Laser transceiver module and laser radar

Abstract

The embodiment of the utility model provides a laser transmit-receive module and a laser radar. The laser transmit-receive module comprises a light source, a transmitting lens, a receiving lens and a detector. The transmitting lens is arranged on the light emitting side of the light source and used for coupling light beams emitted by the light source into a beam of collimated laser with the divergence angle smaller than 0.3 degree; the receiving lens is arranged on the light incident side of the detector, the optical axis of the receiving lens is parallel to the optical axis of the transmitting lens, and the receiving lens is used for converging scattered light formed by scattering after the collimated laser is transmitted to a target object to the detector; wherein the distance between the receiving lens and the detector is smaller than the focal length of the receiving lens, and the interval between the receiving lens and the transmitting lens is smaller than 10 mm. Therefore, the blind area of the receiving lens is reduced, and the radar detection capability is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar, and in particular to a laser transceiver module and a laser radar. Background Art

[0002] When the laser radar is detecting at close range, there is a distance between the optical axes of the transmitting lens and the receiving lens in its laser transceiver module. The receiving field of view of the receiving lens cannot completely cover the transmitting field of view of the transmitting lens, resulting in the receiving lens being unable to receive the partial echo signal reflected back by the target from the laser beam emitted by the transmitting lens, thus creating a blind spot and adversely affecting the detection accuracy of the laser radar. Utility Model Content

[0003] In view of this, the purpose of the present utility model is to provide a laser transceiver module and a laser radar to reduce the receiving blind area of ​​the receiving lens, thereby improving the detection accuracy of the laser radar.

[0004] In order to achieve the above purpose, the technical solution adopted by the embodiment of the utility model is as follows:

[0005] In a first aspect of an embodiment of the utility model, a laser transceiver module is provided, comprising a light source, a transmitting lens, a receiving lens and a detector;

[0006] The emitting lens is arranged on the light-emitting side of the light source, and is used to couple the light beam emitted by the light source into a collimated laser beam with a divergence angle less than 0.3°;

[0007] The receiving lens is arranged on the light incident side of the detector, and its optical axis is parallel to the optical axis of the transmitting lens. The receiving lens is used to converge the scattered light formed by the collimated laser emitting to the target object to the detector;

[0008] The distance between the receiving lens and the detector is smaller than the focal length of the receiving lens, and the distance between the receiving lens and the transmitting lens is smaller than 10 mm.

[0009] The embodiment of the utility model provides a laser transceiver module of the above structure, and uses a transmitting lens to couple the light beam emitted by the light source into a collimated laser with a divergence angle less than 0.3°, so that the collimated laser can be more easily focused at a farther distance, reduce energy loss, and increase the detectable range; then, a receiving lens whose optical axis is parallel to the optical axis of the transmitting lens, whose interval with the transmitting lens is less than 10mm, and whose distance with the detector is less than its own focal length is used to receive the scattered light formed after the collimated laser is emitted to the target object, and converge it into the detector, so that the light beam converged after passing through the receiving lens of this configuration will not converge to a point on the detector, thereby increasing the angle of the light received by the detector, and then achieving the purpose of reducing the blind spot. In summary, through the comprehensive configuration of the light-emitting lens and the receiving lens, the ranging accuracy and ranging capability of the laser radar applied to the laser transceiver module can be guaranteed.

[0010] Optionally, the interval between the receiving lens and the transmitting lens is between 7 mm and 10 mm, and the distance between the receiving lens and the detector is between 88% and 92% of the focal length of the receiving lens.

[0011] Therefore, by configuring the interval between the receiving lens and the transmitting lens to be between 7 mm and 10 mm, and configuring the distance between the receiving lens and the detector to be between 88% and 92% of the focal length of the receiving lens, the blind area can be better reduced.

[0012] Optionally, the interval between the receiving lens and the transmitting lens is 9 mm, and the distance between the receiving lens and the detector is 90% of the focal length of the receiving lens.

[0013] Therefore, by further configuring the interval between the receiving lens and the transmitting lens to 9 mm, and configuring the distance between the receiving lens and the detector to 90% of the focal length of the receiving lens, not only can the blind spot be better reduced, but also the signal interference can be better reduced.

[0014] Optionally, the diameter of the light-clearing aperture of the receiving lens is greater than or equal to 5 mm.

[0015] Therefore, by configuring the light-clearance diameter of the receiving lens to be no less than 5 mm, it can be ensured that the receiving lens has a certain receiving field angle, which is conducive to further reducing the blind spot.

[0016] Optionally, the receiving lens is of the same model as the transmitting lens.

[0017] Therefore, by setting the receiving lens to the same model as the transmitting lens, that is, as long as the same model of receiving lens and transmitting lens are used, the blind spot reduction and ranging requirements can be met, and there is no need to customize lenses of different specifications separately, which facilitates the manufacture of receiving lenses and transmitting lenses, thereby reducing manufacturing costs. Moreover, since the models are the same, when installing the components, the receiving lens and the transmitting lens will not be confused with each other, thereby reducing the error rate in the production of laser transceiver modules.

[0018] Optionally, the focal length of the emitting lens is greater than or equal to 17.2 mm.

[0019] Therefore, by configuring the focal length of the emitting lens to be no less than 17.2 mm, it can be better ensured that the emission angle of the emitting lens is less than 0.3°, thereby ensuring that the emitting lens couples the light beam emitted by the light source into a collimated laser beam with a divergence angle less than 0.3°.

[0020] Optionally, the focal length of the emitting lens is 20 mm.

[0021] Therefore, by configuring the focal length of the transmitting lens to be 20 mm and using an integer focal length, it is easier to manufacture and the focal length manufacturing accuracy is easier to achieve, thereby reducing the difficulty of producing the transmitting lens.

[0022] Optionally, the laser transceiver module also includes a filter; the filter is arranged between the detector and the receiving lens, and the length and width of the filter are both 4 mm, and the thickness is 0.33 mm.

[0023] Therefore, by configuring a filter in the laser transceiver module and limiting the position and size of the filter as mentioned above, not only the filtering effect of the filter on the interference light beam can be guaranteed, but also the installation of the filter can be guaranteed.

[0024] Optionally, the laser transceiver module also includes a filter; the filter is arranged between the detector and the receiving lens, and the bandwidth of the filter is λ-15nm to λ+15nm, wherein λ is the wavelength of the light source.

[0025] Therefore, by configuring a filter in the laser transceiver module and limiting the position and bandwidth range of the filter, it can be ensured that the light beams reaching the detector through the filter are basically light beams related to the light source, thereby achieving a better effect of filtering out environmental stray interference beams in other bands.

[0026] A second aspect of an embodiment of the utility model provides a laser radar, comprising a laser transceiver module provided by any one of the first aspects above.

[0027] Since the laser radar provided by the utility model includes the laser transceiver module provided by the utility model, the laser radar provided by the utility model also has the beneficial technical effects produced by the laser transceiver module, which will not be elaborated here.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure of a laser transceiver module provided by an embodiment of the utility model is shown;

[0031] Figure 2 A schematic diagram of an optical path of a laser transceiver module in a working state provided by an embodiment of the utility model is shown;

[0032] Figure 3 A schematic diagram showing the light beam convergence effect of a receiving lens in a laser transceiver module provided by an embodiment of the utility model and an existing receiving lens;

[0033] Figure 4 A schematic structural diagram of another laser transceiver module provided in an embodiment of the utility model is shown.

[0034] Icon: 100-laser transceiver module, 110-light source, 120-transmitting lens, 130-receiving lens, 140-filter, 150-detector, A-target, B-receiving lens of prior art. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the utility model provided in the accompanying drawings is not intended to limit the scope of the utility model claimed for protection, but merely represents selected embodiments of the utility model. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the present utility model, it should be noted that if terms such as orientation are mentioned, for example, "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc., the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the corresponding drawings, or the orientation or position relationship in which the utility model product is usually placed when in use. It is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0039] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" may simply mean that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0040] In the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connection", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In order to solve the technical problem in the related art that the receiving field of view of the receiving lens of the laser radar cannot completely cover the divergent field of view of the transmitting lens, resulting in a receiving blind spot in the receiving lens in the close-range detection scene, thereby adversely affecting the detection accuracy of the laser radar, the embodiment of the utility model provides a laser transceiver module, which uses the transmitting lens to couple the light beam emitted by the light source into a collimated laser with a divergence angle less than 0.3°, so that the collimated laser can be more easily focused at a farther distance, reduce energy loss, and increase the detectable range; then, the receiving lens whose optical axis is parallel to the optical axis of the transmitting lens, the interval between the transmitting lens and the transmitting lens is less than 10mm, and the distance between the detector and the detector is less than its own focal length is used to receive the scattered light formed by the collimated laser after being emitted to the target object, and converge it into the detector, so that the light beam formed by the receiving lens after passing through the configuration will not converge to a point on the detector, thereby increasing the angle of the light received by the detector, and then achieving the purpose of reducing the blind spot. In summary, through the comprehensive configuration of the light-emitting lens and the receiving lens, the ranging accuracy and ranging capability of the laser radar applied to the laser transceiver module can be guaranteed.

[0042] For details, please refer to Figure 1 , Figure 1 It is a structural schematic diagram of a laser transceiver module provided in an embodiment of the utility model; the laser transceiver module 100 includes a light source 110, a transmitting lens 120, a receiving lens 130 and a detector 150.

[0043] The emitting lens 120 is disposed on the light-emitting side of the light source 110 , and is used to couple the light beam emitted by the light source 110 into a collimated laser beam with a divergence angle less than 0.3°.

[0044] The receiving lens 130 is disposed on the light incident side of the detector 150 , and its optical axis is parallel to the optical axis of the transmitting lens 120 . The receiving lens 130 is used to converge the scattered light formed by the collimated laser being emitted to the target object to the detector 150 .

[0045] The distance between the receiving lens 130 and the detector 150 is smaller than the focal length of the receiving lens 130 , and the distance between the receiving lens 130 and the transmitting lens 120 is smaller than 10 mm.

[0046] The following describes the working principle of reducing blind spots of the laser radar using the laser transceiver module 100 in a close-range detection scenario:

[0047] Before actual application, the laser transceiver module in the existing laser radar can be replaced with the laser transceiver module 100 provided by the embodiment of the utility model. In actual application, please refer to Figure 2 , Figure 2It is a schematic diagram of the optical path of a laser transceiver module 100 in a working state provided by an embodiment of the utility model; in order to realize target detection at a close distance, each component in the laser transceiver module 100 will enter a working state, at this time the light source 110 will emit a laser beam, and the laser beam will be coupled into a collimated laser with a divergence angle less than 0.3° through the emitting lens 120 and emitted. After the collimated laser is emitted to the target object A, it will be scattered by the surface of the target object A to form scattered light, and these scattered lights will pass through the receiving lens 130, and thus be converged by the receiving lens 130 to the detector 150. After the detector 150 receives the scattered light, it will form a corresponding echo signal and transmit it to the processing system of the laser radar for processing, thereby realizing the detection of the target object A.

[0048] Among them, see Figure 3 , Figure 3 It is a schematic diagram of the light beam convergence effect of a receiving lens 130 in a laser transceiver module 100 provided by an embodiment of the utility model and the receiving lens 130 in the related technology. It can be seen that for the same model of receiving lens 130, since in the embodiment of the utility model, the distance between the receiving lens 130 and the detector 150 is configured to be smaller than the focal length of the receiving lens 130, compared with the configuration in the prior art that the distance between the receiving lens B and the detector 150 is the focal length of the receiving lens B, the light beam converged after passing through the receiving lens 130 will not converge to a point on the detector 150, but there will be multiple light beams, thereby increasing the angle of light received by the detector 150, thereby achieving the purpose of reducing the blind spot, and the final blind spot distance can be less than 0.2m.

[0049] In some embodiments, in order to achieve a better blind spot reduction effect, the interval between the receiving lens 130 and the transmitting lens 120 can be between 7 mm and 10 mm, and the interval range can include 7 mm but not 10 mm; and the distance between the receiving lens 130 and the detector 150 can be between 88% and 92% of the focal length of the receiving lens 130, and similarly, the interval range can include 88% and 92%.

[0050] Although the previous embodiment can achieve a good blind spot reduction effect, in order to facilitate the installation and configuration of the receiving lens 130, so as to achieve a good blind spot reduction effect while also achieving a better signal interference reduction effect, in some embodiments, the interval between the receiving lens 130 and the transmitting lens 120 can be 9 mm, and the distance between the receiving lens 130 and the detector 150 can be 90% of the focal length of the receiving lens 130.

[0051] Based on any of the above embodiments, in order to further ensure that the receiving lens 130 has a certain receiving field of view to better reduce the blind spot, in some embodiments, the diameter of the light aperture of the receiving lens 130 is greater than or equal to 5 mm.

[0052] In addition to reducing the blind spot, the present invention also takes into account the manufacturing cost and difficulty of the laser transceiver module 100, and provides a corresponding solution based on this. That is, in some embodiments, the structures of the receiving lens 130 and the transmitting lens 120 can be set to be the same, that is, the two lenses can be lenses of the same model.

[0053] Therefore, by setting the receiving lens 130 to be the same model as the transmitting lens 120, that is, as long as the same model of the receiving lens 130 and the transmitting lens 120 are used, the blind spot reduction and ranging requirements can be met, and there is no need to separately customize lenses of different specifications, which facilitates the manufacture of the receiving lens 130 and the transmitting lens 120, thereby reducing the manufacturing cost, and because the models are the same, when installing the components, the receiving lens 130 and the transmitting lens 120 will not be mixed up, thereby reducing the error rate in the production of the laser transceiver module 100.

[0054] Regarding the function of the emitting lens 120, that is, it is necessary to couple the light beam emitted by the light source 110 into a collimated laser beam with a divergence angle less than 0.3°, and the size of the divergence angle is related to the focal length of the lens and the size of the light-emitting surface of the light source 110. Therefore, in order to ensure that the emitting lens 120 can achieve this function, the inventors have studied the focal length of the emitting lens 120 to reduce the difficulty of selecting the emitting lens 120. Based on this, in some embodiments, the focal length of the emitting lens 120 is greater than or equal to 17.2 mm, and accordingly, the size of the light-emitting surface of the light source 110 is 90 μm (diameter).

[0055] Based on the previous embodiment, in order to reduce the manufacturing difficulty of the transmitting lens 120, in some embodiments, the focal length of the transmitting lens 120 is 20 mm. By configuring the focal length of the transmitting lens 120 to be 20 mm and using an integer focal length, it is easier to manufacture, and the focal length manufacturing accuracy is easier to achieve, thereby reducing the manufacturing difficulty of the transmitting lens 120. In addition, the divergence angle of the transmitting lens 120 with a focal length of 20 mm can reach 0.26°.

[0056] In addition, in order to ensure the miniaturization of the laser transceiver module 100, in some embodiments, the following parameters of the transmitting lens 120 can be configured as follows: the focal length can be 20 mm, the focal length tolerance can be ±2%, the lens diameter can be 6.3 mm, the diameter tolerance can be +0.0 / -0.01 mm, the back focal length can be 18.74 mm, the radius of curvature can be 10.36 mm, the center thickness can be 2 mm, the center thickness tolerance can be ±0.2 mm, and the edge thickness can be 1.51 mm. In addition, the relevant parameters of the receiving lens 130 can be consistent with the above parameters of the transmitting lens 120, that is, the receiving lens 130 can be the same model as the transmitting lens 120, but in order to ensure the blind spot reduction effect, the actual back focal length of the receiving lens 130 is smaller than the back focal length of the transmitting lens 120.

[0057] In some embodiments, the light source 110 may be a SPAD (single photon avalanche diode), and the photosensitive surface size of the SPAD may be 330 μm×330 μm. Based on this, the photosensitive area may be 0.1089 mm 2 .

[0058] Based on any of the above embodiments, in order to reduce the interference light beam received by the detector 150, in some embodiments, the laser transceiver module 100 provided by the utility model may also include a filter 140, see Figure 4 , Figure 4 It is a structural schematic diagram of another laser transceiver module 100 provided in an embodiment of the utility model. The filter 140 is arranged between the detector 150 and the receiving lens 130, and the length and width of the filter 140 are both 4 mm, and the thickness is 0.33 mm.

[0059] By configuring the filter 140 in the laser transceiver module 100 and limiting the position and size of the filter 140 as described above, not only the filtering effect of the filter 140 on the interference light beam can be ensured, but also the installation of the filter 140 can be ensured.

[0060] Based on any of the above embodiments, in order to ensure the performance of the optical filter 140, the bandwidth of the optical filter 140 can be configured based on the light source 110, that is, in some embodiments, the bandwidth of the optical filter 140 is λ-15nm to λ+15nm, where λ is the wavelength of the light source 110. For example, in some examples, the wavelength of the light source 110 can be 665nm, and accordingly, the bandwidth of the optical filter 140 is 640nm to 680nm.

[0061] By limiting the position and bandwidth range of the filter 140, it can be ensured that the light beams reaching the detector 150 through the filter 140 are basically light beams related to the light source 110, thereby achieving a better effect of filtering out environmental stray interference light beams in other bands.

[0062] Corresponding to the laser transceiver module 100, an embodiment of the utility model further provides a laser radar, which includes the laser transceiver module 100 in any of the above embodiments. In addition, the structure of the laser radar except the laser transceiver module 100 can be referred to the corresponding structure in the related technology, which will not be elaborated here.

[0063] It is worth noting that the technical features or technical solutions in any of the above embodiments of the present invention can be combined or combined with each other as long as there is no contradiction in the combination or combination.

[0064] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A laser transceiver module, characterized in that: It includes a light source, a transmitting lens, a receiving lens and a detector; The emitting lens is arranged on the light-emitting side of the light source, and is used to couple the light beam emitted by the light source into a collimated laser beam with a divergence angle less than 0.3°; The receiving lens is arranged on the light incident side of the detector, and its optical axis is parallel to the optical axis of the transmitting lens. The receiving lens is used to converge the scattered light formed by the collimated laser emitting to the target object to the detector; The distance between the receiving lens and the detector is smaller than the focal length of the receiving lens, and the distance between the receiving lens and the transmitting lens is smaller than 10 mm.

2. The laser transceiver module according to claim 1, characterized in that: The interval between the receiving lens and the transmitting lens is between 7 mm and 10 mm, and the distance between the receiving lens and the detector is between 88% and 92% of the focal length of the receiving lens.

3. The laser transceiver module according to claim 2, characterized in that: The interval between the receiving lens and the transmitting lens is 9 mm, and the distance between the receiving lens and the detector is 90% of the focal length of the receiving lens.

4. The laser transceiver module according to claim 1, characterized in that: The diameter of the light aperture of the receiving lens is greater than or equal to 5 mm.

5. The laser transceiver module according to claim 1, characterized in that: The receiving lens is of the same model as the transmitting lens.

6. The laser transceiver module according to claim 1 or 5, characterized in that: The focal length of the emitting lens is greater than or equal to 17.2 mm.

7. The laser transceiver module according to claim 6, characterized in that: The focal length of the emitting lens is 20 mm.

8. The laser transceiver module according to claim 1, characterized in that: It also includes a filter; the filter is arranged between the detector and the receiving lens, and the length and width of the filter are both 4mm, and the thickness is 0.33mm.

9. The laser transceiver module according to claim 1, characterized in that: It also includes a filter; the filter is arranged between the detector and the receiving lens, and the bandwidth of the filter is λ-15nm to λ+15nm, wherein λ is the wavelength of the light source.

10. A laser radar, characterized in that: A laser transceiver module comprising any one of claims 1 to 9.

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