Laser radar
By placing the light emitting components, light receiving components and light retraction components of the lidar on the same plane, optimizing their layout, the volume and occlusion problems of large-size lidar in the cabin use scenarios is solved, and a more compact design and more Good adaptability to use.
Patent Information
- Application Number
- CN202310878038.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-07-17
- Publication Date
- 2025-01-17
AI Technical Summary
When the size of the lidar is large, it is limited in its use scenarios such as driverless driving and vehicle-road coordination, especially in the cabin environment, resulting in occlusion and volume problems of the cab view.
By placing the light emitting component, light receiving component and light reversing component on the same plane, their relative position and structural layout are optimized so that the optical path between the transceiver module and the light reversing component is more parallel to the plane, thereby reducing the lidar The vertical thickness of the whole volume is reduced.
It effectively reduces the thickness of the lidar, reduces the obstruction of the cab field of view, adapts to the front windshield of different inclinations, and improves the compactness and flexibility of the lidar.
Smart Images
Figure CN119322328A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar. Background Art
[0002] LiDAR is widely used in scenarios such as autonomous driving, vehicle-road collaboration, and unmanned exploration due to its advantages of active detection, strong anti-interference, long range, and real-time feedback of the distance and speed of the detected object. It still needs to develop more application scenarios and refine the scope of use. Among them, when the size of LiDAR is large, it will limit the use scenarios of LiDAR. Summary of the invention
[0003] The embodiment of the present application provides a laser radar that can solve the problem of large size of the laser radar.
[0004] In a first aspect, an embodiment of the present application provides a laser radar, including:
[0005] A transceiver module, used for transmitting detection light and receiving echo light reflected from the field of view, including a light transmitting component and a light receiving component;
[0006] an optical scanning device, used to deflect the detection light into the field of view to achieve scanning, and also used to receive and deflect the echo light; and
[0007] A light return component, used for deflecting the optical path for transmitting the detection light and the echo light between the transceiver module and the optical scanning device;
[0008] The light emitting component, the light receiving component and the light returning component are all located on a first plane, and the light scanning device is spaced apart from the first plane in a direction perpendicular to the first plane.
[0009] In some exemplary embodiments, the laser radar includes two transceiver modules, and the light return assembly includes two return units corresponding to the transceiver modules one by one;
[0010] In a first direction parallel to the first plane, the two transceiver modules are arranged at intervals, and the optical scanning device is arranged between the two transceiver modules, and the return unit deflects the optical path of the corresponding transceiver module.
[0011] In some exemplary embodiments, the two transceiver modules and their corresponding return units are symmetrically arranged relative to the central optical axis of the optical scanning device, and the optical paths of the two transceiver modules are aligned with the optical scanning device at the same angle after being deflected by the corresponding return units.
[0012] In some exemplary embodiments, the return unit includes a first return surface, which is used to deflect the detection light from the corresponding transceiver module and direct it toward the optical scanning device, and is also used to deflect the echo light reflected back from the optical scanning device and direct it toward the corresponding transceiver module.
[0013] In some exemplary embodiments, the transceiver module has a light-passing area for the detection light and the echo light to pass through, and the light-passing area is close to the optical scanning device;
[0014] The return unit also includes at least a second return surface, which is used to deflect the detection light from the corresponding transceiver module toward the first return surface, and is also used to receive the echo light deflected by the first return surface and deflect it to the corresponding transceiver module.
[0015] In some exemplary embodiments, the optical transmitting assembly includes an optical transmitter and an emitting lens group arranged along an emitting optical path, and the optical receiving assembly includes a receiving lens group and an optical receiver arranged along a receiving optical path;
[0016] The transceiver module further includes a spectrometer, and the spectrometer is used to separate the transmitting light path and the receiving light path, and the transmitting light path and the receiving light path are parallel to the first plane.
[0017] In some exemplary embodiments, the transmitting optical path is arranged along the first direction, the optical receiving component includes a first reflector arranged on the receiving optical path, and the echo light from the spectrometer is transmitted along the first direction after being deflected by the first reflector.
[0018] In some exemplary embodiments, the receiving mirror group also includes a second reflector, which is arranged on the optical path between the receiving mirror group and the optical receiver, and the echo light from the receiving mirror group is deflected by the second reflector and then transmitted to the optical receiver in a direction perpendicular to the first plane.
[0019] In some exemplary embodiments, the optical receiver is arranged on a side of the first plane opposite to the optical scanning device; the laser radar also includes a control component, which is arranged on a side of the first plane opposite to the optical scanning device, and the optical receiver and the control component are both arranged parallel to the first plane, and the optical receiver and the control component are arranged on the same plane.
[0020] In some exemplary embodiments, the laser radar is divided into a first chamber and a second chamber by the first plane, the optical receiver and the control component are both arranged in the second chamber, and the shell of the second chamber has an electromagnetic shielding function.
[0021] Based on the laser radar of the embodiment of the present application, by setting the light emitting component, the light receiving component and the light returning component to be on the first plane, it is convenient to arrange the relative positions of the light emitting component, the light receiving component and the light returning component on the first plane, and it is convenient to set the respective structures of the light emitting component, the light receiving component and the light returning component, so that the optical path of the transceiver module and the optical path between the transceiver module and the light returning component can be more parallel to the first plane, effectively reducing the thickness of the laser radar in the direction perpendicular to the first plane. In addition, on the first plane, the space of the laser radar is more sufficient, which can better meet the structural arrangement requirements of the light emitting component, the light receiving component and the light returning component. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] 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 those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.
[0023] Figure 1 A schematic diagram of the three-dimensional structure of a laser radar according to an embodiment of the present application;
[0024] Figure 2 This is a schematic diagram of a three-dimensional structure in which a transceiver module is arranged on a support member according to an embodiment of the present application;
[0025] Figure 3 A schematic diagram of the structure of a transceiver module and a light return component of a laser radar according to an embodiment of the present application;
[0026] Figure 4 A schematic cross-sectional structure diagram of a laser radar according to an embodiment of the present application;
[0027] Figure 5 This is a schematic diagram of the structure of a laser radar installed on a front windshield according to an embodiment of the present application;
[0028] Figure 6 A schematic diagram of a light path of a folding unit including a first folding surface according to an embodiment of the present application;
[0029] Figure 7 A schematic diagram of a light path of a folding unit including a first folding surface in another embodiment of the present application;
[0030] Figure 8 A schematic diagram of a light path of a folding unit according to an embodiment of the present application, including a first folding surface and a second folding surface;
[0031] Fig. 9This is a schematic diagram of the optical path of another embodiment of the present application in which the return unit includes a first return surface and a second return surface.
[0032] Reference numerals:
[0033] 10. Lidar; 10a. First chamber; 10b. Second chamber; 20. Windshield;
[0034] 100, housing; 110, first housing; 111, light-transmitting opening; 112, light-transmitting protective plate; 120, support member; 121, support body; 1211, first surface; 122, emission convex portion; 1221, first mounting groove; 1222, emission opening; 123, support frame assembly; 130, second housing;
[0035] 200, transceiver module;
[0036] 210, light emitting assembly; 211, light emitter; 2121, mounting housing; 213, emitting mirror assembly; 214, spectrometer;
[0037] 220, light receiving component; 221, light receiver; 222, receiving lens group; 2221, receiving lens; 223, first reflector; 224, second reflector;
[0038] 300. Optical scanning device;
[0039] 400, light return assembly; 40a, return unit; 401, first return surface; 402, second return surface; 410, return prism; 420, reflector;
[0040] 500, control circuit board;
[0041] A. First direction; B. Second direction; C. Third direction. DETAILED DESCRIPTION
[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0043] LiDAR is widely used in scenarios such as autonomous driving, vehicle-road collaboration, and unmanned exploration due to its advantages of active detection, strong anti-interference, long range, and real-time feedback of the distance and speed of the detected object. It still needs to develop more application scenarios and refine the scope of use. When the size of LiDAR is large, it will limit the use scenarios of LiDAR.
[0044] Among them, the laser radar based on the in-cabin use scenario has a stable in-cabin use environment, and the laser radar can effectively detect the signals of people, vehicles, and objects in the main field of view in front of the vehicle, thereby improving the safety of unmanned driving (assisted driving). When the laser radar adopts the detection mode of "active laser emission-reflection-receiving echo laser", the large volume of the laser radar will limit its use scenario in the cabin. Based on this, an embodiment of the present application provides a laser radar, and the laser radar of the embodiment of the present application is installed behind the front windshield of the car cab, and the laser radar can be fixed to the front windshield by bonding or other methods.
[0045] like Figure 1-3 , which is a schematic diagram of the structure of a laser radar 10 according to an embodiment of the present application, the laser radar 10 includes a transceiver module 200, a light scanning device 300, and a light return assembly 400. The laser radar 10 also includes a housing 100, and the transceiver module 200, the light scanning device 300, and the light return assembly 400 are all arranged in the internal space of the housing 100 and installed on the housing 100.
[0046] The transceiver module 200 is used to transmit the detection light and receive the echo light reflected from the field of view. The transceiver module 200 includes a light transmitting component 210 and a light receiving component 220. Specifically, the light transmitting component 210 is used to transmit the detection light, and the light receiving component 220 is used to receive the echo light reflected from the target object in the field of view.
[0047] The optical scanning device 300 is used to deflect the detection light from the transceiver module 200 to the field of view to achieve scanning. The optical scanning device 300 is also used to receive and deflect the echo light. When the laser radar 10 is installed on the vehicle, the optical scanning device 300 can be used to deflect the detection light or the echo light in at least one of the horizontal direction and the vertical direction to form a scanning field of view of the laser radar 10. For example, the optical scanning device 300 includes a micro-electro mechanical system (MEMS) galvanometer. The housing 100 of the laser radar 10 includes a first housing 110, and the first housing 110 has a light-through opening 111 corresponding to the optical scanning device 300, and the light enters and exits the laser radar 10 through the light-through opening 111. The housing 100 of the laser radar 10 also includes a light-transmitting protective plate 112, which is encapsulated at the light-through opening 111 to protect the optical scanning device 300 and the devices installed in the internal space of the housing 100.
[0048] The light reflection component 400 is used to deflect the optical path of the detection light and the echo light transmitted between the transceiver module 200 and the optical scanning device 300, so that the optical path of the detection light and the optical path of the echo light are deflected at least at one point. On the premise of meeting the requirements of the optical path design such as the optical path and the angle, it is convenient to arrange the relative positions of the light reflection component 400, the transceiver module 200 and the optical scanning device 300, thereby facilitating the reduction of the volume of the laser radar 10.
[0049] In the embodiment of the present application, the working process of the laser radar 10 includes: the detection light emitted by the transceiver module 200 is projected to the light reflection component 400, the light reflection component 400 deflects the detection light and projects it to the light scanning device 300, the light scanning device 300 deflects the detection light to the field of view to realize scanning of external targets; the echo light reflected by the target reaches the light scanning device 300, the light scanning device 300 deflects the echo light and projects it to the light reflection component 400, the light reflection component 400 deflects the echo light and projects it to the transceiver module 200.
[0050] The light emitting assembly 210, the light receiving assembly 220 and the light returning assembly 400 are all located on a first plane, and the light scanning device 300 is spaced apart from the first plane in a direction perpendicular to the first plane. Figure 2 and Figure 4 As shown, the housing 100 of the laser radar 10 further includes a support member 120, which is assembled with the first housing 110, and the optical scanning device 300 is accommodated in the first chamber 10a defined by the support member 120 and the first housing 110. The optical emitting assembly 210, the optical receiving assembly 220, and the optical return assembly 400 can all be installed on the support member 120, so that the optical emitting assembly 210, the optical receiving assembly 220, and the optical return assembly 400 are all in the first plane. For example, the support member 120 includes a supporting body 121, which is assembled with the first housing 110, and a first surface 1211 of the supporting body 121 facing the optical scanning device 300 can constitute a first plane, and the optical emitting assembly 210, the optical receiving assembly 220, and the optical return assembly 400 are arranged on the first surface 1211.
[0051] The laser radar 10 of the embodiment of the present application is convenient for arranging the relative positions of the light emitting component 210, the light receiving component 220 and the light returning component 400 on the first plane, and for setting the respective structures of the light emitting component 210, the light receiving component 220 and the light returning component 400 on the first plane, so that the optical path inside the transceiver module 200 and the optical path between the transceiver module 200 and the light returning component 400 can be more parallel to the first plane, effectively reducing the thickness of the laser radar 10 in the direction perpendicular to the first plane. In addition, in the first plane, the space of the laser radar 10 is more sufficient, which can better meet the structural arrangement requirements of the light emitting component 210, the light receiving component 220 and the light returning component 400.
[0052] The laser radar 10 in the embodiment of the present application has a length direction (first direction A), a width direction (second direction B) and a thickness direction (third direction C). The first direction A and the second direction B are parallel to the first plane, and the third direction C is perpendicular to the first plane. Figure 5 As shown, when the laser radar 10 is installed at the front windshield 20 of the vehicle, the first direction A of the laser radar 10 is horizontal, the front windshield 20 is tilted, and the field of view direction Q of the optical scanning device 300 is set toward the front of the vehicle. The present application reduces the obstruction of the view of the cab by the laser radar 10 while reducing the size of the laser radar 10 in the thickness direction, and the laser radar 10 can adapt to the front windshield 20 with different inclinations, and the obstruction of the view of the cab changes little.
[0053] The laser radar 10 of the embodiment of the present application includes a plurality of transceiver modules 200, and the plurality of transceiver modules 200 can be arranged around an optical scanning device 300. The optical return component 400 includes a plurality of return units 40a corresponding one to the transceiver modules 200. The return units 40a deflect the optical path of the corresponding transceiver modules 200. Specifically, each return unit 40a is used to deflect the detection light emitted by the corresponding optical transmitting component 210 to the optical scanning component. Each return unit 40a is also used to receive the echo light deflected by the optical scanning device 300, and deflect the echo light to the corresponding optical receiving component 220.
[0054] The transceiver module 200 includes a beam splitter 214, which is used to separate the transmission light path of the optical transmission component 210 and the receiving light path of the optical receiving component 220, and the direction of the detection light projected to the beam splitter 214 and the direction of the echo light deflected by the beam splitter 214 are parallel to the first plane. The beam splitter 214 includes but is not limited to a beam splitter prism, a beam splitter, and a special-shaped reflector with a light-through hole.
[0055] The optical emission assembly 210 further includes an emission lens group 213, an optical emitter 211, an emission circuit board and an installation housing 212. The optical emitter 211 is arranged on the emission circuit board, the emission circuit board is arranged on the installation housing 212, and the installation housing 212 is arranged on the support 120. The emission lens group 213 is arranged corresponding to the optical emitter 211, and the beam splitter 214 is arranged on the side of the emission lens group 213 away from the optical emitter 211 in a direction parallel to the first plane. The detection light emitted by the optical emitter 211 in a direction parallel to the first plane passes through the emission lens group 213 to reach the beam splitter 214, and is projected to the light return assembly 400 after passing through the beam splitter 214. The emission lens group 213 is used to collimate the divergent detection light emitted by the optical emitter 211 and then project it to the beam splitter 214; the emission lens group 213 includes at least one collimating lens coaxially arranged in a direction parallel to the first plane.
[0056] The light receiving assembly 220 includes a receiving lens group 222 and a light receiver 221, and the receiving lens group 222 is disposed on the optical path between the light receiver 221 and the beam splitter 214 to receive the echo light split by the beam splitter 214 and project the echo light to the light receiver 221. The receiving lens group 222 includes at least one receiving lens, and the receiving lens is used to converge the echo light to the light receiver 221, and the optical axis of the receiving lens is parallel to the first plane.
[0057] The transceiver module 200 has a light-passing area for the detection light and the echo light to pass through. Optionally, the beam splitter 214 is arranged at the light-passing area, and the detection light emitted by the optical transmitter 211 can pass through the beam splitter 214 to reach the light-passing area after passing through the transmitting lens group 213, and the echo light projected by the light return component 400 can be projected to the beam splitter 214, and the echo light is deflected by the beam splitter 214 and projected to the receiving lens group 222, and then passes through the receiving lens group 222 and is projected to the optical receiver 221, so that the transmitting light path of the optical transmitting component 210 and the receiving light path of the optical receiving component 220 are separated by the beam splitter 214. Optionally, the spectrometer 214 is arranged in the light-transmitting area. After the detection light emitted by the optical transmitter 211 passes through the transmitting lens group 213, the detection light is deflected by the spectrometer 214 and reaches the light-transmitting area. The echo light projected by the light reflection component 400 can be projected to the spectrometer 214, pass through the spectrometer 214 and reach the receiving lens group 222, and then pass through the receiving lens group 222 and projected to the light receiver 221. In this way, the transmitting light path of the optical transmitting component 210 and the receiving light path of the optical receiving component 220 can also be separated by the spectrometer 214.
[0058] Optionally, the transmitting mirror group 213, the beam splitter 214, the receiving mirror group 222 and the light reflection component 400 are all on the first plane, further making the optical path inside the transceiver module 200 and the optical path between the transceiver module 200 and the light reflection component 400 as parallel to the first plane as possible, effectively reducing the volume of the laser radar 10.
[0059] Optionally, the laser radar 10 includes two transceiver modules 200, and the optical return assembly 400 includes two return units 40a corresponding to the transceiver modules 200, and each return unit 40a deflects the optical path of the corresponding transceiver module 200. In the first direction A parallel to the first plane, the two transceiver modules 200 are arranged at intervals, and the optical scanning device 300 is arranged between the two transceiver modules 200. In this way, it is convenient to design the structure of the transmitting mirror group 213, the receiving mirror group 222 and the return unit 40a, so that the optical path of the detection light and the echo light is simple, which helps to shorten the optical path, and helps to simplify the structure of the transmitting mirror group 213, the receiving mirror group 222 and the return unit 40a, saving material usage.
[0060] The detection light emitted by the transceiver module 200 has a certain diffusion angle, and the spot of the emitted detection light meets the design requirements. The spot size of the detection light falling on the return unit 40a and the light scanning device 300 must meet the requirements, that is, the optical path between the return unit 40a and the light scanning device 300 must meet the design requirements. The present application can take into account the optical path requirements and the volume requirements of the radar by setting the return unit 40a to fold the optical path between the transceiver module 200 and the light scanning device 300, and compress the overall volume of the radar while meeting the minimum optical path.
[0061] Furthermore, in the first direction A, the two return units 40a are located between the two transceiver modules 200, which can further simplify the optical path of the detection light and the echo light between the optical scanning device 300 and the transceiver module 200, and avoid the structural parts of the transceiver module 200 from blocking the optical path, so as to arrange the positions of the transmitting mirror group 213 and the receiving mirror group 222, thereby facilitating the reduction of the volume of the laser radar 10. For example, in the first direction A, the two return units 40a are located between the transmitting mirror groups 213 of the two optical emitting components 210, and the transmitting mirror groups 213 of the two optical emitting components 210 are located between the two optical transmitters 211, so that the detection light emitted by the two optical transmitters 211 is parallel and toward the optical return component 400 between the two transceiver modules 200.
[0062] Among them, the incident angle of the detection light to the optical scanning device 300 and the maximum deflection angle of the optical scanning device 300 match each other, so that the two fields of view formed by the two transceiver modules 200 are just connected or partially overlapped, and the radar has a larger field of view. In addition, the detection light is emitted to the optical scanning device 300 at the same angle, the incident angle is the same, and the distortion caused by the deflection of the optical scanning device 300 is the same, and the formed field of view is close to symmetry, so that a good detection effect can be achieved.
[0063] When the laser radar 10 includes two transceiver modules 200, the two transceiver modules 200 and their corresponding return units 40a are symmetrically arranged relative to the central optical axis H of the optical scanning device 300. The light paths of the two transceiver modules 200 are deflected by the corresponding return units 40a and aligned with the optical scanning device 300 at the same angle, which is helpful for splicing the images of each scanning field of view later and reducing the influence of the different angles of light reaching the optical scanning device 300 on the imaging effect. For example, the two transceiver modules 200 and their corresponding return units 40a are arranged axially symmetrically or centrally symmetrically with respect to a plane passing through the central optical axis H of the optical scanning device 300 and perpendicular to the first plane, which is also convenient for simplifying the structure of the return unit 40a, reducing the space occupied by the return unit 40a, and further reducing the volume of the laser radar 10.
[0064] The laser radar 10 of the embodiment of the present application includes two transceiver modules 200, and the transceiver modules 200 form two optical channels. When the laser radar 10 is installed on the front windshield 20 of the vehicle, the two transceiver modules 200 are placed in horizontally opposite positions. The detection light emitted by the transmitting mirror group 213 is projected to the optical scanning device 300 through the deflection effect of the optical return component 400, and then the optical scanning device 300 completes the scanning action, and the detection light is emitted to the outside of the car. The detection light encounters the target object and reflects to form echo light. The echo light is projected to the optical scanning device 300, deflected to the optical return component 400 by the optical scanning device 300, and then projected to the receiving mirror group 222 after being deflected by the optical return component 400 and returned to the optical receiver 221. After the echo light is processed by the optical receiver 221, the three-dimensional coordinate information of the external target object forms a point cloud for image stitching.
[0065] Optionally, when the laser radar 10 is installed on the front windshield 20 of the vehicle, the light scanning device 300 is located above the light reflection component 400 in the vertical direction, which is convenient for designing the position of the light scanning device 300, making it easy to align and assemble the light scanning device 300 with the light reflection component 400, and preventing the field of view of the light scanning device 300 from being blocked by structural parts of the laser radar 10 such as the transceiver module 200 and the light reflection component 400.
[0066] The return unit 40a of the embodiment of the present application is used to deflect the detection light and the echo light, and deflects the detection light and the echo light at least once respectively.
[0067] like Figure 6 and Figure 7As shown, the return unit 40a includes a first return surface 401, and the first return surface 401 is used to deflect the detection light from the corresponding transceiver module 200 and direct it toward the optical scanning device 300, and is also used to deflect the echo light reflected back from the optical scanning device 300 and direct it toward the corresponding transceiver module 200. For example, the first return surface 401 is a reflective surface that can reflect light. Each return unit 40a deflects the optical path of the detection light and the echo light once through the first return surface 401, so that the optical path between the transceiver module 200 and the optical scanning device 300 is simple, which helps to reduce the volume of the laser radar 10. Figure 6 As shown, the return unit 40a may include a reflector 420, and the reflective surface of the reflector 420 constitutes a first return surface 401; or Figure 7 As shown, the light return component may include a return prism 410 , and the return prism 410 has a plurality of reflective surfaces corresponding to the plurality of transceiver modules 200 , and the plurality of reflective surfaces of the return prism 410 constitute a first return surface 401 .
[0068] When the return unit 40a includes the first return surface 401 (i.e., the detection light and the echo light are deflected only once), the first return surface 401 is set corresponding to the light-transmitting area, and the light-transmitting area can be set close to the optical scanning device 300 in the second direction B; or Figure 6 and Figure 7 As shown, the light-passing area can also be set at a position relatively far away from the optical scanning device 300 in the second direction B. When the light-passing area is set close to the optical scanning device 300 in the second direction B, when the light path passes through the first return surface 401 and deflects, the incident angle and the exit angle are both large, and the light path forms more unexpected scattered light and reflected light on the first return surface 401. The unexpected scattered light and reflected light propagate inside the radar and become interference light, affecting the normal operation of the optical receiving component. Therefore, when the light-passing area is set at a position relatively far away from the optical scanning device 300 in the second direction B, a corresponding first return surface 401 is used for return.
[0069] Alternatively, if Figure 8 and Fig. 9 As shown, when the light-passing area is close to the optical scanning device 300 in the second direction B, the return unit 40a at least includes a second return surface 402, and the second return surface 402 is used to deflect the detection light from the corresponding transceiver module 200 to the first return surface 401, and is also used to receive the echo light deflected by the first return surface 401 and deflect it to the corresponding transceiver module 200. The optical scanning device 300 is arranged on one side of the optical return component 400 in a direction perpendicular to the first plane, and the return unit 40a is provided to include at least a second return surface 402, and the number of returns of the detection light and the echo light at the optical return component 400 is increased to reduce the incident angles of the detection light and the echo light at various locations of the return unit 40a, thereby improving the detection effect of the laser radar 10.
[0070] In some embodiments, in addition to the first returning surface 401 and the second returning surface 402 for deflecting the light twice, the returning unit 40a may also include a larger number of returning surfaces to deflect the light passing through the returning unit 40a more times. The embodiment of the present application does not limit the number of deflections of the light passing through the returning unit 40a, and the specific number can be selected according to actual needs.
[0071] When the laser radar 10 includes two groups of transceiver modules 200, optionally, the light return assembly 400 includes four reflectors 420, each return unit 40a includes two reflectors 420, and the two reflectors 420 of each return unit 40a respectively form a first return surface 401 and a second return surface 402. Optionally, the light return assembly 400 includes two reflectors 420 and two return prisms 410, and each return unit 40a includes a reflector 420 and a return prism 410; a reflector 420 and a return prism 410 of a return unit 40a respectively form a first return surface 401 and a second return surface 402, or a reflector 420 and a return prism 410 of a return unit 40a respectively form a second return surface 402 and a first return surface 401. The first returning surface and / or the second returning surface corresponding to the returning prisms 410 of the two returning units 40 a may also be formed by two reflecting surfaces on the same returning prism 410 .
[0072] In the embodiment of the present application, the transmission direction of the echo light after being deflected by the beam splitter 214 is at an angle to the propagation direction of the detection light projected to the beam splitter 214. When the transmitting light path is arranged along the first direction A, optionally, the optical receiving assembly 220 includes a first reflector 223 arranged on the receiving light path. After the echo light from the beam splitter 214 is deflected by the first reflector 223, the propagation direction of the echo light after being deflected by the first reflector 223 is parallel to the propagation direction of the detection light projected to the beam splitter 214, and both are parallel to the first plane. For example, the optical transmitter 211 transmits the detection light along the first direction A, and the echo light after being deflected by the first reflector 223 propagates along the first direction A parallel to the detection light, which helps to reduce the space occupied by the transceiver module 200 in the second direction B and the third direction C. At this time, the optical axis of the receiving lens can be parallel to the optical axis of the collimating lens.
[0073] Optionally, the first reflector 223, the receiving mirror group 222, and the optical receiver 221 are sequentially arranged along the first direction A, and the echo light reflected by the first reflector 223 passes through the receiving mirror group 222 and is projected to the optical receiver 221 along the first direction A. Alternatively, the receiving mirror group 222 further includes a second reflector 224, and the first reflector 223, the receiving mirror group 222, and the second reflector 224 are sequentially arranged along the first direction A, and the second reflector 224 is arranged on the optical path between the receiving mirror group 222 and the optical receiver 221, and the echo light from the receiving mirror group 222 is deflected by the second reflector 224 and is transmitted to the optical receiver 221 along the third direction C.
[0074] Optionally, the light receiver 221 is arranged on a side of the first plane opposite to the light scanning device 300. The laser radar 10 further includes a control component, which is arranged on a side of the first plane opposite to the light scanning device 300. The light receiver 221 and the control component are both arranged parallel to the first plane. The light receiver 221 and the control component are arranged on the same plane and arranged in the second chamber 10b, which helps to save the space occupied by the first chamber 10a. At this time, the support body 121 of the support member 120 has a receiving opening corresponding to the light receiver 221, and the receiving opening penetrates the support body 121 along the third direction C, and the echo light reflected by the second reflector 224 passes through the receiving opening and is projected to the light receiver 221. Among them, the shell 100 that defines the second chamber 10b has an electromagnetic shielding function, that is, the support member 120 and the second shell 130 both have an electromagnetic shielding function, and the control component includes a control circuit board 500, and the optical receiver 221 is arranged on the control circuit board 500. The optical receiver 221 is connected to the ground terminal of the control circuit board 500 to filter the electromagnetic interference signal transmitted to the second chamber 10b through the receiving opening.
[0075] The support member 120 further includes a support frame group 123, which is disposed on the first surface 1211 of the support body 121. The transmitting mirror group 213, the beam splitter 214, the receiving mirror group 222 and the light return assembly 400 are all installed on the support frame group 123, so that the transmitting mirror group 213, the beam splitter 214, the receiving mirror group 222 and the light return assembly 400 can all be in the first plane. When the support member 120 has electromagnetic shielding properties, a more complete first chamber 10a and a second chamber 10b can be planned, which is convenient for planning the positions of the electrical components and non-electrical components of the laser radar 10, so as to perform EMC design and improve the electromagnetic compatibility (EMC) performance of the laser radar 10.
[0076] The shell 100 of the laser radar 10 also includes a second shell 130, which is assembled with the support member 120, and the second shell 130 and the support member 120 define a second chamber 10b. The laser radar 10 includes other functional devices in addition to the transceiver module 200, the optical scanning device 300 and the optical return component 400, part of which is arranged in the first chamber 10a, and the other part is arranged in the second chamber 10b; or, all of these functional devices are arranged in the second chamber 10b. In the embodiment of the present application, the laser radar 10 is divided into a first chamber 10a and a second chamber 10b by a first plane, and the support member 120 can be set to have electromagnetic shielding properties, and the support member 120 can block the electromagnetic signals from mutual communication in the first chamber 10a and the second chamber 10b, so as to facilitate the EMC design of the laser radar.
[0077] like Figure 3 and Figure 4 As shown, the support member 120 also includes an emitting protrusion 122 protruding from the first surface 1211 of the supporting body 121, and the emitting protrusion 122 has a first mounting groove 1221. The slot of the first mounting groove 1221 is opened in a third direction C perpendicular to the first plane toward a side away from the optical scanning device 300, wherein the mounting shell 212 is arranged in the first mounting groove 1221, so that the optical emitting component 210 can be on the first plane with the optical reflection component 400.
[0078] The emitting protrusion 122 has an emitting opening 1222 corresponding to the light emitter 211, and the emitting opening 1222 is opened along the first direction A. In the first direction A, the emitting lens group 213 and the light emitter 211 are respectively arranged at two opposite ends of the emitting opening 1222, and the detection light emitted by the light emitter 211 can pass through the emitting opening 1222 to be projected to the emitting lens group 213, and then pass through the emitting lens group 213 to be projected to the light return assembly 400. When the support member 120 has electromagnetic shielding properties, the mounting housing 212 can be set to have electromagnetic shielding properties, and the electromagnetic signal can be blocked from passing through the emitting opening 1222 by the mounting housing 212.
[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 "upper", "lower", "left", "right", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.
[0080] The above description is only a preferred embodiment of the present application and is 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: A transceiver module, used for transmitting detection light and receiving echo light reflected from the field of view, including a light transmitting component and a light receiving component; An optical scanning device, used for deflecting the detection light into the field of view to achieve scanning, and also for receiving and deflecting the echo light; as well as A light return component, used for deflecting the optical path for transmitting the detection light and the echo light between the transceiver module and the optical scanning device; The light emitting component, the light receiving component and the light returning component are all located on a first plane, and the light scanning device is spaced apart from the first plane in a direction perpendicular to the first plane.
2. The laser radar according to claim 1, characterized in that: The laser radar includes two transceiver modules, and the light return assembly includes two return units corresponding to the transceiver modules one by one; In a first direction parallel to the first plane, the two transceiver modules are arranged at intervals, and the optical scanning device is arranged between the two transceiver modules, and the return unit deflects the optical path of the corresponding transceiver module.
3. The laser radar according to claim 2, characterized in that: The two transceiver modules and their corresponding return units are symmetrically arranged relative to the central optical axis of the optical scanning device, and the optical paths of the two transceiver modules are aligned with the optical scanning device at the same angle after being deflected by the corresponding return units.
4. The laser radar according to claim 2, characterized in that: The folding unit includes a first folding surface, which is used to deflect the detection light from the corresponding transceiver module and direct it toward the optical scanning device, and is also used to deflect the echo light reflected back from the optical scanning device and direct it toward the corresponding transceiver module.
5. The laser radar according to claim 4, characterized in that: The transceiver module has a light-passing area for the detection light and the echo light to pass through, and the light-passing area is close to the optical scanning device; The return unit also includes at least a second return surface, which is used to deflect the detection light from the corresponding transceiver module toward the first return surface, and is also used to receive the echo light deflected by the first return surface and deflect it to the corresponding transceiver module.
6. The laser radar according to claim 2, characterized in that: The optical transmitting assembly includes an optical transmitter and an emitting lens group arranged along the transmitting optical path, and the optical receiving assembly includes a receiving lens group and an optical receiver arranged along the receiving optical path; The transceiver module further includes a spectrometer, and the spectrometer is used to separate the transmitting light path and the receiving light path, and the transmitting light path and the receiving light path are parallel to the first plane.
7. The laser radar according to claim 6, characterized in that: The transmitting optical path is arranged along the first direction, the optical receiving component includes a first reflector arranged on the receiving optical path, and the echo light from the beam splitter is transmitted along the first direction after being deflected by the first reflector.
8. The laser radar according to claim 7, characterized in that: The receiving mirror group also includes a second reflector, which is arranged on the optical path between the receiving mirror group and the optical receiver. The echo light from the receiving mirror group is deflected by the second reflector and transmitted to the optical receiver along a direction perpendicular to the first plane.
9. The laser radar according to claim 8, characterized in that: The optical receiver is arranged on a side of the first plane opposite to the optical scanning device; the laser radar also includes a control component, which is arranged on a side of the first plane opposite to the optical scanning device, and the optical receiver and the control component are both arranged parallel to the first plane, and the optical receiver and the control component are arranged on the same plane.
10. The laser radar according to claim 9, characterized in that: The laser radar is divided into a first chamber and a second chamber by the first plane, the optical receiver and the control component are both arranged in the second chamber, and the shell of the second chamber has an electromagnetic shielding function.