Laser radar and mobile devices

Abstract

The present application discloses a laser radar and a movable device. The laser radar includes a shell, a transceiver module, a galvanometer module, a light-transmitting element and a sealed shell. The transceiver module is housed in the shell and is used to generate detection light and receive echo light. The galvanometer module includes a galvanometer base and a galvanometer body. The galvanometer base is installed in the shell, and the galvanometer body is installed in the galvanometer base. The galvanometer body is used to reflect the detection light and the echo light. The light-transmitting element is located downstream of the optical path of the galvanometer module along the propagation direction of the detection light. The sealed shell is connected to the galvanometer base and the light-transmitting element respectively. The galvanometer base, the sealed shell and the light-transmitting element together form a sealed cavity. The galvanometer body is located in the sealed cavity. The sealed shell is provided with a light-transmitting portion, which is used for the detection light to pass through so that the detection light can be directed to the galvanometer body, wherein the light-transmitting portion is located outside the field of view formed by the detection light scanning through the galvanometer body. The technical solution of the present application can effectively reduce the generation of stray light in the laser radar.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a laser radar and a movable device. Background Art

[0002] Lidar is a radar system that emits a laser beam (hereinafter referred to as detection light) to detect the position, speed and other characteristic quantities of a target. Its working principle is to first emit a detection laser to the target, and then the received signal reflected from the target, that is, the detection light is reflected by the target object to form a laser beam (hereinafter referred to as echo light). The echo light is compared with the detection light, and after appropriate processing, relevant information about the target can be obtained, such as the target distance, direction, height, speed, attitude, and even shape parameters. It should be noted that "comparing the echo light with the detection light" mentioned in this application document does not mean directly comparing the two light signals, but refers to comparing the information carried or representable by the two light signals, such as comparing the emission time of the detection light with the reception time of the echo light.

[0003] In the related art, the laser radar uses a galvanometer to deflect the detection light so that the detection light can scan the external environment. The galvanometer in the laser radar is usually installed on a galvanometer base to be indirectly fixed to the shell of the laser radar. In real working conditions, even if the galvanometer is located inside the shell of the laser radar, it is still prone to condensation, corrosion and other problems due to the intrusion of water vapor. Therefore, the laser radar is usually also equipped with a laser-transmissive sealing element, such as a glass cover plate, which is assembled on the above-mentioned galvanometer base and located in front of the galvanometer to seal the galvanometer in the chamber formed by the two. However, due to the large scanning angle of the galvanometer, it is difficult to avoid the detection light from being vertically directed to the sealing element, and then stray light returning along the original optical path will be generated during the scanning process; when the stray light with higher light intensity returns to the light receiving module (such as a photodetector), it may cause the photodetector to be saturated, thereby affecting the reception of the echo light reflected from the target object. Summary of the invention

[0004] The embodiments of the present application provide a laser radar and a movable device, which can reduce the risk of saturation of the photoelectric detector in the optical receiving module in the related art.

[0005] In a first aspect, an embodiment of the present application provides a laser radar, the laser radar comprising:

[0006] case;

[0007] a transceiver module, housed in the housing, for generating detection light and receiving echo light, wherein the detection light is used to detect a target object, and the echo light is formed by the detection light being reflected by the target object;

[0008] A galvanometer module is housed in the housing, comprising a galvanometer base and a galvanometer body, wherein the galvanometer base is mounted on the housing, the galvanometer body is mounted on the galvanometer base, and the galvanometer body is used to reflect the detection light and the echo light;

[0009] A light-transmitting element, mounted on the housing and located downstream of the optical path of the galvanometer module along the propagation direction of the detection light; and

[0010] A sealing shell is connected to the galvanometer base and the light-transmitting element respectively. The galvanometer base, the sealing shell and the light-transmitting element together form a sealed cavity. The galvanometer body is located in the sealed cavity. The sealing shell is provided with a light-transmitting portion. The light-transmitting portion is used for the detection light to pass through so that the detection light can be emitted to the galvanometer body.

[0011] Wherein, the light-transmitting portion is located outside the field of view formed by the detection light scanning through the galvanometer body.

[0012] In one embodiment, the sealed housing comprises:

[0013] A connecting shell, located between the galvanometer base and the light-transmitting element; and

[0014] A light-transmitting sheet is connected to an end of the connecting shell which is away from the galvanometer base, and the light-transmitting sheet constitutes the light-transmitting portion.

[0015] In one embodiment, the sealed housing further comprises:

[0016] end shell;

[0017] The end shell is connected to an end of the connection shell away from the galvanometer module, and the galvanometer base, the connection shell and the end shell together form a containing cavity;

[0018] The end shell is provided with a first through hole and a second through hole, the light-transmitting element is installed in the first through hole, and the light-transmitting sheet is installed in the second through hole, so that the galvanometer base, the connecting shell, the end shell, the light-transmitting element and the light-transmitting sheet together form the sealed cavity.

[0019] In one embodiment, the light transmitting element is a lens, and the lens includes a lens barrel and a lens mounted on the lens barrel;

[0020] At least a portion of the lens extends into the first through hole, and the lens barrel is fixed to the end shell.

[0021] In one embodiment, the light-transmitting element is a window piece of the laser radar.

[0022] In one embodiment, the incident angle of the detection light on the light-transmitting sheet is non-zero.

[0023] In one embodiment, an anti-reflection film is disposed on the surface of the light-transmitting sheet.

[0024] In one embodiment, the transceiver module includes:

[0025] A laser, used to generate the detection light;

[0026] A beam splitter having a first side, a second side and a transceiver side, wherein the laser is located on the first side of the beam splitter, and the beam splitter is used to receive the detection light from the first side and emit it at the transceiver side;

[0027] a reflector, located at the transmitting and receiving side of the beam splitter, for receiving the detection light emitted from the beam splitter and reflecting it so that the detection light is incident on the galvanometer body through the light-transmitting portion; and

[0028] The photoelectric detector is used to receive the echo light from the transmitting and receiving side and emit it at the second side. The photoelectric detector is used to receive the echo light.

[0029] In one embodiment, the transceiver module includes:

[0030] A laser, used to generate the detection light;

[0031] A beam splitter having a first side, a second side and a transceiver side, wherein the laser is located on the first side of the beam splitter, and the beam splitter is used to receive the detection light from the first side and emit it at the transceiver side;

[0032] a reflector, located in the sealed cavity, wherein the light-transmitting portion is located between the beam splitter and the reflector, and the reflector is used to receive the detection light emitted from the beam splitter and reflect it so that the detection light is incident on the galvanometer body; and

[0033] The photoelectric detector is used to receive the echo light from the transmitting and receiving side and emit it at the second side. The photoelectric detector is used to receive the echo light.

[0034] In a second aspect, an embodiment of the present application provides a movable device, comprising a movable main body and the above-mentioned laser radar, wherein the laser radar is mounted on the main body.

[0035] Based on the above embodiments, the laser radar proposed in the embodiments of the present application includes a shell, a transceiver module, a galvanometer module, a light-transmitting element and a sealed shell, and the light-transmitting element that can transmit light is installed in the shell, and is located downstream of the optical path of the galvanometer module along the propagation direction of the detection light. The sealed shell is provided with a light-transmitting portion, which is used for the detection light to pass through so that the detection light can be emitted to the galvanometer body, and is respectively connected to the galvanometer base and the light-transmitting element through the sealed shell, so that the galvanometer base, the sealed shell and the light-transmitting element together form a sealed cavity, wherein the light-transmitting portion is located outside the field of view formed by the detection light scanning through the galvanometer body.

[0036] Compared with the related art, the technical solution of the present application can achieve the purpose of sealing the galvanometer body of the galvanometer module by enclosing a sealed cavity through the galvanometer base, the sealing shell and the light-transmitting element of the galvanometer module, effectively blocking the corrosion of the galvanometer body by water vapor, and protecting the galvanometer body from damage. More importantly, the light-transmitting part of the sealing shell is located outside the field of view formed by the detection light scanning through the galvanometer body, which will effectively ensure that the detection light will not be vertically directed to the light-transmitting part, thereby reducing or even avoiding the generation of stray light in the laser radar, and well avoiding the saturation phenomenon of the light-shielding radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0038] Figure 1 A first partial exploded view of the laser radar according to the first embodiment of the present invention;

[0039] Figure 2 It is a partial assembly structure diagram of the laser radar of the first embodiment of the present invention;

[0040] Figure 3 A second partial exploded view of the laser radar according to the first embodiment of the present invention;

[0041] Figure 4 A schematic diagram of the optical path distribution of the laser radar according to the first embodiment of the present invention;

[0042] Figure 5 This is a first overall structural diagram of a laser radar according to a second embodiment of the present invention.

[0043] Description of Figure Numbers:

[0044] 1-shell, 11-top shell, 111-top wall; 112-second side wall; 12-bottom shell, 121-bottom wall, 122-first side wall; 13-base fixing part, 14-positioning fixing column, 15-blocking wall, 2-accommodating cavity, 3-galvanometer module, 31-galvanometer base, 32-galvanometer body, 4-light-transmitting element, 41-lens barrel, 42-lens body, 5-sealed shell, 51-light-transmitting part, 52-connecting shell, 53-end shell, 531-first through hole, 532-second through hole, 6-sealed cavity, 7-circuit board, 71-avoidance groove, 8-transceiver module.

[0045] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the following part will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0047] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0048] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and

[0050] On the one hand, the present application proposes a movable device, which is preferably a self-driving car, and can also be an intelligent robot, and can also be an unmanned machine. Specifically, the movable device includes a movable main body and a laser radar, and the laser radar is mounted on the main body. The movable device uses the laser radar to perceive the environment and collect relevant data to create a three-dimensional point cloud map (data structure), so as to adjust the route in real time to achieve stable and accurate navigation, and avoid objects around the movable device, such as other cars, human bodies, traffic signs and obstacles (buildings, furniture, etc.). Next, the specific structure of the laser radar is explained in conjunction with the accompanying drawings.

[0051] In the related art, the laser radar uses a galvanometer to deflect the detection light so that the detection light can scan the external environment. The galvanometer in the laser radar is usually installed on a galvanometer base to be indirectly fixed to the shell of the laser radar. In real working conditions, even if the galvanometer is located inside the shell of the laser radar, it is still prone to condensation, corrosion and other problems due to the intrusion of water vapor. Therefore, the laser radar is usually also equipped with a laser-transmissive sealing element, such as a glass cover plate, which is assembled on the above-mentioned galvanometer base and located in front of the galvanometer to seal the galvanometer in the chamber formed by the two. However, due to the large scanning angle of the galvanometer, it is difficult to avoid the detection light from being vertically directed to the sealing element, and then stray light returning along the original optical path will be generated during the scanning process; when the stray light with higher light intensity returns to the light receiving module (such as a photodetector), it may cause the photodetector to be saturated, thereby affecting the reception of the echo light reflected from the target object.

[0052] Based on this, the embodiments of the present application provide a laser radar and a movable device, aiming to reduce the risk of saturation of the photoelectric detector in the optical receiving module in the related art.

[0053] Please read first Figure 1 and Figure 4 , which respectively show the first partial explosion diagram of the laser radar and the optical path distribution diagram of the laser radar, the laser radar comprises a housing 1, a galvanometer module 3, a sealing shell 5, a transceiver module 8 for generating detection light a and receiving echo light b, and a light-transmitting element 4. It should be noted that the "detection light a" described in this application document is used to detect the target object, and the "echo light b" is formed by the detection light reflected by the target object; wherein the "target object" is the detection object of the laser radar, which includes but is not limited to: vehicles, pedestrians, ground, buildings and vegetation.

[0054] The transceiver module 8 is accommodated in the housing 1, and is used to generate the detection light a and receive the echo light b. The galvanometer module 3 is accommodated in the housing 1, and the galvanometer module 3 includes a galvanometer base 31 and a galvanometer body 32. The galvanometer base 31 is installed on the housing 1, and the galvanometer body 32 is installed on the galvanometer base 31. The galvanometer body 32 is used to reflect the detection light a and the echo light b.

[0055] The light-transmitting element 4 is installed on the housing 1 and is located downstream of the optical path of the galvanometer module 3 along the propagation direction of the detection light a. The sealing shell 5 is connected to the galvanometer base 31 and the light-transmitting element 4 respectively. The galvanometer base 31, the sealing shell 5 and the light-transmitting element 4 together form a sealed cavity 6. The galvanometer body 32 is located in the sealed cavity 6. The sealing shell 5 is provided with a light-transmitting portion 51. The light-transmitting portion 51 is used for allowing the detection light a to pass through so that the detection light a can be emitted to the galvanometer body 32. In the present application, the light-transmitting portion 51 is located outside the field of view formed by the detection light a scanning through the galvanometer body 32.

[0056] Therefore, the technical solution of the present application can achieve the purpose of sealing the galvanometer body 32 of the galvanometer module 3 by enclosing the sealed cavity 6 through the galvanometer base 31, the sealing shell 5 and the light-transmitting element 4 of the galvanometer module 3, effectively blocking the corrosion of the galvanometer body 32 by water vapor, and protecting the galvanometer body 32 from damage. More importantly, the downstream of the sealing shell 5 is the light-transmitting element 4 that originally existed in the laser radar, and the light-transmitting portion 51 of the sealing shell 5 is located outside the field of view formed by the detection light a scanning through the galvanometer body 32. In this way, during the scanning process of the galvanometer module 3, the detection light a can be prevented from being directed to the light-transmitting portion 51 (that is, one optical sealing element is reduced downstream of the galvanometer body 32). Therefore, the phenomenon that the detection light a scanned by the galvanometer body 32 in the related art is vertically directed to the above-mentioned sealing element, which causes the laser radar to be saturated in advance can be improved.

[0057] Next, the specific structure of the above modules will be described in detail with reference to the accompanying drawings.

[0058] For the above case 1, see Figure 1The shell 1 is a mounting carrier for the remaining components in the entire laser radar (such as the transceiver module 8, the galvanometer module 3, the sealing shell 5 and the light-transmitting element 4), which is used to support the installation of each component and can also protect each component. Among them, the transceiver module 8, the galvanometer module 3 and the sealing shell 5 are all accommodated in the shell 1, and the light-transmitting element 4 can be accommodated in the shell 1 as a whole, or it can be partially extended into the interior of the shell 1 and partially extended out of the shell 1. In this embodiment, the shell 1 includes a bottom shell 12 and a top shell 11, and the bottom shell 12 and the top shell 11 are docked and fixed along the thickness direction Z of the laser radar to define a accommodating cavity 2 for accommodating the above-mentioned transceiver module 8, the galvanometer module 3 and the sealing shell 5. Specifically, the bottom shell 12 includes a bottom wall 121 and a first side wall 122 extending from the edge of the bottom wall 121, and the first side wall 122 is in a wedge shape; the top shell 11 includes a top wall 111 and a second side wall 112 extending from the edge of the top wall 111, the top wall 111 is arranged opposite to the bottom wall 121, the second side wall 112 extends from the edge of the top wall 111 toward the bottom shell 12, and the second side wall 112 is in a wedge shape that matches the first side wall 122. The side with a larger height dimension of the second side wall 112 is fixed to the side with a smaller height dimension of the first side wall 122, and the side with a smaller height dimension of the second side wall 112 is fixed to the side with a larger height dimension of the first side wall 122, so that the bottom shell 12 and the top shell 11 together enclose a substantially rectangular shaped accommodating cavity 2.

[0059] It should be noted here that the material of the top shell 11 and the bottom shell 12 of the shell 1 can be metal, such as aluminum alloy, magnesium alloy, stainless steel, etc. The material of the top shell 11 and the bottom shell 12 of the shell 1 can also be selected from engineering plastics, such as acrylonitrile-butadiene-styrene copolymer, etc. Alternatively, the material of the top shell 11 and the bottom shell 12 of the shell 1 can also be selected from high-strength and lightweight carbon fiber reinforced composite materials. In the embodiment of the present application, there is no specific restriction on the material of the shell 1.

[0060] For transceiver module 8, please continue to refer to Figure 4, the transceiver module 8 is used to generate the detection light a and receive the echo light b, that is, the transceiver module 8 is a module for realizing the transmission and reception of optical signals. Along the propagation direction of the detection light a, it is located at the most upstream of the optical path, and along the propagation direction of the echo light, it is located at the most downstream of the optical path. In this embodiment, the transceiver module 8 includes a laser, a beam splitter, a reflector and a photodetector. Among them, the laser is used to generate the detection light a, which can be an edge-emitting laser or a vertical cavity surface-emitting laser. The specific type of the laser is not limited in this application, as long as it can generate the detection light a. The beam splitter is an element that can realize beam combining and beam splitting, and it has a first side, a second side and a transceiver side. The above-mentioned laser is located on the first side of the beam splitter, and the beam splitter is used to receive the detection light a from the first side and emit the detection light a on the transceiver side; the beam splitter is also used to receive the echo light b from the transceiver side and emit the echo light b on the second side. The reflector is located on the transmitting and receiving side of the beam splitter, and is located on the same side of the beam splitter and the galvanometer body 32. The reflector is used to receive the detection light a emitted from the beam splitter and reflect it so that the detection light a can be incident on the galvanometer body 32 (via the above-mentioned light-transmitting portion 51). Of course, in other embodiments, the reflector can also be located in the sealed cavity 6, and correspondingly, the light-transmitting portion 51 is located between the beam splitter and the reflector. The reflector is used to receive the detection light a emitted from the beam splitter and reflect it so that the detection light a is incident on the galvanometer body 32. The photodetector is located in the propagation path of the echo light, and is used to receive the echo light b; the photodetector is used to perform photoelectric conversion on the echo light to generate a corresponding electrical signal.

[0061] For the above galvanometer module 3, please refer to Figure 2 and Figure 3 , which respectively show schematic diagrams of two directions of assembly of parts forming the sealed cavity 6 in the laser radar, and at the same time combined with Figure 4 The galvanometer module 3 is a component used to realize beam scanning in the laser radar. The galvanometer base 31 is a mounting base for the galvanometer body 32, which is mounted on the bottom wall 121 of the housing 1; the galvanometer body 32 is mounted on the galvanometer base 31, which includes a reflective element that can rotate one-dimensionally or two-dimensionally relative to the housing 1, so as to reflect the detection light a, thereby forming a specific detection field of view outside the laser radar; in addition, the above-mentioned reflective element is also used to reflect the echo light b, so that the echo light b is directed to the optical transceiver module, and finally flows to the photoelectric detection module.

[0062] For the above light-passing element 4, please combine Figures 1 to 4, which is installed in the housing 1, and the light-transmitting element 4 is an element in the laser radar that is located downstream of the optical path of the galvanometer module 3 along the propagation direction of the detection light. The light-transmitting element 4 is an element through which the laser can pass. It is an optical element that originally exists in the laser radar. It can be a lens or a lens group in the laser radar, or it can be a window piece of the laser radar. This embodiment is explained by taking the light-transmitting element 4 as a lens group in the laser radar as an example. Specifically, the light-transmitting element 4 is an angle expander or an angle expander group, which is used to expand the angle of the field of view formed by the above-mentioned galvanometer body 32 scanning the detection light, so that the angle of the field of view formed by the detection light a emitted through the light-transmitting element 4 is larger than before.

[0063] The sealing shell 5 is briefly described here. The sealing shell 5 is housed in the housing 1, and is respectively connected to the galvanometer base 31 and the light-transmitting element 4 of the galvanometer module 3. The galvanometer base 31, the sealing shell 5 and the light-transmitting element 4 together form a sealed cavity 6, and the galvanometer body 32 is located in the sealed cavity 6. In this way, although dust and water vapor may enter the housing 1 of the laser radar, they will still be blocked outside the sealed cavity 6 by structures such as the galvanometer base 31, the sealing shell 5 and the light-transmitting element 4, thereby reducing the risk of condensation and corrosion of the galvanometer body 32 due to dust and water vapor.

[0064] While preventing dust and water vapor from entering the sealed cavity 6, it is also necessary to ensure that the detection light a can enter the sealed cavity 6 and then be incident on the galvanometer body 32, thereby realizing the scanning of the detection light a. In the present embodiment, the sealed shell 5 is provided with a light-transmitting portion 51, which is used for allowing the detection light a to pass through, so that the detection light a can be emitted to the galvanometer body 32. The light-transmitting portion 51 is made of a material that can transmit laser light (such as glass, acrylic, etc.) to ensure that the detection light a and the echo light b pass through. In some embodiments, the light-transmitting portion 51 can be a filter to allow signals near the wavelength of the detection light a to pass through, such as allowing light signals with a wavelength offset 50nm above and below the calibrated wavelength of the light beam emitted by the laser to pass through; in this way, the light-transmitting portion 51 can also play a role of filtering at the same time.

[0065] It is worth mentioning that the light-transmitting portion 51 of the sealing shell 5 is located outside the field of view formed by the detection light a scanning through the galvanometer body 32. In this way, along the propagation direction of the detection light a, the downstream of the galvanometer module 3 includes the light-transmitting element 4 that originally existed in the downstream of the galvanometer module 3, and the above-mentioned sealing element is not required and no longer provided; and between the galvanometer module 3 and the light-transmitting element 4, the detection light a will not fall on other elements, so it can be avoided that the above-mentioned detection light a is difficult to avoid being incident on the sealing element in a vertical manner, and then forming the disadvantage of stray light returning along the original path, thereby reducing the risk of saturation of the photodetector in the optical receiving module in the related art.

[0066] See also Figure 2In some embodiments, the sealed shell 5 includes a connecting shell 52 and a light-transmitting sheet. The connecting shell 52 is located between the galvanometer base 31 and the light-transmitting element 4, one end of which is connected to the galvanometer base 31, and the other end extends to connect with the light-transmitting element 4. The connecting shell 52 is a tubular structure extending from the galvanometer base 31 toward the light-transmitting element 4. For example, the connecting shell 52 can be an integrated tubular structure independently arranged relative to the shell 1, and the whole is fixed to the bottom wall 121 of the shell 1. For another example, the connecting shell 52 can also be a part of the shell 1 and other structures to form the above-mentioned tubular structure; in this embodiment, the connecting shell 52 reuses the bottom wall of the shell 1 as the bottom of the connecting shell 52, and reuses the circuit board 7 of the laser radar as the top of the connecting shell 52. The light-transmitting sheet is connected to the end of the connecting shell 52 away from the galvanometer base 31. It is a sheet structure made of a light-transmitting material, and the light-transmitting sheet constitutes the light-transmitting portion 51 of the sealed shell 5. The light-transmitting sheet maintains a sufficient distance from the galvanometer body 32 , so as to facilitate the light-transmitting portion 51 of the sealed shell 5 to be located outside the field of view formed by the detection light a scanning through the galvanometer body 32 .

[0067] See also Figure 3 In the case where the connecting shell 52 is independently arranged relative to the housing 1, in other embodiments, the sealing shell 5 is Figure 2 The embodiment shown in the figure also includes an end shell 53. The end shell 53 is connected to the end of the connecting shell 52 away from the galvanometer module 3. Specifically, the end shell 53 is configured to cover the end of the tubular structure formed by the connecting shell 52 away from the galvanometer module 3. Therefore, the galvanometer base 31, the connecting shell 52 and the end shell 53 together form the above-mentioned accommodating cavity to accommodate the above-mentioned galvanometer body 32.

[0068] Please refer to the specific Figure 3As shown, the end shell 53 is provided with a first through hole 531 and a second through hole 532, and the first through hole 531 and the second through hole 532 are arranged at intervals. The light-transmitting element 4 is installed in the first through hole 531. When the light-transmitting element 4 is a lens, the lens includes a lens barrel 41 and a lens body 42 installed in the lens barrel 41. At least part of the lens barrel 41 extends into the first through hole 531. The shape and size of the first through hole 531 are adapted to the shape and size of the lens barrel 41 to ensure that the light-transmitting element 4 can be firmly installed and fixed on the end shell 53, and that the light-transmitting element 4 and the first through hole 531 have good sealing. When the light-transmitting element 4 is a lens group, the number of lens bodies 42 is multiple, and they are all arranged in the lens barrel 41. In this way, the detection light a reflected by the galvanometer module 3 and the echo light b reflected by the target object in the measured area can both be transmitted through the lens body 42 in the lens barrel 41. Of course, in some embodiments, the lens barrel 41 and the end shell 53 form an integrated structure, that is, the inner cavity of the lens barrel 41 is formed as a first through hole 531, so that only the lens body 42 and the lens barrel 41 need to be sealed, which can improve the reliability of the seal. It can be understood that when the light-transmitting element 4 is in the form of a window sheet, the light-transmitting element 4 is embedded in the first through hole 531, and the light-transmitting element 4 and the hole wall of the first through hole 531 can be sealed and connected by dispensing glue or the like.

[0069] In this embodiment, the light-transmitting sheet is installed in the second through hole 532, wherein the first through hole 531 is closer to the middle of the end shell 53 than the second through hole 532 and directly faces the galvanometer module 3, while the second through hole 532 is arranged at the edge of the end shell 53, which is conducive to the light-transmitting sheet being close to the above-mentioned reflector and being located outside the field of view formed by the detection light a scanning through the galvanometer body 32. It can be understood that the assembly gap between the light-transmitting sheet and the second through hole 532 is sealed with a sealant, which can not only ensure the assembly stability between the light-transmitting sheet and the end shell 53, but also ensure good sealing between the light-transmitting sheet and the end shell 53.

[0070] In the above content, when the connecting shell 52 is independently arranged relative to the shell 1, the components that cooperate with the galvanometer module 3 to form the sealed cavity 6 are formed into a module with the galvanometer module 3 as the core, thereby realizing modular assembly of the laser radar and facilitating production and manufacturing.

[0071] In the embodiment where the connecting shell 52 is a part of the shell 1 and other structures to form the above-mentioned tubular structure, please refer to Figure 4 and Figure 5The galvanometer base 31 is detachably connected to the bottom shell 12 through the base fixing part 13. Specifically, the base fixing part 13 is extended from the bottom wall 121 of the bottom shell 12 along the height direction Z. The base fixing part 13 and the bottom wall 121 are integrally formed, and the galvanometer base 31 is fixedly connected to the base fixing part 13. The fixed connection here can be a bolt connection. For example, a positioning fixing column 14 is formed on the top of the base fixing part 13 extending along the height direction Z. The number of the positioning fixing columns 14 is preferably configured as two. The two positioning fixing columns 14 are respectively located at two opposite sides of the galvanometer base 31, and each positioning fixing column 14 is bolted to the galvanometer base 31. The fixed connection here can also be selected as a plug-in connection, for example, a positioning hole is provided on the galvanometer base 31, and a positioning column is provided on the positioning fixing column 14 and / or the base fixing portion 13, and the positioning column is inserted into the positioning hole to facilitate the installation between the galvanometer base 31 and the bottom shell 12. This can improve the installation accuracy of the galvanometer module 3, so as to improve the scanning accuracy of the detection light a, and further improve the detection accuracy of the laser radar. Alternatively, the fixed connection here can also be selected as a snap-on connection, or the fixed connection here can also be a combination of any two of the above connection methods.

[0072] In this way, by cooperating with the positioning fixing column 14 and the base fixing part 13, the galvanometer base 31 can be positioned to facilitate the positioning of the galvanometer module 3, thereby improving the assembly efficiency of the galvanometer module 3 and the shell 1, thereby improving the assembly efficiency of the laser radar, and after assembly, it can also play a fixing role and ensure the stability of the assembly between the galvanometer base 31 and the shell 1.

[0073] Furthermore, a retaining wall 15 extending toward the top wall 111 along the height direction Z is also provided on the bottom wall 121. The retaining wall 15 extends in the direction away from the galvanometer module 3 and in the direction toward the first side wall 122, and one end of the retaining wall 15 away from the galvanometer module 3 is connected to the first side wall 122, and one end of the retaining wall 15 away from the bottom wall 121 is sealed and abutted against the top wall 111, thereby, the retaining wall 15 and the partial structure of the housing 1 constitute a whole equivalent to the above-mentioned connecting shell 52. The retaining wall 15, the partial structure of the first side wall 122, the partial structure of the bottom wall 121 and the partial structure of the top wall 111 are enclosed to form a tubular structure. In this case, the light-transmitting element 4 can be installed on the first side wall 122, and the partial structure of the first side wall 122 can also be formed as the above-mentioned end shell 53, and the light-transmitting sheet is arranged on the retaining wall 15. In this embodiment, the self structure of the housing 1 can be fully utilized to form the above-mentioned sealed cavity 6. When applied to a laser radar, the overall structure is more compact and fewer parts are used.

[0074] It should be noted that, in other embodiments where the retaining wall 15 is provided, the retaining wall 15 may not only exist on the bottom wall 121, but may also exist on the top wall 111 at the same time, and the retaining wall 15 on the bottom wall 121 and the retaining wall 15 on the top wall 111 extend toward each other and are sealed and abutted, so that the retaining wall 15, partial structure of the first side wall 122, partial structure of the bottom wall 121 and partial structure of the top wall 111 may also be enclosed to form a tubular structure, and cooperate with the light-transmitting element 4 to form the above-mentioned sealed cavity 6.

[0075] However, the solution of this application is not limited to this. Please refer to Figure 1 In other embodiments, the retaining wall 15 may not abut against the top wall 111, but may abut against the circuit board 7. In this way, the retaining wall 15, a part of the structure of the first side wall 122, a part of the structure of the bottom wall 121 and a part of the structure of the circuit board 7 are combined to form a tubular structure, and cooperate with the light-transmitting element 4 to form the sealed cavity 6. Figure 1 As shown, in one structural form, the circuit board 7 may have an avoidance groove 71, which runs through the circuit board 7 in the height direction Z. The shape and size of the avoidance groove 71 are compatible with the shape and size of the galvanometer base 31, or the shape and size of the avoidance groove 71 are larger than the shape and size of the galvanometer base 31 within the assembly tolerance range. The galvanometer base 31 is penetrated by the avoidance groove 71 and is detachably connected to the circuit board 7, thereby further reducing the height dimension / thickness dimension of the shell 1 to reduce the volume of the laser radar.

[0076] Furthermore, please combine Figures 1 to 4As shown, the incident angle of the detection light a generated by the transceiver module 8 at the light-transmitting sheet is non-zero. If the detection light a is incident vertically (the incident angle is zero), due to the presence of mirror reflection, a portion of the detection light a will return along the original optical path and generate stray light. However, if a non-zero incident angle is used, for the light-transmitting sheet, even if mirror reflection is unavoidable, even if a small portion of the detection light a is reflected by the mirror at the light-transmitting sheet, the portion of light will not return along the original path and form stray light, which can further reduce the risk of saturation of the photodetector in the optical receiving module. It should be noted that in the related art, the sealing glass is located downstream of the galvanometer body 32, and the direction of the detection light falling on the sealing glass is not single and constant, but multi-directional and forms a field of view angle. Therefore, it is difficult to control the detection light in each direction after scanning to be non-perpendicular to the sealing glass, based on which it will cause relatively strong stray light returning along the original path; in comparison, in the embodiment of the present application, since the light-transmitting plate is originally located downstream of the galvanometer body 32 and is changed to be located upstream of the galvanometer body 32 (along the propagation direction of the detection light), the direction of the detection light falling on the light-transmitting plate is single and constant, and therefore it is easy to control the setting direction of the light-transmitting plate so that the detection light a is incident at a non-zero angle of incidence. Based on this, the current situation of relatively strong stray light formed in the related art can be improved.

[0077] As a preferred embodiment of the present invention, the surface of the light-transmitting sheet is provided with an anti-reflection film for enhancing the optical performance. The anti-reflection film preferably fully covers the entire surface of the light-transmitting sheet. And / or, the number of anti-reflection film configurations can be selected as one layer, and can also be optionally configured as multiple layers. Under the action of the anti-reflection film, the reflected light on the surface of the light-transmitting sheet can be reduced, thereby increasing the amount of light transmitted. If the angle of the detection light a is small and single, it means that the detection light a mainly penetrates the light-transmitting sheet in a normal incidence manner. In this case, since the design of the anti-reflection film will be able to optimize the transmittance at a specific wavelength and reduce the reflectance of the light-transmitting sheet when the incident angle of the detection light a is non-zero, the anti-reflection film can be specifically designed for this wavelength to minimize the loss of reflection. In this way, even if there is a small amount of reflected light, its impact on the total transmittance will be relatively small.

[0078] The above is an explanation of the laser radar proposed in the embodiment of the present application. Since the laser radar proposed in the embodiment of the present application adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0079] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

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

Claims

1. A laser radar, characterized in that: include: case; a transceiver module, housed in the housing, for generating detection light and receiving echo light, wherein the detection light is used to detect a target object, and the echo light is formed by the detection light being reflected by the target object; A galvanometer module is housed in the housing, comprising a galvanometer base and a galvanometer body, wherein the galvanometer base is mounted on the housing, the galvanometer body is mounted on the galvanometer base, and the galvanometer body is used to reflect the detection light and the echo light; A light-transmitting element is installed in the housing and is located downstream of the optical path of the galvanometer module along the propagation direction of the detection light; as well as A sealing shell is connected to the galvanometer base and the light-transmitting element respectively. The galvanometer base, the sealing shell and the light-transmitting element together form a sealed cavity. The galvanometer body is located in the sealed cavity. The sealing shell is provided with a light-transmitting portion. The light-transmitting portion is used for the detection light to pass through so that the detection light can be emitted to the galvanometer body. Wherein, the light-transmitting portion is located outside the field of view formed by the detection light scanning through the galvanometer body.

2. The laser radar according to claim 1, characterized in that The sealed housing comprises: A connecting shell, located between the galvanometer base and the light-transmitting element; and A light-transmitting sheet is connected to an end of the connecting shell which is away from the galvanometer base, and the light-transmitting sheet constitutes the light-transmitting portion.

3. The laser radar according to claim 2, characterized in that The sealing shell also includes an end shell; The end shell is connected to an end of the connection shell away from the galvanometer module, and the galvanometer base, the connection shell and the end shell together form a containing cavity; The end shell is provided with a first through hole and a second through hole, the light-transmitting element is installed in the first through hole, and the light-transmitting sheet is installed in the second through hole, so that the galvanometer base, the connecting shell, the end shell, the light-transmitting element and the light-transmitting sheet together form the sealed cavity.

4. The laser radar according to claim 3, characterized in that: The light-transmitting element is a lens, and the lens comprises a lens barrel and a lens body mounted on the lens barrel; At least a portion of the lens extends into the first through hole, and the lens barrel is fixed to the end shell.

5. The laser radar according to any one of claims 1 to 4, characterized in that: The light-transmitting element is a window piece of the laser radar.

6. The laser radar according to claim 2, characterized in that: The incident angle of the detection light on the light-transmitting sheet is non-zero.

7. The laser radar according to claim 2 or 6, characterized in that: An anti-reflection film is provided on the surface of the light-transmitting sheet.

8. The laser radar according to claim 1, characterized in that: The transceiver module comprises: A laser, used to generate the detection light; A beam splitter having a first side, a second side and a transceiver side, wherein the laser is located on the first side of the beam splitter, and the beam splitter is used to receive the detection light from the first side and emit it at the transceiver side; a reflector, located at the transmitting and receiving side of the beam splitter, for receiving the detection light emitted from the beam splitter and reflecting it so that the detection light is incident on the galvanometer body through the light-transmitting portion; and The photoelectric detector is used to receive the echo light from the transmitting and receiving side and emit it at the second side. The photoelectric detector is used to receive the echo light.

9. The laser radar according to claim 1, characterized in that: The transceiver module comprises: A laser, used to generate the detection light; A beam splitter having a first side, a second side and a transceiver side, wherein the laser is located on the first side of the beam splitter, and the beam splitter is used to receive the detection light from the first side and emit it at the transceiver side; a reflector, located in the sealed cavity, wherein the light-transmitting portion is located between the beam splitter and the reflector, and the reflector is used to receive the detection light emitted from the beam splitter and reflect it so that the detection light is incident on the galvanometer body; and The photoelectric detector is used to receive the echo light from the transmitting and receiving side and emit it at the second side. The photoelectric detector is used to receive the echo light.

10. A movable device, characterized in that: It includes a movable main body and a laser radar as described in any one of claims 1 to 9, wherein the laser radar is mounted on the main body.

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