激光测距系统、激光发射和接收模组以及双线激光雷达

Abstract

This invention provides a laser ranging system, a laser transmitting and receiving module, and a dual-line lidar. The laser ranging system includes: a light source module that generates emitted light; a prism having a first reflecting surface and a second reflecting surface, wherein the emitted light is reflected by the first reflecting surface to form a first emitted light, and the emitted light is reflected by the second reflecting surface to form a second emitted light; a first receiving module that receives the first received light formed by the reflection of the first emitted light by a probe object; and a second receiving module that receives the second received light formed by the reflection of the second emitted light by a probe object. The first emitted light and the first received light form a first plane, and the second emitted light and the second received light form a second plane, with the first plane inclined to the second plane. By using a prism to convert the emitted light into the first and second emitted light, and by tilting the first plane containing the first emitted light to the second plane containing the second emitted light, the effect of dual-line laser scanning using a single light source module is achieved.

Description

Technical Field

[0001] This invention belongs to the field of ranging technology, and particularly relates to a laser ranging system, a laser transmitting and receiving module, and a dual-line lidar. Background Technology

[0002] In the current field of robotic vacuum cleaner technology, single-line LiDAR is typically used to scan the external environment to obtain distance and orientation information of obstacles. However, since single-line LiDAR has only one scanning plane, it cannot scan obstacles outside its scanning plane, making the robotic vacuum cleaner prone to collisions. To improve the obstacle avoidance capabilities of robotic vacuum cleaners, multi-line LiDAR can be used to obtain obstacle information on different vertical planes. However, conventional multi-line LiDAR usually requires multiple sets of laser emitters and receivers, which undoubtedly increases the cost of the LiDAR system. Summary of the Invention

[0003] To overcome the shortcomings of the prior art, the present invention provides a laser ranging system, a laser transmitting and receiving module, and a dual-line lidar, to solve the problem that the existing dual-line lidar usually requires two sets of laser transmitters and laser receivers, resulting in high costs.

[0004] One embodiment of the present invention provides a laser ranging system, comprising:

[0005] The light source module is used to generate emitted light;

[0006] A prism has a first reflecting surface and a second reflecting surface. The emitted light is reflected by the first reflecting surface to form a first emitted light with a first deflection angle, and the emitted light is reflected by the second reflecting surface to form a second emitted light with a second deflection angle.

[0007] The first receiving module is used to receive the first received light formed after the first emitted light is reflected by the probe;

[0008] The second receiving module is used to receive the second received light formed after the second emitted light is reflected by the probe;

[0009] Wherein, the first emitted light and the first received light form a first plane, the second emitted light and the second received light form a second plane, and the first plane is inclined to the second plane.

[0010] In one embodiment, the emitted light is arranged parallel to the horizontal plane;

[0011] The first emitted light and the first received light are inclined to a horizontal plane;

[0012] The second emitted light and the second received light are arranged parallel to the horizontal plane.

[0013] In one embodiment, the first receiving module includes a first optical receiving port, and the first received light is incident on the first receiving module from the first optical receiving port;

[0014] The second receiving module includes a second optical receiving port, and the second received light is incident on the second receiving module from the second optical receiving port;

[0015] Wherein, the first optical receiving port is positioned higher than the second optical receiving port; and / or, the incident position of the first received light at the first optical receiving port is higher than the incident position of the second received light at the second optical receiving port.

[0016] In one embodiment, the first reflective surface is inclined to the horizontal plane and also inclined to the vertical plane passing through the incident light; the second reflective surface is perpendicular to the horizontal plane and also inclined to the vertical plane passing through the incident light.

[0017] And / or, the angle between the first reflecting surface and the vertical plane passing through the incident light is a first angle, the angle between the second reflecting surface and the vertical plane passing through the incident light is a second angle, and the sum of the first angle and the second angle is 180 degrees;

[0018] And / or, the angle between the first reflective surface and the horizontal plane is a third angle, and the third angle is between 80 degrees and 87 degrees.

[0019] In one embodiment, the first reflective surface is provided with a second total reflection film, and the emitted light is reflected by the second total reflection film to form the first emitted light;

[0020] The second reflective surface is provided with a third total reflection film, and the emitted light is reflected by the third total reflection film to form the second emitted light.

[0021] In one embodiment, the light source module includes:

[0022] A light source, wherein the optical axis of the light source is set perpendicular to the horizontal plane;

[0023] A first reflecting mirror, tilted to a horizontal plane, is used to reflect light emitted by the light source as horizontal light; and

[0024] The first lens is an aspherical lens, and its optical axis is parallel to the horizontal plane. The optical axis of the first lens intersects the optical axis of the light source at the same intersection point as the first reflector. The light reflected by the first reflector passes through the first lens to form the emitted light.

[0025] In one embodiment, the first receiving module includes a second lens, a second reflector, and a first receiving end. The second lens is disposed on the first light receiving port, and the first received light is incident into the first receiving module through the second lens. The second reflector is inclined to the horizontal plane to reflect the first received light passing through the second lens downward. The first receiving end is disposed below the second reflector to receive the first received light reflected by the second reflector.

[0026] And / or, the second receiving module includes a third lens, a third reflector, and a second receiving end. The third lens is disposed on the second light receiving port, and the second received light is incident into the second receiving module through the third lens. The third reflector is disposed at an angle to the horizontal plane to reflect the second received light passing through the third lens downwards. The second receiving end is disposed below the third reflector to receive the second received light reflected by the third reflector.

[0027] In one embodiment, the optical axis of the second lens is positioned at a greater height than that of the third lens;

[0028] And / or, the center point of the second reflector is set at a height greater than the center point of the third reflector.

[0029] One embodiment of the present invention also provides a laser emitting and receiving module, comprising:

[0030] A first circuit board, wherein the first circuit board is arranged horizontally; and

[0031] The laser ranging system as described in any of the above embodiments is mounted on the first circuit board.

[0032] One embodiment of the present invention also provides a dual-line lidar, including a laser emitting and receiving module as described in any of the above embodiments.

[0033] The laser ranging system, laser transmitting and receiving module, and dual-line lidar provided in the above embodiments of the present invention have the following beneficial effects:

[0034] 1. In the laser ranging system provided in this embodiment of the invention, a prism is used to convert the emitted light into a first emitted light and a second emitted light, and the first emitted light and a first received light together form a first plane, and the second emitted light and the second received light together form a second plane. Since the first plane is inclined to the second plane, the laser ranging system can achieve obstacle scanning on two different planes in the vertical direction, thereby achieving a dual-line laser scanning effect. Furthermore, since the first emitted light and the second emitted light are converted through a first optical element, only one light source module is needed to achieve the dual-line laser scanning effect, thus effectively saving the cost of the laser ranging system.

[0035] 2. In the laser ranging system provided in this embodiment of the invention, the prism has a first reflecting surface and a second reflecting surface. The emitted light from the light source module is reflected by the first reflecting surface to form a first emitted light; the emitted light from the light source module is reflected by the second reflecting surface to form a second emitted light. By providing a first reflecting surface and a second reflecting surface on the prism, the effect of converting the emitted light from the light source module into a first emitted light and a second emitted light can also be achieved. Furthermore, since the first reflecting surface and the second reflecting surface reflect two different parts of the emitted light from the light source module, the resulting first emitted light and second emitted light do not affect each other, and their independence is stronger.

[0036] 3. In one embodiment, the emitted light is arranged parallel to the horizontal plane; the first emitted light and the first received light are arranged at an angle to the horizontal plane; the second emitted light and the second received light are arranged parallel to the horizontal plane. Since the second emitted light and the second received light are arranged parallel to the horizontal plane, they can perform obstacle scanning on the horizontal plane where the emitted light is located; since the first emitted light and the first received light are arranged at an angle to the horizontal plane, they can perform obstacle scanning on a plane different from the emitted light. On one hand, the arrangement of the first emitted light and the first received light, and the second emitted light and the second received light, can achieve the effect of dual-line laser scanning. On the other hand, traditional dual-line lidar uses multiple sets of laser emitters and laser receivers to scan multiple horizontal planes at different vertical heights. However, traditional dual-line lidar may not be able to scan horizontally placed thin sheet-like objects. In the laser ranging system provided in this embodiment of the invention, since the first emitted light and the first received light are arranged at an angle to the horizontal plane, they still have a good detection effect on horizontally placed thin sheet-like objects, thereby improving the measurement accuracy of the laser ranging system.

[0037] 4. In one embodiment, the first receiving module includes a first optical receiving port, and the second receiving module includes a second optical receiving port, wherein the first optical receiving port is positioned higher than the second optical receiving port; and / or, the incident position of the first received light at the first optical receiving port is higher than the incident position of the second received light at the second optical receiving port. Since the first optical receiving port is used to receive the first received light, and the second optical receiving port is used to receive the second received light, positioning the first optical receiving port higher than the second optical receiving port allows for more efficient reception of both the first and second received light. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a laser ranging system provided in one embodiment of the present invention;

[0040] Figure 2 for Figure 1 A partial cross-sectional schematic diagram of the laser ranging system in the image;

[0041] Figure 3 for Figure 1 A schematic diagram of light transmission through a prism;

[0042] Figure 4 A schematic diagram of light transmission through a prism provided in another embodiment;

[0043] Figure 5 A schematic diagram of light transmission through a prism provided in another embodiment;

[0044] Figure 6 for Figure 1 A top-view schematic diagram of the laser ranging system in the image;

[0045] Figure 7 for Figure 1 A schematic cross-sectional view of the laser ranging system along the AA direction;

[0046] Figure 8 for Figure 1 A schematic cross-sectional view of the laser ranging system along the BB direction. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0049] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0050] Please see Figures 1 to 2 One embodiment of the present invention provides a laser ranging system 100. The laser ranging system 100 includes a light source module 110, a prism 120, a first receiving module 130, and a second receiving module 140.

[0051] The light source module 110 is used to generate emitted light. In this embodiment, the emitted light generated by the light source module 110 is laser light. Specifically, the light source module 110 includes an edge-emitting laser (EEL). After the edge-emitting laser generates laser light, a collimating element converts the laser light generated by the edge-emitting laser into collimated light.

[0052] The prism 120 is used to convert the emitted light into a first emitted light and a second emitted light. In this embodiment, the included angle between the first emitted light and the second emitted light is an obtuse angle.

[0053] The first receiving module 130 is used to receive the first received light formed after the first emitted light is reflected by the probe object. The second receiving module 140 is used to receive the second received light formed after the second emitted light is reflected by the probe object. In this embodiment, the first receiving module 130 and the second receiving module 140 each include a photosensitive element. By receiving the light signal through the photosensitive element and detecting the distance the light signal moves on the photosensitive element, the distance between the probe object and the laser ranging system 100 is determined. Specifically, the photosensitive element is a CCD (Charge-coupled Device) position sensor. If necessary, the first receiving module 130 may also include a first measurement module for outputting first measurement data. The second receiving module 140 may also include a second measurement module for outputting second measurement data.

[0054] Wherein, the first emitted light and the first received light form a first plane, the second emitted light and the second received light form a second plane, and the first plane is inclined to the second plane.

[0055] In the laser ranging system 100 provided in the above embodiments, the emitted light is converted into a first emitted light and a second emitted light by a prism 120, and the first emitted light and the first received light together form a first plane, and the second emitted light and the second received light together form a second plane. Since the first plane is inclined to the second plane, the laser ranging system 100 can achieve obstacle scanning on two different planes in the vertical direction, thereby achieving the effect of dual-line laser scanning. In addition, since the first emitted light and the second emitted light are converted by the first optical element 120, only one light source module 110 is needed to achieve the effect of dual-line laser scanning, thereby effectively saving the cost of the laser ranging system 100.

[0056] In one embodiment, the emitted light is arranged parallel to the horizontal plane;

[0057] The first emitted light and the first received light are inclined to a horizontal plane;

[0058] The second emitted light and the second received light are arranged parallel to the horizontal plane.

[0059] Because the second emitted light and the second received light are arranged parallel to the horizontal plane, they can perform obstacle scanning on the horizontal plane where the emitted light is located. Because the first emitted light and the first received light are arranged at an angle to the horizontal plane, they can perform obstacle scanning on a plane different from the emitted light. On one hand, the arrangement of the first emitted light and the first received light, and the second emitted light and the second received light, achieves the effect of dual-line laser scanning. On the other hand, traditional dual-line lidar uses multiple sets of laser emitters and laser receivers to scan multiple horizontal planes at different vertical heights. However, traditional dual-line lidar may not be able to scan horizontally placed thin, sheet-like objects. In the laser ranging system 100 provided in this embodiment of the invention, because the first emitted light and the first received light are arranged at an angle to the horizontal plane, they still have a good detection effect on horizontally placed thin, sheet-like objects, thereby improving the measurement accuracy of the laser ranging system 100.

[0060] In one embodiment, the first receiving module 130 includes a first optical receiving port 131. The first received light is incident on the first receiving module 130 from the first optical receiving port 131.

[0061] The second receiving module 140 includes a second optical receiving port 141. The second received light is incident on the second receiving module 140 from the second optical receiving port 141.

[0062] Wherein, the first optical receiving port 131 is positioned higher than the second optical receiving port 141; and / or, the incident position of the first received light at the first optical receiving port 131 is higher than the incident position of the second received light at the second optical receiving port 141.

[0063] Since the first optical receiving port 131 is used to receive the first received light and the second optical receiving port 141 is used to receive the second received light, setting the first optical receiving port 131 higher than the second optical receiving port 141 can enable both the first optical receiving port 131 and the second optical receiving port 141 to receive the first and second received light more effectively.

[0064] In this embodiment, the prism 120 has a first reflecting surface 121 and a second reflecting surface 122. The emitted light, after being reflected by the first reflecting surface 121, forms a first emitted light with a first deflection angle. The emitted light, after being reflected by the second reflecting surface 122, forms a second emitted light with a second deflection angle. In this embodiment, the first reflecting surface 322 and the second reflecting surface 323 are respectively disposed on opposite sides of a plane perpendicular to the incident light. The angle between the first emitted light and the second emitted light is an obtuse angle.

[0065] By setting a first reflecting surface 121 and a second reflecting surface 122 on the prism 120, the emitted light from the light source module 110 can be converted into first emitted light and second emitted light. Furthermore, since the first reflecting surface 121 and the second reflecting surface 122 reflect two different parts of the emitted light from the light source module 110, the resulting first emitted light and second emitted light do not affect each other, and the independence between them is stronger.

[0066] Please see also Figure 3 In one embodiment, the first reflective surface 121 is inclined to a horizontal plane and also inclined to a vertical plane passing through the incident light. The second reflective surface 122 is perpendicular to the horizontal plane and also inclined to a vertical plane passing through the incident light. Inclining the second reflective surface 122 to a vertical plane passing through the incident light allows the emission angle of the second emitted light to be approximately towards one side of the second receiving module 140, thus ensuring that the second received light after reflection by the detector can be effectively received by the second receiving module 140. Similarly, inclining the first reflective surface 121 to a vertical plane passing through the incident light allows the emission angle of the first emitted light to be approximately towards one side of the first receiving module 130, thus ensuring that the first received light after reflection by the detector can be effectively received by the first receiving module 130. Furthermore, since the second reflective surface 122 is perpendicular to the horizontal plane, and the emitted light from the light source module 110 is parallel to the horizontal plane, when the emitted light from the light source module 110 is reflected by the second reflective surface 122, the resulting second emitted light is also horizontal, thus enabling obstacle scanning on the horizontal plane where the emitted light is located. Since the first reflective surface 121 is inclined to the horizontal plane, when the emitted light from the light source module 110 is reflected by the first reflective surface 121, the resulting first emitted light is inclined to the horizontal plane, thus enabling obstacle scanning on another plane.

[0067] In one embodiment, the angle between the first reflecting surface 121 and the vertical plane passing through the incident light is a first angle θ1. The angle between the second reflecting surface 122 and the vertical plane passing through the incident light is a second angle θ2. The sum of the first angle θ1 and the second angle θ2 is 180 degrees. When the emitted light distribution emitted by the light source module 110 is reflected by the first reflecting surface 121 and the second reflecting surface 122, the resulting first and second emitted light distributions are located on opposite sides of the vertical plane passing through the incident light, and the angles between the first and second emitted light and the vertical plane passing through the incident light are approximately equal. Depending on the requirements, the first angle θ1 is set within a range of 120 to 150 degrees; the second angle θ2 is set within a range of 30 to 60 degrees.

[0068] In one embodiment, the angle between the first reflective surface 121 and the horizontal plane is a third angle, which ranges from 80 degrees to 87 degrees. By setting the range of the third angle to between 80 degrees and 87 degrees, the emitted light emitted by the light source module 110 can be effectively tilted at a certain angle to the horizontal plane after being reflected by the first reflective surface 121, thereby achieving the effect of dual-line laser scanning.

[0069] As needed, the first reflective surface 121 is provided with a first total reflection film. The emitted light is reflected by the first total reflection film to form first emitted light. The second reflective surface 122 is provided with a second total reflection film. The emitted light is reflected by the second total reflection film to form second emitted light.

[0070] In the specific operation, when the emitted light from the light source module 110 is emitted along a horizontal optical path, a portion of the emitted light enters the first reflecting surface 121 of the prism 120. Since the first reflecting surface 121 is provided with a first total internal reflection film, when the emitted light enters the first reflecting surface 121, this portion of the light is reflected by the first reflecting surface 121 to form the first emitted light. The light reflected by the first reflecting surface is approximately half the intensity of the initial emitted light. Furthermore, another portion of the emitted light enters the second reflecting surface 122 of the prism 120. Since the second reflecting surface 122 is provided with a second total internal reflection film, when the emitted light enters the second reflecting surface 122, this portion of the light is reflected by the second reflecting surface 121 to form the second emitted light. The light reflected by the second reflecting surface is also approximately half the intensity of the initial emitted light.

[0071] In this embodiment, the angle between the first reflective surface 121 and the horizontal plane is a third angle θ3. In this embodiment, the third angle θ3 ranges from 80 degrees to 87 degrees. By setting the range of the third angle θ3 to between 80 degrees and 87 degrees, the emitted light emitted by the light source module 110, after being reflected by the first reflective surface 121, can be effectively tilted at a certain angle with the horizontal plane, thereby achieving the effect of dual-line laser scanning.

[0072] Understandably, the prism 120 is not limited to the embodiments described above.

[0073] Please see Figure 4Another embodiment of the present invention provides a prism 120 including a first reflecting surface 121 and a second reflecting surface 122. In this embodiment, the first reflecting surface 121 is disposed perpendicular to the horizontal plane and inclined to the vertical plane through which the incident light passes. The second reflecting surface 122 is disposed inclined to the horizontal plane and inclined to the vertical plane through which the incident light passes. The prism 120 provided in this embodiment can also convert the emitted light emitted by the light source module 110 into first emitted light and second emitted light with different deflection angles.

[0074] Please see Figure 5 In another embodiment of the present invention, a prism 120 includes a first reflecting surface 121 and a second reflecting surface 122. In this embodiment, the first reflecting surface 121 is inclined to a horizontal plane and also inclined to a vertical plane passing through the incident light. The second reflecting surface 122 is inclined to a horizontal plane and also inclined to a vertical plane passing through the incident light. The inclination angle between the first reflecting surface 121 and the horizontal plane is different from the inclination angle between the second reflecting surface 122 and the horizontal plane. The prism 120 provided in this embodiment can also convert the emitted light emitted by the light source module 110 into first and second emitted light with different deflection angles.

[0075] Please see also Figures 6 to 8 In this embodiment, the light source module 110 includes a light source 111 and a first reflector 112.

[0076] The optical axis of the light source 111 is set perpendicular to the horizontal plane.

[0077] The first reflector 112 is inclined to the horizontal plane and is used to reflect the light emitted by the light source 111 into horizontal light.

[0078] In this embodiment, the light source 111 is an edge-emitting laser. The laser emitted by the light source 111 becomes horizontal light after passing through the first reflector 112.

[0079] During installation, the light source module 110 is mounted on a circuit board, with the optical axis of the light source 111 perpendicular to the plane of the circuit board. The emitted light from the light source 111 shines vertically upward onto a first reflector 112 that is inclined to the circuit board. The reflection by the first reflector 112 alters the propagation path of the emitted light, causing it to emit outwards in a direction parallel to the circuit board. While achieving horizontal emission of light, the light source 111 also provides ample space for a receiving module to be mounted on the same plane of the circuit board. This allows the laser emitting module and the receiving module to be mounted on the same circuit board, resulting in a compact and small-sized laser ranging system.

[0080] In this embodiment, the angle between the first reflector 112 and the horizontal plane is preferably 45 degrees. When the laser emitted by the light source 111 irradiates the first reflector 112, the incident angle between the laser and the first reflector 112 is 45 degrees, and its exit angle is also 45 degrees. Therefore, the first reflector 112 can make the laser emitted by the light source 111 exit in a direction parallel to the horizontal plane.

[0081] In one embodiment, the light source module 110 further includes a first lens 113. The first lens 113 is an aspherical lens, and its optical axis is parallel to the horizontal plane. The optical axis of the first lens 113 intersects the optical axis of the light source 111 at the same intersection point as the first reflector 112. The light reflected by the first reflector 112 passes through the first lens 113 to form the emitted light.

[0082] Because the emitted light from the light source 111 has a large divergence angle, it is prone to divergence during propagation, which inevitably affects the effective ranging range of the laser ranging system 100. In this embodiment, a first lens 113 is added to the light source module 110 to collimate the emitted light, thereby reducing the divergence angle of the emitted light, thus enabling the laser ranging system 100 provided in this embodiment of the invention to have a larger effective ranging range.

[0083] The first lens 113 is preferably an aspherical lens. The radius of curvature of the aspherical lens gradually increases from the center to the edge, which can minimize spherical aberration. That is, the aspherical lens can converge light to a single point, thereby providing collimated light with better optical quality. The optical axis of the first lens 113 is parallel to the horizontal plane, and the center point of the first reflecting mirror 112 is located on the optical axis of the first lens 113. Light emitted from the light source 111 is reflected by the first reflecting mirror 112 and enters the first lens 113, where it is collimated and emitted to the outside.

[0084] In this embodiment, the first receiving module 130 includes a second lens 132, a second reflector 133, and a first receiving end 134.

[0085] The second lens 132 is disposed on the first light receiving port 131. The first received light passes through the second lens 132 and enters the first receiving module 130.

[0086] The second reflector 133 is inclined to the horizontal plane to reflect the first received light that has passed through the second lens 132 downwards.

[0087] The first receiving end 133 is disposed below the second reflector 133 and is used to receive the first received light reflected by the second reflector 133. In this embodiment, the first receiving end 133 includes a photosensitive element. When the photosensitive element receives the first received light, it converts the optical signal into an electrical signal and transmits the electrical signal to a control module disposed on a circuit board. In this embodiment, the photosensitive element is a CCD position sensor.

[0088] In this embodiment, the second receiving module 140 includes a third lens 142, a third reflector 143, and a second receiving end 144.

[0089] The third lens 142 is disposed on the second light receiving port 141. The second received light passes through the third lens 142 and enters the second receiving module 140.

[0090] The third reflector 143 is inclined to the horizontal plane and is used to reflect the second received light that has passed through the third lens 143 downwards.

[0091] The second receiving end 144 is disposed below the third reflecting mirror 143 and is used to receive the second received light reflected by the third reflecting mirror 143. In this embodiment, the second receiving end 143 includes a photosensitive element. When the photosensitive element receives the second received light, it converts the optical signal into an electrical signal and transmits the electrical signal to a control module disposed on a circuit board. In this embodiment, the photosensitive element is a CCD position sensor.

[0092] In one embodiment, the optical axis of the second lens 132 is positioned at a height greater than that of the third lens 142; and / or, the center point of the second reflector 133 is positioned at a height greater than that of the third reflector 143. Since the first receiving module 130 and the second receiving module 140 are distributed for ranging obstacles at different heights, setting the optical axis of the second lens 132 at a height greater than that of the third lens 142 allows the first lens 131 and the second lens 132 to receive the first and second received light more effectively. Similarly, setting the center point of the second reflector 133 at a height greater than that of the third reflector 143 allows the first and third reflectors 133 to reflect the first and second received light more effectively.

[0093] The working process of the laser ranging system 100 provided in the above embodiments is as follows:

[0094] The light source module 110 generates emitted light, which is arranged parallel to the horizontal plane. Specifically, the light source 111 in the light source module 110 generates a vertically upward laser beam. The vertically upward laser beam is reflected by the first reflecting mirror 112 and converted into parallel light parallel to the horizontal plane. The parallel light is collimated by the first lens 113 and then emitted to the outside of the light source module 110 to form emitted light.

[0095] Part of the emitted light generated by the light source module 110 is incident on the first reflective surface 121. Since a first total internal reflection film is provided on the first reflective surface 121, this portion of the emitted light is reflected by the first total internal reflection film to form the first emitted light. In this embodiment, the first reflective surface 121 is configured to be inclined to the horizontal plane and also inclined to the vertical plane passing through the incident light. On one hand, by tilting the first reflective surface 121 to the vertical plane passing through the incident light, the emission angle of the first emitted light is approximately towards one side of the first receiving module 130, so that the first received light after being reflected by the object can be effectively received by the first receiving module 130. On the other hand, by tilting the first reflective surface 121 to the horizontal plane, when the emitted light from the light source module 110 is reflected by the first reflective surface 121, the resulting first emitted light is inclined to the horizontal plane, thereby achieving obstacle scanning on another plane.

[0096] Another portion of the emitted light generated by the light source module 110 is incident on the second reflective surface 122. Since a second total internal reflection film is provided on the second reflective surface 122, this portion of the emitted light is reflected by the second total internal reflection film to form a second emitted light. In this embodiment, the second reflective surface 122 is arranged perpendicular to the horizontal plane and inclined to the vertical plane passing through the incident light. On one hand, by tilting the second reflective surface 122 to the vertical plane passing through the incident light, the emission angle of the second emitted light is approximately towards one side of the second receiving module 140, so that the second received light after being reflected by the object can be effectively received by the second receiving module 140. On the other hand, since the second reflective surface 122 is perpendicular to the horizontal plane, and the emitted light generated by the light source module 110 is parallel to the horizontal plane, when the emitted light from the light source module 110 is reflected by the second reflective surface 122, the resulting second emitted light is also horizontal light, thereby achieving obstacle scanning on the horizontal plane where the emitted light is located.

[0097] When the first emitted light encounters a detector or obstacle in the external environment, it will be reflected by the detector or obstacle, thus forming the first received light. When the second emitted light encounters a detector or obstacle in the external environment, it will be reflected by the detector or obstacle, thus forming the second received light.

[0098] The first received light enters the interior of the first receiving module 130 through the first light receiving port 131. The second received light enters the interior of the second receiving module 140 through the second light receiving port 141. In this embodiment, the height of the first light receiving port 131 of the first receiving module 130 is greater than the height of the second light receiving port 141 of the second receiving module 140. Specifically, after the first received light enters through the first light receiving port 131 of the first receiving module 130, it is focused by the second lens 132. The first received light focused by the second lens 132 is then reflected downwards by the second reflector 133, and is thus received by the first receiving end 134. After the second received light enters through the second light receiving port 141 of the second receiving module 140, it is focused by the second lens 142. The second received light focused by the second lens 142 is then reflected downwards by the third reflector 143, and is thus received by the second receiving end 144.

[0099] In this embodiment, the ranging principle of the laser ranging system 100 is laser triangulation. Specifically, laser triangulation mainly involves illuminating the target object with a laser beam (i.e., a first emitted light or a second emitted light) at a certain incident angle. The laser beam is reflected and scattered on the target surface. At another angle, a lens (i.e., a second lens or a third lens) is used to converge the reflected laser beam (i.e., a first received light or a second received light) into an image, and the light spot is imaged on a CCD position sensor (i.e., a first detector or a second detector). When the target object moves along the direction of the laser, the light spot on the CCD position sensor will move, and the magnitude of the displacement corresponds to the distance the target object has moved. Therefore, the distance between the target object and the laser ranging system 100 can be calculated from the light spot displacement distance through algorithm design. Since the incident light and the reflected light form a triangle, the calculation of the light spot displacement uses geometric trigonometric theorems, hence this measurement method is called laser triangulation.

[0100] That is, in this embodiment, by setting the first reflecting surface 121 and the second reflecting surface 122, the emitted light can be converted into a first emitted light and a second emitted light, and the first emitted light and the first received light can jointly form a first plane, and the second emitted light and the second received light can jointly form a second plane. Since the first plane is inclined to the second plane, the laser ranging system 100 can realize obstacle scanning on two different planes in the vertical direction, thereby achieving the effect of dual-line laser scanning. In addition, since the first emitted light and the second emitted light are converted by the first optical element 120, only one light source module 110 is needed to achieve the effect of dual-line laser scanning, thereby effectively saving the cost of the laser ranging system 100.

[0101] Please see also Figures 6 to 8 One embodiment of the present invention also provides a laser emitting and receiving module 200. The laser emitting and receiving module 200 includes a first circuit board 10 and a laser ranging system 100 as described in any of the above embodiments.

[0102] The first circuit board 10 is arranged in a horizontal direction.

[0103] The laser ranging system 100 is mounted on the first circuit board 10.

[0104] In one embodiment, the laser emitting and receiving module 200 further includes a first mounting base, a second mounting base, and a third mounting base.

[0105] The first mounting base is used to mount the light source module 110 and the first optical element 120;

[0106] The second mounting base is used to mount the first receiving module 130;

[0107] The third mounting base is used to mount the second receiving module 140;

[0108] The first mounting base, the second mounting base, and the third mounting base are disposed on the first circuit board 10.

[0109] With the arrangement of the first mounting base, the second mounting base, and the third mounting base, the light source module 110, the first optical element 120, the first receiving module 130, and the second receiving module 140 can be designed and manufactured separately, thereby making the design and manufacturing process of the laser emitting and receiving module 200 more standardized and modular.

[0110] In one embodiment, the first circuit board 10 has a rotational central axis arranged in a vertical direction. The first circuit board 10 can rotate around the rotational central axis. The first circuit board 10 is provided with a laser emitting circuit and a laser receiving circuit.

[0111] And / or, a mounting hole 11 is provided at the center of the first circuit board 10. The mounting hole 11 is used to mount the first circuit board 10 on an external rotating shaft. The rotation of the external rotating shaft drives the first circuit board 10 to rotate, thereby achieving omnidirectional obstacle detection.

[0112] In one embodiment, the laser emitting and receiving module 200 further includes a second circuit board.

[0113] The second circuit board is arranged horizontally. The second circuit board has a rotation center axis arranged vertically. The second circuit board can rotate around the rotation center axis, and the rotation center axes of the first and second circuit boards coincide. In this embodiment, the first circuit board 10 is located above the second circuit board and spaced apart. The second circuit board is provided with one or more of the following: an optical communication receiving circuit, a wireless power transmitting circuit, a rotation speed and position measuring circuit, and a received optical signal processing circuit.

[0114] In one embodiment, the first receiving module 130 is disposed on one side of a vertical plane passing through the emitted light.

[0115] The second receiving module 140 is disposed on the other side of the vertical plane passing through the emitted light.

[0116] The optical receiving port of the first receiving module 130 and the optical receiving port of the second receiving module 140 are spaced apart in the vertical direction.

[0117] By vertically spacing the positions of the light receiving ports of the first receiving module 130 and the second receiving module 140, the first receiving module 130 and the second receiving module 140 can respectively receive information from the first and second received light at different heights, thereby enabling distance detection of obstacles in the external environment at different detection heights.

[0118] In one embodiment, the center point of the first reflector 112 is located on the optical axis of the first lens 113.

[0119] The center point of the second reflector 133 is located on the optical axis of the second lens 132.

[0120] The center point of the third reflecting mirror 143 is located on the optical axis of the third lens 142.

[0121] The center points of the first reflector 112, the second reflector 133, and the third reflector 143 together form a first triangular structure. This first triangular structure is positioned around the rotational axis of the first circuit board 10.

[0122] The center point of the first lens 113, the center point of the second lens 132, and the center point of the third lens 143 together form a second triangular structure, which surrounds the first triangular structure.

[0123] The light source module 110, the first receiving module 130, and the second receiving module 140 together form a laser triangulation structure by forming a first triangular structure with the center points of the first reflector 112, the second reflector 133, and the third reflector 143, and by forming a second triangular structure with the center points of the first lens 113, the second lens 132, and the third lens 143.

[0124] One embodiment of the present invention also provides a dual-line lidar, including a laser emitting and receiving module 200 as described in any of the above.

[0125] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A laser ranging system, characterized in that, include: The light source module is used to generate emitted light; A prism has a first reflecting surface and a second reflecting surface. The emitted light is reflected by the first reflecting surface to form a first emitted light with a first deflection angle, and the emitted light is reflected by the second reflecting surface to form a second emitted light with a second deflection angle. The first receiving module is used to receive the first received light formed after the first emitted light is reflected by the probe; The second receiving module is used to receive the second received light formed after the second emitted light is reflected by the probe; Wherein, the first emitted light and the first received light form a first plane, the second emitted light and the second received light form a second plane, and the first plane is inclined to the second plane; The emitted light is positioned parallel to the horizontal plane; The first emitted light and the first received light are inclined to a horizontal plane; The second emitted light and the second received light are arranged parallel to the horizontal plane; The first receiving module includes a first optical receiving port, and the first received light is incident on the first receiving module from the first optical receiving port; The second receiving module includes a second optical receiving port, and the second received light is incident on the second receiving module from the second optical receiving port; Wherein, the first optical receiving port is positioned higher than the second optical receiving port; and / or, the incident position of the first received light at the first optical receiving port is higher than the incident position of the second received light at the second optical receiving port.

2. The laser ranging system as described in claim 1, characterized in that, The first reflective surface is inclined to the horizontal plane and also inclined to the vertical plane through which the incident light passes; the second reflective surface is perpendicular to the horizontal plane and also inclined to the vertical plane through which the incident light passes. And / or, the angle between the first reflecting surface and the vertical plane passing through the incident light is a first angle, the angle between the second reflecting surface and the vertical plane passing through the incident light is a second angle, and the sum of the first angle and the second angle is 180 degrees; And / or, the angle between the first reflective surface and the horizontal plane is a third angle, and the third angle is between 80 degrees and 87 degrees.

3. The laser ranging system as described in any one of claims 1-2, characterized in that, The first reflective surface is provided with a second total reflection film, and the emitted light is reflected by the second total reflection film to form the first emitted light; The second reflective surface is provided with a third total reflection film, and the emitted light is reflected by the third total reflection film to form the second emitted light.

4. The laser ranging system as described in any one of claims 1-2, characterized in that, The light source module includes: A light source, wherein the optical axis of the light source is set perpendicular to the horizontal plane; A first reflecting mirror, tilted to a horizontal plane, is used to reflect light emitted by the light source as horizontal light; and The first lens is an aspherical lens, and its optical axis is parallel to the horizontal plane. The optical axis of the first lens intersects the optical axis of the light source at the same intersection point as the first reflector. The light reflected by the first reflector passes through the first lens to form the emitted light.

5. The laser ranging system as described in any one of claims 1-2, characterized in that, The first receiving module includes a second lens, a second reflector, and a first receiving end. The second lens is disposed on the first light receiving port, and the first received light passes through the second lens and enters the first receiving module. The second reflector is inclined to the horizontal plane to reflect the first received light that has passed through the second lens downwards; the first receiving end is disposed below the second reflector to receive the first received light reflected by the second reflector. And / or, the second receiving module includes a third lens, a third reflector, and a second receiving end. The third lens is disposed on the second light receiving port, and the second received light passes through the third lens and enters the second receiving module. The third reflector is inclined to the horizontal plane and is used to reflect the second received light that has passed through the third lens downwards; the second receiving end is located below the third reflector and is used to receive the second received light reflected by the third reflector.

6. The laser ranging system as described in claim 5, characterized in that, The optical axis of the second lens is set at a greater height than that of the third lens; And / or, the center point of the second reflector is set at a height greater than the center point of the third reflector.

7. A laser emitting and receiving module, characterized in that, include: A first circuit board, wherein the first circuit board is arranged horizontally; as well as The laser ranging system as described in any one of claims 1-6, wherein the laser ranging system is disposed on the first circuit board.

8. A dual-line lidar, characterized in that, Includes the laser emitting and receiving module as described in claim 7.

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