Laser radar and mounting structure thereof

Abstract

The utility model discloses a laser radar and a mounting structure thereof, the laser radar comprises a first module and a second module which are arranged up and down, the first module comprises a light reflection assembly used for light reflection, and the second module comprises a circuit board, and a laser ranging assembly and a laser receiving assembly which are respectively connected on two surfaces of the circuit board. The laser ranging assembly is used for emitting laser rays towards the reflecting surface of the light reflecting assembly, the light reflecting assembly is used for reflecting the laser rays to a detected object and downwards reflecting the detected laser rays to the laser receiving assembly, and the laser receiving assembly is used for receiving detected light signals; the light reflection assembly, the laser ranging assembly and the laser receiving assembly are coaxially arranged, the first module is rotatably connected with the second module, and the second module is fixedly arranged, so that the stability of a transmitting light path and a receiving light path of the second module is ensured when the first module rotates, and the accuracy of laser ranging is further facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radars, in particular to a laser radar and an installation structure thereof. Background Art

[0002] LiDAR is a device that can measure distance. It generally uses a continuously rotating reflector assembly to emit laser light to the surface of the object being detected and receive laser light reflected from the surface of the object being detected. This allows the object to be scanned 360° under the premise of the same laser source, thereby measuring the distance to the object being detected.

[0003] Generally, during the laser ranging process, the reflector assembly will rotate rapidly and cause internal structural vibrations. Therefore, the structural components of the laser radar's transmitting and receiving optical paths are easily affected by such vibrations, resulting in poor stability of the entire optical path system, which is in turn not conducive to the accuracy of laser ranging. Summary of the Invention

[0004] To this end, in order to solve the above problems, the present invention provides a laser radar and its installation structure, which can ensure the stability of the transmitting light path and the receiving light path of the second module when the first module rotates.

[0005] To achieve the above purpose, the technical solutions provided by the present invention are as follows:

[0006] The utility model provides an installation structure of a laser radar, comprising a first module and a second module arranged in an upper and lower manner; the first module comprises a light reflecting component for light reflection, the second module comprises a circuit board and a laser ranging component and a laser receiving component respectively connected to two surfaces of the circuit board, the laser ranging component is used to emit laser light toward the reflecting surface of the light reflecting component, the light reflecting component is used to reflect the laser light to the detected object and reflect the detected laser light downward to the laser receiving component, and the laser receiving component is used to receive the detected light signal; the light reflecting component, the laser ranging component and the laser receiving component are coaxially arranged, the first module is rotatably connected to the second module, and the second module is fixedly arranged, so that the stability of the emitting light path and the receiving light path of the second module is guaranteed when the first module rotates.

[0007] Furthermore, the laser receiving component includes a light sensor and a focusing reflector. The light sensor is used to sense the detected light signal. The light sensor is fixed on the first surface of the circuit board away from the light reflecting component to form an electrical connection. The focusing reflector is used to reversely focus the laser light reflected downward by the light reflecting component to the light sensor located above it.

[0008] Furthermore, the circuit board is provided with a plurality of light passages surrounding the central axis of the light sensor, and the light passages are used to pass the laser light reflected downward from the light reflection component to the focusing reflection member.

[0009] Furthermore, the laser ranging component includes a light emitter and a collimating lens unit. The light emitter is fixed on the second surface of the circuit board away from the laser receiving component and forms an electrical connection setting. The collimating lens unit is used to collimate the laser light emitted by the light emitter.

[0010] Furthermore, the collimating lens unit includes a collimating lens bracket and a collimating lens assembled on the collimating lens bracket, and the collimating lens bracket is fixed to the circuit board.

[0011] Furthermore, the second module also includes a base; the light reflecting assembly includes a reflector bracket and a reflector, and the reflector is fixed to the reflector bracket to ensure that the reflector bracket and the reflector form a first module that is relatively independent in terms of installation structure; the circuit board is fixedly connected to the base to ensure that the base, the focusing reflector, the light sensor, the circuit board, the light emitter, the collimating lens bracket and the collimating lens form a second module that is relatively independent in terms of installation structure.

[0012] Furthermore, it also includes a turntable; the reflector bracket is fixed to the rotating end of the turntable, and the base is fixed to the fixed end of the turntable, so that the first module rotates relative to the second module; the circuit board, the laser ranging component and the laser receiving component are respectively non-contacted with the reflector bracket.

[0013] Furthermore, the circuit board has a mounting through hole and a support portion coaxially arranged with the central axis of the light sensor, the support portion includes a mounting portion located at the center of the mounting through hole and a plurality of support arms connected to the mounting portion, and the plurality of support arms are arranged at equal intervals on the hole wall of the mounting through hole, so that the support arms, the mounting portion and the hole wall of the mounting through hole jointly form a plurality of light-transmitting channels with the same light-transmitting area; the light sensor and the light emitter are respectively located on the first surface and the second surface of the mounting portion.

[0014] Furthermore, the focusing reflector is a focusing reflective cup.

[0015] The utility model provides a laser radar, which at least comprises the above-mentioned installation structure of the laser radar.

[0016] The technical solution provided by the utility model has the following beneficial effects:

[0017] By forming the light reflecting component into a rotatable first module, forming the circuit board, the laser ranging component and the laser receiving component into a fixed second module, and rotatably connecting the first module to the second module, the vibration caused by the rotation of the first module can be avoided to have an adverse effect on the entire optical path system of the laser radar, so as to ensure the stability of the transmitting optical path and the receiving optical path of the second module when the first module rotates, which is beneficial to the accuracy of laser ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is an exploded view of the laser radar without a drive mechanism in Example 1;

[0019] Figure 2 FIG2 is a cross-sectional view of the laser radar in the first embodiment;

[0020] Figure 3 The figure shows a schematic diagram of the optical path system of the laser radar in the first embodiment;

[0021] Figure 4 FIG. 1 is a schematic diagram of a coaxial ranging module in Example 1;

[0022] Figure 5 Shown is a schematic diagram of the circuit board in Example 1. DETAILED DESCRIPTION

[0023] To further illustrate various embodiments, the present invention is provided with accompanying drawings. These drawings form part of the disclosure of this invention and are primarily used to illustrate the embodiments and, in conjunction with the relevant description in the specification, to explain the operating principles of the embodiments. By referring to these drawings, those skilled in the art will understand other possible implementations and the advantages of this invention. The components in the figures are not drawn to scale, and similar reference numerals are generally used to represent similar components.

[0024] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0025] Example 1

[0026] Reference Figure 1 and Figure 2 As shown, embodiment 1 provides a mounting structure of a laser radar (hereinafter referred to as the mounting structure). The mounting structure of this embodiment includes a first module 1 and a second module 2 arranged in an upper and lower position. The first module 1 includes a light reflecting component for light reflection, and the second module 2 includes a circuit board 22 and a laser ranging component 21 and a laser receiving component 23 respectively connected to both sides of the circuit board 22.

[0027] The laser ranging component 21 is used to emit laser light toward the reflective surface of the light reflecting component and form an emission light path of the laser radar.

[0028] The laser receiving component 23 is used to receive the detected optical signal and form the receiving optical path of the laser radar.

[0029] The light reflecting component is used to reflect the laser light to the detected object and reflect the detected laser light downward to the laser receiving component 23, so as to transmit the detection laser light of the emission light path to the receiving light path.

[0030] The light reflecting component, laser ranging component 21 and laser receiving component 23 are coaxially arranged to ensure that the transmitting light path of the laser radar can match the receiving light path, so as to effectively omit excessive optical components to change the light path, and the total optical path is also shorter.

[0031] The first module 1 is rotatably connected to the second module 2, and the second module 2 is fixedly arranged so as to ensure the stability of the emission light path and the receiving light path of the second module 2 when the first module 1 rotates.

[0032] By forming the light reflecting component into a rotatable first module 1, forming the circuit board 22, the laser ranging component 21 and the laser receiving component 23 into a fixed second module 2, and rotatably connecting the first module 1 to the second module 2, the vibration caused by the rotation of the first module 1 can be avoided to have an adverse effect on the entire optical path system of the laser radar, that is, the stability of the transmitting optical path and the receiving optical path of the second module 2 can be ensured when the first module 1 rotates, which is beneficial to the accuracy of laser ranging.

[0033] In another preferred embodiment, Figure 1 and Figure 3 As shown, the laser receiving component 23 includes a light sensor 231 and a focusing reflector 232. The light sensor 231 is used to sense the detected light signal. The light sensor 231 is fixed on the first surface 221 of the circuit board 22 away from the light reflecting component, and forms an electrical connection setting to integrate the light sensor 231 on the same circuit board 22, so as to omit the dedicated circuit board for the light sensor 231, thereby simplifying the internal structure of the laser radar and simplifying its assembly process.

[0034] The focusing reflector 232 is used to focus the laser light reflected downward by the light reflecting component back to the light sensor 231 located above it, and the specific focusing reflector 232 is a focusing reflector cup to form a receiving light path in a reverse reflection manner. The reflective focusing component of this embodiment replaces the focusing lens of the prior art to reduce the processing difficulty of the optical element, and the focusing is faster and the focusing ability is stronger. At the same time, it can avoid the reflected laser passing through the focusing lens in a transmission manner to cause light absorption or light loss, so as to improve the efficiency of light signal reception and thereby ensure the detection accuracy of the laser radar.

[0035] More specifically, Figure 1 As shown, the laser distance measuring assembly 21 includes a light emitter 211 and a collimating lens unit 212. Figure 3 The light emitter 211 shown is fixed on the second side 222 of the circuit board 22 away from the laser receiving component 23, and forms an electrical connection setting. At this time, the first side 221 is on the bottom surface of the circuit board 22, and the second side 222 is on the top of the circuit board 22, so as to realize the integration of the light emitter 211 and the light sensor 231 on the same circuit board 22, so as to further omit the dedicated circuit board for the light emitter 211, thereby further simplifying the internal structure of the laser radar and simplifying its assembly process.

[0036] The collimating lens unit 212 is used to collimate the laser light emitted by the light emitter 211. Specifically, the collimating lens unit 212 includes: Figure 3 The collimating lens bracket 2122 shown and the collimating lens 2121 assembled on the collimating lens bracket 2122 are fixed to the circuit board 22 to ensure that the light emitter 211, the collimating lens bracket 2122, the collimating lens 2121, the focusing reflector 232, the light sensor 231 and the circuit board 22 form a whole.

[0037] More preferably, Figure 5 As shown, the circuit board 22 is provided with three light channels 223 surrounding the central axis of the light sensor 231. The light channels 223 are used to reflect the laser light downward from the light reflection component to the focusing reflector 232. Specifically, the circuit board 22 has a mounting hole 226 and a support portion coaxially arranged with the central axis of the light sensor 231. The support portion includes a mounting portion 225 located at the center of the mounting hole 226 and three support arms 224 connected to the mounting portion 225, and the three support arms 224 are arranged at equal intervals on the hole wall of the mounting hole 226, so that the support arms 224, the mounting portion 225 and the hole wall of the mounting hole 226 together form three light channels 223 with the same light transmission area.

[0038] In this embodiment, the laser radar usually needs to be configured with a general control circuit for ranging control. The circuit board 22 of this embodiment integrates the circuit parts related to the light sensor 231 and the light emitter 211 as well as the general control circuit. Therefore, compared with the small circuit board 22 of the prior art, the circuit board 22 of this embodiment will be larger in area. In order to prevent the internal optical path of the laser radar from being blocked by the circuit board 22, the circuit board 22 is provided with a light channel 223 to ensure that the laser light containing the optical signal passes smoothly through the light channel 223 to the photosensitive surface of the light sensor 231. Since the material of the support arm 224 itself will affect the propagation of light, this embodiment uses three preset fan-shaped light channels 223 of the same area to ensure that the consistency of the normalized intensity of the echo on the photosensitive surface of the light sensor 231 meets the design requirements, that is, the uniformity of the light energy distribution meets the design requirements, thereby ensuring the stability, accuracy and reliability of the laser radar ranging.

[0039] At this time, the light sensor 231 and the light emitter 211 are respectively located at the center of the first surface 221 and the second surface 222 of the mounting portion 225, and are electrically connected to the overall control circuit of the circuit board 22 through the connecting circuit on the support arm 224, so as to realize the integration of the light sensor 231 and the light emitter 211 on the same circuit board 22.

[0040] Of course, in other embodiments, the light passage 223 of the circuit board 22 is respectively a plurality of independent small light-transmitting holes, which are evenly distributed around the central axis of the light sensor 231, and the portion of the circuit board 22 corresponding to the area where the light sensor 231 and the light emitter 211 are located is a solid portion to facilitate the installation of the light sensor 231 and the light emitter 211.

[0041] More specifically, Figure 1 As shown, the second module 2 also includes a base 24, and the light reflecting assembly includes a reflector bracket and a reflector 12. The reflector 12 is fixed to the reflector bracket to ensure that the reflector bracket and the reflector 12 form a first module 1 that is relatively independent in the installation structure, and the specific reflector bracket includes a reflector frame 11 for installing and fixing the reflector 12 and an upper cover 13 for installing and fixing the reflector frame 11.

[0042] The circuit board 22 is fixedly connected to the base 24 to ensure that the base 24, the focusing reflector 232, the light sensor 231, the circuit board 22, the light emitter 211, the collimating lens bracket 2122 and the collimating lens 2121 are assembled by screwing or dispensing to form a relatively independent second module 2 in terms of the installation structure. By presetting the relatively independent first module 1 and second module 2, the subsequent overall modular assembly is facilitated. Figure 4As shown, the laser ranging component 21 is installed on the second surface 222 of the circuit board 22, and the laser receiving component 23 is installed on the first surface 221 of the circuit board 22 to form a coaxial ranging module of the laser radar.

[0043] In this specific embodiment, the installation structure of this embodiment also includes the following Figure 1 and Figure 2 As shown in the turntable 3, the upper cover 13 of the reflector bracket is fixed to the rotating end of the turntable 3, and the base 24 is fixed to the fixed end of the turntable 3, and is driven by the driving mechanism of the laser radar to rotate the first module 1 relative to the second module 2, and the circuit board 22, the laser ranging component 21 and the laser receiving component 23 are respectively non-contacted with the reflector bracket to ensure that the vibration caused by the rotation of the first module 1 will not have an adverse effect on the entire optical path system of the laser radar, that is, the entire optical path system of the laser radar can remain stable, which is beneficial to the accuracy of laser ranging.

[0044] Example 2

[0045] Embodiment 2 provides a laser radar, which at least includes the installation structure of the laser radar of embodiment 1.

[0046] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes can be made to the form and details of the present invention without departing from the spirit and scope of the present invention as defined by the appended claims, and all of these changes are within the scope of protection of the present invention.

Claims

1. A laser radar installation structure, characterized by: It includes a first module and a second module arranged in an upper and lower manner; The first module includes a light reflecting component for light reflection, and the second module includes a circuit board and a laser ranging component and a laser receiving component respectively connected to two surfaces of the circuit board, the laser ranging component is used to emit laser light toward the reflecting surface of the light reflecting component, the light reflecting component is used to reflect the laser light toward the detected object and reflect the detected laser light downward to the laser receiving component, and the laser receiving component is used to receive the detected light signal; The light reflecting component, the laser ranging component and the laser receiving component are coaxially arranged, the first module is rotatably connected to the second module, and the second module is fixedly arranged to ensure the stability of the emitting light path and the receiving light path of the second module when the first module rotates.

2. The laser radar installation structure according to claim 1, characterized in that: The laser receiving component includes a light sensor and a focusing reflector. The light sensor is used to sense the detected light signal. The light sensor is fixed on the first surface of the circuit board away from the light reflecting component to form an electrical connection. The focusing reflector is used to reversely focus the laser light reflected downward by the light reflecting component to the light sensor located above it.

3. The laser radar installation structure according to claim 2, characterized in that: The circuit board is provided with a plurality of light passages surrounding the central axis of the light sensor. The light passages are used for passing the laser light reflected downward from the light reflection component to the focusing reflection member.

4. The laser radar installation structure according to claim 3, characterized in that: The laser ranging component includes a light emitter and a collimating lens unit. The light emitter is fixed on the second surface of the circuit board away from the laser receiving component and forms an electrical connection. The collimating lens unit is used to collimate the laser light emitted by the light emitter.

5. The laser radar installation structure according to claim 4, characterized in that: The collimating lens unit includes a collimating lens bracket and a collimating lens assembled on the collimating lens bracket, and the collimating lens bracket is fixed to the circuit board.

6. The laser radar installation structure according to claim 5, characterized in that: The second module also includes a base; the light reflecting assembly includes a reflector bracket and a reflector, and the reflector is fixed to the reflector bracket to ensure that the reflector bracket and the reflector form a first module that is relatively independent in terms of installation structure; the circuit board is fixedly connected to the base to ensure that the base, the focusing reflector, the light sensor, the circuit board, the light emitter, the collimating lens bracket and the collimating lens form a second module that is relatively independent in terms of installation structure.

7. The laser radar installation structure according to claim 6, characterized in that: It also includes a turntable; the reflector bracket is fixed to the rotating end of the turntable, and the base is fixed to the fixed end of the turntable, so that the first module rotates relative to the second module; the circuit board, the laser ranging component and the laser receiving component are respectively non-contacted with the reflector bracket.

8. The laser radar installation structure according to any one of claims 4 to 7, characterized in that: The circuit board has a mounting through hole and a support portion coaxially arranged with the central axis of the light sensor, the support portion includes a mounting portion located at the center of the mounting through hole and a plurality of support arms connected to the mounting portion, and the plurality of support arms are arranged at equal intervals on the hole wall of the mounting through hole, so that the support arms, the mounting portion and the hole wall of the mounting through hole jointly form a plurality of light-transmitting channels with the same light-transmitting area; the light sensor and the light emitter are respectively located on the first surface and the second surface of the mounting portion.

9. The laser radar installation structure according to any one of claims 2 to 7, characterized in that: The focusing reflector is a focusing reflective cup.

10. A laser radar, characterized in that: At least includes the installation structure of the laser radar described in any one of claims 1-9.

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