An integrated lidar

Abstract

The utility model provides an integrated laser radar relates to laser radar technical field. Including: PLD and column lens support fixed on transmitting circuit board, transmitting circuit board is welded in transmitting copper post. Column lens is fixed through column lens support, and prism support is fixed on the step inside the top of casing, and the prism is fixed on the prism support. The convex part of mirror and direct current motor downside is connected, and the top of direct current motor is connected with motor support upper portion, and the bottom of motor support is fixed on the prism support. APD is fixed on receiving circuit board, and receiving circuit board is installed in the inside of casing. Window cover is connected with casing top, and transmitting copper post is connected with casing bottom, and receiving copper post is connected with receiving circuit board through APD and is fixed on casing. The design effectively solves the problem of laser radar structure complex, numerous parts and difficult assembly in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of lidar technology, and in particular to an integrated lidar. Background Technology

[0002] Currently, 270° scanning radars typically use a motor-driven planar reflector. The collimating lens for the PLD (Plane Display) to emit diverging light, the focusing lens for the APD (Optical Pointer) to receive light signals, and the rotating scanning reflector are all separate components, resulting in a complex structure with numerous parts and complicated assembly. A typical structure is illustrated by the "A Small One-Dimensional Scanning LiDAR Optical Path Device" published in application number 202022213798.1 and patent number CN213398914U. This device requires an emitting lens, a receiving lens, and a reflector to achieve the most basic optical transmission and reception functions. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide an integrated lidar, which solves the problems of complex structure, many parts and complicated assembly of lidar in the existing technology.

[0004] To achieve the above objectives, this utility model provides the following solution:

[0005] An integrated lidar includes:

[0006] PLD, transmitting circuit board, cylindrical lens bracket, cylindrical lens, prism bracket, prism, reflector, DC motor, motor bracket, APD, receiving circuit board, housing, window cover, transmitting copper pillar, receiving copper pillar;

[0007] The PLD and the cylindrical lens bracket are both fixed to the upper surface of the transmitting circuit board. The transmitting circuit board is soldered to the transmitting copper pillar. The cylindrical lens is fixed above the cylindrical lens bracket. The prism bracket is fixed to the step inside the upper side of the housing. The prism is fixed to the upper surface of the prism bracket. The reflector is connected to the protruding part on the lower side of the DC motor. The top of the DC motor is connected to the upper part of the motor bracket. The bottom of the motor bracket is fixed to the upper surface of the prism bracket. The APD is fixed to the receiving circuit board. The receiving circuit board is fixed inside the housing. The window cover is connected to the upper side of the housing. The transmitting copper pillar is connected to the bottom of the housing. The receiving copper pillar is connected to the receiving circuit board through the APD and fixed to the housing.

[0008] Preferably, the two short sides of the prism are coated with either a metal reflective film or a dielectric reflective film.

[0009] Preferably, the reflector is an off-axis aspherical reflector.

[0010] Preferably, the launching copper column is fixed to the bottom of the housing by threads.

[0011] The present invention discloses the following technical effects:

[0012] This utility model provides an integrated lidar, comprising: a PLD, a transmitting circuit board, a cylindrical lens bracket, a cylindrical lens, a prism bracket, a prism, a reflector, a DC motor, a motor bracket, an APD, a receiving circuit board, a housing, a window cover, a transmitting copper pillar, and a receiving copper pillar; the PLD and the cylindrical lens bracket are both fixed to the upper surface of the transmitting circuit board, the transmitting circuit board is soldered to the transmitting copper pillar, the cylindrical lens is fixed above the cylindrical lens bracket, the prism bracket is fixed at a step inside the upper side of the housing, the prism is fixed to the upper surface of the prism bracket, the reflector is connected to the protruding part on the lower side of the DC motor, the top of the DC motor is connected to the upper part of the motor bracket, the bottom of the motor bracket is fixed to the upper surface of the prism bracket, the APD is fixed to the receiving circuit board, the receiving circuit board is fixed inside the housing, the window cover is connected to the upper side of the housing, the transmitting copper pillar is connected to the bottom of the housing, and the receiving copper pillar is connected to the receiving circuit board and fixed to the housing through the APD. This invention enables the use of only one off-axis reflector to perform PLD transmission collimation, APD signal reception focusing, and 270-degree scanning reflection functions. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of an integrated lidar structure provided for an embodiment of this utility model;

[0015] Figure 2 A comparison diagram of compression of fast-axis divergent light and slow-axis divergent light provided for embodiments of this utility model.

[0016] Explanation of reference numerals in the attached figures:

[0017] 1-PLD, 2-Transmitting circuit board, 3-Lens lens bracket, 4-Lens lens, 5-Prism bracket, 6-Prism, 7-Reflector, 8-DC motor, 9-Motor bracket, 10-APD, 11-Receiver circuit board, 12-Housing, 13-Window cover, 14-Transmitting copper pillar, 15-Receiver copper pillar. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1 As shown, this utility model provides an integrated lidar, comprising:

[0021] PLD1, Transmitting Circuit Board, 2, Cylindrical Lens Support, 3, Cylindrical Lens, 4, Prism Support, 5, Prism, 6, Reflector, 7, DC Motor, 8, Motor Support, 9, APD10, Receiving Circuit Board, 11, Housing, 12, Window Cover, 13, Transmitting Copper Pillar, 14, Receiving Copper Pillar, 15;

[0022] The PLD1 and the cylindrical lens bracket 3 are both fixed to the upper surface of the transmitting circuit board 2. The transmitting circuit board 2 is soldered to the transmitting copper pillar 14. The cylindrical lens 4 is fixed above the cylindrical lens bracket 3. The prism bracket 5 is fixed to the step inside the upper side of the housing 12. The prism 6 is fixed to the upper surface of the prism bracket 5. The reflector 7 is connected to the protruding part on the lower side of the DC motor 8. The top of the DC motor 8 is connected to the upper part of the motor bracket 9. The bottom of the motor bracket 9 is fixed to the upper surface of the prism bracket 5. The APD10 is fixed to the receiving circuit board 11. The receiving circuit board 11 is fixed inside the housing 12. The window cover 13 is connected to the upper side of the housing 12. The transmitting copper pillar 14 is connected to the bottom of the housing 12. The receiving copper pillar 15 is connected to the receiving circuit board 11 through the APD10 and fixed to the housing 12.

[0023] Specifically, such as Figure 2As shown, the PLD1 pulsed laser diode (PLD1) is a semiconductor device that emits laser light in pulse form; the cylindrical lens 4 is characterized by its ability to focus or change the propagation of light in a single dimension, compressing the divergence angle of the emitted fast-axis light; the prism 6 has a light-guiding function, with a high-reflectivity film coated on its short side surface to reflect light; the APD10 is a photodetector with internal gain, which forms a strong electric field by applying a reverse bias voltage. When photons excite carriers to enter the depletion layer, they generate an avalanche multiplication effect through collisional ionization, thus amplifying and detecting weak light signals; it is fixed on the receiving circuit board 11; the reflector 7 is an off-axis aspherical reflector that has both reflective and focusing (or collimating) functions, and it is fixed on the receiving circuit board 11. The machine rotates on the DC motor 8; the window cover 13 has the ability to transmit laser light and has a certain ability to isolate the machine from the external environment, thus protecting the inside of the machine; the fast-axis diverging light and slow-axis diverging light emitted by PLD1 are compressed to the same angle as the slow-axis diverging light after passing through the cylindrical lens 4, forming an approximately circular light spot. The diverging light beam with the same diverging angle continues to propagate to the prism 6, which reflects the diverging light twice, and then propagates the diverging light to the reflector 7 for collimation into an approximately parallel beam. The beam then passes through the window cover 13 and propagates to the target object outside the machine; the light signal scattered back by the target object is approximately parallel light incident on the window cover 13, enters the machine, and is focused on the APD 10 after reaching the reflector 7, completing one ranging operation;

[0024] Furthermore, the fast-axis diverging light and slow-axis diverging light emitted by PLD1 are shaped after passing through cylindrical lens 4. The divergence angle of the fast-axis diverging light is compressed to match the slow-axis divergence angle, forming a diverging beam with an approximately circular divergence angle. The beam continues to propagate to prism 6, where it is reflected twice. The beam is then collimated by mirror 7, resulting in an approximately parallel beam that propagates through window cover 13 to the target object outside the machine. The light signal scattered back by the target object is incident on window cover 13 as approximately parallel light, then enters the machine and finally focuses on APD10 after reaching mirror 7.

[0025] Driven by the DC motor 8, the reflector 7 rotates continuously 360 degrees, enabling distance measurement at different angles.

[0026] The specific surface shape of reflector 7 is an off-axis parabolic reflector, and its aspherical surface follows the formula:

[0027] ;

[0028] Z is the surface height, C is the reciprocal of the radius of curvature, K is the conic coefficient, and r is the radial distance. This off-axis aspherical surface follows this formula, and its K value is -1.

[0029] The specific surface shape of mirror 7 can also be an off-axis aspherical mirror, which simultaneously obeys the following formula: ;

[0030] a 2i It represents the higher-order aspheric coefficient.

[0031] The two short sides of prism 6 are coated with a metal reflective film or a dielectric reflective film; the reflective surface of mirror 7 is coated with a metal reflective film or a dielectric reflective film.

[0032] Furthermore, prism 6 will block part of the received light signal, preventing it from propagating to APD10.

[0033] More specifically, this embodiment also discloses the specific working process of the radar as follows:

[0034] The lidar system first emits a pulsed laser signal via a pulsed laser diode (PLD1). This signal is modulated and controlled by the transmitting circuit board 2 and stably transmitted to the cylindrical lens holder 3. During this process, the cylindrical lens 4 focuses the rapidly diverging beam, compressing the fast-axis divergence angle to match the slow-axis divergence angle, thus forming an approximately circular spot, which is then guided to the prism holder 5. Under the action of the prism 6, the beam undergoes two reflections, effectively guiding the light to the reflecting mirror 7, where it is focused and transformed into an approximately parallel beam. This parallel beam then propagates through the window cover 13 to the external target.

[0035] Upon encountering the target object, the light signal is scattered back to the machine, forming approximately parallel beams that then pass through window cover 13 into the lidar system. There, it reaches reflector 7 and is focused onto an avalanche photodiode (APD10). The APD10 is a photodetector with internal gain, capable of generating an avalanche multiplication effect by applying a reverse bias voltage, effectively amplifying the captured weak light signal. The received signal is then sent to receiver circuit board 11 for signal processing, and the ranging information is output. A DC motor 8 drives reflector 7 to rotate 360 ​​degrees, changing the direction of the emitted and received beams, allowing the entire lidar system to perform continuous ranging at different angles.

[0036] Throughout the process, the housing 12 provides stable support and protection for all components, while the transmitting copper pillar 14 and the receiving copper pillar 15 ensure reliable connection of the transmitting and receiving circuits, thereby maintaining the effective operation of the system.

[0037] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0038] This document uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. Furthermore, those skilled in the art will recognize that, based on the ideas of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An integrated lidar, characterized in that, include: PLD, transmitting circuit board, cylindrical lens bracket, cylindrical lens, prism bracket, prism, reflector, DC motor, motor bracket, APD, receiving circuit board, housing, window cover, transmitting copper pillar, receiving copper pillar; The PLD and the cylindrical lens bracket are both fixed to the upper surface of the transmitting circuit board. The transmitting circuit board is soldered to the transmitting copper pillar. The cylindrical lens is fixed above the cylindrical lens bracket. The prism bracket is fixed to the step inside the upper side of the housing. The prism is fixed to the upper surface of the prism bracket. The reflector is connected to the protruding part on the lower side of the DC motor. The top of the DC motor is connected to the upper part of the motor bracket. The bottom of the motor bracket is fixed to the upper surface of the prism bracket. The APD is fixed to the receiving circuit board. The receiving circuit board is fixed inside the housing. The window cover is connected to the upper side of the housing. The transmitting copper pillar is connected to the bottom of the housing. The receiving copper pillar is connected to the receiving circuit board through the APD and fixed to the housing.

2. The integrated lidar according to claim 1, characterized in that, The two short sides of the prism are coated with either a metallic reflective film or a dielectric reflective film.

3. An integrated lidar according to claim 1, characterized in that, The reflector is an off-axis aspherical reflector.

4. An integrated lidar according to claim 1, characterized in that, The launching copper column is fixed to the bottom of the housing by threads.

5. An integrated lidar according to claim 1, characterized in that, The reflector is an off-axis parabolic reflector.

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