Laser radar and automatic driving device

Abstract

The application provides a laser radar and an automatic driving device. The laser radar comprises a shell, a window sheet, a transmitting module, a receiving module and a rotating mirror. The receiving module is located on one side of the rotating mirror, and the transmitting module is located on the other side of the rotating mirror. The shell comprises a first opening and a first boss. The first boss comprises a first sub-boss and a second sub-boss. The transmitting module comprises a transmitting lens barrel. The window sheet is embedded in the first opening. The first sub-boss is located between the transmitting lens barrel and the rotating mirror. The rotating mirror is located between the second sub-boss and the window sheet. The transmitting lens barrel comprises a light outlet. The light outlet is located between the window sheet and the first sub-boss. The first boss is used as an extinction structure to separate the internal space of the laser radar at the transmitting end, which can effectively reduce the influence of stray light on the detection accuracy of the laser radar.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a lidar and autonomous driving device. Background Technology

[0002] As a high-precision detection instrument, lidar works by emitting a scanning beam through a transmitting module. The scanning beam is deflected by a scanning element and then directed toward the detection area. Targets within the detection area reflect the scanning beam to form an echo beam. The receiving module receives the echo beam and obtains the echo signal. The processor calculates parameters such as distance, reflectivity, or velocity based on the echo signal.

[0003] In related technologies, the surfaces of internal structural components or optical lenses of lidar typically have a certain reflectivity. Some light rays are reflected or scattered on the surfaces of these components or lenses, forming stray light. This stray light entering the main optical path directly affects the signal quality of the echo signal, thus impacting the detection accuracy of the lidar. Summary of the Invention

[0004] This application provides a lidar and an autonomous driving device, which aims to reduce the impact of stray light on the detection accuracy of lidar.

[0005] In a first aspect, embodiments of this application provide a lidar, which includes a housing, a window, a transmitting module, a receiving module, and a rotating mirror. The receiving module is located on one side of the rotating mirror, and the transmitting module is located on the other side of the rotating mirror. The housing includes a first opening and a first protrusion. The first protrusion includes a first sub-protrusion and a second sub-protrusion. The transmitting module includes a transmitting lens barrel. The window is embedded in the first opening. The first sub-protrusion is located between the transmitting lens barrel and the rotating mirror. The rotating mirror is located between the second sub-protrusion and the window. The transmitting lens barrel includes a light-emitting port, which is located between the window and the first sub-protrusion.

[0006] In some embodiments, the housing includes a top shell and a bottom shell. The top shell includes a first protrusion, and the bottom shell includes a second protrusion. The second protrusion is located on the side of the light-emitting port away from the window plate, and the first sub-protrusion and the second protrusion abut against each other. The abutment of the first sub-protrusion extending from the top shell and the second protrusion extending from the bottom shell forms an extinction structure to prevent stray light from entering the emission channel or the receiving channel, which helps to reduce the impact of stray light on the detection accuracy of the lidar.

[0007] In some embodiments, the top shell further includes a third protrusion, and the bottom shell further includes a fourth protrusion corresponding to the third protrusion. The third protrusion is located between the light-emitting port and the rotating mirror, and the fourth protrusion is located between the light-emitting port and the rotating mirror, with a gap between the third and fourth protrusions. The partial shell, the first sub-protrusion, the second protrusion, the third protrusion, and the fourth protrusion cooperate with each other to limit the propagation path of stray light in different directions and jointly define the emission channel corresponding to the scanning beam, preventing stray light from entering the emission channel.

[0008] In some embodiments, the emitting module further includes an emitting circuit board and a first reflector. The emitting lens barrel includes a first lens barrel, a second lens barrel, and a first bracket, wherein the first lens barrel is located between the first bracket and the emitting circuit board, and the first reflector is fixed to the first bracket; the light outlet is opened on the side of the second lens barrel near the rotating mirror, and the first bracket is located on the side of the second lens barrel away from the rotating mirror.

[0009] In some embodiments, a first aperture is provided on the side of the first lens barrel near the first support, wherein the aperture of the first aperture on the side near the first support is a first aperture, and the aperture on the other side of the first aperture away from the first support is a second aperture, and the first aperture is smaller than the second aperture. Because the scanning beam emitted from the emitting unit on the emitting circuit board has a divergence angle, when the scanning beam propagates within the first lens barrel, some edge beams are scattered or reflected by the inner wall of the emitting lens barrel, forming stray light that grazes into the main optical path and affects the detection accuracy of the lidar. Therefore, the aperture setting method of the first aperture can prevent edge beams from grazing into the main optical path.

[0010] In some embodiments, the receiving module includes a second reflector, a receiving circuit board, and a receiving lens barrel. The receiving lens barrel includes a third lens barrel and a second bracket, wherein the third lens barrel is located between the receiving circuit board and the second bracket, and the second reflector is fixed to the second bracket.

[0011] In some embodiments, the second support includes a substrate and a connecting portion, wherein the substrate is located between the third mirror barrel and the connecting portion; the connecting portion includes a first connecting portion and a second connecting portion, wherein the first connecting portion extends to one side of the substrate, the second connecting portion extends to the other side of the substrate, and the second reflector is located between the first connecting portion and the second connecting portion.

[0012] In some embodiments, the third lens barrel has a light entrance port on the side near the substrate. The substrate includes a first step, and the first step includes a first through hole, wherein the diameter of the first through hole is larger than the diameter of the light entrance port. The step wall of the first step and the light entrance port cooperate to form a multi-level step structure. This multi-level step structure serves as an anti-light texture to further prevent stray light from entering the third lens barrel, thereby improving the detection accuracy of the lidar.

[0013] In some embodiments, the receiving module further includes a filter, a light shield, and a receiving unit. The light shield includes a second opening, wherein the filter is embedded in the second opening, and the receiving unit is fixed to the receiving circuit board. The receiving unit is located within the cavity formed by the light shield, the filter, and the receiving circuit board. On one hand, the filter can filter the echo beam to remove stray light. On the other hand, the receiving unit is located within the cavity formed by the light shield and the receiving circuit board, thus forming a physical isolation structure to prevent stray light from reaching the photosensitive surface of the receiving unit, thereby further reducing the impact of stray light on the performance of the lidar.

[0014] Secondly, embodiments of this application provide an autonomous driving device, which includes a vehicle body and a lidar installed on the vehicle body, wherein the lidar is the lidar in any of the above embodiments.

[0015] In the lidar system provided in this application embodiment, various extinction structures such as bosses, apertures, and steps are designed to prevent stray light from entering the main optical path of the lidar, which helps to improve the detection accuracy of the lidar. In addition, these extinction structures are all integrated into the lidar's housing or transceiver tube, realizing the fusion of the extinction structure and the lidar structure, reducing system complexity. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0021] Figure 6 This is a schematic diagram of the structure of a transmitting module provided in an embodiment of this application;

[0022] Figure 7 This is a schematic diagram of the structure of a transmitting module provided in an embodiment of this application;

[0023] Figure 8 for Figure 7 A schematic diagram of the AA section;

[0024] Figure 9 This is a schematic diagram of the structure of a receiving module provided in an embodiment of this application;

[0025] Figure 10 This is a schematic diagram of the structure of a receiving module provided in an embodiment of this application;

[0026] Figure 11 This is a schematic diagram of the structure of a receiving module provided in an embodiment of this application;

[0027] Figure 12 for Figure 10 A schematic diagram of the BB cross section.

[0028] The annotations in the attached figures are explained as follows:

[0029] 10. Outer shell; 11. Top shell; 111. First sub-protrusion; 112. First opening; 113. Second sub-protrusion; 114. Third protrusion; 115. Fifth protrusion; 12. Bottom shell; 121. Second protrusion; 122. Fourth protrusion; 123. Sixth protrusion; 20. Emitting module; 21. Light outlet; 22. Emitting lens barrel; 221. First lens barrel; 2211. First aperture; 222. Second lens barrel; 2221. Second aperture; 2222. Matting surface; 223. First support; 23. Emitting unit; 24. First reflector; 25. Emitting lens; 26. Emitting... Circuit board; 30, receiving module; 31, receiving lens barrel; 311, third lens barrel; 3111, light inlet; 312, second bracket; 3121, substrate; 31211, first step; 3122, connecting part; 31221, second step; 31221a, first step wall; 31221b, second step wall; 31221c, third step wall; 32, receiving unit; 33, second reflector; 34, receiving lens; 35, light shield; 351, second opening; 36, receiving circuit board; 37, filter; 40, rotating mirror; 50, window plate; 60, connector. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] In related technologies, the surfaces of structural components or optical lenses located inside the housing of lidar typically have a certain reflectivity. When ambient light, part of the scanning beam, or part of the echo beam is incident on the surface of such components, it is easy to scatter or reflect, forming stray light, which enters the main optical path and affects the detection accuracy of lidar.

[0035] To address the aforementioned problems, embodiments of this application provide a lidar, with reference to... Figures 1 to 12 This aims to reduce the impact of stray light on the detection accuracy of lidar. In one embodiment, it combines... Figure 1 and Figure 2The lidar includes a housing 10, a transmitting module 20, a receiving module 30, a rotating mirror 40, a window 50, and a connector 60. The transmitting module 20, rotating mirror 40, and receiving module 30 are arranged sequentially along the Y-axis. The window 50, rotating mirror 40, and connector 60 are arranged sequentially along the Z-axis. The X-axis corresponds to the height of the lidar housing, and the Y-axis corresponds to the width of the lidar housing. The housing 10 includes a top shell 11 and a bottom shell 12. The top shell 11 covers the bottom shell 12 along the X-axis, and the two together form the internal cavity of the lidar. The transmitting module 20, receiving module 30, and rotating mirror 40 are all fixedly installed in the internal cavity of the lidar. The top shell 11 includes a first opening 112, and the window 50 is embedded in the first opening 112. The window 50 is a glass plate or a plastic plate used to transmit scanning beams and echo beams. The top shell 11 and bottom shell 12 are fastened together with screws, and a sealing strip is also filled between them. A sealing strip is also filled between the window piece 50 and the top shell 11. This sealing structure, with the outer shell 10 and the sealing strip, isolates the internal components of the LiDAR from the external environment, preventing dust or water vapor from affecting the normal operation of the internal components. The connector 60 includes a power interface and a data transmission interface. An external power supply is used to power the LiDAR through the power interface. The LiDAR interacts with external terminals via the data transmission port. For example, in a vehicle-mounted scenario, the LiDAR interacts with a domain controller or vehicle central controller via an Ethernet cable.

[0036] In one embodiment, the scanning beam emitted from the transmitting module is reflected by a reflective surface of the rotating mirror 40 and then projected onto the detection area through the transmission window 50. The echo beam formed by the target object within the detection area reflecting the scanning beam is transmitted through the window 50 and reflected by one of the reflective surfaces of the rotating mirror 40 to reach the receiving module 30. In one example, the lidar also includes a motor assembly for driving the rotating mirror 40 to rotate around a rotation axis parallel to the X-axis. The rotating mirror 40 can be a prism type such as a triangular prism, quadrangular prism, or pentaprism, and includes multiple reflective surfaces parallel to the X-axis. These reflective surfaces deflect the direction of the scanning beam or echo beam. During scanning, stray light may enter the main optical path (which includes the propagation path of the scanning beam and the propagation path of the echo beam) and be received by the receiving unit within the receiving module, affecting the accuracy of the echo signal and reducing the detection accuracy of the lidar.

[0037] In some embodiments, combined with Figures 3 to 12The extinction structure of the lidar in the embodiments of this application will be described. The extinction structure aims to prevent stray light from entering the propagation path of the scanning beam or the propagation path of the echo beam, thereby improving the detection accuracy of the lidar. In one embodiment, the extinction structure includes a boss to separate the spatial region where the propagation path of the scanning beam is located from other regions of the lidar's internal cavity. In one example, combined with... Figures 3 to 6 The transmitting module 20 includes a transmitting lens tube 22, and the transmitting lens tube 22 has a light exit port 21 on the side facing the rotating mirror 40. The propagation path of the scanning beam is as follows: the scanning beam emitted from the transmitting module 20 is emitted into the rotating mirror 40 through the light exit port 21, and then reflected by the reflective surface of the rotating mirror 40 before being transmitted through the window 50 and directed toward the detection area.

[0038] like Figure 4 and Figure 5 As shown, the upper shell 11 includes a first protrusion extending from the top shell 11 to the bottom shell 12 along a first direction (X-axis direction). The first protrusion includes a first sub-protrusion 111 and a second sub-protrusion 113, which are continuous, integral structures to prevent gaps from affecting the light-shielding effect. The first sub-protrusion 111 is located between the emitting lens barrel 22 and the rotating mirror 40. The rotating mirror 40 is located between the second sub-protrusion 113 and the window plate 50. The emitting lens barrel 22, the first sub-protrusion 111, the rotating mirror 40, and the receiving module 30 are arranged sequentially along a second direction (Y-axis direction), while the window plate 50, the rotating mirror 40, the second sub-protrusion 113, and the connector 60 are arranged sequentially along a third direction (Z-axis direction). The first sub-protrusion 111 is positioned near the edge of the light-emitting port 21. Considering that the rotating mirror 40 is in a rotating state during scanning, the second sub-protrusion 113 is set as an arc-shaped structure to avoid the rotating mirror 40. Thus, the first sub-protrusion 111 and part of the housing 10 define an emission channel for transmitting the scanning beam between the light outlet 21 and the rotating mirror 40. The propagation path of the scanning beam within the emission channel is: from the light outlet 21 to the rotating mirror 40. The separation of the emission channel from other spatial areas within the housing 10 by the first sub-protrusion 111 and the second sub-protrusion 113 helps reduce the influence of stray light and improve the detection accuracy of the lidar. Furthermore, the first sub-protrusion 111 is located on the side of the light outlet 21 away from the window 50, allowing it to avoid obstructing the scanning beam emitted from the light outlet 21.

[0039] In another example, the first protrusion also includes a third sub-protrusion extending from the top shell 11 to the bottom shell 12. The first sub-protrusion 111, the second sub-protrusion 113, and the third sub-protrusion are a continuous, integral structure to prevent gaps from affecting the light-shielding effect. The third sub-protrusion is located between the receiving lens barrel 31 and the rotating mirror 40 of the receiving module 30. The third sub-protrusion and part of the outer shell 10 define a receiving channel for the transmission of the echo beam between the receiving lens barrel 31 and the rotating mirror 40. The propagation path of the echo beam in the receiving channel includes: after the echo beam formed by the scanning beam emitted by the target object in the detection area is transmitted through the window 50, it is reflected by the reflective surface of the rotating mirror 40 towards the receiving module 30. The third sub-protrusion separates the receiving channel from the spatial area occupied by other structures within the outer shell 10, which helps prevent stray light from entering the receiving channel and improves the detection accuracy of the lidar.

[0040] In one embodiment, to further reduce the impact of stray light on the transmitter, this application also designs, as follows: Figure 3The light-shielding structure is shown. The bottom shell 12 includes a second protrusion 121 extending from the bottom shell 12 to the top shell 11 along the X-axis direction. The second protrusion 121 abuts against the first sub-protrusion 111 to enhance the light-shielding effect of the protrusion structure. Further, the top shell 11 includes a third protrusion 114 and a fifth protrusion 115 extending from the top shell 11 to the bottom shell 12 along the X-axis direction. The bottom shell 12 also includes a fourth protrusion 122 and a sixth protrusion 123 extending from the bottom shell 12 to the top shell 11 along the X-axis direction. The third protrusion 114 is correspondingly arranged with the fourth protrusion 122, and the fifth protrusion 115 is correspondingly arranged with the sixth protrusion 123. The window piece 50, the third protrusion 114, and the first sub-protrusion 111 are arranged sequentially along the Z-axis direction, and the window piece 50, the fourth protrusion 122, and the second protrusion 121 are arranged sequentially along the Z-axis direction. The light-emitting port 21, the third protrusion 114, and the rotating mirror 40 are arranged sequentially along the Y-axis. The light-emitting port 21, the fourth protrusion 122, and the rotating mirror 40 are also arranged sequentially along the Y-axis. A first gap exists between the third protrusion 114 and the fourth protrusion 122 along the X-axis, and a second gap exists between the fifth protrusion 115 and the sixth protrusion 123 along the X-axis. A portion of the outer shell 10, the first sub-protrusion 111, the second protrusion 121, the third protrusion 114, the fifth protrusion 115, the fourth protrusion 122, and the sixth protrusion 123 together define an emission channel between the light-emitting port 21 and the rotating mirror 40. The propagation path of the scanning beam within the emission channel includes: the scanning beam emitted from the light-emitting port 21 is transmitted sequentially through the first gap and the second gap before reaching the reflecting surface of the rotating mirror 40. The first sub-protrusion 111 and the second protrusion 121, together with the window 50, define the spatial area of ​​the transmission channel in the Z-axis direction, while the third protrusion 114, the fourth protrusion 122, the fifth protrusion 115, and the sixth protrusion 123 define the spatial area of ​​the transmission channel in the X-axis direction. The cooperation of these multiple protrusion structures prevents stray light from entering the transmission or receiving channel, further reducing the impact of stray light on the detection accuracy of the lidar.

[0041] In one embodiment, combined Figure 7 and Figure 8The extinction structure of the emitting module 20 is described below. The emitting module 20 includes an emitting lens barrel 22, an emitting unit 23, a first reflector 24, at least one emitting lens 25, and an emitting circuit board 26. In one example, the emitting lens barrel 22 includes a first lens barrel 221, a second lens barrel 222, and a first support 223. At least one emitting lens 25 is mounted on the first lens barrel 221 or the second lens barrel 222, and the first reflector 24 is mounted on the first support 223. The first lens barrel 221 is located between the first support 223 and the emitting circuit board 26, and the emitting unit 23 is fixedly mounted on the emitting circuit board 26. The light outlet 21 is located on the side of the second lens barrel 222 near the rotating mirror 40, and the first support 223 is located on the other side of the second lens barrel 222 away from the rotating mirror 40. The first lens barrel 221, the second lens barrel 222, and the first support 223 are either an integrally formed structure or a separate structure, wherein the separate structure is connected by a fixing method such as screw fastening, glue bonding, or snap-fit.

[0042] In one example, the emitting unit 23 is fixed at the center of the emitting circuit board 26, and the optical axis of the emitting lens installed in the first lens barrel 221 is perpendicular to the optical axis of the emitting lens installed in the second lens barrel 222. The center of the light-emitting surface of the emitting unit 23 is located on the optical axis of the emitting lens installed in the first lens barrel 221. Placing the emitting unit 23 at the center of the emitting circuit board 26 can reduce the edge light rays incident on the inner wall of the first lens barrel 221, thereby reducing the influence of stray light.

[0043] In one example, the scanning beam emitted from the emitting unit 23 propagates within the first mirror tube 221 and reaches the surface of the first reflecting mirror 24. The scanning beam is then reflected by the first reflecting mirror 24 and enters the second mirror tube 222. Finally, the scanning beam exits from the exit port 21 towards the rotating mirror 40. The first mirror tube 221 includes a first aperture stop 2211 at the end near the first support 223, and the second mirror tube 222 has an exit port 21 at the end away from the first support 223, and a second aperture stop 2221 at the end near the first support 223. Because the scanning beam emitted from the emitting unit 23 has a certain diffusion angle, some edge light rays will strike the inner wall of the emitting mirror tube during propagation. These edge light rays, after being scattered or reflected by the inner wall of the emitting mirror tube, will form stray light, which can then enter the propagation path of the scanning beam, affecting the detection accuracy of the lidar. Therefore, setting the first aperture 2211 can limit the propagation path of stray light at the light exit point of the first lens tube 221, and setting the second aperture 2221 can limit the propagation path of stray light at the light entrance point of the second lens tube 222, thereby preventing stray light from entering the propagation path of the scanning beam and affecting the detection accuracy of the lidar.

[0044] In one example, the aperture of the first aperture 2211 on the side closer to the first support 223 is the first aperture, and the aperture on the other side of the first aperture 2211 away from the first support 223 is the second aperture, wherein the first aperture is smaller than the second aperture. Since the first aperture 2211 has a certain thickness (along the Z-axis), its inner wall also reflects edge light, forming stray light. Therefore, tilting the inner wall of the first aperture 2211 can prevent stray light from grazing into the propagation path of the scanning beam.

[0045] In one example, the second lens barrel 222 also includes an extinction surface 2222 on the side facing the window plate 50, which is positioned near the edge of the light outlet 21. The extinction surface 2222 is tilted away from the rotating mirror 40, the normal of the extinction surface 2222 makes an angle of less than 90 degrees with the Y-axis, and the extinction surface 2222 is parallel to the X-axis. The extinction surface 2222 can deflect some of the stray light grazing onto it away from the propagation path of the scanning beam. That is, the tilted extinction surface 2222 can change the propagation path of some stray light, thereby reducing the impact of stray light on the detection accuracy of the lidar.

[0046] In some embodiments, the emitting unit is a linear array unit or a planar array unit comprising multiple lasers. The lasers include one or more combinations of vertical cavity surface emitting lasers (VCSELs) or edge emitting lasers (EELs).

[0047] In one embodiment, combined Figures 9 to 12 The extinction structure of the receiving module 30 is described below. The receiving module 30 includes a receiving lens barrel 31, a second reflector 33, at least one receiving lens 34, and a receiving circuit board 36. The receiving lens barrel 31 includes a third lens barrel 311 and a second support 312, wherein the second support 312, the third lens barrel 311, and the receiving circuit board 36 are arranged sequentially along the Z-axis. The second reflector 33 is fixed to the second support 312, and at least one receiving lens 34 is fixed inside the third lens barrel 311.

[0048] In one example, the second support 312 includes a substrate 3121 and a connecting portion 3122, with the substrate 3121 located between the third lens barrel 311 and the connecting portion 3122. The substrate 3121 and the third lens barrel 311 are fastened together by screws. The connecting portion 3122 includes a first connecting portion and a second connecting portion. The first connecting portion is formed extending along the Z-axis on one side of the substrate 3121, and the second connecting portion is formed along the Z-axis on the other side of the substrate 3121. A second reflector 33 is fixedly mounted between the first connecting portion and the second connecting portion, and the reflecting surface of the second reflector 33 is parallel to the X-axis. A first step 31211 is formed on the substrate 3121, and a first through hole is formed on the first step 31211. A light entrance port 3111 is formed on the side of the third lens barrel 311 near the second support 312, wherein the diameter of the first through hole is larger than the diameter of the light entrance port 3111. On the one hand, the first through-hole is used to avoid the echo beam, so that the echo beam can smoothly enter the third lens tube 311 from the light inlet 3111. On the other hand, the step wall of the first step 31211 and the light inlet 3111 together form a multi-layer step structure. This multi-layer step structure acts as an extinction texture with an extinction effect, further reducing the impact of stray light on the detection accuracy of the lidar.

[0049] In one example, a second step 31221 is formed on the side of the first connecting portion facing the second connecting portion, and a second step 31221 is formed on the side of the second connecting portion facing the first connecting portion. The second step 31221 includes a first step wall 31221a, a second step wall 31221b, and a third step wall 31221c. The first step wall 31221a is perpendicular to the X-axis direction, the second step wall 31221b is perpendicular to the Z-axis direction, and the third step wall 31221c is inclined in a direction away from the rotating mirror 40. The angle between the surface normal of the third step wall 31221c and the Y-axis is less than 90 degrees. The second step 31221 is used to deflect some stray light away from the light inlet 3111 to reduce the impact of stray light on the detection accuracy of the lidar.

[0050] In one example, the receiving module further includes a receiving unit 32, a light shield 35, and a filter 37. The receiving unit 32 is fixed to the receiving circuit board 36 and electrically connected to other electronic components on the receiving circuit board 36. The light shield 35 includes a second opening 351, in which the filter 37 is embedded. The light shield 35 is a cover with a light-shielding effect, and the light shield 35 is fixedly connected to the receiving circuit board 36 by screws, clips, or adhesive. The receiving unit 32 is located within the cavity formed by the light shield 35, the filter 37, and the receiving circuit board 36. The propagation path of the echo beam includes: the echo beam formed by the target object in the detection area reflecting the scanning beam is transmitted through the window 50, and then reflected by the rotating mirror 40 to reach the receiving module 30. The echo beam is directed from the gap between the first connecting part and the second connecting part to the second reflecting mirror 33, and then reflected by the second reflecting mirror 33 to the light entrance 3111. After entering the third lens barrel 311 through the light inlet 3111, the transmission filter 37 reaches the photosensitive surface of the receiving unit 32. Therefore, on the one hand, the filter 37 can filter the echo beam to remove stray light and improve the signal-to-noise ratio of the echo signal. On the other hand, the receiving unit 32 is located within the cavity formed by the light shield 35 and the receiving circuit board 36, which provides physical isolation, preventing stray light from reaching the photosensitive surface of the receiving unit 32, thereby further reducing the impact of stray light on the detection accuracy of the lidar.

[0051] In one embodiment, a plurality of receiving lenses are fixedly installed inside the third lens barrel 311, and a spacer ring is provided between two adjacent receiving lenses. The size of the spacer ring is set according to the aperture corresponding to the echo beam, so that stray light can be suppressed without blocking the echo beam.

[0052] In some embodiments, the receiving unit 32 is a linear array unit or a planar array unit, and the receiving unit 32 includes one or more combinations of avalanche photodiode (APD), single photon avalanche diode (SPAD), or silicon photomultiplier (SiPM).

[0053] In some embodiments, the inner walls of the transmitting and receiving lenses are treated with an anti-glare coating to reduce stray light generation. In one example, the inner walls of the transmitting and receiving lenses are coated with ink. In another example, both the transmitting and receiving lenses are made of metal, and their inner walls are anodized. By treating the inner walls of the transmitting and receiving lenses with an anti-glare coating, the absorption of stray light by the inner walls of the lenses can be enhanced, or the scattering or reflection of stray light on the inner walls of the lenses can be reduced, thereby improving the detection accuracy of the lidar.

[0054] In one embodiment, this application provides an autonomous driving device, which includes a central controller, a vehicle body, and a lidar as described in any of the above embodiments, mounted on the vehicle body. The central controller is used to adjust performance parameters of the lidar, such as scanning time, detection resolution, scanning field of view, and detection distance. The central controller is also used to realize intelligent driving functions such as target recognition, path planning, and vehicle steering based on the point cloud data collected by the lidar.

[0055] In some embodiments, the central controller is a field-programmable gate array (FPGA), a system-on-chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit, a micro controller unit (MCU), an application-specific integrated circuit (ASIC), or any combination thereof for implementing the relevant functions.

[0056] In the description of this application, it should be understood that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. The terms “and / or” and “and / or” as used herein describe the relationship between related objects, indicating that three relationships may exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship. The singular forms “a” and “an” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof, i.e., including any and all combinations of one or more of the associated listed items. Ordinal numbers such as “first” and “second” referenced in the embodiments of this application are merely identifiers and do not imply any particular order or relative importance.

[0057] In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The phrase "one or more embodiments" as used herein does not refer to the same embodiment, but rather to any suitable combination of specific features, structures, or characteristics. The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A lidar, characterized in that, It includes a housing, a window, a transmitting module, a receiving module, and a rotating mirror, wherein the receiving module is located on one side of the rotating mirror, and the transmitting module is located on the other side of the rotating mirror; The outer casing includes a first opening and a first protrusion. The first protrusion includes a first sub-protrusion and a second sub-protrusion. The transmitting module includes a transmitting lens barrel. The window is embedded in the first opening. The first sub-protrusion is located between the transmitting lens barrel and the rotating mirror. The rotating mirror is located between the second sub-protrusion and the window. The emitting lens barrel includes a light-emitting port, wherein the light-emitting port is located between the window plate and the first sub-protrusion.

2. The lidar according to claim 1, characterized in that, The outer casing includes a top shell and a bottom shell. The top shell includes a first protrusion, and the bottom shell includes a second protrusion. The second protrusion is located on the side of the light outlet away from the window plate, and the first protrusion and the second protrusion abut against each other.

3. The lidar according to claim 2, characterized in that, The top shell also includes a third protrusion, and the bottom shell also includes a fourth protrusion corresponding to the third protrusion. The third protrusion is located between the light outlet and the rotating mirror, and the fourth protrusion is located between the light outlet and the rotating mirror. There is a gap between the third protrusion and the fourth protrusion.

4. The lidar according to claim 1, characterized in that, The transmitting module further includes a transmitting circuit board and a first reflector. The transmitting mirror tube includes a first mirror tube, a second mirror tube, and a first bracket, wherein the first mirror tube is located between the first bracket and the transmitting circuit board, and the first reflector is fixed to the first bracket. The light outlet is located on the side of the second lens barrel closer to the rotating mirror, and the first bracket is located on the side of the second lens barrel away from the rotating mirror.

5. The lidar according to claim 4, characterized in that, A first aperture is provided on the side of the first lens barrel near the first support. The aperture of the first aperture on the side near the first support is the first aperture, and the aperture on the other side of the first aperture away from the first support is the second aperture. The first aperture is smaller than the second aperture.

6. The lidar according to claim 1, characterized in that, The receiving module includes a second reflector, a receiving circuit board, and a receiving lens barrel. The receiving lens barrel includes a third lens barrel and a second bracket, wherein the third lens barrel is located between the receiving circuit board and the second bracket, and the second reflector is fixed to the second bracket.

7. The lidar according to claim 6, characterized in that, The second support includes a base plate and a connecting portion, wherein the base plate is located between the third mirror barrel and the connecting portion; The connecting portion includes a first connecting portion and a second connecting portion, wherein the first connecting portion extends to one side of the substrate, the second connecting portion extends to the other side of the substrate, and the second reflector is located between the first connecting portion and the second connecting portion.

8. The lidar according to claim 7, characterized in that, The third lens barrel has a light inlet on the side near the substrate. The substrate includes a first step and a first through hole, wherein the diameter of the first through hole is larger than the diameter of the light inlet.

9. The lidar according to claim 6, characterized in that, The receiving module further includes a filter, a light shield, and a receiving unit. The light shield includes a second opening, wherein the filter is embedded in the second opening, and the receiving unit is fixed on the receiving circuit board. The receiving unit is located within the cavity formed by the light shield, the filter, and the receiving circuit board.

10. An autonomous driving device, characterized in that, Includes the vehicle body and the lidar as described in any one of claims 1 to 9, mounted on the vehicle body.

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