CN-122017797-A - Laser radar

CN122017797ACN 122017797 ACN122017797 ACN 122017797ACN-122017797-A

Abstract

The embodiment of the application discloses a laser radar. The laser radar comprises two laser emission modules and a laser receiving module, wherein the two laser emission modules are respectively positioned on two opposite sides of the laser receiving module, the combination of emission view fields of the two laser emission modules is matched with the receiving view field of the laser receiving module, and an included angle exists between the first optical axis of each laser emission module and the second optical axis of the laser receiving module. By arranging the two laser emission modules and the one laser receiving module, the combination of the emission fields of the two laser emission modules is matched with the receiving field of the laser receiving module, compared with the situation that the emission field of the one laser emission module is matched with the receiving field of the one laser receiving module in the related art, the arrangement of the two laser emission modules is more flexible, the miniaturized design of the laser radar can be realized, and the field receiving rate of the two laser emission modules can be improved, and the detection field angle of the laser radar can be expanded.

Inventors

LI HONGJU
HUANG YIZHI

Assignees

深圳市速腾聚创科技有限公司

Dates

Publication Date: 20260512
Application Date: 20210930

Claims (10)

1. A laser radar which comprises a laser beam source, characterized by comprising the following steps: Two laser emission modules; The laser receiving module is respectively positioned at two opposite sides of the laser receiving module, the combination of the emitting view fields of the two laser emitting modules is matched with the receiving view field of the laser receiving module, and an included angle exists between the first optical axis of each laser emitting module and the second optical axis of the laser receiving module; the laser emission sensors of the two laser emission modules are positioned on one side, close to the receiving module, of each first optical axis, and each laser emission sensor comprises a plurality of light sources which are arranged in a matrix.
2. The lidar of claim 1, wherein the first optical axes of the two laser emitting modules are at equal angles to the second optical axis of the laser receiving module.
3. The lidar of claim 2, wherein the first optical axes of the two laser emitting modules and the second optical axis of the laser receiving module are both in the same plane.
4. The lidar of claim 1, wherein the first optical axes of the two laser emission modules and the second optical axis of the laser receiving module are both located on a first plane, the two laser emission modules include a first laser emission module and a second laser emission module, an included angle between the first optical axis of the first laser emission module and the second optical axis of the laser receiving module is θ 1 , and an emission field angle of the first laser emission module in the first plane is 2 Θ 1 , wherein an included angle between the first optical axis of the second laser emission module and the second optical axis of the laser receiving module is θ 2 , and an emission field angle of the second laser emission module in the first plane is 2 Θ 2 , a receiving field angle of the laser receiving module in the first plane is 2 θ 1 +2 θ 2 。
5. The lidar of claim 4, wherein θ 1 is equal to θ 2 .
6. The lidar of claim 5, wherein θ 1 is 5.5 °.
7. The lidar of claim 1, further comprising a housing, the housing comprising: A first plate body; The second plate body is arranged at intervals with the first plate body; The peripheral side plate is positioned at the periphery of the first plate body and is connected with the first plate body and the second plate body, and a containing cavity is formed among the peripheral side plate, the first plate body and the second plate body; The laser receiving module comprises a first side plate, a second side plate, a laser receiving module and two first partition plates, wherein the first partition plates are distributed in the accommodating cavity at intervals and are connected between the first side plate and the second side plate, the first partition plates are connected with the first plate body, the first partition plates and the first plate body form a first accommodating cavity therebetween, each first partition plate and the peripheral side plate form a second accommodating cavity therebetween, at least part of the laser receiving module is located in the first accommodating cavity, and at least part of the laser transmitting module is located in one second accommodating cavity respectively.
8. The lidar of claim 7, wherein the laser receiving modules are located in the first accommodating cavity, each laser receiving module is located in one second accommodating cavity, the first plate body is provided with a first plate surface facing the accommodating cavity and a second plate surface opposite to the first plate surface, the first plate body is provided with a first light through hole penetrating through the first plate surface and the second plate surface, and second light through holes located on two sides of the first light through hole, the laser receiving modules are arranged corresponding to the first light through holes, each laser emitting module is arranged corresponding to one second light through hole, and a light transmission protection plate covering the first light through hole and the two second light through holes is arranged at the second plate surface.
9. The lidar of claim 8, wherein the radar is configured to, The second plate surface is provided with a mounting groove which is communicated with the first light through holes and the two second light through holes, and the light-transmitting protection plate is positioned in the mounting groove, or The utility model discloses a lamp, including first mounting groove, second mounting groove, first light through hole, second mounting groove, second light through hole, first mounting groove and second mounting groove that are located respectively are provided with on the second face first mounting groove both sides, first mounting groove with first light through hole intercommunication, every second mounting groove respectively with one second light through hole intercommunication, the light transmission protection shield includes first sub light transmission protection shield and two second sub light transmission protection shields, first sub light transmission protection shield is located first mounting groove, every second sub light transmission protection shield is located one respectively the second mounting groove.
10. The lidar of claim 7, wherein the first plate body has a first plate surface facing the accommodating cavity and a second plate surface opposite to the first plate surface, a first mounting hole penetrating the first plate surface and the second plate surface, and second mounting holes respectively located at two sides of the first mounting hole are formed in the first plate body, a receiving end of the laser receiving module passes through the first mounting hole and is located outside the housing, and a transmitting end of each laser receiving module passes through one of the second mounting holes and is located outside the housing.

Description

Laser radar The present application is a divisional application, the application number of the original application is 202111158165.8, the application date of the original application is 2021, 9 months and 30 days, and the whole content of the original application is incorporated by reference into the present application. Technical Field The application relates to the technical field of laser detection, in particular to a laser radar. Background The lidar is a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target can be obtained, for example, the information of the distance, the azimuth, the height, the speed, the gesture, the even shape and the like of the target can be obtained. However, in the related art, there is a problem in that a detection field of view is limited due to unreasonable structural design of the lidar. Disclosure of Invention The application provides a laser radar which is used for solving the problem that the detection view field of the laser radar in the related technology is limited. The application provides a laser radar, comprising: Two laser emission modules; The laser receiving module is respectively positioned at two opposite sides of the laser receiving module, the combination of the emitting view fields of the two laser emitting modules is matched with the receiving view field of the laser receiving module, and an included angle exists between the first optical axis of each laser emitting module and the second optical axis of the laser receiving module. According to the laser radar, the two laser emission modules and the one laser receiving module are arranged, the combination of the emission fields of the two laser emission modules is matched with the receiving field of the laser receiving module, compared with the fact that the emission field of the one laser emission module is matched with the receiving field of the one laser receiving module in the related art, the arrangement of the two laser emission modules is more flexible, the miniaturization design of the laser radar can be achieved, and the field receiving rate of the laser receiving module can be improved and the detection field angle of the laser radar can be expanded by the two laser emission modules. In addition, the first optical axis of each laser emission module and the second optical axis of the laser receiving module are arranged at an included angle, so that the combination forms of the emission view fields of the two laser emission modules are more diversified, and the laser radar is favorably assembled. Drawings In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Fig. 1 is a perspective view of a laser transmitting module and a laser receiving module in a first laser radar according to an embodiment of the present application; FIG. 2 is a perspective view of a laser transmitting module and a laser receiving module in a second laser radar according to an embodiment of the present application; FIG. 3 is a cross-sectional view of a laser emitting module and a laser receiving module in the laser radar shown in FIG. 1; FIG. 4 is a cross-sectional view of a laser emitting module and a laser receiving module in the laser radar shown in FIG. 2; FIG. 5 is a cross-sectional view of an alternative to the lasing module and lasing module in the lidar shown in FIG. 4; FIG. 6 is a perspective view of a third lidar according to an embodiment of the present application; FIG. 7 is a cross-sectional view of the laser radar shown in FIG. 6 taken along the A-A direction; FIG. 8 is an exploded view of the lidar shown in FIG. 6; FIG. 9 is a perspective view of a fourth lidar according to an embodiment of the present application; FIG. 10 is a cross-sectional view of the laser radar shown in FIG. 9 taken along the A-A direction; FIG. 11 is a perspective view of a fifth lidar according to an embodiment of the present application; FIG. 12 is a cross-sectional view of the laser radar shown in FIG. 11 taken along the A-A direction; FIG. 13 is a cross-sectional view of the laser radar shown in FIG. 11 along the B-B direction; FIG. 14 is a perspective view of a sixth lidar according to an embodiment of the present application; FIG. 15 is a cross-sectional view of the laser radar shown in FIG. 14 along the A-A di