Positioning structure and laser radar system

Abstract

The invention provides a positioning structure and a laser radar system, the positioning structure is used for a receiving assembly of the laser radar system, and the receiving assembly is used for receiving reflected light reflected from a target object. The receiving assembly comprises a receiving lens located on a reflected light path and a shell used for containing the receiving lens. The positioning structure is detachably connected to the shell so as to determine the relative position of the receiving lens and the shell when the positioning structure is locked to the shell, so that positioning of the receiving lens is facilitated.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to, but are not limited to, the field of radar technology, and in particular, to a positioning structure and a laser radar system. Background Art

[0002] Radar (Radio Detection and Ranging, referred to as Radar) is a radio wave ranging system used to detect, locate, and track targets. Radar transmits radio waves and receives signals reflected by the target object. By analyzing these signals, it can obtain the target's position, speed, and other relevant information. LiDAR is a branch of radar technology and is generally classified as an active radar system. The difference between LiDAR and traditional radar is that it uses laser beams instead of radio waves to detect targets. Therefore, LiDAR is also called Light Detection and Ranging (LIDAR) system. LiDAR is widely used in autonomous driving, robot navigation, terrain mapping, environmental perception and other fields.

[0003] In a LiDAR system, the receiving module's primary task is to capture and process the laser signal reflected from the target. Within the receiving module, the lens is used for light focusing and adjustment, while the detector chip is responsible for photoelectric conversion and signal processing. The lens and chip work together to ensure the LiDAR system can efficiently receive laser light reflected from the target object and convert it into an electrical signal for subsequent processing and analysis. The spacing between the lens and the chip affects LiDAR performance. To improve signal strength and resolution, the spacing between the lens and the chip is generally set to 0.3mm to 1mm in related technologies.

[0004] However, since the distance between the lens and the chip is too small, it is impossible to set a structure for locating the lens position on the housing of the receiving module, and the relative position of the lens and the housing cannot be accurately determined, which is not conducive to ensuring that the distance between the lens and the chip is within the above range. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a positioning structure and a laser radar system. The positioning structure is detachably connected to the shell of the receiving component, and can determine the relative position of the receiving lens and the shell when locked in the shell, thereby solving the problem caused by the uncertainty of the relative position of the receiving lens and the shell in the related art.

[0006] In order to achieve the purpose of the present invention, a positioning structure is provided for a receiving component of a laser radar system, the receiving component being used to receive reflected light reflected from a target object; the receiving component includes a receiving lens located on the reflected light path and a shell for accommodating the receiving lens; the positioning structure is detachably connected to the shell to determine the relative position of the receiving lens and the shell when locked to the shell.

[0007] In some embodiments, the shell has a recessed portion protruding inwardly thereof, and the recessed portion has a groove bottom surface perpendicular to its protruding direction; the positioning structure is arranged in the recessed portion and is used to abut against the groove bottom surface when locked to the shell.

[0008] In some embodiments, the recessed portion is provided with a light-proof through hole whose opening is located at the bottom surface of the groove. The receiving lens includes a mirror body and a support structure arranged circumferentially around the mirror body. The support structure has a positioning surface facing the positioning structure and flush with the edge of the mirror body. The positioning surface extends into the light-proof through hole. The positioning structure is used to abut against the positioning surface at the same time when it is arranged in the recessed portion.

[0009] In some embodiments, the positioning structure is provided with an observation through hole that penetrates the thickness of the positioning structure along the protruding direction of the recessed portion, and the radial cross-sectional area of ​​the observation through hole is at least larger than the radial cross-sectional area of ​​the mirror body, so as to be able to expose at least part of the positioning surface around the mirror body.

[0010] In some embodiments, one of the recessed portion and the positioning structure is provided with a positioning piece, and the other is provided with a positioning hole, and the positioning piece and the positioning hole are positioned and matched.

[0011] In some embodiments, the thickness of the positioning structure is greater than or equal to 10 mm and less than or equal to 20 mm.

[0012] The present invention also provides a laser radar system, comprising an emitting component for generating outgoing light to illuminate a target object and a receiving component for receiving reflected light reflected from the target object, the receiving component comprising a receiving lens located on the reflected light path and a shell for accommodating the receiving lens; the positioning structure of the above embodiment is detachably connected to the shell to determine the relative position of the receiving lens and the shell when locked to the shell.

[0013] In some embodiments, the laser radar system also includes a photoelectric conversion component located on the reflected light path, and the photoelectric conversion component and the receiving lens are respectively located on both sides of the shell. The light incident surface of the photoelectric conversion component is used to be arranged relative to the light emitting surface of the receiving lens at a predetermined distance when the positioning structure is unlocked in the shell.

[0014] In some embodiments, the photoelectric conversion assembly includes a circuit board, a receiving chip and a mounting member. The receiving chip is arranged on a side of the circuit board facing the receiving lens, and the mounting member connects the circuit board to the housing.

[0015] In some embodiments, the photoelectric conversion component further includes an aperture, which is arranged on the side of the receiving chip facing the receiving lens; the receiving chip includes a photosensitive area having a light incident surface, and the aperture is provided with an incident through hole for exposing the photosensitive area.

[0016] The present invention has the following beneficial effects:

[0017] The positioning structure of the embodiment of the present application is detachably connected to the shell of the receiving component, and the positioning structure can be locked to or unlocked from the shell. When the positioning structure is locked to the shell, the positioning structure can determine the relative position of the receiving lens and the shell, so that when the receiving chip is subsequently installed on the shell, the distance between the light-emitting surface of the receiving lens and the light-entering surface of the receiving chip is ensured to be maintained within a predetermined range. When the positioning structure is unlocked from the shell, the positioning structure can be removed from the shell, thereby avoiding the receiving chip, so that the receiving chip can be installed on the shell. The embodiment of the present application solves the problem in the related art that the receiving lens cannot be positioned on the shell due to the small relative distance between the receiving lens and the receiving chip, and since the positioning structure can be removed after the receiving lens is positioned, the thickness of the positioning structure can be configured to a higher strength parameter without affecting the distance between the receiving lens and the receiving chip.

[0018] Other objects and features of the present invention will become clear by reading the specification, claims and drawings of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments with reference to the following drawings, in which:

[0020] Figure 1 It is a structural diagram of a lidar system in related technology.

[0021] Figure 2 yes Figure 1 Structural diagram of the transceiver module.

[0022] Figure 3 yes Figure 2 A partial enlarged view of .

[0023] Figure 4 It is a structural diagram of a transceiver module according to an embodiment of the present invention.

[0024] Figure 5 It is a schematic diagram of the optical paths of outgoing light and reflected light in a laser radar system according to an embodiment of the present invention.

[0025] Figure 6 It is an exploded view of the positioning structure, receiving lens and housing when they are matched in an embodiment of the present invention.

[0026] Figure 7 It is a structural schematic diagram of an embodiment of the present invention when the positioning structure and the receiving lens are connected to the housing.

[0027] Figure 8 It is a side view of the positioning structure and the receiving lens of the embodiment of the present invention when both are connected to the housing.

[0028] Figure 9 It is a structural schematic diagram of the positioning structure of an embodiment of the present invention.

[0029] Figure 10 Schematic diagram of the relative positions between the receiving chip and the receiving lens according to an embodiment of the present invention.

[0030] Figure 11 It is a structural schematic diagram of the receiving chip and the circuit board after being connected according to an embodiment of the present invention.

[0031] Figure 12 It is a structural schematic diagram of the aperture and the receiving chip after being connected according to an embodiment of the present invention.

[0032] Figure 13 It is a schematic structural diagram of a photoelectric conversion circuit according to an embodiment of the present invention.

[0033] Figure 14 It is a structural schematic diagram of the photoelectric conversion circuit after being connected to the housing according to the embodiment of the present invention.

[0034] Figure 15 2 is an exploded diagram of a laser radar system according to an embodiment of the present invention.

[0035] Description of main component symbols:

[0036] 10. LiDAR system;

[0037] 100, mainboard; 200, transceiver module; 300, rotating mirror module; 400, connector; 500, driver; 610, first housing; 620, second housing; 700, window;

[0038] 210, emission assembly; 211, emitter; 21a, output light; 212a, first emission lens; 212b, second emission lens; 212c, third emission lens;

[0039] 220, receiving assembly; 22a, reflected light; 222, receiving chip; 222a, photosensitive area; 223, aperture; 224a, first receiving lens; 224a1, lens body; 224a2, positioning surface; 224b, second receiving lens; 224c, third receiving lens; 225, circuit board; 225a, glue dispensing area; 226, filter; 227, mounting member; 227a, glue dispensing area;

[0040] 230, beam splitter; 250, bracket; 240, housing; 241, bottom surface of the groove; 241a, positioning hole; 241b, first mounting hole; 242, recessed portion; 260, light shielding plate; 270, photoelectric conversion assembly;

[0041] 20. Positioning structure; 21. Positioning member; 22. Second mounting hole; 23. Observation through hole;

[0042] 31. Fasteners; 32. Fasteners. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention.

[0044] See also Figures 1 to 3 The laser radar system 10 in the related art includes a main board 100, a transceiver module 200, a rotating mirror module 300, a beam splitter 230, a connector 400 and a driver 500. The transceiver module 200 includes a transmitting component 210 and a receiving component 220. The transmitting component 210 includes a transmitter 211 for generating an outgoing light 21a to illuminate the target object. The outgoing light 21a passes through at least one transmitting lens (including a first transmitting lens 212a, a second transmitting lens 212b, and a third transmitting lens 212c. For details, see Figure 2 ) to shape the optical path, and then reflect it to the rotating mirror module 300 through the beam splitter 230 (the beam splitter 230 is connected to the shell 240 through the bracket 250), and the outgoing light 21a is emitted out of the laser radar system 10 through the reflector of the rotating mirror module 300. The receiving component 220 is used to receive the reflected light 22a reflected back from the target object, and the reflected light 22a is reflected to the receiving chip 222 through the reflector of the rotating mirror module 300. The receiving component 220 includes at least one receiving lens located on the path of the reflected light 22a and a shell 240 for accommodating the receiving lens, and the shell 240 is used to fix and protect the receiving lens. Similarly, the transmitting component 210 also includes a shell for accommodating the transmitter 211 and the transmitting lens. Optionally, the shell 240 of the receiving component 220 and the shell of the transmitting component 210 can be the same shell or different shells, which is not specifically limited here. In this embodiment, the shell 240 of the receiving component 220 and the shell of the transmitting component 210 are the same shell, and the following embodiments are all described in this way.

[0045] It should be noted that, since the directions of the reflected light 22a entering the laser radar system 10 are different, there is a portion of the reflected light 22a that will not be emitted toward the surface of the rotating mirror module 300. However, the reflected light 22a that has not passed through the rotating mirror module 300 will inevitably not be emitted toward the beam splitter 230 in the preset echo direction, thereby forming stray light, causing the laser signal received by the receiving component 220 to contain a lot of noise. Moreover, due to the presence of various interference factors in the external environment, some of the reflected light 22a that enters the laser radar system 10 will not be emitted along the preset echo direction after being reflected by the rotating mirror module 300, but will deviate from the preset echo direction; in addition, some of the reflected light 22a will deviate from the preset echo direction after being reflected by the rotating mirror module 300 and will be emitted toward the edge of the beam splitter 230, forming stray light. In order to solve the above problems, a plurality of light shielding plates 260 can be provided behind the beam splitter 230. Specifically, each light shield 260 is positioned parallel to the preset echo direction, shielding reflected light 22a that deviates from the preset echo direction while avoiding blocking reflected light 22a along the preset echo direction. Multiple light shields 260 block both reflected and unreflected stray light, ensuring that only reflected light 22a entering the receiving component 220 is incident from the preset echo direction. This reduces noise in the received signal and improves the accuracy of the detection results.

[0046] Optionally, the receiving assembly 220 includes three receiving lenses: a first receiving lens 224a, a second receiving lens 224b and a third receiving lens 224c. A filter 226 is provided between the first receiving lens 224a and the second receiving lens 224b. For details, see Figure 3 . It should be noted that, when the receiving component 220 includes multiple receiving lenses, the spacing between the receiving lens closest to the receiving chip 222 and the receiving chip 222 needs to be ensured in this application. The receiving lens closest to the receiving chip 222 is the first receiving lens 224a, so the receiving lenses in the following embodiments are all represented as the first receiving lens 224a. Since the required spacing between the receiving lens 224a and the receiving chip 222 is too small, there is not enough space between the receiving lens 224a and the housing 240 to set up a structure that can position the receiving lens 224a, and the relative position of the receiving lens 224a and the housing 240 cannot be guaranteed. Since the tooling can only determine the relative position between the receiving chip 222 and the housing 240, the uncertainty of the position of the receiving lens 224a makes it impossible to accurately maintain the spacing between the receiving lens 224a and the receiving chip 222 within 0.3mm to 1mm.

[0047] It should be noted that if the distance between the receiving lens 224a and the receiving chip 222 is too large, it may lead to signal weakening and reduced resolution. The laser signal may diffuse during propagation, preventing some light from accurately entering the receiving chip 222, resulting in signal weakening, which in turn reduces the sensitivity of the LiDAR system 10 and reduces the detection range of the LiDAR system 10 for the target object. In addition, the focusing effect of the receiving lens 224a may be affected, causing the diameter of the light spot on the receiving chip 222 to increase, thereby reducing the spatial resolution of the LiDAR system 10 and affecting the LiDAR system 10's ability to accurately measure the target object's position. If the distance between the receiving lens 224a and the receiving chip 222 is too small, it may cause optical interference and thermal effects. Excessively small distances may also cause thermal effects, as heat sources may exist in the LiDAR system 10. Thermal effects may affect the performance of the receiving lens 224a and the receiving chip 222, resulting in unstable measurement results. To ensure optimal performance of the LiDAR system 10, the distance between the receiving lens 224a and the receiving chip 222 must be precisely controlled.

[0048] It should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features specified as "first," "second," and "third" may explicitly or implicitly include one or more of the aforementioned features.

[0049] In order to solve the above technical problems, the present application proposes a positioning structure 20 for the receiving component 220 of the laser radar system 10. In addition to the receiving component 220, the laser radar system 10 also includes a transmitting component 210. The transmitting component 210 is used to generate an outgoing light 21a to illuminate the target object. The outgoing light 21a is shaped by at least one transmitting lens, and then reflected by the beam splitter 230 to the rotating mirror module 300. The outgoing light 21a is reflected out of the laser radar system 10 by the reflector of the rotating mirror module 300. The optical path of the outgoing light 21a can be specifically referred to. Figure 5 , Figure 5 The arrow in the middle indicates the direction. The receiving component 220 is used to receive the reflected light 22a reflected from the target object. The reflected light 22a is reflected by the reflector of the rotating mirror module 300 to the receiving lens 224a. The optical path of the reflected light 22a can be specifically referred to Figure 5 , Figure 5 The middle arrow indicates the direction. Receiving assembly 220 includes a receiving lens 224a located in the path of reflected light 22a. Receiving lens 224a is used to focus reflected light 22a from the target object. By focusing the light onto the subsequent photoelectric conversion assembly 270, the received signal strength can be enhanced, thereby improving the sensitivity of the lidar system 10.

[0050] The receiving assembly 220 further includes a housing 240 for accommodating the receiving lens 224a. The structure of the housing can be found in Figure 4 . The shell 240 is used to fix and protect the receiving lens 224a. The positioning structure 20 of this embodiment is used to be detachably connected to the shell 240 when assembling the laser radar system 10. The positioning structure 20 can be locked to the shell 240 when used to position the receiving lens 224a, and is also used to unlock the shell 240 after the positioning is completed. In other words, the positioning structure 20 is not a part of the laser radar system 10, but an auxiliary positioning structure when the laser radar system 10 is assembled. The positioning structure 20 is used to determine the relative position of the receiving lens 224a and the shell 240 when locked to the shell 240, and is also used to avoid the receiving chip 222 when unlocked from the shell 240, so that the receiving chip 222 can be installed smoothly.

[0051] It should be noted that the receiving lens 224a can also help adjust the direction and shape of the light beam to ensure that the reflected laser light accurately enters the photoelectric conversion assembly 270 without being affected by other ambient light. To reduce surface reflection and minimize the impact of received external light on the system, the surface of the receiving lens 224a can be provided with a special coating.

[0052] The positioning structure 20 of the embodiment of the present application is detachably connected to the housing 240 of the receiving component 220, and the positioning structure 20 can be locked or unlocked on the housing 240. When the positioning structure 20 is locked on the housing 240, the positioning structure 20 can determine the relative position of the receiving lens 224a and the housing 240, so that when the receiving chip 222 is subsequently installed on the housing 240, the relative distance between the light-emitting surface of the receiving lens 224a and the light-entering surface of the receiving chip 222 is ensured to remain within a predetermined range. When the positioning structure 20 is unlocked from the housing 240, the positioning structure 20 can be removed from the housing 240, thereby avoiding the receiving chip 222, so that the receiving chip 222 can be installed on the housing 240. The embodiment of the present application solves the problem in the related art that the receiving lens 224a cannot be positioned on the shell 240 due to the small distance between the receiving lens 224a and the receiving chip 222. Moreover, since the positioning structure 20 can be removed after positioning the receiving lens 224a, the thickness of the positioning structure 20 can be configured to a parameter with higher strength without affecting the distance between the receiving lens 224a and the receiving chip 222.

[0053] In order to better explain this embodiment, the following is described in combination with the accompanying drawings. It should be noted that the structure in the accompanying drawings is only for schematic illustration and does not specifically limit the structure in this embodiment. Other structures derived therefrom are also within the scope of protection of the present invention.

[0054] See also Figure 6 The housing 240 has a recessed portion 242, which protrudes toward the interior of the housing 240. The protruding direction of the recessed portion 242 can be referred to Figure 6 The arrow x in the figure indicates the protruding direction. The term "protruding direction" indicates the orientation based on the attached Figure 6 The arrow x shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as limiting the present invention.

[0055] The recessed portion 242 has a groove bottom surface 241 perpendicular to its protruding direction, and the positioning structure 20 is disposed in the recessed portion 242. The positioning structure 20 is configured to abut against the groove bottom surface 241 when locked to the housing 240. It should be noted that when the positioning structure 20 is disposed in the recessed portion 242, the positioning structure 20 and the groove bottom surface 241 are closely positioned to improve the accuracy of the positioning of the receiving lens 224a.

[0056] Optionally, the positioning structure 20 is detachably connected to the recessed portion 242. Specifically, the recessed portion 242 is provided with a first mounting hole 241b, the positioning structure 20 is provided with a second mounting hole 22, and the fastener 31 passes through the first mounting hole 241b and the second mounting hole 22 to achieve a detachable connection between the positioning structure 20 and the recessed portion 242. For details, see Figure 6 、 Figure 7 and Figure 9 .

[0057] In some embodiments, one of the recessed portion 242 and the positioning structure 20 is provided with a positioning member 21, and the other is provided with a positioning hole 241a, and the positioning member 21 and the positioning hole 241a are positioned and matched. Optionally, the recessed portion 242 is provided with a positioning hole 241a, and the positioning structure 20 is provided with a positioning member 21. Specifically, the positioning member 21 adopts a cylindrical structure to be inserted into the positioning hole 241a when positioned and matched with the positioning hole 241a. It is understandable that both the positioning member 21 and the positioning hole 241a can adopt at least one, for example, two, which can be seen in FIG. Figure 8 and Figure 9 It should be noted that the number of the positioning members 21 is the same as the number of the positioning holes 241 a and they are arranged in a one-to-one correspondence.

[0058] In this embodiment, the mounting structure and the recessed portion 242 cooperate to provide a stable mechanical support structure for the receiving lens 224 a , thereby accurately determining the relative position of the receiving lens 224 a and the housing 240 .

[0059] The recessed portion 242 is provided with a light-proof through hole, and the opening of the light-proof through hole is located at the bottom surface 241 of the groove. The receiving lens 224a includes a mirror body 224a1 and a support structure. The mirror body 224a1 is used for allowing the reflected light 22a to pass through, and the support structure is arranged circumferentially around the mirror body 224a1. The support structure has a positioning surface 224a2, and the positioning surface 224a2 faces the positioning structure 20 and is flush with the edge of the mirror body 224a1. After the positioning structure 20 is connected to the recessed portion 242, the receiving lens 224a is used to be connected to the shell 240. Optionally, the receiving lens 224a and the shell 240 can be fixedly connected by glue. It should be noted that the glue spot area should avoid the positioning structure 20 to avoid interfering with the subsequent disassembly of the positioning structure 20. The positioning surface 224a2 extends into the light-proof through hole. The positioning structure 20 is used to abut against the positioning surface 224a2 when it is set in the recessed portion 242 to limit the axial position of the receiving lens 224a. Since the light-proof through hole has limited the radial position of the receiving lens 224a, the combination of the two can accurately determine the relative position of the receiving lens 224a and the shell 240.

[0060] See also Figure 9 The positioning structure 20 is provided with an observation hole 23. The observation hole 23 extends through the thickness of the positioning structure 20 along the convex direction (x-direction) of the recessed portion 242. The observation hole 23 allows a user to observe whether there is a gap between the positioning surface 224a2 and the positioning structure 20 in the x-direction, thereby determining whether the receiving lens 224a is properly installed, further improving the accuracy of the positioning of the receiving lens 224a. The radial cross-sectional area of ​​the observation hole 23 is at least larger than the radial cross-sectional area of ​​the lens body 224a1, so as to expose at least a portion of the positioning surface 224a2 around the lens body 224a1. It should be noted that when the user determines that the positioning surface 224a2 of the receiving lens 224a does not contact the positioning structure 20 by observing the through hole 23, the position of the receiving lens 224a is adjusted until the positioning surface 224a2 abuts against the positioning structure 20; when the user determines that the positioning surface 224a2 of the receiving lens 224a has contacted the positioning structure 20 by observing the through hole 23, the receiving lens 224a is fixed to the shell 240 by dispensing glue, and after the glue is cured, the fastener 31 on the positioning structure 20 is removed to unlock the positioning structure 20 from the shell 240, so as to facilitate the subsequent installation of the receiving chip 222.

[0061] In order to improve the strength of the positioning structure 20 and enhance the reliability of the positioning of the positioning structure 20, the thickness of the positioning structure 20 can be greater than 1 mm. In some embodiments, the thickness of the positioning structure 20 is greater than or equal to 10 mm and less than or equal to 20 mm.

[0062] The present application also provides a laser radar system 10, which includes a transmitting assembly 210 and a receiving assembly 220. The transmitting assembly 210 is configured to generate outgoing light 21a for illuminating a target object. The receiving assembly 220 is configured to receive reflected light 22a reflected from the target object. The receiving assembly 220 includes a receiving lens 224a located in the path of the reflected light 22a and a housing 240 for accommodating the receiving lens 224a.

[0063] The positioning structure 20 of the above embodiment is detachably connected to the housing 240 to determine the relative position of the receiving lens 224 a and the housing 240 when locked to the housing 240 .

[0064] The lidar system 10 also includes a photoelectric conversion assembly 270, which is located in the path of the reflected light 22a. The photoelectric conversion assembly 270 and the lens are located on either side of the housing 240. In other words, the receiving lens 224a and the photoelectric conversion assembly 270 are sequentially located in the optical path of the reflected light 22a. The light-entering surface of the photoelectric conversion assembly 270 is positioned relative to the light-exiting surface of the lens at a predetermined distance when the positioning structure 20 is unlocked in the housing 240. The predetermined distance ranges from 0.3 mm to 1 mm.

[0065] The photoelectric conversion assembly 270 includes a circuit board 225, a receiving chip 222 and a mounting member 227. The receiving chip 222 is disposed on a side of the circuit board 225 facing the receiving lens 224a. Figure 10 The receiving chip 222 is fixed to the side of the circuit board 225 facing the receiving lens 224a through a patch to form a circuit connection with the circuit board 225. Optionally, the receiving chip 222 is soldered to the circuit board 225.

[0066] It should be noted that the receiving chip 222 is used to convert the reflected light 22a reflected from the target object into an electrical signal. Specifically, the receiving chip 222 includes a photodiode or a photodetector. The receiving chip 222 may also include a signal processing circuit for processing the electrical signal generated from the photoelectric conversion. Optionally, the receiving chip 222 also includes an amplifier, a filter, and other signal conditioning devices to better extract target information.

[0067] The mounting member 227 is used to connect the circuit board 225 to the housing 240. The circuit board 225 is connected to the mounting member 227 by a fastener 32, so that the circuit board 225, the receiving chip 222 and the mounting member 227 are assembled into a photoelectric conversion component 270, and then the relative position of the photoelectric conversion component 270 and the housing 240 is adjusted by a manipulator, and the intensity of the received signal is analyzed at the same time, so that the reflected light 22a from the receiving lens 224a can enter the light incident surface of the photoelectric conversion component 270, thereby determining the position of the photoelectric conversion component 270 on the housing 240. Optionally, the mounting member 227 can be fixed to the housing 240 by dispensing glue. Specifically, a dispensing glue area 227a is provided at the connection between the mounting member 227 and the housing 240. The specific position of the dispensing glue area 227a can be found in Figure 14 .

[0068] See also Figures 11 to 14 , the photoelectric conversion component 270 also includes an aperture 223, which is used to reduce background light interference and control the light flux. The aperture 223 can be used to adjust the light flux, that is, the amount of light reaching the receiving chip 222. The aperture 223 is arranged on the side of the receiving chip 222 facing the lens. Optionally, the aperture 223 is close to the receiving chip 222, and the aperture 223 can be moved to the side of the receiving chip 222 by a robot using a camera vision alignment method, and can be fixedly connected by dispensing glue. Specifically, a glue area 225a is provided at the connection between the aperture 223 and the receiving chip 222, which can be seen in detail. Figure 12 .

[0069] The receiving chip 222 includes a photosensitive area 222a having a light incident surface, and the aperture 223 is provided with an incident hole for exposing the photosensitive area 222a. Optionally, the photosensitive area 222a on the receiving chip 222 is rectangular, and the incident hole provided on the aperture 223 may also project a rectangular shape onto the receiving chip 222, thereby shielding the non-photosensitive area 222a on the receiving chip 222 to prevent it from interfering with the receiving chip 222's processing of light. The aperture 223 can block unwanted reflected light 22a and only allow reflected light 22a in a specific direction to enter the receiving chip 222, thereby reducing background noise and improving the signal-to-noise ratio of the lidar system 10.

[0070] As will be appreciated, the circuit board 225 is used to support and mount the receiver chip 222, aperture 223, and other related hardware, ensuring that the receiver chip 222, aperture 223, and other hardware components operate under favorable mechanical and environmental conditions to provide accurate and stable lidar measurements. Optionally, the circuit board 225 also supports and mounts the photodiode, a critical component for converting received reflected light 22a into an electrical signal. The circuit board 225 provides a fixed platform, ensuring that the photodiode can be accurately positioned at the focal point of the reflected light 22a to maximize the capture of light reflected from the target object. Optionally, the circuit board 225 may include signal processing circuitry for amplifying, filtering, and processing the electrical signal generated by the photodiode. These circuits help improve the signal-to-noise ratio of the lidar system 10 and ensure that the correct reflected light 22a is accurately measured. Optionally, the circuit board 225 supports amplifiers, which are used to amplify the received reflected light 22a signal. The circuit board 225 provides a fixed location for mounting the amplifiers and ensures they can be tightly integrated with the photodiodes to enhance the lidar's sensitivity.

[0071] See also Figure 15 The laser radar system 10 includes a housing for accommodating various components, and the housing includes a first housing 610 and a second housing 620, and the first housing 610 and the second housing 620 are detachably connected. The laser radar system 10 also includes a window 700 provided on the first housing 610. Specifically, the window 700 and the first housing 610 can be bonded by glue to ensure the sealing and waterproof properties of the laser radar system 10. Optionally, the main board 100, the transceiver module 200 and the rotating mirror module 300 are all connected to the second housing 620 by fasteners, wherein the fasteners can be screws.

[0072] The emission component 210 also includes at least one emission lens for focusing the emission light beam emitted by the laser source and concentrating the emission light beam in a small area as much as possible to improve the emission efficiency and power of the system.

[0073] The transmitting lens is configured as a lens with a specific shape and curvature to achieve focusing and focusing of the laser beam. The transmitting lens is made of optical materials to ensure transparency to the laser and appropriate optical performance. The transmitting lens is located in the transmission path of the lidar system 10 and is used to focus and transmit the outgoing beam. The surface of the transmitting lens is provided with a high-transmittance coating to ensure that the outgoing beam penetrates the transmitting lens as much as possible, reducing energy loss.

[0074] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or mutual communication; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0075] The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0076] In the description of this specification, reference to terms such as "one embodiment", "certain embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention.

[0077] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A positioning structure for a receiving component of a laser radar system, wherein the receiving component is used to receive reflected light reflected from a target object; The receiving assembly includes a receiving lens located on the reflected light path and a housing for accommodating the receiving lens; The positioning structure is detachably connected to the housing to determine the relative position of the receiving lens and the housing when locked to the housing.

2. The positioning structure according to claim 1, characterized in that: The housing has a recessed portion protruding inwardly thereof, and the recessed portion has a groove bottom surface perpendicular to its protruding direction; The positioning structure is arranged in the recessed portion and is used to abut against the bottom surface of the groove when locked in the housing.

3. The positioning structure according to claim 2, characterized in that: The recessed portion is provided with a light-shielding through hole whose opening is located at the bottom surface of the groove; the receiving lens includes a lens body and a support structure circumferentially arranged around the lens body; the support structure has a positioning surface facing the positioning structure and flush with the edge of the lens body, and the positioning surface extends into the light-shielding through hole; The positioning structure is used to abut against the positioning surface when it is arranged in the recessed portion.

4. The positioning structure according to claim 2 or 3, characterized in that: The positioning structure is provided with an observation through hole which penetrates the thickness of the positioning structure along the protruding direction of the recessed portion. The radial cross-sectional area of ​​the observation through hole is at least larger than the radial cross-sectional area of ​​the mirror body so as to expose at least part of the positioning surface around the mirror body.

5. The positioning structure according to claim 2 or 3, characterized in that: One of the recessed portion and the positioning structure is provided with a positioning piece, and the other is provided with a positioning hole, and the positioning piece and the positioning hole are positioned and matched.

6. The positioning structure according to claim 1, characterized in that: The thickness of the positioning structure is greater than or equal to 10 mm and less than or equal to 20 mm.

7. A laser radar system, characterized in that: The invention comprises an emitting assembly for generating outgoing light to illuminate a target object and a receiving assembly for receiving reflected light reflected from the target object, wherein the receiving assembly comprises a receiving lens located on the reflected light path and a housing for accommodating the receiving lens; The positioning structure according to any one of claims 1 to 6 is detachably connected to the housing to determine the relative position of the receiving lens and the housing when locked to the housing.

8. The laser radar system according to claim 7, characterized in that The laser radar system also includes a photoelectric conversion component located on the reflected light path, and the photoelectric conversion component and the receiving lens are respectively located on both sides of the shell. The light incident surface of the photoelectric conversion component is used to be arranged relative to the light emitting surface of the receiving lens at a predetermined distance when the positioning structure is unlocked in the shell.

9. The laser radar system according to claim 8, characterized in that The photoelectric conversion component includes a circuit board, a receiving chip and a mounting member. The receiving chip is arranged on a side of the circuit board facing the receiving lens. The mounting member connects the circuit board to the housing.

10. The laser radar system according to claim 9, characterized in that The photoelectric conversion assembly further includes an aperture, which is arranged on a side of the receiving chip facing the receiving lens; The receiving chip includes a photosensitive area having the light incident surface, and the aperture is provided with an incident through hole for exposing the photosensitive area.

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