Shell assembly for laser radar and laser radar
By setting up a fader in the lidar housing assembly, the reflection and scattering effects of the microstructure consume stray light energy, the problem of stray light affecting detection accuracy within the lidar is solved, and the signal-to-noise ratio and detection accuracy are improved.
Patent Information
- Application Number
- CN202420614460.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-27
- Publication Date
- 2025-04-29
- Estimated Expiration
- 2034-03-27
AI Technical Summary
Stray light inside the lidar affects detection accuracy, leading to ghost images, affecting signal-to-noise ratio and detection accuracy.
A housing assembly for lidar is designed, and a dimming device is provided with an inner surface of the housing. The dimming device includes a carrier and a plurality of microstructures. The microstructure protrudes in the direction of the lidar internally and consumes stray light energy by reflection and scattering.
Effectively reduce the impact of stray light on the detection accuracy of lidar, improve the signal-to-noise ratio and detection accuracy, and avoid the occurrence of ghost images.
Smart Images
Figure CN222812933U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of laser radar, and in particular to a housing component for a laser radar and a laser radar. Background Art
[0002] The laser radar emits a detection beam and receives the echo generated by the reflection of the object outside the laser radar. After converting the echo into an electrical signal, the laser radar can determine the position and reflectivity of the object based on the electrical signal. The direction of the object relative to the laser radar can be determined based on the emission direction of the detection beam and the direction of the echo. However, the transmitter that emits the detection beam and the receiver that receives the echo in the laser radar are both set inside the laser radar. Part of the detection beam may irradiate or reflect onto the surface of the shell or other devices in the laser radar, generating stray light.
[0003] Stray light inside the lidar can affect the accuracy of lidar detection, such as Figure 1 As shown in , the transmitter inside the laser radar emits a detection beam, which forms stray light inside the laser radar. The stray light is reflected on the inner wall of the shell, and the reflected stray light is irradiated on the object outside the laser radar, and is reflected again to form a stray light echo. The stray light echo returns to the laser radar along the original route and is received by the detector of the laser radar. There is actually no object in the direction where the stray light echo is received, but the laser radar is affected by the stray light and may still identify the object, forming a ghost image, which affects the accuracy of the laser radar detection.
[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Utility Model Content
[0005] In view of one or more deficiencies in the prior art, the present disclosure provides a housing assembly for a laser radar, the housing assembly comprising:
[0006] a housing; and
[0007] A deglare device is fixedly arranged on the inner surface of the shell, and the deglare device comprises:
[0008] carrier; and
[0009] A plurality of microstructures are arranged on the carrier and protrude from the carrier along a direction toward the interior of the laser radar.
[0010] According to one aspect of the present disclosure, the plurality of microstructures are arranged in an array or randomly on the carrier.
[0011] According to one aspect of the present disclosure, a rounded corner at one end of the microstructure far from the carrier is no greater than 0.1 mm.
[0012] According to one aspect of the present disclosure, the thickness of the carrier is 0.2 mm-0.5 mm.
[0013] According to one aspect of the present disclosure, the distance between adjacent microstructures is determined based on the height of the microstructure relative to the carrier and the incident angle of stray light.
[0014] According to one aspect of the present disclosure, the microstructure is a strip-shaped structure, and a plurality of microstructures are arranged in parallel or cross-arranged with each other.
[0015] According to one aspect of the present disclosure, the surface of the microstructure is one or more of a plane, a curved surface or a random surface.
[0016] According to one aspect of the present disclosure, the cross-sectional shape of the microstructure is a triangle, and the vertex of the triangle is away from the carrier.
[0017] According to one aspect of the present disclosure, the surface of the microstructure has a blackened layer, and the blackened layer includes at least one of a paint layer and a plating layer.
[0018] According to one aspect of the present disclosure, the side surface of the microstructure has a micro-hole structure.
[0019] According to one aspect of the present disclosure, the microstructure is formed on the carrier by electroforming or embossing; and the delusterer is welded or bonded to the inner surface of the shell.
[0020] According to one aspect of the present disclosure, the present disclosure also includes a laser radar, the laser radar comprising:
[0021] A housing component, the housing component comprising:
[0022] a housing; and
[0023] A deglare device, fixedly disposed on the inner surface of the shell;
[0024] an emitter disposed in the housing and capable of emitting a detection light beam; and
[0025] The receiver is arranged in the housing and is capable of receiving the echo of the detection light beam after being reflected on the object.
[0026] According to one aspect of the present disclosure, the housing assembly is the housing assembly as described above.
[0027] The embodiment of the present disclosure discloses a shell assembly for a laser radar, wherein a de-glazing device is arranged on the inner surface of the shell. When the stray light formed by the detection light beam emitted by the laser radar inside the laser radar irradiates the multiple microstructures of the de-glazing device, it will be reflected multiple times on the surface of the microstructure, or scattered on the surface of the microstructure. The energy of the stray light is consumed in the process of reflection or scattering. Even if some stray light still irradiates the object outside the laser radar after multiple reflections or scattering by the microstructure, the energy of the stray light echo formed after reflection by the object is very weak and will not form a ghost image. The influence of the stray light on the detection accuracy of the laser radar can be reduced, and the signal-to-noise ratio and detection accuracy of the laser radar can be improved.
[0028] The present disclosure also includes an embodiment of a laser radar, which utilizes a de-optical device to reduce the impact of stray light on the detection accuracy of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings:
[0030] Figure 1 This is a schematic diagram of the formation of ghost images in existing laser radars;
[0031] Figure 2 is a schematic diagram of a housing assembly in some embodiments of the present disclosure;
[0032] Figure 3A-3C is a schematic diagram of a deglare device in different embodiments of the present disclosure;
[0033] Figure 4 is a schematic diagram of a laser radar in some embodiments of the present disclosure. DETAILED DESCRIPTION
[0034] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.
[0035] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0036] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.
[0037] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0038] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.
[0039] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.
[0040] An embodiment of the present disclosure includes a shell assembly for a laser radar, wherein the shell assembly includes: a shell and a deflector, and the deflector is fixedly arranged on the inner surface of the shell. The deflector includes a carrier and a plurality of microstructures, and the plurality of microstructures are arranged on the carrier and protrude from the carrier in a direction toward the inside of the laser radar. When the stray light formed by the detection light beam emitted by the laser radar inside the laser radar is irradiated on the plurality of microstructures of the deflector, multiple reflections will occur on the surface of the microstructure, or scattering will occur on the surface of the microstructure. The energy of the stray light is consumed in the process of reflection or scattering, and no stray light echo that can be received by the laser radar is generated, or even if a stray light echo is generated, the energy of the stray light echo is weak and no ghost image is formed. This embodiment can improve the detection accuracy of the laser radar.
[0041] Figure 2 The structure of the housing assembly 100 for the laser radar 1 according to some embodiments of the present disclosure is shown below. Figure 1 A housing assembly 100 for a laser radar is described.
[0042] like Figure 2 As shown, the housing assembly 100 includes a housing 110 and a de-optical device 120, wherein the de-optical device 120 is fixedly arranged on the inner surface of the housing 110. The de-optical device 120 can cover the entire inner surface of the housing 110, or the de-optical device 120 can be arranged at a position in the housing 110 that is irradiated by stray light based on the angle of stray light inside the laser radar 1.
[0043] The deglare device 120 includes a carrier 121 and a plurality of microstructures 122. The plurality of microstructures 122 are arranged on the carrier 121, and the plurality of microstructures 122 protrude from the carrier 121 in a direction toward the inside of the laser radar 1. For example, one side of the carrier 121 is fixed to the inner surface of the housing 110, and the other side of the carrier 121 faces the inside of the laser radar 1. The plurality of microstructures 122 protrude toward the inside of the laser radar 1, forming a plurality of protrusions on the surface of the carrier 121. The shape of the carrier 121 can be Figure 2 The flat plate shape shown in the figure may also be other shapes. For example, any one of the side surface of the carrier 121 facing the inside of the shell 110 and the side surface facing away from the inside of the shell 110 may be set as a curved surface. If the shell 110 is a curved surface, the carrier 121 may be set as a curved plate with uniform or uneven thickness, which fits the inner surface of the shell 110, which is beneficial to improve the bonding strength between the de-duster 120 and the shell 110.
[0044] In some embodiments of the present disclosure, the surface of the microstructure 122 may be configured as one or more of a plane, a curved surface, or a random surface, wherein the surface of the microstructure 122 refers to the surface of the microstructure 122 protruding from the carrier 121. Figure 2 As shown in , in some embodiments of the present disclosure, the cross-sectional shape of the microstructure 122 can be set to a triangle with a rounded vertex, wherein the sides and the vertex of the triangle represent the surface of the microstructure 122, the sides of the triangle are planes, and the vertex is a curved surface. When the cross-sectional shape of the microstructure 122 is a triangle, the vertex of the triangle is away from the position of the carrier 121, for example Figure 2 In the inverted triangle shape shown in FIG, adjacent triangles have a larger opening angle in the direction away from the carrier 121, so that stray light can illuminate the side of the microstructure 122 (the side of the triangle), which is beneficial for the stray light to be reflected multiple times between adjacent microstructures 122 to reduce the energy of the stray light.
[0045] In some embodiments of the present disclosure, the top angle of the microstructure 122 is set to be a rounded corner. For example, the rounded corner size of the end of the microstructure 122 away from the carrier 121 is not greater than 0.1 mm. This can reduce the processing difficulty of the de-glazing device 120 and can also make the stray light irradiated at the top angle position reflect in different directions to reduce the energy of the stray light.
[0046] In some embodiments of the present disclosure, the side cross-sectional shape of the microstructure 122 can also be set to other shapes, such as wavy, rectangular, semicircular, etc. The microstructure 122 can be set to be a mutually independent cone, pyramid, cylinder, prism, or other irregular shapes. The microstructure 122 can also be set to a side cross-sectional shape ( Figure 2The cross-section shown in FIG. 1 is a triangle, a wave, a rectangle, a semicircle, etc., for example, a plurality of strips extending in the same direction, and the cross-section of the strips can be a triangle, a rectangle, a semicircle, etc. The shapes of the plurality of microstructures 122 can be the same or different.
[0047] In the de-duster 120, the plurality of microstructures 122 may be Figure 2 As shown in FIG. 1 , the plurality of microstructures 122 are arranged continuously. The plurality of microstructures 122 may be connected to each other or spaced apart from each other. For example, two adjacent microstructures 122 among the plurality of microstructures 122 are spaced apart from each other on the surface of the carrier 121 .
[0048] When the stray light formed inside the laser radar by the detection light beam emitted by the transmitter in the laser radar 1 irradiates the surface of the de-glazing device 120, the stray light is reflected multiple times on the surface of the microstructure, or scattered on the surface of the microstructure. The energy of the stray light is consumed in the process of multiple reflections or scattering, and no stray light echo is generated, which can avoid the formation of ghost images and is beneficial to improving the signal-to-noise ratio and detection accuracy of the laser radar 1.
[0049] Even if some stray light is still reflected multiple times or scattered at the deflector 120 and irradiates objects outside the laser radar 1, the energy of the generated stray light echo is very weak and will not form a ghost image. This can reduce the impact of stray light on the detection accuracy of the laser radar 1 and improve the signal-to-noise ratio and detection accuracy of the laser radar 1.
[0050] In some embodiments of the present disclosure, the de-duster 120 is independent of the housing 110, and the de-duster 120 can be fixedly arranged on the inner surface of the housing 110 by means of gluing or welding. The independent arrangement of the de-duster 120 is not only conducive to reducing the difficulty and cost of processing, but also the structural design and assembly position of the de-duster 120 have a higher degree of freedom. At the same time, the independent processing of the de-duster 120 is conducive to reducing the overall thickness of the de-duster 120. In some embodiments of the present disclosure, the thickness of the carrier 121 ranges from 0.2mm to 0.5mm, which reduces the space occupied by the de-duster 120 inside the housing 110, prevents the de-duster 120 from interfering with other devices inside the laser radar 1, and is conducive to not increasing the volume of the laser radar 1.
[0051] Figure 2 The delusterer 120 shown in the figure does not represent the thickness ratio between the carrier 121 and the microstructure 122. The height of the microstructure 122 on the carrier 121 is 0.2 mm-0.4 mm, and the width of the connection position between the microstructure 122 and the carrier 121 can be set to 0.2 mm-0.5 mm.
[0052] In some embodiments of the present disclosure, the distance between adjacent microstructures 122 can be determined based on the height of the microstructure 122 on the carrier 121 and the incident angle of the stray light, so as to increase the number of times the stray light is reflected on the surface of the adjacent microstructure 122, and further reduce the influence of the stray light on the detection accuracy of the laser radar 1. For example, when the microstructures 122 are arranged at intervals, the distance between adjacent microstructures 122 can be 1 mm-2 mm.
[0053] In some embodiments of the present disclosure, the microstructure 122 may be arranged in a strip-shaped structure, for example Figure 3A As shown, a plurality of strip-shaped microstructures 122 can be arranged parallel to each other. Figure 3B As shown in , the multiple strip-shaped microstructures 122 can also be arranged to cross each other. In different embodiments of the present disclosure, the multiple strip-shaped microstructures 122 can be arranged to cross each other perpendicularly, or can cross each other at any angle.
[0054] In some embodiments of the present disclosure, the plurality of microstructures 122 are arranged in an array or randomly on the carrier 121 , for example Figure 3A As shown, the microstructure 122 can be arranged in a strip shape extending in one direction, and the shape in the cross section perpendicular to the extending direction can be a triangle. A plurality of strip-shaped microstructures 122 can be arranged in parallel in a one-dimensional array.
[0055] In other disclosed embodiments, Figure 3B As shown, the microstructure 122 can be arranged in strips extending in different directions, and multiple strip microstructures 122 in different directions can cross each other, for example, arranged in a two-dimensional array to form a grid shape, and the shapes of the microstructures 122 extending in different directions can be the same or different. The arrangement of multiple microstructures 122 in an array is not limited to strip microstructures 122, for example, the multiple microstructures 122 can be conical or pyramidal, and the positions of the multiple microstructures 122 on the carrier 121 can also be arranged in a two-dimensional array.
[0056] In other embodiments of the present disclosure, Figure 3C As shown, the microstructures 122 can be configured as independent conical protrusions, which are randomly arranged on the carrier 121. In some embodiments of the present disclosure, the density of the microstructures 122 at different positions of the carrier 121 can be different. For example, the density of the microstructures 122 on the carrier 121 can be set according to the historical distribution law of the stray light inside the laser radar 1 irradiating different positions of the carrier 121, and more microstructures 122 can be set in the area where the stray light irradiates the position on the de-glare device 120 more densely.
[0057] In some embodiments of the present disclosure, the microstructure 122 can be formed on the carrier 121 by electroforming. For example, the carrier 121 is made of a conductive material, and a portion of the surface of the carrier 121 is shielded, or a portion of the surface of the carrier 121 is subjected to surface conductive treatment, and the microstructure 122 is formed at a preset position on the surface of the carrier 121 by electrolytic deposition. Forming the microstructure 122 on the surface of the carrier 121 by electroforming is conducive to controlling the thickness of the deglazer 120 and reducing the space occupied by the deglazer 120 in the housing 110.
[0058] In some other embodiments of the present disclosure, the microstructure 122 may also be formed on the carrier 121 by embossing, for example, by embossing the microstructure 122 on the carrier 121 using a template having a shape complementary to that of the microstructure 122 .
[0059] In some embodiments of the present disclosure, the surface of the microstructure 122 has a blackened layer (not shown in the figure), and the blackened layer can absorb the stray light irradiated thereon and reduce the energy of the stray light. In different embodiments, the blackened layer may include at least one of a paint layer and a coating, for example, matte paint is applied to the surface of the microstructure 122, or a matte coating is formed on the surface of the microstructure 122 by electroplating, evaporation, sputtering, etc. After the stray light is irradiated to the blackened layer, part of the energy is absorbed, and the intensity of the stray light reflected on the surface of the blackened layer decreases, thereby reducing the influence of the stray light on the detection accuracy of the laser radar 1.
[0060] In other embodiments of the present disclosure, the surface of the microstructure 122 has a microporous structure (not shown in the figure), which can increase the roughness of the surface of the microstructure 122, and the stray light is reflected multiple times at the microporous structure, and is conducive to the scattering of the stray light on the surface of the microstructure 122, which can further reduce the energy of the reflected light and reduce the influence of the stray light on the accuracy of the detection of the laser radar 1. In some embodiments, depending on the material of the microstructure 122, the microporous structure can be formed on the surface of the microstructure 122 by acid etching or alkali etching.
[0061] like Figure 4 As shown, the present disclosure also includes an embodiment of a laser radar 1, wherein the laser radar 1 includes a housing assembly 100, a transmitter 200, and a receiver 300, wherein the housing assembly 100 includes a shell 110 and a deglare 120, and the deglare 120 is arranged on the inner surface of the shell 110. The transmitter 200 is arranged in the shell 110 and is configured to be able to emit a detection beam, and the receiver 300 is arranged in the shell 110 and is capable of receiving an echo after the detection beam is reflected on an object.
[0062] In some embodiments of the present disclosure, the housing assembly 100 in the laser radar 1 may be the housing assembly 100 described in the aforementioned embodiments.
[0063] Finally, it should be noted that the above is only an embodiment of the present disclosure and is not intended to limit the present disclosure. Although the present disclosure is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.
Claims
1. A housing assembly for a laser radar, characterized in that: The housing assembly comprises: a housing; and A deglare device is fixedly arranged on the inner surface of the shell, and the deglare device comprises: carrier; and A plurality of microstructures are arranged on the carrier and protrude from the carrier along a direction toward the interior of the laser radar.
2. The housing assembly according to claim 1, characterized in that The plurality of microstructures are arranged in an array or randomly on the carrier.
3. The housing assembly according to claim 1, characterized in that The rounded corner of one end of the microstructure away from the carrier is no greater than 0.1 mm.
4. The housing assembly according to claim 1, wherein: The thickness of the carrier is 0.2 mm-0.5 mm.
5. The housing assembly according to claim 1, wherein: The distance between adjacent microstructures is determined based on the height of the microstructures relative to the carrier and the incident angle of stray light.
6. The housing assembly according to claim 1, wherein: The microstructure is a strip-shaped structure, and a plurality of microstructures are arranged in parallel or cross-arranged with each other.
7. The housing assembly according to any one of claims 1 to 6, characterized in that: The surface of the microstructure is one or more of a plane, a curved surface or a random surface.
8. The housing assembly according to claim 7, characterized in that The cross-sectional shape of the microstructure is a triangle, and the vertex of the triangle is far away from the carrier.
9. The housing assembly according to any one of claims 1 to 6, characterized in that: The surface of the microstructure has a blackened layer, and the blackened layer includes at least one of a paint layer and a plating layer.
10. The housing assembly according to any one of claims 1 to 6, characterized in that: The side surface of the microstructure has a micro-hole structure.
11. The housing assembly according to any one of claims 1 to 6, characterized in that: The microstructure is formed on the carrier by electroforming or embossing; the delusterer is welded or bonded to the inner surface of the shell.
12. A laser radar, characterized in that: The laser radar comprises: A housing component, the housing component comprising: a housing; and A deglare device, fixedly disposed on the inner surface of the shell; an emitter disposed in the housing and capable of emitting a detection light beam; and The receiver is arranged in the housing and is capable of receiving the echo of the detection light beam after being reflected on the object.
13. The laser radar according to claim 12, characterized in that: The housing component is the housing component according to any one of claims 1 to 11.