Measurement module of laser radar and laser radar thereof

Abstract

The utility model discloses a measuring module of a laser radar and the laser radar thereof, the measuring module comprises an emission circuit board, the emission circuit board bears N laser light sources used for emitting laser beams, the N laser light sources are arranged around the circumference of a central shaft, and the N laser beams are parallel to each other and are vertical to the emission circuit board to form a laser beam array; the receiving circuit board bears N photoelectric detection units used for receiving echo light beams, and the N photoelectric detection units are arranged around the circumference of the central shaft; the laser light source and the photoelectric detection unit which are in the same direction relative to the central axis form a transmitting-receiving pair, and the laser beam and the echo beam corresponding to the same transmitting-receiving pair are parallel to each other; the distance between the laser light source and the central axis is different from the distance between the photoelectric detection unit and the central axis. According to the utility model, the scanning space can be fully utilized for spatial high-density scanning, and the scanning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar based on photoelectric detection, in particular to a measurement module of a laser radar and the laser radar thereof. Background Art

[0002] LiDAR is used to actively emit laser signals to detect and scan the environment in order to perceive the three-dimensional information of targets in the environment.

[0003] Due to its high precision and high resolution measurement advantages, LiDAR has been widely used in various fields. Especially in the fields of self-driving cars and interactive robots, LiDAR is indispensable as a core sensor.

[0004] In the existing technology, due to the performance limitations of the platform on which it is carried, it is necessary to improve the scanning efficiency as much as possible within the limited volume of the lidar, achieve high-density spatial scanning, and achieve field of view coverage. Summary of the invention

[0005] The technical problem solved by the utility model is to provide a measurement module of a laser radar, which utilizes a coaxial nested transceiver arrangement that can realize parallel light paths to achieve high-density spatial scanning and improve scanning efficiency.

[0006] The utility model discloses a laser radar measurement module, comprising:

[0007] An emitting circuit board, the emitting circuit board carries N laser light sources for emitting laser beams, the N laser light sources are arranged circumferentially around a central axis, and the N laser beams are mutually parallel and perpendicular to the emitting circuit board to form a laser beam array;

[0008] A receiving circuit board, the receiving circuit board carries N photoelectric detection units for receiving the echo light beam, and the N photoelectric detection units are arranged around the circumference of the central axis;

[0009] The laser light source and the photoelectric detection unit with the same orientation relative to the central axis form a transceiver pair, and the laser beam and the echo beam corresponding to the same transceiver pair are parallel to each other;

[0010] The distance between the laser light source and the central axis is different from the distance between the photoelectric detection unit and the central axis.

[0011] The transmitting circuit board and the receiving circuit board are the same circuit board.

[0012] The transmitting circuit board and the receiving circuit board are parallel to each other.

[0013] The transmitting circuit board is located above the receiving circuit board, and the distance between the laser light source and the central axis is smaller than the distance between the photoelectric detection unit and the central axis; or,

[0014] The transmitting circuit board is located below the receiving circuit board, and the distance between the laser light source and the central axis is greater than the distance between the photoelectric detection unit and the central axis.

[0015] The circuit board located above is provided with N openings to facilitate the passage of light beams.

[0016] A protective frame is arranged on the emitting circuit board, and the protective frame covers the N laser light sources.

[0017] The laser light source adopts vertical cavity surface emitting laser VCSEL.

[0018] The N laser light sources are evenly distributed around the central axis.

[0019] The N laser light sources are centrally symmetrically distributed relative to the central axis.

[0020] The utility model also discloses a laser radar, which has the measuring module.

[0021] The measuring unit of the utility model has a coaxial nested structure, and a plurality of parallel optical path transceiver pairs are arranged around the central axis, which can make full use of the scanning space, perform high-density spatial scanning, improve scanning efficiency, and achieve field of view coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Shown is a schematic structural diagram of a measurement module of the laser radar of the present invention.

[0023] Figure 2 Shown is a schematic diagram of the optical path of the transmitting circuit board of the utility model.

[0024] Figure 3 Shown is a schematic diagram of the optical path of the receiving circuit board of the utility model.

[0025] Figure 4A , 4B Shown is a schematic diagram of the top view of the arrangement of the laser light source and the photoelectric detection unit of the utility model.

[0026] Figure 5 Shown is a schematic diagram of the optical path of the measurement module of the utility model.

[0027] Figure 6 Shown is a schematic diagram of the optical path of the measurement module of the utility model.

[0028] Figure 7 Shown is a schematic structural diagram of a measurement module of the laser radar of the present invention.

[0029] Figure 8 Shown is a schematic diagram of the optical path of the laser radar of the present utility model. DETAILED DESCRIPTION

[0030] The implementation process of the technical solution of the present utility model is described below in conjunction with specific embodiments, which is not intended to limit the present utility model.

[0031] The utility model discloses a laser radar measurement module, which utilizes a coaxial nested transmitting / receiving end arrangement that can realize parallel light paths to achieve high-density spatial scanning, achieve field of view coverage, improve scanning efficiency, and expand field of view coverage.

[0032] like Figure 1 Shown is a schematic structural diagram of a measurement module of the laser radar of the present invention. Figure 2 Shown is a schematic diagram of the optical path of the transmitting circuit board of the utility model. Figure 3 Shown is a schematic diagram of the optical path of the receiving circuit board of the utility model.

[0033] The laser radar has a measuring module, which includes a transmitting circuit board 10 and a receiving circuit board 20.

[0034] The transmitting circuit board 10 carries N laser light sources 11 for emitting laser beams, and the N laser light sources are arranged around a central axis O, and the N laser light sources are arranged circumferentially, and the central axis O is located at the center of the circle. The N laser beams emitted by the N laser light sources are perpendicular to the transmitting circuit board, and the N laser beams are parallel to each other. The laser light source can adopt a vertical cavity surface emitting laser VCSEL. The laser light source can be provided with 4-32, preferably 4, 8, 16 or 32.

[0035] The receiving circuit board 20 carries N photoelectric detection units 21 for receiving the echo light beam, and the N photoelectric detection units are arranged in a circle around the central axis O. The number of the laser light sources is the same as that of the photoelectric detection units.

[0036] like Figure 4A , 4B Shown is a schematic diagram of the top view of the arrangement of the laser light source and the photoelectric detection unit of the utility model.

[0037] The laser light source and the photoelectric detection unit with the same orientation relative to the central axis O form a transceiver pair, that is, the line connecting the projections of the laser light source and the photoelectric detection unit in the same transceiver pair on the transmitting circuit board passes through the central axis O.

[0038] The echo light beam generated by the laser beam emitted by the laser light source in the same group of transceiver pairs is received by the photoelectric detection unit in the group of transceiver pairs.

[0039] The laser beam and the echo light beam corresponding to the same transceiver pair are parallel to each other, forming a parallel optical path transceiver pair.

[0040] The distance between the laser light source and the central axis is different from the distance between the photoelectric detection unit and the central axis, so that the emission light path and the receiving light path are staggered.

[0041] like Figure 1 In the embodiment, the distance between the laser light source 11 and the central axis O is greater than the distance between the photoelectric detection unit 21 and the central axis O. The N laser light sources are evenly distributed around the central axis O, and correspondingly, the N photoelectric detection units are also evenly distributed around the central axis O. The central symmetric distribution of the N laser light sources around the central axis O is also within the scope of the disclosure of the present invention.

[0042] The transmitting circuit board 10 and the receiving circuit board 20 can be two circuit boards parallel to each other, or they can be the same circuit board, that is, the same circuit board carries both N laser light sources and N photoelectric detection units.

[0043] When the transmitting circuit board 10 and the receiving circuit board 20 are two circuit boards, the transmitting circuit board is located below the receiving circuit board, and the distance between the laser light source and the central axis is greater than the distance between the photoelectric detection unit and the central axis. Figure 1 Alternatively, in another embodiment, the transmitting circuit board may be located above the receiving circuit board, and the distance of the laser light source relative to the central axis is smaller than the distance of the photoelectric detection unit relative to the central axis, that is, the positions of the laser light source 11 and the photoelectric detection unit 21 may be interchangeable, and the laser light source 11 may be arranged at the periphery or the photoelectric detection unit 21 may be arranged at the periphery.

[0044] The circuit board located above is provided with N openings 30 to facilitate the passage of the light beams of the circuit board below. Figure 5 , 6 As shown, the area of ​​the upper circuit board can also be smaller than that of the lower circuit board, such as Figure 1 as shown, to direct the light beam from the circuit board below.

[0045] The transmitting circuit board 10 may also be provided with a protective frame 40, which is made of a transparent material and is used to cover the N laser light sources to protect the laser light sources from collisions without affecting the energy of the laser beams. Figure 7 shown.

[0046] A filter may also be disposed above the photoelectric detection unit 21 of the receiving circuit board 20 to filter the echo light beam.

[0047] Through the above arrangement of the measuring unit of the utility model, the sending and receiving form parallel optical paths. Each group of parallel optical paths is arranged around the central axis O, coaxially nested and orderly staggered with each other. After being collimated and focused by the lens group 50, the laser beam is projected to the scanning mechanism 60. The scanning mechanism 60 can be a transmission scanning wedge mirror, which can be circular in shape. Through the 360-degree rotation of the scanning mechanism 60, the laser beam projected by the laser light source is driven to rotate periodically to form a scanning detection of the environment. Each group of parallel optical path sending and receiving pairs guides a channel.

[0048] The above-mentioned coaxial nesting of the measuring unit of the utility model and the arrangement of multiple sets of parallel light paths around the central axis O can make full use of the scanning space, perform high-density spatial scanning in all directions when the scanning mechanism 60 rotates, improve scanning efficiency, and achieve field of view coverage. Each set of parallel light path transceiver pairs is guided by the scanning mechanism 60 to cover a specific field of view, perform periodic scanning in the specific field of view, and diffusely scan points. The respective fields of view of multiple sets of parallel light path transceiver pairs can be connected to each other, expand the field of view coverage, improve the efficiency of the optical system, and enhance the measurement accuracy.

[0049] The above embodiments are only used to describe the technical solution of the present invention and are not to be regarded as limiting the present invention.

Claims

1. A laser radar measurement module, characterized in that: include: An emitting circuit board, the emitting circuit board carries N laser light sources for emitting laser beams, the N laser light sources are arranged circumferentially around a central axis, and the N laser beams are mutually parallel and perpendicular to the emitting circuit board to form a laser beam array; A receiving circuit board, the receiving circuit board carries N photoelectric detection units for receiving the echo light beam, and the N photoelectric detection units are arranged around the circumference of the central axis; The laser light source and the photoelectric detection unit with the same orientation relative to the central axis form a transceiver pair, and the laser beam and the echo beam corresponding to the same transceiver pair are parallel to each other; The distance between the laser light source and the central axis is different from the distance between the photoelectric detection unit and the central axis.

2. The laser radar measurement module according to claim 1, characterized in that: The transmitting circuit board and the receiving circuit board are the same circuit board.

3. The laser radar measurement module according to claim 1, characterized in that: The transmitting circuit board and the receiving circuit board are parallel to each other.

4. The laser radar measurement module according to claim 1 or 3, characterized in that: The transmitting circuit board is located above the receiving circuit board, and the distance between the laser light source and the central axis is smaller than the distance between the photoelectric detection unit and the central axis; or, The transmitting circuit board is located below the receiving circuit board, and the distance between the laser light source and the central axis is greater than the distance between the photoelectric detection unit and the central axis.

5. The laser radar measurement module according to claim 4, characterized in that: The circuit board located above is provided with N openings to facilitate the passage of light beams.

6. The laser radar measurement module according to claim 1, characterized in that: A protective frame is arranged on the emitting circuit board, and the protective frame covers the N laser light sources.

7. The laser radar measurement module according to claim 1, characterized in that: The laser light source adopts vertical cavity surface emitting laser VCSEL.

8. The laser radar measurement module according to claim 1, characterized in that: The N laser light sources are evenly distributed around the central axis.

9. The laser radar measurement module according to claim 1, characterized in that: The N laser light sources are centrally symmetrically distributed relative to the central axis.

10. A laser radar, characterized in that: A measuring module as claimed in any one of claims 1 to 9.

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