Laser radar and self-moving device
By introducing an optical control module into the lidar and using lens combinations to extend the angle, the problem of fixed scanning angle in traditional lidar is solved, enabling flexible configuration and applicability of lidar in different scenarios.
Patent Information
- Application Number
- CN202520028243.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-02
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-01-02
AI Technical Summary
Traditional LiDAR has a fixed scanning angle, which cannot be flexibly configured according to the needs of the actual scenario.
An optical control module is introduced, which expands the horizontal and vertical angles of the laser through lens combinations. Combined with a scanning module and a receiving module, the angle of the lidar can be flexibly configured.
It enables flexible configuration of the LiDAR scanning angle to meet the actual needs of different scenarios, thereby improving the applicability and flexibility of LiDAR.
Smart Images
Figure CN223857398U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to laser radar technical field especially relates to a kind of laser radar and self-moving device. BACKGROUND
[0002] Laser radar is the radar system that the position, velocity etc. characteristic quantity of target is detected by emitting laser beam to target, and receiving scattering echo.
[0003] In related technologies, the angle of outgoing light of traditional laser radar is usually in fixed range, resulting in that the scanning angle of laser radar is relatively single, and cannot be flexibly configured according to actual scene demand. UTILITY MODEL CONTENT
[0004] The application provides a kind of laser radar and self-moving device, can realize angle extension to scanning module outgoing light, realize the flexible configuration of laser radar scanning angle, satisfy different needs of actual scene.
[0005] Firstly, the application embodiment provides a kind of laser radar, comprising:
[0006] Laser emission module, including light source, the light source is used to emit laser;
[0007] Transmitting optical module is used to shape laser from the laser emission module;
[0008] Scanning module is used to adjust the angle of laser from the transmitting optical module;
[0009] Optical control module has first receiving surface, first light-out surface, the first receiving surface is used to receive laser from the scanning module, the first light-out surface is used to carry out angle extension in horizontal and / or vertical direction to laser passing through the first light-out surface, and laser passing through the first light-out surface is shot to target object;
[0010] Receiving optical module, laser reflected by target object is shot to the receiving optical module and is shaped;
[0011] Laser receiving module includes receiver, and the receiver is used to receive laser from the receiving optical module.
[0012] In a possible implementation, the optical control module includes at least a first lens and a second lens, the first lens and the second lens are sequentially distributed along the laser emission direction, the first lens is a positive diopter lens, and the second lens is a negative diopter lens.
[0013] In a possible implementation, the first receiving surface is arranged on a side of the first lens facing the scanning module, and the first light emitting surface is arranged on a side of the second lens facing the target object.
[0014] In a possible implementation, the first receiving surface is a convex surface, and the first light emitting surface is a concave surface.
[0015] In a possible implementation, the scanning module comprises a scanning optical element having one or more reflecting surfaces for reflecting laser beams, and a driver for driving the scanning optical element to rotate.
[0016] In a possible implementation, the scanning optical element is a one-dimensional scanning mirror, and the number of the light sources is multiple, and the multiple light sources are arranged in a straight line.
[0017] In a possible implementation, the scanning optical element is a two-dimensional scanning mirror, and the number of the light sources is one.
[0018] In a possible implementation, the laser beam reflected by the target object is emitted to the laser receiving module after passing through the scanning module, and the spatial topology of the light sources of the laser emitting module corresponds to that of the receivers of the laser receiving module.
[0019] In a possible implementation, the laser beam reflected by the target object is directly emitted to the laser receiving module, and the receivers of the laser receiving module are arranged in an area array.
[0020] In a second aspect, an embodiment of the present application provides a self-moving device comprising the laser radar of any one of the first aspect.
[0021] The laser radar and the self-moving device provided by the present application comprise a laser emitting module, an emitting optical module, a scanning module, an optical control module, a receiving optical module and a laser receiving module. The laser emitting module comprises a light source for emitting laser beams. The emitting optical module is configured to shape the laser beams from the laser emitting module. The scanning module is configured to adjust the angles of the laser beams from the emitting optical module. The optical control module has a first receiving surface and a first light emitting surface. The first receiving surface is configured to receive the laser beams from the scanning module. The first light emitting surface is configured to expand the angles of the laser beams passing through the first light emitting surface in a horizontal and / or vertical direction. The laser beams passing through the first light emitting surface are emitted to a target object. The receiving optical module is configured to shape the laser beams reflected by the target object. The laser receiving module comprises a receiver configured to receive the laser beams from the receiving optical module. The laser radar provided by the present application can expand the angles of the laser beams in a horizontal and / or vertical direction by introducing the optical control module, so that the angles of the laser radar can be flexibly configured to meet the actual requirements of different scenarios. Attached Figure Description
[0022] Figure 1 A schematic diagram of the structure of a lidar provided in this application;
[0023] Figure 2 This application provides a schematic diagram of the angle expansion of an optical control module.
[0024] Figure 3 A schematic diagram of a laser path for angle expansion of an optical control module provided in this application;
[0025] Figure 4 A schematic diagram illustrating the arrangement of the emitting light source of a laser emitting module provided in this application;
[0026] Figure 5 This application provides a schematic diagram of a lidar echo receiver;
[0027] Figure 6 Another schematic diagram of lidar echo reception provided in this application;
[0028] Figure 7 This application provides a schematic diagram of the arrangement of a laser emitting module and a laser receiving module;
[0029] Figure 8 A schematic diagram of the arrangement of a signal processing control module provided in this application;
[0030] Figure 9 A schematic diagram of a vertical off-axis arrangement provided for this application;
[0031] Figure 10 A schematic diagram of a horizontal off-axis arrangement provided for this application;
[0032] Figure 11 This is a schematic diagram of a coaxial arrangement provided in this application. Detailed Implementation
[0033] To enable those skilled in the art to better understand the technical solutions of this application, the application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments and drawings described herein are merely for explaining this application and are not intended to limit this application.
[0034] Laser radar is a radar system that detects the position, speed and other characteristic quantities of a target by emitting a laser beam. The working principle of laser radar is to emit a detection signal (i.e., a laser beam) to a target (e.g., an obstacle), and then compare the signal (target echo) received from the target with the emitted signal, so that, after signal processing, the relevant information of the target, such as distance, direction, height, speed, attitude or shape, etc., can be obtained.
[0035] In the related art, the angle of the light ray emitted by the scanning module in the conventional laser radar is usually within a fixed range, resulting in a single scanning angle of the laser radar, which cannot be flexibly configured according to actual scene requirements.
[0036] The laser radar provided in the present application comprises a laser emitting module, a transmitting optical module, a scanning module, an optical control module, a receiving optical module and a laser receiving module. The optical control module has a first receiving surface and a first light emitting surface. The first receiving surface is used to receive laser from the scanning module, and the first light emitting surface is used to expand the angle of the laser passing through the first light emitting surface in the horizontal and / or vertical direction, and the laser passing through the first light emitting surface is shot to a target object. In this way, the laser radar can realize the angle expansion of the laser by introducing the optical control module, can realize the flexible configuration of the angle of the laser radar, and can meet the actual requirements of different scenes.
[0037] Figure 1 A structural schematic diagram of the laser radar provided in the present application is shown in FIG. 1. Figure 1 As shown in FIG. 1, the laser radar comprises a laser emitting module 101, a transmitting optical module 102, a scanning module 103, an optical control module 104, a receiving optical module 105 and a laser receiving module 106. The laser emitting module 101 comprises a light source, and the light source is used to emit laser. The transmitting optical module 102 is used to shape the laser from the laser emitting module 101. The scanning module 103 is used to adjust the angle of the laser from the transmitting optical module 102.
[0038] The optical control module 104 has a first receiving surface and a first light emitting surface. The first receiving surface is used to receive laser from the scanning module 103, and the first light emitting surface is used to expand the angle of the laser passing through the first light emitting surface in the horizontal and / or vertical direction, and the laser passing through the first light emitting surface is shot to a target object 108.
[0039] The receiving optical module 105 is used to shape the laser reflected by the target object 108. The laser receiving module 106 comprises a receiver, and the receiver is used to receive the laser from the receiving optical module 105.
[0040] In the embodiments of the present application, the laser emission module 101 can refer to a module capable of emitting laser, which includes a light source (Laser) for emitting laser. The light source can be an edge-emitting laser (Edge-Emitting Laser, EEL), a vertical-cavity surface-emitting laser (Vertical-Cavity Surface-Emitting Laser, VCSEL), or a fiber laser, and the like. The specific type of light source is not limited in the embodiments of the present application. The emission optical module 102 can be used for shaping the laser from the laser emission module 101. The shaping can refer to collimation, uniform light, angle adjustment, and the like. The specific type of shaping is not limited in the embodiments of the present application. The laser emission module 101 and the emission optical module 102 can be collectively referred to as an emission module. The scanning module 103 can be used for angle adjustment of the laser from the emission optical module 102 by angle transformation, refraction or reflection to the required angle for scanning. The scanning forms include but are not limited to a multi-faceted mirror, a prism, an irregular prism, a galvanometer, and the like.
[0041] The optical control module 104 has a first receiving surface and a first light emitting surface. The first receiving surface can receive laser from the scanning module 103, and the first light emitting surface is used for angle expansion of the laser. The laser passes through the first light emitting surface and is emitted to the target object 108 (or obstacle). In the present application, the optical control module 104 in the laser radar can expand the angle of the laser. The expansion can be in the horizontal direction, in the vertical direction, or in both directions. In this way, the laser radar can expand the angle of the laser through the optical control module 104, so that the angle configuration of the laser radar is more flexible. In different application scenarios, different optical control modules 104 can be replaced to achieve angle configuration, avoiding the problem of fixed and single scanning angle range of the traditional laser radar.
[0042] The receiving optical module 105 can be configured to shape the laser light reflected by the target object 108, for example, to adjust the angle of the laser light reflected by the target object 108, to filter the laser light, and the like. The laser receiving module 106 includes a receiver configured to receive the laser light from the receiving optical module 105. The receiver belongs to a back-detection device, and can be an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or the like. The specific type of the receiver is not limited in the embodiments of the present application. The receiving optical module 105 and the laser receiving module 106 can be collectively referred to as a receiving module.
[0043] In a possible implementation, the laser radar further includes a signal processing control module 107.
[0044] In the embodiments of the present application, the signal processing control module 107 of the laser radar is configured to process the signals to generate corresponding detection data, and can be configured to receive various control instructions and the like. The signal processing control module 107 of the laser radar controls the laser emitting module 101 to emit laser light, which sequentially passes through the emitting optical module 102, the scanning module 103, and the optical control module 104, and is finally reflected by the target object 108. The back-detection can be transmitted to the receiving optical module 105 and the laser receiving module 106 via the scanning module 103. The back-detection can also be directly transmitted to the receiving optical module 105 and the laser receiving module 106 without passing through the scanning module 103. Finally, the signal processing control module 107 processes the back-detection to determine the detection result.
[0045] In a possible implementation, the optical control module 104 includes at least a first lens and a second lens. The first lens and the second lens are sequentially arranged along the laser emitting direction. The first lens is a positive refractive lens, and the second lens is a negative refractive lens.
[0046] In the embodiment of the present application, the optical control module 104 of the laser radar at least includes a first lens and a second lens. The first lens is a positive diopter lens, i.e., a lens with positive diopter, and the laser tends to concentrate after passing through the positive diopter lens. The second lens is a negative diopter lens, i.e., a lens with negative diopter, and the laser tends to diverge after passing through the negative diopter lens. In the laser radar, the first lens and the second lens are distributed in sequence along the laser emission direction, i.e., the laser enters from the first lens and exits from the second lens in the optical control module 104. In the present application, the optical control module 104 of the laser radar at least includes a positive diopter lens and a negative diopter lens. The positive diopter lens can make the parallelism of the expanded laser better, and the negative diopter lens can expand the angle of the laser.
[0047] In a possible implementation, the first receiving surface is arranged on the side of the first lens facing the scanning module 103, and the first light emitting surface is arranged on the side of the second lens facing the target object 108.
[0048] In the embodiment of the present application, in the optical control module 104 of the laser radar, the first receiving surface is arranged on the side of the first lens facing the scanning module 103, and the first light emitting surface is arranged on the side of the second lens facing the target object 108. The laser emitted from the scanning module 103 enters the optical control module 104 from the first receiving surface, and is emitted to the target object 108 from the first light emitting surface after angle expansion.
[0049] In a possible implementation, the first receiving surface is a convex surface, and the first light emitting surface is a concave surface.
[0050] In the embodiment of the present application, the first receiving surface of the optical control module 104 can be a convex surface, and the first light emitting surface can be a concave surface, i.e., the first lens in the optical control module 104 can be a convex lens with a convex first receiving surface, and the second lens can be a concave lens with a concave first light emitting surface.
[0051] In the embodiment of the present application, the optical control module 104 can expand the angle of the laser emitted by the scanning module 103 in the horizontal direction and / or the vertical direction. The angle expansion multiple in the horizontal direction can be M times, and the angle expansion multiple in the vertical direction can be N times, where M and N are positive integers, and M and N are not 1 at the same time.
[0052] Exemplarily, Figure 2 The optical control module 104 of the present application is provided to expand the angle. As shown in FIG. 1, the optical control module 104 of the present application includes a first lens and a second lens. Figure 2As shown, for a single laser with a horizontal divergence angle of X and a vertical divergence angle of Y, after the angle expansion by the optical control module 104, the laser emitted from the first light-emitting surface has a horizontal divergence angle of M*X and a vertical divergence angle of N*Y, realizing the angle expansion of the laser in the vertical and horizontal directions.
[0053] Figure 3 An optical control module 104 is provided for the application, and a schematic diagram of the laser path after angle expansion is shown. As shown Figure 3 As shown, the laser of the emission module of the laser radar enters the optical control module 104 from the first receiving surface after passing through the scanning module 103 for angle expansion, and is finally emitted from the first light-emitting surface to the target object 108, realizing the angle expansion of the laser.
[0054] In a possible implementation, the scanning module 103 includes a scanning optical element and a driver, the optical element has one or more reflecting surfaces for reflecting the laser, and the driver is used to drive the scanning optical element to rotate.
[0055] In the embodiments of the application, the scanning module 103 can include a scanning optical element and a driver, wherein the scanning optical element can be a moving scanning element capable of rotating motion in use, and the driver can be used to drive the scanning optical element to rotate.
[0056] In a possible implementation, the scanning optical element is a one-dimensional scanning mirror, and the number of light sources is multiple, and the multiple light sources are arranged in a straight line.
[0057] In the embodiments of the application, the scanning optical element can be a one-dimensional scanning mirror, such as a plane polygon mirror, a polygon mirror, a galvo mirror, etc. When the scanning module 103 adopts a one-dimensional scanning mode, the reflecting surface of the scanning optical element is parallel to the vertical direction, and therefore cannot form a point cloud in the vertical direction. If a point cloud in the vertical direction is needed, multiple point light sources need to be arranged in the vertical direction to realize the point cloud scanning in the height direction. On this basis, when the scanning optical element of the scanning module 103 is a one-dimensional scanning mirror, the number of light sources of the laser emission module 101 can be multiple, and the multiple light sources can be arranged in a straight line.
[0058] In a possible implementation, the scanning optical element is a two-dimensional scanning mirror, and the number of light sources is one.
[0059] In the embodiments of the present application, the scanning optical element can also be a two-dimensional scanning mirror, which can be a Micro-Electro-Mechanical Systems (MEMS) mirror, a tower mirror or a combination of two one-dimensional scanning mirrors. The scanning module 103 adopts a two-dimensional scanning mode to increase the scanning density, but under the same scanning frequency, the frame rate can decrease. Moreover, when the scanning optical element is a two-dimensional scanning mirror, the reflecting surface of the scanning optical element is not parallel to the vertical direction, and / or the distortion degrees of the adjacent two reflecting surfaces of the scanning optical element are different, so that one light source in the laser emission module 101 can realize the point cloud scanning in the height direction. On this basis, when the scanning optical element in the scanning module 103 is a two-dimensional scanning mirror, the number of light sources in the laser emission module 101 can be one.
[0060] It should be noted that the optical control module 104 of the laser radar is also applicable to one-dimensional scanning mirrors and two-dimensional scanning mirrors. Moreover, after the optical control module 104 is introduced, the optical control module 104 can perform angle expansion, so that the scanning module 103 does not need to bear more angle expansion functions, and the scanning mode of the scanning module 103 can be adjusted correspondingly, for example, the number of surfaces of the scanning optical element can be adjusted, so that the volume of the scanning module 103 can be compressed and the product size can be reduced. At the same time, different scanning modes of the scanning module 103 can adapt to different rotation speeds, that is, one-dimensional scanning mirrors and two-dimensional scanning mirrors can adapt to different rotation speeds, so that the demand for different frame rates of device products can be adapted. In addition, the laser receiving module 106 can also not be limited by the scanning mode of the scanning module 103, and the transmission and reception can be decoupled, and the laser receiving module 106 can focus or image.
[0061] In a possible implementation, the laser reflected by the target object 108 is emitted to the laser receiving module 106 after the scanning module 103, and the spatial topology of the light source of the laser emission module 101 corresponds to the receiver of the laser receiving module 106.
[0062] In the embodiments of the present application, the laser emitted by the optical control module 104 can be emitted to the target object 108, and then the laser emitted by the target object 108 can enter the laser receiving module 106 after the scanning module 103 or directly enter the laser receiving module 106 without the scanning module 103. When the laser reflected by the target object 108 passes through the scanning module 103 and is emitted to the laser receiving module 106, the spatial topology of the light source of the laser emission module 101 corresponds to the receiver of the laser receiving module 106, that is, there is a mapping relationship. For example, the laser reflected by the target object 108 passes through the scanning module 103, and the receiver of the laser receiving module 106 can adopt a single-point combined arrangement, an array or the like to correspond to the spatial topology of the light source of the laser emission module 101, that is, the light source can adopt a single-point combined arrangement, an array or the like.
[0063] Specifically, if the laser reflected by the target 108 passes through the echo mode of the scanning module 103, the arrangement mode of the light source inside the laser emission module 101 and the arrangement mode of the receiver of the laser receiving module 106 can have a corresponding relationship. For example, the arrangement mode of the light source inside the laser emission module 101 can adopt a combination of single-point, array, and single-point light source array arrangement, and correspondingly, the arrangement mode of the receiving end in the laser receiving module 106 can also adopt a combination of single-point, array, and single-point receiving array arrangement. In this way, the laser emission module 101 and the laser receiving module 106 in the laser radar adopt a spatial topology with a mapping relationship, which can ensure the accuracy and reliability of the laser radar signal processing.
[0064] The arrangement mode of the light source inside the laser emission module 101 can be flexibly combined based on the specific type of the light source, such as single-point splicing, array splicing, surface array, or aperture restriction, etc., wherein the number and positional relationship of the light source splicing can be flexibly configured. Exemplarily, Figure 4 An arrangement mode of the light source of the laser emission module 101 provided in the present application is shown in the figure. Figure 4 As shown, the laser emission module 101 can include a transmission driver 1011, a light source 1012, and an aperture 1013. The arrangement mode of the light source of the laser emission module 101 can include single-point splicing, array splicing, surface array, aperture restriction, etc. Among them, figures (a) and (b) are single-point splicing arrangement, which can mean that a single light source 1012 or multiple independent light sources 1012 are spliced together in a certain way (alignment, misalignment, etc.) to form an overall laser emission surface. Figure (c) is a linear array arrangement, which can be a type of array splicing, and array splicing can mean that multiple light sources 1012 are combined together according to a certain arrangement mode (such as linear array, two-dimensional array, etc.) to form an overall laser emission array. Figure (d) is a surface array arrangement, which means using a large-area light source array or converging the light beams of multiple light sources into a larger spot through optical elements to form an overall laser emission surface. Figure (e) is an aperture 1013 restriction arrangement, which can mean adjusting the size, shape, and position of the aperture in the laser emission module 101 to restrict the divergence angle and light intensity distribution of the laser beam.
[0065] Exemplarily, Figure 5 A laser radar echo receiving schematic diagram provided in the present application is shown in the figure. Figure 5 As shown, the light source inside the emission module (101, 102) adopts single-point splicing arrangement, and the laser passes through the scanning module 103 and the optical control module 104 Figure 5After the laser reflected by the target 108 (i.e. the echo) is transmitted to the receiving module (105, 106) via the scanning module 103, the receiving array 1061 corresponding to the arrangement of the single-point splicing of the transmitting light source is used to receive the echo in the receiving module, and one-to-one mapping of the spatial topology of the receiving module and the transmitting module is achieved.
[0066] In a possible implementation, the laser reflected by the target 108 is directly shot to the laser receiving module 106, and the receivers of the laser receiving module 106 are distributed in a surface array.
[0067] In the embodiment of the application, the laser reflected by the target can also be directly shot to the laser receiving module 106, for example, can be shot into the laser receiving module 106 via the receiving optical module 105, and the like. At this time, since the reflected laser is not angle-adjusted by the scanning module 103, the imaging area is larger, and the receivers in the laser receiving module 106 can be distributed in a surface array, so as to improve the receiving area and the receiving coverage. At this time, the surface array in the laser receiving module 106 can be started in a partitioned manner, and the form of the surface array partition can be a horizontal or vertical linear array, and the like.
[0068] Exemplarily, Figure 6 Another schematic diagram of the echo receiving of the laser radar is provided in the application. As shown in the diagram, Figure 6 The internal laser in the transmitting module (101, 102) is arranged in a single-point splicing manner, the laser beam is transmitted to the target 108 (i.e. the obstacle) via the scanning module 103 and the optical control module 104 (not shown in the diagram), Figure 6 After the laser reflected by the target 108 (i.e. the echo) is transmitted to the receiving module (105, 106) via the scanning module 103, the receiving array 1061 corresponding to the arrangement of the single-point splicing of the transmitting light source is used to receive the echo in the receiving module, and one-to-one mapping of the spatial topology of the receiving module and the transmitting module is achieved.
[0069] It should be noted that, when the echo passes through the scanning module 103, the receiving optical module 105 can also perform single-point focusing detection on the echo; when the echo does not pass through the scanning module 103, the laser receiving module 106 can be a surface array imaging receiver, and the corresponding receiving optical module 105 can be a surface array imaging.
[0070] It should be noted that, the arrangement of the laser transmitting module 101 and the laser receiving module 106 described above is only an example, and is not a limitation on the arrangement, and the combination of the receiving module and the transmitting module has diversity, and can be selected based on different requirements in actual scenes, and the embodiment of the application does not limit this.
[0071] In the embodiments of the present application, the laser receiving module 106 is flexible in form and can perform one-dimensional linear array receiving or two-dimensional linear array receiving. The block receiving based on the surface array can be regularly enabled or any block can be started, so that echo interference, crosstalk interference and sunlight noise can be resisted, and the receiving and transmitting can be coded, so that the safety of the self-moving device can be improved. When the echo passes through the scanning module 103, the spatial topology of the light source of the laser transmitting module 101 and the spatial topology of the receiver of the laser receiving module 106 have a corresponding relationship, the scanning “gaze” area can be freely configured, and the user's attention area in the field of view (FOV) can be adaptively scanned. When the echo does not pass through the scanning module 103, the laser receiving module 106 can receive the echo in the form of surface array partitioning, so that the complexity of auto-alignment (AA) can be reduced, and the compatibility of the platform between different device products can be improved.
[0072] In a possible implementation, the laser transmitting module 101 and the laser receiving module 106 are arranged on two independent circuit boards.
[0073] In the present application, the laser transmitting module 101 and the laser receiving module 106 can be arranged on two independent circuit boards, and the spatial positional relationship can be flexibly set to improve the flexibility of the internal module stacking of the laser radar. Of course, the laser transmitting module 101 and the laser receiving module 106 can also be integrated on one circuit board, and the embodiments of the present application do not limit this. In addition, for different arrangement modes of the laser transmitting module 101 and the laser receiving module 106, other optical modules are also adjusted, such as the receiving optical module 105 and the transmitting optical module 102.
[0074] Exemplarily, Figure 7 A schematic diagram of an arrangement mode of a laser transmitting module 101 and a laser receiving module 106 is provided in the present application. As Figure 7 shown, the laser transmitting module 101 and the laser receiving module 106 can be integrated on the same circuit board (B), or can be arranged on two independent circuit boards (B1 and B2), and the spatial positional relationship can be horizontal and vertical, and the embodiments of the present application do not limit this.
[0075] In a possible implementation, the signal processing control module 107 is arranged on an independent circuit board, or the signal processing control module 107 and the laser transmitting module 101 are integrated on the same circuit board, or the signal processing control module 107 and the laser receiving module 106 are integrated on the same circuit board.
[0076] In the embodiments of the present application, according to the design requirements of the internal stacking of the laser radar, the signal processing control module 107 can be arranged on a separate circuit board, or can be integrated with the laser emitting module 101 or the laser receiving module 106 on one circuit board. For example, Figure 8 A schematic diagram of an arrangement mode of a signal processing control module 107 provided in the present application is shown in FIG. 3. Figure 8 As shown in the figure, the signal processing control module 107 and the laser receiving module 106 are integrated on the same circuit board (B3), and the laser emitting module 101 is arranged on another circuit board (B4).
[0077] On this basis, the configuration relationship between each module and the circuit board in the laser radar can be flexibly set, so that the internal stacking mode of the laser radar can be more flexible, and the system structure (such as the shell, etc.) can achieve the effects of signal shielding, heat dissipation enhancement, and flexible assembly of modules. For example, a module with high radiation can be placed on a separate circuit board for shielding to improve signal shielding performance; for example, a module with high heat can be placed on a circuit board to enhance heat dissipation. Each module in the laser radar can be flexibly stacked based on a printed circuit board (PCB), and different modules such as the signal processing control module 107, the laser emitting module 101, and the laser receiving module 106 can be arranged on different circuit boards or on the same circuit board. As electromagnetic radiation shielding and heat dissipation devices, the internal stacking of the modules in the laser radar, combined with the system structure such as the shell, can form a certain heat dissipation space and electromagnetic radiation shielding space, which can ensure the reliability and stability of the actual operation of the laser radar.
[0078] In a possible implementation, the arrangement relationship of the scanning module 103 (i.e., the scanning module) and the laser emitting module 101 and the laser receiving module 106 includes horizontal off-axis, vertical off-axis, or coaxial.
[0079] In the embodiments of the present application, the scanning module 103, the laser emitting module 101, and the laser receiving module 106 can adopt various arrangement relationships, such as horizontal off-axis, vertical off-axis, or coaxial. Of course, since the laser emitting module 101 and the emitting optical module 102 are the emitting modules, and the laser receiving module 106 and the receiving optical module 105 are the receiving modules, the arrangement relationship between the scanning module 103, the laser emitting module 101, and the laser receiving module 106 is the arrangement relationship between the scanning module 103, the emitting module, and the receiving module.
[0080] For example, Figure 9 A schematic diagram of a vertical off-axis arrangement relationship provided in the present application is shown in FIG. 4. Figure 10A schematic diagram of a horizontal off-axis arrangement relationship provided by the present application. Figure 11 A schematic diagram of a coaxial arrangement relationship provided by the present application. When the arrangement relationship of the scanning module 103, the transmitting module (101, 102) and the receiving module (105, 106) is off-axis (horizontal off-axis or vertical off-axis), the laser reflected by the target object 108 does not pass through the path of the transmitted laser in the process of being received by the laser receiving module 106, which can reduce the blind area. When the arrangement relationship of the scanning module 103, the transmitting module and the receiving module is coaxial, the laser reflected by the target object 108 passes through the path of the transmitted laser in the process of being received by the laser receiving module 106, which can reduce the volume of the device.
[0081] Exemplarily, taking the laser radar as a forward-looking radar, the required horizontal field of view angle is 120°, and the vertical field of view angle is 25° as an example:
[0082] The laser single-point light source with a horizontal divergence angle of X and a vertical divergence angle of Y has a horizontal divergence angle of 5° and a vertical divergence angle of 5° after passing through the transmitting optical module 102, and uses vertical splicing of 5 longitudinal light sources. The scanning module 103 uses a rotating mirror four-mirror, and the single-surface scanning angle is 90 degrees. According to the calculation of 70% usable area, the scanning angle is 63°. In the horizontal direction, the optical control module 104 uses a two-fold angle expansion design, that is, M is equal to 2, and the actual light-emitting scanning angle is 126°. If there is a greater angle requirement in the vertical direction, the angle expansion design is also increased in the vertical direction, that is, the multiple of N can be set. Moreover, if the FOV requirement changes, the laser radar changes the multiple setting of the optical control module 104 and the scanning strategy (such as scanning mode, rotation speed) and the like, so as to meet the actual scene FOV requirement, realize flexible configuration of the angle, and meet the product platformization requirement change.
[0083] In addition, the present application also provides a self-moving device, which comprises the laser radar in the foregoing embodiments. The self-moving device can be specifically a vehicle, an intelligent cleaning device (such as a sweeping robot) and a drone, and the like, and the specific type of the self-moving device is not limited in the present application.
[0084] In this application, the term "comprising" and its variants can refer to non-limiting inclusion; the term "or" and its variants can refer to "and / or". In this application, the terms "first", "second", etc. are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. In this application, "multiple" refers to two or more. "And / or", which describes the relationship between the associated objects, means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents a "or" relationship between the front and back associated objects.
[0085] The above is only part of the embodiments of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can also be made, which should be considered as the protection scope of the present application.
Claims
1. A lidar, comprising: The laser radar comprises: a laser emission module comprising a light source for emitting laser light; an emission optical module for shaping the laser light from the laser emission module; a scanning module for angle adjustment of the laser light from the emission optical module; an optical control module having a first receiving surface for receiving the laser light from the scanning module and a first light emitting surface for angle expansion of the laser light in horizontal and / or vertical directions through the first light emitting surface, the laser light through the first light emitting surface being directed to a target object; a receiving optical module for shaping the laser light reflected by the target object; a laser receiving module comprising a receiver for receiving the laser light from the receiving optical module.
2. The lidar of claim 1, wherein, The optical control module comprises at least a first lens and a second lens, the first lens and the second lens being arranged in sequence along the laser emission direction, the first lens being a positive refractive power lens, and the second lens being a negative refractive power lens.
3. The lidar of claim 2, wherein, The first receiving surface is arranged on a side of the first lens facing the scanning module, and the first light emitting surface is arranged on a side of the second lens facing the target object.
4. The lidar of claim 3, wherein, The first receiving surface is a convex surface, and the first light emitting surface is a concave surface.
5. The lidar of claim 1, wherein, The scanning module comprises a scanning optical element having one or more reflecting surfaces for reflecting the laser light and a driver for driving the scanning optical element to rotate.
6. The lidar of claim 5, wherein, The scanning optical element is a one-dimensional scanning mirror, and the number of the light sources is multiple, the multiple light sources being arranged in a straight line.
7. The lidar of claim 5, wherein, The scanning optical element is a two-dimensional scanning mirror, and the number of the light sources is one.
8. The lidar of claim 1, wherein, The laser light reflected by the target object is directed to the laser receiving module through the scanning module, and the light sources of the laser emission module correspond to the receiver of the laser receiving module in spatial topology.
9. The lidar of claim 1, wherein, The laser light reflected by the target object is directly directed to the laser receiving module, and the receiver of the laser receiving module is arranged in a surface array.
10. A self-moving device, characterized by The laser radar comprises the laser radar according to any one of claims 1 to 9.