Laser radar

Abstract

The utility model provides a laser radar. The laser radar comprises an emitter, a receiver, a first circuit board, an optical machine frame and an optical part. Wherein the emitter is configured to emit a light beam. The receiver is configured to receive echoes generated after the light beams are reflected by the object and convert the echoes into electric signals. The transmitter and the receiver are arranged on the first circuit board. The ray machine frame is fixedly connected with the first circuit board. The optical element is arranged in a light path of at least one of the light beam and the echo, and the optical element is fixedly arranged in the optical machine frame. According to the embodiment of the invention, the process of adjusting the transmitter, the receiver and the optical element is simplified, and the assembly difficulty and the assembly cost of the laser radar are reduced.

Description

Technical Field

[0001] The present disclosure generally relates to the field of laser radar technology, and more particularly to a laser radar. Background Art

[0002] Optical detection technology uses light as a medium to detect objects. Compared to ordinary light sources, lasers have the characteristics of monochromaticity and good directionality, and object detection using lasers as a medium has received more attention. For example, laser detection and ranging (LiDAR) uses lasers as a medium to detect objects and has been applied in fields such as intelligent driving, industrial manufacturing, drones, robot recognition, geographic mapping, or environmental monitoring. However, LiDAR has high requirements for assembly and adjustment accuracy, and the positions of various components in the LiDAR need to be adjusted, such as the relative positions of the transmitter and receiver. This makes the production and preparation of LiDAR more difficult and costly.

[0003] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Utility Model Content

[0004] In view of one or more deficiencies in the prior art, the present disclosure provides a laser radar, comprising:

[0005] an emitter configured to emit a light beam;

[0006] a receiver configured to receive an echo generated when the light beam is reflected by an object and convert the echo into an electrical signal;

[0007] A first circuit board, wherein the transmitter and the receiver are both arranged on the first circuit board;

[0008] an optical machine frame, fixedly connected to the first circuit board; and

[0009] An optical component is arranged in the optical path of at least one of the light beam and the echo, and the optical component is fixedly arranged in the optical machine frame.

[0010] Optionally, a positioning portion is provided on the optical machine frame, and a matching portion is provided on the first circuit board, and the position of the positioning portion corresponds to the position of the matching portion.

[0011] Optionally, the first circuit board and the optical machine frame are fixedly connected via a connecting piece, and an adjustment range is provided between the positioning portion and the matching portion.

[0012] Optionally, the optical component includes:

[0013] An emitting lens, comprising at least one emitting lens, configured to collimate the light beam emitted by the emitter and then emit it;

[0014] A receiving lens includes at least one receiving lens, and the receiving lens is configured to receive the echo and converge the echo to the receiver.

[0015] Optionally, at least one of the transmitting lens and the receiving lens includes a packaging component, and at least one of the transmitting lens in the transmitting lens and the receiving lens in the connector lens is fixed in the packaging component.

[0016] Optionally, the optical component further includes:

[0017] a first reflector disposed in an optical path of the light beam or the echo; and

[0018] a first beam splitter, the first beam splitter being arranged in an optical path of the light beam or the echo;

[0019] The optical-mechanical frame includes a transceiver port configured to allow the light beam and the echo to pass through.

[0020] Optionally, the first beam splitter is configured to reflect the light beam and transmit the echo; or

[0021] The first beam splitter is configured to reflect the echo and transmit the light beam.

[0022] Optionally, the light beam is linearly polarized, the optical component further includes a quarter-wave plate, and the first beam splitter includes a polarization beam splitter.

[0023] Optionally, the laser radar further includes a light shielding plate arranged on the optical machine frame to limit the light entering the receiving lens.

[0024] Optionally, the surface of the light shielding sheet facing the inner side of the optical machine frame is suitable for reducing reflection of light.

[0025] Optionally, the laser radar further includes:

[0026] The second circuit board is fixedly arranged between the first circuit board and the optical machine frame and is electrically connected to the first circuit board.

[0027] Optionally, the laser radar further includes:

[0028] A scanner is fixedly arranged relative to the optical machine frame and is configured to deflect the light beam emitted by the emitter and the echo generated after the light beam is reflected by an object.

[0029] Compared with the prior art, the embodiments of the present disclosure provide a laser radar, wherein the transmitter and receiver are both arranged on a first circuit board, and the optical components are fixedly arranged in an optical-mechanical frame. The processing accuracy of the transmitter and receiver arranged on the first circuit board is relatively high, so that the relative position relationship between the transmitter and the receiver can achieve a relatively high accuracy. At the same time, the processing accuracy of the optical-mechanical frame can also make the position of the optical components therein have a relatively high accuracy. When assembling and adjusting the laser radar, it is beneficial to simplify the adjustment process and reduce the production difficulty and cost of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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:

[0031] Figure 1 An exploded schematic diagram of a laser radar in some embodiments of the present disclosure is shown;

[0032] Figure 2 A side view schematically illustrates the connection between the optical-mechanical frame and the first circuit board in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0033] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0034] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0035] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0036] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0037] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0038] The following describes embodiments of the present disclosure 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.

[0039] The present disclosure provides a laser radar, comprising a transmitter, a receiver, a first circuit board, an optical-mechanical frame, and optical components. The transmitter is configured to emit a light beam, and the receiver is configured to receive an echo generated by the light beam being reflected by an object and convert the echo into an electrical signal. Both the transmitter and the receiver are disposed on the first circuit board, the optical-mechanical frame is fixedly connected to the first circuit board, and the optical components are disposed in the optical path of at least one of the light beam and the echo, and are fixedly mounted within the optical-mechanical frame.

[0040] In some embodiments of the present disclosure, both the transmitter and receiver are mounted on a first circuit board. This not only improves the integration of the LiDAR's internal components but also helps increase the precision of the relative positional relationship between the transmitter and receiver, reducing the difficulty of adjusting the relative positional relationship between the transmitter and receiver. Furthermore, the optical components are secured by an optomechanical frame, which allows for high machining precision and reduces the difficulty of assembling and adjusting the optical components.

[0041] Figure 1 The structure of the laser radar 1 according to some embodiments of the present disclosure is shown below. Figure 1 The laser radar 1 will be described.

[0042] like Figure 1 As shown, in an embodiment of the present disclosure, the laser radar 1 includes a transmitter 11, a receiver 12, a first circuit board 13, an optical machine frame 14 and an optical component 15.

[0043] The transmitter 11 is configured to emit a light beam. The transmitter 11 includes, for example, a laser or a laser array, wherein the laser can be controlled to emit a light beam (or "detection beam"). The receiver 12 is configured to receive the echo generated after the light beam is reflected by an object, and convert the echo into an electrical signal. The receiver 12 includes, for example, a photodetector or a photodetector array. The light beam emitted by the transmitter 11 is reflected by an object outside the laser radar 1, and part of the reflected light can return to the laser radar as an echo. The receiver 12 receives the echo and converts it into an electrical signal. Detection information can be obtained based on the electrical signal converted from the light beam emitted by the transmitter and the echo received by the receiver. For example, the distance of the object relative to the laser radar 1 can be calculated and determined based on the time difference between the emission of the light beam and the reception of the echo.

[0044] In this embodiment, the transmitter 11 and the receiver 12 are both arranged on the first circuit board 13. For example, by fixing the transmitter 11 and the receiver 12 through a patch processing process, high-precision positioning of the transmitter 11 and the receiver 12 can be achieved. In addition, the positions of the transmitter 11 and the receiver 12 on the first circuit board 13 remain fixed, with a small deviation from the designed position, which can meet the accuracy requirements of the laser radar and help reduce the difficulty of assembling and adjusting the transmitter 11 and the receiver 12. Compared with the solution in which the transmitter and the receiver are arranged on different circuit boards, in this embodiment, by adjusting the position of the first circuit board 13 during the installation process or the adjustment process, the transmitter 11 and the receiver 12 can be adjusted simultaneously, thereby greatly simplifying the adjustment process of the laser radar 1.

[0045] The optical machine frame 14 is fixedly connected to the first circuit board 13, and the optical component 15 is disposed in the optical machine frame 14. The optical component 15 is located in the optical path of at least one of the light beam and the echo. The optical component 15 may include one or more optical elements suitable for shaping or modulating at least one of the light beam and the echo. The optical element may be one or more of a lens, a reflector, a rotating mirror, a galvanometer, a swing mirror, or a spectroscope. For example, the optical component may include one or more lenses to collimate the light beam or converge the echo. For example, the optical component may include one or more reflectors to change the direction of at least one of the light beam and the echo by reflection. The optical component 15 will be described in detail later.

[0046] In some embodiments, a mounting and fixing mechanism may be provided at a predetermined position within the optical machine frame 14 to secure the optical component 15. For example, a precision-machined surface may be provided within the optical machine frame 14 to precisely set the position and angle of the optical component 15. The optical component 15 can then be secured in place by a fixing structure to achieve precise positioning.

[0047] In a laser radar, the position and angle of optical components affect the direction of the light beam's emission and the convergence position of the echo. Therefore, laser radars place high demands on the installation precision of the optical components 15. In this embodiment, the optical components 15 are fixed to the optical-mechanical frame 14. During the manufacturing process, precise control of the precision of the various locations within the optical-mechanical frame 14 that secure the optical components 15 allows for accurate positioning of the optical components 15, meeting the laser radar 1's installation precision requirements for the optical components 15. In other words, by controlling the machining and manufacturing precision of the optical-mechanical frame 14, the positioning and adjustment of the optical components 15 can be accomplished without requiring individual adjustments for each optical element within the optical component 15, significantly simplifying the laser radar 1 production process. For example, the location within the optical-mechanical frame 14 where the optical components 15 are mounted can be configured as a precision-machined surface. This surface can be formed through milling or planing, achieving a standard tolerance of 7 or 6 (IT7-IT6). The machining precision of the optical-mechanical frame 14 thus ensures the installation precision of the optical components.

[0048] In addition, when the laser radar 1 is being assembled and adjusted, it is necessary to make the relative position between the transmitter 11 and the optical component 15 satisfy a preset relationship, and the relative position between the receiver 12 and the optical component 15 satisfy a corresponding relationship. In the embodiment of the present disclosure, the first circuit board 13 and the optical machine frame 14 are fixedly connected, and the transmitter 11 and the receiver 13 are arranged on the first circuit board 13, so that the position of the transmitter 11 can correspond to the position of the optical component 15 arranged in the optical path of the light beam, and the position of the receiver 13 can correspond to the position of the optical component 15 arranged in the optical path of the echo. When assembling the laser radar 1, by adjusting the relative position relationship between the first circuit board 13 and the optical machine frame 14, the relative positions of the transmitter 11 and the receiver 13 and the optical component 15 can be adjusted at the same time, thereby simplifying the assembly and adjustment steps of the laser radar 1 and reducing the difficulty of assembly and adjustment of the laser radar 1.

[0049] According to some embodiments of the present disclosure, Figure 2 As shown, the optical machine frame 14 is provided with a positioning portion 141, as shown in FIG. Figure 1 As shown, the first circuit board 13 is provided with a matching portion 131 . In this embodiment, the position of the positioning portion 141 corresponds to the position of the matching portion 131 .

[0050] For example, the positioning portion 141 may be a protrusion protruding from a side surface of the optical machine frame 14, and the mating portion 131 may be a mating hole or a mating groove provided on the first circuit board 13. In other embodiments, the mating portion 131 may be a protrusion protruding from the first circuit board 13, and the positioning portion 141 may be a mating hole or a mating groove provided on a side surface of the optical machine frame 14. The protrusion may be, for example, a boss or a positioning pin. The mating hole or mating groove may be, for example, a through hole or a countersunk hole.

[0051] During assembly of the laser radar 1, the matching positions of the mating portions 131 and the positioning portions 141 allow for accurate positioning of the first circuit board 13 and the optical-mechanical frame 14, facilitating secure connection of the first circuit board 13 and the optical-mechanical frame 14 and simplifying the assembly and adjustment process between the first circuit board 13 and the optical-mechanical frame 14. Optionally, multiple positioning portions 141 may be provided on the optical-mechanical frame 14, with a corresponding number of mating portions 131 provided on the first circuit board 13, to improve positioning accuracy or as a foolproof design to prevent misalignment during assembly.

[0052] In some embodiments, the first circuit board 13 and the optical machine frame 14 are fixedly connected by connectors, such as bolts, snaps, rivets, etc. After the first circuit board 13 and the optical machine frame 14 are positioned by the mating portion 131 and the positioning portion 141, they can be fixed by the connectors to maintain a fixed relative position between the transmitter 11, the receiver 12, and the optical component 15, thereby meeting the operating requirements of the laser radar 1.

[0053] There may be certain processing errors between the first circuit board 13 and the optical machine frame 14. After the first circuit board 13 and the optical machine frame 14 are positioned and connected through the mating portion 131 and the positioning portion 141, the relative positional relationship between the transmitter 11, the receiver 12 and the optical component 15 may deviate, for example, the receiver 12 cannot receive the echo or can only receive a partial echo. In some embodiments, there is a certain adjustable range between the positioning portion 141 and the mating portion 131. For example, one of the positioning portion 141 and the mating portion 131 is configured as a positioning pin, and the other is configured as a through hole or a countersunk hole, and the cross-sectional size of the through hole or the countersunk hole is larger than the cross-sectional size of the positioning pin, so that the relative positional relationship between the first circuit board 13 and the optical machine frame 14 can be adjusted within the adjustable range.

[0054] In this embodiment, there is an adjustable range between the positioning portion 141 and the matching portion 131. When assembling the first circuit board 13 and the optical machine frame 14, detection can be performed, and the relative position relationship between the first circuit board 13 and the optical machine frame 14 can be adjusted within the adjustable range. Then, the first circuit board 13 and the optical machine frame 14 are fixedly connected to improve the assembly accuracy of the laser radar 1.

[0055] like Figure 1 As shown, according to some embodiments of the present disclosure, the optical component 15 includes a transmitting lens 151 and a receiving lens 152 .

[0056] The emitting lens 151 includes at least one emitting lens ( Figure 1 The transmitting lens 151 is configured to collimate the light beam emitted by the emitter 11 and then emit it. For example, the transmitting lens 151 is arranged in the optical path of the light beam to reduce the divergence angle of the light beam. In some embodiments, as Figure 1 As shown in , the emitting lens 151 includes one emitting lens, but those skilled in the art can easily understand that the emitting lens 151 includes multiple emitting lenses that can produce a preset shaping effect on the light beam.

[0057] The receiving lens 152 includes at least one receiving lens, which is arranged in the optical path of the echo, can receive the echo, and converge the echo onto the receiver 12. The focal length of the receiving lens 152, the number or surface shape of the receiving lens 152, etc. can be set according to the optical path between the receiving lens 152 and the receiver 12. Figure 1 As shown, in some embodiments, the receiving lens 152 includes multiple receiving lenses. Those skilled in the art will understand that the receiving lens 152 may also include a single receiving lens that can produce a preset convergence effect on the echo.

[0058] In some embodiments of the present disclosure, at least one of the transmitting lens 151 and the receiving lens 152 includes a package, and at least one of the transmitting lens in the transmitting lens 151 and the receiving lens in the receiving lens 152 is fixed in the package.

[0059] For example Figure 1 As shown in , the receiving lens 152 includes multiple receiving lenses, which are fixed in a package 153. The package 153 can be configured as a cylindrical lens barrel. In other embodiments, the package 153 can also be configured as other shapes, such as a prism, a frustum, a truncated pyramid, etc.

[0060] by Figure 1 Taking the embodiment shown in FIG as an example, multiple receiving lenses are fixed in a package 153 to form a receiving lens 152. Inside the receiving lens 152, the relative positional relationship between the multiple receiving lenses, such as the distance between the optical centers, can be fixed by the package 153 to determine the installation position of the lenses. The receiving lens 152 is installed as a whole in the optical machine frame 14. This embodiment can reduce the risk of assembly errors caused by the multiple receiving lenses in the receiving lens 152 being independently installed on the optical machine frame, and has higher stability.

[0061] In other embodiments, when the emitting lens 151 includes multiple emitting lenses, the multiple emitting lenses can also be fixed using a packaging component.

[0062] According to some embodiments of the present disclosure, the optical component 15 further includes a first reflector 154 and a first beam splitter 155. The first reflector 154 is disposed in the optical path of the light beam or echo, and the first beam splitter 155 is disposed in the optical path of the light beam or echo. The optical machine frame 14 includes a transceiver port 142, which is configured to allow the light beam to be emitted into the surrounding environment and the echo to be incident on the laser radar.

[0063] The transceiver port 142 can be an opening at one end of the optical machine frame 14 or an open end surface obtained by machining. In this embodiment, the light beam and the echo can pass through the transceiver port 142. For example, the direction of at least one of the light beam and the echo can be changed by at least one of the first reflector 154 and the first beam splitter 155 so that the light beam or the echo passes through the transceiver port 142. The light beam and the echo passing through the transceiver port 142 is conducive to reducing the size of the laser radar 1. For example, the light beam and the echo can share part of the optical path, which can reduce the size of the optical machine frame 14 or the scanner.

[0064] In some other embodiments of the present disclosure, the first beam splitter 155 is configured to reflect the echo and transmit the light beam.

[0065] by Figure 1Take the embodiment shown in as an example, in which the first reflector 154 is arranged in the optical path of the light beam. For example, the light beam emitted by the transmitter 11 is irradiated on the first reflector 154 and reflected. The first beam splitter 155 is arranged to allow the light beam to pass through. After the light beam passes through the first beam splitter 155, it is emitted from the transceiver port 142. After the echo is incident from the transceiver port 142, it is irradiated on the first beam splitter 155. The first beam splitter 155 is arranged to reflect the echo so that the echo is reflected to the receiver 12. Figure 1 In the embodiment, the receiving lens 152 can be set between the receiver 12 and the first spectrometer 155, and the transmitting lens 151 can be set between the first reflector 154 and the first spectrometer 155. Those skilled in the art can conceive that the transmitting lens 151 can also be set between the transmitter 11 and the first reflector 154.

[0066] exist Figure 1 In the illustrated embodiment, in terms of optical path distance, the distance from the receiver 12 to the transceiver port 142 is shorter than the distance from the transmitter 11 to the transceiver port 142 .

[0067] In some embodiments of the present disclosure, the first beam splitter 155 is configured to reflect the light beam and transmit the echo.

[0068] The first reflector 154 can be positioned in the optical path of the echo, and the first beam splitter 155 can be positioned in the optical path of the light beam. The light beam emitted by the transmitter 11 is reflected by the first beam splitter 155 toward the transceiver port 142 before exiting. After entering the transceiver port 142, the echo is transmitted through the first beam splitter 155 and reflected by the first reflector 154 before irradiating the receiver 12. Accordingly, the transmitting lens 151 can be positioned between the transmitter 11 and the first beam splitter 155; the receiving lens 152 can be positioned between the receiver 12 and the first reflector 154, or between the first reflector 154 and the first beam splitter 155.

[0069] In some embodiments, the light beam emitted by the transmitter 11 is linearly polarized light. To achieve linear polarization, a polarizer can be provided at the light output port of the transmitter 11, or the transmitter 11 can include a laser that can emit linearly polarized light. The optical component 15 may further include a quarter-wave plate 156. The quarter-wave plate 156 can, for example, be provided between the first beam splitter 156 and the transceiver port 142. In this case, the first beam splitter 155 includes a polarization beam splitter (PBS). The light beam is incident on the quarter-wave plate 156 and converted into circularly polarized light after exiting. After the light beam is reflected by an object, the echo is incident on the quarter-wave plate 156 and converted from circularly polarized light to linearly polarized light, which is perpendicular to the polarization direction of the light beam. For example, if the light beam is s (senkrecht perpendicular) light, the echo is converted into p (parallel) light after passing through the quarter-wave plate 156. The first beam splitter 155 includes a polarization beam splitter, and can reflect the echo and transmit the light beam, or reflect the light beam and transmit the echo, depending on the polarization direction of light incident on the first beam splitter 155 .

[0070] The first beam splitter 155 includes a PBS, and the cross section of the PBS perpendicular to the light beam or echo can be used for transmission or reflection of the light beam or echo, without distinguishing between partially reflective and partially transmissive areas on the cross section, thereby reducing light energy loss and improving the detection capability of the lidar.

[0071] like Figure 1 As shown, according to some embodiments of the present disclosure, the laser radar 1 further includes a light shielding sheet 16, which is provided on the optical machine frame 14 and can limit the light entering the receiving lens 152. For example, some through holes can be provided on the optical machine frame 14 to facilitate processing or reduce the weight of the optical machine frame 14. The light shielding sheet 16 can be provided at the through hole to prevent non-echo external light from entering the interior of the optical machine frame 14 and incident on the receiving lens 152, thereby affecting the detection signal-to-noise ratio of the laser radar 1. In other embodiments, the surface of the light shielding sheet 16 facing the inner side of the optical machine frame 14 is suitable for reducing the reflection of light. For example, the light shielding sheet 16 is subjected to a surface blackening treatment, an increased surface roughness, or a light-absorbing material is applied to prevent the light generated by scattering or diffuse reflection of the light beam inside the optical machine frame 14 from being received by the receiver 12, thereby affecting the detection signal-to-noise ratio of the laser radar 1.

[0072] like Figure 1As shown, in some embodiments of the present disclosure, the laser radar 1 further includes a second circuit board 17, which is disposed between the first circuit board 13 and the optical machine frame 14, and is electrically connected to the first circuit board 13. In this embodiment, electronic components may be disposed on the second circuit board 17 to implement some functions of the laser radar 1. In some embodiments, the second circuit board 17 may include a power supply to power the first circuit board 13 and the transmitter 11 and receiver 12 therein.

[0073] In some embodiments, the laser radar 1 further includes a scanner, which is fixed relative to the optical-mechanical frame 14. The scanner can rotate continuously, or swing back and forth or vibrate within a certain range. The scanner can include a reflector configured to deflect the light beam emitted by the transmitter 11 and the echo generated by the light beam reflected by an object. For example, the scanner is configured to scan the light beam toward the exterior of the laser radar 1 and scan the echo toward the optical-mechanical frame 14. In some embodiments, the scanner can include an oscillating mirror, a rotating mirror, or a galvanometer mirror.

[0074] The laser radar 1 may also include a housing, which may include, for example, an upper cover, a base, and a window. The upper cover, base, and window together define a housing space. The first circuit board 13 and the optical machine frame 14 in the aforementioned embodiment may be fixedly connected and disposed within the housing space. The scanner may also be fixedly disposed within the housing space, for example, on the side of the optical machine frame 14, corresponding to the position of the transceiver port 142 in the optical machine frame 14. The light beam emitted from the transceiver port 142 may be irradiated onto the scanner, and after being reflected by the scanner, the light beam may be emitted from the position of the window. The echo generated by the light beam reflected by the object passes through the window and is incident on the scanner. After being reflected by the scanner, it is incident on the optical machine frame 14 through the transceiver port 142.

[0075] The laser radar 1 also includes a connector, which is configured to transmit data to the outside of the laser radar 1, such as outputting the detection results of the laser radar 1, and can also transmit data from the outside to the inside of the laser radar 1. For example, the user can write control parameters into the laser radar 1 through the connector.

[0076] In other embodiments, the connector can be electrically connected to the power supply line of the external device, and the connector can also be electrically connected to at least one of the first circuit board and the second circuit board, and is suitable for supplying power to at least one of the first circuit board and the second circuit board.

[0077] Finally, it should be noted that the above descriptions are merely examples of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned examples, those skilled in the art will be able to modify the technical solutions described in the aforementioned examples or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A laser radar, characterized in that: include: an emitter configured to emit a light beam; a receiver configured to receive an echo generated when the light beam is reflected by an object and convert the echo into an electrical signal; A first circuit board, wherein the transmitter and the receiver are both arranged on the first circuit board; an optical machine frame, fixedly connected to the first circuit board; and An optical component is arranged in the optical path of at least one of the light beam and the echo, and the optical component is fixedly arranged in the optical machine frame.

2. The laser radar according to claim 1, characterized in that The optical machine frame is provided with a positioning portion, and the first circuit board is provided with a matching portion, and the position of the positioning portion corresponds to the position of the matching portion.

3. The laser radar according to claim 2, characterized in that The first circuit board and the optical machine frame are fixedly connected via a connecting piece, and an adjustment range is provided between the positioning portion and the matching portion.

4. The laser radar according to claim 1, wherein The optical component comprises: An emitting lens, comprising at least one emitting lens, configured to collimate the light beam emitted by the emitter and then emit it; A receiving lens includes at least one receiving lens, and the receiving lens is configured to receive the echo and converge the echo to the receiver.

5. The laser radar according to claim 4, characterized in that At least one of the transmitting lens and the receiving lens includes a packaging component, and at least one of the transmitting lens in the transmitting lens and the receiving lens in the receiving lens is fixed in the packaging component.

6. The laser radar according to claim 4, characterized in that The optical component further comprises: a first reflector disposed in an optical path of the light beam or the echo; and a first beam splitter, the first beam splitter being arranged in an optical path of the light beam or the echo; The optical-mechanical frame includes a transceiver port configured to allow the light beam and the echo to pass through.

7. The laser radar according to claim 6, characterized in that The first beam splitter is configured to reflect the light beam and transmit the echo; or The first beam splitter is configured to reflect the echo and transmit the light beam.

8. The laser radar according to claim 7, characterized in that The light beam is linearly polarized, the optical component further includes a quarter wave plate, and the first beam splitter includes a polarization beam splitter.

9. The laser radar according to any one of claims 4 to 8, characterized in that: It also includes a light shielding sheet arranged on the optical machine frame to limit the light entering the receiving lens.

10. The laser radar according to claim 9, characterized in that The surface of the light shielding sheet facing the inner side of the optical machine frame is suitable for reducing light reflection.

11. The laser radar according to any one of claims 1 to 8, characterized in that: Also includes: The second circuit board is fixedly arranged between the first circuit board and the optical machine frame and is electrically connected to the first circuit board.

12. The laser radar according to claim 1, characterized in that Also includes: A scanner is fixedly arranged relative to the optical machine frame and is configured to deflect the light beam emitted by the emitter and the echo generated after the light beam is reflected by an object.

Images