Laser detection device and detection equipment

Abstract

The embodiment of the utility model discloses a laser detection device and detection equipment. The laser detection device comprises a support, a transmitting lens, a receiving lens, a transmitting module and a receiving module. The support comprises a substrate, a first lens cone and a second lens cone, the substrate is provided with a first surface and a second surface which are opposite in the thickness direction, the first lens cone is fixed to the substrate and arranged in a protruding mode relative to the first surface, the substrate and the first lens cone jointly define a first installation hole penetrating through the substrate and the first lens cone, and the second lens cone is fixed to the substrate and arranged in a protruding mode relative to the second surface. The second lens barrel is arranged on the substrate and protrudes relative to the first surface, and the substrate and the second lens barrel jointly define a second mounting hole penetrating through the substrate and the second lens barrel. The emission lens is installed in the first installation hole. The receiving lens is mounted in the second mounting hole. The transmitting module is installed on the support and comprises a transmitting plate and a light source module. The receiving module is installed on the support and comprises a receiving plate and a photoelectric detection module. The laser detection device is beneficial to reducing the volume of the sensing module.

Description

Technical Field

[0001] The present application relates to the field of laser detection technology, and in particular to a laser detection device and detection equipment. Background Art

[0002] The perception modules currently used in mobile devices such as automobiles, robots and logistics vehicles generally include perception components such as lidar, millimeter-wave radar and cameras. These perception components independently obtain surrounding environmental information and transmit it to the main control module of the mobile device so that the main control module can make corresponding decisions.

[0003] In a perception module that integrates LiDAR with other sensors (such as millimeter-wave radar or cameras), the LiDAR has its own housing and interfaces, which allow it to be packaged and communicate with the outside world through its own interfaces. Other sensors also have their own housings and interfaces, which allow them to be packaged and communicate with the outside world through their own interfaces. Furthermore, in addition to being packaged in their own housings, the LiDAR and other sensors are further packaged within the entire perception module's housing to facilitate transportation and use of the entire perception module and unify its external communication interfaces. Utility Model Content

[0004] The conventional LiDAR system, which includes a housing, tends to be bulky. This, in turn, requires secondary packaging with other sensors, which results in a larger sensor module. This also increases the manufacturing process and manufacturing costs of the sensor module.

[0005] The present application aims to provide a laser detection device and detection equipment to improve the current situation in related technologies where the perception modules including laser radar and other sensors are large in size.

[0006] An embodiment of the present application provides a laser detection device, comprising a bracket, a transmitting lens, a receiving lens, a transmitting module, and a receiving module. The bracket comprises a substrate, a first lens barrel, and a second lens barrel. The substrate has a first surface and a second surface that are opposite to each other along the thickness direction. The first lens barrel is fixed to the substrate and protrudes relative to the first surface. The substrate and the first lens barrel jointly define a first mounting hole that passes through the substrate and the first lens barrel. The second lens barrel is fixed to the substrate and protrudes relative to the first surface. The substrate and the second lens barrel jointly define a second mounting hole that passes through the substrate and the second lens barrel. The transmitting lens is mounted in the first mounting hole. The receiving lens is mounted in the second mounting hole. The transmitting module is mounted on the bracket and comprises a transmitting board and a light source module. The light source module is used to generate detection light to detect a target object. The receiving module is mounted on the bracket and comprises a receiving board and a photoelectric detection module. The photoelectric detection module is used to receive echo light formed by the detection light reflected by the target object.

[0007] In some embodiments, the first lens barrel includes a first barrel, the first barrel being disposed on the first surface and having a first inner hole, the substrate having a first through hole at a position corresponding to the first barrel, the first inner hole communicating with the first through hole and together forming at least a portion of the first mounting hole. The second lens barrel includes a second barrel, the second barrel being disposed on the second surface and having a second inner hole, the substrate having a second through hole at a position corresponding to the second barrel, the second inner hole communicating with the second through hole and together forming at least a portion of the second mounting hole.

[0008] In some embodiments, the first lens barrel further comprises a third barrel, the third barrel being disposed on the second surface, the third barrel surrounding the first through hole, the third barrel having a third inner hole, the first inner hole, the first through hole, and the third inner hole being sequentially connected and together forming the first mounting hole. The second lens barrel further comprises a fourth barrel, the fourth barrel being disposed on the second surface, the fourth barrel surrounding the second through hole, the fourth barrel having a fourth inner hole, the second inner hole, the second through hole, and the fourth inner hole being sequentially connected and together forming the second mounting hole.

[0009] In some embodiments, the first lens barrel includes a first barrel, which passes through the base plate and has a first inner hole, which serves as the first mounting hole, and the base plate is provided with a first through hole for the first barrel to pass through. The second lens barrel includes a second barrel, which passes through the base plate and has a second inner hole, which serves as the second mounting hole, and the base plate is provided with a second through hole for the second barrel to pass through.

[0010] In some embodiments, the first lens barrel further comprises a first mounting plate extending outwardly from a sidewall of the first barrel, the first mounting plate being fixed to the base plate. The second lens barrel further comprises a second mounting plate extending outwardly from a sidewall of the second barrel, the second mounting plate being fixed to the base plate.

[0011] In some embodiments, the laser detection device includes two first lens barrels, two transmitting lenses, and two transmitting modules. The two first lens barrels are arranged on either side of the second lens barrel along a first direction, and the first lens barrels, the transmitting lenses, and the transmitting modules correspond one to one. The first direction is the arrangement direction of the first lens barrels and the second lens barrels.

[0012] In some embodiments, the bracket further includes a side wall; the side wall is located on a side of the substrate where the second surface is provided, and the side wall is formed by extending from an edge of the substrate along the thickness direction.

[0013] In some embodiments, the laser detection device also includes a main circuit board, which is arranged opposite to the substrate and supported on the side of the side wall facing away from the substrate; the transmitting plate is arranged on the side of the main circuit board facing away from the substrate, and the main circuit board is provided with a third through hole for the detection light to pass through; the receiving plates are all arranged on the side of the main circuit board facing away from the substrate, and the main circuit board is provided with a fourth through hole for the echo light to pass through.

[0014] In some embodiments, the bracket further comprises a plurality of first positioning axes and a plurality of second positioning axes. The plurality of first positioning axes are connected to the base plate and are located on the side of the base plate facing the transmitting module. The transmitting plate is provided with a plurality of first positioning holes corresponding one-to-one to the plurality of first positioning axes, each first positioning axis passes through a first positioning hole, and the transmitting plate is fixed to each first positioning axis. The plurality of second positioning axes are connected to the base plate and are located on the side of the base plate facing the receiving module. The receiving plate is provided with a plurality of second positioning holes corresponding one-to-one to the plurality of second positioning axes, each second positioning axis passes through a second positioning hole, and the receiving plate is fixed to each second positioning axis.

[0015] In some embodiments, the bracket further includes a plurality of bosses, wherein at least one boss is provided between the first positioning shaft and the base plate, and at least one boss is provided between the second positioning shaft and the base plate.

[0016] In some embodiments, the multiple first positioning axes corresponding to the same launching plate include a first center positioning axis and a first edge positioning axis. Along the first direction, the first center positioning axis is located between a second positioning axis and a first edge positioning axis. The distance between the first center positioning axis and the second positioning axis along the first direction is a first distance. The distance between the first center positioning axis and the first edge positioning axis along the first direction is a second distance. The first distance is smaller than the second distance. The first direction is the arrangement direction of the first lens barrel and the second lens barrel. The first center positioning axis and the corresponding second positioning axis are an integrated structure.

[0017] In some embodiments, the substrate is provided with a sensor mounting groove formed inwardly from the first surface, and the sensor mounting groove is used to install a preset sensor; wherein the preset sensor includes a millimeter wave radar and / or a camera.

[0018] In some embodiments, the sensor mounting slot includes a first slot and a second slot. The first slot is formed inwardly from the first surface, and the second slot is formed inwardly from the first surface. The second slot is a blind slot and communicates with the first slot. The first slot is used to accommodate at least a portion of the preset sensor, and the second slot is used to receive a fastener to secure the preset sensor to the second slot.

[0019] The present application also provides a laser detection device comprising a housing, the aforementioned laser detection device, and a preset sensor. The housing is provided with a housing cavity, the laser detection device is accommodated in the housing cavity, and the preset sensor is mounted in the sensor mounting slot. The preset sensor is a sensor other than the laser.

[0020] In some embodiments, the preset sensor includes a camera and / or a millimeter-wave radar.

[0021] The technical effect of the present invention is as follows: The laser detection device provided by the present invention includes a bracket, a transmitting lens, a receiving lens, a transmitting module, and a receiving module. The bracket includes a base plate, a first lens barrel 130, and a second lens barrel 140. The first lens barrel is used to mount the transmitting lens, and the second lens barrel is used to mount the receiving lens. Both the transmitting module and the receiving module are mounted on the bracket.

[0022] Compared to related technologies, the laser detection device provided in the embodiments of this application does not include a separate housing. Instead, the transmitting lens, receiving lens, transmitting module, and receiving module are mounted via a bracket. This allows the device to be packaged with other sensors to form a sensing module in a compact package, thereby reducing the overall size of the sensing module. Furthermore, by eliminating the housing, the manufacturing process of the laser detection device and even the entire sensing module is shortened, reducing manufacturing costs to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 is a three-dimensional schematic diagram of a laser detection device provided in some embodiments of the present application in one direction;

[0025] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the laser detection device in another direction;

[0026] Figure 3 yes Figure 1 Exploded diagram of the laser detection device;

[0027] Figure 4 yes Figure 1 A three-dimensional schematic diagram of the middle bracket in one direction;

[0028] Figure 5 yes Figure 1 A three-dimensional schematic diagram of the middle bracket in another direction;

[0029] Figure 6 A three-dimensional schematic diagram of a laser detection device in one direction provided for some other embodiments of the application;

[0030] Figure 7 for Figure 6 A three-dimensional schematic diagram of the middle bracket in one direction;

[0031] Figure 8 for Figure 6 A three-dimensional schematic diagram of the middle bracket in another direction;

[0032] Figure 9 This is a schematic diagram of a detection device provided in some embodiments of the present application.

[0033] Description of reference numerals:

[0034] 1. Laser detection device;

[0035] 100, bracket; 110, base plate; 120, side wall; 130, first lens barrel; 140, second lens barrel; 150, first positioning axis; 150a, first center positioning axis; 150b, first edge positioning axis; 160, second positioning axis; 170, boss; 111, first surface; 112, second surface; 101, receiving groove; 102, sensor mounting groove; 1021, first groove; 1022, second groove; 1101, first through hole; 1102, second through hole; 131, first cylinder; 132, third cylinder; 1301, first inner hole; 1302, third inner hole; 141, second cylinder; 142, fourth cylinder; 1401, second inner hole; 1402, fourth inner hole; 151, first fixing axis; 152, first connecting axis; 161, second fixing axis; 162, second connecting axis;

[0036] 200, launch lens;

[0037] 300, receiving lens;

[0038] 400, emission module; 410, emission board; 420, light source module;

[0039] 500, receiving module; 510, receiving board; 520, photoelectric detection module;

[0040] 600, main circuit board; 601, third through hole; 602, fourth through hole;

[0041] 1b, laser detection device; 100b, bracket; 200b, transmitting lens; 300b, receiving lens; 110b, substrate; 130b, first lens barrel; 140b, second lens barrel; 131b, first barrel body; 133b, first mounting plate; 1301b, first inner hole; 141b, second barrel body; 143b, second mounting plate; 1401b, second inner hole; 1101b, first through hole; 1102b, second through hole;

[0042] 2. Detection device; 21. Housing; 22. Preset sensor;

[0043] X, first direction; Y, second direction; Z, thickness direction. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0045] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0046] Generally, a laser radar includes a shell, a mounting frame, a transmitting lens, a receiving lens, a transmitting module, and a receiving module. The shell is provided with a receiving cavity for accommodating the above-mentioned other structures. The outer surface and / or inner surface of the shell are protruding to form a transmitting lens barrel and a receiving lens barrel, the transmitting lens is provided in the transmitting lens barrel, and the receiving lens is provided in the receiving lens barrel. The mounting frame is fixed to the inner surface of the shell, and is used to set a plurality of positioning axes extending parallel to the optical axes of the transmitting lens and the receiving lens, so as to be used for positioning and installing the transmitting module and the receiving module; wherein the position of the transmitting module corresponds to the transmitting lens, and the position of the receiving module corresponds to the receiving lens.

[0047] In a perception module that integrates LiDAR with other sensors (such as millimeter-wave radar or cameras), the LiDAR has its own housing and interfaces, which allow it to be packaged and communicate with the outside world through its own interfaces. Other sensors also have their own housings and interfaces, which allow them to be packaged and communicate with the outside world through their own interfaces. Furthermore, in addition to being packaged in their own housings, the LiDAR and other sensors are further packaged within the entire perception module's housing to facilitate transportation and use of the entire perception module and unify its external communication interfaces.

[0048] In the related art, the laser radar includes a housing, which easily makes the entire laser radar larger. This, in turn, results in a larger sensing module when it is secondary packaged with other sensors. This also increases the manufacturing process and manufacturing costs of the entire sensing module. Therefore, this application aims to provide a laser detection device and detection equipment to improve the current situation in the related art where the sensing module, including the laser radar and other sensors, is larger in size.

[0049] Please see first Figures 1 to 3 , which respectively show the three-dimensional schematic diagram and the exploded schematic diagram of the laser detection device 1 provided in some embodiments of the present application in two directions. The laser detection device includes a bracket 100, a transmitting lens 200, a receiving lens 300, a transmitting module 400 and a receiving module 500. Please also combine Figure 4 and Figure 5The bracket 100 includes a substrate 110, a first lens barrel 130, and a second lens barrel 140. The substrate 110 has a first surface 111 and a second surface 112 that are opposite to each other along the thickness direction Z shown in the figure. The first lens barrel 130 is fixed to the substrate 110 and protrudes relative to the first surface 111. The substrate 110 and the first lens barrel 130 jointly define a first mounting hole that passes through the substrate 110 and the first lens barrel 130. The second lens barrel 140 is fixed to the substrate 110 and protrudes relative to the first surface 111. The substrate 110 and the second lens barrel 140 jointly define a second mounting hole that passes through the substrate 110 and the second lens barrel 140. The transmitting lens 200 is mounted in the above-mentioned first mounting hole, and the receiving lens 300 is mounted in the above-mentioned second mounting hole. The transmitting module 400 is mounted on the bracket 100 and includes a transmitting board 410 and a light source module 420. The light source module 420 is used to generate detection light to detect the target object. The receiving module 500 is mounted on the bracket 100 and includes a receiving plate 510 and a photoelectric detection module 520 . The photoelectric detection module 520 is used to receive the echo light generated by the detection light reflected by the target object.

[0050] It should be noted that the "target object" mentioned in this application document means the detection object of the laser detection device, which includes but is not limited to: vehicles, pedestrians, buildings, vegetation and the ground. The "detection light" mentioned in this application document means the laser beam emitted by the laser detection device, and the detection light is used to detect the above-mentioned target object. The "echo light" mentioned in this application document means the optical signal formed by the reflection of the detection light by the target object and emitted to the laser detection device. The "first direction" mentioned in this application document is the arrangement direction of the first cylinder and the second cylinder, which is also a direction perpendicular to the thickness direction Z of the substrate 110. The phrase "a certain component A and a certain component B jointly define feature C" in the present application document means that the component A and / or component B define feature C, which may be that component A alone defines feature C, or that component B alone defines feature C, or that component A defines a portion of feature C, and component B defines the remaining portion of feature C; for example, the above-mentioned "the substrate and the first lens barrel jointly define a first mounting hole that passes through the substrate and the first lens barrel" may mean that the substrate 110 defines a portion of the first mounting hole, and the first lens barrel 130 defines a portion of the first mounting hole, or it may mean that the first lens barrel 130 defines the first mounting hole, and the first mounting hole passes through the first lens barrel 130 and the substrate 110. Next, in conjunction with the accompanying drawings, each structure in the laser detection device 1 is described in detail.

[0051] For details about the bracket 100, please refer to Figure 4 and Figure 5, which respectively show perspective schematic diagrams of a bracket 100 from two directions. The bracket 100 includes a base plate 110, a side wall 120, a first lens barrel 130, and a second lens barrel 140. The base plate 110 is a flat plate-like structure having a first surface 111 and a second surface 112 disposed opposite each other along the thickness direction Z shown in the figure. The side wall 120 is located on the side of the base plate where the second surface 112 is provided. It extends from the edge of the base plate 110 along the thickness direction Z. The side wall 120 and the base plate 110 together form a receiving groove 101; that is, the base plate 110 and the side wall 120 together make the bracket 100 a nearly plate-like structure with a shallow groove.

[0052] The first lens barrel 130 and the second lens barrel 140 are structures for mounting the transmitting lens 200 and the receiving lens 300, respectively. In this embodiment, the first lens barrel 130 and the base plate 110 are integrally formed, and the second lens barrel 140 and the base plate 110 are also integrally formed. Specifically, the first lens barrel 130 includes a first barrel body 131, which is a generally cylindrical structure and is disposed on the first surface 111. The first barrel body 131 has a first inner hole 1301 extending through it along the thickness direction Z. Correspondingly, the base plate 110 has a first through hole 1101 at a corresponding position in the first barrel body 131. The first through hole 1101 communicates with the first inner hole 1301 and together constitutes a first mounting hole, or a portion of the first mounting hole, for mounting the transmitting lens 200. The second lens barrel 140 includes a second barrel body 141, which is a generally cylindrical structure and is also disposed on the first surface 111. The second barrel 141 has a second inner hole 1401 that passes through along the above-mentioned thickness direction Z. Correspondingly, the substrate 110 has a second through hole 1102 at a corresponding position of the second barrel 141; the second through hole 1102 is connected to the above-mentioned second inner hole 1401, and together constitute a second mounting hole or part of the second mounting hole for mounting the receiving lens 300.

[0053] In this embodiment, both the transmitting lens 200 and the receiving lens 300 integrally pass over the substrate 110 along the thickness direction Z. Accordingly, the first lens barrel 130 further includes a third barrel 132, and the second lens barrel 140 further includes a fourth barrel 142. Figure 4 and Figure 5The third barrel 132 is a cylindrical structure, which is provided on the second surface 112 and is arranged around the first through hole 1101. The third barrel 132 has a third inner hole 1302. The first inner hole 1301, the first through hole 1101 and the third inner hole 1302 are connected in sequence and together constitute a first mounting hole; the transmitting lens 200 is installed in the first mounting hole. The fourth barrel 142 is also a cylindrical structure, which is provided on the second surface 112 and is arranged around the second through hole 1102. The fourth barrel 142 is provided with a fourth inner hole 1402. The second inner hole 1401, the second through hole 1102 and the fourth inner hole 1402 are connected in sequence and together constitute a second mounting hole; the receiving lens 300 is installed in the second mounting hole.

[0054] It can be understood that even though this embodiment is described by taking the example of providing the first barrel 131 and the third barrel 132 on both sides of the substrate 110, the present application is not limited to this. It is sufficient to ensure that at least one side of the substrate 110 is provided with the above-mentioned first barrel 131 or the third barrel 132 to enable the installation of the transmitting lens 200; the configuration of the second barrel 141 and the fourth barrel 142 is similar and will not be repeated here.

[0055] It should also be understood that even though this embodiment is described using the example of the first lens barrel 130 and the second lens barrel 140 as structures integrally formed with the substrate 110, the present application is not limited to this. In other embodiments of the present application, the first barrel 131 of the first lens barrel 130 can also be separately provided relative to the substrate 110 and fixed to the substrate 110 by screwing or the like, and the third barrel 132 can also be separately provided relative to the substrate 110 and fixed to the substrate 110 by screwing or the like; the same applies to the second lens barrel 140, which will not be repeated here.

[0056] For details about the transmitting lens 200, please refer to Figure 3 , and in conjunction with other figures, it is mounted in the above-mentioned first mounting hole and includes multiple lenses arranged sequentially along the above-mentioned thickness direction Z. The transmitting lens 200 is used to receive the detection light generated by the transmitting module 400, perform optical processing such as collimation and aberration correction on the detection light, and guide the detection light to a preset field of view.

[0057] For details about the receiving lens 300, please refer to Figure 3 , and in conjunction with other figures, it is mounted in the second mounting hole and includes a plurality of lenses sequentially arranged along the thickness direction Z. The receiving lens 300 is used to receive the echo light, perform optical processing such as converging and correcting aberrations on the echo light, and guide the echo light to the receiving module 500.

[0058] For the above-mentioned transmitter module 400, please continue to refer to Figure 3 , while combining Figure 1and Figure 2 The transmitting module 400 is provided on the side of the substrate 110 having the second surface 112 and is located along the optical axis of the transmitting lens 200 on the side of the transmitting lens 200 facing away from the substrate 110. It includes a transmitting plate 410 and a light source module 420. In this embodiment, the laser detection device 1 is a flash radar, and the light source module 420 includes a laser array composed of multiple lasers; the laser array is used to generate multiple beams of detection light, which are emitted to the outside of the movable device through the transmitting lens 200 and illuminate the detection field of view, thereby detecting the target object in the detection field of view. The transmitting plate 410 is a base for carrying the light source module 420, and is also a circuit board for controlling the light source module 420 to emit light. In other embodiments of the present application, the laser detection device can also be other types of radars, such as a time of flight (TOF) radar with a scanning module, or a frequency modulated continuous wave (FMCW) radar. Accordingly, the light source module 420 can include one laser or multiple lasers.

[0059] For the above-mentioned receiving module 500, please continue to refer to Figure 3 , while combining Figure 1 and Figure 2 The receiving module 500 is provided on the side of the substrate 110 having the second surface 112 and is located along the optical axis of the receiving lens 300 on the side of the receiving lens 300 facing away from the substrate 110. It includes a receiving board 510 and a photoelectric detection module 520. In this embodiment, the laser detection device 1 is a flash radar. The photoelectric detection module 520 includes a detector array composed of a plurality of photoelectric detectors. The plurality of photoelectric detectors correspond one-to-one to the lasers in all the light source modules 420 to receive the echo light formed by the detection light generated by the corresponding laser. The receiving board 510 is a base for setting the photoelectric detection module 520, and is also a circuit board for powering the photoelectric detection module 520 and performing signal processing on the electrical signal output by the photoelectric detection module 520. It should be noted that, in this embodiment, the length of the receiving lens 300 is longer than that of the transmitting lens 200. Therefore, along the above-mentioned thickness direction Z, the receiving module 500 is also located on the side of the transmitting module 400 away from the substrate 110; in this embodiment, the layered arrangement of the transmitting module 400 and the receiving module 500 is beneficial to reducing the distance between the transmitting lens 200 and the receiving lens 300, thereby reducing the size occupied by the laser detection device 1 in the first direction X, and is also beneficial to reducing the detection blind spot of the laser detection device 1.

[0060] Next, the installation methods of the transmitting module 400 and the receiving module 500 are supplementarily explained.

[0061] In some embodiments, the bracket 100 also includes multiple first positioning axes 150 and multiple second positioning axes 160 connected to the substrate 110, and the multiple first positioning axes 150 are used to position and install the transmitting module 400, and the multiple second positioning axes 160 are used to position and install the receiving module 500.

[0062] Specifically, see Figure 4 and Figure 5 The first positioning shaft 150 is an overall columnar structure, located on the side of the substrate 110 facing the emission module 400; one end of the first positioning shaft 150 is connected to the substrate 110, and the other end extends away from the substrate 110 along the thickness direction Z. Multiple first positioning shafts 150 are arranged in a polygonal shape, for example, they can be arranged in a rectangular shape, to better support the emission module 400 and ensure that the emission module 400 is evenly stressed. Accordingly, the emission plate 410 is provided with multiple first positioning holes, each of which corresponds to a first positioning shaft 150; the emission plate 410 is mounted on the corresponding first positioning shaft through the first positioning holes and is fixed to each first positioning shaft 150. For example, in some embodiments, the first positioning shaft 150 includes a first fixing shaft 151 and a first connecting shaft 152. One end of the first fixed shaft 151 is connected to the base plate 110, and the other end extends away from the base plate 110. A first connecting shaft 152 is connected to the end of the first fixed shaft 151 facing away from the base plate 110, and the cross-sectional profile of the first connecting shaft 152 is smaller than the cross-sectional profile of the first fixed shaft 151. The transmitting plate 410 is mounted on each first connecting shaft 152 through each first positioning hole and abuts against the end of the first fixed shaft 151 facing away from the base plate 110. In this way, each first positioning shaft 150 can provide support for the transmitting module 400 during installation. After optical alignment of the transmitting module 400 and the transmitting lens 200, the transmitting module 400 can be secured to the first positioning shaft 150 by dispensing glue. Of course, in other embodiments of the present application, the transmitting module 400 can also be secured to the first positioning shaft 150 by other means such as screwing or clamping. This application does not specifically limit the method of securing the transmitting module 400 to the first positioning shaft 150.

[0063] Specifically, the second positioning shaft 160 is an overall columnar structure, located on the side of the substrate 110 facing the transmitting module 400; one end of the second positioning shaft 160 is connected to the substrate 110, and the other end extends away from the substrate 110 along the thickness direction Z. Multiple second positioning shafts 160 are arranged in a polygonal shape, for example, a rectangular shape, to better support the receiving module 500 and ensure uniform force on the receiving module 500. Accordingly, the receiving plate 510 is provided with multiple second positioning holes, each of which corresponds to a second positioning shaft 160; the receiving plate 510 is sleeved onto the corresponding second positioning shaft 160 through the second positioning holes and is fixed to each second positioning shaft 160. For example, in some embodiments, the second positioning shaft 160 includes a second fixing shaft 161 and a second connecting shaft 162. One end of the second fixed shaft 161 is connected to the base plate 110, and the other end extends away from the base plate 110. A second connecting shaft 162 is connected to the end of the second fixed shaft 161 facing away from the base plate 110, and the cross-sectional profile of the second connecting shaft 162 is smaller than the cross-sectional profile of the second fixed shaft 161. The receiving plate 510 is mounted on each second connecting shaft 162 through each second positioning hole and abuts against the end of the second fixed shaft 161 facing away from the base plate 110. In this way, each second positioning shaft 160 can support the receiving module 500 during installation. After the receiving module 500 and the receiving lens 300 are optically aligned, the receiving module 500 can be fixed to the second positioning shaft 160 by dispensing glue. Of course, in other embodiments of the present application, the receiving module 500 can also be fixed to the second positioning shaft 160 by other means such as screwing or clamping. This application does not specifically limit the fixing method of the receiving module 500 to the second positioning shaft 160.

[0064] In this embodiment, the laser detection device 1 includes two first lens barrels 1301, two transmitting lenses 200, and two transmitting modules 400. Along the first direction X, the two first lens barrels 130 are respectively arranged on both sides of the second lens barrel 140; the first lens barrels 130, the transmitting lenses 200, and the transmitting modules 400 correspond one to one. That is, the laser detection device 1 in this embodiment is a dual-transmitting and single-receiving detection structure. Under the condition of the same detection field of view, each light source module 420 in the laser detection device 1 can have a smaller number of lasers and size specifications, thereby making the light source module 420 have a better manufacturing yield, which is conducive to reducing the overall cost of the laser detection device 1.

[0065] In addition, in this embodiment, the laser detection device further includes a main circuit board 600, which is electrically connected to the transmitting board 410 and the receiving board 510, respectively, to supply power to the two boards and to communicate with the two boards. Figure 3 , while combining Figure 1 and Figure 2The main circuit board 600 is a plate-like structure as a whole, which includes a circuit substrate and a plurality of electronic devices arranged on the circuit substrate. The main circuit board 600 is arranged opposite to the above-mentioned substrate 110, and is carried on the side of the side wall 120 away from the substrate 110. The circuit substrate of the main circuit board 600 is carried on the side wall 120 and blocks the above-mentioned receiving groove 101. Electronic devices are provided on the side of the circuit substrate facing the substrate 110. Since these electronic devices are accommodated in the receiving groove 101 as a whole, they can achieve a better electromagnetic shielding effect and avoid mutual interference with electronic devices outside the receiving groove 101. It should be noted that the setting of the side wall 120 in this embodiment is intended to support the installation of the main circuit board 600 and to form an electronic shield for the devices in the receiving groove 101. However, in some other embodiments, the side wall 120 can be omitted.

[0066] The above-mentioned transmitting module 400 is arranged on the side of the main circuit board 600 away from the substrate 110, and is electrically connected to the main circuit board 600. In order to enable the detection light generated by the transmitting module 400 to pass through the main circuit board 600 and the transmitting lens 200, and be emitted to the outside of the laser detection device 1 to detect the target object, the main circuit board 600 is provided with a third through hole 601 at a position corresponding to the position of the transmitting lens 200, and the third through hole 601 is used for allowing the above-mentioned detection light to pass through. In this way, the detection light generated by the transmitting module 400 will pass through the third through hole 601 and the transmitting lens 200 in sequence and be emitted to the outside of the laser detection device 1. Of course, the transmitting lens 200 can also be arranged to pass through the third through hole 601; in this case, the third through hole is used to avoid the transmitting lens 200 and allow the detection light to pass through the main circuit board 600.

[0067] The receiving module 500 is located on the side of the main circuit board 600 facing away from the substrate 110 and is electrically connected to the main circuit board 600. To allow the echo light to pass through the main circuit board 600 and reach the receiving module 500, the main circuit board 600 is provided with a fourth through hole 602 at a position corresponding to the position of the receiving lens 300. The fourth through hole 602 is used to allow the echo light to pass through. In this embodiment, the receiving lens 300 passes through the main circuit board 600 as a whole, that is, the fourth through hole 602 is used to avoid the receiving lens 300 while allowing the echo light to pass through the main circuit board 600. Of course, in other embodiments of the present application, the receiving lens 300 can also be located as a whole on the side of the main circuit board 600 facing the substrate 110; in this case, the fourth through hole 602 is only used to allow the echo light to pass through.

[0068] Furthermore, to facilitate miniaturization of the laser detection device 1, the transmitting module 400 should be as close as possible to the receiving module 500 along the first direction X. Accordingly, some of the first positioning axes 150 and the second positioning axes 160 will have a smaller distance therebetween. For ease of explanation, the first positioning axes 150 corresponding to the same transmitting module 400 are defined as the first center positioning axis 150a, and the first positioning axis 150 farther from the second positioning axis 160 is defined as the first edge positioning axis 150b. In other words, the multiple first positioning axes 150 corresponding to the same transmitting module 400 include the first center positioning axis 150a and the first edge positioning axis 150b, with the first center positioning axis 150a located between the second positioning axis 160 and the first edge positioning axis 150b. In this embodiment, along the first direction X, the first central positioning axis 150a is located between a second positioning axis 160 and the first edge positioning axis 150b, and a first distance between the first central positioning axis 150a and the second positioning axis 160 is smaller than a second distance between the first central positioning axis 150a and the first edge positioning axis 150b.

[0069] In this embodiment, the first central positioning axis 150a and the second positioning axis 160 are integrally formed. Specifically, the second fixed axis 161 of the second positioning axis 160, at the end closest to the substrate 110, forms a waist-shaped integral structure with the first fixed axis 151 of the first central positioning axis 150a. It should be noted that because the receiving module 500 is further away from the substrate 110 than the transmitting module 400, the second fixed axis 161 of the second positioning axis 160 extends beyond the first fixed axis 151. In other words, the free end of the second fixed axis 161 protrudes relative to the waist-shaped integral structure. Since the first central positioning axis 150a is closer to the second positioning axis 160, if the first central positioning axis 150a and the second positioning axis 160 were configured independently, the manufacturing process would be more difficult. In contrast, in this embodiment, configuring the first fixed axis 151 and the second fixed axis 161 as the waist-shaped integral structure reduces the manufacturing difficulty of both axes while also improving the rigidity of the first central positioning axis 150a and the second positioning axis 160.

[0070] To further enhance the rigidity of the first positioning axis 150 and the second positioning axis 160, the bracket 100 also includes a plurality of bosses 170 designed on the second surface of the substrate 110. A boss 170 is provided between each first positioning axis 150 and the substrate 110, and a boss 170 is provided between each second positioning axis 160 and the substrate 110. The provision of the bosses 170 can, on the one hand, reduce the axial length of the first positioning axis 150 and the second positioning axis 160, thereby enhancing the rigidity of each. On the other hand, it is also equivalent to increasing the wall thickness of the substrate 110 at that location, thereby also strengthening the rigidity of the substrate 110. Preferably, the height of the bosses 170 is consistent with the height of the sidewalls 120 mentioned above, so that the main circuit board 600 can be supported by both the sidewalls 120 and the bosses 170 at the same time, thereby providing a better support effect for the main circuit board 600. Of course, in other embodiments of the present application, the above-mentioned boss may be provided between only one or part of the first positioning shaft 150 and the substrate 110 , and / or the above-mentioned boss may be provided between only one or part of the second positioning shaft 160 and the substrate 110 .

[0071] To facilitate the integration of the laser detection device 1 with other sensors, the above-mentioned substrate 110 can also be provided with a sensor mounting groove 102 formed inwardly from the first surface 111 for installing a preset sensor; wherein, the preset sensor can be a millimeter wave radar, a camera or other sensors other than the laser radar.

[0072] See also Figure 4In this embodiment, the sensor mounting groove 102 is located at the edge of the substrate 110 and is spaced apart from the second cylindrical body 141 along the second direction Y shown in the figure. The second direction Y is perpendicular to the thickness direction Z and the first direction X. The sensor mounting groove 102 includes a first groove 1021 and a second groove 1022. The first groove 1021 is formed inwardly from the first surface 111 and extends through the substrate 110 and the sidewall 120 along the thickness direction Z. This creates an opening on the side facing away from the second cylindrical body 141, thereby accommodating sensors of a wider range of sizes. Of course, in other embodiments, the first groove 1021 may not extend through the substrate 110 or the sidewall 120. The first groove 1021 is used to accommodate at least a portion of a preset sensor. The cross-sectional profile of the first groove perpendicular to the thickness direction Z is larger than that of the second groove 1022, thereby accommodating the main portion of the preset sensor. The second groove 1022 is also recessed from the first surface 111 and is located at the edge of and in communication with the first groove 1021. The second groove 1022 does not penetrate the substrate 110, meaning that the second groove 1022 is a blind groove. The second groove 1022 is used to mount the fixed connection portion of the preset sensor. In this embodiment, the bottom surface of the second groove 1022 is provided with a threaded hole for engaging fasteners such as bolts or screws to secure the preset sensor to the second groove 1022. In this embodiment, the sensor mounting groove 102 includes two second grooves 1022, which are located on either side of the first groove 1021 along the first direction X.

[0073] In summary, the laser detection device 1 provided in the embodiment of the present application includes a bracket 100, a transmitting lens 200, a receiving lens 300, a transmitting module 400, and a receiving module 500. The bracket 100 includes a base plate 110, a first lens barrel 130, and a second lens barrel 140. The first lens barrel 130 is used to mount the transmitting lens 200, and the first lens barrel 140 is used to mount the receiving lens 300. The transmitting module 400 and the receiving module 500 are both mounted on the bracket 100.

[0074] Compared to the solution in the related art where the laser radar includes a housing, a mounting bracket, a transmitting lens, a receiving lens, a transmitting module, and a receiving module, the laser detection device provided in the embodiment of the present application does not include a separate housing. Instead, the mounting of the transmitting lens 200, the receiving lens 300, the transmitting module 400, and the receiving module 500 is achieved through the bracket 100. Therefore, it can be packaged together with other sensors to form a sensing module in a smaller volume, thereby helping to reduce the volume of the entire sensing module. At the same time, since the housing is omitted, the manufacturing process of the laser detection device 1 and even the entire sensing module can be shortened, and the manufacturing cost is also reduced to a certain extent.

[0075] It is worth mentioning that the above embodiment takes the example that the inner hole of the first lens barrel 130 and the first through hole 1101 of the substrate 110 together constitute the first mounting hole, and the inner hole of the second lens barrel 140 and the second through hole 1102 of the substrate 110 together constitute the second mounting hole to illustrate the structure of the bracket 100, but the present application is not limited to this; in other embodiments of the present application, the first lens barrel can also independently define the first mounting hole for installing the transmitting lens 200, and the second lens barrel can also independently define the second mounting hole for installing the receiving lens 300.

[0076] For example, see Figures 6 to 8 , which respectively show a stereoscopic schematic diagram of the laser detection device 1b provided in some other embodiments of the present application and a stereoscopic schematic diagram of the bracket 100b in two directions. The laser detection device 1b still includes the bracket 100b, the transmitting lens 200b, the receiving lens 300b, the transmitting module and the receiving module. The main difference between the laser detection device 1b and the above-mentioned laser detection device 1 is that the first lens barrel 130b of the laser detection device 1b passes through the substrate 110b as a whole and is provided with the above-mentioned first mounting hole, and the second lens barrel 140b passes through the substrate 110b as a whole and is provided with the above-mentioned second mounting hole.

[0077] Specifically, see Figure 7 and Figure 8 The first lens barrel 130b includes a first barrel 131b and a first mounting plate 133b. The first barrel 131b passes through the base plate 110b and has a first inner hole 1301b, which serves as the aforementioned first mounting hole. Accordingly, the base plate 110b is provided with a first through hole 1101b for the first barrel 131b to pass through. The first mounting plate 133b extends outward from the sidewall of the first barrel 131b and is fixed to the base plate 110b. In this embodiment, the first mounting plate 133b is located on the side of the base plate 110b where the first surface 111 is provided and is secured to the base plate 110b via bolts. Preferably, to facilitate circumferential positioning of the first lens barrel 130b when mounted in the first through hole 1101b, one of the base plate 110b and the first mounting plate 133b is provided with a first positioning post, and the other is provided with a first positioning hole. The first positioning post extends into the first positioning hole, thereby achieving positioning of the first lens barrel 130b.

[0078] The second lens barrel 140b includes a second barrel 141b and a second mounting plate 143b. The second barrel 141b passes through the base plate 110b and has a second inner hole 1401b, which serves as the first mounting hole. Accordingly, the base plate 110b is provided with a second through hole 1102b for the second barrel 141b to pass through. The second mounting plate 143b extends outward from the sidewall of the second barrel 141b and is fixed to the base plate 110b. In this embodiment, the second mounting plate 143b is located on the side of the base plate 110b where the first surface 111 is provided and is secured to the base plate 110b via bolts. Preferably, to facilitate circumferential positioning of the second lens barrel 140b when mounted in the second through hole 1102b, one of the base plate 110b and the second mounting plate 143b is provided with a second positioning post, and the other is provided with a second positioning hole. The second positioning post extends into the second positioning hole, thereby achieving positioning of the second lens barrel 140b.

[0079] Compared to the laser detection device 1 in the aforementioned embodiment, in the laser detection device 1b provided in this embodiment, the base plate 110b, first lens barrel 130b, and second lens barrel 140b of the bracket 100b are separately provided. The first lens barrel 130b constitutes the structure for mounting the transmitting lens barrel 200b, and the second lens barrel 140b constitutes the structure for mounting the receiving lens 300b. This arrangement makes the design and manufacture of the bracket 100 modular, simplifies the overall manufacturing process, and facilitates achieving higher processing accuracy. In addition, if a lens barrel is damaged, it can be directly replaced without replacing the entire bracket 100b, thus providing better interchangeability.

[0080] Based on the same inventive concept, this application also provides a detection device, please refer to Figure 9, which shows a schematic diagram of the detection device 2, which includes a shell 21, the laser detection device 1 (1b) described in any of the above embodiments, and a preset sensor 22. Among them, the shell 21 is provided with a accommodating cavity to accommodate the above-mentioned laser detection device 1 and the preset sensor 22, which is also a protective structure for the laser detection device 1 and the preset sensor 22. The laser detection device 1 is arranged in the accommodating cavity, and the shell 21 is provided with a window piece for the laser beam to pass through on the side of the laser detection device 1 that receives and transmits the laser beam, thereby realizing the emission and reception of the detection light and the echo light. The preset sensor 22 is provided in the above-mentioned sensor mounting slot 102. The preset sensor is a sensor other than the laser radar, which is used to cooperate with the laser detection device to obtain environmental information more comprehensively. In this embodiment, the preset sensor is a camera; thus, the detection device 2 can obtain point cloud information related to the surrounding environment based on the laser detection device 1 and obtain image information of the surrounding environment based on the camera; the laser detection device and the camera can work simultaneously to improve the real-time detection capability of the detection device. The laser detection device and the camera can also work separately according to the actual scene requirements to meet the detection requirements while reducing the power consumption of the entire device. Of course, in other embodiments of the present application, the above-mentioned preset sensor can also be a millimeter wave radar or other types of sensors, and this application does not specifically limit this.

[0081] Since the laser detection device 1 in the above embodiment is included, the detection device 2 can achieve a smaller volume, and at the same time can shorten the manufacturing process to a certain extent and reduce the manufacturing cost.

[0082] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0083] The above disclosure is only a preferred embodiment of the present application, and certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A laser detection device, characterized in that: include: A bracket comprising a base plate, a first lens barrel, and a second lens barrel, wherein the base plate has a first surface and a second surface opposite to each other in a thickness direction, the first lens barrel is fixed to the base plate and protrudes relative to the first surface, the base plate and the first lens barrel jointly define a first mounting hole extending through the base plate and the first lens barrel, the second lens barrel is fixed to the base plate and protrudes relative to the first surface, and the base plate and the second lens barrel jointly define a second mounting hole extending through the base plate and the second lens barrel; A transmitting lens is installed in the first installation hole; A receiving lens is installed in the second mounting hole; a transmitting module mounted on the bracket, the transmitting module comprising a transmitting plate and a light source module, the light source module being used to generate detection light to detect a target object; as well as A receiving module is installed on the bracket, and the receiving module includes a receiving plate and a photoelectric detection module. The photoelectric detection module is used to receive the echo light formed by the detection light reflected by the target object.

2. The laser detection device according to claim 1, characterized in that: The first lens barrel includes a first barrel, the first barrel is disposed on the first surface, the first barrel has a first inner hole, the substrate has a first through hole at a position corresponding to the first barrel, the first inner hole is connected to the first through hole and together constitute at least a portion of the first mounting hole; The second lens barrel includes a second barrel, which is arranged on the second surface and has a second inner hole. The substrate is provided with a second through hole corresponding to the second barrel. The second inner hole is connected to the second through hole and together constitutes at least part of the second mounting hole.

3. The laser detection device according to claim 2, characterized in that: The first lens barrel further includes a third barrel, the third barrel being disposed on the second surface and surrounding the first through hole. The third barrel has a third inner hole, and the first inner hole, the first through hole, and the third inner hole are sequentially connected to form the first mounting hole. The second lens barrel also includes a fourth barrel, which is arranged on the second surface and is arranged around the second through hole. The fourth barrel has a fourth inner hole. The second inner hole, the second through hole and the fourth inner hole are connected in sequence and together constitute the second mounting hole.

4. The laser detection device according to claim 1, wherein: The first lens barrel includes a first barrel, the first barrel passes through the base plate, the first barrel has a first inner hole, the first inner hole is the first mounting hole, and the base plate is provided with a first through hole for the first barrel to pass through; The second lens barrel includes a second barrel body, the second barrel body passes through the base plate, the second barrel body has a second inner hole, the second inner hole is the second mounting hole, and the base plate is provided with a second through hole for the second barrel body to pass through.

5. The laser detection device according to claim 4, characterized in that: The first lens barrel further includes a first mounting plate, the first mounting plate extending outwardly from the side wall of the first barrel, and the first mounting plate is fixed to the base plate; The second lens barrel further includes a second mounting plate, which is formed by extending outward from the side wall of the second barrel body and is fixed to the base plate.

6. The laser detection device according to claim 3, characterized in that: The laser detection device includes two first lens barrels, two transmitting lenses and two transmitting modules; The two first lens barrels are arranged on both sides of the second lens barrel along a first direction. The first lens barrels, the transmitting lenses and the transmitting modules correspond one to one. The first direction is the arrangement direction of the first lens barrels and the second lens barrels.

7. The laser detection device according to claim 1, characterized in that: The bracket also includes a side wall; The side wall is located at a side of the substrate where the second surface is provided, and the side wall is formed by extending from an edge of the substrate along the thickness direction.

8. The laser detection device according to claim 7, characterized in that: The laser detection device further includes a main circuit board, which is arranged opposite to the base plate and supported on a side of the side wall facing away from the base plate; The transmitting plate is arranged on a side of the main circuit board away from the base plate, and the main circuit board is provided with a third through hole for the detection light to pass through; The receiving plates are all arranged on a side of the main circuit board away from the base plate, and the main circuit board is provided with a fourth through hole for the echo light to pass through.

9. The laser detection device according to claim 1, characterized in that: The bracket further comprises: a plurality of first positioning shafts connected to the base plate and located on a side of the base plate facing the launch module; the launch plate is provided with a plurality of first positioning holes corresponding one-to-one to the plurality of first positioning shafts; each first positioning shaft passes through a first positioning hole; and the launch plate is fixed to each of the first positioning shafts; and A plurality of second positioning shafts are connected to the base plate and are located on the side of the base plate facing the receiving module. The receiving plate is provided with a plurality of second positioning holes corresponding one-to-one to the plurality of second positioning shafts. Each second positioning shaft passes through a second positioning hole, and the receiving plate is fixed to each second positioning shaft.

10. The laser detection device according to claim 9, characterized in that: The bracket further includes a plurality of bosses; A boss is provided between at least one of the first positioning shafts and the base plate, and a boss is provided between at least one of the second positioning shafts and the base plate.

11. The laser detection device according to claim 9, characterized in that: The plurality of first positioning axes corresponding to the same transmitting plate include a first central positioning axis and a first edge positioning axis. Along a first direction, the first central positioning axis is located between a second positioning axis and a first edge positioning axis. A distance between the first central positioning axis and the second positioning axis along the first direction is a first distance. A distance between the first central positioning axis and the first edge positioning axis along the first direction is a second distance. The first distance is smaller than the second distance. The first direction is an arrangement direction of the first lens barrel and the second lens barrel. The first central positioning shaft and the corresponding second positioning shaft are an integrated structure.

12. The laser detection device according to claim 1, characterized in that: The substrate is provided with a sensor mounting groove formed inwardly from the first surface, and the sensor mounting groove is used to mount a preset sensor; Wherein, the preset sensor includes a millimeter wave radar and / or a camera.

13. The laser detection device according to claim 12, characterized in that: The sensor installation slot includes a first slot and a second slot; The first groove is formed inwardly from the first surface, the second groove is formed inwardly from the first surface, the second groove is a blind groove and is connected to the first groove, the first groove is used to accommodate at least part of the preset sensor, and the second groove is used to set a fastener to fix the preset sensor to the second groove.

14. A detection device, characterized in that: include: The housing is provided with a receiving cavity; The laser detection device according to claim 12 or 13, wherein the laser detection device is accommodated in the accommodating cavity; and A preset sensor is installed in the sensor installation slot, and the preset sensor is a sensor other than the laser.

15. The detection device according to claim 14, characterized in that The preset sensors include cameras and / or millimeter-wave radars.

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