Laser radar shell and laser radar

Abstract

The utility model provides a laser radar housing and a laser radar, and the housing comprises a housing main body which is internally provided with a receiving module installation structure. A first extinction structure is arranged in the receiving module mounting structure; the first light extinction structure is provided with a first light extinction surface surrounding the peripheral side of a preset receiving light path, and the first light extinction surface is configured to define a receiving channel; in the transmission direction of the echo signal of the laser radar, the inner diameter of the receiving channel is gradually reduced to limit the passing of the echo signal deviating from the preset receiving light path, so that the echo signal deviating from the preset receiving light path is prevented from being received by the receiving module, that is, the amount of stray light received by the receiving module is reduced, and the accuracy of a detection result can be improved.

Description

Technical Field

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

[0002] LiDAR is typically composed of numerous optical components, which are typically housed in a housing for protection and securement. These components are typically divided into a transmitting module, a receiving module, and a rotating mirror module, with the laser transmission signal and return signal propagating between these modules.

[0003] During laser propagation, the inner surface of the housing may reflect some of the laser light multiple times. These reflections may then be reflected back into the receiving module. This causes the receiving chip in the receiving module to receive not only the light reflected from the target but also stray light generated by the laser light reflecting off the inner surface of the housing. Furthermore, external light may enter the LiDAR, generating stray light. This stray light can interfere with the LiDAR's ability to detect the distance and shape of the object, affecting its detection accuracy. Utility Model Content

[0004] The utility model provides a laser radar housing and a laser radar, aiming to solve the problem of reducing the interference of stray light inside the laser radar.

[0005] The embodiment of the utility model provides a laser radar housing, which includes a housing body having a receiving module mounting structure therein;

[0006] The receiving module mounting structure has a first extinction structure inside; the first extinction structure has a first extinction surface arranged around the circumference of the preset receiving optical path, and the first extinction surface is configured to form a receiving channel; in the propagation direction of the laser radar's echo signal, the inner diameter of the receiving channel gradually decreases.

[0007] Optionally, the receiving module mounting structure includes two receiving lens mounting portions and a receiving chip mounting portion; the first extinction structure is located between the two receiving lens mounting portions;

[0008] An inner diameter of one end of the receiving channel close to the receiving chip mounting portion is smaller than an inner diameter of the adjacent receiving lens mounting portion to form a step structure, and a surface of the step structure is arranged toward the receiving chip mounting portion.

[0009] Optionally, the housing body further includes an emission module mounting structure; the emission module mounting structure includes a second extinction structure;

[0010] The second extinction structure is arranged on the peripheral side of the preset emission light path, and an emission channel is formed inside the second extinction structure; in the propagation direction of the emission signal of the laser radar, the inner diameter of the emission channel gradually expands.

[0011] Optionally, the second matte structure further includes a plurality of first grooves;

[0012] The notches of the plurality of first grooves are all located on the inner circumferential surface of the emission channel, and the plurality of first grooves are distributed along the preset emission light path; the recessed directions of the plurality of first grooves are all perpendicular to the preset emission light path;

[0013] The first groove has two opposite second extinction surfaces therein, and the second extinction surfaces are configured so that the laser light deviating from the preset emission light path will be reflected multiple times between the two opposite second extinction surfaces.

[0014] Optionally, the bottom surface of the first groove is in the shape of an arc surface.

[0015] Optionally, the housing body further includes a rotating mirror module mounting structure and a third extinction structure;

[0016] The third light extinction structure includes a protrusion provided at the transceiver window of the housing body, and the protrusion is located on a side of the rotating mirror module mounting structure away from the receiving module mounting structure;

[0017] The protrusion has a first surface facing the transceiver window, and the first surface has a plurality of second grooves; the second grooves are recessed in a direction parallel to the preset transmitting light path and extend in a direction perpendicular to the bottom plate of the housing body; the plurality of second grooves are arranged parallel to the preset receiving light path;

[0018] The second groove has two opposite third extinction surfaces therein. The third extinction surfaces are configured so that the laser light incident through the transceiver window will be reflected multiple times between the two opposite third extinction surfaces.

[0019] Optionally, the protrusion has a second surface disposed toward the receiving module, and a plurality of third grooves are disposed on the second surface;

[0020] The recessed direction of the third groove is parallel to the preset receiving direction and extends in a direction perpendicular to the bottom plate of the housing body; a plurality of the third grooves are arranged parallel to the preset emitting direction;

[0021] The third groove has two opposite fourth extinction surfaces therein. The fourth extinction surfaces are configured so that the laser light incident through the transceiver window will be reflected multiple times between the two opposite fourth extinction surfaces.

[0022] Optionally, the inner surface of the housing body has a matte layer; the matte layer at least covers the surface of the receiving module mounting structure and the surface of the transceiver window area of the housing body;

[0023] The matte layer is configured so that light is diffusely reflected on its surface.

[0024] Optionally, the shell body includes an upper shell and a lower shell; the upper shell and the lower shell are configured to form an accommodating space after being relatively buckled together.

[0025] As another technical solution, the present invention provides a laser radar, which includes: a transmitting module, a receiving module, a rotating mirror module and the laser radar housing as described above;

[0026] The transmitting module, the receiving module and the rotating mirror module are arranged inside the laser radar housing.

[0027] The utility model has the following beneficial effects:

[0028] The laser radar housing provided by an embodiment of the present invention adds a first extinction structure inside the receiving module mounting structure, and the first extinction structure has a first extinction surface arranged around the periphery of a preset receiving optical path. The first extinction surface is configured to enclose a receiving channel; moreover, the inner diameter of the receiving channel gradually decreases in the propagation direction of the laser radar echo signal. Since the preset receiving optical path of the receiving module is generally shaped to converge along the laser propagation direction, the receiving channel can limit the passage of echo signals that deviate from the preset receiving optical path, thereby reducing the number of echo signals that deviate from the preset receiving optical path being received by the receiving module, that is, reducing the amount of stray light received by the receiving module, thereby improving the signal-to-noise ratio of the received signal, and further improving the accuracy of the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic structural diagram of a laser radar housing provided in an embodiment of the present utility model;

[0030] Figure 2 A schematic diagram of the structure of the receiving module installation structure provided in an embodiment of the present utility model;

[0031] Figure 3 A schematic diagram of the structure of the transmitting module installation structure provided in an embodiment of the present utility model;

[0032] Figure 4 A partial three-dimensional schematic diagram of the interior of a laser radar housing provided by an embodiment of the present utility model;

[0033] Figure 5 A schematic structural diagram of a laser radar housing with an extinction layer provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0035] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention, rather than to limit the present invention.

[0036] It is understandable that, in the absence of conflict, the various embodiments of the present invention and the various features therein may be combined with each other.

[0037] It can be understood that, for the convenience of description, the drawings of the present invention only show parts related to the embodiments of the present invention, and parts unrelated to the embodiments of the present invention are not shown in the drawings.

[0038] It is understandable that, in the absence of conflict, the functions and steps marked in the flowcharts and block diagrams of the embodiments of the present invention may occur in an order different from that marked in the drawings.

[0039] It is 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 may make various modifications and improvements 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.

[0040] This embodiment provides a laser radar housing, which includes a housing body for accommodating an optical module of the laser radar. Figure 1 As shown, the housing body 1 has a receiving module mounting structure 2 inside, which is used to fix the receiving module inside the housing body 1.

[0041] like Figure 2 As shown, the receiving module mounting structure 2 has a first extinction structure 21 inside. The first extinction structure 21 has a first extinction surface arranged around the preset receiving optical path X1, and the first extinction surface is configured to be able to enclose a receiving channel. Specifically, the preset receiving optical path X1 is the echo signal that the receiving module expects to receive, that is, the echo signal propagating along the preset receiving optical path X1 contains accurate detection information; correspondingly, the laser that deviates from the preset receiving optical path X1 is stray light such as stray light incident from the external environment or stray light generated by the laser reflected on the inner surface of the shell body 1. The information contained in the stray light cannot be parsed into accurate detection information. Therefore, if it is received by the receiving module, it will interfere with the receiving module's analysis of the received signal, thereby affecting the accuracy.

[0042] like Figure 2As shown, in the direction from the receiving end of the receiving module to the receiving chip, the preset receiving optical path X1 is conical, that is, the preset receiving optical path X1 is convergent along the propagation direction of the laser radar's echo signal; accordingly, in the propagation direction of the laser radar's echo signal, the inner diameter of the receiving channel formed by the first extinction surface gradually decreases, corresponding to the shape of the preset receiving optical path X1, so that only the laser incident along the preset receiving optical path X1 can pass through, and the stray light deviating from the preset receiving optical path X1 will be reflected when it reaches the first extinction surface, so that the stray light directly returns to the receiving end of the receiving module or returns to the receiving end of the receiving module after multiple reflections on the first extinction surface, and will not enter the receiving chip; in this way, the receiving channel can effectively limit the passage of the echo signal that deviates from the preset receiving optical path X1, so as to reduce the echo signal that deviates from the preset receiving optical path X1 being received by the receiving module, that is, reduce the amount of stray light received by the receiving module, thereby improving the signal-to-noise ratio of the received signal, and further improving the accuracy of the detection result.

[0043] For example, Figure 2 As shown, the first extinction surface can be an arc-shaped curved surface relatively arranged on both sides of the preset receiving light path X1.

[0044] For example, the first matte surface may be coated with a light-absorbing material or the first matte surface may be processed with a matte structure.

[0045] Furthermore, in some embodiments, Figure 2 As shown, the receiving module mounting structure 2 includes two receiving lens mounting portions 22 and a receiving chip mounting portion 23; a first light extinction structure 21 is located between the two receiving lens mounting portions 22. The inner diameter of the end of the receiving channel closest to the receiving chip mounting portion 23 is smaller than the inner diameter of the adjacent receiving lens mounting portion 22, forming a stepped structure 211. Moreover, the surface of the stepped structure 211 is arranged toward the receiving chip mounting portion 23, thereby reducing the light intake area of the receiving lens while ensuring the position of the receiving lens is fixed, thereby preventing most stray light that deviates from the preset receiving optical path X1 from passing through the receiving lens.

[0046] In some embodiments, as Figure 3 As shown, the shell body 1 also has an emission module mounting structure 3 inside, which is used to fix the emission module inside the shell body 1. The emission module mounting structure 3 has a second extinction structure 31; the second extinction structure 31 is arranged around the preset emission light path X2, and an emission channel is formed inside the second extinction structure 31; specifically, the preset emission light path X2 is the laser emission signal that the emission module expects to emit, and the direction of the signal satisfies the requirement that it can be reflected toward the rotating mirror module after being emitted to the spectroscope; accordingly, the laser light that deviates from the preset emission light path X2 will not be reflected toward the rotating mirror module or will not be emitted to the spectroscope after being emitted to the spectroscope, and may be reflected on the inner surface of the shell body 1 and become stray light with uncontrollable direction. As shown Figure 3 As shown, the emission light source of the emission module generally emits light in a divergent form, and the emission module also includes an emission lens for shaping the divergent laser emission signal into a straight beam. Therefore, the shape of the preset emission light path X2 of the laser emission signal between the emission light source and the adjacent emission lens is as follows: in the direction from the emission light source to the emission lens, the preset emission light path X2 is conical, that is, the preset emission light path X2 is divergent along the propagation direction of the laser radar emission signal; accordingly, in the propagation direction of the laser radar emission signal, the inner diameter of the emission channel gradually expands. In this way, the shape of the emission channel can correspond to the shape of the preset emission light path X2, so that the laser light incident along the preset emission light path X2 can pass through, thereby preventing the intensity of the laser light emitted by the emission module along the preset emission direction from being weakened while blocking the emission signal that deviates from the preset emission direction.

[0047] Furthermore, in some embodiments, Figure 3 As shown, the second extinction structure 31 also includes a plurality of first grooves 311. The notches of the plurality of first grooves 311 are all located on the inner circumference of the emission channel, and the plurality of first grooves 311 are distributed along the preset emission light path X2; the recessed directions of the plurality of first grooves 311 are all perpendicular to the preset emission light path X2, so that the laser light of the preset emission light path X2 is parallel to the notch and will not enter the first groove 311, while the laser light deviating from the preset emission light path X2 has an angle with the notch and will enter the corresponding first groove 311 through the notch. The first groove 311 has two opposite second extinction surfaces, such as Figure 3 As shown, the second extinction surface is the sidewall of the first groove 311 perpendicular to the preset emission light path X2. The second extinction surface is configured so that laser light that deviates from the preset emission light path X2 will be reflected multiple times between the two opposing second extinction surfaces. The laser light will inevitably suffer a certain amount of energy loss during the reflection process. Therefore, by causing the laser light to reflect multiple times, the energy of the laser light that deviates from the preset emission light path X2 can be greatly consumed, and can even be completely consumed. This can reduce the proportion of laser light that deviates from the preset emission light path X2 in the laser emission signal emitted by the transmitting module, thereby reducing the generation of stray light and further reducing the amount of stray light entering the receiving module.

[0048] Moreover, the above-mentioned first groove 311 has only one notch arranged on the inner peripheral side of the emission channel, and the bottom of the groove is closed to ensure the side sealing of the emission module mounting structure 3, thereby ensuring that the laser emission signal will not leak, and further avoiding the leakage of the emission signal to avoid the leaked laser from occurring multiple times on the inner surface of the shell body 1 and becoming stray light.

[0049] In some embodiments, as Figure 3As shown, the bottom surface of the first groove 311 is in the shape of a circular arc. Specifically, the circular arc surface can increase the number of reflections of the laser between the second extinction surface and the bottom surface of the groove, thereby further consuming the energy of the laser that deviates from the preset emission optical path X2, thereby reducing the proportion of laser light that deviates from the preset emission optical path X2 in the laser emission signal emitted by the emission module, thereby further reducing the generation of stray light.

[0050] In some embodiments, the housing body 1 further includes a rotating mirror module mounting structure, which is used to rotatably mount the rotating mirror module inside the housing body 1. Figure 1 and Figure 4 As shown, the housing body 1 further comprises a third extinction structure 4. This structure comprises a bump positioned at the transceiver window of the housing body 1. The bump is located on the side of the rotating mirror module mounting structure away from the receiving module mounting structure 2, avoiding placement near the beam splitter to prevent obstruction of laser light transmission between the beam splitter and the rotating mirror module. Specifically, the bump can be positioned at the end of the transceiver window away from the receiving module mounting structure 2, but close to the transceiver window, to avoid interfering with the rotation of the rotating mirror module.

[0051] The protrusion has a first surface 41 set toward the transceiver window, and the first surface 41 has a plurality of second grooves 411; the concave direction of the second grooves 411 is parallel to the preset transmitting light path X2, and extends in a direction perpendicular to the bottom plate of the shell body 1; the plurality of second grooves 411 are arranged parallel to the preset receiving light path X1; the second groove 411 has two relative third extinction surfaces inside, and the third extinction surfaces are configured so that the stray light incident through the transceiver window will be reflected multiple times between the two relative third extinction surfaces, so that the energy of the stray light incident from the external environment can be greatly consumed by causing the stray light to be reflected multiple times, and most of the stray light incident from the external environment can be reflected back into the external environment, thereby preventing external stray light from entering, and further reducing the amount of stray light entering the receiving module.

[0052] Furthermore, in some embodiments, Figure 4 As shown, the protrusion also has a second surface 42 facing the receiving module. Since there is a gap between the rotating mirror module and the transceiver window to reserve space for the rotating mirror module to rotate, stray light obliquely incident from the external environment may also enter the interior of the housing body 1 through the gap and enter the receiving module after reflection, increasing the proportion of stray light in the received signal. Figure 4 As shown, the second surface 42 is arranged toward the receiving module and is located on the side of the rotating mirror module away from the receiving module, so the second surface 42 can block oblique stray light. In addition, a plurality of third grooves 421 are provided on the second surface 42; Figure 4As shown, the concave direction of the third groove 421 is parallel to the preset receiving direction and extends in a direction perpendicular to the bottom plate of the shell body 1; multiple third grooves 421 are arranged parallel to the preset emitting direction; it should be noted that the preset receiving direction and the preset emitting direction are straight line vectors, and the two can be regarded as the central axes of the above-mentioned preset receiving optical path X1 and the preset emitting optical path X2, respectively. The third groove 421 has two opposing fourth extinction surfaces inside. The fourth extinction surfaces are configured so that the laser light entering from the transceiver window will be reflected multiple times between the two opposing fourth extinction surfaces. By causing the stray light to be reflected multiple times, the energy of the incident light from the external environment can be greatly consumed, and the stray light incident from the external environment can be reflected back into the external environment, thereby preventing the external stray light from entering, and further reducing the amount of stray light entering the receiving module.

[0053] In some embodiments, as Figure 5 As shown, the inner surface of the shell body 1 has an extinction layer 11. The extinction layer 11 is configured to diffusely reflect light on its surface so that it can absorb most of the laser energy after the laser reaches the inner surface of the shell body 1. The extinction layer 11 covers at least the inner surface of the receiving module mounting structure 2, that is, the surface of the area where the echo signal passes, so as to consume the laser energy during the process of reflection between the laser and the inner surface of the receiving module mounting structure 2, thereby further reducing the stray light received by the receiving chip and improving the accuracy of the detection results; moreover, the extinction layer 11 also covers at least the surface of the area at the transceiver window of the shell body 1, so that after stray light from the external environment enters through the transceiver window, it is reflected by the surface of the extinction layer 11 to consume the energy of the stray light, thereby further reducing the stray light entering the receiving module. Specifically, the extinction layer 11 covers at least the above-mentioned first extinction surface and the inner surface of the shell body 1 near the transceiver window.

[0054] Exemplarily, the matt layer 11 may also cover the surface of the protrusion and the inner surfaces of the second groove 411 and the third groove 421 to enhance the consumption effect of the second groove 411 and the third groove 421 on stray light energy.

[0055] For example, the matte layer 11 can be formed by spraying matte paint inside the housing body 1 .

[0056] Exemplarily, the reflectivity of the matte paint is less than or equal to 3%.

[0057] In some embodiments, the shell body 1 includes an upper shell and a lower shell; the upper shell and the lower shell are configured to form a receiving space after being relatively buckled together to accommodate multiple optical modules of the laser radar.

[0058] For example, Figure 5As shown, the transmitting module mounting structure 3, the receiving module mounting structure 2 and the rotating mirror module mounting structure 5 are all arranged on the lower shell.

[0059] As another technical solution, this embodiment also provides a laser radar, which includes: a transmitting module, a receiving module, a rotating mirror module and the laser radar shell as described above; wherein, the transmitting module, the receiving module and the rotating mirror module are arranged inside the laser radar shell; specifically, the transmitting module, the receiving module and the rotating mirror module are respectively installed at the transmitting module mounting structure 3, the receiving module mounting structure 2 and the rotating mirror module mounting structure.

[0060] During the detection process of the laser radar, the laser emission signal will be emitted by the emission module, then reflected by the beam splitter to the rotating mirror module, and then the reflector in the rotating mirror module will reflect the laser emission signal through the transceiver window to the outside of the radar; after the laser emission signal is reflected by an external object, an echo signal will be formed, which will return to the rotating mirror module through the transceiver window, and then the reflector of the rotating mirror module will reflect the echo signal to the receiving module, and finally it will be received by the receiving chip in the receiving module to process the echo signal. In this process, the laser radar housing proposed in this embodiment can effectively reduce the stray light generated by the laser emission signal due to reflection from the inner surface of the shell body 1, thereby reducing the amount of stray light entering the receiving module, and the stray light in the receiving module can also be further blocked by the first extinction structure 21, thereby reducing the amount of stray light entering the receiving chip, thereby improving the signal-to-noise ratio of the received signal, and thus improving the accuracy of the detection result.

[0061] As described above, the laser radar housing and laser radar proposed in this embodiment can use reflection to block or weaken stray light that deviates from the preset optical path by adding a first extinction structure in the receiving module mounting structure, a second extinction structure in the transmitting module, and a third extinction structure at the transceiver window, thereby effectively reducing the generation of stray light in the laser receiving and transmitting links, thereby reducing the amount of stray light received by the receiving chip and improving the accuracy of the detection results.

[0062] It is 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 may make various modifications and improvements 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 laser radar housing, characterized in that: It includes a housing body, which has a receiving module mounting structure inside; The receiving module mounting structure has a first extinction structure inside; the first extinction structure has a first extinction surface arranged around the side of the preset receiving optical path, and the first extinction surface is configured to form a receiving channel; in the propagation direction of the echo signal of the laser radar, the inner diameter of the receiving channel gradually decreases.

2. The laser radar housing according to claim 1, characterized in that The receiving module mounting structure includes two receiving lens mounting parts and a receiving chip mounting part; the first extinction structure is located between the two receiving lens mounting parts; An inner diameter of one end of the receiving channel close to the receiving chip mounting portion is smaller than an inner diameter of the adjacent receiving lens mounting portion to form a step structure, and a surface of the step structure is arranged toward the receiving chip mounting portion.

3. The laser radar housing according to claim 1, characterized in that The housing body further comprises an emission module mounting structure; the emission module mounting structure comprises a second extinction structure; The second extinction structure is arranged on the peripheral side of the preset emission light path, and an emission channel is formed inside the second extinction structure; in the propagation direction of the emission signal of the laser radar, the inner diameter of the emission channel gradually expands.

4. The laser radar housing according to claim 3, characterized in that The second matt structure further includes a plurality of first grooves; The notches of the plurality of first grooves are all located on the inner circumferential surface of the emission channel, and the plurality of first grooves are distributed along the preset emission light path; the recessed directions of the plurality of first grooves are all perpendicular to the preset emission light path; The first groove has two opposite second extinction surfaces therein, and the second extinction surfaces are configured so that the laser light deviating from the preset emission light path will be reflected multiple times between the two opposite second extinction surfaces.

5. The laser radar housing according to claim 4, characterized in that: The bottom surface of the first groove is in the shape of an arc surface.

6. The laser radar housing according to claim 1, characterized in that: The housing body also has a rotating mirror module installation structure and a third extinction structure inside; The third light extinction structure includes a protrusion provided at the transceiver window of the housing body, and the protrusion is located on a side of the rotating mirror module mounting structure away from the receiving module mounting structure; The protrusion has a first surface facing the transceiver window, and the first surface has a plurality of second grooves; the second grooves are recessed in a direction parallel to the preset emission light path and extend in a direction perpendicular to the bottom plate of the housing body; A plurality of the second grooves are arranged parallel to the preset receiving light path direction; The second groove has two opposite third extinction surfaces therein. The third extinction surfaces are configured so that the laser light incident through the transceiver window will be reflected multiple times between the two opposite third extinction surfaces.

7. The laser radar housing according to claim 6, characterized in that: The protrusion has a second surface facing the receiving module, and a plurality of third grooves are provided on the second surface; The recessed direction of the third groove is parallel to the preset receiving direction and extends in a direction perpendicular to the bottom plate of the housing body; The plurality of third grooves are arranged parallel to the preset emission direction; The third groove has two opposite fourth extinction surfaces therein. The fourth extinction surfaces are configured so that the laser light incident through the transceiver window will be reflected multiple times between the two opposite fourth extinction surfaces.

8. The laser radar housing according to claim 1, wherein: The inner surface of the housing body has a matte layer; the matte layer at least covers the surface of the receiving module mounting structure and the surface of the transceiver window area of the housing body; The matte layer is configured so that light is diffusely reflected on its surface.

9. The laser radar housing according to claim 1, characterized in that: The shell body includes an upper shell and a lower shell; the upper shell and the lower shell are configured to form an accommodating space after being relatively buckled.

10. A laser radar, characterized in that: include: A transmitting module, a receiving module, a rotating mirror module, and a laser radar housing as described in any one of claims 1 to 9; The transmitting module, the receiving module and the rotating mirror module are arranged inside the laser radar housing.

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