convenient.

[0057] Please refer to Figure 6 and Figure 7 The laser transceiver module 300 includes a housing 31, a laser emitting unit 32, and a beam splitter 33. The laser emitting unit 32 and the beam splitter 33 are located on opposite sides of the housing 31. A first optical channel and an extinction chamber 311 are provided inside the housing 31. The first optical channel connects the laser emitting unit 32 and the beam splitter 33. The extinction chamber 311 is located beside the first optical channel, and the two ends of the extinction chamber 311 are a closed end and an open end, respectively. The open end is arranged near the beam splitter 33 and is connected to the first optical channel. The closed end is arranged near the laser emitting unit 32. An opening 3111 is provided on the side of the extinction chamber 311 away from the first optical channel. The opening 3111 is partially sealed by the housing 200.

[0058] In this embodiment, a portion of the aforementioned housing 200 is specifically a sealing plate 23. Details of the portion of the housing 200 and the sealing plate 23 can be found in [the following text is missing]. Figure 3 .

[0059] Compared with conventional technology, the extinction chamber 311 is arranged with its length direction roughly facing one side of the laser emitting unit 32. The extinction chamber 311 is designed to be longer and deeper, so that stray light is reflected more times in the extinction chamber 311, which is more conducive to eliminating stray light and reducing signal interference caused by stray light, thus improving the detection capability of the lidar. The opening 3111 can be partially sealed by the housing 200, which can effectively solve the problem of structural constraints and reduce the difficulty and cost of manufacturing the extinction chamber 311.

[0060] Specifically, the light extinction chamber 311 includes an inclined section 3112 including an open end and a straight section 3113 arranged in parallel with the first light channel, and an included angle between the inclined section 3112 and the straight section 3113 is an obtuse angle. The light extinction chamber 311 designed as above has a simple structure and is more convenient to manufacture.

[0061] The laser transceiver module 300 further includes a collimation unit 34 installed in the first light channel, the collimation unit 34 being located between the beam splitter 33 and the laser emission unit 32, and the collimation unit 34 including a fast-axis collimation lens 341 and a slow-axis collimation lens 342, and a first light extinction channel 312 for light passing being provided between the fast-axis collimation lens 341 and the slow-axis collimation lens 342, the first light extinction channel 312 gradually increasing from one end adjacent to the fast-axis collimation lens 341 to the other end adjacent to the slow-axis collimation lens 342.

[0062] Specifically, the first light extinction channel 312 gradually increases in cross-sectional area (i.e., width).

[0063] Since the laser beam is divergent when it is incident from the fast-axis collimation lens 341 to the slow-axis collimation lens 342, the first light extinction channel 312 gradually increases in the direction of divergence of the laser beam, which can better absorb stray light generated between the fast-axis collimation lens 341 and the slow-axis collimation lens 342, thereby reducing the possibility of the stray light being received by the receiving unit 35, reducing interference signals, and being conducive to accurate detection of the laser radar.

[0064] The first light extinction channel 312 is formed by the housing 31 and two light extinction side plates 3121 spaced apart, the light extinction side plates 3121, the fast-axis collimation lens 341 and the slow-axis collimation lens 342 being installed in the housing 31, and a plurality of light extinction teeth 31211 being provided on the inner wall of the first light extinction channel 312, the two light extinction side plates 3121 being integrally formed with the housing 31, having good structural strength, not being easily damaged and being most convenient. Through the above technical solution, the first light extinction channel 312 designed as above has a simple structure and low manufacturing cost.

[0065] The inner side walls of the two light extinction side plates 3121 are integrally formed with the light extinction teeth 31211. Due to the presence of the light extinction teeth 31211, the laser beam is reflected multiple times in the first light extinction channel 312 and is absorbed, and is finally converted into heat and dissipated. Moreover, the light extinction teeth 31211 significantly increase the contact area of the first light extinction channel 312 with the cold air, and the dissipation efficiency of the heat is also relatively high, further reducing the possibility of the stray light being received by the receiver, reducing interference signals, and further being conducive to accurate detection of the laser radar.

[0066] The extinction side plate 3121 is perpendicular to the inner surface of the shell 31, and the extinction teeth 31211 are arranged perpendicularly to the optical axis of the fast-axis collimating lens 341 or the optical axis of the slow-axis collimating lens 342; and a plurality of extinction teeth 31211 are arranged along the direction of the optical axis of the fast-axis collimating lens 341 (or the optical axis of the slow-axis collimating lens 342), and the adjacent extinction teeth 31211 are arranged at intervals.

[0067] The extinction side plate 3121 and the extinction teeth 31211 designed above have simple structures, can be processed and manufactured in an integrated injection molding manner, have low costs, and are also beneficial to multiple reflections of stray light due to the perpendicular arrangement of the extinction teeth 31211 and the laser beam, and have better extinction effects; meanwhile, the more the number of the extinction teeth 31211 is, the more beneficial to repeated reflections of the laser beam in the first extinction channel 312, and the extinction effect is further improved.

[0068] Specifically, the inner surface of the shell 31 is further provided with a first clamping groove 314111 for clamping and installing the fast-axis collimating lens 341 and a second clamping groove 315 for clamping and installing the slow-axis collimating lens 342, the first clamping groove 314 and the second clamping groove 315 are convenient to process and manufacture, have low manufacturing costs, and the fast-axis collimating lens 341 and the slow-axis collimating lens 342 are convenient to install.

[0069] The cross section of the extinction tooth 31211 is triangular, and in other embodiments, the cross section of the extinction tooth 31211 can also be trapezoidal; the extinction tooth 31211 designed above has a slope, which is beneficial to multiple reflections of stray light and has a better extinction effect.

[0070] The laser transceiver module 300 further comprises a receiving unit 35 and a mirror 36, the receiving unit 35 is installed on one side of the shell 31 close to the laser emitting unit 32, the mirror 36 is installed on one side of the shell 31 close to the beam splitter 33, and the shell 31 is further provided with a second light channel arranged in parallel and at intervals with the first light channel, the second light channel connects the receiving unit 35 and the mirror 36.

[0071] Specifically, the end of the second light channel close to the receiving unit 35 is provided with an extinction threaded hole 313, and the internal threads of the threaded hole are weakened due to multiple reflections of stray light; the extinction threaded hole 313 can further weaken the stray light about to reach the receiving unit 35, effectively avoiding the problem that the signal is disturbed by the stray light.

[0072] The laser transceiver module 300 further comprises a diaphragm 37, the diaphragm 37 is installed on one side of the receiving unit 35 close to the extinction threaded hole 313, and the diaphragm 37 can further weaken the stray light about to reach the receiving unit 35, effectively avoiding the problem that the signal is disturbed by the stray light.

[0073] Specifically, the three first metal pieces 38 are arranged in a triangular shape around the laser transmitting unit 32, and the laser transmitting unit 32 includes a transmitting circuit driving board 321 and a transmitting shield 322, and the exposed copper area of the transmitting circuit driving board 321 and / or the transmitting shield 322 is welded to the first metal pieces 38.

[0074] Compared with the conventional glue fixing mode, the above connection structure is more firm, so that the laser transmitting unit 32 has higher reliability, and the robustness of the laser transceiver module 300 is increased.

[0075] Specifically, the three second metal pieces 39 are arranged in a triangular shape around the receiving unit 35, and the receiving unit 35 includes a receiving circuit driving board 351 and a receiving shield 352, and the exposed copper area of the receiving circuit driving board 351 and / or the receiving shield 352 is welded to the second metal pieces 39.

[0076] Compared with the conventional glue fixing mode, the above connection structure is more firm, so that the receiving unit 35 has higher reliability, and the robustness of the laser transceiver module 300 is increased.

[0077] The housing 31 is provided with a threaded hole, and the first metal pieces 38 and the second metal pieces 39 are copper studs, and a threaded portion of the copper studs is assembled in the threaded hole. The copper material of the copper studs is more convenient for welding to the exposed copper area of the receiving circuit driving board 351 and / or the receiving shield 352, so that the laser transmitting unit 32, the receiving unit 35 and the housing 31 form an integrated structure, have higher reliability, better heat conduction capacity, and are beneficial to rapid heat dissipation. Moreover, the first metal pieces 38 and the second metal pieces 39 can be quickly and firmly assembled on the housing 31, and the threaded assembly installation mode is also convenient for rotating, disassembling and replacing the first metal pieces 38 and the second metal pieces 39.

[0078] The working principle of the embodiment of the present application is as follows:

[0079] The laser beam emitted by the laser emission unit 32 passes through the fast-axis collimation lens 341, the first light extinction channel 312, the slow-axis collimation lens 342 in turn, and then is reflected by the beam splitter 33 and emitted outward. The laser beam emitted by the laser emission unit 32 passes through the visible light isolation wall structure 100 from the light transmission hole 113 and enters the first chamber. A mirror assembly (not shown in the figure) is installed in the first chamber corresponding to the light transmission hole 113. The laser beam entering the first chamber is reflected by the mirror assembly and the galvanometer 12 in turn, and finally is emitted from the window of the laser radar. The reflected light signal is reflected by the target object in the detection area, returns to the first chamber from the window, and is reflected by the galvanometer 12 and the mirror assembly in turn, enters the second chamber from the light transmission hole 113, and enters the laser transceiver module 300. The reflected light signal entering the laser transceiver module 300 is received by the beam splitter 33 and deflected, and the reflected light signal reflected by the mirror 36 passes through the light extinction screw hole 313 and the diaphragm 37 in turn and is incident into the receiving unit 35.

[0080] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A lidar, characterized in that, The device includes a visible light isolation wall structure (100), a housing (200), and a laser transceiver module (300). The housing (200) has a window. The visible light isolation wall structure (100) is installed inside the housing (200) facing the window to divide the internal space of the housing (200) into a first chamber near the window and a second chamber away from the window. The laser transceiver module (300) is installed in the second chamber. The visible light isolation wall structure (100) is used to prevent visible light entering the interior of the housing (200) from entering the second chamber from the first chamber. The visible light isolation wall structure (100) is provided with a light-transmitting hole (113) through the laser transceiver module (300), the light-transmitting hole (113) connects the first chamber and the second chamber, and the light-transmitting hole (113) is a threaded hole; After visible light enters the housing (200), due to the presence of the visible light isolation wall structure (100), some of the visible light will be reflected multiple times in the first chamber, consuming energy until it disappears; when a small portion of the visible light enters the second chamber through the light-transmitting hole (113), the visible light will be reflected back and forth in the light-transmitting hole (113) and absorbed.

2. The lidar as described in claim 1, characterized in that, The visible light isolation wall structure (100) includes a galvanometer bracket (11), a galvanometer (12), and a light-blocking plate (13). The galvanometer bracket (11) is disposed on the inner shell wall of the housing (200). The galvanometer bracket (11) is provided with the light-transmitting hole (113). The galvanometer (12) and the light-blocking plate (13) are both mounted on the galvanometer bracket (11) facing the window.

3. The lidar as described in claim 2, characterized in that, The light-blocking plate (13) includes a first light-blocking part (131) and a second light-blocking part (132). The second light-blocking part (132) is mounted on the galvanometer bracket (11) facing the window. The first light-blocking part (131) is formed by bending and extending from the end of the second light-blocking part (132) away from the galvanometer bracket (11) toward the window.

4. The lidar as described in claim 3, characterized in that, The light-blocking portion (131) has a plurality of parallelly arranged first protrusions (1311) spaced apart on its light-facing surface; and / or, The light-blocking part (132) has a plurality of parallel-arranged second protrusions (1321) on its light-facing surface at intervals.

5. The lidar as described in claim 2, characterized in that, The galvanometer (12) has a first mounting part (121) protruding from both sides, and the first mounting part (121) is fixedly connected to the galvanometer bracket (11) by a locking member (14).

6. The lidar as described in claim 1, characterized in that, A filter (21) is provided at the window.

7. The lidar as described in any one of claims 1 to 6, characterized in that, The laser transceiver module (300) includes a housing (31), a laser emitting unit (32), and a beam splitter (33). The laser emitting unit (32) and the beam splitter (33) are located on opposite sides of the housing (31). The housing (31) is provided with a first optical channel and an extinction chamber (311). The first optical channel connects the laser emitting unit (32) and the beam splitter (33). The extinction chamber (311) is located beside the first optical channel, and the two ends of the extinction chamber (311) are a closed end and an open end, respectively. The open end is arranged near the beam splitter (33) and is connected to the first optical channel. The closed end is arranged near the laser emitting unit (32). The side of the extinction chamber (311) away from the first optical channel is provided with an opening (3111). The opening (311) is partially sealed by the housing (200).

8. The lidar as described in claim 7, characterized in that, The laser transceiver module (300) further includes a collimation unit (34), which is installed in the first optical channel. The collimation unit (34) is located between the beam splitter (33) and the laser emitting unit (32). The collimation unit (34) includes a fast-axis collimating lens (341) and a slow-axis collimating lens (342). A first extinction channel (312) for light to pass through is provided between the fast-axis collimating lens (341) and the slow-axis collimating lens (342). The first extinction channel (312) gradually increases in size from the end near the fast-axis collimating lens (341) to the end near the slow-axis collimating lens (342).

9. The lidar as described in claim 8, characterized in that, The first extinction channel (312) is formed by a housing (31) and two spaced-apart extinction side plates (3121). The extinction side plates (3121), the fast-axis collimating lens (341), and the slow-axis collimating lens (342) are installed inside the housing (31). Extinction teeth (31211) are provided on the inner sidewalls of the two extinction side plates (3121). The extinction side plates (3121) are perpendicular to the inner surface of the housing (31). The extinction teeth (31211) are arranged perpendicular to the optical axis of the fast-axis collimating lens (341) or the optical axis of the slow-axis collimating lens (342). Multiple extinction teeth (31211) are provided along the optical axis of the fast-axis collimating lens (341) or the optical axis of the slow-axis collimating lens (342).

10. The lidar as described in claim 7, characterized in that, The laser transceiver module (300) further includes a receiving unit (35), a reflector (36), and an aperture (37). The receiving unit (35) is installed on the side of the housing (31) near the laser emitting unit (32). The reflector (36) is installed on the side of the housing (31) near the beam splitter (33). The housing (31) also has a second optical channel arranged parallel to and spaced apart from the first optical channel. The second optical channel connects the receiving unit (35) and the reflector (36). An extinction threaded hole (313) is provided at the end of the second optical channel near the receiving unit (35). The aperture (37) is installed on the side of the receiving unit (35) near the extinction threaded hole (313).

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