Laser radar, transmitting and receiving module thereof and assembling method of laser radar

Abstract

The invention provides a laser radar, a receiving and transmitting module thereof and an assembling method of the laser radar, and the receiving and transmitting module comprises a support; the transmitting device is used for transmitting a detection light beam and is mounted at the first end of the bracket; the receiving device is used for receiving an echo light beam and is installed at a second end, opposite to the first end, of the support, and the transmission path of the detection light beam is partially the same as the transmission path of the echo light beam; a transmission path of the detection light beam or the echo light beam is communicated with the first end and the second end of the support. According to the laser radar, the transceiver module thereof and the assembling method of the laser radar, the assembling and adjusting difficulty of the laser radar can be reduced, and the assembling and adjusting efficiency of the laser radar can be improved.

Description

Technical Field

[0001] The present invention relates to the field of environmental perception, and in particular to a laser radar, a transceiver module thereof, and an assembling method of the laser radar. Background Art

[0002] LiDAR is an important sensor for sensing information around a vehicle and is a guarantee of the safety and intelligence of cars with autonomous driving functions.

[0003] Since the lidar needs to be installed on the car and the information it detects will directly affect the safety of the vehicle's driving process, the lidar needs to meet the requirements of small size, high reliability, high imaging frame rate, high resolution, and long ranging.

[0004] In the existing technology, in order to ensure the performance of the laser radar, the laser radar needs to be installed and adjusted. However, since the laser radar includes a transceiver component and optical devices to achieve laser detection requirements, there are many devices, which makes the installation and adjustment of the laser radar more difficult and affects the installation efficiency.

[0005] Therefore, how to reduce the difficulty of laser radar installation and adjustment and improve the efficiency of laser radar installation and adjustment has become a technical problem that needs to be solved urgently. Summary of the Invention

[0006] The present invention provides a laser radar, a transceiver module thereof, and an assembly method of the laser radar, so as to reduce the difficulty of assembling and adjusting the laser radar and improve the assembly and adjustment efficiency of the laser radar.

[0007] To solve the above problems, the present invention provides a transceiver module for laser radar, comprising:

[0008] Bracket;

[0009] an emitting device, for emitting a detection light beam, mounted on the first end of the bracket;

[0010] a receiving device, for receiving the echo light beam, mounted on a second end of the bracket opposite to the first end, wherein a transmission path of the probe light beam is partially identical to a transmission path of the echo light beam;

[0011] A transmission path of the detection light beam or the echo light beam connects the first end and the second end of the bracket.

[0012] Optionally, the bracket is provided with a through hole, and the through hole is used for the echo beam to pass through to guide the echo beam to be received by the receiving device or for the detection beam to pass through to guide the detection beam to be emitted from the bracket.

[0013] Optionally, the receiving device is attached to the first opening of the through hole.

[0014] Optionally, the transmitting device includes at least two transmitting units, the receiving device includes at least two receiving units, and each of the transmitting units corresponds one-to-one to each of the receiving units.

[0015] Optionally, the through hole includes at least two sub-through holes, each of the sub-through holes corresponds to each of the receiving units, and the echo light beam obtained according to the detection light beam emitted by each of the transmitting units passes through the corresponding sub-through hole and is received by the corresponding receiving unit.

[0016] Optionally, it also includes:

[0017] a polarization beam splitter mounted on the bracket, corresponding to both the transmitting device and the receiving device, for reflecting the detection beam emitted by the transmitting device and transmitting the echo beam to the receiving device, wherein the distance between the polarization beam splitter and the transmitting device is smaller than the distance between the polarization beam splitter and the receiving device;

[0018] The wave plate is mounted on the bracket and is located on both sides of the polarization splitter with the receiving device, so as to adjust the polarization of the detection beam reflected by the polarization splitter and the polarization of the echo beam irradiated to the polarization splitter.

[0019] Optionally, each of the transmitting units and each of the receiving units share the polarization splitter and the wave plate.

[0020] Optionally, it also includes:

[0021] A receiving lens is installed in the through hole and is located between the polarization beam splitter and the receiving device, and performs collimation processing on the echo light beam transmitted by the polarization beam splitter.

[0022] Optionally, the number of the receiving lenses is the same as the number of the receiving units, and each receiving lens corresponds to each receiving unit one-to-one.

[0023] Optionally, it also includes:

[0024] A filter is mounted on the bracket, located between the polarization splitter and the receiving device and attached to the second opening of the through hole, the second opening being another opening of the through hole opposite to the first opening, and filtering the echo light beam transmitted by the polarization splitter.

[0025] Optionally, each of the receiving units shares the filter.

[0026] Optionally, it also includes:

[0027] An emitting lens is mounted on the bracket and located between the polarization beam splitter and the emitting device to collimate the detection beam emitted by the emitting device. The distance between the emitting lens and the emitting device is smaller than the distance between the receiving lens and the receiving device.

[0028] Optionally, the number of the emitting lenses is the same as the number of the emitting units, and each emitting lens corresponds one-to-one to each emitting unit.

[0029] Optionally, it also includes:

[0030] a transmitting circuit board, mounted on the first side surface of the bracket and electrically connected to the transmitting device;

[0031] The receiving circuit board is installed on the second side surface of the bracket and is electrically connected to the receiving device. The second side surface is arranged opposite to the first side surface.

[0032] To solve the above problems, the present invention further provides a laser radar, comprising:

[0033] An optical-mechanical module comprises an optical device and an optical-mechanical bracket, wherein the optical device is mounted on the optical-mechanical bracket;

[0034] The transceiver module as described in any one of the specific embodiments is installed on the optical machine bracket, emits a detection light beam, and irradiates it to the optical device, and receives the echo light beam transmitted by the optical device.

[0035] Optionally, the optical-mechanical bracket has an integrated structure.

[0036] Optionally, the transceiver module is installed at the rear end of the optical machine bracket, and the rear end is the end opposite to the light emitting end of the detection light beam.

[0037] Optionally, the optical device includes:

[0038] a reflector, mounted on the optical machine bracket, reflecting the detection beam emitted by the transceiver module and reflecting the echo beam to the transceiver module;

[0039] The lens is mounted on the optical machine bracket and performs collimation processing on the detection light beam emitted by the transceiver module and the echo light beam irradiated to the receiving device.

[0040] Optionally, the optical machine bracket is provided with:

[0041] The light beam through hole is used for light beam transmission, and the reflector and the lens are both installed in the light beam through hole.

[0042] Optionally, the beam through hole includes sub-beam through holes, the number of the sub-beam through holes is the same as the number of transmitting units of the transmitting device of the transceiver module, and the sub-beam through holes are arranged side by side, and the reflector and the lens are arranged in each sub-beam through hole.

[0043] Optionally, the optical device further includes:

[0044] The prism is mounted on the optical machine bracket and located between the transceiver module and the reflector. The number of the prisms is the same as the number of the sub-beam through holes. The prisms rotate the detection beam emitted by the transceiver module and the echo beam reflected by the reflector.

[0045] Optionally, it also includes:

[0046] The scanning module is installed on the inclined support portion of the optical machine bracket, located above the beam through hole and in the middle of the optical machine bracket, reflects the detection beam passing through the optical device to scan the target, and reflects the echo beam reflected by the target to the optical device.

[0047] Optionally, it also includes:

[0048] The first circuit board is installed on the first side of the optical machine bracket, is electrically connected to the transceiver module and the scanning module of the laser radar, and is located on the side of the scanning module.

[0049] Optionally, it also includes:

[0050] The second circuit board is installed on the second side surface of the optical machine bracket, is electrically connected to the first circuit board and the scanning module, and is located on the side surface of the scanning module.

[0051] Optionally, the transmitting circuit board of the transceiver module is electrically connected to the first circuit board and the transmitting device, and the receiving circuit board of the transceiver module is electrically connected to the first circuit board and the receiving device.

[0052] To solve the above problems, the present invention further provides a method for assembling a laser radar, comprising:

[0053] Assembling and adjusting the transceiver module as described in any one of the specific embodiments;

[0054] Installing the optical device on the optomechanical bracket to obtain an optomechanical module;

[0055] Acquire a scanning module, a first circuit board, and a second circuit board;

[0056] The scanning module is installed above the optical-mechanical bracket of the optical-mechanical module, the transceiver module is installed behind the optical-mechanical bracket, and the first circuit board and the second circuit board are installed on the side of the optical-mechanical bracket.

[0057] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0058] The transceiver module provided by the present invention is used for a laser radar, and includes a bracket, a transmitting device and a receiving device respectively mounted on the first end and the second end of the bracket, wherein the transmitting device transmits a detection beam, the receiving device receives an echo beam, and the transmission path of the detection beam and the transmission path of the echo beam are partially the same, and the transmission path of the detection beam or the echo beam is connected to the first end and the second end of the bracket. In this way, when the laser radar obtained by assembling the transceiver module provided by the embodiment of the present invention is used for environmental detection, the detection beam emitted by the transmitting device sequentially passes through a portion of the transmission path of the transceiver device that is different from the transmission path of the echo beam and a portion of the transmission path that is the same as the transmission path of the echo beam, irradiates the transceiver module, and finally irradiates the environment to detect the environment. Objects in the environment reflect the detection beam to generate an echo beam, which, after transmission, passes through a portion of the transmission path that is the same as the transmission path of the detection beam and a portion of the transmission path that is different from the transmission path of the detection beam to be received by the receiving device. It can be seen that the transceiver module provided in the embodiment of the present invention is a separate module, which can be installed and adjusted separately and can be installed visually, thereby reducing the difficulty of installing the transceiver module. In addition, the transceiver module provided in the embodiment of the present invention does not include an external shell part, thereby improving the heat dissipation effect of the transceiver module. When the transceiver module provided in the embodiment of the present invention is used to install the laser radar, since the transceiver module is already an installed module, it only needs to be installed with other modules of the laser radar, thereby reducing the difficulty of installing the laser radar; in addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient; and the transmission path of the detection light beam is partially the same as the transmission path of the echo light beam, while reducing the required devices, the detection effect can also be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0060] Figure 11 is a schematic structural diagram of a laser radar provided by an embodiment of the present invention;

[0061] Figure 2 Schematic diagram of the structure of the transceiver module provided in an embodiment of the present invention;

[0062] Figure 3 is a cross-sectional schematic diagram of a transceiver module provided in an embodiment of the present invention;

[0063] Figure 4 Another schematic diagram of the structure of the laser radar provided by an embodiment of the present invention;

[0064] Figure 5 A schematic diagram of the structure of an optical-mechanical support for a laser radar provided in an embodiment of the present invention;

[0065] Figure 6 A schematic diagram of the transmission path of the detection beam of the laser radar provided in an embodiment of the present invention;

[0066] Figure 7 Schematic diagram of the transmission path of the laser radar echo beam provided in an embodiment of the present invention:

[0067] Figure 8 A schematic cross-sectional view of a laser radar provided by an embodiment of the present invention;

[0068] Figure 9 Another cross-sectional schematic diagram of a laser radar provided by an embodiment of the present invention;

[0069] Figure 10 A schematic flow chart of an assembly method of a laser radar provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0070] As can be seen from the background technology, the installation and adjustment of laser radar is difficult, which affects the installation and adjustment efficiency.

[0071] In order to improve the laser radar, reduce the difficulty of laser radar installation and adjustment, and improve the efficiency of laser radar installation and adjustment, an embodiment of the present invention provides a transceiver module for laser radar, including:

[0072] Bracket;

[0073] an emitting device, for emitting a detection light beam, mounted on the first end of the bracket;

[0074] a receiving device, for receiving the echo light beam, mounted on a second end of the bracket opposite to the first end, wherein a transmission path of the probe light beam is partially identical to a transmission path of the echo light beam;

[0075] A transmission path of the detection light beam or the echo light beam connects the first end and the second end of the bracket.

[0076] It can be seen that the transceiver module provided in the embodiment of the present invention is a separate module, which can be installed and adjusted separately and can be installed visually, thereby reducing the difficulty of installing the transceiver module. In addition, the transceiver module provided in the embodiment of the present invention does not include an external shell part, thereby improving the heat dissipation effect of the transceiver module. When the transceiver module provided in the embodiment of the present invention is used to install the laser radar, since the transceiver module is already an installed module, it only needs to be installed with other modules of the laser radar, thereby reducing the difficulty of installing the laser radar; in addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient; and the transmission path of the detection light beam is partially the same as the transmission path of the echo light beam, while reducing the required devices, the detection effect can also be guaranteed.

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0078] It should be noted that the orientations or positional relationships indicated in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device referred to must have a specific orientation or be constructed in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0079] Please refer to Figure 1 , Figure 1 1 is a schematic structural diagram of a laser radar provided by an embodiment of the present invention; Figure 2 Schematic diagram of the structure of the transceiver module provided in an embodiment of the present invention; Figure 3 It is a cross-sectional schematic diagram of the transceiver module provided by an embodiment of the present invention.

[0080] like Figure 1 As shown, the laser radar provided by the embodiment of the present invention includes an optical-mechanical module 2, a transceiver module 1 and a scanning module 3. The transceiver module 1 transmits a detection beam, which is irradiated to the optical-mechanical module 2, and then to the scanning module 3 via the optical-mechanical module 2. The detection beam scans the environment under the action of the scanning module 3, and the detection beam is reflected by the target to generate an echo beam. The echo beam is irradiated to the transceiver module 1 via the scanning module 3 and the optical-mechanical module 2, and is received by the transceiver module 1 to realize target detection.

[0081] like Figure 2 and Figure 3As shown, the transceiver module 1 provided in this embodiment of the present invention includes:

[0082] Bracket 11;

[0083] The emitting device 12 is used to emit a detection light beam (arrow a in the figure) and is installed at the first end of the bracket 11;

[0084] a receiving device 13 for receiving the echo beam (arrow b in the figure), mounted on a second end of the bracket 11 opposite to the first end, wherein the transmission path of the probe beam is partially the same as the transmission path of the echo beam;

[0085] The transmission path of the detection light beam or the echo light beam connects the first end and the second end of the bracket 11 .

[0086] It is easy to understand that if Figure 3 As shown in FIG, when the bracket 11 is Figure 3 When the bracket 11 is placed in the position, the first end of the bracket 11 can be the bottom end of the bracket 11, and the second end of the bracket 11 can be the top end of the bracket 11. The transmission path of the detection beam a described in this article is partially the same as the transmission path of the echo beam b, which means that in the transceiver module, both the transmission path of the detection beam a and the transmission path of the echo beam b are included, wherein the transmission path of the detection beam a is partially the same as the transmission path of the echo beam b, and the other part is different. Of course, as Figure 3 As shown in FIG, the transmission paths farther from the transmitter 12 and the receiver 13 are the same, while the transmission paths closer to the transmitter 12 and the transmission paths closer to the receiver 13 are different. In one embodiment, the different transmission path portions may be perpendicular to each other.

[0087] In this way, when the laser radar obtained by assembling the transceiver module 1 provided in the embodiment of the present invention is used for environmental detection, the detection beam a emitted by the transmitting device 12 passes through the transmission path of the transceiver device that is different from the transmission path of the echo beam b, that is, the transmission path closer to the transmitting device 12, and the transmission path that is the same as the transmission path of the echo beam b, that is, the transmission path farther from the transmitting device 12, and finally emerges from the transceiver module 1 and passes through the following steps: Figure 1 The optical-mechanical module 2 shown is finally irradiated into the environment to detect the environment. The objects in the environment reflect the detection beam a to generate an echo beam b, which is transmitted by the optical-mechanical module 2 and passes through the same transmission path as the transmission path of the detection beam a, that is, the part of the transmission path farther away from the receiving device 13, and a transmission path different from the transmission path of the detection beam a, that is, the part of the transmission path closer to the receiving device 13, and is received by the receiving device 13.

[0088] It can be seen that the transceiver module provided in the embodiment of the present invention is a separate module, which can be installed and adjusted separately and can be installed visually, thereby reducing the difficulty of installing the transceiver module. In addition, the transceiver module provided in the embodiment of the present invention does not include an external shell part, thereby improving the heat dissipation effect of the transceiver module. When the transceiver module provided in the embodiment of the present invention is used to install the laser radar, since the transceiver module is already an installed module, it only needs to be installed with other modules of the laser radar, thereby reducing the difficulty of installing the laser radar; in addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient; and the transmission path of the detection light beam is partially the same as the transmission path of the echo light beam, while reducing the required devices, the detection effect can also be guaranteed.

[0089] In a specific embodiment, in order to eliminate stray light and improve the detection effect, the bracket 11 of the transceiver module 1 provided in an embodiment of the present invention can have a through hole 19, and the through hole 19 is used for the echo light beam to pass through to guide the echo light beam to be received by the receiving device 13 or for the detection light beam to pass through to guide the detection light beam to be emitted from the bracket 11.

[0090] When the receiving device 13 is set at the second end of the bracket 11, the echo light beam enters from the first end of the bracket 11 and passes through the through hole 19 to be received by the receiving device 13. When the transmitting device 12 is set at the second end of the bracket 11, the detection light beam passes through the through hole 19 and is emitted from the first end of the bracket 11.

[0091] It is easy to understand that through hole 19 extends through bracket 11, that is, connecting the first end and the second end of bracket 11. Through hole 19 can have a constant cross-sectional area or a variable cross-sectional area, such as a stepped hole or a tapered hole. The cross-sectional shape of through hole 19 can be determined as needed, such as circular, square, oblong, etc. Of course, to reduce losses during echo beam transmission and improve the accuracy of the echo beam received by receiving device 13, receiving device 13 can be placed in contact with the first opening of through hole 19. Thus, after the echo beam passes through through hole 19, it is directly received by receiving device 13.

[0092] In one embodiment, Figure 2 As shown, in order to improve the detection coverage and resolution, the transmitting device 12 may include at least two transmitting units 121, and the receiving device 13 includes at least two receiving units (not shown in the figure), and each of the transmitting units 121 corresponds one-to-one to each of the receiving units.

[0093] The emitting unit 121 may be a semiconductor laser, including a vertical cavity surface emitting laser (VCSEL) or an edge emitting laser (EEL), so as to reduce costs while ensuring resolution.

[0094] The receiving unit can be a single-photon detector to enhance the detection sensitivity of the lidar, or it can be a silicon photomultiplier (SiPM) with high gain, high sensitivity, low bias voltage, insensitivity to magnetic fields, and compact structure.

[0095] When performing environmental detection, the receiving unit receives the echo beam obtained after the detection beam emitted by the corresponding transmitting unit 121 is reflected by the environmental objects. In the subsequent signal processing process, the detection coverage is improved by splicing the echo beams received by each receiving unit.

[0096] It is easy to understand that in order to ensure that each transmitting unit 121 can achieve one-to-one correspondence with each receiving unit, the position of the transmitting device 12 and the receiving device 13 installed on the bracket 11 is adjustable so that each transmitting unit 121 corresponds one-to-one to each receiving unit.

[0097] Of course, the installation positions of the transmitting device 12 and the receiving device 13 on the bracket 11 can be adjusted by different degrees of tightening of the connecting parts or by adjusting the connection positions, which will not be described in detail here.

[0098] Since there are at least two transmitting units 121 and receiving units, in order to improve the effect of eliminating stray light, please refer to Figure 2 and Figure 3 The through hole 19 may include at least two sub-through holes 191, each of the sub-through holes 191 corresponds to each of the receiving units, and the echo light beam obtained according to the detection light beam emitted by each of the transmitting units 121 passes through the corresponding sub-through hole 191 and is received by the corresponding receiving unit.

[0099] In this way, during the propagation process, it is possible to prevent the receiving unit from receiving an echo beam obtained based on a detection beam emitted by a transmitting unit 121 that does not correspond to it, thereby affecting the accuracy of detection.

[0100] Of course, in order to realize that the transmission path of the detection beam is partially identical to the transmission path of the echo beam, in a specific embodiment, please continue to refer to Figure 3 , the transceiver module 1 provided in the embodiment of the present invention further includes:

[0101] a polarization beam splitter 16 mounted on the bracket 11, corresponding to both the transmitter 12 and the receiver 13, for reflecting the probe beam emitted by the transmitter 12 and transmitting the echo beam to the receiver 13, wherein the distance between the polarization beam splitter 16 and the transmitter 12 is smaller than the distance between the polarization beam splitter 16 and the receiver 13;

[0102] The wave plate 18 is mounted on the bracket 11 and is located on both sides of the polarization splitter 16 together with the receiving device 13, so as to adjust the polarization of the detection beam reflected by the polarization splitter 16 and the polarization of the echo beam irradiated to the polarization splitter 16.

[0103] Specifically, the polarization beam splitter 16 may be a polarizing beam splitter prism (PBS) or a polarization beam splitter plate, and the wave plate 18 may be a quarter wave plate to meet the need for adjusting the polarization direction of the light beam.

[0104] In this way, the distance between the polarization splitter 16 and the transmitting device 12 is smaller than the distance between the polarization splitter 16 and the receiving device 13, which can make the detection beam transmission path shorter and the detection beam energy relatively concentrated, which is more conducive to environmental detection.

[0105] It can be seen that when the laser radar is assembled and adjusted using the transceiver module 1 provided in the embodiment of the present invention to perform environmental detection, the detection light beam emitted by the transmitting device 12 passes through the transmission path of the detection light beam of the transceiver 1 in sequence, which is different from the transmission path of the echo light beam, and is irradiated to the polarization spectrometer 16. After being reflected by the polarization spectrometer 16, it is irradiated to the wave plate 18, and its polarization direction changes. It is irradiated out of the transceiver module 1 and is transmitted through the optical module 2. The detection light beam scans the environment through the scanning module 3, and the echo light beam generated by the detection light beam being reflected by the target is irradiated to the wave plate 18 after passing through the scanning module 3 and the optical module 2, and its polarization direction is changed again. It is irradiated to the polarization spectrometer 16 and transmitted. The transmission path of the echo light beam, which is different from the transmission path of the detection light beam, is received by the receiving device 13. It can be seen that the setting of the polarization spectrometer 16 and the wave plate 18 can easily achieve the same transmission path, thereby reducing the required optical devices and reducing the size of the laser radar.

[0106] On the other hand, in order to reduce the impact of the differences in the polarization beam splitter 16 and the wave plate 18, as well as the differences in their installation, on the transmission processes of different probe beams and echo beams, in one specific embodiment, each of the transmitting units 121 and each of the receiving units shares the polarization beam splitter 16 and the wave plate 18. Thus, compared to using multiple polarization beam splitters and wave plates corresponding to each transmitting unit 121 and receiving unit, the present invention uses a single polarization beam splitter 16 and wave plate 18 shared by each transmitting unit 121 and receiving unit, which is easier to install and can reduce transmission path deviation caused by installation errors.

[0107] Please continue to refer to Figure 3 In order to increase the energy of the echo light beam received by the receiving device, in a specific embodiment, the transceiver module 1 provided by the present invention further includes: a receiving lens 14, which is installed in the through hole 19 and is located between the polarization splitter 16 and the receiving device 13, and collimates the echo light beam transmitted by the polarization splitter 16.

[0108] like Figure 3 As shown, in order to facilitate the installation of the receiving lens 14, the through hole 19 can be set as a stepped hole, and the lens 14 is set at the step of the stepped hole.

[0109] Of course, when multiple sub-through holes 191 (shown in FIG. Figure 2 In order to facilitate the installation of the receiving lens 14 and ensure the collimation processing effect of the light beam, the number of the receiving lenses 14 can be the same as the number of the receiving units, and each of the receiving lenses 14 corresponds to each of the receiving units.

[0110] In another specific embodiment, please continue to refer to Figure 3 In order to suppress ambient light, the transceiver module 1 provided in an embodiment of the present invention may further include: a filter 15, mounted on the bracket 11, located between the polarization beam splitter 16 and the receiving device 13 and attached to the second opening of the through hole 19, the second opening being another opening of the through hole 19 opposite to the first opening, and filtering the echo light beam transmitted by the polarization beam splitter 16.

[0111] The setting of the filter 15 can filter out the ambient light, and the filter 15 is attached to the opening of the through hole 19 (ie, the second opening), which can avoid the influence of the ambient light as much as possible and improve the accuracy of environmental detection.

[0112] Of course, for the convenience of installation, and because the optical filter 15 is attached to the second opening of the through hole 19 , in a specific embodiment, each receiving unit can share the optical filter 15 .

[0113] In order to improve the quality of the detection light beam, in a specific embodiment, the transceiver module 1 provided by the present invention also includes: a transmitting lens 17, which is installed on the bracket 11 and is located between the polarization splitter 16 and the transmitting device 12, and collimates the detection light beam emitted by the transmitting device 12, and the distance between the transmitting lens 17 and the transmitting device 12 is smaller than the distance between the receiving lens 14 and the receiving device 13.

[0114] The distance between the transmitting lens 17 and the transmitting device 12 is small, which can improve the light extraction efficiency. The distance between the receiving lens 14 and the receiving device 13 is large, which can increase the size of the receiving lens and improve the energy of the echo light beam received by the receiving device.

[0115] For the convenience of installation and adjustment, the number of the emitting lenses 17 can be the same as the number of the emitting units 121 , and each emitting lens 17 corresponds to each emitting unit 121 one by one.

[0116] In this way, when the transceiver module 1 provided in the embodiment of the present invention is used to assemble and adjust a laser radar for environmental detection, the detection light beam a emitted by the transmitting device 12 passes through the transmitting lens 17, irradiates the polarization spectrometer 16, is reflected by the polarization spectrometer 16, and irradiates the wave plate 18. The polarization direction changes, and it irradiates the transceiver module 1, and is transmitted through the optical module 2. It is irradiated into the environment through the scanning module 3 to detect the environment. The echo light beam b generated by the reflection passes through the scanning module 3 and the optical module 2, and then irradiates the wave plate 18, and then the polarization direction is changed again. It is irradiated into the polarization spectrometer 16 and transmitted, and then irradiates the filter 15 set in the second opening of the through hole 19 and the receiving lens 14 set in the through hole 19, and is received by the receiving device 13.

[0117] It is easy to understand that the transmission path from the transmitting device 12 to the polarization spectrometer 16 is a transmission path different from the transmission paths of the detection beam a and the echo beam b, and the transmission path after passing through the polarization spectrometer 16 is the same transmission path as the transmission paths of the detection beam a and the echo beam b.

[0118] Of course, the transmitting unit 12 transmitting the detection beam and the receiving unit 13 receiving the echo beam both need to be powered by the circuit board. In a specific embodiment, the transceiver module 1 provided in the embodiment of the present invention may further include:

[0119] A transmitting circuit board (not shown) is mounted on a first side of the bracket 11 and electrically connected to the transmitting device 12. A receiving circuit board (not shown) is mounted on a second side of the bracket 11 and electrically connected to the receiving device 13, with the second side facing the first side. Placing the transmitting and receiving circuit boards on opposite sides of the bracket 11 facilitates heat dissipation for each circuit board. Furthermore, placing the transmitting and receiving circuit boards within the transceiver module 1 facilitates independent adjustment of the transceiver modules.

[0120] In order to solve the above problems, the embodiment of the present invention also provides a laser radar, please continue to refer to Figure 1 ,include:

[0121] The optical-mechanical module 2 includes an optical device 22 and an optical-mechanical bracket 21 , wherein the optical device 22 is mounted on the optical-mechanical bracket 21 ;

[0122] The transceiver module 1 as described in any of the aforementioned embodiments is mounted on the optical machine bracket 21 , emits a detection beam, irradiates the optical device 22 , and receives an echo beam transmitted by the optical device 22 .

[0123] Of course, the laser radar also includes a scanning module 3 to reflect the detection beam passing through the optical device 22 to scan the target, and reflect the echo beam reflected by the target to the optical device 22.

[0124] It is easy to understand that the optical device 22 is used to transmit the detection light beam emitted by the transceiver module 1 and the echo light beam received, and is installed on the optical machine bracket 21 to easily achieve position and posture adjustment.

[0125] During the environmental detection process, the detection beam emitted by the transceiver module 1 of the laser radar is irradiated to the optical device 22 of the optomechanical module, transmitted through the optical device 22, and reflected by the scanning module 3 before being irradiated into the environment to detect the environment. The target in the environment reflects the detection beam to generate an echo beam, which is irradiated to the scanning module 3, reflected to the optomechanical module 2, and transmitted to the transceiver module 1 through the optical device 22 of the optomechanical module 2, and finally received by the receiving device 13.

[0126] It can be seen that the transceiver module provided in the embodiment of the present invention is a separate module, which can be installed and adjusted separately and can be installed visually, thereby reducing the difficulty of installing the transceiver module. In addition, the transceiver module provided in the embodiment of the present invention does not include an external shell part, thereby improving the heat dissipation effect of the transceiver module. When the transceiver module provided in the embodiment of the present invention is used to install the laser radar, since the transceiver module is already an installed module, it only needs to be installed with other modules of the laser radar, thereby reducing the difficulty of installing the laser radar; in addition, since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient; and the transmission path of the detection light beam is partially the same as the transmission path of the echo light beam, while reducing the required devices, the detection effect can also be guaranteed.

[0127] Of course, in a specific embodiment, the optical-mechanical bracket 21 of the laser radar described in this article has an integrated structure, which can facilitate the setting of optical devices, reduce the requirements for mechanical structure processing, and reduce the possibility of misalignment of various optical devices 22 due to the action of external loads. Moreover, due to the integrated mechanical structure, heat can be directly transmitted through the optical-mechanical bracket 21, avoiding the influence of heat dissipation due to air partitions between multiple components, thereby improving the heat dissipation effect.

[0128] It is easy to understand that the optical-mechanical bracket 21 has an integrated structure, which means that the optical-mechanical bracket 21 is an integral structure, and can be manufactured by processing techniques such as casting and turning.

[0129] Of course, to facilitate the arrangement of various components and enable environmental detection, in one embodiment, the transceiver module 1 can be mounted at the rear end of the optical engine bracket 21, where the rear end is the end opposite the light-emitting end of the detection beam. This allows full utilization of the space at various locations within the optical engine bracket 21, while ensuring that the detection beam is not obstructed from reaching the environment to be detected and that the echo beam is smoothly received.

[0130] Of course, in order to realize the detection of the environment, the embodiment of the present invention also provides a scanning module. Figure 1 ,refer to Figure 4 and Figure 5 , Figure 4 Another schematic diagram of the structure of the laser radar provided by an embodiment of the present invention; Figure 5 A schematic structural diagram of the optical-mechanical support of a laser radar provided in an embodiment of the present invention.

[0131] like Figure 4 and 5As shown in the figure, the scanning module 3 is installed on the inclined support part 211 of the optical machine bracket 21, located above the beam through hole for installing the optical device 22 and in the middle of the optical machine bracket 21, reflects the detection beam passing through the optical device 22 to scan the target, and reflects the echo beam reflected by the target to the optical device 22.

[0132] During the operation of the laser radar, the scanning device of the scanning module 3 rotates under the drive of the driving device of the scanning module 3, so that the detection beam scans the environment. The target in the environment reflects the detection beam to generate an echo beam, which is then irradiated to the scanning device of the scanning module 3 and then transmitted through the optical device 22.

[0133] The inclined support part 211 of the optical machine bracket 21 can ensure a better supporting effect. The scanning module 3 is installed on the inclined support part 211 of the optical machine bracket 21 to ensure stability, and the inclined support part 211 is located above the beam through hole of the optical device 22, which is convenient for the detection beam to irradiate the environment, so as to improve the detection effect.

[0134] Of course, in order to ensure the emission of the laser radar detection beam, the reception of the echo beam, and the scanning of the scanning module 3, in a specific embodiment, the laser radar provided in the embodiment of the present invention may further include:

[0135] The first circuit board 41 is installed on the first side of the optical machine bracket 21 , is electrically connected to the transceiver module 1 and the scanning module 3 of the laser radar, and is located on the side of the scanning module 3 .

[0136] The first circuit board 41 is electrically connected to the transceiver module 1 and the scanning module 3 of the laser radar respectively, and can provide power for the transceiver module 1 and the scanning module 3 to ensure that the transmitting device 12 emits a detection beam and the receiving device 13 receives an echo beam. At the same time, the driving device of the scanning module 3 can generate a driving force to drive the scanning device to rotate.

[0137] The first circuit board 41 is electrically connected to the transceiver module 1 and the scanning module 3 respectively, which may be a direct connection or an indirect connection through other devices.

[0138] Of course, the first circuit board 41 is installed on the first side of the optical machine bracket 21, which not only facilitates the setting of the first circuit board 41, but also the distance between the first circuit board 41 and the shell of the laser radar is very small, and heat can be directly transferred to the shell of the laser radar, thereby facilitating heat dissipation.

[0139] Specifically, if Figure 5 As shown, the first circuit board 41 can be fixed to the first side surface of the optical machine bracket 21 through the circuit board support portion 212 of the optical machine bracket 21 .

[0140] In order to better power and control each component, in another specific embodiment, it also includes:

[0141] The second circuit board 42 is mounted on the second side surface of the optical machine bracket 21 , is electrically connected to the first circuit board 41 and the scanning module 3 , and is located on the side surface of the scanning module 3 .

[0142] The second circuit board 42 is electrically connected to the first circuit board 41 , receives control from the first circuit board 41 , and supplies power to the scanning module 3 and controls the rotation of the scanning module 3 .

[0143] The provision of the second circuit board 42 can further improve the processing capability and processing speed, and can further improve the heat dissipation capability.

[0144] On the other hand, in order to facilitate the control of the transmitting device 12 and the receiving device 13, the transmitting circuit board (not shown in the figure) of the transceiver module 1 is electrically connected to the first circuit board 41 and the transmitting device 12, respectively, and the receiving circuit board (not shown in the figure) of the transceiver module 1 is electrically connected to the first circuit board and the receiving device, respectively.

[0145] Specifically, in order to ensure the propagation of the light beam, adjust the light beam transmission path, improve the compactness of the laser radar, and improve the light beam quality, the optical device 22 of the optical-mechanical module 2 may include:

[0146] a reflector, mounted on the optical machine bracket 21 , to reflect the detection beam emitted by the transceiver module 1 and reflect the echo beam to the transceiver module 1 ;

[0147] The lens is mounted on the optical machine bracket 21 and performs collimation processing on the detection light beam emitted by the transceiver module 1 and the echo light beam irradiated to the receiving device.

[0148] It is easy to understand that multiple reflectors and lenses can be provided as needed, and the number of reflectors and the number of lenses can be the same or different, as long as the performance requirements can be met.

[0149] For ease of understanding, the following Figure 6 and Figure 7 For further explanation, please refer to Figure 6 and Figure 7 , Figure 6 A schematic diagram of the transmission path of the detection beam of the laser radar provided in an embodiment of the present invention, Figure 7 A schematic diagram of the transmission path of the echo light beam of the laser radar provided in an embodiment of the present invention.

[0150] like Figure 6 and Figure 7As shown, the reflector may include a first reflector 222 , which may reflect the detection light beam emitted by the transceiver module 1 and reflect the echo light beam to the transceiver module 1 .

[0151] Specifically, the light beam emitted by the transmitting device 12 of the transceiver module 1 passes through the transmitting lens 17 and is irradiated to the polarization splitter 16. After polarization splitting, it is irradiated to the wave plate 18 for polarization state adjustment, and then irradiated to the first reflector 222 for reflection, changing the transmission path for subsequent transmission and detection. Of course, the echo light beam is reflected by the first reflector 222, irradiated to the wave plate 18 and the polarization splitter 16, and after transmission, it is irradiated to the filter 15 and the receiving lens 14, and is received by the receiving device 13.

[0152] It can be seen that, through the first reflector 222 , the detection beam transmitted in the vertical direction can be changed into a detection beam transmitted in the horizontal direction, or the echo beam transmitted in the horizontal direction can be adjusted into an echo beam transmitted in the vertical direction.

[0153] In order to ensure the quality of the light beam, the detection light beam reflected by the first reflector 222 can also be collimated, or the echo light beam can be collimated before being irradiated to the first reflector 222, that is, the lens includes: a first lens 223, which is installed behind the first reflector 222 in the transmission path of the detection light beam, and collimates the detection light beam reflected by the first reflector 222, and collimates the echo light beam irradiated to the first reflector 222.

[0154] Of course, after changing the beam transmission path once, if the beam transmission path needs to be changed again, the reflector can also include: a second reflector 224, which reflects the detection beam reflected by the first reflector 222 and reflects the echo beam to the first reflector 222.

[0155] In this case, the first lens 223 may be disposed between the first reflector 222 and the second reflector 224 to collimate the detection beam reflected by the first reflector 222 and the echo beam reflected by the second reflector 224 .

[0156] Specifically, the detection light beam reflected by the second reflector 224 can also be collimated once, and the echo light beam can be irradiated to the second reflector 224 after the collimation. Therefore, a second lens 225 can also be provided, which is installed behind the second reflector 224 in the transmission path of the detection light beam to collimate the detection light beam reflected by the second reflector 224, and to collimate the echo light beam irradiated to the second reflector 224.

[0157] Of course, after changing the beam transmission path twice, if the beam transmission path needs to be changed again, the reflector can also include: a third reflector 226, which reflects the detection beam reflected by the second reflector 224 and reflects the echo beam to the second transmitting mirror 224.

[0158] The second lens 225 may be installed between the second reflecting mirror 224 and the third reflecting mirror 226 to collimate the detection light beam reflected by the second reflecting mirror 224 and to collimate the echo light beam reflected by the third reflecting mirror 226 .

[0159] Furthermore, in order to facilitate the detection beam to be irradiated to the scanning module 3, the optical device 22 can also include a fourth reflector 227, which is installed on the optical machine bracket 21 and suspended above the optical machine bracket 21, reflecting the detection beam reflected by the third reflector 226 to the scanning module 3, and reflecting the echo beam reflected by the scanning module 3 to the third reflector 226.

[0160] In order to make the structure of the laser radar more compact, in a specific embodiment, a fifth reflector 228 can also be provided to change the transmission path of the light beam again, wherein the fifth reflector 228 is installed on the optical machine bracket 21, and is located below the fourth reflector 227, opposite to the fourth reflector 227, reflecting the detection light beam reflected by the fourth reflector 227 to the scanning module 3, and reflecting the echo light beam reflected by the scanning module 3 to the fourth reflector 227.

[0161] Of course, in order to facilitate the installation of each optical device 22 on the optical machine bracket 21, please refer to Figure 8 and Figure 9 , Figure 8 A schematic cross-sectional view of a laser radar provided by an embodiment of the present invention is shown in FIG. Figure 9 Another cross-sectional schematic diagram of the laser radar provided in an embodiment of the present invention.

[0162] like Figure 8 As shown in , in a specific embodiment, the optical machine bracket 21 may further be provided with a beam through hole 229, and the reflector and the lens are both mounted in the beam through hole 229. Thus, during the transmission of the light beam, the beam through hole 229 can be used to eliminate stray light and improve the detection effect.

[0163] Of course, the beam through hole 229 may include sub-beam through holes 2291. The number of the beam sub-holes 2291 is the same as the number of the transmitting units 1 of the transmitting device 12 of the transceiver module 1. The sub-beam through holes 2291 are arranged side by side, and the reflector and the lens are disposed in each sub-beam through hole 2291. In this way, the detection beam emitted by each transmitting unit 121 and the corresponding echo beam can be transmitted through the corresponding sub-beam through hole 2291, which can further improve the stray light elimination effect.

[0164] Of course, in another specific embodiment, the laser radar provided by the embodiment of the present invention, the optical device 22 may also include: a prism 221 (shown in FIG. Figure 6 and Figure 7 ), is installed on the optical machine bracket 21 and is located between the transceiver module 1 and the reflector. The number of the prisms 221 is the same as the number of the sub-beam through holes 2291. The detection beam emitted by the transceiver module 1 and the echo beam reflected by the reflector are rotated so that the light spots formed by the detection beams emitted by different transmitting units 121 are parallel to each other, thereby improving the detection coverage.

[0165] Specifically, the prism 221 may be a Dove prism.

[0166] In order to solve the above technical problems, the embodiment of the present invention also provides an assembly method of a laser radar, please refer to Figure 10 , Figure 10 A schematic flow chart of an assembly method of a laser radar provided in an embodiment of the present invention.

[0167] As shown in the figure, the assembly method of the laser radar provided by the embodiment of the present invention includes:

[0168] Step S1: assemble and adjust the transceiver module as described in any of the above specific embodiments.

[0169] In order to assemble the laser radar, each module is first obtained. For this purpose, the transceiver module 1 is assembled and adjusted.

[0170] Step S2: Install the optical device 22 on the optical-mechanical bracket 21 to obtain the optical-mechanical module 2.

[0171] In addition to assembling and adjusting the transceiver module 1 , it is also necessary to obtain the optical-mechanical module 2 . To this end, each optical device 22 is installed on the optical-mechanical bracket 21 .

[0172] Step S3: Acquire the scanning module 3 , the first circuit board 41 and the second circuit board 42 .

[0173] It is easy to understand that the execution order of step S1, step S2 and step S3 is not limited, as long as the assembled transceiver module 1, the assembled optical module 2, the scanning module 3, the first circuit board 41 and the second circuit board 42 can be obtained.

[0174] Of course, in another specific implementation, the assembled transceiver module 1 , the assembled optical-mechanical module 2 , the scanning module 3 , the first circuit board 41 and the second circuit board 42 may also be directly obtained.

[0175] Step S4: Install the scanning module 3 above the optical-mechanical bracket 21 of the optical-mechanical module 2, install the transceiver module 1 behind the optical-mechanical bracket 21, and install the first circuit board 41 and the second circuit board 42 on the side of the optical-mechanical bracket 21.

[0176] Each module is installed at the corresponding position of the optical machine bracket 21 to obtain an assembled laser radar.

[0177] In this way, the assembly method of the laser radar provided by the embodiment of the present invention, since the optical-mechanical module and the transceiver module are separate modules, they can be installed and adjusted separately, and the transceiver module can be visually installed, thereby reducing the difficulty of installing and adjusting the transceiver module part, and then the optical-mechanical module and the transceiver module are assembled, reducing the difficulty of installing and adjusting the laser radar, and the assembled transceiver module of the laser radar does not include an external shell part, which can improve the heat dissipation effect of the transceiver module, and since the transmitting device and the receiving device are respectively arranged on both sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the setting is more convenient, and the transmission path of the detection beam is partially the same as the transmission path of the echo beam, and the optical devices of the optical-mechanical module 2 are all shared during the transmission of the detection beam and the echo beam, which can further reduce the required devices while ensuring the detection effect.

[0178] Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A laser radar, characterized in that: include: A first emitting unit, configured to emit a first detection beam; a second emitting unit, configured to emit a second detection beam; a first receiving unit, configured to receive a first echo light beam; a second receiving unit, configured to receive a second echo light beam; wherein the first transmitting unit corresponds to the first receiving unit, and the second transmitting unit corresponds to the second receiving unit; a scanning module, configured to reflect the first detection beam and the second detection beam to scan a target, and reflect the first echo beam to the first receiving unit, and reflect the second echo beam to the second receiving unit; The first sub-beam through hole and the second sub-beam through hole; in, The transmission path of the first probe beam is partially identical to the transmission path of the first echo beam; The transmission path of the second probe beam is partially the same as the transmission path of the second echo beam; the first sub-beam through-holes correspond to the first transmitting unit and the first receiving unit respectively, the first probe beam is emitted through the first sub-beam through-holes, and the first echo beam is received by the first receiving unit through the first sub-beam through-holes; The second sub-beam through holes correspond to the second transmitting unit and the second receiving unit respectively, the second detection beam is emitted through the second sub-beam through holes, and the second echo beam is received by the second receiving unit through the second sub-beam through holes; The first sub-beam through hole and the second sub-beam through hole are arranged side by side.

2. The laser radar according to claim 1, wherein The first emitting unit and the first receiving unit are arranged on the same side of the first sub-beam through hole, and the second emitting unit and the second receiving unit are arranged on the same side of the second sub-beam through hole.

3. The laser radar according to claim 1, wherein The laser radar further includes a reflector and a lens, and the reflector and the lens are both arranged in the first sub-beam through hole and the second sub-beam through hole.

4. The laser radar according to claim 1, wherein The laser radar also includes a first deflection mirror and a second deflection mirror; the first deflection mirror deflects the first detection beam to the scanning module, and deflects the first echo beam to the first receiving unit; the second deflection mirror deflects the second detection beam to the scanning module, and deflects the second echo beam to the second receiving unit.

5. The laser radar according to claim 4, wherein: The first deflecting mirror is arranged on a side of the first sub-beam through hole opposite to the first emitting unit, and the second deflecting mirror is arranged on a side of the second sub-beam through hole opposite to the second emitting unit.

6. The laser radar according to claim 4, wherein: The scanning module is arranged in a space obliquely above the first deflecting mirror and the second deflecting mirror.

7. The laser radar according to any one of claims 4 to 6, characterized in that: The first deflecting mirror and the second deflecting mirror are symmetrically arranged relative to the scanning module.

8. The laser radar according to any one of claims 4 to 6, wherein: The scanning module is installed on an inclined surface installation portion, and the inclined surface installation portion is inclined toward the first deflecting mirror and the second deflecting mirror.

9. The laser radar according to any one of claims 1 to 6, wherein: The first emitting unit and the second emitting unit include vertical cavity surface emitting lasers or edge emitting lasers.

10. The laser radar according to any one of claims 1 to 6, characterized in that: The first receiving unit and the second receiving unit include silicon photomultiplier tubes.

11. The laser radar according to any one of claims 1 to 6, characterized in that: The laser radar further includes a filter for filtering the first echo light beam and the second echo light beam.

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