Extinction lens barrel and laser radar

Abstract

The invention relates to the technical field of laser radars, and provides an extinction lens barrel and a laser radar, and the extinction lens barrel comprises a lens barrel body, the lens barrel body is provided with a first optical channel and a first installation groove, the lens barrel body is provided with a three-dimensional extinction structure, the first installation groove is located at the light output end of the first optical channel, and the first installation groove is used for installing a beam splitter. And the three-dimensional extinction structure is positioned on one side of the first mounting groove and is used for reflecting stray light and / or absorbing stray light to the outside of the lens cone body. According to the extinction lens cone, according to the Lambert law, Ii = In * cosi, the three-dimensional extinction structure is different from common single-slope extinction, and under the condition that the structure size is not changed, the three-dimensional extinction structure can remarkably increase the inclination angle of residual reflected light on the slope, so that more stray light is reflected or directly absorbed; the stray light returned to the receiving optical system through diffuse reflection is effectively reduced, so that the detection precision of the laser radar is improved.

Description

Technical Field

[0001] The present application belongs to the field of laser radar technology, and more specifically, to an extinction lens barrel and a laser radar. Background Art

[0002] Lidar is a device that detects the three-dimensional spatial position or speed information of a target object by emitting laser signals and receiving echo signals. Existing Lidars will inevitably receive noise signals from nature while receiving echo signals, such as noise from sunlight or other light sources, and the backscattered light of the laser signal during propagation, signals from other Lidars, and stray light signals generated inside the optical system will also affect the detection of the radar system, reducing the signal-to-noise ratio and detection probability of the Lidar system.

[0003] In practical applications, according to different working principles, laser radar can be divided into: triangulation ranging laser radar, time of flight (TOF) ranging laser radar, and phase ranging laser radar; according to different structures, laser radar can be divided into: coaxial laser radar and non-coaxial laser radar.

[0004] Please refer to Figure 1 The basic form of the existing coaxial optical path of a laser radar is as follows: the laser is emitted from a light source, collimated into approximately parallel light by a collimation system, emitted through the transmission surface of a hole-punched reflector, and irradiated on the object to be measured. The light diffusely reflected by the object is reflected by the reflection surface of the hole-punched reflector and the turning reflector, and then passes through the receiving optical system to focus the light beam onto the receiving device.

[0005] like Figure 2 As shown, the specific form of the existing hole-drilled reflector is: the transmission surface is plated with a film layer with a transmission function, and the reflection surface is plated with a film layer with a reflection function. The light spot after laser collimation is emitted through the transmission surface. Since the light spot after laser collimation is smaller than the aperture of the receiving optical system, part of the light diffusely reflected by the object can be partially reflected to the receiving optical system through the reflection surface, realizing coaxial transmission and reception.

[0006] Since the transmission surface of the hole-punched reflector cannot achieve 100% transmission, the non-transmitted light will form stray light in the lens barrel after being reflected by the transmission surface. The stray light will be directly returned to the receiving device through the receiving optical system after diffuse reflection and the transmission surface of the hole-punched reflector.

[0007] In the above scheme, the coaxial optical path will generate internal stray light, which directly passes through the receiving optical system to reach the receiving device, interferes with the echo signal, and affects the detection accuracy of the lidar, so it needs to be improved. Summary of the invention

[0008] The purpose of the embodiments of the present application is to provide a light-extinguishing lens barrel and a laser radar to solve the following technical problems:

[0009] The coaxial optical path of the existing lidar will generate internal stray light, which directly passes through the receiving optical system to reach the receiving device, interferes with the echo signal, and affects the detection accuracy of the lidar.

[0010] To achieve the above objectives, in the first aspect, the technical solution adopted in this application is:

[0011] A light-extinguishing lens barrel is provided, comprising a lens barrel body, wherein the lens barrel body has a first optical channel and a first mounting groove, and a three-dimensional light-extinguishing structure is arranged on the lens barrel body, wherein the first mounting groove is located at a light output end of the first optical channel, the first mounting groove is used for mounting a beam splitter, and the three-dimensional light-extinguishing structure is located at one side of the first mounting groove and is used for reflecting stray light to the outside of the lens barrel body and / or absorbing stray light.

[0012] In an achievable technical solution of the present application, the first optical channel is arranged along the X-axis direction, and the three-dimensional extinction structure includes an X-axis reflection bevel, a Y-axis reflection bevel and a Z-axis reflection bevel, the X-axis reflection bevel is inclined in projection in the X-axis direction, the Y-axis reflection bevel is inclined in projection in the Y-axis direction, and the Z-axis reflection bevel is inclined in projection in the Z-axis direction.

[0013] In an achievable technical solution of the present application, diffuse reflection structures are provided on the X-axis reflection inclined plane, the Y-axis reflection inclined plane and the Z-axis reflection inclined plane.

[0014] In an achievable technical solution of the present application, the diffuse reflection structure is a material coating or matte teeth.

[0015] To achieve the above objectives, in the second aspect, the technical solution adopted in this application is:

[0016] A laser radar is provided, comprising the above-mentioned extinction lens barrel, wherein a beam splitter is installed in the first installation groove.

[0017] In a feasible technical solution of the present application, the angle between the beam splitter and the first optical channel is between 40-50 degrees.

[0018] In an achievable technical solution of the present application, the beam splitter is a hole-punched reflector, and a surface of the hole-punched reflector is provided with a transmission surface area and a reflection surface area, and the transmission surface area is located within the reflection surface area.

[0019] In an achievable technical solution of the present application, a coating layer with a transmission effect is provided on the transmission surface area, and a coating layer with a reflection effect is provided on the reflection surface area.

[0020] In an achievable technical solution of the present application, the lens barrel body is further provided with a second optical channel and a second mounting groove, the second optical channel is arranged parallel to and spaced from the first optical channel, the second mounting groove is located at a light input end of the second optical channel, and the first mounting groove and the second mounting groove are located at the same end of the lens barrel body;

[0021] The laser radar also includes a reflector, a laser transmitter, a collimating lens group and a receiver installed on the lens barrel body, the reflector is installed in the second mounting groove, the collimating lens group is located in the first optical channel, the laser transmitter is located at an end of the first optical channel away from the first mounting groove, and the receiver is located at an end of the second optical channel away from the second mounting groove.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] The stray light reflected by the beam splitter will hit the nearby three-dimensional extinction structure. According to Lambert's law, Ii=In·cosi, the three-dimensional extinction structure is different from the common single-slope extinction. Compared with the conventional barrel structure, the three-dimensional extinction structure can significantly increase the inclination angle of the remaining reflected light hitting the inclined surface while keeping the structural size unchanged, so that more stray light can be reflected or directly absorbed, effectively reducing the stray light diffusely reflected back to the receiving optical system, thereby improving the detection accuracy of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 these drawings without paying creative labor.

[0025] Figure 1 It is a schematic diagram of the basic principle of the coaxial optical path of the laser radar in the prior art.

[0026] Figure 2 It is a schematic diagram of the structure of a hole-digging reflector in the prior art.

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the matte lens barrel in the embodiment of the present application.

[0028] Figure 4 This is a front view of the extinction lens barrel in the embodiment of the present application, to show the structure of the X-axis reflection slope.

[0029] Figure 5It is a left-side cross-sectional view of the extinction lens barrel in the embodiment of the present application, to show the structure of the Z-axis reflection inclined surface.

[0030] Figure 6 It is a top view of the cross-section of the extinction lens barrel in the embodiment of the present application, so as to show the structure of the Y-axis reflection inclined surface.

[0031] Figure 7 Schematic diagram of the internal structure of the laser radar in the embodiment of the present application.

[0032] Among them, the reference numerals in the figure are:

[0033] 100, lens barrel body; 11, first optical channel; 12, first mounting groove; 13, three-dimensional extinction structure; 131, X-axis reflection inclined plane; 132, Y-axis reflection inclined plane; 133, Z-axis reflection inclined plane; 14, second optical channel; 15, second mounting groove;

[0034] 200, beam splitter;

[0035] 300, reflector;

[0036] 400, laser transmitter;

[0037] 500, collimating lens assembly;

[0038] 600. Receiver. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0041] 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 drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] At present, lidar systems are widely used in the field of intelligent driving, playing an important role in distance measurement, target recognition and road monitoring.

[0044] In the field of intelligent driving, the lidar system can perceive the driving environment. Its working principle is to emit collimated detection light into the surrounding environment through a laser transmitter, and receive the reflected light formed by the detection light encountering the measured object in the surrounding environment through a laser receiver, and then use the time-of-flight method to calculate the position, size and other information of objects in the surrounding environment.

[0045] Lidar is a device that detects the three-dimensional spatial position or speed information of a target object by emitting laser signals and receiving echo signals. Existing Lidars will inevitably receive noise signals from nature while receiving echo signals, such as noise from sunlight or other light sources, and the backscattered light of the laser signal during propagation, signals from other Lidars, and stray light signals generated inside the optical system will also affect the detection of the radar system, reducing the signal-to-noise ratio and detection probability of the Lidar system.

[0046] LiDAR has the advantages of high accuracy, fast operation speed and high efficiency. It is an indispensable core sensor in the fields of autonomous driving, robot positioning and navigation, space environment mapping, security and prevention, etc.

[0047] In practical applications, according to different working principles, laser radar can be divided into: triangulation ranging laser radar, time of flight (TOF) ranging laser radar, and phase ranging laser radar; according to different structures, laser radar can be divided into: coaxial laser radar and non-coaxial laser radar.

[0048] In order to effectively solve the following objective technical problems existing in the laser radar in the prior art: "the coaxial optical path will generate internal stray light, which will directly pass through the receiving optical system to reach the receiving device, interfere with the echo signal, and affect the detection accuracy of the laser radar", the technical solution of this application is specially provided.

[0049] Please also read Figure 2-Figure 7 , the extinction lens barrel and laser radar provided in the embodiments of the present application are now described.

[0050] The present application embodiment provides a matte lens barrel, see Figures 3 to 6 , including a lens barrel body 100, the lens barrel body 100 has a first optical channel 11 and a first mounting groove 12, a three-dimensional extinction structure 13 is arranged on the lens barrel body 100, the first mounting groove 12 is located at the light output end of the first optical channel 11, the first mounting groove 12 is used to install the beam splitter 200, the three-dimensional extinction structure 13 is located on one side of the first mounting groove 12 and is used to reflect stray light to the outside of the lens barrel body 100 and / or absorb stray light.

[0051] Specifically, the lens barrel body 100 is a plastic structure, wherein the three-dimensional matte structure 13 is integrally injection-molded inside the lens barrel body 100 .

[0052] Compared with the prior art, the extinction lens barrel provided by the present application has the following expected beneficial technical effects:

[0053] The stray light reflected by the beam splitter 200 will hit the nearby three-dimensional extinction structure 13. According to Lambert's law, Ii=In·cosi. The three-dimensional extinction structure 13 is different from the common single-slope extinction. Compared with the conventional lens barrel structure, the three-dimensional extinction structure 13 can significantly increase the inclination angle of the remaining reflected light hitting the inclined surface when the structural size remains unchanged, so that more stray light can be reflected or directly absorbed, effectively reducing the stray light diffusely reflected back to the receiving optical system, thereby improving the laser radar detection accuracy.

[0054] Specifically, to facilitate technical personnel in this field to quickly understand the present solution, the first optical channel 11 is arranged along the X-axis direction, and the three-dimensional extinction structure 13 includes an X-axis reflection bevel 131, a Y-axis reflection bevel 132 and a Z-axis reflection bevel 133. The X-axis reflection bevel 131 is inclined in projection in the X-axis direction, the Y-axis reflection bevel 132 is inclined in projection in the Y-axis direction, and the Z-axis reflection bevel 133 is inclined in projection in the Z-axis direction.

[0055] Furthermore, diffuse reflection structures are disposed on the X-axis reflection slope 131 , the Y-axis reflection slope 132 and the Z-axis reflection slope 133 to greatly enhance the ability of the three-dimensional extinction structure 13 to reflect and / or absorb stray light.

[0056] Specifically, in this embodiment, the diffuse reflection structure is a material coating. In other embodiments, the diffuse reflection structure may also be matte teeth of appropriate size.

[0057] The present application also provides a laser radar. Figure 3 and Figure 7 , including the above-mentioned extinction lens barrel, a beam splitter 200 is installed in the first installation groove 12.

[0058] In an achievable technical solution of the present application, the angle between the beam splitter 200 and the first optical channel 11 is between 40 and 50 degrees. In the present embodiment, the angle is preferably 45 degrees.

[0059] Please refer to Figure 2 The beam splitter 200 is a hole-punched reflector 300 , and a surface of the hole-punched reflector 300 is provided with a transmission surface area and a reflection surface area.

[0060] The transmission surface area is located in the reflection surface area, a coating layer with a transmission function is arranged on the transmission surface area, and a coating layer with a reflection function is arranged on the reflection surface area.

[0061] For quick and convenient understanding by those skilled in the art, the transmission surface area is the transmission surface, and the reflection surface area is the reflection surface.

[0062] In this embodiment, the lens barrel body 100 is further provided with a second optical channel 14 and a second mounting groove 15, the second optical channel 14 is arranged parallel to the first optical channel 11 and spaced apart, the second mounting groove 15 is located at the light input end of the second optical channel 14, and the first mounting groove 12 and the second mounting groove 15 are located at the same end of the lens barrel body 100;

[0063] The laser radar further includes a reflector 300 , a laser transmitter 400 , a collimating lens group 500 and a receiver 600 , which are mounted on the lens barrel body 100 .

[0064] The reflector 300 is installed in the second mounting groove 15 , the collimating lens group 500 is located in the first optical channel 11 , the laser transmitter 400 is located at an end of the first optical channel 11 away from the first mounting groove 12 , and the receiver 600 is located at an end of the second optical channel 14 away from the second mounting groove 15 .

[0065] Through the above technical solution, on the basis of the above advantages of the above extinction lens tube, the laser radar also has the above advantages, namely:

[0066] The stray light reflected by the beam splitter 200 will hit the nearby three-dimensional extinction structure 13. According to Lambert's law, Ii=In·cosi. The three-dimensional extinction structure 13 is different from the common single-slope extinction. Compared with the conventional lens barrel structure, the three-dimensional extinction structure 13 can significantly increase the inclination angle of the remaining reflected light hitting the inclined surface when the structural size remains unchanged, so that more stray light can be reflected or directly absorbed, effectively reducing the stray light diffusely reflected back to the receiving optical system, thereby improving the laser radar detection accuracy.

[0067] The laser beam emitted by the laser transmitter 400 passes through the first optical channel 11 and the collimating lens group 500 in sequence, and then passes through the beam splitter 200 to be emitted outward, and is reflected by the target object in the detection area and returns a reflected light signal. The reflected light signal is received and deflected by the beam splitter 200, and then reflected by the reflector 300 to be received by the receiver 600.

[0068] Through the above technical solution, the above linearly arranged components have a higher degree of integration and a higher space utilization rate, and the internal structure of the entire product is more compact and smaller in size.

[0069] 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 matte lens barrel, characterized in that: The invention comprises a lens barrel body (100), wherein the lens barrel body (100) has a first optical channel (11) and a first mounting groove (12), a three-dimensional extinction structure (13) is arranged on the lens barrel body (100), the first mounting groove (12) is located at the light output end of the first optical channel (11), the first mounting groove (12) is used to install a beam splitter (200), and the three-dimensional extinction structure (13) is located on one side of the first mounting groove (12) and is used to reflect stray light to the outside of the lens barrel body (100) and / or absorb stray light.

2. The matte lens barrel according to claim 1, characterized in that: The first optical channel (11) is arranged along the X-axis direction, and the three-dimensional extinction structure (13) comprises an X-axis reflection bevel (131), a Y-axis reflection bevel (132) and a Z-axis reflection bevel (133), wherein the X-axis reflection bevel (131) is inclined in projection in the X-axis direction, the Y-axis reflection bevel (132) is inclined in projection in the Y-axis direction, and the Z-axis reflection bevel (133) is inclined in projection in the Z-axis direction.

3. The matte lens barrel according to claim 2, characterized in that: The X-axis reflection inclined plane (131), the Y-axis reflection inclined plane (132) and the Z-axis reflection inclined plane (133) are all provided with diffuse reflection structures.

4. The extinction lens barrel according to claim 3, characterized in that: The diffuse reflection structure is a material coating or matte teeth.

5. The matte lens barrel according to claim 1, characterized in that: The lens barrel body (100) is also provided with a second optical channel (14) and a second mounting groove (15); the second optical channel (14) is arranged in parallel and spaced apart from the first optical channel (11); the second mounting groove (15) is located at the optical input end of the second optical channel (14); the second mounting groove (15) is used for mounting a reflector (300); and the first mounting groove (12) and the second mounting groove (15) are located at the same end of the lens barrel body (100).

6. A laser radar, characterized in that: It comprises the extinction lens barrel as claimed in any one of claims 1 to 4, wherein a beam splitter (200) is installed in the first installation groove (12).

7. The laser radar according to claim 6, characterized in that The included angle between the beam splitter (200) and the first optical channel (11) is between 40 and 50 degrees.

8. The laser radar according to claim 6, characterized in that The beam splitter (200) is a hole-punched reflector (300), and a surface of the hole-punched reflector (300) is provided with a transmission surface area and a reflection surface area, and the transmission surface area is located within the reflection surface area.

9. The laser radar according to claim 8, characterized in that: A coating layer with a transmission function is arranged on the transmission surface area, and a coating layer with a reflection function is arranged on the reflection surface area.

10. The laser radar according to claim 6, characterized in that: The lens barrel body (100) is also provided with a second optical channel (14) and a second mounting groove (15); the second optical channel (14) is arranged in parallel and spaced apart from the first optical channel (11); the second mounting groove (15) is located at the optical input end of the second optical channel (14); and the first mounting groove (12) and the second mounting groove (15) are located at the same end of the lens barrel body (100); The laser radar further comprises a reflector (300), a laser transmitter (400), a collimator lens group (500) and a receiver (600) mounted on the lens barrel body (100); the reflector (300) is mounted in the second mounting groove (15); the collimator lens group (500) is located in the first optical channel (11); the laser transmitter (400) is located at one end of the first optical channel (11) away from the first mounting groove (12); and the receiver (600) is located at one end of the second optical channel (14) away from the second mounting groove (15).

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