Lidar and automatic driving apparatus

Abstract

The invention discloses a laser radar and automatic driving equipment. The laser radar comprises a light deflection scanning element and at least one transceiving module. The transmitting and receiving module comprises a transmitting assembly, a beam shrinking mirror, a receiving assembly and a spectroscope, the beam shrinking mirror comprises an incident plane facing the transmitting assembly, the incident plane comprises a first incident plane, a step surface and a second incident plane, and the first incident plane and the second incident plane are arranged at an interval in the emergent direction of emergent beams; the step surface is connected between the first incident surface and the second incident surface; the laser radar is provided with a first light extinction structure, and the first light extinction structure is used for carrying out light extinction on light emitted by a laser beam to a transition area formed by the edge, adjacent to the step surface, of the first incident surface, the step surface and the edge, adjacent to the step surface, of the second incident surface. The laser radar provided by the invention can reduce the generation of stray light, and alleviates the phenomenon that the receiving module is saturated in advance due to excessive stray light in the related technology.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a laser radar and an autonomous driving device using the laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target characteristics such as position and speed. Its working principle is to first emit a detection laser beam to the target, then receive the signal reflected from the target, compare the received signal with the transmitted signal, and after appropriate processing, obtain relevant information about the target, such as target distance, direction, altitude, speed, attitude, and even shape.

[0003] In the related technology, in the transceiver system of the coaxial system laser radar, since the transmitting optical path and the receiving optical path mostly overlap, different degrees of scattering and reflection will occur when the transmitting light and the receiving light propagate in the optical path, thereby generating a large amount of stray light. The stray light will enter the receiving device through the receiving optical path, causing the receiving device to be saturated prematurely, thereby causing the laser radar to have a close-range blind spot. Summary of the invention

[0004] The embodiments of the present application provide a laser radar and an autonomous driving device that can reduce the generation of stray light and alleviate the phenomenon in the related art where the receiving module becomes saturated prematurely due to excessive stray light.

[0005] In a first aspect, an embodiment of the present application provides a laser radar, which includes a light deflection scanning element and at least one transceiver module;

[0006] The transceiver module comprises:

[0007] A transmitting assembly, for generating an outgoing light beam;

[0008] A beam reducer, used for performing spot compression on the outgoing light beam;

[0009] a receiving component, configured to receive the reflected light beam; and

[0010] A beam splitter, used to emit the outgoing light beam from the beam reducer, and also used to deflect the received reflected light beam to the receiving component;

[0011] The light deflection scanning element is used to deflect the outgoing light beam from the transceiver module to the measured area, and is also used to receive the reflected light beam returned from the measured area and deflect it to the transceiver module;

[0012] The beam reducer includes an incident surface facing the emitting assembly, the incident surface includes a first incident surface, a step surface and a second incident surface, the first incident surface and the second incident surface are arranged at intervals in the exit direction of the exit light beam, and the step surface is connected between the first incident surface and the second incident surface;

[0013] The laser radar is provided with a first extinction structure, which is used to extinct the light of the laser beam emitted to the transition area formed by the edge of the first incident surface adjacent to the step surface, the step surface and the edge of the second incident surface adjacent to the step surface.

[0014] In one embodiment, the first matt structure includes a structural aperture arranged in front of the incident surface and blocking the transition area, a matt material layer covering the transition area, a chamfered structure formed in the transition area, a groove structure formed in the transition area, and at least one of a rough surface structure formed in the transition area.

[0015] In one embodiment, the first incident surface is located in front of and below the second incident surface;

[0016] The transceiver module comprises a housing for accommodating the beam reducer, the housing comprises a bottom surface located below the beam reducer, and a gap is formed between the lower edge of the first incident surface and the bottom surface;

[0017] The laser radar also includes a second extinction structure, which is used to extinct the light located in the gap in the outgoing light beam emitted by the transmitting component to the beam reducer.

[0018] In one embodiment, the second light extinction structure includes a structural aperture disposed in front of the incident surface, protruding from the bottom surface and shielding the gap.

[0019] In one embodiment, a focusing slope is further provided at the bottom of the focusing mirror, and the bottom surface includes an inclined surface segment arranged at a relative interval to the focusing slope;

[0020] The second matt structure includes a matt material layer covering the inclined surface segment.

[0021] In one embodiment, the transmitting assembly includes a transmitting module and a collimating module, and the transceiver module includes a housing for accommodating the collimating module and the beam reducer;

[0022] The housing forms a first light channel between the collimating module and the beam reducer. At least a portion of the inner wall of the first light channel is recessed to form a first extinction cavity. The first extinction cavity is adjacent to the light incident surface of the beam reducer.

[0023] In one embodiment, the collimation module comprises a fast-axis collimation module and a slow-axis collimation module which are arranged at intervals in the emission direction of the outgoing light beam;

[0024] The housing forms a second optical channel between the fast-axis collimation module and the slow-axis collimation module, and at least a portion of the inner wall of the second optical channel is recessed to form a second extinction cavity.

[0025] In one embodiment, the laser radar further includes a folding mirror, which is disposed between the transceiver module and the light deflection scanning element, and is used to direct the outgoing light beam emitted by the transceiver module toward the light deflection scanning element, and is also used to direct the reflected light beam from the light deflection scanning element toward the transceiver module;

[0026] The laser radar also includes a third extinction structure, which is used to extinct the light of the outgoing light beam or the reflected light beam directed to the edge of the reflecting mirror.

[0027] In one embodiment, the third extinction structure includes a structured aperture for shielding the edge of the folding mirror in the emission direction of the laser beam;

[0028] And / or, the third matt structure includes a matt material layer covering the edge of the folding mirror.

[0029] In a second aspect, an embodiment of the present application proposes an autonomous driving device, comprising a device body and a laser radar as described above installed on the device body.

[0030] Based on the above embodiments, a first extinction structure is provided in the laser radar, and the first extinction structure realizes extinction processing of the stray light of the beam reducer in the transceiver module, especially realizes extinction of the light in the transition area formed by the edge of the step surface adjacent to the first incident surface, the step surface and the edge of the step surface adjacent to the second incident surface. In this way, the reflection and scattering of the key edges and platform areas on the beam reducer can be reduced, thereby effectively reducing the stray light in the laser radar and avoiding the phenomenon of premature saturation of the receiving component due to stray light. In this way, the distance detection performance of the laser radar can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0032] Figure 1 This is a schematic diagram of the structure of an embodiment of the laser radar of the present application;

[0033] Figure 2 This is a schematic diagram of the internal structure of a transceiver module according to an embodiment of the present application;

[0034] Figure 3 This is a schematic structural diagram of an embodiment of a beam reducer of the present application;

[0035] Figure 4 This is a schematic diagram of the internal structure of a transceiver module according to another embodiment of the present application;

[0036] Figure 5 for Figure 4 The enlarged schematic diagram at A in the middle;

[0037] Figure 6 This is a structural schematic diagram of another embodiment of the beam reducer of the present application;

[0038] Figure 7 This is a schematic structural diagram of another embodiment of the beam reducer of the present application;

[0039] Figure 8 This is a schematic diagram of the internal structure of a transceiver module according to another embodiment of the present application;

[0040] Fig. 9 for Figure 8 The enlarged schematic diagram of point B in the middle;

[0041] Fig.10 This is a schematic diagram of the internal structure of a transceiver module according to another embodiment of the present application;

[0042] Fig.11 This is a schematic diagram of the structure of a reflective mirror with a third extinction structure in the laser radar of the present application.

[0043] Description of Figure Numbers:

[0044] 100, transceiver module; 110, housing; 111, housing; 112, cover; 113, bottom surface; 114, inclined surface segment; 115, first optical channel; 116, first extinction cavity; 117, second optical channel; 118, second extinction cavity; 120, transmitting assembly; 130, transmitting module; 140, collimation module; 141, fast axis collimation module; 142, slow axis collimation module; 150, receiving assembly; 160, receiving module; 170, focusing module; 171, first receiving module; 172 , reflection module; 173, second receiving module; 180, focusing mirror; 181, incident surface; 182, first incident surface; 183, step surface; 184, second incident surface; 185, transition area; 186, exit surface; 187, focusing slope; 180a, first extinction structure; 180b, second extinction structure; 190, spectrometer; 200, light deflection scanning element; 300, optical window mirror; 400, housing; 500, return mirror; 500a, third extinction structure; 600, laser radar.

[0045] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the following part will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0047] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0048] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0050] In the related technology, in the transceiver system of the coaxial laser radar, since the transmitted light and the received light in the coaxial system mostly overlap, different degrees of scattering and reflection will occur when the transmitted light and the received light propagate in the optical path, thereby generating a large amount of stray light. The stray light will enter the receiving device through the receiving optical path, causing the receiving device to be saturated prematurely, thereby causing the laser radar to have a close-range blind spot.

[0051] In response to the above problems, an embodiment of the present application provides a laser radar that can reduce the generation of stray light, alleviate the phenomenon in the related art that the laser receiving module is prematurely saturated due to excessive stray light, and improve the close-range detection performance of the laser radar.

[0052] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0053] See also Figure 1 , Figure 1 The laser radar provided in the embodiment of the present application includes a housing 400 , an optical window mirror 300 , a light deflection scanning element 200 , a folding mirror 500 and at least one transceiver module 100 .

[0054] The housing 400 serves as a mounting carrier for the components in the entire laser radar. The optical window mirror 300 , the light deflection scanning element 200 , the return mirror 500 and at least one transceiver module 100 are all mounted on the housing 400 .

[0055] exist Figure 1In the exemplary scheme, five transceiver modules 100 are arranged side by side. It can be understood that the number of transceiver modules 100 can also be one, two, three, .... six, etc., and this application does not limit it. The optical deflection scanning element 200 is arranged on the same side of the multiple transceiver modules 100, and the return mirror 500 is arranged between the optical window mirror 300 and the optical deflection scanning element 200. Among them, the number of the return mirrors 500 is the same as the number of the transceiver modules 100, that is, when five transceiver modules 100 are arranged side by side, the number of the return mirrors 500 is also five, and the return mirrors 500 correspond to the transceiver modules 100 one by one. The outgoing light beams generated by the multiple transceiver modules 100 are deflected by the corresponding return mirrors 500 and then directed to the optical deflection scanning element 200, and the optical deflection scanning element 200 further deflects the direction of the outgoing light beam and transmits the optical window mirror 300 to the measured area. A plurality of outgoing light beams are reflected by the measured area to form a plurality of reflected light beams, which then pass through the optical window mirror 300 in turn, and are deflected by the direction of the return mirror 500 and the light deflection scanning element 200 before returning to the corresponding transceiver module 100. The above structural arrangement makes the structure of the laser radar more compact, which is conducive to its miniaturized design.

[0056] See also Figure 2 , Figure 2 yes Figure 1 The internal structure diagram of the transceiver module 100 of the embodiment is shown. The transceiver module 100 includes: a housing 110 , a transmitting component 120 , a receiving component 150 , a beam reducer 180 and a beam splitter 190 .

[0057] The transmitting assembly 120 includes a transmitting module 130 and a collimating module 140. The transmitting module 130 is used to generate an outgoing light beam. Specifically, the transmitting module 130 may include an emitter and a transmitting board, and a driving circuit for driving the transmitter to operate is provided on the transmitting board. The collimating module 140 is used to collimate the laser emitted by the transmitting module 130. Exemplarily, the collimating module 140 adopts a lens system. The outgoing light beam emitted by the transmitting module 130 is converted into collimated light through the lens system (collimating module 140). Exemplarily, the collimating module 140 may include a fast-axis collimating module 141 and a slow-axis collimating module 142, and the fast-axis collimating module 141 and the slow-axis collimating module 142 are respectively an integrated structure, for example, the fast-axis collimating module 141 is a fast-axis collimating lens, and the slow-axis collimating module 142 is a slow-axis collimating lens. By using the fast collimating lens and the slow collimating lens in the form of a monolithic mirror, the structure can be simplified, the difficulty of light adjustment can be reduced, and it is also convenient for mass production and assembly.

[0058] The beam reducer 180 is arranged in the emission direction of the collimating module 140 . The beam reducer 180 is used to compress the light spot of the emission light beam after being collimated by the collimating module 140 . The arrangement of the beam reducer 180 can improve the light spot energy density of the emission light beam.

[0059] The receiving assembly 150 includes a receiving module 160 and a focusing module 170. The receiving module 130 may include a receiver and a receiving board, on which a driving circuit for driving the receiver is provided. In this embodiment, the focusing module 170 is used to receive the reflected light beam reflected from the light deflection scanning element 200 and converge it to the receiving module 160. Exemplarily, the focusing module 170 includes a first receiving module 171, a reflecting module 172 and a second receiving module 173; wherein the first receiving module 171 is used to converge the reflected light beam and direct it to the reflecting module 172; the second receiving module 173 is arranged in the light reflection direction of the reflecting module 172, and is used to further converge the reflected light beam reflected by the light reflecting module 172 and direct it to the receiving module 160.

[0060] The first receiving module 171 and the second receiving module 173 may be receiving lenses, the reflecting module 172 may be a reflecting mirror, and the first receiving mirror, the second receiving mirror and the reflecting mirror may be integrated lenses, respectively, which may simplify the module structure and facilitate mass production and assembly.

[0061] The beam splitter 190 is disposed between the beam reducer 180 and the focusing module 170. The beam splitter 190 is used to make the outgoing light beam from the beam reducer 180 to be emitted to the return mirror 500 and the light deflection scanning element in sequence, and is also used to deflect the received reflected light beam reflected by the light deflection scanning element and the return mirror 500 to the focusing module 170.

[0062] The housing 110 may include a box shell 111 with an inner cavity and a cover 112 covering the box shell 111. Of course, the specific form of the housing 110 is not limited. In the above structure, the transmitting module 130 and the receiving module 160 are located outside the housing 110 and on one side of the housing 110, while the collimating module 140, the beam reducer 180, the beam splitter 190 and the focusing module 170 are all arranged in the inner cavity of the housing 110. Among them, the housing 110 is respectively provided with corresponding light holes on the side facing the transmitting module 130 and the receiving module 160, and on the side facing the light deflection scanning element 200. With such a structural arrangement, the transceiver module 100 can be modularly assembled, which is convenient for production and manufacturing.

[0063] Please refer to Figures 3 to 5 , Figure 3 for Figure 2The structural schematic diagram of the beam reducer 180 shown in the embodiment. The beam reducer 180 includes an incident surface 181 facing the emitting assembly 120, an exit surface 186 facing the beam splitter, and a beam reduction slope 187 located between the incident surface 181 and the exit surface 186, wherein the area of ​​the exit surface 186 is smaller than the area of ​​the incident surface 181. The light beam collimated by the collimation module 140 is emitted toward the incident surface 181, and part of the light beam is reflected by the beam reduction slope 187 and the wave plate in the beam reducer 180, and finally emitted from the exit surface 186 to the beam splitter 190, thereby achieving the effect of light spot compression to improve the energy density of the exiting light beam.

[0064] In this embodiment, the incident surface 181 includes a first incident surface 182, a step surface 183 and a second incident surface 184. The first incident surface 182 and the second incident surface 184 are arranged at intervals in the emission direction of the outgoing light beam, and the step surface 183 is connected between the first incident surface 182 and the second incident surface 184. Figure 4 and Figure 5 The laser radar of the present application is provided with a first extinction structure 180a, which is used to illuminate the transition area 185 (i.e., the edge of the first incident surface 182 adjacent to the step surface 183, the step surface 183, and the edge of the second incident surface 184 adjacent to the step surface 183) formed by the laser beam incident on the first incident surface 182 adjacent to the step surface 183. Figure 3 and Figure 5 The light in the area enclosed by the dotted line is extinguished.

[0065] It is understandable that the beam reducer 180 can effectively reduce the aperture of the emission spot without changing the emission divergence angle while maintaining the emission optical index unchanged. However, due to the relatively complex structure of the optical device of the beam reducer 180, stray light will be generated. For example, the outgoing light beam is reflected multiple times in the beam reducer 180. During this process, the light beam is prone to form stray light in the corner area of ​​the beam reducer 180. The stray light will cause the leading edge of the laser radar to increase, and will also cause a relatively serious high-reflection expansion phenomenon when encountering high reflection. In severe cases, radar ghost images will be generated, resulting in misidentification of the laser radar.

[0066] The present application, on the other hand, provides a first extinction structure 180a in the laser radar, and the first extinction structure 180a realizes extinction processing of the stray light of the beam reducer 180 in the transceiver module 100, especially realizes extinction of the light in the transition area 185 formed by the edge of the first incident surface 182 adjacent to the step surface 183, the step surface 183 and the edge of the second incident surface 184 adjacent to the step surface 183. In this way, the reflection and scattering of the key edges and platform areas on the beam reducer 180 can be reduced, thereby effectively reducing the stray light in the laser radar and avoiding the phenomenon of premature saturation of the receiving component 150 due to the stray light. In this way, the distance detection performance of the laser radar can be effectively improved.

[0067] The specific forms of the first matte structure 180a of the present application can be various. In one structural form, for example Figure 4 and Figure 5 As shown, the first extinction structure 180a may include a structured aperture that is arranged in front of the incident surface 181 and blocks the transition region 185. In this embodiment, a portion that blocks the transition region 185 may be formed on the housing 110 to form the structured aperture, or a light-blocking component may be installed on the housing 110 to form the structured aperture. The arrangement of the structured aperture may prevent the outgoing light beam from entering from the position of the transition region 185 in the outgoing direction and from being reflected multiple times in the transition region 185 to form stray light.

[0068] Please refer to Figure 6 In another structural form, the first matte structure 180a may be a matte material layer covering the transition region 185. In this embodiment, the matte material layer may be formed by ink coating, matte paint coating, light absorbing film coating, glue dispensing, etc., for example Figure 6 The exemplary embodiment shows a scheme of applying ink to the transition area to form a matte material layer. The provision of the matte material layer, on the one hand, prevents the outgoing light beam from entering from the position of the transition area 185 in the outgoing direction, so as to reduce stray light at the source, and on the other hand, extinguishes the light reflected from the beam reducer 180 to the transition area 185, thus reducing the formation of stray light from two aspects.

[0069] In addition, please refer to Figure 7 The first matt structure 180a may also be a chamfered structure formed in the transition region 185, a groove structure formed in the transition region 185, a rough surface structure formed in the transition region 185, or other physical structural forms. In this embodiment, when the first matt structure 180a is in the above physical structural forms, the process of the light reflected from the beam reducer 180 to the transition region 185 forming multiple reflections in the transition region 185 can be effectively blocked, thereby effectively reducing the formation of stray light.

[0070] It can be understood that the first extinction structure 180a of the present application can also be a combination of at least two of the various structural forms listed above, which can further ensure the effect of reducing the stray light formed in the beam reducer 180.

[0071] Please refer to Figure 8 and Fig. 9 , the first incident surface 182 is located in front of and below the second incident surface 184. The housing 110 includes a bottom surface 113 located below the beam reducer 180, and a gap is formed between the lower edge of the first incident surface 182 (i.e., the beam reducer slope 187) and the bottom surface 113. The laser radar of the present application also includes a second extinction structure 180b, which is used to extinct the light in the gap in the outgoing light beam emitted by the transmitting component 120 to the beam reducer 180.

[0072] The outgoing light beam directed toward the gap will generate stray light due to the reflection of the bottom surface 113 of the casing 110. Such stray light will cause a clear light spot shape in the side lobes of the light spot of the outgoing light beam, which will result in severe high anti-expansion or more serious ghost images. Therefore, the embodiment can effectively improve the above situation through the setting of the second extinction structure 180b, thereby improving the performance of the laser radar.

[0073] Specifically, the focusing slope 187 is located behind the first incident surface 182 in the direction of the outgoing light beam, and extends from the lower edge toward the oblique upper side, and the bottom surface 113 includes an inclined surface segment 114 arranged at a relative interval from the focusing slope 187. In one structural form, the second matt structure 180b includes a matt material layer covering the inclined surface segment 114. The specific form of the matt structure material layer used in the second matt structure 180b of this embodiment can be in the form of the matt material layer of the first matt structure 180a, that is, it can also be formed by means of ink coating, matt paint coating, light-absorbing film coating, glue dispensing, etc. Through the provision of the matt material layer, the light of the outgoing light beam entering the gap is not easy to form multiple round-trip refraction phenomena, so that this part of the light is not easy to enter the focusing mirror 180 again to form stray light.

[0074] Please refer again Fig. 9 , and in another structural form of the second light extinction structure 180b, it can also be a structured aperture that is arranged in front of the incident surface 181, protrudes from the bottom surface 113, and blocks the lower edge of the first incident surface 182. The structured aperture of this embodiment can be a protruding structure formed by the housing 110, or a light shielding member additionally installed on the housing 110. Through the arrangement of the structured aperture, light can be prevented from entering the gap from the source, thereby effectively avoiding the situation where the light is repeatedly reflected in the gap.

[0075] It should be emphasized here that the specific form of the second extinction structure 180b can also be a combination of at least two of the specific forms listed above, which can effectively reduce the possibility of stray light generated at the gap position.

[0076] Please refer to Fig.10 The housing 110 is formed with a first optical channel 115 located between the collimating module 140 and the beam reducer 180. At least part of the inner wall of the first optical channel 115 is recessed to form a first extinction cavity 116. The first extinction cavity 116 can be formed by milling away part of the material of the housing 110. Of course, it can also be formed during the production process of the housing 110. The first extinction cavity 116 is adjacent to the incident surface 181 of the beam reducer 180. When the outgoing light beam is emitted from the collimating module 140 toward the beam reducer 180, the outgoing light beam is Fig.10 In the direction perpendicular to the paper surface, that is, in the horizontal plane direction, there will be a certain diffusion angle, which will cause part of the outgoing light beam to form multiple reflections with the inner wall of the casing 110 and enter the beam reduction mirror 180, which will also easily lead to a more obvious side lobe phenomenon around the light spot of the outgoing light beam. In this embodiment, through the setting of the first extinction cavity 116, the multiple reflections between the outgoing light beam and the inner wall of the casing 110 are blocked to a certain extent, thereby improving the light spot display effect of the outgoing light beam.

[0077] Furthermore, the housing 110 is formed with a second optical channel 117 located between the fast axis collimation module 141 and the slow axis collimation module 142, and at least a portion of the inner wall of the second optical channel 117 is recessed to form a second extinction cavity 118. The second extinction cavity 118 may be formed by milling away a portion of the material of the housing 110, and of course, may also be formed during the production process of the housing 110. The function of the second extinction cavity 118 in this embodiment is similar to that of the first extinction cavity 116, and please refer to the above content for understanding, which will not be repeated here.

[0078] The above content introduces the measures taken by the laser radar of the present application to reduce the formation of stray light from several aspects. However, the measures taken by the present application to reduce stray light are not limited to these.

[0079] In one embodiment, the optical deflection scanning element 200 is a MEMS galvanometer. When a MEMS galvanometer is used, its small structure and long service life can be fully utilized to improve the performance of the laser radar. In actual application, the galvanometer coil of the MEMS galvanometer is also prone to form stray light due to reflection. For this reason, the laser radar of the present application also includes a third extinction structure 500a, which is used to extinct the light of the outgoing light beam or the reflected light beam directed to the edge of the return mirror 500.

[0080] The third extinction structure 500a also includes a variety of specific forms. In one form, it includes a structural aperture that blocks the edge of the return mirror 500 in the emission direction of the laser beam; in another structural form, please refer to Fig.11 The third matt structure 500a includes a matt material layer covering the galvanometer coil. The specific forms of the structured aperture and the matt material layer of the third matt structure 500a can refer to the examples of the first matt structure 180a and the second matt structure 180b above. No further details will be given here.

[0081] in, Fig.11 An exemplary distribution form of the third extinction structure 500a on the folding mirror 500 when the extinction material layer is an extinction material layer is shown, wherein the extinction material layer may cover the edge positions of the two opposite sides of the folding mirror 500, and the shape of the extinction material layer may be symmetrical. Moreover, the shape and size covered by the extinction material layer may be adjusted according to different light spot shapes, sizes, and incident angles, so that the receiving aperture can be effectively constrained, the proportion of stray light received due to the reflection of the galvanometer coil can be reduced, and the stray light receiving path can be cut off to reduce the high anti-expansion effect in the horizontal direction.

[0082] It can be understood that the third matt structure 500a can also be a combination of the above structured aperture and the matt material layer.

[0083] The present application also proposes an automatic driving device, which includes a device body and a laser radar installed on the device body. The specific structure of the laser radar refers to the above embodiment. Since the automatic driving device adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Among them, the automatic driving device can be a car, a ship, an aircraft, etc., without limitation.

[0084] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0085] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A laser radar, characterized in that: It includes a light deflection scanning element and at least one transceiver module; The transceiver module comprises: A transmitting assembly, for generating an outgoing light beam; A beam reducer, used for performing spot compression on the outgoing light beam; A receiving component, used for receiving the reflected light beam; A beam splitter, used to emit the outgoing light beam from the beam reducer, and also used to deflect the received reflected light beam to the receiving component; The light deflection scanning element is used to deflect the outgoing light beam from the transceiver module to the measured area, and is also used to receive the reflected light beam returned from the measured area and deflect it to the transceiver module; The beam reducer includes an incident surface facing the emitting assembly, the incident surface includes a first incident surface, a step surface and a second incident surface, the first incident surface and the second incident surface are arranged at intervals in the exit direction of the exit light beam, and the step surface is connected between the first incident surface and the second incident surface; The laser radar is provided with a first extinction structure, which is used to extinct the light of the laser beam emitted to the transition area formed by the edge of the first incident surface adjacent to the step surface, the step surface and the edge of the second incident surface adjacent to the step surface.

2. The laser radar according to claim 1, characterized in that The first matt structure includes a structural aperture arranged in front of the incident surface and blocking the transition area, a matt material layer covering the transition area, a chamfered structure formed in the transition area, a groove structure formed in the transition area, and at least one of a rough surface structure formed in the transition area.

3. The laser radar according to claim 1, characterized in that The first incident surface is located in front of and below the second incident surface; The transceiver module comprises a housing for accommodating the beam reducer, the housing comprises a bottom surface located below the beam reducer, and a gap is formed between the lower edge of the first incident surface and the bottom surface; The laser radar also includes a second extinction structure, which is used to extinct the light located in the gap in the outgoing light beam emitted by the transmitting component to the beam reducer.

4. The laser radar according to claim 3, characterized in that: The second extinction structure includes a structural aperture which is arranged in front of the incident surface, protrudes from the bottom surface and blocks the gap.

5. The laser radar according to claim 3, characterized in that: The bottom of the beam reducing mirror is also provided with a beam reducing inclined surface, and the bottom surface includes an inclined surface segment arranged opposite to the beam reducing inclined surface at an interval; The second matt structure includes a matt material layer covering the inclined surface segment.

6. The laser radar according to claim 1, characterized in that: The transmitting assembly includes a transmitting module and a collimating module, and the transceiver module includes a housing for accommodating the collimating module and the beam reducer; The housing forms a first light channel between the collimating module and the beam reducer. At least a portion of the inner wall of the first light channel is recessed to form a first extinction cavity. The first extinction cavity is adjacent to the light incident surface of the beam reducer.

7. The laser radar according to claim 6, characterized in that The collimation module comprises a fast-axis collimation module and a slow-axis collimation module which are arranged at intervals in the emission direction of the outgoing light beam; The housing forms a second optical channel between the fast-axis collimation module and the slow-axis collimation module, and at least a portion of the inner wall of the second optical channel is recessed to form a second extinction cavity.

8. The laser radar according to any one of claims 1 to 7, characterized in that: The laser radar further includes a folding mirror, which is arranged between the transceiver module and the light deflection scanning element, and is used to direct the outgoing light beam emitted by the transceiver module to the light deflection scanning element, and is also used to direct the reflected light beam from the light deflection scanning element to the transceiver module; The laser radar also includes a third extinction structure, which is used to extinct the light of the outgoing light beam or the reflected light beam directed to the edge of the reflecting mirror.

9. The laser radar according to claim 8, characterized in that The third extinction structure includes a structured aperture for shielding the edge of the folding mirror in the emission direction of the laser beam; And / or, the third matt structure includes a matt material layer covering the edge of the folding mirror.

10. An automatic driving device, characterized in that: It comprises a device body and a laser radar as described in any one of claims 1 to 9 installed on the device body.

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