Optical system, transmitting device, receiving device and laser radar

Abstract

The present invention is applicable to the field of laser radar detection technology, and provides an optical system, a transmitting device, a receiving device, and a laser radar. The optical system includes an angle deflection member and a lens group arranged in sequence along the optical axis from the image plane to the object plane. The angle deflection member is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam emitted by the laser light source toward the optical axis, so that laser light greater than or equal to a preset proportion enters the lens group, and / or, to deflect at least part of the echo light in the outer edge area of ​​the echo light signal transmitted through the lens group toward the optical axis, so that echo light greater than or equal to a preset proportion enters the detector. The optical system, transmitting device, receiving device, and laser radar provided by the present invention allow more laser light to be irradiated onto the lens group and onto the detection target, or allow the echo light propagated through the lens group to be irradiated onto the detector more through the angle deflection member.

Description

Technical Field

[0001] The present invention belongs to the field of laser radar detection technology, and in particular relates to an optical system, a transmitting device, a receiving device and a laser radar. Background Art

[0002] LiDAR is a radar system that uses laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to transmit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, shape and other parameters, thereby detecting, tracking and identifying targets such as vehicles, aircraft, and missiles.

[0003] LiDAR generally consists of a transmitter and a receiver. The transmitter includes a laser light source and a transmitting optical system, while the receiver includes a detector and a receiving optical system. However, the current transmitting and receiving optical systems have simple structures and suffer from at least the following problems:

[0004] The laser light located in the outer edge area of ​​the laser beam emitted by the laser light source is easy to pass through one side of the transmitting optical system, and ultimately cannot be emitted by the transmitting optical system to illuminate the target; the echo light located in the outer edge area of ​​the echo light signal transmitted by the receiving optical system is easy to illuminate outside the receiving area of ​​the detection area, thereby causing this part of the echo light signal to be unable to be received, affecting the detection accuracy of the lidar. Summary of the Invention

[0005] The purpose of the present invention is to provide an optical system, a transmitting device, a receiving device and a laser radar, aiming to solve the technical problem of poor light output efficiency or poor light receiving efficiency of the optical system in the prior art.

[0006] The present invention is implemented as follows: in a first aspect, an optical system is provided, comprising an angle deflection member and a lens group arranged in sequence along the optical axis from the image plane to the object plane, wherein the angle deflection member is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam emitted by the laser light source toward the optical axis direction, so that a preset proportion of the laser light enters the lens group, and / or, to deflect at least part of the echo light in the outer edge area of ​​the echo light signal transmitted through the lens group toward the optical axis direction, so that a preset proportion of the echo light enters the detector.

[0007] In one embodiment, the lens group includes a first lens with positive refractive power, a second lens with negative refractive power, and a third lens with positive refractive power, which are arranged in sequence from the image plane to the object plane along the optical axis. The object side surface of the first lens is a spherical cylindrical surface, and the image side surface is a convex surface. The second lens is a biconcave lens. The object side surface of the third lens is a convex surface, and the image side surface is a concave surface.

[0008] In one embodiment, the convex surface of the first lens is aspherical.

[0009] In one embodiment, the first lens, the second lens and the third lens satisfy the relationship:

[0010] 1.5 <n1<1.6;2.0<n2<2.1;1.5<n3<1.6;

[0011] Wherein, n1 is the refractive index of the first lens at a wavelength of 950 nm, n2 is the refractive index of the second lens at a wavelength of 950 nm, and n3 is the refractive index of the third lens at a wavelength of 950 nm.

[0012] In one embodiment, the optical path of the optical system is 90 mm, the focal length of the optical system is 67 mm, and the back focal length of the optical system is 48.8 mm.

[0013] In one embodiment, the angle deflecting member is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

[0014] In a second aspect, an emitting device is provided, comprising a laser light source and an emitting optical system, wherein the laser light source is used to provide a laser beam, and the emitting optical system comprises an angle deflection member and a lens group arranged in sequence from the image plane to the object plane along the optical axis, wherein the angle deflection member is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam toward the optical axis direction, so that a laser light greater than or equal to a preset proportion enters the lens group, and the lens group is used to shape and emit the laser light transmitted by the angle deflection member.

[0015] In one embodiment, the lens group is a lens group in an optical system provided by each of the above embodiments.

[0016] In one embodiment, the angle deflecting member is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

[0017] In a third aspect, a receiving device is provided, comprising a detector and a receiving optical system, wherein the receiving optical system comprises an angle deflection member and a lens group arranged in sequence from the image plane to the object plane along the optical axis, wherein the lens group is used to receive, shape and emit echo light signals; the angle deflection member is used to deflect at least part of the echo light located in the outer edge area of ​​the echo light signal transmitted through the lens group toward the optical axis direction, so that the echo light greater than or equal to a preset proportion enters the detector, and the detector is used to receive and process the echo light signal transmitted through the angle deflection member.

[0018] In one embodiment, the lens group is a lens group in an optical system provided by each of the above embodiments.

[0019] In one embodiment, the angle deflecting member is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

[0020] In a fourth aspect, a laser radar is provided, comprising the transmitting device provided by the above embodiments and the receiving device provided by the above embodiments.

[0021] In one embodiment, the emitting device further includes a first optical filter located on the light-emitting side of the emitting optical system, wherein the first optical filter is used to allow the laser light to pass through and filter visible light;

[0022] And / or, the receiving device further includes a second optical filter located on the light incident side of the receiving optical system, the second optical filter being configured to allow the echo optical signal to pass through and filter visible light.

[0023] The technical effect of the present invention compared with the prior art is as follows: the optical system provided by the embodiment of the present invention is provided with an angle deflection member on the image plane side of the lens group, so that when the optical system is used as a transmitting optical system, under the premise of not changing the emission angle of the laser light source, the laser light located in the outer edge area can be transformed from its original propagation direction by the angle deflection member to tilt toward the optical axis, thereby increasing the energy of the laser light incident on the lens group and the collimation efficiency of the laser radar transmitting device, so that more laser light can be irradiated onto the detection target through the lens group; when used as a receiving optical system, the echo light located in the outer edge area can be transformed from its original propagation direction by the angle deflection member to tilt toward the optical axis, thereby allowing the echo light propagated through the lens group to be irradiated onto the detector more through the angle deflection member. It can be seen that the application of the optical system provided by the embodiment of the present invention can effectively improve the detection accuracy of the laser radar.

[0024] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 Schematic diagram of the structure of the transmitting device provided by an embodiment of the present invention, wherein the laser light source is not shown;

[0027] Figure 2 yes Figure 1 The optical path principle diagram of the transmitting device shown;

[0028] Figure 3 It is a structural diagram of a receiving device provided by an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 100, angle deflection element; 200, lens group; 210, first lens; 220, second lens; 230, third lens; 300, laser light source; 400, detector; 500, first filter. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0032] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0034] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0036] LiDAR generally consists of a transmitter and receiver. The transmitter includes a laser light source and a transmitting optical system, while the receiver includes a detector and a receiving optical system. The structures of the transmitting and receiving optical systems can be identical or different, depending on the light emission and reception performance.

[0037] To address the problems existing in the aforementioned transmitting optical system and / or receiving optical system, an embodiment of the present invention provides an optical system. This optical system can be used as both a transmitting optical system and a receiving optical system, and can also be used as an optical system that shares both the transmitting and receiving optical paths in a coaxial laser radar. The specific selection can be flexibly made based on the needs of use. When the above optical system is used as a transmitting optical system, it can allow as much laser light as possible to be irradiated onto the detection target; when the above optical system is used as a receiving optical system, it can transmit as much echo light signal as possible to the receiving area of ​​the detector.

[0038] Please refer to Figures 1 to 3 As shown, the optical system includes an angle deflection member 100 and a lens group 200 arranged in sequence along the optical axis from the image plane to the object plane. The angle deflection member 100 is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam emitted by the laser light source 300 toward the optical axis, so that a laser light greater than or equal to a preset proportion enters the lens group 200, and / or is used to deflect at least part of the echo light in the outer edge area of ​​the echo light signal transmitted through the lens group 200 toward the optical axis, so that a echo light greater than or equal to a preset proportion enters the detector 400.

[0039] Specifically, when the optical system provided in this embodiment is used as a transmitting optical system, the angle deflecting member 100 is used to deflect at least a portion of the laser light within the outer edge region of the laser beam emitted by the laser light source 300 toward the optical axis, so that a predetermined proportion or greater of the laser light enters the lens assembly 200. When the optical system provided in this embodiment is used as a receiving optical system, the angle deflecting member 100 is used to deflect at least a portion of the echo light within the outer edge region of the echo light signal transmitted through the lens assembly 200 toward the optical axis, so that a predetermined proportion or greater of the echo light enters the detector 400. When the optical system provided in this embodiment is used as an optical system shared by the transmitting optical path and the receiving optical path in a coaxial laser radar, the angle deflection element 100 is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam emitted by the laser light source 300 toward the optical axis, so that a laser light greater than or equal to a preset proportion enters the lens group 200, and is also used to deflect at least part of the echo light in the outer edge area of ​​the echo light signal transmitted through the lens group 200 toward the optical axis, so that a echo light greater than or equal to a preset proportion enters the detector 400.

[0040] The above-mentioned preset ratio can be set manually according to the light emission effect and / or the receiving effect. The lens group 200 in this embodiment may include one or more lenses, and the specific structure of the lens may be determined according to the light emission effect and / or the receiving effect. Specifically, when the optical system provided in this embodiment is used as a transmitting optical system, the lens group 200 in the currently existing transmitting optical system can be adopted, or it can be designed by itself according to the transmitting effect. When the optical system provided in this embodiment is used as a receiving optical system, the lens group 200 in the currently existing receiving optical system can be adopted, or it can be designed by itself according to the transmitting effect. When the optical system provided in this embodiment is used as an optical system shared by the transmitting optical path and the receiving optical path in a coaxial laser radar, the optical system used by the currently existing coaxial laser radar can be adopted, or it can be designed by itself according to the transmitting effect.

[0041] The angle deflector in this embodiment can take various forms, such as one or more wedge-shaped mirrors, a combination of one or more wedge-shaped mirrors and a plane mirror, or other components capable of deflecting the direction of light propagation. For example, the angle deflector can be two wedge-shaped mirrors symmetrically spaced along the optical axis; or it can be multiple wedge-shaped mirrors arranged around the optical axis. Of course, the angle deflector can also take other structures, as long as it can achieve the above-mentioned function.

[0042] For ease of description, the following description uses the optical system as a transmitting optical system as an example to explain the structure and effects of the optical system. It should be understood that when the optical system is used as a receiving optical system or an optical system that uses both the transmitting and receiving optical paths in a coaxial laser radar, its principles and effects are similar to those when the optical system is used as a transmitting optical system.

[0043] The operating principle of the laser radar using the optical system provided by the embodiment of the present invention is as follows:

[0044] The laser light source 300 generates a laser beam, which is first adjusted in angle by an angle deflection member to adjust the light propagation angle before being irradiated to the lens group 200. The laser beam is then emitted through the lens group 200 to the detection target, and then reflected by the detection target to form an echo light signal. The echo light signal is received by a receiving device and analyzed to obtain the corresponding detection data of the detection target.

[0045] In the above process, when the laser beam passes through the angle deflection member, the propagation direction of the laser light in the central area remains unchanged, and the propagation direction of at least part of the laser light in the outer edge area is deflected toward the central area (i.e., the direction of the optical axis). Figure 2 As shown, the light in the outer edge area may propagate in a direction parallel to the optical axis before passing through the angle deflection member. At this time, the angle between the propagation direction of the laser light and the optical axis is 0°. When the light-emitting position is far away from the center of the optical axis, most of the light beam will not be able to enter the lens group 200 if it does not pass through the angle deflection member. After passing through the angle deflection member, the angle between its propagation direction and the optical axis becomes an acute angle θ. At least part of the light that was originally unable to enter the lens group 200 can be irradiated onto the detection target through the lens group 200, thereby improving the light extraction efficiency of the lens group 200.

[0046] The optical system provided by the embodiment of the present invention has an angle deflection member added to the image plane side of the lens group 200. When the optical system is used as a transmitting optical system, without changing the emission angle of the laser light source 300, the laser light in the outer edge region can be transformed by the angle deflection member from its original propagation direction to tilt toward the optical axis, thereby increasing the energy of the laser light incident on the lens group 200 and the collimation efficiency of the laser radar transmitting device, so that more laser light can be irradiated onto the detection target through the lens group 200. When used as a receiving optical system, the echo light in the outer edge region can be transformed by the angle deflection member from its original propagation direction to tilt toward the optical axis, thereby allowing more echo light propagated through the lens group 200 to be irradiated onto the detector 400 through the angle deflection member 100. It can be seen that the application of the optical system provided by the embodiment of the present invention can effectively improve the detection accuracy of the laser radar.

[0047] In an optional embodiment, if Figure 1 and Figure 3As shown, the lens group 200 includes a first lens 210 with positive refractive power, a second lens 220 with negative refractive power, and a third lens 230 with positive refractive power, which are arranged in sequence from the image plane to the object plane along the optical axis. The object side surface of the first lens 210 is a spherical cylindrical surface and the image side surface is a convex surface. The second lens 220 is a biconcave lens. The object side surface of the third lens 230 is a convex surface and the image side surface is a concave surface.

[0048] In this embodiment, the light incident surface and the light emitting surface of the first lens 210 , the second lens 220 and the third lens 230 can be spherical surfaces or aspherical surfaces respectively, depending on the light emitting effect.

[0049] In addition, the materials of the first lens 210, the second lens 220 and the third lens 230 can be glass, plastic or a glass-plastic mixed material. The lens assembly 200 adopts the structure provided by this embodiment, which is simple in structure and easy to assemble.

[0050] In an optional embodiment, the convex surface of the first lens is an aspheric surface. The first lens in this embodiment integrates an aspheric surface and a cylindrical surface. The object-side cylindrical surface functions to correct the effect of the filter mask cylindrical surface on the optical system, and the image-side surface functions to initially receive the echo beam returned by the reflective surface and preliminarily correct aberrations. Traditional lidar optical systems typically consist of two lenses, a cylindrical lens and an aspheric lens. This embodiment integrates the aspheric and cylindrical surfaces into a single lens, which can reduce the number of lenses in the optical system, save the cost of the optical system, and reduce the weight of the optical system, which is conducive to achieving lightweight and miniaturization of the optical system.

[0051] In an optional embodiment, the first lens, the second lens and the third lens satisfy the relationship:

[0052] 1.5 <n1<1.6;2.0<n2<2.1;1.5<n3<1.6;

[0053] Wherein, n1 is the refractive index of the first lens at a wavelength of 950 nm, n2 is the refractive index of the second lens at a wavelength of 950 nm, and n3 is the refractive index of the third lens at a wavelength of 950 nm.

[0054] By rationally designing the surface shapes and refractive powers of the first, second, and third lenses so that the optical system satisfies the aforementioned relationship, the light spot size emitted by the optical system can be made smaller and meet a 45° field of view. If the refractive index of each of the above lenses does not meet the aforementioned refractive index range, the light focusing effect will be poor, resulting in a larger light spot size emitted by the optical system or failure to meet a 45° field of view.

[0055] In an optional embodiment, the optical length of the optical system is 90 mm, the focal length of the optical system is 67 mm, and the back focal length of the optical system is 48.8 mm.

[0056] Compared to traditional optical systems, the optical system provided in this embodiment reduces the optical path from 120-150mm to 90mm, the focal length (EFL) from 80-100mm to 67mm, and the back focal length (BFL) from 60-80mm to 48.8mm. This overall reduction in optical path effectively reduces the product diameter. Furthermore, this reduced optical path allows light to pass completely through the optical system without requiring retracement, reducing the overall length of the optical system and simplifying the structural design.

[0057] like Figure 2 and Figure 3 As shown, in an optional embodiment, the angle deflection member 100 is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

[0058] The angle deflection member adopts the structure provided in this embodiment. The mathematical relationship of the geometric angle of the light beam incident on the optical system is as follows: the angle between the propagation direction of the light and the optical axis before passing through the wedge mirror is 0°, the angle between the inclined surface of the wedge mirror and the optical axis is α, the refractive index of the wedge mirror is n1, and the angle θ between the propagation direction of the light and the main optical axis after passing through the wedge mirror is

[0059] θ=α-π / 2+arcsin(n1*cosα);

[0060] At this time, the angle θ is closer to the chief ray angle (CRA) of the lens assembly 200 , thereby effectively improving the light extraction efficiency of the lens assembly 200 .

[0061] The wedge-shaped mirror can be either an integral or split-type structure. The integral structure is easier to carry and assemble, while the split-type structure allows for different shapes based on the light output, extending its applicability.

[0062] Please refer to Figure 1 and Figure 2 As shown, in another embodiment of the present invention, a transmitting device is provided, comprising a laser light source 300 and a transmitting optical system. The laser light source 300 is used to provide a laser beam. The transmitting optical system includes an angle deflection member 100 and a lens assembly 200, which are arranged in sequence along the optical axis from the image plane to the object plane. The angle deflection member 100 is used to deflect at least a portion of the laser light in the outer edge region of the laser beam toward the optical axis, so that a predetermined proportion or greater of the laser light enters the lens assembly 200. The lens assembly 200 is used to shape and emit the laser light transmitted by the angle deflection member 100.

[0063] The laser light source 300 in this embodiment generally comprises multiple light sources arranged in an array, configured to emit array laser light. The emission optical system in this embodiment can not only shape the laser beam but also adjust its energy distribution. The lens assembly 200 in this embodiment can employ the lens assembly described in the optical systems of the aforementioned embodiments, which will not be described in detail here. The angle deflecting element 100 can also employ the configuration of the optical systems described in the aforementioned embodiments when used as the emission optical system, which will not be described in detail here.

[0064] The transmitting device provided by the embodiment of the present invention includes a laser light source 300 and a transmitting optical system, wherein the transmitting optical system includes an angle deflection member 100 and a lens group 200 arranged in sequence along the optical axis from the image plane to the object plane. The angle deflection member 100 is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam toward the optical axis, so that laser light greater than or equal to a preset proportion enters the lens group 200. In this way, without changing the emission angle of the laser light source 300, the laser light in the outer edge area can be transformed from its original propagation direction by the angle deflection member to tilt toward the optical axis, thereby increasing the energy of the laser light incident on the lens group 200 and the collimation efficiency of the transmitting device, so that more laser light can be irradiated onto the detection target through the lens group 200. Compared with the traditional laser radar transmitting device, the transmitting device provided by the embodiment of the present invention has the characteristics that the laser light source 300 can be arranged in an array and has high light output efficiency.

[0065] In an optional embodiment, the transmitting device further includes a filter cover located on the light-emitting side of the transmitting optical system, and the filter cover is used to filter visible light to improve the accuracy of laser radar detection using the transmitting device provided by this embodiment.

[0066] Please refer to Figure 3 As shown, in another embodiment of the present invention, a receiving device is provided, comprising a detector 400 and a receiving optical system. The receiving optical system includes an angle deflection member 100 and a lens assembly 200, which are arranged in sequence along the optical axis from the image plane to the object plane. The lens assembly 200 is used to receive, shape, and emit echo light signals. The angle deflection member 100 is used to deflect at least a portion of the echo light within the outer edge region of the echo light signal transmitted through the lens assembly 200 toward the optical axis, so that a predetermined proportion of the echo light enters the detector. The detector 400 is used to receive and process the echo light signal transmitted through the angle deflection member 100.

[0067] The lens group 200 in this embodiment can adopt the lens group in the optical system provided in the above embodiments, which will not be repeated here. The angle deflecting member 100 can also adopt the optical system provided in the above embodiments as the setting mode when used as the receiving optical system, which will not be repeated here.

[0068] The receiving device provided by an embodiment of the present invention includes a detector 400 and a receiving optical system. The receiving optical system includes an angular deflection member 100 and a lens group 200 arranged in sequence from the image plane to the object plane along the optical axis direction. The lens group 200 is configured to receive, shape, and emit the echo optical signal. The angular deflection member 100 is configured to deflect at least a part of the echo light rays located in the outer edge region in the echo optical signal conducted by the lens group 200 toward the optical axis direction, so that an echo light ray with a proportion greater than or equal to a preset ratio enters the detector. In this way, the echo light rays located in the outer edge region can change their original propagation directions through the angular deflection member to incline toward the optical axis direction, so that the echo light rays propagated through the lens group 200 can be irradiated onto the detector 400 more through the angular deflection member 100. In addition, for a receiving device without an angular deflection member, when the receiving field angle is β, the corresponding image height is y, while for the receiving device provided by this embodiment, when the field angle of the receiving lens group 200 is β, the distance from the detector 400 to the center of the optical axis is y', and y' < y, which reduces the size of the detector 400 arrangement and achieves the purpose of reducing the size of the lidar.

[0069] In an optional embodiment, the receiving device further includes a filter cover located on the incident light side of the receiving optical system. The filter cover is configured to filter visible light to improve the detection accuracy of the lidar using the receiving device provided by this embodiment.

[0070] In another embodiment of the present invention, a lidar is provided, which includes the transmitting device provided by each of the above embodiments and the receiving device provided by each of the above embodiments.

[0071] Please refer to Figure 1 As shown, in an optional embodiment, the transmitting device further includes a first filter member 500 located on the outgoing light side of the transmitting optical system. The first filter member 500 is configured to allow the laser light to pass through and filter visible light;

[0072] And / or, the receiving device further includes a second filter member located on the incident light side of the receiving optical system. The second filter member is configured to allow the echo optical signal to pass through and filter visible light.

[0073] The first filter member 500 and the second filter member are respectively configured to filter visible light to improve the detection accuracy of the lidar using the transmitting device and / or the receiving device provided by this embodiment 5.

[0074] The above are only the preferred embodiments of the present invention, and only the technical principles of the present invention are specifically described. These descriptions are only for explaining the principles of the present invention and cannot be interpreted in any way as a limitation on the protection scope of the present invention. Based on this explanation, any modification made within the spirit and principle of the present invention, etc.

[0075] The same replacements and improvements, as well as other specific embodiments of the present invention that can be thought of by those skilled in the art without creative work, should all be included in the protection scope of the present invention.

Claims

1. An optical system, characterized in that: It includes an angle deflection member and a lens group arranged in sequence along the optical axis from the image plane to the object plane. The angle deflection member is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam emitted by the laser light source toward the optical axis, so that the laser light enters the lens group in a proportion greater than or equal to a preset proportion, and / or is used to deflect at least part of the echo light in the outer edge area of ​​the echo light signal transmitted through the lens group toward the optical axis, so that the echo light enters the detector in a proportion greater than or equal to a preset proportion.

2. The optical system according to claim 1, wherein The lens group includes a first lens with positive refractive power, a second lens with negative refractive power, and a third lens with positive refractive power, which are arranged in sequence from the image plane to the object plane along the optical axis. The object side surface of the first lens is a spherical cylindrical surface, and the image side surface is a convex surface. The second lens is a biconcave lens. The object side surface of the third lens is a convex surface, and the image side surface is a concave surface.

3. The optical system according to claim 2, wherein: The convex surface of the first lens is aspherical.

4. The optical system according to claim 2, wherein: The first lens, the second lens and the third lens satisfy the relationship: 1.5 <n1<1.6;2.0<n2<2.1;1.5<n3<1.6; Wherein, n1 is the refractive index of the first lens at a wavelength of 950 nm, n2 is the refractive index of the second lens at a wavelength of 950 nm, and n3 is the refractive index of the third lens at a wavelength of 950 nm.

5. The optical system according to any one of claims 1 to 4, wherein: The angle deflecting member is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

6. A launching device, characterized in that: It includes a laser light source and an emitting optical system, wherein the laser light source is used to provide a laser beam, and the emitting optical system includes an angle deflection member and a lens group arranged in sequence from the image plane to the object plane along the optical axis. The angle deflection member is used to deflect at least part of the laser light in the outer edge area of ​​the laser beam toward the optical axis, so that the laser light greater than or equal to a preset proportion enters the lens group, and the lens group is used to shape and emit the laser light transmitted by the angle deflection member.

7. The transmitting device according to claim 6, characterized in that The lens group includes a first lens with positive refractive power, a second lens with negative refractive power, and a third lens with positive refractive power, which are arranged in sequence from the image plane to the object plane along the optical axis. The object side surface of the first lens is a spherical cylindrical surface, and the image side surface is a convex surface. The second lens is a biconcave lens. The object side surface of the third lens is a convex surface, and the image side surface is a concave surface.

8. The transmitting device according to claim 7, wherein: The convex surface of the first lens is aspherical.

9. The transmitting device according to claim 8, characterized in that The first lens, the second lens and the third lens satisfy the relationship: 1.5 <n1<1.6;2.0<n2<2.1;1.5<n3<1.6; Wherein, n1 is the refractive index of the first lens at a wavelength of 950 nm, n2 is the refractive index of the second lens at a wavelength of 950 nm, and n3 is the refractive index of the third lens at a wavelength of 950 nm.

10. The transmitting device according to any one of claims 6 to 9, characterized in that: The angle deflecting member is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

11. A receiving device, characterized in that: It includes a detector and a receiving optical system, the receiving optical system includes an angle deflection member and a lens group arranged in sequence along the optical axis from the image plane to the object plane, the lens group is used to receive, shape and emit the echo light signal; the angle deflection member is used to deflect at least part of the echo light located in the outer edge area of ​​the echo light signal transmitted through the lens group toward the optical axis, so that the echo light greater than or equal to a preset proportion enters the detector, and the detector is used to receive and process the echo light signal transmitted through the angle deflection member.

12. The receiving device according to claim 11, wherein The lens group includes a first lens with positive refractive power, a second lens with negative refractive power, and a third lens with positive refractive power, which are arranged in sequence from the image plane to the object plane along the optical axis. The object side surface of the first lens is a spherical cylindrical surface, and the image side surface is a convex surface. The second lens is a biconcave lens. The object side surface of the third lens is a convex surface, and the image side surface is a concave surface.

13. The receiving device according to claim 12, wherein: The convex surface of the first lens is aspherical.

14. The receiving device according to claim 12, wherein: The first lens, the second lens and the third lens satisfy the relationship: 1.5 <n1<1.6;2.0<n2<2.1;1.5<n3<1.6; Wherein, n1 is the refractive index of the first lens at a wavelength of 950 nm, n2 is the refractive index of the second lens at a wavelength of 950 nm, and n3 is the refractive index of the third lens at a wavelength of 950 nm.

15. The receiving device according to any one of claims 11 to 14, characterized in that: The angle deflecting member is a wedge-shaped mirror, which includes a light incident surface and a light emitting surface. The light emitting surface includes a first light emitting area parallel to the light incident surface, and a conical surface surrounding the first light emitting area. The aperture of the conical surface gradually increases from the first light emitting area to the light incident surface.

16. A laser radar, characterized in that: It comprises the transmitting device according to any one of claims 6 to 10 and the receiving device according to any one of claims 11 to 15.

17. The laser radar according to claim 16, wherein: The emitting device further includes a first filter located on the light-emitting side of the emitting optical system, the first filter being used to allow the laser light to pass through and filter visible light; And / or, the receiving device further includes a second optical filter located on the light incident side of the receiving optical system, the second optical filter being configured to allow the echo optical signal to pass through and filter visible light.

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