CN115047489A - Laser radar, transceiver module thereof and assembly method of laser radar - Google Patents
Laser radar, transceiver module thereof and assembly method of laser radar Download PDFInfo
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- CN115047489A CN115047489A CN202110248613.7A CN202110248613A CN115047489A CN 115047489 A CN115047489 A CN 115047489A CN 202110248613 A CN202110248613 A CN 202110248613A CN 115047489 A CN115047489 A CN 115047489A
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- 238000001514 detection method Methods 0.000 claims abstract description 70
- 230000003287 optical effect Effects 0.000 claims description 91
- 230000010287 polarization Effects 0.000 claims description 68
- 230000008093 supporting effect Effects 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 17
- 230000000694 effects Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 12
- 230000017525 heat dissipation Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000001678 irradiating effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Computer Networks & Wireless Communication (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar, a receiving and transmitting module thereof and an assembling method of the laser radar, wherein the receiving and transmitting module comprises a bracket; the emitting device is used for emitting a detection light beam and is arranged at the first end of the bracket; the receiving device is used for receiving the echo light beam and is arranged at a second end, opposite to the first end, of the support, and the transmission path of the detection light beam is partially identical to that of the echo light beam; the transmission path of the probe beam or the echo beam communicates the first end and the second end of the stent. The laser radar, the transceiver module thereof and the assembly method of the laser radar can reduce the installation and adjustment difficulty of the laser radar and improve the installation and adjustment efficiency of the laser radar.
Description
Technical Field
The invention relates to the field of environment perception, in particular to a laser radar, a receiving and transmitting module thereof and an assembling method of the laser radar.
Background
The laser radar is an important sensor for sensing information around a vehicle, and is a guarantee for the safety and intelligence of the vehicle with an automatic driving function.
Because the lidar needs to be installed on an automobile and the detected information of the lidar directly influences the safety of the automobile in the driving process, the lidar needs to meet the requirements of small size, high reliability, high imaging frame frequency, high resolution, long-distance measurement and the like.
In the prior art, in order to ensure the performance of the laser radar, the laser radar needs to be adjusted, and because the laser radar comprises a receiving and transmitting assembly and optical devices required for laser detection, the number of the devices is large, the adjusting difficulty of the laser radar is high, and the adjusting efficiency is influenced.
Therefore, how to reduce the installation and adjustment difficulty of the laser radar and improve the installation and adjustment efficiency of the laser radar becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
The invention provides a laser radar, a receiving and transmitting module thereof and an assembling method of the laser radar, which aim to reduce the installation and adjustment difficulty of the laser radar and improve the installation and adjustment efficiency of the laser radar.
In order to solve the above problem, the present invention provides a transceiver module for a laser radar, comprising:
a support;
the emitting device is used for emitting a detection light beam and is arranged at the first end of the bracket;
the receiving device is used for receiving an echo light beam and is arranged at a second end, opposite to the first end, of the support, and the transmission path of the detection light beam is partially the same as that of the echo light beam;
the transmission path of the probe beam or the echo beam is communicated with the first end and the second end of the bracket.
Optionally, the bracket is provided with a through hole, and the through hole is used for the echo light beam to pass through to guide the echo light beam to be received by the receiving device or for the probe light beam to pass through to guide the probe light beam to exit from the bracket.
Optionally, the receiving device is attached to the first opening of the through hole.
Optionally, the transmitting apparatus includes at least 2 transmitting units, the receiving apparatus includes at least 2 receiving units, and each transmitting unit corresponds to each receiving unit one to one.
Optionally, the through hole includes at least 2 sub through holes, each sub through hole corresponds to each receiving unit, and the echo light beam obtained according to the probe light beam emitted by each emitting unit passes through the corresponding sub through hole and is received by the corresponding receiving unit.
Optionally, the method further comprises:
the polarization light splitting device is arranged on the bracket, corresponds to the transmitting device and the receiving device, and is used for reflecting the detection light beam transmitted by the transmitting device and transmitting the echo light beam to the receiving device, and the distance between the polarization light splitting device and the transmitting device is smaller than that between the polarization light splitting device and the receiving device;
the wave plates are arranged on the support and are respectively positioned on two sides of the polarization beam splitter with the receiving device so as to perform polarization adjustment on the detection light beams reflected by the polarization beam splitter and perform polarization adjustment on the echo light beams irradiated to the polarization beam splitter.
Optionally, each of the transmitting units and each of the receiving units share the polarization beam splitter and the wave plate.
Optionally, the method further comprises:
and the receiving lens is arranged in the through hole, is positioned between the polarization beam splitter and the receiving device and is used for collimating the echo light beam transmitted by the polarization beam splitter.
Optionally, the number of the receiving lenses is the same as the number of the receiving units, and each receiving lens corresponds to each receiving unit one to one.
Optionally, the method further comprises:
and the optical filter is arranged on the bracket, is positioned between the polarization light splitting device and the receiving device and is attached to the second opening of the through hole, and the second opening is the other opening of the through hole, which is opposite to the first opening, and is used for filtering the echo light beam transmitted by the polarization light splitting device.
Optionally, the filter is shared by the receiving units.
Optionally, the method further comprises:
and the transmitting lens is arranged on the bracket, is positioned between the polarization beam splitter and the transmitting device, collimates the detection light beam transmitted by the transmitting device, and the distance between the transmitting lens and the transmitting device is smaller than the distance between the receiving lens and the receiving device.
Optionally, the number of the emission lenses is the same as that of the emission units, and each emission lens corresponds to each emission unit one to one.
Optionally, the method further comprises:
the transmitting circuit board is arranged on the first side surface of the bracket and is electrically connected with the transmitting device;
and the receiving circuit board is arranged on the second side surface of the bracket and is electrically connected with the receiving device, and the second side surface is opposite to the first side surface.
In order to solve the above problem, the present invention further provides a laser radar, including:
the optical-mechanical module comprises an optical device and an optical-mechanical support, wherein the optical device is arranged on the optical-mechanical support;
the transceiver module according to any one of the embodiments is mounted on the opto-mechanical mount, and is configured to emit a probe beam to the optical device and receive an echo beam transmitted by the optical device.
Optionally, the opto-mechanical support has an integral structure.
Optionally, the transceiver module is installed at a rear end of the optical engine bracket, where the rear end is an end opposite to the light exit end of the probe beam.
Optionally, the optical device comprises:
the reflector is arranged on the optical machine support, reflects the detection light beam emitted by the transceiver module and reflects the echo light beam to the transceiver module;
and the lens is arranged on the optical machine support and is used for collimating the detection light beam emitted by the transceiver module and the echo light beam irradiated to the receiving device.
Optionally, the ray apparatus support has been seted up:
and the light beam through hole is used for transmitting light beams, and the reflector and the lens are arranged in the light beam through hole.
Optionally, the beam through holes include sub-beam through holes, the number of the sub-beam through holes is the same as that of the transmitting units of the transmitting device of the transceiver module, the sub-beam through holes are arranged side by side, and the reflector and the lens are arranged in each sub-beam through hole.
Optionally, the optical device further comprises:
the prism is arranged between the transceiver module and the reflector, the number of the prisms is the same as that of the sub-beam through holes, and the prisms rotate the detection beam emitted by the transceiver module and the echo beam reflected by the reflector.
Optionally, the method further comprises:
the scanning module is arranged on the inclined plane supporting part of the optical machine support, is positioned above the light beam through hole and in the middle of the optical machine support, reflects the detection light beam passing through the optical device to scan a target, and reflects the echo light beam reflected by the target to the optical device.
Optionally, the method further comprises:
the first circuit board is arranged on the first side face of the optical machine support, is electrically connected with the transceiver module and the scanning module of the laser radar, and is positioned on the side face of the scanning module.
Optionally, the method further comprises:
and the second circuit board is arranged on the second side surface of the optical machine support, is electrically connected with the first circuit board and the scanning module, and is positioned on the side surface of the scanning module.
Optionally, the transmitting circuit board of the transceiver module is electrically connected to the first circuit board and the transmitting device, and the receiving circuit board of the transceiver module is electrically connected to the first circuit board and the receiving device.
In order to solve the above problem, the present invention further provides a method for assembling a laser radar, including:
adjusting the transceiver module according to any one of the embodiments;
mounting the optical device on an optical machine support to obtain an optical machine module;
acquiring a scanning module, a first circuit board and a second circuit board;
the scanning module is arranged above an optical machine support of the optical machine module, the receiving and transmitting module is arranged behind the optical machine support, and the first circuit board and the second circuit board are arranged on the side face of the optical machine support.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the transceiver module provided by the invention is used for a laser radar and comprises a bracket, a transmitting device and a receiving device, wherein the transmitting device and the receiving device are respectively arranged at a first end and a second end of the bracket, the transmitting device transmits a probe beam, the receiving device receives an echo beam, the transmission path of the probe beam is partially identical to that of the echo beam, and the transmission path of the probe beam or the echo beam is communicated with the first end and the second end of the bracket. Thus, when the laser radar obtained by adjusting the transceiver module provided by the embodiment of the present invention is used for environment detection, the probe beam emitted by the emitting device sequentially passes through a part of transmission path of the transceiver device, which is different from the transmission path of the echo beam, and a part of transmission path, which is the same as the transmission path of the echo beam, to irradiate the transceiver module, and finally irradiates the transceiver module into the environment to detect the environment, and an object in the environment reflects the probe beam to generate the echo beam, and is received by the receiving device after being transmitted through the part of transmission path, which is the same as the transmission path of the probe beam, and the part of transmission path, which is different from the transmission path of the probe beam. It can be seen that the transceiver module provided by the embodiment of the present invention is an independent module, which can be independently adjusted and visually adjusted, so that the difficulty in adjusting the transceiver module can be reduced, and in addition, the transceiver module provided by the embodiment of the present invention does not include an external housing part, so that the heat dissipation effect of the transceiver module can be improved, and when the transceiver module provided by the embodiment of the present invention is used for adjusting a laser radar, since the transceiver module is already an adjusted module, it only needs to be adjusted with other modules of the laser radar, so that the difficulty in adjusting the laser radar can be reduced; in addition, because the transmitting device and the receiving device are respectively arranged on two sides of the bracket, the position interference between the transmitting device and the receiving device is small, and the arrangement is more convenient; and the transmission path of the detection light beam is the same as the transmission path part of the echo light beam, so that the detection effect can be ensured while the number of required devices is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a transceiver module according to an embodiment of the present invention;
fig. 3 is a schematic cross-sectional view of a transceiver module according to an embodiment of the invention;
fig. 4 is another schematic structural diagram of a lidar according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an opto-mechanical mount of a laser radar according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a transmission path of a probe beam of a laser radar according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a transmission path of an echo beam of a laser radar according to an embodiment of the present invention:
FIG. 8 is a schematic cross-sectional view of a lidar in accordance with an embodiment of the present invention;
fig. 9 is another schematic cross-sectional view of a lidar according to an embodiment of the present invention;
fig. 10 is a schematic flowchart of an assembly method of a laser radar according to an embodiment of the present invention.
Detailed Description
Known from the background art, the laser radar has higher installation and adjustment difficulty and influences the installation and adjustment efficiency.
In order to improve the laser radar, reduce the installation and debugging difficulty of the laser radar and improve the installation and debugging efficiency of the laser radar, the embodiment of the invention provides a transceiver module, which is used for the laser radar and comprises:
a support;
the emitting device is used for emitting a detection light beam and is arranged at the first end of the bracket;
the receiving device is used for receiving the echo light beam and is arranged at a second end, opposite to the first end, of the support, and the transmission path of the detection light beam is partially identical to that of the echo light beam;
the transmission path of the probe beam or the echo beam communicates the first end and the second end of the stent.
In addition, the transceiver module provided by the embodiment of the invention does not comprise an external shell part, so that the heat dissipation effect of the transceiver module can be improved, and when the transceiver module provided by the embodiment of the invention is used for assembling and adjusting the laser radar, the transceiver module is already the module after the assembly and adjustment, and only needs to be assembled and adjusted with other modules of the laser radar, so that the assembly and adjustment difficulty of the laser radar can be reduced; in addition, because the transmitting device and the receiving device are respectively arranged at two sides of the bracket, the position interference between the transmitting device and the receiving device is smaller, and the arrangement is more convenient; and the transmission path of the detection light beam is the same as the transmission path part of the echo light beam, so that the detection effect can be ensured while the number of required devices is reduced.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the indication of the direction or the positional relationship referred to in the present specification is based on the direction or the positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and it is not intended to indicate or imply that the indicated device must have a specific direction, be configured in a specific direction, and thus, should not be construed as limiting the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a transceiver module according to an embodiment of the present invention; fig. 3 is a schematic cross-sectional view of a transceiver module according to an embodiment of the invention.
As shown in fig. 1, the laser radar according to the embodiment of the present invention includes an optical-mechanical module 2, a transceiver module 1, and a scanning module 3, where the transceiver module 1 transmits a probe beam to irradiate the optical-mechanical module 2, and irradiates the probe beam to the scanning module 3 through the optical-mechanical module 2, the probe beam scans an environment under the action of the scanning module 3, and the probe beam is reflected by a target to generate an echo beam, and the echo beam irradiates the transceiver module 1 through the scanning module 3 and the optical-mechanical module 2, and is received by the transceiver module 1, so as to implement target detection.
As shown in fig. 2 and fig. 3, a transceiver module 1 according to an embodiment of the present invention includes:
a bracket 11;
a transmitting device 12 for transmitting a probe beam (arrow a in the figure), mounted at a first end of the support 11;
a receiving device 13 for receiving an echo light beam (arrow b in the figure), which is installed on a second end of the bracket 11 opposite to the first end, and the transmission path of the probe light beam is partially the same as that of the echo light beam;
the transmission path of the probe beam or the echo beam communicates the first end and the second end of the holder 11.
It will be readily appreciated that when the support 11 is positioned as shown in fig. 3, the first end of the support 11 may be the bottom end of the support 11, and the second end of the support 11 may be the top end of the support 11, and the transmission path of the probe beam a is the same as the transmission path of the echo beam b, as described herein, meaning that in the transceiver module, both the transmission path of the probe beam a and the transmission path of the echo beam b are included, wherein the transmission path of the probe beam a is the same as that of the echo beam b in one portion and different in another portion, of course, as shown in fig. 3, the transmission paths farther from the transmitting device 12 and the receiving device 13 are the same, and the transmission path closer to the transmitting device 12 is different from the transmission path closer to the receiving device 13, and in one embodiment, the different transmission path portions may be perpendicular to each other. .
Thus, when the laser radar obtained by the transceiver module 1 provided by the embodiment of the present invention is used to perform environment detection, the probe light beam a emitted by the emitting device 12 sequentially passes through a transmission path of the transceiver device different from the transmission path of the echo light beam b, that is, a part of the transmission path close to the emitting device 12, and a transmission path identical to the transmission path of the echo light beam b, that is, a part of the transmission path far from the emitting device 12, and finally exits from the transceiver module 1, passes through the optical-mechanical module 2 shown in fig. 1, and finally irradiates into the environment to detect the environment, an object in the environment reflects the probe light beam a to generate the echo light beam b, and after being transmitted by the optical-mechanical module 2, passes through a transmission path identical to the transmission path of the probe light beam a, that is, a part of the transmission path far from the receiving device 13, and a transmission path different from the transmission path of the probe light beam a, that is, a part of the transmission path closer to the receiving device 13 is received by the receiving device 13.
It can be seen that the transceiver module provided by the embodiment of the present invention is an independent module, which can be independently adjusted and visually adjusted, so that the difficulty in adjusting the transceiver module can be reduced, and in addition, the transceiver module provided by the embodiment of the present invention does not include an external housing part, so that the heat dissipation effect of the transceiver module can be improved, and when the transceiver module provided by the embodiment of the present invention is used for adjusting a laser radar, since the transceiver module is already an adjusted module, it only needs to be adjusted with other modules of the laser radar, so that the difficulty in adjusting the laser radar can be reduced; in addition, because the transmitting device and the receiving device are respectively arranged at two sides of the bracket, the position interference between the transmitting device and the receiving device is smaller, and the arrangement is more convenient; and the transmission path of the detection light beam is the same as that of the echo light beam, so that the detection effect can be ensured while required devices are reduced.
In a specific embodiment, in order to eliminate stray light and improve the detection effect, the bracket 11 of the transceiver module 1 provided in the embodiment of the present invention may be provided with a through hole 19, where the through hole 19 is used for the echo light beam to pass through to guide the echo light beam to be received by the receiving device 13 or for the probe light beam to pass through to guide the probe light beam to exit from the bracket 11.
When the receiving device 13 is disposed at the second end of the support 11, the echo light beam enters from the first end of the support 11 and passes through the through hole 19 to be received by the receiving device 13, and when the transmitting device 12 is disposed at the second end of the support 11, the probe light beam passes through the through hole 19 and exits from the first end of the support 11.
It is easily understood that the through hole 19 penetrates the bracket 11, i.e. connects the first end and the second end of the bracket 11, and the through hole 19 may be a hole with a constant cross-sectional area, or a hole with a variable cross-sectional area, such as a stepped hole, or a tapered hole, and the shape of the cross-section of the through hole 19 may be determined as required, such as: round, square, oblong, etc. Of course, in order to reduce the loss of the echo beam during transmission and improve the accuracy of the echo beam received by the receiving device 13, the receiving device 13 may be attached to the first opening of the through hole 19. Thus, the echo beam is received directly by the receiving means 13 after passing through the through hole 19.
In one embodiment, as shown in fig. 2, in order to improve the detection coverage and resolution, the transmitting device 12 may include at least 2 transmitting units 121, the receiving device 13 includes at least 2 receiving units (not shown), and each transmitting unit 121 corresponds to each receiving unit one to one.
The emitting unit 121 may be a semiconductor laser including a Vertical Cavity Surface Emitting Laser (VCSEL) or an Edge Emitting Laser (EEL) to reduce cost on the premise of ensuring resolution.
The receiving unit may be a single photon detector to enhance the detection sensitivity of the laser radar, and may also be a Silicon photomultiplier (SiPM for short) having the characteristics of high gain, high sensitivity, low bias voltage, insensitivity to magnetic field, compact structure, and the like.
During environment detection, the receiving units receive echo beams obtained by reflecting the detection beams emitted by the corresponding emitting units 121 by an environmental object, and in the subsequent signal processing process, the echo beams received by the receiving units are spliced, so that the detection coverage rate is improved.
It is easy to understand that, in order to ensure that each transmitting unit 121 and each receiving unit can be in one-to-one correspondence, the positions of the transmitting device 12 and the receiving device 13 mounted on the bracket 11 are adjustable, so that each transmitting unit 121 and each receiving unit are in one-to-one correspondence.
Of course, the adjustment of the installation positions of the emitting device 12 and the receiving device 13 on the bracket 11 can be realized by the fastening degrees of different connecting pieces, and can also be realized by the adjustment of the connection positions, which is not described herein again.
Since the number of the emitting units 121 and the receiving units is at least two, in order to improve the stray light eliminating effect, referring to fig. 2 and fig. 3, the through hole 19 may include at least 2 sub through holes 191, each sub through hole 191 corresponds to each receiving unit, and the echo beam obtained according to the probe beam emitted by each emitting unit 121 passes through the corresponding sub through hole 191 to be received by the corresponding receiving unit.
In this way, during the propagation process, the receiving unit can be prevented from receiving the echo beam obtained based on the probe beam emitted by the emitting unit 121 not corresponding to the receiving unit, and the accuracy of the detection can be prevented from being influenced.
Of course, in order to realize that the transmission path of the probe beam is partially the same as the transmission path of the echo beam, in an embodiment, with continuing reference to fig. 3, the transceiver module 1 provided in the embodiment of the present invention further includes:
the polarization beam splitter 16 is mounted on the bracket 11, corresponds to both the transmitting device 12 and the receiving device 13, and is configured to reflect the probe beam transmitted by the transmitting device 12 and transmit the echo beam to the receiving device 13, and a distance between the polarization beam splitter 16 and the transmitting device 12 is smaller than a distance between the polarization beam splitter 16 and the receiving device 13;
the wave plate 18 is installed on the bracket 11, and is located on two sides of the polarization beam splitter 16 with the receiving device 13, so as to perform polarization adjustment on the probe beam reflected by the polarization beam splitter 16 and perform polarization adjustment on the echo beam irradiated to the polarization beam splitter 16.
Specifically, the polarization Beam Splitter 16 may be a Polarization Beam Splitter (PBS), and may also be a polarization Beam Splitter, and the wave plate 18 may be an 1/4 wave plate, so as to meet the requirement of adjusting the polarization direction of the light Beam.
Thus, the distance between the polarization beam splitter 16 and the transmitting device 12 is smaller than the distance between the polarization beam splitter 16 and the receiving device 13, so that the transmission path of the detection beam is shorter, the energy of the detection beam is relatively concentrated, and the environment detection is more facilitated.
It can be seen that, when the laser radar is adjusted by the transceiver module 1 provided by the embodiment of the present invention to perform environment detection, the detection light beam emitted by the emitting device 12 sequentially passes through the transmission path of the detection light beam of the transceiver 1, which is different from the transmission path of the echo light beam, and irradiates to the polarization beam splitter 16, and is reflected by the polarization beam splitter 16, and after irradiating to the wave plate 18, the polarization direction changes, and irradiates out of the transceiver module 1, and transmitted by the optical-mechanical module 2, the detection light beam scans the environment by the scanning module 3, and the echo light beam generated by the reflection of the detection light beam by the target is irradiated to the wave plate 18 through the scanning module 3 and the optical-mechanical module 2, then the polarization direction is changed again, the echo light beam is irradiated to the polarization beam splitter 16 and then transmitted, the transmission path of the echo beam different from the transmission path of the probe beam is received by the receiving device 13. It can be seen that the polarization beam splitter 16 and the wave plate 18 are arranged to conveniently achieve the same transmission path portion, thereby reducing the required optical components and reducing the size of the lidar.
On the other hand, in order to reduce the influence on the transmission process of different probe beams and echo beams caused by the difference between the polarization beam splitter 16 and the wave plate 18 and the difference between the two devices, in one embodiment, each of the transmitting units 121 and each of the receiving units share the polarization beam splitter 16 and the wave plate 18. Therefore, compared with the use of a plurality of polarization splitting devices and wave plates corresponding to the transmitting units 121 and the receiving units respectively, the present invention uses a single polarization splitting device 16 and wave plate 18 shared by the transmitting units 121 and the receiving units, so that the installation is easier, and the transmission path offset caused by installation errors can be reduced.
Referring to fig. 3, in order to increase the energy of the echo beam received by the receiving device, in an embodiment, the transceiver module 1 further includes: and the receiving lens 14 is installed in the through hole 19, is located between the polarization beam splitter 16 and the receiving device 13, and collimates the echo light beam transmitted by the polarization beam splitter 16.
As shown in fig. 3, in order to facilitate the installation of the receiving lens 14, the through hole 19 may be provided as a stepped hole, and the lens 14 may be provided at a step of the stepped hole.
Of course, when a plurality of sub through holes 191 (shown in fig. 2) are provided, in order to facilitate installation of the receiving lenses 14 and ensure the effect of collimation processing on the light beams, the number of the receiving lenses 14 and the number of the receiving units may be the same, and each of the receiving lenses 14 corresponds to each of the receiving units one by one.
In another specific embodiment, referring to fig. 3, in order to suppress ambient light, the transceiver module 1 provided in the embodiment of the present invention may further include: and the optical filter 15 is installed on the support 11, is located between the polarization beam splitter 16 and the receiving device 13, and is attached to a second opening of the through hole 19, and the second opening is another opening of the through hole 19 opposite to the first opening and is used for filtering the echo beam transmitted by the polarization beam splitter 16.
The setting of light filter 15 can filter the ambient light to with light filter 15 laminating in the opening part (being the second opening) of through-hole 19, can avoid the influence of ambient light as far as possible, improve the accuracy of environmental detection.
Of course, for convenience of installation, and because the filter 15 is attached to the second opening of the through hole 19, in one embodiment, the filter 15 may be shared by the receiving units.
In order to improve the quality of the probe beam, in an embodiment, the transceiver module 1 further includes: and the emission lens 17 is mounted on the bracket 11, is positioned between the polarization beam splitter 16 and the emission device 12, and collimates the probe beam emitted by the emission device 12, and the distance between the emission lens 17 and the emission device 12 is smaller than the distance between the receiving lens 14 and the receiving device 13.
The distance between the transmitting lens 17 and the transmitting device 12 is small, so that the light emitting efficiency can be improved, and the distance between the receiving lens 14 and the receiving device 13 is large, so that the size of the receiving lens can be increased, and the energy of the echo light beam received by the receiving device can be improved.
For convenience of adjustment, the number of the emission lenses 17 may be the same as the number of the emission units 121, and each emission lens 17 corresponds to each emission unit 121 one by one.
Thus, when the laser radar is adjusted by using the transceiver module 1 provided in the embodiment of the present invention to perform environment detection, the probe beam a emitted by the emitting device 12 passes through the emitting lens 17, irradiates to the polarization beam splitter 16, is reflected by the polarization beam splitter 16, and after irradiating to the wave plate 18, the polarization direction is changed, irradiates out of the transceiver module 1, and is transmitted by the optical module 2, and irradiates to the environment through the scanning module 3, and detects the environment, and the echo beam b generated by reflection, after passing through the scanning module 3 and the optical module 2, irradiates to the wave plate 18, changes the polarization direction again, irradiates to the polarization beam splitter 16, and then transmits, and irradiates to the filter 15 disposed at the second opening of the through hole 19 and the receiving lens 14 disposed in the through hole 19, and is received by the receiving device 13.
It is easy to understand that the transmission path from the transmitting device 12 to the polarization beam splitter 16 is a transmission path different from the transmission path of the probe beam a and the echo beam b, and the transmission path after passing through the polarization beam splitter 16 is the same transmission path as the transmission path of the probe beam a and the echo beam b.
Of course, the transmitting unit 12 transmits the probe beam, and the receiving unit 13 receives the echo beam, which both need to be powered by the circuit board, in a specific implementation manner, the transceiver module 1 provided in the embodiment of the present invention may further include:
a transmitting circuit board (not shown) mounted on the first side of the bracket 11 and electrically connected to the transmitting device 12; and a receiving circuit board (not shown) mounted on a second side surface of the bracket 11 and electrically connected to the receiving device 13, the second side surface being opposite to the first side surface. The transmitting circuit board and the receiving circuit board are respectively arranged on two side faces of the support 11, so that heat dissipation of each circuit board can be facilitated, and meanwhile, the transmitting circuit board and the receiving circuit board are arranged in the transceiver module 1, so that convenience is brought to independent adjustment of the transceiver module.
In order to solve the foregoing problems, an embodiment of the present invention further provides a laser radar, please continue to refer to fig. 1, including:
the optical-mechanical module 2 comprises an optical device 22 and an optical-mechanical support 21, wherein the optical device 22 is arranged on the optical-mechanical support 21;
the transceiver module 1 according to any of the preceding embodiments is mounted on the optical bench support 21, emits a probe beam, irradiates the optical device 22, and receives an echo beam transmitted by the optical device 22.
Of course, the laser radar further includes a scanning module 3 to reflect the probe beam via the optical device 22 to scan the target, and to reflect the echo beam reflected by the target to the optical device 22.
It is easy to understand that the optical device 22 is used for transmitting the probe light beam emitted by the transceiver module 1 and the received echo light beam, and is mounted on the opto-mechanical support 21 to conveniently adjust the position and the posture.
In the environment detection process, the detection beam emitted by the transceiver module 1 of the laser radar irradiates the optical device 22 of the optical-mechanical module, is transmitted through the optical device 22, is reflected by the scanning module 3 and then irradiates the environment, detects the environment, reflects the detection beam to generate an echo beam, irradiates the scanning module 3, reflects the echo beam to the optical-mechanical module 2, and is transmitted to the transceiver module 1 through the optical device 22 of the optical-mechanical module 2, and finally is received by the receiving device 13.
In addition, the transceiver module provided by the embodiment of the invention does not comprise an external shell part, so that the heat dissipation effect of the transceiver module can be improved, and when the transceiver module provided by the embodiment of the invention is used for assembling and adjusting the laser radar, the transceiver module is already the module after the assembly and adjustment, and only needs to be assembled and adjusted with other modules of the laser radar, so that the assembly and adjustment difficulty of the laser radar can be reduced; in addition, because the transmitting device and the receiving device are respectively arranged at two sides of the bracket, the position interference between the transmitting device and the receiving device is smaller, and the arrangement is more convenient; and the transmission path of the detection light beam is the same as the transmission path part of the echo light beam, so that the detection effect can be ensured while the number of required devices is reduced.
Of course, in a specific embodiment, the optical-mechanical support 21 of the laser radar described herein has an integrated structure, so that the optical devices can be conveniently arranged, the requirement for machining the mechanical structure can be reduced, the possibility of dislocation of each optical device 22 caused by the action of external load can be reduced, and due to the integration of the mechanical structure, heat can be directly transmitted through the optical-mechanical support 21, thereby avoiding influence on heat dissipation due to air separation among a plurality of components and improving the heat dissipation effect.
It is easy to understand that the optical engine support 21 has an integral structure, which means that the optical engine support 21 is an integral structure and can be manufactured by casting, turning and other processing techniques.
Of course, in order to facilitate the setting of each component and realize the detection of the environment, in a specific embodiment, the transceiver module 1 may be installed at the rear end of the optical mechanical support 21, where the rear end is an end opposite to the light emitting end of the detection beam. Thus, the space of each position of the optical machine support 21 can be fully utilized, the irradiation of the detection light beam to the environment to be detected is not hindered, and the smooth receiving of the echo light beam is ensured.
Of course, in order to implement the detection of the environment, the laser radar further includes a scanning module according to an embodiment of the present invention, please refer to fig. 4 and fig. 5 in conjunction with fig. 1, and fig. 4 is another schematic structural diagram of the laser radar according to an embodiment of the present invention; fig. 5 is a schematic structural diagram of an opto-mechanical mount of a laser radar according to an embodiment of the present invention.
As shown in fig. 4 and 5, the scanning module 3, which is mounted on the inclined supporting portion 211 of the opto-mechanical mount 21, is located above the beam through hole of the mounting optical device 22 and in the middle of the opto-mechanical mount 21, reflects the probe beam passing through the optical device 22 to scan the target, and reflects the echo beam reflected by the target to the optical device 22.
In the laser radar working process, the scanning device of the scanning module 3 is driven by the driving device of the scanning module 3 to rotate, so that the detection beam scans the environment, the target in the environment reflects the detection beam to generate an echo beam, and the echo beam irradiates the scanning device of the scanning module 3 and is transmitted through the optical device 22.
Better supporting effect can be guaranteed to the inclined plane supporting part 211 of ray apparatus support 21, and scanning module 3 installs and can guarantee stability in the inclined plane supporting part 211 of ray apparatus support 21 to inclined plane supporting part 211 is located the top of optical device 22's beam through hole, makes things convenient for the irradiation of detecting beam to the environment, in order to improve detection effect.
Of course, in order to ensure the emitting of the probe beam, the receiving of the echo beam, and the scanning of the scanning module 3 of the laser radar, in a specific implementation, the laser radar provided in the embodiment of the present invention may further include:
the first circuit board 41 is installed on the first side surface of the optical machine support 21, electrically connected with the transceiver module 1 and the scanning module 3 of the laser radar, and located on the side surface of the scanning module 3.
The first circuit board 41 is electrically connected to the transceiver module 1 and the scanning module 3 of the laser radar, and can supply power to the transceiver module 1 and the scanning module 3, so as to ensure that the transmitting device 12 sends out a detection beam, the receiving device 13 receives an echo beam, and the driving device of the scanning module 3 can generate a driving force for driving the scanning device to rotate.
The first circuit board 41 is electrically connected to the transceiver module 1 and the scanning module 3, respectively, and may be directly connected or indirectly connected through another device.
Of course, the first circuit board 41 is installed on the first side surface of the optical machine support 21, so that the first circuit board 41 can be conveniently arranged, the distance between the first circuit board 41 and the shell of the laser radar is small, and heat can be directly transmitted to the shell of the laser radar, so that heat dissipation is facilitated.
Specifically, as shown in fig. 5, the first circuit board 41 may be fixed on the first side surface of the optical engine bracket 21 through the circuit board supporting part 212 of the optical engine bracket 21.
In order to better supply power and control each component, in another specific embodiment, the method further comprises the following steps:
and a second circuit board 42 mounted on the second side surface of the optical engine bracket 21, electrically connected to the first circuit board 41 and the scanning module 3, and located on a side surface of the scanning module 3.
The second circuit board 42 is electrically connected to the first circuit board 41, receives control of the first circuit board 41, and supplies power to the scan module 3 and controls rotation of the scan module 3.
The provision of the second circuit board 42 can further improve the processing capability and the processing speed, and can further improve the heat dissipation capability.
On the other hand, in order to facilitate control of the transmitter 12 and the receiver 13, the transmitter circuit board (not shown) of the transceiver module 1 is electrically connected to the first circuit board 41 and the transmitter 12, respectively, and the receiver circuit board (not shown) of the transceiver module 1 is electrically connected to the first circuit board and the receiver, respectively.
Specifically, in order to ensure the propagation of the light beam, realize the adjustment of the light beam transmission path, improve the compactness of the laser radar, and improve the light beam quality, the optical device 22 of the opto-mechanical module 2 may include:
the reflector is arranged on the optical machine support 21, reflects the detection light beam emitted by the transceiver module 1, and reflects the echo light beam to the transceiver module 1;
and the lens is arranged on the optical machine support 21 and is used for collimating the detection light beam emitted by the transceiver module 1 and the echo light beam irradiated to the receiving device.
It is to be understood that the number of the reflecting mirrors and the number of the lenses may be the same as or different from each other as long as the performance requirements are satisfied.
For convenience of understanding, the following description is further provided with reference to fig. 6 and 7, please refer to fig. 6 and 7, fig. 6 is a schematic diagram of a transmission path of a probe beam of a lidar provided in an embodiment of the present invention, and fig. 7 is a schematic diagram of a transmission path of an echo beam of the lidar provided in the embodiment of the present invention.
As shown in fig. 6 and 7, the mirror may include a first mirror 222, which may reflect the probe beam emitted from the transceiver module 1 and reflect the echo beam to the transceiver module 1.
Specifically, the light beam emitted by the emitting device 12 of the transceiver module 1 is irradiated to the polarization splitting device 16 through the emitting lens 17, is irradiated to the wave plate 18 after polarization splitting for polarization state adjustment, and is then irradiated to the first reflecting mirror 222 for reflection, so as to change the transmission path and perform subsequent transmission and detection, and of course, the echo light beam is irradiated to the wave plate 18 and the polarization splitting device 16 after being reflected by the first reflecting mirror 222, is irradiated to the optical filter 15 and the receiving lens 14 after being transmitted, and is received by the receiving device 13.
It can be seen that the probe beam transmitted in the vertical direction can be changed into the probe beam transmitted in the horizontal direction or the echo beam transmitted in the horizontal direction can be adjusted into the echo beam transmitted in the vertical direction through the first reflecting mirror 222.
In order to ensure the quality of the light beam, the probe light beam reflected by the first reflecting mirror 222 may be further collimated, or the echo light beam is collimated and then irradiated to the first reflecting mirror 222, that is, the lens includes: the first lens 223 is installed behind the first mirror 222 in the transmission path of the probe beam, and collimates the probe beam reflected by the first mirror 222 and collimates the echo beam irradiated to the first mirror 222.
Of course, when the change of the light beam transmission path is performed once, if the change of the light beam transmission path is also required, the reflecting mirror may further include: the second mirror 224 reflects the probe beam reflected by the first mirror 222 and reflects the echo beam to the first mirror 222.
In this case, the first lens 223 may be disposed between the first mirror 222 and the second mirror 224, and collimate the probe beam reflected by the first mirror 222 and the echo beam reflected by the second mirror 224.
Specifically, the probe beam reflected by the second mirror 224 may be collimated once, and the echo beam may be irradiated to the second mirror 224 after being collimated, and therefore, a second lens 225 may be further provided, which is installed behind the second mirror 224 in the transmission path of the probe beam, collimates the probe beam reflected by the second mirror 224, and collimates the echo beam irradiated to the second mirror 224.
Of course, when the change of the light beam transmission path is performed twice, if the change of the light beam transmission path is also required, the reflecting mirror may further include: the third mirror 226 reflects the probe beam reflected by the second mirror 224 and reflects the echo beam to the second mirror 224.
The second lens 225 may be installed between the second mirror 224 and the third mirror 226 to collimate the probe beam reflected by the second mirror 224 and to collimate the echo beam reflected by the third mirror 226.
Further, in order to facilitate the probe beam to irradiate the scanning module 3, the optical device 22 may further include a fourth reflector 227, which is installed on the optical machine support 21 and suspended above the optical machine support 21, and reflects the probe beam reflected by the third reflector 226 to the scanning module 3, and reflects the echo beam reflected by the scanning module 3 to the third reflector 226.
In order to make the structure of the laser radar more compact, in a specific embodiment, a fifth reflecting mirror 228 may be further disposed to change the transmission path of the light beam again, wherein the fifth reflecting mirror 228 is mounted on the opto-mechanical support 21, and located below the fourth reflecting mirror 227, opposite to the fourth reflecting mirror 227, and reflects the probe light beam reflected by the fourth reflecting mirror 227 to the scanning module 3, and reflects the echo light beam reflected by the scanning module 3 to the fourth reflecting mirror 227.
Of course, in order to facilitate the installation of each optical device 22 on the optical bench support 21, please refer to fig. 8 and 9, fig. 8 is a schematic cross-sectional view of the lidar according to the embodiment of the present invention, and fig. 9 is another schematic cross-sectional view of the lidar according to the embodiment of the present invention.
As shown in fig. 8, in a specific embodiment, the optical-mechanical support 21 may further have a light beam through hole 229, and the reflector and the lens are both mounted in the light beam through hole 229. Therefore, stray light can be eliminated by using the beam through hole 229 in the transmission process of the light beam, and the detection effect is improved.
Of course, the beam through hole 229 may include sub-beam through holes 2291, the number of the beam sub-channels 2291 is the same as the number of the transmitting units 1 of the transmitting device 12 of the transceiver module 1, and each sub-beam through hole 2291 is arranged side by side, each of the sub-beam through holes 2291 is internally provided with the reflecting mirror and the lens. Like this, the probe beam and the corresponding echo light beam that every emission unit 121 sent all can transmit through corresponding sub-beam through-hole 2291, can further improve the eliminating effect of parasitic light.
Of course, in another specific implementation manner, in the laser radar provided in the embodiment of the present invention, the optical device 22 may further include: the prisms 221 (shown in fig. 6 and 7) are mounted on the optical machine support 21 and located between the transceiver module 1 and the reflector, the number of the prisms 221 is the same as that of the sub-beam through holes 2291, and perform beam rotation on the probe beams emitted by the transceiver module 1 and the echo beams reflected by the reflector, so that light spots formed by the probe beams emitted by different emitting units 121 are parallel to each other, and the detection coverage rate is improved.
Specifically, the prism 221 may be a dove prism.
In order to solve the foregoing technical problem, an embodiment of the present invention further provides an assembly method of a laser radar, please refer to fig. 10, and fig. 10 is a flowchart illustrating the assembly method of the laser radar according to the embodiment of the present invention.
As shown in the drawings, the assembly method of the laser radar provided by the embodiment of the present invention includes:
step S1: a transceiver module as described in any of the previous embodiments is adapted.
In order to assemble the lidar, the individual modules are initially acquired, for which purpose the transceiver module 1 is set up.
Step S2: the optical device 22 is mounted on the optical-mechanical support 21, and the optical-mechanical module 2 is obtained.
In addition to the adjustment of the transceiver module 1, the opto-mechanical module 2 is also acquired, for which purpose the individual optical components 22 are mounted on the opto-mechanical support 21.
Step S3: the scanning module 3, the first circuit board 41, and the second circuit board 42 are acquired.
It is easy to understand that the execution sequence of the steps S1, S2, and S3 is not limited as long as the transceiver module 1, the optical mechanical module 2, and the scan module 3, the first circuit board 41, and the second circuit board 42 can be obtained.
Of course, in another embodiment, the transceiver module 1 after being assembled and adjusted, the optical mechanical module 2 after being assembled, the scanning module 3, the first circuit board 41, and the second circuit board 42 may also be directly obtained.
Step S4: the scanning module 3 is installed above the opto-mechanical support 21 of the opto-mechanical module 2, the transceiver module 1 is installed behind the opto-mechanical support 21, and the first circuit board 41 and the second circuit board 42 are installed on the side surface of the opto-mechanical support 21.
And respectively installing each module at the corresponding position of the optical machine support 21 to obtain the assembled laser radar.
Thus, in the assembling method of the laser radar provided by the embodiment of the invention, the optical-mechanical module and the transceiver module are respectively independent modules, so that the assembly and the adjustment can be respectively carried out, and the transceiver module can be visually assembled and adjusted, so that the assembly and the adjustment difficulty of the transceiver module part can be reduced, then the assembly of the optical-mechanical module and the transceiver module is carried out, the assembly and the adjustment difficulty of the laser radar are reduced, the assembled transceiver module of the laser radar does not comprise an external shell part, the heat dissipation effect of the transceiver module can be improved, and because the transmitting device and the receiving device are respectively arranged at two sides of the bracket, the position interference between the transmitting device and the receiving device is small, the arrangement is more convenient, the transmission path of the detection light beam is partially identical to that of the echo light beam, and the optical devices of the optical-mechanical module 2 are all shared in the process of transmitting the detection light beam and the echo light beam, the detection effect can be further ensured while reducing the required devices.
Although the embodiments of the present invention have been disclosed, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (26)
1. A transceiver module for use in a lidar comprising:
a support;
the emitting device is used for emitting a detection light beam and is arranged at the first end of the bracket;
the receiving device is used for receiving an echo light beam and is arranged at a second end, opposite to the first end, of the support, and the transmission path of the detection light beam is partially the same as that of the echo light beam; the transmission path of the probe beam or the echo beam communicates the first end and the second end of the stent.
2. The transceiver module as claimed in claim 1, wherein the support has a through hole for the echo beam to pass through to guide the echo beam to be received by the receiving device or for the probe beam to pass through to guide the probe beam to exit from the support.
3. The transceiver module as recited in claim 2, wherein the receiving means is attached to the first opening of the via.
4. The transceiver module as claimed in claim 3, wherein said transmitter comprises at least 2 transmitter units, said receiver comprises at least 2 receiver units, and each of said transmitter units is in one-to-one correspondence with each of said receiver units.
5. The transceiver module as claimed in claim 4, wherein the through-hole includes at least 2 sub-through-holes, each of the sub-through-holes corresponds to each of the receiving units, and the echo beams obtained from the probe beams transmitted by each of the transmitting units pass through the corresponding sub-through-holes to be received by the corresponding receiving units.
6. The transceiver module as recited in claim 5, further comprising:
the polarization beam splitter is arranged on the bracket, corresponds to the transmitting device and the receiving device, and is used for reflecting the detection light beam transmitted by the transmitting device and transmitting the echo light beam to the receiving device, and the distance between the polarization beam splitter and the transmitting device is smaller than the distance between the polarization beam splitter and the receiving device;
the wave plates are arranged on the support and are respectively positioned on two sides of the polarization beam splitter with the receiving device so as to perform polarization adjustment on the detection light beams reflected by the polarization beam splitter and perform polarization adjustment on the echo light beams irradiated to the polarization beam splitter.
7. The transceiver module as recited in claim 6, wherein each of the transmit units and each of the receive units share the polarization splitting device and the wave plate.
8. The transceiver module as recited in claim 6, further comprising:
and the receiving lens is arranged in the through hole, is positioned between the polarization light splitting device and the receiving device and is used for collimating the echo light beams transmitted by the polarization light splitting device.
9. The transceiver module as claimed in claim 9, wherein the number of the receiving lenses is the same as the number of the receiving units, and each of the receiving lenses corresponds to each of the receiving units one to one.
10. The transceiver module as recited in claim 6, further comprising:
and the optical filter is arranged on the bracket, is positioned between the polarization light splitting device and the receiving device and is attached to the second opening of the through hole, and the second opening is the other opening of the through hole, which is opposite to the first opening, and is used for filtering the echo light beam transmitted by the polarization light splitting device.
11. The transceiver module as recited in claim 10, wherein each of the receiving units shares the optical filter.
12. The transceiver module as recited in claim 8, further comprising:
and the transmitting lens is arranged on the bracket, is positioned between the polarization beam splitter and the transmitting device, collimates the detection light beam transmitted by the transmitting device, and the distance between the transmitting lens and the transmitting device is smaller than the distance between the receiving lens and the receiving device.
13. The transceiver module as recited in claim 12, wherein the number of the transmitting lenses is the same as the number of the transmitting units, and each of the transmitting lenses corresponds to each of the transmitting units one to one.
14. A transceiver module as claimed in any one of claims 1 to 13, further comprising:
the transmitting circuit board is arranged on the first side surface of the bracket and is electrically connected with the transmitting device; and the receiving circuit board is arranged on the second side surface of the bracket and is electrically connected with the receiving device, and the second side surface is opposite to the first side surface.
15. A lidar characterized by comprising:
the optical-mechanical module comprises an optical device and an optical-mechanical support, wherein the optical device is arranged on the optical-mechanical support;
the transceiver module of any one of claims 1-14, mounted to the opto-mechanical mount, to emit a probe beam that impinges on the optics and to receive an echo beam transmitted by the optics.
16. The lidar of claim 15, wherein the opto-mechanical mount has a unitary construction.
17. The lidar of claim 16, wherein the transceiver module is mounted to a rear end of the lightframe opposite the probe beam exit end.
18. The lidar of claim 17, wherein the optics comprise:
the reflector is arranged on the optical machine bracket, reflects the detection light beam emitted by the transceiver module and reflects the echo light beam to the transceiver module;
and the lens is arranged on the optical machine support and is used for collimating the detection light beam emitted by the transceiver module and the echo light beam irradiated to the receiving device.
19. The lidar of claim 18, wherein the opto-mechanical mount defines: and the light beam through hole is used for transmitting light beams, and the reflector and the lens are arranged in the light beam through hole.
20. The lidar of claim 19, wherein the beam through-holes comprise sub-beam through-holes, the number of the sub-beam through-holes is the same as the number of transmitting units of the transmitting device of the transceiver module, and each sub-beam through-hole is arranged side by side, and the mirror and the lens are disposed in each sub-beam through-hole.
21. The lidar of claim 20, wherein the optics further comprise: the prism is arranged between the transceiver module and the reflector, the number of the prisms is the same as that of the sub-beam through holes, and the prisms rotate the detection beam emitted by the transceiver module and the echo beam reflected by the reflector.
22. The lidar of claim 19, further comprising:
the scanning module is arranged on the inclined plane supporting part of the optical machine support, is positioned above the light beam through hole and in the middle of the optical machine support, reflects the detection light beam passing through the optical device to scan a target, and reflects the echo light beam reflected by the target to the optical device.
23. The lidar of any of claims 15-22, further comprising:
the first circuit board is arranged on the first side face of the optical machine support, is electrically connected with the transceiver module and the scanning module of the laser radar, and is positioned on the side face of the scanning module.
24. The lidar of claim 23, further comprising:
and the second circuit board is arranged on the second side surface of the optical machine support, is electrically connected with the first circuit board and the scanning module, and is positioned on the side surface of the scanning module.
25. The lidar of claim 24, wherein a transmit circuit board of the transceiver module is electrically coupled to the first circuit board and the transmitting device, and a receive circuit board of the transceiver module is electrically coupled to the first circuit board and the receiving device.
26. A method of assembling a lidar, comprising:
-adjusting a transceiver module according to any of claims 1-14;
mounting the optical device on an optical machine support to obtain an optical machine module;
acquiring a scanning module, a first circuit board and a second circuit board;
the scanning module is arranged above an optical machine support of the optical machine module, the receiving and transmitting module is arranged behind the optical machine support, and the first circuit board and the second circuit board are arranged on the side face of the optical machine support.
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| CN202110248613.7A CN115047489A (en) | 2021-03-08 | 2021-03-08 | Laser radar, transceiver module thereof and assembly method of laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024120387A1 (en) * | 2022-12-05 | 2024-06-13 | Hesai Technology Co., Ltd. | Opto-mechanical component of lidar and lidar |
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| CN110749893A (en) * | 2019-09-21 | 2020-02-04 | 深圳奥锐达科技有限公司 | Two-dimensional scanning laser radar device and electronic equipment |
| CN212301861U (en) * | 2019-10-24 | 2021-01-05 | 浙江舜宇智能光学技术有限公司 | Multi-line laser radar device |
| CN212060560U (en) * | 2020-01-06 | 2020-12-01 | 北京北科天绘科技有限公司 | Optical system, laser radar, intelligent vehicle and unmanned aerial vehicle with symmetrical transmitting and receiving light paths |
| CN111722237A (en) * | 2020-06-02 | 2020-09-29 | 上海交通大学 | Laser radar detection device based on lens and integrated light beam transceiver |
| CN214669609U (en) * | 2021-03-08 | 2021-11-09 | 上海禾赛科技有限公司 | Laser radar and transceiver module thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024120387A1 (en) * | 2022-12-05 | 2024-06-13 | Hesai Technology Co., Ltd. | Opto-mechanical component of lidar and lidar |
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