CN210775842U - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN210775842U CN210775842U CN201921183027.3U CN201921183027U CN210775842U CN 210775842 U CN210775842 U CN 210775842U CN 201921183027 U CN201921183027 U CN 201921183027U CN 210775842 U CN210775842 U CN 210775842U
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Abstract
The application relates to the field of laser radars, in particular to a laser radar. This application laser radar includes light source, emission optical system, receiving arrangement, the light source is used for producing the light beam that exits, and the light beam that exits is through emission optical system directive target, and the reverberation entering receiving arrangement that the target returns is equipped with the circuit board between light source, emission optical system, has seted up logical unthreaded hole on the circuit board for through the light source emergent light, the circuit board be one or polylith, the circuit board when the polylith, distance between the circuit board is adjustable. The embodiment of the application arranges the light source below the circuit board, and the emergent light enters the emission optical system through the light through hole arranged on the circuit board to be collimated and expanded, so that the light path length required by the emission optical system and the distance between each hardware structure are public, and the whole occupied space of the optical structure is small.
Description
Technical Field
The application relates to the field of measuring instruments, in particular to a laser radar.
Background
At present, a solid-state lidar system generally includes a plurality of hardware modules, such as a processor module, a laser transmitting module, a receiving module, a communication module, etc., which require a multilayer circuit and are reasonably matched with a structure, as shown in fig. 1, the present lidar system is an existing lidar system, in which a light source 1 and a transmitting optical system 4 are located in front of the entire radar so as to be matched with the optical system and ensure that a light path is not blocked by a first circuit board 21, a second circuit board 22, and a third circuit board 23, in this case, the overall thickness of the lidar system is the length of the light path between the light source 1 and the transmitting optical system 4 plus the distance between the hardware structures, and the length of the light path between the light source 1 and the transmitting optical system 4 is the focal length required by a collimating structure plus the length required by other optical structures.
The transmitting optical system of a solid state lidar system needs to shape the outgoing beam to a desired light pattern distribution. In order to realize a large transverse field of view and a narrow longitudinal field of view, the light source needs to be collimated to obtain a narrow longitudinal field of view (usually 3 degrees to 20 degrees), and then the collimated light is expanded to obtain a large transverse field of view (usually 60 degrees to 150 degrees). When the requirement of a longitudinal narrow field of view is extremely small (0.5-3 degrees), the optical structure required for collimation requires a longer focal length, and the required optical path length between the light source 1 and the emission optical system 4 is also longer, so that the overall height of the optical structure needs to occupy a larger space structure, and particularly the overall thickness of the optical structure is greatly increased.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a laser radar, and solves the problems that the whole occupied space of an optical structure is large and the thickness of the whole machine is large in the prior art.
To achieve the purpose, the application embodiment of the present invention adopts the following technical solutions:
on one hand, the laser radar comprises a light source, a transmitting optical system and a receiving device, wherein the light source is used for generating an emergent light beam, the emergent light beam is emitted to a target through the transmitting optical system, reflected light returned by the target enters the receiving device, a circuit board is arranged between the light source and the transmitting optical system, a light through hole is formed in the circuit board and used for emitting light through the light source, one or more circuit boards are arranged, and when the circuit boards are multiple, the distance between the circuit boards can be adjusted.
In a possible implementation manner, when the circuit boards are multiple, the distance between the circuit boards is 3-15mm, and the distance between the circuit boards and the light source is 3-15 mm.
In a possible implementation manner, one or more of a processing circuit, a communication circuit and a receiving circuit are arranged on the circuit board.
In a possible implementation manner, the emission optical system includes a collimating device and a beam expanding device, and a distance between the collimating device and the light source is a back focal length of the collimating device.
In a possible implementation, the back focal length of the collimating device is 25mm to 50 mm.
In one possible implementation, the divergence angle θ of the emergent light is 5-40 °.
In one possible implementation, the divergence angle θ of the emergent light is 20-30 °.
In a possible implementation manner, the aperture of the light through hole on the circuit board is the distance from the light source to the circuit board of 2 tan (θ/2).
In a possible implementation manner, the light source is an LED or a laser.
In a possible implementation manner, the receiving circuit is configured to convert an optical signal sent from the receiving device into an electrical signal, the processing circuit is configured to process the optical signal sent from the receiving device, and the communication circuit is configured to send a processing result of the processing circuit to the upper computer.
According to the embodiment of the application, the light source is arranged below the circuit board, emergent light enters the emission optical system through the light through hole formed in the circuit board to be collimated and expanded, the light path length required by the emission optical system is public with the distance between each hardware structure, the whole occupied space of the optical structure is small, and the thickness of the whole machine is thin.
Drawings
Fig. 1 is a background art schematic.
Fig. 2 is a simplified schematic diagram of example 1 of the present application.
Fig. 3 is a simplified schematic diagram of example 2 of the present application.
Fig. 4 is a simplified schematic diagram of example 3 of the present application.
In the figure: 1. a light source; 2. a circuit board; 3. a receiving device; 4. an emission optical system; 5. a collimating device; 6. a beam expanding device; 7. a light through hole; 21. a first circuit board; 22. a second circuit board; 23. and a third circuit board.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Example 1
As shown in fig. 2, the laser radar includes a light source 1, a transmitting optical system 4, and a receiving device 3, where the light source 1 is configured to generate an outgoing light beam, the outgoing light beam is emitted to a target through the transmitting optical system 4, reflected light returned by the target enters the receiving device 3, a circuit board 2 is disposed between the light source 1 and the transmitting optical system 4, a light-passing hole 7 is formed in the circuit board 2 and configured to pass through light emitted by the light source, and the circuit board 2 is a single piece.
By arranging the light source 1 below the circuit board 2, emergent light enters the emission optical system 4 through the light through hole 7 formed in the circuit board 2 to be collimated and expanded, the light path length required by the emission optical system 4 is common to the space between the hardware structures, the whole optical structure occupies small space, and the whole optical structure is thin in thickness.
The light sources 1 are individually arranged.
The circuit board 2 is provided with a processing circuit, a communication circuit and a receiving circuit.
The emission optical system 4 comprises a collimating device 5 and a beam expanding device 6, and the distance between the collimating device 5 and the light source 1 is the back focal length of the collimating device.
The collimation means back focal length refers to the distance of the light source 1 to the last lens of the collimation means 5.
The back focal length of the collimating device is 25mm to 50 mm.
The collimation focal length is 25-50mm, the measurement requirement of a common laser radar is met, and the overall volume of the radar is not larger.
The divergence angle theta of the emergent light is 5-40 degrees.
The divergence angle of emergent light adopts the angle, and if the divergence angle is too small, the range which can be measured is too small even if collimation and beam expansion are carried out, so that the actual requirement cannot be met; if the divergence angle is too large, the required energy is too large, and the energy consumption is large.
The divergence angle theta of the emergent light is 20-30 degrees.
The divergence angle of the emitted light is further defined, and the measurement range and the energy consumption requirement are considered in the angle range.
The aperture of the light through hole 7 on the circuit board 2 is the distance from the light source to the circuit board 2 star (theta/2).
Generally, the aperture of the light through hole 7 on the circuit board 2 is processed in advance, which is the distance from the light source 1 to the circuit board 2 at 2 tan (θ/2), the distance from the light source 1 to the circuit board 2 is obtained through experimental adjustment according to the back focal length of the collimator and the wiring requirement of the circuit board, and the aperture of the light through hole 7 on the circuit board 2 can be calculated and processed in advance according to the obtained distance from the light source 1 to the circuit board 2.
The light source 1 is an LED or a laser.
The light source 1 is an LED or a laser, the receiving device is a photoelectric sensor, and the variety can be a single-pixel PIN tube or an APD, or a multi-pixel PIN or APD array, a CCD, a CMOS and the like.
The receiving circuit is used for converting optical signals sent by the receiving device 3 into electric signals, the processing circuit is used for processing the optical signals sent by the receiving device, and the communication circuit is used for sending processing results of the processing circuit to an upper computer (not shown in the figure).
Example 2
As shown in fig. 3, the circuit boards are a first circuit board 21 and a second circuit board 22 which are sequentially arranged from top to bottom, and the distance between the first circuit board 21 and the second circuit board 22 can be adjusted according to actual needs, so as to meet the requirements of wiring, heat dissipation and the like.
The first circuit board 21 and the second circuit board 22 are provided with one or more of a processing circuit, a communication circuit and a receiving circuit. The receiving device 3 is provided on a second circuit board 22, and at least a receiving circuit is provided on the second circuit board 22.
The distance between the first circuit board 21 and the second circuit board 22 is 3-15mm, and the distance between the second circuit board 22 and the light source 1 is 3-15 mm.
The optical path length required by the emission optical system 4 is generally 30mm to 60mm, and according to the optical path length required by the optical system, the distance between the first circuit board 21 and the second circuit board 22 and the distance between the second circuit board 22 and the light source 1 can be adjusted, the distance between the first circuit board 21 and the second circuit board 22 is 3 mm to 15mm, the distance between the second circuit board 22 and the light source 1 is 3 mm to 15mm, the distance between the first circuit board 21 and the light source 1 is 6 mm to 30mm, the distance between the first circuit board 21 and the light source 1 is partially overlapped with the optical path length required by the emission optical system 4, that is, the optical path length required by the emission optical system 4 is included instead of the overlapping of the distance between the first circuit board 21 and the light source 1 and the optical path length required by the emission optical system 4, so that the distance between the first circuit board 21 and the light source 1 is reduced, the overall occupied space of the laser radar is greatly reduced, and the overall thickness is small. In fig. 3, the receiver 3 is arranged on the second circuit board 22 close to the light source 1, and the light source 1 is fixed in the laser radar.
Example 3
As shown in fig. 4, the circuit board includes a first circuit board 21, a second circuit board 22, and a third circuit board 23 sequentially arranged from top to bottom, the receiving device 3 is arranged on the first circuit board 21, the second circuit board 22, and the third circuit board 23 are provided with one or more of a processing circuit, a communication circuit, and a receiving circuit, wherein the first circuit board 21 is at least provided with the receiving circuit.
The light source 1 is provided on the third circuit board 23, and the other structure is the same as embodiment 2.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. A laser radar comprises a light source, a transmitting optical system and a receiving device, wherein the light source is used for generating an emergent light beam, the emergent light beam is emitted to a target through the transmitting optical system, and reflected light returned by the target enters the receiving device.
2. The lidar of claim 1, wherein when the plurality of circuit boards are provided, the distance between the circuit boards is 3-15mm, and the distance between the circuit boards and the light source is 3-15 mm.
3. The lidar of claim 2, wherein the circuit board comprises one or more of a processing circuit, a communication circuit, and a receiving circuit.
4. The lidar of claim 3, wherein the transmitting optical system comprises a collimating device and a beam expanding device, and the distance between the collimating device and the light source is the back focal length of the collimating device.
5. The lidar of claim 4, wherein the collimating means has a back focal length of 25mm to 50 mm.
6. The lidar of claim 5, wherein the exit light divergence angle θ is in the range of 5-40 °.
7. The lidar of claim 5, wherein the exit light divergence angle θ is in the range of 20-30 °.
8. The lidar of claim 6, wherein the aperture of the light-transmitting aperture of the circuit board is a source-to-circuit distance of 2 tan (θ/2).
9. The lidar of claim 8, wherein the light source is an LED or a laser.
10. The lidar of claim 9, wherein the receiving circuit is configured to convert an optical signal from the receiving device into an electrical signal, the processing circuit is configured to process the optical signal from the receiving device, and the communication circuit is configured to transmit a result of the processing circuit to the host computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921183027.3U CN210775842U (en) | 2019-07-25 | 2019-07-25 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921183027.3U CN210775842U (en) | 2019-07-25 | 2019-07-25 | Laser radar |
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| CN210775842U true CN210775842U (en) | 2020-06-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488307A (en) * | 2019-07-25 | 2019-11-22 | 北醒（北京）光子科技有限公司 | A kind of laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488307A (en) * | 2019-07-25 | 2019-11-22 | 北醒（北京）光子科技有限公司 | A kind of laser radar |
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