Circuit board structure of laser radar, laser radar and robot

Abstract

The utility model discloses a circuit board structure of a laser radar, a laser radar and a robot, the circuit board structure comprises a laser emitter, a receiving unit and a circuit board, the receiving unit comprises a laser receiver and a light reflection piece, the light reflection piece is used for reflecting laser light returned by detection and reversely emitting the laser light to the laser receiver, and the laser receiver is used for receiving the laser light. The laser receiver is used for receiving the laser rays reflected by the light reflecting part, the circuit board comprises a first surface and a second surface which are deviated from each other, a light transmitting channel for the light rays to pass through is formed in a light path, corresponding to the laser rays, of the circuit board from the first surface to the second surface to the light reflecting part, and the laser transmitter is arranged on the first surface of the circuit board; the laser receiver is arranged between the circuit board and the light reflecting part, is assembled on the second surface, facing the light reflecting part, of the circuit board, and is electrically connected with the circuit board, so that the assembly process can be simplified, the assembly difficulty can be reduced, and the production yield can be ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to range finding technical field, especially a kind of circuit board structure of laser radar, laser radar and robot. BACKGROUND

[0002] Laser radar is a kind of device that can realize distance measurement, generally by constantly rotating reflector and transmitting laser to the surface of the object to be detected and receiving the laser reflected from the surface of the object to be detected, to realize 360 ° range scanning of the object to be detected under the premise of the same laser source, to realize the distance measurement of the object to be detected.

[0003] At present, laser radar usually uses focusing lens to focus the detection light reflected from the reflector on the laser receiver in a transmission mode, since the distance between the position of laser transmitter and the laser receiver is large, at this time, additional special circuit board of laser transmitter and special circuit board of laser receiver need to be respectively arranged, in addition, the control circuit system is also difficult to be directly integrated on the special circuit board of laser transmitter or the special circuit board of laser receiver with small area, resulting in more circuit boards with different functions, causing the assembly process of laser radar to be complicated and difficult, which seriously affects the production yield. SUMMARY

[0004] Therefore, the utility model provides a kind of circuit board structure of laser radar, laser radar and robot to solve the above problems, which can simplify assembly process and reduce assembly difficulty to ensure production yield.

[0005] To achieve the above purpose, the technical scheme provided by the utility model is as follows:

[0006] The utility model provides a kind of circuit board structure of laser radar, comprising: laser transmitter, for emitting laser light; receiving unit, including laser receiver and cooperating with the light reflecting element of laser receiver;The light reflecting element is used to reflect the laser light returned by detection and is reversely shot to the laser receiver;The laser receiver is used to receive the laser light reflected by the light reflecting element;Circuit board, the circuit board includes first face and second face facing away, and the circuit board is opened with the light path of light passing through the light transmission channel on the light path of light from the first face towards the second face towards the light reflecting element corresponding laser light;The laser transmitter is arranged on the first face of the circuit board, and is electrically connected with the circuit board;The laser receiver is arranged between the circuit board and the light reflecting element, and the laser receiver is assembled on the second face of the circuit board towards the light reflecting element, and is electrically connected with the circuit board.

[0007] Further, the central axis of the laser emitter is a first axis, the central axis of the laser receiver is a second axis, and the first axis of the laser emitter and the second axis of the laser receiver are coaxially arranged.

[0008] Further, a mirror is arranged to rotate relative to the circuit board, the rotation axis of the mirror is a third axis, the mirror is used to reflect the laser light emitted by the laser emitter to the object to be detected and reflect the returned laser light to the light reflector, and the third axis of the mirror is coaxially arranged with the first axis of the laser emitter and the second axis of the laser receiver.

[0009] Further, the light reflector is a focusing reflector, which is used to reflect the returned laser light and focus it backward to the laser receiver located above.

[0010] Further, the number of the light transmission channels is multiple, and the multiple light transmission channels are arranged around the third axis.

[0011] Further, the circuit board has a light transmission through hole coaxially arranged with the third axis and a support unit, the support unit includes a central mounting portion located at the center of the light transmission through hole and multiple support ribs connected to the central mounting portion, and the ends of the multiple support ribs away from the central mounting portion are equidistantly arranged on the hole wall of the light transmission through hole, so that the hole wall of the light transmission through hole, the support ribs and the central mounting portion jointly form multiple light transmission channels with the same light transmission area.

[0012] Further, the number of the support ribs is three, and the distance between the adjacent two support ribs is 120°, so as to form a fan-shaped light transmission channel and a stable triangular fixed support.

[0013] Further, the light reflector is a focusing reflector cup with an arc-shaped reflecting surface.

[0014] Further, a light homogenizing sheet is arranged between the laser receiver and the light reflector for light homogenization.

[0015] Further, a collimating lens assembly is arranged between the circuit board and the mirror, the collimating lens assembly and the mirror are coaxially arranged, and the collimating lens assembly is used to collimate the laser light emitted by the laser emitter.

[0016] Further, the collimating lens assembly comprises a collimating lens and a lens holder, the lens holder has a central light passing hole and a plurality of fixing ribs arranged on the outer hole wall of the central light passing hole, the collimating lens is assembled in the central light passing hole and corresponds to the laser emitter; the end of the fixing rib away from the central light passing hole is fixed to the circuit board, and the fixing ribs and the supporting ribs are arranged in the same number and one-to-one corresponding overlap to reduce the light blocking area.

[0017] Further, the circuit board is fixedly arranged to ensure that it is stationary.

[0018] The utility model provides a kind of laser radar, at least comprising the circuit board structure of above-mentioned laser radar.

[0019] The utility model provides a kind of robot, at least comprising above-mentioned laser radar.

[0020] Through the technical scheme provided by the utility model, the following beneficial effects are achieved:

[0021] By arranging the light reflecting member on the side of the second surface of the circuit board, integrating the laser emitter and the laser receiver on the first surface and the second surface of the circuit board respectively, and providing a light transmission channel for the laser light rays from the first surface to the light reflecting member, the laser light rays returned by detection are reflected and reversely emitted to the laser receiver, so that the optical signal returned by the detected object can be effectively sensed. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the exploded view of part of laser radar in embodiment one, as shown in the figure;

[0023] Figure 2 It is the sectional view of part of laser radar in embodiment one, as shown in the figure;

[0024] Figure 3 It is the schematic view of the circuit board integrated with laser emitter in embodiment one, as shown in the figure;

[0025] Figure 4 It is the schematic view of the circuit board assembled with lens holder in embodiment one, as shown in the figure;

[0026] Figure 5 It is the optical path schematic view of laser radar in embodiment one, as shown in the figure. DETAILED DESCRIPTION

[0027] To further illustrate the embodiments, the present application provides the accompanying drawings. These drawings are part of the disclosure of the present application, which are mainly used to illustrate the embodiments, and can be combined with the related description of the specification to explain the operating principle of the embodiments. With reference to these contents, those skilled in the art should be able to understand other possible implementations and the advantages of the present application. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0028] The present application will be further described in conjunction with the drawings and specific embodiments.

[0029] Embodiment one

[0030] Referring to Figure 1 , Figure 2 and Figure 5 , embodiment one provides a circuit board structure of laser radar (hereinafter referred to as circuit board structure), the circuit board structure of the present embodiment includes receiving unit 4, circuit board 3 and laser emitter 1 for emitting laser light, receiving unit 4 includes laser receiver 42 and cooperating light reflecting member of laser receiver 42, the light reflecting member is used to reflect the laser light returned by detection and reversely shoot to laser receiver 42, laser receiver 42 is used to receive the laser light reflected by the light reflecting member, circuit board 3 includes first face 35 and second face 34 facing away, first face 35 and second face 34 are arranged in upper and lower, and circuit board 3 is provided with light transmission channel 33 for light to pass through on the light path of laser light from first face 35 to second face 34 towards the light reflecting member, laser emitter 1 is arranged on the first face 35 of circuit board 3 and forms electrical connection with circuit board 3, laser receiver 42 is arranged between circuit board 3 and the light reflecting member, and laser receiver 42 is assembled on the second face 34 of circuit board 3 towards the light reflecting member and forms electrical connection with circuit board 3.

[0031] In the present embodiment, compared with the small circuit board of the prior art, the circuit board 3 of the present embodiment has a larger area, therefore, in order to avoid the detection light path being blocked by the circuit board 3, the circuit board 3 is provided with a light transmission channel 33, so as to ensure that the detection light containing the detection light signal passes through the light transmission channel 33 smoothly until the photosensitive surface of the laser receiver 42.

[0032] By setting the light reflecting member on the side of the second surface 34 of the circuit board 3, integrating the laser emitter 1 and the laser receiver 42 on the first surface 35 and the second surface 34 of the circuit board 3 respectively, and the light transmission channel 33 for transmitting the laser light to the light reflecting member from the first surface 35 to the second surface 34, the returned laser light of the detection can be reflected and reversely emitted to the laser receiver 42, so that the returned light signal of the detected object can be effectively sensed, and compared with the prior art, the special circuit board matched with the laser emitter 1 and the laser receiver 42 can be omitted, so that the internal structure of the laser radar can be simplified, the assembly process can be simplified, the assembly difficulty can be reduced, the production yield can be effectively improved, and the production cost can be reduced.

[0033] Preferably, the circuit board 3 is a double-layer or multi-layer printed circuit board with more than three layers, so that the circuit structures are arranged on the first surface 35 and the second surface 34, and the circuit density per unit area of the circuit board 3 is improved; at this time, the control circuit unit of the laser radar can also be integrated in the same circuit board 3.

[0034] In another preferred embodiment, the circuit board structure of the embodiment further comprises a reflecting mirror 2 rotating relative to the circuit board 3, and the reflecting mirror 2 is used for reflecting the laser light emitted by the laser emitter 1 to the detected object and reflecting the returned laser light of the detection to the light reflecting member.

[0035] The central axis of the laser emitter 1 is a first axis, the central axis of the laser receiver 42 is a second axis, and the rotating axis of the reflecting mirror 2 is a third axis, the first axis, the second axis and the third axis are coincident, and the reflecting mirror 2 is specifically arranged in an inclined manner to cooperate with the laser radar to scan the detected object in a range of 360°.

[0036] More specifically, the light reflecting member is a focusing reflecting member 41, and the focusing reflecting member 41 is specifically a focusing reflecting cup with an arc-shaped reflecting surface, the focusing reflecting member 41 is used for reflecting the returned laser light of the detection and reversely focusing to the laser receiver 42 located above, and the laser receiver 42 and the focusing reflecting member 41 are provided with a light uniforming sheet 43 for light uniforming, at this time, the focusing reflecting member 41, the laser receiver 42 and the light uniforming sheet 43 jointly constitute the receiving unit 4.

[0037] In the specific embodiment, as Figure 1 and Figure 2As shown, the circuit board 3 is fixed to the housing 6 of the lidar, forming a stationary fixed configuration. The reflector 2 is fixedly mounted to the upper cover 11 of the lidar, forming an integrally connected reflector assembly. The reflector assembly is rotatably connected to the housing 6 via a turntable 61. Driven by the lidar's drive motor assembly, the reflector 2 rotates around the same axis as the laser emitter 1 and the laser receiver 42. This allows for 360° scanning of the detected object while using the same laser emitter 1 as the laser source, enabling precise measurement of the distance to the detected object. Of course, in other embodiments, the focusing reflector 41 can also be mounted on the housing 6.

[0038] The reflector 2, laser emitter 1, circuit board 3, laser receiver 42, homogenizer 43, and focusing reflector 41 are as follows: Figure 1 The settings are arranged from top to bottom as shown.

[0039] When the lidar is working, the laser light emitted upward by the laser emitter 1 is reflected by the reflector 2 to form a primary reflected laser 7, which is then emitted outward to the object being detected. The primary reflected laser 7 is reflected by the object being detected to form a secondary reflected laser 8, which is reflected back to the reflector 2. The secondary reflected laser 8 is reflected by the reflector 2 to form a tertiary reflected laser 9, which is emitted downward to the arc-shaped reflective surface of the focusing reflector 41. The tertiary reflected laser 9 is then reflected again and focused in the opposite direction or upward to form a focused reflected laser 10, which is focused on the photosensitive surface of the laser receiver 42 located above the focusing reflector 41. This allows the detection light signal returned by the object being detected to be received by reflection, avoiding the use of a focusing lens with a complex surface shape. It also avoids the tertiary reflected laser 9 passing through the lens in a transmission manner, which would cause light absorption or light loss, thereby improving the light signal reception efficiency and ensuring the detection accuracy of the lidar. Furthermore, the installation of the focusing reflector 41 is relatively simple.

[0040] Further preferred, such as Figure 3 As shown, the circuit board 3 has a light-transmitting hole 31 and a support unit 32 coaxially arranged with the third axis of the reflector 2. The support unit 32 includes a central mounting part 321 located at the center of the light-transmitting hole 31 and three support ribs 322 connected to the central mounting part 321 to ensure that the third axis of the reflector 2, the first axis of the laser emitter 1 and the second axis of the laser receiver 42 are all coincident.

[0041] Furthermore, three support ribs 322 are equally spaced on the wall of the light-transmitting hole 31, so that the support ribs 322, the central mounting part 321 and the wall of the light-transmitting hole 31 together form three light-transmitting channels 33 with the same light-transmitting area, and the distance between two adjacent support ribs 322 is 120°, so as to form a fan-shaped light-transmitting channel 33 and a stable triangular fixed support.

[0042] In addition, such as Figure 5As shown, the laser transmitter 1 is mounted and integrated on the first surface 35 of the central mounting portion 321, and the laser receiver 42 is mounted and integrated on the second surface 34 of the central mounting portion 321.

[0043] When the laser radar is working, the mirror 2 reflects the laser light to different positions on the surface of the detected object by its rapid rotation, so as to detect and scan the whole detected object. The secondary reflected laser 8 reflected by the detected object is reflected by the mirror 2 again, so as to reflect the tertiary reflected laser 9 to the receiving unit 4. In the light path, the material of the support rib 322 itself affects the propagation of light. Therefore, the three support ribs 322 are uniformly distributed in the light transmission through hole 31 to form three fan-shaped light transmission channels 33, so as to ensure that the consistency of the echo normalized intensity on the light sensing surface of the laser receiver 42 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.

[0044] Of course, in other embodiments, the number of support ribs 322 can also be one, two or more than four.

[0045] If only one support rib 322 constitutes the support structure, the support strength is insufficient, and the vibration caused by the rotation of the mirror 2 will adversely affect the reflected light path of the laser transmitter 1 and the received light path of the laser receiver 42 located in the central mounting portion, and further affect the ranging accuracy.

[0046] In addition, compared with the setting of two or more than four support ribs 322, the support structure constituted by the three support ribs 322 in the embodiment is a compromise, which can not only ensure the support strength of the support unit 32 of the circuit board 3 to the laser transmitter 1 and the laser receiver 42, but also ensure that it will not adversely affect the light transmission rate of the detection light path of the laser radar.

[0047] In addition, the other part of the circuit board 3 located outside the light transmission through hole 31 is provided with a main circuit, and the main circuit has the control circuit unit. The laser transmitter 1 and the laser receiver 42 are electrically connected to the main circuit through the circuit part of the central mounting portion 321 of the circuit board 3 and the circuit part on the support rib 322, so as to realize the integration of the laser transmitter 1, the laser receiver 42 and the control circuit unit on the same circuit board 3. The three fan-shaped light transmission channels 33 and the light homogenizing sheet 43 together constitute a light homogenizing system, so as to further ensure that the light energy distribution uniformity meets the design requirements.

[0048] In another preferred embodiment, as shown in Figure 1 The collimating lens assembly 5 is coaxially arranged with the mirror 2, and the collimating lens assembly 5 is used for collimating the laser emitted by the laser transmitter 1.

[0049] In practice, the collimating lens assembly 5 comprises a collimating lens 51 and a lens holder 52, as shown in the figure. Figure 4 The lens holder 52 shown in the figure has a central light transmission hole 521 and three fixing ribs 522 arranged on the outer hole wall of the central light transmission hole 521, the collimating lens 51 is assembled in the central light transmission hole 521 and corresponds to the laser emitter 1, the end of the fixing rib 522 away from the central light transmission hole 521 is fixed to the part of the circuit board 3 located at the periphery of the light transmission hole 31, and the fixing rib 522 and the supporting rib 322 are arranged in the same number and one-to-one corresponding overlap to reduce the light blocking area, thereby ensuring the stability, accuracy and reliability of the laser radar ranging.

[0050] Embodiment Two

[0051] Embodiment Two provides a circuit board structure of a laser radar, the structure of Embodiment Two and Embodiment One is basically the same, the difference is that the light transmission channel is a small hole passing through the upper and lower surfaces of the circuit board, a plurality of light transmission channels surround the third axis of the mirror, and the first axis of the laser emitter and the second axis of the laser receiver respectively coincide with the third axis of the mirror, so as to ensure that more probe light can pass through the light transmission channel of the circuit board, thereby improving the ranging accuracy of the laser radar.

[0052] Embodiment Three

[0053] Embodiment Three provides a circuit board structure of a laser radar, the structure of Embodiment Three and Embodiment One is basically the same, the difference is that the mirror is stationary, the light reflecting element is a mirror surface mirror with a plane structure, and the probe light reflected from the mirror can also be mirror reflected to the photosensitive surface of the laser receiver.

[0054] Embodiment Four provides a laser radar, which at least comprises the circuit board structure of the laser radar of Embodiment One, Embodiment Two or Embodiment Three.

[0055] Embodiment Five

[0056] Embodiment Five provides a robot, which at least comprises the laser radar of Embodiment Four.

[0057] Although the present utility model is specifically shown and introduced in combination with the preferred embodiments, it should be understood by those skilled in the art that various changes can be made to the present utility model in form and details without departing from the spirit and scope of the present utility model defined in the appended claims, and all such changes are within the protection scope of the present utility model.

Claims

1. A circuit board structure of a laser radar, characterized by: The application relates to a laser detection device, which comprises the following parts: a laser emitter for emitting laser light; a receiving unit, which comprises a laser receiver and a light reflecting element matched with the laser receiver; the light reflecting element is used for reflecting the laser light returned by detection and reversely shooting the laser light to the laser receiver; the laser receiver is used for receiving the laser light reflected by the light reflecting element; a circuit board, which comprises a first surface and a second surface facing away from each other, and the circuit board is provided with a light-transmitting channel for transmitting light on the light path of the laser light from the first surface to the second surface towards the light reflecting element; the laser emitter is arranged on the first surface of the circuit board and is electrically connected with the circuit board; the laser receiver is arranged between the circuit board and the light reflecting element and is assembled on the second surface of the circuit board towards the light reflecting element and is electrically connected with the circuit board.

2. The circuit board structure of the lidar according to claim 1, characterized by: The central axis of the laser emitter is a first axis, the central axis of the laser receiver is a second axis, and the first axis of the laser emitter and the second axis of the laser receiver are coaxially arranged.

3. The circuit board structure of the lidar according to claim 2, characterized in that: The application further comprises a reflecting mirror rotating relative to the circuit board, the rotating axis of the reflecting mirror is a third axis, the reflecting mirror is used for reflecting the laser light emitted by the laser emitter to the detected object and reflecting the laser light returned by detection to the light reflecting element; the third axis of the reflecting mirror is coaxially arranged with the first axis of the laser emitter and the second axis of the laser receiver.

4. The circuit board structure of the lidar according to claim 3, characterized by: The light reflecting element is a focusing reflecting element, which is used for reflecting the laser light returned by detection and reversely focusing the laser light to the laser receiver above the focusing reflecting element.

5. The circuit board structure of the lidar according to claim 3, characterized by: The number of the light-transmitting channels is multiple, and the multiple light-transmitting channels surround the third axis.

6. The circuit board structure of the lidar according to claim 5, wherein: The circuit board is provided with a light-transmitting through hole coaxially arranged with the third axis and a supporting unit, the supporting unit comprises a central mounting part in the center of the light-transmitting through hole and multiple supporting ribs connected with the central mounting part, and the ends of the multiple supporting ribs away from the central mounting part are equidistantly arranged on the hole wall of the light-transmitting through hole, so that the hole wall of the light-transmitting through hole, the supporting ribs and the central mounting part jointly form multiple light-transmitting channels with the same light-transmitting area.

7. The circuit board structure of the lidar according to claim 6, wherein: The number of the supporting ribs is three, and the interval between two adjacent supporting ribs is 120 DEG, so as to form a fan-shaped light-transmitting channel and a stable triangular fixed support.

8. The circuit board structure of a lidar according to any one of claims 4-7, characterized by: The light reflecting element is a focusing reflecting cup with an arc-shaped reflecting surface.

9. The circuit board structure of a lidar according to any one of claims 1 to 7, characterized by: A light homogenizing sheet is arranged between the laser receiver and the light reflecting element for homogenizing light.

10. The circuit board structure of a lidar according to claim 6 or 7, characterized by: A collimating lens assembly is arranged between the circuit board and the reflecting mirror, the collimating lens assembly and the reflecting mirror are coaxially arranged, and the collimating lens assembly is used for collimating the laser light emitted by the laser emitter.

11. The circuit board structure of the lidar according to claim 10, wherein: The collimating lens assembly comprises a collimating lens and a lens holder, the lens holder has a central light passing hole and a plurality of fixing ribs arranged on the outer hole wall of the central light passing hole, the collimating lens is assembled in the central light passing hole and corresponds to the laser emitter; one end of the fixing rib away from the central light passing hole is fixed to the circuit board, and the fixing ribs and the supporting ribs are arranged in the same number and one-to-one corresponding overlap to reduce the light blocking area.

12. The circuit board structure of a lidar according to any one of claims 3 to 7, characterized by: The circuit board is fixedly arranged to ensure that it is stationary.

13. A lidar, comprising: The circuit board structure at least comprises the laser radar as claimed in any one of claims 1-12.

14. A robot characterized by: The laser radar at least comprises the laser radar as claimed in claim 13.

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