A receiving system for a lidar

Abstract

This invention provides a receiving system for lidar, including a receiving lens group, a reflector group, and a receiving device. The receiving lens group is used to converge reflected light from a target object; the reflector group is used to change the path of the light beam to direct the reflected light onto the receiving device; the receiving device includes a filter, a receiving element, a receiving circuit support, and multiple receiving circuit boards. The receiving element and the receiving circuit boards are mounted on the receiving circuit support. The filter is disposed on the side of the receiving device facing the reflector group to filter stray light. The filter of the receiving device of this invention is disposed on the side of the receiving device facing the reflector group, which can filter stray light. The APD array detector of the receiving device is also covered with a metal protective shell to protect the receiving device and prevent dust and other foreign objects from entering and damaging the device.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and in particular to a receiving system for lidar. Background Technology

[0002] As a crucial component of the environmental perception hardware system for intelligent vehicles, LiDAR (Light Detection and Ranging) plays a vital role in autonomous driving, performing tasks such as curb detection, obstacle recognition, and real-time localization and mapping (SLAM). A LiDAR system consists of a laser emitting system and a receiving system. The laser emitting system generates and emits light pulses, which strike objects and reflect back, ultimately being received by the receiver. The receiver accurately measures the propagation time of the light pulse from emission to reflection. Because light pulses travel at the speed of light, the receiver always receives the previous reflected pulse before the next pulse is emitted. Given that the speed of light is known, the propagation time can be converted into a distance measurement. LiDAR can accurately measure the target's position (distance and angle), motion state (velocity, vibration, and attitude), and shape, detecting, identifying, distinguishing, and tracking targets. Due to its advantages of high measurement speed, high accuracy, and long range, LiDAR is widely used in intelligent vehicles.

[0003] Early laser imaging systems used a single-point laser beam and a corresponding detector, employing a scanning detection method for imaging. With the emergence of arrayed active phase detectors (APDs) and the development of fiber optic focal plane array receiver technology, the detection methods of laser imaging systems have changed, giving rise to methods such as active area array detection and linear pushbroom detection.

[0004] Currently used vehicle-mounted LiDAR devices are relatively heavy and often symmetrically distributed. This symmetrical layout leads to an unreasonable allocation of space between the transmitter and receiver compartments, hindering the miniaturization of the LiDAR. Furthermore, the receiver system's detectors lack adequate protection, making them susceptible to stray light and foreign objects such as dust, thus shortening their lifespan. In addition, the weight of the components within the receiver compartment is also significant, increasing the system's weight and size, making it difficult to achieve low-cost and miniaturized equipment. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention discloses a receiving system for lidar, including a receiving lens group, a reflecting mirror group, and a receiving device;

[0006] The receiving lens group is used to focus the reflected light from the target object;

[0007] The reflector group is used to change the path of the light beam so that the reflected light is incident on the receiving device;

[0008] The receiving device includes a filter, a receiving device, a receiving circuit support, and multiple receiving circuit boards. The receiving device and the receiving circuit boards are mounted on the receiving circuit support, and the filter is used to filter stray light.

[0009] The receiving device includes a substrate and at least one APD array detector. The substrate is fixed on the receiving circuit support, and the APD array detector is disposed on one side of the substrate.

[0010] The receiving device also includes a protective shell, which is disposed on the APD array detector and mounted on the substrate.

[0011] The receiving device includes a plurality of the APD array detectors, which are arranged as APD linear array detectors or APD area array detectors.

[0012] Furthermore, the filter is disposed on the side of the receiving device facing the mirror assembly, and the filter is attached to the side of the protective housing away from the APD array detector.

[0013] Furthermore, the APD linear array detector consists of n avalanche photodiodes, which use the avalanche effect of the photodiodes to convert optical signals into electrical signals, where n≥2;

[0014] An APD array detector consists of an array of N×N avalanche photodiodes. It uses the avalanche effect of photodiodes to convert optical signals into electrical signals, where M≥2 and N≥2.

[0015] Preferably, the protective shell is made of metal.

[0016] Furthermore, the receiving device also includes a flexible electrical connector, through which two adjacent receiving circuit boards are connected.

[0017] Furthermore, the receiving circuit support includes a base plate and a side plate, the base plate is connected to the side plate, the side plate has a first side and a second side, a plurality of receiving circuit boards are sequentially and spaced apart on the first side, and the receiving device is mounted on the second side.

[0018] Furthermore, the first side surface is provided with a first groove, and a first through hole is formed in the first groove, the first through hole penetrating the bottom surface of the first groove and the second side surface.

[0019] The first groove is used to reduce the weight of the bracket and facilitate the assembly of the circuit board, while fully avoiding the assembly space of components such as circuit board chips.

[0020] The first through hole is used to reduce the weight of the support and facilitate the assembly of the substrate, while avoiding the assembly space of substrate chips and other components.

[0021] Furthermore, the receiving device also includes a first screw, a nut, and a washer, the washer being fitted onto the first screw, and the first screw engaging with the nut.

[0022] Furthermore, mounting holes are provided at the corners of the substrate, the side plate, and the receiving circuit board;

[0023] The first screw passes sequentially through the substrate, the side plate, and the receiving circuit board and is connected to the nut.

[0024] Furthermore, the receiving circuit board includes a first circuit board, a second circuit board, and a third circuit board.

[0025] Furthermore, the first circuit board and the second circuit board are separated by the gasket; the second circuit board and the third circuit board are separated by the gasket.

[0026] Furthermore, the spacing between the plurality of receiving circuit boards can be adjusted by the thickness of the gasket.

[0027] Preferably, the washer is made of an insulating material.

[0028] Furthermore, the side plate is perpendicularly connected to the base plate, and the distance between the projection of the second side plate onto the base plate and the edge of the base plate away from the second side plate is equal to the thickness of the substrate.

[0029] Preferably, the second side is further provided with a positioning plate along the height direction of the side plate for quickly positioning the installation position of the substrate.

[0030] Furthermore, a protruding plate extends from one end of the base plate away from the first side, and the protruding plate has a plurality of mounting holes for fixing the receiving circuit bracket.

[0031] The bottom plate also extends to a mounting ear at one end away from the second side plate, and the mounting ear has a mounting hole for fixing the receiving circuit bracket.

[0032] Furthermore, the receiving device also includes a plurality of second screws, which pass through the mounting holes to fix the receiving circuit bracket to the rotor of the lidar.

[0033] Preferably, the receiving circuit bracket is a one-piece molded structure.

[0034] Preferably, the material of the receiving circuit bracket is any one or a combination of copper, molybdenum, and aluminum.

[0035] Furthermore, the reflector assembly includes a first reflector and a second reflector, which are arranged opposite to each other.

[0036] Furthermore, the reflected light from the target object converged by the receiving lens group must meet the requirements of the receiving field of view of the APD array detector.

[0037] Furthermore, all the base plates are provided with chamfers. Preferably, the chamfers are straight edge chamfers, rounded chamfers, or right angle chamfers.

[0038] By adopting the above technical solution, the receiving system for lidar of the present invention has the following characteristics.

[0039] Beneficial effects:

[0040] 1) The laser radar receiving system of the present invention focuses the laser reflected from the target object through a lens group, and then uses a reflector group to incident the focused laser onto the receiving device for processing, thereby realizing the reconstruction of the three-dimensional image of the target.

[0041] 2) The filter of the receiving device of the present invention is disposed on the side of the receiving device facing the mirror group, which can filter stray light. The APD array detector of the receiving device is also covered with a metal protective shell, which can protect the receiving device and prevent dust and other foreign objects from entering and damaging the device.

[0042] 3) The receiving circuit board and receiving device of the present invention are connected by flexible electrical connectors, which can adapt to fluctuations during the assembly and adjustment of the laser radar and facilitate assembly; the spacing between the multiple receiving circuit boards of the laser receiving device of the present invention can be adjusted by the thickness of the gaskets to flexibly adapt to the space required by the circuit board components.

[0043] 4) The side plate of the lidar of the present invention is provided with a positioning plate for quickly positioning the installation position of the substrate. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the lidar receiving system of the invention;

[0046] Figure 2 This is a schematic diagram of the lidar receiving system of this invention from another perspective;

[0047] Figure 3 This is a schematic diagram of the receiving device of the lidar receiving system of the invention.

[0048] Figure 4 This is a front view of the receiving device of the invention;

[0049] Figure 5 This is a left view of the receiving device of the invention;

[0050] Figure 6 This is a schematic diagram of the receiving circuit support for the invention;

[0051] Figure 7 Another perspective schematic diagram of the receiver circuit support for this invention;

[0052] Figure 8 This is a three-dimensional schematic diagram of the lens assembly of the challenging system of this invention.

[0053] The following is supplementary explanation of the attached figures:

[0054] 1-Receiving lens group; 11-First lens; 12-Second lens; 13-Third lens; 14-Lens barrel; 2-Reflecting mirror group; 21-First reflecting mirror; 22-Second reflecting mirror; 3-Receiving device; 31-Filter; 32-Receiving component; 321-Substrate; 323-Protective shell; 33-Receiving circuit bracket; 331-Base plate; 3311-Protruding plate; 3312-Mounting ear; 3313-Mounting hole; 332-Side plate; 3321-First side; 3322-Second side; 3323-First groove; 3324-First through hole; 3325-Positioning plate; 3326-Mounting hole; 34-Receiving circuit board; 341-First circuit board; 342-Second circuit board; 343-Third circuit board; 35-First screw; 36-Nut; 37-Washer; 38-Second screw. Detailed Implementation

[0055] 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 some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0056] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. In the description of the invention, it should be understood that the terms "upper," "lower," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0057] Example 1:

[0058] like Figure 1 and Figure 2 As shown, a receiving system for lidar includes a receiving lens group 1, a reflector group 2, and a receiving device 3.

[0059] A receiving lens group 1 is used to converge the reflected light from the target object; a reflecting mirror group 2 is used to change the path of the light beam so that the reflected light is incident on the receiving device 3; the receiving device 3 includes a filter 31, a receiving device 32, a receiving circuit support 33, and multiple receiving circuit boards 34. The receiving device 32 and the receiving circuit boards 34 are mounted on the receiving circuit support 33. The filter 31 is disposed on the side of the receiving device 32 facing the reflecting mirror group 2 and is used to filter stray light; the receiving device 32 is used to acquire distance information and convert the received optical signal into an electrical signal; the receiving circuit boards 34 are used to process the distance information acquired by the receiving device 32.

[0060] Combination Figures 3 to 5 As shown, the receiving device 32 includes a substrate 321, an APD array detector (not shown in the figure), and a protective shell 323. The substrate 321 is fixed on the receiving circuit support 33, the APD array detector is disposed on one side of the substrate 321, and the protective shell 323 covers the APD array detector and is mounted on the substrate 321.

[0061] Combination Figures 3 to 5As shown, the filter 31 is attached to the protective shell 323 on the side away from the APD array detector.

[0062] The APD array detector is an APD area array detector, composed of an N×N array of avalanche photodiodes. It utilizes the avalanche effect of the photodiodes to convert optical signals into electrical signals, where M≥2 and N≥2. Examples include 4×4, 4×8, and 8×8. Specifically, the N×N arrangement depends on the laser arrangement of the lidar.

[0063] The protective shell 323 is made of metal.

[0064] The receiving device 3 also includes a flexible electrical connector, through which two adjacent receiving circuit boards 34 are connected.

[0065] Combination Figure 3 , Figure 6 and Figure 7 As shown, the receiving circuit support 33 includes a base plate 331 and a side plate 332. The base plate 331 is connected to the side plate 332. The side plate 332 has a first side surface 3321 and a second side surface 3322. A plurality of receiving circuit boards 34 are sequentially and spaced apart on the first side surface 3321, and the receiving device 32 is mounted on the second side surface 3322.

[0066] like Figure 6 and Figure 7 As shown, the first side surface 3321 is provided with a first groove 3323, and a first through hole 3324 is formed in the first groove 3323. The first through hole 3324 penetrates the bottom surface of the first groove 3323 and the second side surface 3322.

[0067] The first groove 3323 is used to reduce the weight of the bracket and facilitate the assembly of the circuit board 34, while fully avoiding the assembly space of components such as circuit board chips.

[0068] The first through hole 3324 is used to reduce the weight of the bracket and facilitate the assembly of the substrate 321, while avoiding the assembly space of components such as chips on the substrate 321.

[0069] like Figure 3 As shown, the receiving device 3 also includes a first screw 35, a nut 36 and a washer 37. The washer 37 is sleeved on the first screw 35, and the first screw 35 is connected to the nut 36.

[0070] Combination Figure 3 , Figure 6 and Figure 7 As shown, mounting holes 3326 are provided at the corners of the substrate 321, the side plate 332, and the receiving circuit board 34.

[0071] The first screw 35 passes through the substrate 321, the side plate 332 and the receiving circuit board 34 in sequence and is connected to the nut 36.

[0072] like Figure 3 As shown, the receiving circuit board 34 includes a first circuit board 341, a second circuit board 342, and a third circuit board 343.

[0073] The first circuit board 341 and the second circuit board 342 are separated by the gasket 37; the second circuit board 342 and the third circuit board 343 are separated by the gasket 37.

[0074] The spacing between the plurality of receiving circuit boards 34 can be adjusted by the thickness of the gasket 37.

[0075] The washer 37 is made of an insulating material.

[0076] like Figure 6 and Figure 7 As shown, the side plate 332 is perpendicularly connected to the base plate 331, and the distance between the projection of the second side plate 3322 onto the base plate 331 and the edge of the base plate 331 away from the second side plate 3322 is equal to the thickness of the substrate 321.

[0077] like Figure 7 As shown, the second side 3322 is also provided with a positioning plate 3325 along the height direction of the side plate 332, which is used to quickly position the installation position of the substrate 321.

[0078] like Figure 6 As shown, a protruding plate 3311 extends from one end of the base plate 331 away from the first side 3321, and the protruding plate 3311 has a plurality of mounting holes 3313 for fixing the receiving circuit bracket 33.

[0079] like Figure 7 As shown, the bottom plate 331 extends from the end away from the second side 3322 with a mounting ear 3312, and the mounting ear 3312 has a mounting hole 3313 for fixing the receiving circuit bracket 33.

[0080] like Figure 3 As shown, the receiving device 3 also includes a plurality of second screws 838, which pass through the mounting hole 3313 to fix the receiving circuit bracket 33 to the rotor of the lidar.

[0081] The receiving circuit support 33 is a one-piece molded structure.

[0082] The receiving circuit bracket 33 is made of any one or a combination of copper, molybdenum, and aluminum. For example... Figure 1 As shown, the reflector group 2 includes a first reflector 21 and a second reflector 22, which are arranged opposite to each other.

[0083] The light reflected from the target object converged by the receiving lens group 1 must meet the requirements of the receiving field of view of the APD array detector.

[0084] like Figure 8 As shown, the receiving lens group 1 includes:

[0085] The first lens 11 has a first surface and a second surface, the first surface being a convex surface facing the target object, and the second surface being an aspherical surface;

[0086] The second lens 12 has a third surface and a fourth surface, the third surface having a first recess and the fourth surface having a second recess.

[0087] The third lens 13 has a fifth surface and a sixth surface, the fifth surface being an aspherical surface and the sixth surface being a convex surface away from the target object;

[0088] The first lens 11, the second lens 12, and the receiving third lens 13 are arranged sequentially along the optical axis.

[0089] The lens barrel 14 is used to fix the first lens 11, the second lens 12, and the third lens 13. The base plate 331 is chamfered.

[0090] The chamfer can be a straight edge chamfer, a rounded chamfer, or a right angle chamfer.

[0091] An APD (Avalanche Photodiode) array detector is an integrated unit of multiple independent APD detectors, characterized by its compact structure, small size, and light weight. This APD array detector, essentially an APD unit detector, enables scan-free laser detection, achieving 3D imaging with a single pulse. It directly acquires 3D information, resulting in faster imaging speeds and a simpler system structure. The detection system performs multi-channel parallel processing on the laser echo signals received by each unit of the array detector, thereby achieving linear array imaging.

[0092] Example 2:

[0093] like Figure 1 and Figure 2 As shown, a receiving system for lidar includes a receiving lens group 1, a reflector group 2, and a receiving device 3.

[0094] Receiver lens group 1 is used to converge the reflected light from the target object;

[0095] The reflector group 2 is used to change the path of the light beam so that the reflected light is incident on the receiving device 3;

[0096] The receiving device 3 includes a filter 31, a receiving device 32, a receiving circuit support 33, and multiple receiving circuit boards 34. The receiving device 32 and the receiving circuit boards 34 are mounted on the receiving circuit support 33. The filter 31 is disposed on the side of the receiving device 32 facing the reflector group 2 and is used to filter stray light. The receiving device 32 is used to acquire distance information and convert the received optical signal into an electrical signal. The receiving circuit boards 34 are used to process the distance information acquired by the receiving device 32.

[0097] Combination Figures 3 to 5 As shown, the receiving device 32 includes a substrate 321, an APD array detector, and a protective shell 323. The substrate 321 is fixed on the receiving circuit support 33. The APD array detector is disposed on one side of the substrate 321. The protective shell 323 covers the APD array detector and is mounted on the substrate 321.

[0098] Combination Figures 3 to 5 As shown, the filter 31 is attached to the protective shell 323 on the side away from the APD array detector.

[0099] The APD array detector is an APD linear array detector, composed of n avalanche photodiodes. It utilizes the avalanche effect of the photodiodes to convert optical signals into electrical signals, where n ≥ 1, such as 1, 4, 16, 32, etc. Specifically, n depends on the laser arrangement of the lidar.

[0100] The protective shell 323 is made of metal.

[0101] The receiving device 3 also includes a flexible electrical connector, through which two adjacent receiving circuit boards 34 are connected.

[0102] Combination Figure 3 , Figure 6 and Figure 7 As shown, the receiving circuit support 33 includes a base plate 331 and a side plate 332. The base plate 331 is connected to the side plate 332. The side plate 332 has a first side surface 3321 and a second side surface 3322. A plurality of receiving circuit boards 34 are sequentially and spaced apart on the first side surface 3321, and the receiving device 32 is mounted on the second side surface 3322.

[0103] like Figure 6 and Figure 7As shown, the first side surface 3321 is provided with a first groove 3323, and a first through hole 3324 is formed in the first groove 3323. The first through hole 3324 penetrates the bottom surface of the first groove 3323 and the second side surface 3322.

[0104] The first groove 3323 is used to reduce the weight of the bracket and facilitate the assembly of the circuit board 34, while fully avoiding the assembly space of components such as circuit board chips.

[0105] The first through hole 3324 is used to reduce the weight of the bracket and facilitate the assembly of the substrate 321, while avoiding the assembly space of components such as chips on the substrate 321.

[0106] like Figure 3 As shown, the receiving device 3 also includes a first screw 35, a nut 36 and a washer 37. The washer 37 is sleeved on the first screw 35, and the first screw 35 is connected to the nut 36.

[0107] Combination Figure 3 , Figure 4 and Figure 6 As shown, mounting holes 3326 are provided at the corners of the substrate 321, the side plate 332, and the receiving circuit board 34.

[0108] The first screw 35 passes through the substrate 321, the side plate 332 and the receiving circuit board 34 in sequence and is connected to the nut 36.

[0109] The receiving circuit board 34 includes a first circuit board 341, a second circuit board 342, and a third circuit board 343.

[0110] The first circuit board 341 and the second circuit board 342 are separated by the gasket 37; the second circuit board 342 and the third circuit board 343 are separated by the gasket 37.

[0111] The spacing between the plurality of receiving circuit boards 34 can be adjusted by the thickness of the gasket 37.

[0112] The washer 37 is made of an insulating material.

[0113] like Figure 6 and Figure 7 As shown, the side plate 332 is perpendicularly connected to the base plate 331, and the distance between the projection of the second side plate 3322 onto the base plate 331 and the edge of the base plate 331 away from the second side plate 3322 is equal to the thickness of the substrate 321.

[0114] like Figure 7As shown, the second side 3322 is also provided with a positioning plate 3325 along the height direction of the side plate 332, which is used to quickly position the installation position of the substrate 321.

[0115] like Figure 6 As shown, a protruding plate 3311 extends from one end of the base plate 331 away from the first side 3321, and the protruding plate 3311 has a plurality of mounting holes 3313 for fixing the receiving circuit bracket 33.

[0116] like Figure 7 As shown, the bottom plate 331 extends from the end away from the second side 3322 with a mounting ear 3312, and the mounting ear 3312 has a mounting hole 3313 for fixing the receiving circuit bracket 33.

[0117] like Figure 3 As shown, the receiving device 3 also includes a plurality of second screws 38, which pass through the mounting hole 3313 to fix the receiving circuit bracket 33 to the rotor of the lidar.

[0118] The receiving circuit support 33 is a one-piece molded structure.

[0119] The receiving circuit bracket 33 is made of any one or a combination of copper, molybdenum, and aluminum.

[0120] like Figure 1 As shown, the reflector group 2 includes a first reflector 21 and a second reflector 22, which are arranged opposite to each other.

[0121] The light reflected from the target object converged by the receiving lens group 1 must meet the requirements of the receiving field of view of the APD array detector.

[0122] like Figure 8 As shown, the receiving lens group 1 includes:

[0123] The first lens 11 has a first surface and a second surface, the first surface being a convex surface facing the target object, and the second surface being an aspherical surface;

[0124] The second lens 12 has a third surface and a fourth surface, with a first recess on the third surface and a second recess on the fourth surface;

[0125] The third lens 13 has a fifth surface and a sixth surface, the fifth surface being an aspherical surface and the sixth surface being a convex surface away from the target object;

[0126] The first lens 11, the third lens 12, and the receiving third lens 13 are arranged sequentially along the optical axis.

[0127] The lens barrel 14 is used to fix the first lens 11, the second lens 12 and the third lens 13.

[0128] All base plates 331 are chamfered.

[0129] The chamfer can be a straight edge chamfer, a rounded chamfer, or a right angle chamfer.

[0130] All base plates 331 are chamfered.

[0131] The chamfer can be a straight edge chamfer, a rounded chamfer, or a right angle chamfer. APD

[0132] The Avalanche Photodiode (APD) array detector is an integrated system of multiple independent APD unit detectors, characterized by its compact structure, small size, and light weight. This APD array detector, essentially an APD unit detector, enables scan-free laser detection, achieving 3D imaging with a single pulse. It directly acquires 3D information, resulting in faster imaging speeds and a simpler system structure. The detection system performs multi-channel parallel processing on the laser echo signals received by each unit of the array detector, thereby achieving linear array imaging.

[0133] Example 3:

[0134] The difference between this embodiment and Embodiment 1 is that:

[0135] The receiving device includes a substrate and an APD array detector. The substrate is fixed on the receiving circuit support, and the APD array detector is disposed on one side of the substrate. The receiving device also includes a protective shell, which covers the APD array detector and is mounted on the substrate.

[0136] An APD (Avalanche Photodiode) array detector is an integrated unit of multiple independent APD detectors, characterized by its compact structure, small size, and light weight. The APD array detector described in the above embodiment is an APD unit detector, enabling scan-free laser detection and single-pulse 3D imaging. The APD array detector can directly acquire 3D information, resulting in faster imaging speeds and a simpler system structure. The detection system performs multi-channel parallel processing on the laser echo signals received by each unit of the array detector, thereby achieving linear array imaging.

[0137] By adopting the above technical solution, the receiving system for lidar of the present invention has the following characteristics.

[0138] Beneficial effects:

[0139] The laser radar receiving system of the present invention focuses the laser reflected from the target object through a lens group, and then uses a reflector group to incident the focused laser onto the receiving device for processing, thereby realizing the reconstruction of the three-dimensional image of the target.

[0140] The filter of the receiving device of the present invention is disposed on the side of the receiving device facing the reflector group, which can filter stray light. The APD array detector of the receiving device is also covered with a metal protective shell, which can protect the receiving device and prevent dust and other foreign objects from entering and damaging the device.

[0141] The receiving circuit board and receiving device of the present invention are connected by flexible electrical connectors, which can adapt to fluctuations during the assembly and adjustment of the lidar and facilitate assembly. The spacing between the multiple receiving circuit boards of the laser receiving device of the present invention can be adjusted by the thickness of the gaskets, which can flexibly adapt to the space required by the circuit board components.

[0142] The side plate of the lidar of the present invention is provided with a positioning plate for quickly positioning the installation position of the substrate.

[0143] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A receiving system for lidar, characterized in that, It includes a receiving lens group (1) and a receiving device (3); The receiving lens group (1) is used to converge the reflected light from the target object; The receiving device (3) includes a receiving device (32), a receiving circuit bracket (33), and a receiving circuit board (34). The receiving device (32) and the receiving circuit board (34) are mounted on the receiving circuit bracket (33). The receiving circuit bracket (33) includes a base plate (331) and a side plate (332). The base plate (331) and the side plate (332) are connected in an L-shape. The side plate (332) has a first side surface (3321) and a second side surface (3322). The circuit board (34) is mounted on the first side (3321), the second side (3322) of the side plate (332) faces the receiving lens group (1), the base plate (331) is located on the first side (3321) of the side plate, the receiving circuit bracket is provided with a first through hole (3324), the first through hole (3324) passes through the first side (3321) and the second side (3322); the side plate (332) is provided with mounting holes (3326) at the corners. The receiving device (32) includes an array detector.

2. The receiving system for lidar according to claim 1, characterized in that, The array detector is an APD linear array detector or an APD area array detector.

3. The receiving system for lidar according to claim 1, characterized in that, The receiving device (32) further includes a substrate (321), which is fixed on the receiving circuit support (33), and the array detector is disposed on one side of the substrate (321).

4. The receiving system for lidar according to claim 3, characterized in that, The receiving device (32) further includes a protective shell (323) which covers the array detector and is mounted on the substrate (321).

5. The receiving system for lidar according to claim 1, characterized in that, The receiving device (32) and the receiving circuit board (34) are stacked.

6. The receiving system for lidar according to claim 1, characterized in that, The receiving device (3) further includes a flexible electrical connector, and two adjacent receiving circuit boards (34) are connected through the flexible electrical connector; And / or, The receiving circuit board (34) and the receiving device (32) are connected by the flexible electrical connector.

7. The receiving system for lidar according to claim 1, characterized in that, The receiving device (3) also includes a washer disposed between two adjacent receiving circuit boards (34) to space the two adjacent receiving circuit boards (34).

8. The receiving system for lidar according to claim 7, characterized in that, The spacing between the plurality of receiving circuit boards (34) is adjusted by the thickness of the gasket.

9. The receiving system for lidar according to claim 1, characterized in that, The receiving system for lidar also includes a reflector group (2), which is used to change the path of the light beam so that the reflected light is incident on the receiving device (3).

10. The receiving system for lidar according to claim 9, characterized in that, The reflector group (2) includes a first reflector (21) and a second reflector (22), which are arranged opposite to each other.

11. The receiving system for lidar according to any one of claims 1 to 10, characterized in that, The receiving system for lidar also includes a filter (31), which is disposed on the side of the receiving device (32) facing the receiving lens group (1); the filter (31) is used to filter stray light.

12. The receiving system for lidar according to any one of claims 1 to 10, characterized in that, The receiving device (32) is mounted on the second side (3322).

13. The receiving system for lidar according to claim 1, characterized in that, The receiving circuit bracket includes a plurality of mounting holes (3313) for fixing the receiving circuit bracket. The mounting holes (3313) are oblong holes, and the long axis of the oblong holes points from the first side to the second side.

14. A receiving system for lidar according to claim 1, characterized in that, The first screw (35) passes through the mounting hole (3326) of the side plate (332) and the receiving circuit board (34) in sequence and is connected with the nut (36).

15. A receiving system for lidar according to claim 1, characterized in that, The side plate (332) is perpendicularly connected to the bottom plate (331), and the bottom plate (331) is located at one end of the side plate (332).

16. The receiving system for lidar according to any one of claims 1 to 10, characterized in that, The receiving circuit support (33) is an integrally molded structure.

17. The receiving system for lidar according to any one of claims 1 to 10, characterized in that, The receiving circuit bracket (33) is made of any one or a combination of copper, molybdenum and aluminum.

Images