Radar assembly, laser radar, measuring device and vehicle

Abstract

The invention provides a radar assembly, a laser radar, a measuring device and a vehicle, the radar assembly comprises an optical deflection element, and the optical deflection element is arranged on an emergent light path of the laser radar, is directly or indirectly connected with the laser radar, and is configured to turn an original emergent light beam of the laser radar; wherein at least part of the original emergent light beam is deflected in a preset direction after being deflected by the optical deflection element to obtain a target emergent light beam, and the preset direction comprises a direction which is parallel to a vertical view field of the laser radar and faces upwards.

Description

Technical Field

[0001] The present specification relates to the field of optical element processing, and in particular to a radar component, a laser radar, a measuring device and a vehicle. Background Art

[0002] LiDAR is applied to vehicles to assist them in achieving high-precision positioning, obstacle recognition, and target tracking. For vehicles, it can also assist in maintaining lanes and assist in emergency braking during driving, and assist in parking when parking.

[0003] Taking a vehicle as an example, in a related technology, reference is made to Figure 1A , the laser radar 110 can be installed on the top of the vehicle 120 and close to the windshield. For a vehicle equipped with only one laser radar, the placement on the roof can maximize its use. However, there is a large gap between the laser radar window and the windshield. Figure 1A The angle α shown has an adverse effect on the streamline of the vehicle body. Figure 1B The laser radar 110 can be installed on the inside of the windshield 10; placing the laser radar behind the windshield has many advantages, such as not affecting the streamlined appearance of the vehicle body, cleanliness, etc. For details, refer to Figure 1B and Figure 1C The area between the laser radar 110 and the windshield 10 is called the Keep Out Zone (KOZ). The size of the KOZ area is mainly affected by the field of view (FOV) of the laser radar 110 and the inclination angle of the windshield 10. When the KOZ area is large, it will affect the relevant layout and aesthetics of the vehicle, and even affect the driver's line of sight. Therefore, reducing the KOZ as much as possible is an urgent problem to be solved when the laser radar is arranged in the vehicle.

[0004] The content of the background technology section is only the information known to the inventor personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure. Summary of the invention

[0005] This specification provides a radar component, a laser radar, a measuring device and a vehicle that can solve the problems existing in the related technologies.

[0006] In a first aspect, the present application provides a radar component, which includes: an optical deflection element, which is arranged on the outgoing light path of the laser radar and is directly or indirectly connected to the above-mentioned laser radar, and is configured to deflect the original outgoing light beam of the above-mentioned laser radar; wherein, at least part of the above-mentioned original outgoing light beam is offset in a preset direction to obtain a target outgoing light beam after being deflected by the above-mentioned optical deflection element; the above-mentioned preset direction includes a direction parallel to the vertical field of view of the above-mentioned laser radar and facing upward.

[0007] In some implementations, the laser radar and the optical deflection element are disposed inside the vehicle, and the optical deflection element is disposed between the laser radar and a windshield of the vehicle.

[0008] In some implementations, if the upper side of the optical deflection element is tilted toward the laser radar, the inclination angle of the optical deflection element satisfies the first angle range, the high threshold of the first angle range is the angle corresponding to the inclination angle of the windshield, and the low threshold of the first angle range is 0; if the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies the second angle range, the high threshold of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the lowermost original outgoing light beam in the vertical field of view of the laser radar is vertically incident on the optical deflection element, and the low threshold of the second angle range is 0; wherein, the inclination angle of the optical deflection element is the angle between the optical deflection element and the vertical plane, and the inclination angle of the windshield is the angle between the windshield and the vertical plane.

[0009] In some implementations, the tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

[0010] In some implementations, the optical deflection element is disposed in a cylindrical space surrounded by a light-extinction material, wherein one end of the cylindrical space is connected to the window of the laser radar.

[0011] In some implementations, the laser radar and the optical deflection element are disposed on top of a vehicle, and at least a portion of the original outgoing light beam includes the lowest original outgoing light beam in the vertical field of view of the laser radar.

[0012] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are parallel; wherein the incident surface and the exit surface are both planes, or the incident surface and the exit surface are both curved surfaces.

[0013] In some implementations, when the incident surface and the exit surface of the optical deflection element are both curved surfaces, the convex surface of the curved surface faces the laser radar.

[0014] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are not parallel.

[0015] In some implementations, the target angle of the optical deflection element is negatively correlated with the maximum incident angle of the original outgoing light beam; wherein the target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

[0016] In the second aspect, the present application provides a laser radar, which includes: a shell; a transceiver assembly, which is arranged inside the above-mentioned shell, and the above-mentioned transceiver assembly includes a transmitting unit and a transmitting lens, and the above-mentioned transmitting unit emits a first output light beam through the above-mentioned transmitting lens; and an optical deflection element, which is connected to the above-mentioned shell and is configured to fold the above-mentioned first output light beam, and at least part of the above-mentioned first output light beam is offset in a preset direction to obtain a second output light beam after being folded by the above-mentioned optical deflection element, and the above-mentioned preset direction includes a direction parallel to the vertical field of view of the above-mentioned laser radar and facing upward; wherein the above-mentioned transceiver assembly also includes a receiving unit and a receiving lens, and the echo light beam formed by the reflection of the above-mentioned second output light beam reaches the above-mentioned receiving unit via the above-mentioned optical deflection element and the above-mentioned receiving lens.

[0017] In some implementations, the optical deflection element is configured as a window of the laser radar.

[0018] In some implementations, the laser radar further includes a window, and the optical deflection element is disposed on an inner side of the window, or the optical deflection element is disposed on an outer side of the window.

[0019] In some implementations, the laser radar is disposed inside a vehicle, and the second outgoing light beam passes through a windshield of the vehicle and then exits the vehicle.

[0020] In some implementations, if the upper side of the optical deflection element is tilted toward the transmitting lens, the inclination angle of the optical deflection element satisfies the first angle range, the high threshold of the first angle range is the angle corresponding to the inclination angle of the windshield, and the low threshold of the first angle range is 0; if the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies the second angle range, the high threshold of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the first outgoing light beam at the bottom in the vertical field of view of the laser radar is vertically incident on the optical deflection element, and the low threshold of the second angle range is 0; wherein, the inclination angle of the optical deflection element is the angle between the optical deflection element and the vertical plane, and the inclination angle of the windshield is the angle between the windshield and the vertical plane.

[0021] In some implementations, the tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

[0022] In some implementations, the above-mentioned laser radar is arranged on the top of the vehicle.

[0023] In some implementations, at least a portion of the first outgoing light beam includes the first outgoing light beam at the bottom in the vertical field of view of the laser radar.

[0024] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are parallel; wherein the incident surface and the exit surface are both planes, or the incident surface and the exit surface are both curved surfaces.

[0025] In some implementations, when the incident surface and the exit surface are both curved surfaces, the convex surface of the curved surface faces the transceiver assembly.

[0026] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are both planes and are not parallel.

[0027] In some implementations, the target angle of the optical deflection element is negatively correlated with the maximum incident angle of the first outgoing light beam; wherein the target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

[0028] In some implementations, the emitting lens is further configured to adjust the first outgoing light beam so that the second outgoing light beam after being deflected by the optical deflection element is a collimated light beam.

[0029] In a third aspect, the present application provides a measuring device, which includes: a laser radar, configured to emit an original outgoing light beam; and a radar component provided by any one of the implementation methods in the first aspect, which is directly or indirectly connected to the laser radar and configured to fold the original outgoing light beam of the laser radar, wherein at least part of the original outgoing light beam is offset in a preset direction after passing through the radar component to obtain a target outgoing light beam, and the target outgoing light beam reaches a target object and is reflected by the target object to form an echo light beam, and the radar component is further configured to fold the echo light beam, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; the laser radar is also configured to receive the echo light beam folded by the radar component.

[0030] In a fourth aspect, the present application provides a vehicle, characterized in that the vehicle comprises: a main body; and a laser radar provided by any one of the implementation methods in the second aspect, installed on the main body; or, the measuring device provided in the third aspect, installed on the main body.

[0031] The radar assembly, laser radar, measuring device and vehicle provided by the embodiments of the present application have at least the following beneficial effects:

[0032] Taking the above-mentioned radar component as an example, the radar component is arranged on the outgoing light path of the laser radar and is directly or indirectly connected to the laser radar, and is used to fold the original outgoing light beam of the above-mentioned laser radar. Specifically, at least part of the above-mentioned original outgoing light beam is deflected by the above-mentioned optical deflection element, and is offset in a preset direction to obtain a target outgoing light beam, wherein the above-mentioned preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward. It can be seen that the radar component provided in the present application is able to lift at least part of the outgoing light beam of the laser radar in the above-mentioned preset direction. Thus, for example Figure 1A In the case shown in the figure, since the laser radar's outgoing beam can be lifted upward, the laser radar can be moved back a certain distance on the original basis, thereby alleviating the problem of Figure 1A The effect of laser radar on the streamline of the vehicle body in the case shown. Figure 1B In the situation shown, since the outgoing beam of the laser radar can be lifted upward, the KOZ area can be reduced, and the projection area of ​​the laser radar's FOV on the windshield will also be reduced, thereby reducing the impact on the driving field of view and related layout inside the car.

[0033] Other functions of the radar assembly, laser radar, measuring device and vehicle provided in this specification will be partially listed in the following description. Based on the description, the content introduced by the following figures and examples will be obvious to those of ordinary skill in the art. The creative aspects of the radar assembly, laser radar, measuring device and vehicle provided in this specification can be fully explained by practicing or using the methods, devices and combinations provided in the following detailed examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1A A schematic diagram of a scene in which a laser radar is arranged on the top of a vehicle in the related art is shown;

[0036] Figure 1B A schematic diagram of a scene in which a laser radar is arranged inside a windshield in the related art is shown;

[0037] Figure 1C for Figure 1B A schematic cross-section of the scene shown;

[0038] Figure 2A A schematic diagram of reducing the FOV of a laser radar provided in an embodiment of the present application is shown;

[0039] Figure 2B Shown according to Figure 2A Schematic diagram of the change in the area of ​​the projection area and the change in the KOZ area after reducing the FOV in the manner shown;

[0040] Figure 3 A schematic diagram of the structure of a radar assembly provided in an embodiment of the present application is shown;

[0041] Figure 4A A schematic diagram of an in-vehicle usage scenario of a radar assembly provided by an embodiment of the present application is shown;

[0042] Figure 4B A schematic diagram of a roof usage scenario of a radar assembly provided in an embodiment of the present application is shown;

[0043] Figure 5A A schematic diagram of a shape of a radar assembly provided in an embodiment of the present application is shown;

[0044] Figure 5B Another schematic diagram of the shape of the radar assembly provided in the embodiment of the present application is shown;

[0045] Figure 6 A schematic diagram showing an adjustment range of a tilt angle of an optical deflection element provided in an embodiment of the present application;

[0046] Fig. 7A A schematic diagram of an in-vehicle usage scenario in which the radar assembly provided by an embodiment of the present application is in an extreme position is shown;

[0047] Figure 7B A schematic diagram of an in-vehicle usage scenario in which a radar assembly provided by an embodiment of the present application exceeds a limit position is shown;

[0048] Figure 8 A schematic diagram showing another in-vehicle usage scenario of the radar assembly provided in an embodiment of the present application is shown;

[0049] Fig. 9 A schematic diagram showing another roof usage scenario of the radar assembly provided in an embodiment of the present application is shown;

[0050] Fig.10A schematic diagram of a usage scenario of a radar assembly provided in an embodiment of the present application is shown;

[0051] Fig.11 A schematic diagram showing the refraction angle when a prism is used according to an embodiment of the present application is shown;

[0052] Fig. 12A A schematic diagram showing the beam aperture when a parallel plate is used according to an embodiment of the present application is shown;

[0053] Fig. 12B A schematic diagram showing the beam aperture when a prism is used according to an embodiment of the present application is shown;

[0054] Fig.13 A schematic diagram of the structure of a laser radar provided in an embodiment of the present application is shown;

[0055] Fig.14 A schematic diagram of the working principle of the laser radar provided in an embodiment of the present application is shown;

[0056] Fig.15 Another schematic diagram of the working principle of the laser radar provided in the embodiment of the present application is shown;

[0057] Fig.16 A schematic diagram of the structure of a measuring device provided in an embodiment of the present application is shown;

[0058] Fig.17 A schematic diagram showing a working principle of a measuring device provided in an embodiment of the present application is shown;

[0059] Fig.18 A schematic diagram of the structure of a transportation tool provided in an embodiment of the present application is shown;

[0060] Fig.19 A schematic diagram of the structure of a transportation tool provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0061] The following description provides specific application scenarios and requirements of this specification, with the purpose of enabling those skilled in the art to make and use the contents of this specification. Various local modifications to the disclosed embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown, but to the widest scope consistent with the claims.

[0062] The terms used herein are only used for the purpose of describing specific example embodiments and are not restrictive. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include plural forms. When used in this specification, the terms "include", "comprise" and / or "contain" mean that the associated features, integers, steps, operations, elements and / or components exist, but do not exclude the existence of one or more other features, integers, steps, operations, elements, components and / or groups or that other features, integers, steps, operations, elements, components and / or groups may be added in the system / method.

[0063] In view of the following description, these and other features of the present specification, as well as the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the parts can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0064] The flowcharts used in this specification illustrate the operations implemented by the system according to some embodiments in this specification. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. On the contrary, the operations may be implemented in reverse order or simultaneously. In addition, one or more other operations may be added to the flowchart. One or more operations may be removed from the flowchart.

[0065] Figure 1A A schematic diagram of a scene in which a laser radar is arranged on the top of a vehicle in the related art is shown. As mentioned above, there is an angle α between the window of the laser radar 110 and the windshield of the vehicle 120, which has an adverse effect on the streamline of the vehicle body. Figure 1B FIG. 1 shows a schematic diagram of a scene in which a laser radar is arranged on the inner side of a windshield in the related art. Figure 1B , the FOV of the laser radar 110 corresponds to the projection area of ​​the windshield 10, that is, the interface between the FOV of the laser radar 110 and the windshield 10, which is actually a partial area of ​​the windshield. Figure 1B and Figure 1C In the embodiment of this specification, the FOV of the laser radar 110 is located in the area of ​​the windshield 10 close to the cockpit side, denoted as KOZ.

[0066] according to Figure 1B and Figure 1C It can be seen that the factors affecting the KOZ area include the FOV size of the laser radar and the tilt angle of the windshield. If the windshield is determined, the KOZ area can be reduced by adjusting the FOV size of the laser radar. Figure 1BThe projection area is roughly trapezoidal, so the outgoing light beam on the lower side has a greater impact on the area of ​​the projection area. In other words, the outgoing light beam on the lower side has a greater impact on the volume of the KOZ area. Therefore, the FOV of the laser radar can be reduced by blocking the outgoing light beam.

[0067] Figure 2A A schematic diagram of reducing the FOV of a laser radar provided in an embodiment of the present application is shown. Figure 2A The figure shows how to block the outgoing beam of the laser radar, changing its field of view from FOV to FOV'. Figure 2B , when the field of view of the laser radar changes from FOV to FOV', the height of the trapezoid corresponding to the projection area changes from h to h', and at the same time, the area of ​​the projection area is reduced from S to S', and further, the KOZ area is also reduced. Figure 2A The method adopted can achieve the purpose of compressing KOZ, but it needs to reduce the FOV of the laser radar, affecting the detection range of the laser radar.

[0068] Figure 3 FIG. 1 is a schematic diagram showing a structure of a radar assembly provided in an embodiment of the present application. Figure 3 , the radar assembly includes: an optical deflection element 30, exemplarily, the material of the optical deflection element 30 can be glass, plastic, etc. The optical deflection element 30 is arranged on the outgoing light path of the laser radar 110 and is used in conjunction with the laser radar 110. Specifically, the optical deflection element 30 is configured to fold at least part of the original outgoing light beam of the laser radar so that it is offset in a preset direction to obtain a target outgoing light beam, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward, and the original outgoing light beam refers to the light beam emitted from the laser radar. Specifically, when the original outgoing light beam of the laser radar enters the optical deflection element 30, the original outgoing light beam will be deflected upward due to refraction, so that the light beam is deflected upward and transmitted inside the optical deflection element, so that the overall FOV light beam can be lifted upward. Since the windshield 10 is tilted, the KOZ area will be reduced after the FOV is lifted upward.

[0069] Exemplary, reference Figure 3 For the original outgoing light beam T at the bottom of the vertical field of view of the laser radar 110, if the optical deflection element 30 is not set, the ray where the original outgoing light beam T is located is L2; Figure 3In the case of the optical deflection element shown, the original outgoing light beam T is deflected by the optical deflection element 30 to obtain the target outgoing light beam, and the ray where the target outgoing light beam is located is L1. Obviously, the optical deflection element 30 causes the original outgoing light beam T of the laser radar 110 to be deflected in a direction parallel to the vertical field of view of the laser radar and toward the upper direction. After at least part of the original outgoing light beam T at the bottom of the vertical field of view of the laser radar 110 is deflected as described above, the FOV of the laser radar 110 can naturally be raised as a whole, thereby reducing the FOV of the laser radar without affecting the detection range of the laser radar.

[0070] Figure 4A A schematic diagram of a vehicle usage scenario of a radar assembly provided by an embodiment of the present application is shown. Figure 4A In the illustrated embodiment, the laser radar 110 and the optical deflection element 30 are both arranged inside the vehicle, and the optical deflection element 30 is arranged between the laser radar 110 and the windshield 10 of the vehicle. Among them, the above-mentioned vehicle can be a vehicle, an airplane, a ship, etc., and the vehicle is used as an example in the embodiment of the present application. Exemplarily, the optical deflection element 30 can be directly fixedly connected or detachably connected to the laser radar 110, and can also be integrated with the window of the laser radar 110, and then after the laser radar 110 is fixed to the inside of the vehicle, the optical deflection element 30 is also fixed accordingly. Exemplarily, the optical deflection element 30 can also be indirectly connected to the laser radar, for example, the laser radar 110 is fixed to the internal components of the vehicle, and the optical deflection element 30 can be integrated with the windshield. Compared with not setting the optical deflection element 30, the field of view of the laser radar 110 is raised, so the KOZ area can be reduced, and the area of ​​the laser radar FOV projection area on the windshield 10 will be reduced.

[0071] For example, in an embodiment where both the laser radar 110 and the optical deflection element 30 are arranged inside the vehicle, a cylinder made of matte material is arranged between the laser radar and the windshield, and the above-mentioned optical deflection element is arranged in the cylindrical space, that is, the periphery of the KOZ area is surrounded by the matte material to reduce the generation of radar ghost images and the like.

[0072] Figure 4B A schematic diagram of a rooftop usage scenario of the radar assembly provided in an embodiment of the present application is shown. Figure 4BIn the illustrated embodiment, the laser radar 110 and the optical deflection element 30 are both disposed on the top of the vehicle, and the optical deflection element 30 is disposed on the front side of the laser radar 110. Exemplarily, the optical deflection element 30 can be directly physically connected to the laser radar 110, and then after the laser radar 110 is fixed to the top of the vehicle, the optical deflection element 30 is also fixed accordingly. Exemplarily, the optical deflection element 30 can also be indirectly connected to the laser radar 110, for example, the laser radar 110 and the optical deflection element 30 are respectively fixed to the top of the vehicle. Compared with not setting the optical deflection element 30, the field of view angle of the laser radar 110 is raised, so the laser radar can be retracted in the direction of the vehicle's retreat, and the above-mentioned optical deflection element 30 is set at the retracted position. Since the presence of the optical deflection element 30 raises the FOV of the laser radar 110, after the laser radar 110 is retracted to the rear of the vehicle, its FOV (especially the light beam located in the lower middle of the FOV) will not be blocked by the vehicle's structural parts, and then an appearance part that is more in line with the streamlined shape of the vehicle body can be set in front of the laser radar 110, thereby reducing the impact of the laser radar on the streamlined shape of the vehicle body without affecting the detection range of the laser radar.

[0073] Figure 5A FIG. 2 shows a schematic diagram of a shape of a radar assembly provided by an embodiment of the present application. In an exemplary embodiment of the present application, the incident surface and the exit surface of the optical deflection element are parallel to each other. Specifically, the incident surface and the exit surface of the optical deflection element are both planes. Figure 5A In the exemplary embodiment of the present application, the incident surface and the exit surface of the optical deflection element are parallel to each other and both the incident surface and the exit surface are curved surfaces, such as Figure 5A As shown, in some embodiments, the incident surface and the exit surface of the optical deflection element 30b may be cylindrical surfaces parallel to each other; in other embodiments, the incident surface and the exit surface of the optical deflection element 30b may be spherical surfaces parallel to each other. It should be noted that the incident surface and the exit surface of the optical deflection element 30 may also be other types of parallel curved surfaces. Figure 5A As shown, the optical deflection element 30a or the optical deflection element 30b is arranged on the outgoing light path of the laser radar 110. In some embodiments, the optical deflection element 30b can be convexly facing the laser radar 110; in other embodiments, the optical deflection element 30b can also be concavely facing the laser radar 110.

[0074] When the incident surface and the exit surface of the optical deflection element are parallel surfaces (referred to as parallel plates), after the original outgoing beam of the laser radar enters the parallel plate, the beam will be deflected upward due to refraction. When the beam exits the optical deflection element, the beam is deflected downward due to refraction to obtain the target outgoing beam. As mentioned above, due to the upward deflection and transmission of the beam inside the above-mentioned optical deflection element, the optical deflection element can raise the overall FOV beam of the laser radar upward, which achieves the purpose of reducing the KOZ area. At the same time, generally speaking, since the incident surface and the exit surface are parallel, the target outgoing beam is parallel to the original outgoing beam, that is, the FOV angle range of the laser radar before passing through the optical deflection element is equal to the FOV of the target outgoing beam after passing through the optical deflection element. Therefore, when the refractive index of the optical deflection element remains unchanged, the FOV size (receiving aperture) of the laser radar remains unchanged, the angular resolution (size and uniformity) remains unchanged, and the divergence angle remains unchanged, which has little effect on the far-sighting performance of the laser radar.

[0075] Figure 5B 2 shows another shape schematic diagram of the radar assembly provided by the embodiment of the present application. In the exemplary embodiment of the present application, the incident surface and the exit surface of the optical deflection element are not parallel to each other, including the following situations: one of the exit surface and the incident surface is a plane and the other is a curved surface, such as Figure 5B The optical deflection elements 30c and 30d; the exit surface and the incident surface are two non-parallel curved surfaces, such as Figure 5B The optical deflection elements 30e, 30f, 30g and 30h; the exit surface and the incident surface are two non-parallel planes (which can be recorded as prisms), such as Figure 5B The optical deflection element 30i, etc. It can be seen that the optical deflection elements provided in the embodiments of the present application are of various types, which is beneficial to improving the layout flexibility of the laser radar and radar components.

[0076] Reference again Figure 4A In the embodiment where the laser radar 110 and the optical deflection element 30 (the optical deflection element 30a is used as an example for explanation) are both arranged in the vehicle, the upper side of the optical deflection element 30 can be tilted toward the laser radar 110. When the upper side of the optical deflection element 30 is tilted toward the laser radar 110, in order to ensure that the KOZ area is reduced, the inclination angle of the optical deflection element 30 needs to meet the first angle range. Specifically, refer to Figure 6, the low threshold of the first angle range is 0, and the high threshold of the first angle range is the angle corresponding to the inclination angle of the windshield 10 of the vehicle. This is because when the inclination angle of the optical deflection element 30 is greater than the inclination angle of the windshield, the size of the optical deflection element 30 will be larger, and it is necessary to reserve a larger space between the laser radar 110 and the windshield 10 to place the optical deflection element 30, which is not conducive to reducing the KOZ area. Among them, the inclination angle of the above-mentioned optical deflection element is the angle between the optical deflection element and the vertical plane, and the inclination angle of the above-mentioned windshield is the angle between the windshield and the vertical plane. It can be understood that the above-mentioned windshield 10 may be a curved surface, then the inclination angle of the above-mentioned windshield may refer to the angle between the section of the windshield at the local area where the KOZ is located and the vertical plane. In the case where the upper side of the optical deflection element 30 is biased toward the laser radar 110, the inclination angle of the above-mentioned optical deflection element 30 is adjustable within the above-mentioned first angle range, thereby increasing the flexibility of setting the radar component.

[0077] When the upper side of the optical deflection element is tilted toward the laser radar and the refractive index of the optical deflection element remains unchanged, its tilt angle is positively correlated with the degree of lifting of the original outgoing light beam of the laser radar, that is, the larger the value of the optical deflection element in the above-mentioned first angle range, the greater the degree of reduction of the KOZ area. In order to adjust the size of the KOZ area, in addition to adjusting the value of the above-mentioned optical deflection element in the above-mentioned first angle range, it is also related to the thickness of the optical deflection element, and when the refractive index of the optical deflection element remains unchanged, the thickness of the optical deflection element is positively correlated with the degree of lifting of the original outgoing light beam of the laser radar. In addition, the size of the KOZ area can also be adjusted by controlling the refractive index of the optical deflection element, and the refractive index of the optical deflection element is also positively correlated with the degree of lifting of the original outgoing light beam of the laser radar. Therefore, the size of the KOZ area can be adjusted by adjusting at least one of the tilt angle, thickness, and refractive index of the optical deflection element.

[0078] It is understandable that, regarding the thickness of the optical deflection element, the thicker the thickness, the greater the degree to which the FOV is lifted upward, and the greater the degree to which the KOZ is reduced. At the same time, the increase in the thickness of the optical deflection element will also lead to an increase in cost and an increase in the occupied space. Exemplarily, the thickness of an optical deflection element can be 3 mm. In addition, regarding the refractive index of the optical deflection element, it can be the same refractive index in the thickness direction, or it can adopt a variable refractive index in the thickness direction, which is not limited in the embodiments of the present application.

[0079] Fig. 7AA schematic diagram of a vehicle usage scenario in which the radar assembly provided by an embodiment of the present application is in an extreme position is shown. In an embodiment in which both the laser radar 110 and the optical deflection element 30 are arranged in the vehicle, the upper side of the optical deflection element 30 may also be biased toward the windshield 10. As shown in FIG7 , when the upper side of the optical deflection element 30 is biased toward the windshield 10, in order to ensure that the detection range of the laser radar is not affected, the inclination angle of the optical deflection element 30 satisfies the second angle range. Refer again to Figure 6 , the lower threshold of the second angle range is 0, and the upper threshold of the second angle range is the optical deflection element at the extreme position. Wherein, referring to FIG7 , the above-mentioned extreme position refers to the angle corresponding to the inclination angle of the optical deflection element when the original outgoing light beam Q at the bottom in the vertical field of view of the laser radar 110 vertically enters the optical deflection element 30, where P is the normal at the incident point of the original outgoing light beam Q, and the original outgoing light beam Q coincides with P. It can be understood that when the upper side of the optical deflection element 30 is deflected toward the windshield 10, the inclination angle of the above-mentioned optical deflection element 30 is adjustable within the above-mentioned second angle range, thereby increasing the setting flexibility of the radar component.

[0080] Figure 7B A schematic diagram of a vehicle usage scenario in which the radar assembly provided by an embodiment of the present application exceeds the limit position is shown. Fig. 7A In the scenario shown, the inclination angle of the optical deflection element 30 is set to be greater than the second angle range. Figure 7B , the original outgoing light beam Q at the bottom of the vertical field of view of the laser radar 110 is deflected by the optical deflection element 30 to obtain the target outgoing light beam, and the ray where the target outgoing light beam is located is L3; if the optical deflection element 30 is not set, the ray where the original outgoing light beam Q is located is L4; obviously, the optical deflection element 30 does not make the above-mentioned original outgoing light beam Q be deflected in a direction parallel to the vertical field of view of the laser radar and toward the upper direction, and the effect of raising the FOV cannot be achieved. It can be seen that if the upper side of the optical deflection element 30 can also be deflected toward the windshield 10, and its inclination angle is greater than the above-mentioned second angle range, then the optical deflection element 30 cannot play a role in raising the relevant original outgoing light beam, and thus cannot play a role in reducing the KOZ. It should be noted that Fig. 7A and Figure 7B In the illustrated embodiment, the optical deflection element is not limited to 30a, but may be at least one of 30b-30i.

[0081] In the exemplary embodiment of the present application, the shape of the optical deflection element can be tailored according to actual needs based on the original shape without affecting the detection range of the laser radar. Fig. 7A and Figure 7BThere is interference between the upper side of the optical deflection element 30 and the windshield, and the optical deflection element 30 can be cut according to the inclination angle of the windshield 10, so as to reduce the space occupied by the optical deflection element 30 without affecting the detection range of the laser radar, thereby further reducing the KOZ area. Figure 4B The smaller the angle between the optical deflection element 30 and the windshield, the smaller the impact on the streamline of the vehicle body. The optical deflection element 30 can be trimmed according to the inclination angle of the windshield 10, thereby reducing the space occupied by the optical deflection element 30 without affecting the detection range of the laser radar, thereby reducing the impact on the streamline of the vehicle body.

[0082] In an exemplary embodiment of the present application, when the incident surface and / or the exit surface in the optical deflection element is a cylinder, such as one of 30b-30h, the axis of the cylinder can be parallel to the horizontal field of view direction of the laser radar or the vertical field of view direction of the laser radar, and the present application does not limit this.

[0083] It is understandable that in Figure 5A In the two layouts of the optical deflection element 30b, that is, when the incident surface and the exit surface of the optical deflection element are both curved and parallel, if the layout angles are the same, the degree of lifting of the laser radar exit beam by the left layout is greater than that by the right layout. Figure 8 In the schematic diagram of the usage scenario shown in FIG. 1 , the convex surface of the optical deflection element faces the laser radar. Figure 5A In the two layouts of the optical deflection element 30b, if the layout angles are the same, the degree of lifting of the laser radar outgoing beam by the left layout is greater than that by the right layout. Figure 8 In the schematic diagram of the usage scenario shown, the convex surface of the optical deflection element faces the laser radar 110.

[0084] As mentioned above, the optical deflection element as a radar component has various layout modes, and the layout mode of the optical deflection element can be determined according to actual needs, for example Fig. 9 In the usage scenario shown, when the optical deflection element meets the lifting requirement for the laser radar output light beam, the 30c style can be selected to minimize the impact on the streamline of the vehicle body.

[0085] exist Fig.10In the usage scenario shown, in the case of the optical deflection element 30i or the trimmed 30i', in order to ensure that the laser beam can be emitted after being refracted by the prism without total reflection, the target angle θ of the optical deflection element needs to be set to be negatively correlated with the maximum incident angle of the original outgoing light beam of the laser radar 110, wherein the target angle θ is the angle between the incident surface and the exit surface of the optical deflection element. Specifically, sinα1 / sin i1=n1, sinα2 / sin i2=1 / n2, α1 is the incident angle of the laser beam on the incident surface, i1 is the exit angle of the laser beam on the incident surface, α2 is the incident angle of the laser beam on the exit surface, i2 is the exit angle of the laser beam on the exit surface, n1 represents the refractive index at the incident surface, n2 represents the refractive index at the exit surface, and of course n1 and n2 can be the same, that is, the refractive index of the optical deflection element does not change to. Since total reflection occurs when the laser beam passes from a light-dense medium (such as the optical deflection element in this embodiment) to a light-sparse medium (such as air in this embodiment), and it is necessary to ensure that the refraction angle i2 of the exit layer is less than 90 degrees, it is possible to ensure that no total reflection occurs by setting sin i2=n2×sinα2<1. Also, since:

[0086] sin i1= (sin α1) / n1 (1)

[0087] α2 = θ + i1 (2)

[0088] According to (1), n1 is a positive number and a constant, and the incident angle α1 at the incident surface is positively correlated with the refraction angle i1 at the incident surface. According to (2), the incident angle α2 at the exit surface is the sum of the refraction angle i1 at the incident surface and the target angle θ of the laser radar. Therefore, in order to maintain n×sinα2<1, as the incident angle α1 at the incident surface increases, the target angle θ of the laser radar decreases. In order to ensure that all the original outgoing light beams of the laser radar can be emitted after passing through the optical deflection element, it is necessary to ensure that the original outgoing light beam does not undergo total reflection at the maximum incident angle of the optical deflection element (i.e., the incident surface of the optical deflection element). In other words, the target angle θ of the optical deflection element is negatively correlated with the maximum incident angle of the original outgoing light beam of the laser radar 110.

[0089] When both the incident surface and the exit surface of the optical deflection element are planes, the following relationship exists between the aperture D1 of the original exit light beam emitted by the laser radar, the aperture D2 of the light beam during transmission in the optical deflection element, and the aperture D3 of the target exit light beam emitted by the optical deflection element:

[0090] D1=[(cos α1) / (cos i1)]×D2 (3)

[0091] D3=[(cos i2) / (cos α2)]×D2 (4)

[0092] Among them, the aperture D1 refers to the distance between the uppermost and lowermost beams in the original outgoing light beam. Similarly, the aperture D2 refers to the distance between the uppermost and lowermost beams in the beam. The aperture D3 refers to the distance between the uppermost and lowermost beams in the target outgoing light beam.

[0093] refer to Fig. 12A For the case of parallel plates (parallel between the incident surface and the exit surface), since α1=i2, i1=α2, therefore, D1=D3. This verifies the above: due to the upward deflection of the light beam inside the above-mentioned optical deflection element, the parallel plate optical deflection element can lift the overall FOV beam of the laser radar upward, thus achieving the purpose of reducing the KOZ area. At the same time, generally speaking, the angle of the target outgoing beam remains unchanged compared to the original outgoing beam (that is, the target outgoing beam is parallel to the original outgoing beam). Therefore, when the refractive index of the optical deflection element remains unchanged, the FOV size (receiving aperture) of the laser radar, the angular resolution (size and uniformity) and the divergence angle can be kept unchanged, without affecting the far-sighted performance of the laser radar.

[0094] refer to Fig. 12B , for the case of prism (the incident surface and the exit surface are not parallel), since α1≠i2, i1≠α2, therefore, D1≠D3. In other words, due to the reason that the light beam is deflected upward and transmitted inside the above-mentioned optical deflection element, the prism optical deflection element can lift the overall FOV beam of the laser radar upward, which achieves the purpose of reducing the KOZ area. At the same time, generally speaking, the angle of the target outgoing beam has changed compared with the original outgoing beam (that is, the target outgoing beam and the original outgoing beam are not parallel). Therefore, even if the refractive index of the optical deflection element remains unchanged, the FOV size (receiving aperture) of the laser radar will change, and because the angles of change between the original outgoing beams of the laser radar at different angles and their corresponding target outgoing beams are different, the angular resolution (size and uniformity) of the laser radar will change after passing through the optical deflection element, and the divergence angle will also change (such as Fig.11 or Fig. 12B Compared with the optical deflection element whose incident surface is parallel to the exit surface, it has a greater impact on the measurement performance of the lidar.

[0095] Similarly, for optical deflection elements with light divergence properties, such as Figure 5B30b, 30f, and 30h, the divergence angle of the target outgoing light beam after being deflected by the optical deflection element will be larger than that of the original outgoing light beam, and the FOV of the laser radar will be increased, resulting in a larger angular interval between two adjacent channels, thereby changing the angular resolution of the laser radar; for optical deflection elements with light convergence performance, such as Figure 5B In 30c, 30e, and 30g, the divergence angle of the target outgoing light beam after the original outgoing light beam is deflected by the optical deflection element will become smaller, which will cause the FOV of the laser radar to decrease, the receiving aperture to decrease, and the angular resolution (size and uniformity) to change, which will reduce the laser radar's far-sighted performance. In response to the above problems, an adjustment element can be set, which is exemplarily set before the original outgoing light beam enters the optical deflection element, and the adjustment element is determined to make corresponding adjustments to the original outgoing light beam according to the light convergence performance or light divergence performance of the optical deflection element. Specifically, if the optical deflection element has light convergence performance, the adjustment element is used to make a corresponding degree of divergence adjustment to the original outgoing light beam. If the optical deflection element has light divergence performance, the adjustment element is used to make a corresponding degree of convergence adjustment to the original outgoing light beam, so as to minimize the impact of the optical deflection element on the performance of the laser radar.

[0096] Fig.13 FIG. 1 shows a schematic diagram of the structure of a laser radar provided in an embodiment of the present application. Fig.13 The laser radar 130 provided in this embodiment of the present application is different from the laser radar 110 mentioned in the above embodiment. Specifically, refer to Fig.13 The laser radar 130 provided in this embodiment includes: a shell (not shown in the figure), a transceiver component 130-A and an optical deflection element 130-B.

[0097] The transceiver assembly 130-A is disposed inside the housing, and includes a transmitting unit A-1, a transmitting lens A-2, a receiving lens A-4, and a receiving unit A-3. The light beam emitted by the transmitting unit A-1 through the transmitting lens A-2 is recorded as the first emitted light beam. Exemplarily, the transmitting unit A-1 may be a laser, and the receiving unit A-3 may be a detector.

[0098] Fig.14 A schematic diagram of the working principle of the laser radar provided in the embodiment of the present application is shown. Fig.14The optical deflection element 130-B is connected to the housing and is configured to fold the first outgoing light beam. After being folded by the optical deflection element 130-B, at least part of the first outgoing light beam is offset in a preset direction to obtain a second outgoing light beam. The echo light beam formed by the reflection of the second outgoing light beam will be folded by the optical deflection element 130-B. The folded echo light beam reaches the receiving unit A-3 via the receiving lens A-4, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar 130 and facing upward. The lifting principle of the optical deflection element 130-B for the first outgoing light beam is the same as the lifting principle of the optical deflection element 30 for the original outgoing light beam in the above embodiment. Specifically, the first outgoing light beam emitted by the output lens A-2 of the laser radar 130 is incident on the above-mentioned optical deflection element 130-B. Due to refraction, at least part of the above-mentioned first outgoing light beam will be deflected upward, so that the light beam is transmitted in an upward deflection inside the optical deflection element, so that at least part of the first outgoing light beam can be lifted upward. The above-mentioned at least part of the first outgoing light beam includes the first outgoing light beam at the bottom in the vertical field of view of the laser radar 130. Since at least part of the first outgoing light beam lifted upward by the laser radar 130 includes the first outgoing light beam at the bottom of the vertical field of view of the laser radar 130, similar to the above-mentioned embodiment, when the laser radar is placed on the inside of the vehicle windshield, the KOZ can be reduced, and when the laser radar is placed on the top of the vehicle, it is beneficial to optimize the vehicle shape.

[0099] Different from Figure 3 The radar assembly provided in the embodiments is used in conjunction with an existing laser radar to lift the original outgoing light beam emitted by the laser radar. In this embodiment, the existing laser radar is improved by setting the above-mentioned optical deflection element 130-B therein. In an exemplary embodiment, the optical deflection element 130-B can be used as a window of the laser radar 130. In another exemplary embodiment, the above-mentioned optical deflection element 130-B is arranged on the inner side of the window originally provided by the laser radar 130. In yet another exemplary embodiment, the above-mentioned optical deflection element 130-B is arranged on the outer side of the window originally provided by the laser radar 130. It can be seen that the position where the optical deflection element 130-B is arranged in the laser radar 130 is flexible.

[0100] like Fig.13The laser radar 130 shown can be set inside a vehicle (still taking a vehicle as an example). Specifically, after at least part of the first outgoing light beam emitted by the transmitting lens A-2 is deflected by the above-mentioned optical deflection element 130-A, it is offset in a direction parallel to the vertical field of view of the above-mentioned laser radar 130 and facing upward to obtain a second outgoing light beam, wherein the above-mentioned second outgoing light beam passes through the windshield of the vehicle and then exits the vehicle. Compared with a laser radar without an optical deflection element 130-B, the laser radar 130 provided in the embodiment of the present application can raise the field of view angle FOV, thereby reducing the KOZ area, and the area of ​​the laser radar FOV projected on the windshield 10 will also be reduced.

[0101] In the case where the laser radar 130 is arranged inside a vehicle (still taking a vehicle as an example), if the upper side of the optical deflection element 130-B is tilted toward the transmitting lens A-2 in the laser radar 130, the tilt angle of the optical deflection element satisfies the first angle range; wherein the high threshold of the first angle range is the angle corresponding to the tilt angle of the windshield, and the low threshold of the first angle range is 0. If the upper side of the optical deflection element 130-B is tilted toward the windshield of the vehicle, the tilt angle of the optical deflection element 130-B satisfies the second angle range; the high threshold of the second angle range is the angle corresponding to the tilt angle of the optical deflection element when the first outgoing light beam at the bottom of the vertical field of view of the laser radar vertically enters the optical deflection element 130-B, and the low threshold of the second angle range is 0. Since the relevant embodiments have been introduced in the foregoing content, they will not be repeated here.

[0102] like Fig.13 The laser radar 130 shown can also be set on the top of the vehicle. Specifically, after at least part of the first outgoing light beam emitted by the transmitting lens A-2 is deflected by the above-mentioned optical deflection element 130-A, it is offset in the direction parallel to the vertical field of view of the above-mentioned laser radar 130 and facing upward to obtain a second outgoing light beam. Compared with not setting the optical deflection element 30, the field of view angle of the laser radar 110 is raised, so the laser radar can be retracted in the direction of the vehicle retreating, and the above-mentioned optical deflection element 30 is set at the retracted position. Since the presence of the optical deflection element 30 raises the FOV of the laser radar 130, after the laser radar 130 retracts to the rear of the vehicle, its FOV (especially the light beam located in the lower part of the FOV) will not be blocked by the structural parts of the vehicle, and then an appearance part that is more in line with the streamlined shape of the vehicle body can be set in front of the laser radar 130, thereby reducing the impact of the laser radar on the streamlined shape of the vehicle body without affecting the detection range of the laser radar.

[0103] In the embodiment of the laser radar 130 provided in this specification, the shape of the optical deflection element 130-B and the usage scenarios of optical deflection elements of different shapes are also described in detail in the aforementioned embodiment of the radar component and will not be repeated here.

[0104] In the laser radar 130 provided in the embodiment of the present application, if the optical deflection element 130-B adopts a structure similar to a concave lens (such as Figure 5B 30b, 30f, 30h), since the optical deflection element has light divergence performance, the FOV of the second outgoing light beam will increase compared to the first outgoing light beam, resulting in a larger angular interval between two adjacent channels, thereby changing the angular resolution of the laser radar. If the optical deflection element 130-B adopts a convex lens-like structure (such as Figure 5B 30c, 30e, 30g), since the optical deflection element has the performance of light convergence, compared with the first outgoing light beam, it will cause the laser radar's FOV to be reduced, the receiving aperture to be reduced, and the angular resolution (size and uniformity) to change, which will reduce the laser radar's far-sightedness performance. At the same time, the optical deflection element 130-B's exit surface and incident surface are not parallel (such as Fig. 12B ), which will also cause the divergence angle of the laser radar to change, so the transmitting lens A-2 of the laser radar 130 is also equipped with an adjustment function.

[0105] Specifically, Fig.15 As shown, the transmitting lens A-2 is also configured to adjust the first outgoing light beam so that the second outgoing light beam after being folded by the optical deflection element 130-B is a collimated light beam. Specifically, in the case where the optical deflection element 130-B has a light convergence performance, the transmitting lens A-2 adjusts the first outgoing light beam to diverge on the basis of collimation to ensure that the second outgoing light beam emitted from the laser radar is a collimated light beam; in the case where the optical deflection element 130-B has a light emission performance, the transmitting lens A-2 adjusts the first outgoing light beam to converge on the basis of collimation to ensure that the second outgoing light beam emitted from the laser radar is a collimated light beam.

[0106] It should be noted that the optical deflection element 130-B included in the laser radar 130 provided in this embodiment is the same or similar to the functional principle, performance, usage scenario, etc. of the optical deflection element 30 introduced in the above-mentioned radar component embodiment. The two have the same specific technical features, and the technical solutions provided by the two embodiments are unified.

[0107] Fig.16 A schematic diagram of the structure of a measuring device provided in an embodiment of the present application is shown. Fig.16The present application embodiment also provides a measuring device 140 including: a laser radar 140-A and a radar component 140-B. It should be noted that the radar component 140-B can be understood as the above-mentioned Figure 3 The radar assembly provided in the embodiment corresponding to FIG. 12 , and the above-mentioned laser radar 140-A can be understood as the above-mentioned Figure 3 To the laser radar provided in the embodiment corresponding to FIG. 12 . The radar assembly 140-B is directly or indirectly connected to the laser radar 140-A. Exemplarily, the radar assembly 140-B is detachably or fixedly connected to one side of the laser radar 140-A. As in the above embodiment, the radar assembly 140-B and the laser radar 140-A are respectively fixedly or detachably connected to the vehicle.

[0108] Fig.17 A schematic diagram of the working principle of the measuring device provided in the embodiment of the present application is shown. Fig.17 During the operation of the measuring device, the laser radar 140-A emits an original outgoing beam; the upper radar component 140-B folds the original outgoing beam of the laser radar 140-A, and at least part of the original outgoing beam is offset in a preset direction after passing through the radar component 140-B to obtain a target outgoing beam, which will reach the target object 170, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar 140-A and facing upward; further, the echo beam formed by the reflection of the target outgoing beam passes through the radar component 140-B, and the folded echo beam is received by the laser radar 140-A. Thus, the measuring device can measure the distance between the target object 170 and the original outgoing beam and the folded echo beam.

[0109] Fig.18 A schematic diagram of the structure of a transportation tool provided in an embodiment of the present application is shown. Fig.18 The vehicle 180 provided in this embodiment includes a main body (not shown in the figure) and a laser radar 130. It should be noted that the laser radar 130 can be understood as the above Figures 13 to 15 The laser radar provided in the corresponding embodiment. The above-mentioned vehicle can be a vehicle, an airplane or a ship. As in the above-mentioned embodiment, the vehicle is taken as an example in this embodiment. The laser radar 130 is fixedly or detachably installed on the roof or behind the windshield in the vehicle. The relevant embodiments have been Figure 3 The embodiment corresponding to FIG. 12 has been described in detail and will not be repeated here.

[0110] Fig.19 Another structural schematic diagram of a transportation vehicle provided in an embodiment of the present application is shown. Fig.19The vehicle 190 provided in this embodiment includes a main body (not shown in the figure) and a measuring device 140. It should be noted that the measuring device 140 can be understood as the above-mentioned Fig.16 and Fig.17 The measuring device provided in the corresponding embodiment. The above-mentioned means of transport can be a vehicle, an airplane or a ship. As in the above-mentioned embodiment, a vehicle is taken as an example in this embodiment. The measuring device 140 is fixedly or detachably installed on the roof or behind the windshield in the vehicle. The relevant embodiments have been Figure 3 The embodiment corresponding to FIG. 12 has been described in detail and will not be repeated here.

[0111] In summary, the radar assembly, laser radar, measuring device and vehicle provided in the embodiments of the present application have at least the following beneficial effects: Taking the above-mentioned radar assembly as an example, the radar assembly is arranged on the outgoing light path of the laser radar and is directly or indirectly connected to the laser radar, and is used to fold the original outgoing light beam of the above-mentioned laser radar. Specifically, at least part of the above-mentioned original outgoing light beam is offset in a preset direction to obtain a target outgoing light beam after being folded by the above-mentioned optical deflection element, wherein the above-mentioned preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward. It can be seen that the radar assembly provided in the present application is able to lift at least part of the outgoing light beam of the laser radar in the above-mentioned preset direction. Thus, for example Figure 1A In the case shown in the figure, since the laser radar's outgoing beam can be lifted upward, the laser radar can be moved back a certain distance on the original basis, thereby alleviating the problem of Figure 1A The effect of laser radar on the streamline of the vehicle body in the case shown. Figure 1B In the situation shown, since the outgoing beam of the laser radar can be lifted upward, the KOZ area and the projection area of ​​the laser radar FOV on the windshield can be reduced, thereby reducing the impact on the driving field of view and related layout inside the car.

[0112] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require a specific order or a continuous order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0113] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented only by way of example and may not be restrictive. Although not explicitly stated herein, those skilled in the art will appreciate that the requirements of this application encompass various reasonable changes, improvements and modifications to the embodiments. These changes, improvements and modifications are intended to be proposed by the present application and are within the spirit and scope of the exemplary embodiments of the present application.

[0114] In addition, certain terms in this application have been used to describe embodiments of the present application. For example, "one embodiment", "embodiment" and / or "some embodiments" mean that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. Therefore, it can be emphasized and should be understood that two or more references to "embodiment" or "one embodiment" or "alternative embodiment" in various parts of the present application do not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics can be appropriately combined in one or more embodiments of the present application.

[0115] It should be understood that in the foregoing description of the embodiments of the present application, in order to help understand a feature and for the purpose of simplifying the present application, the present application combines various features in a single embodiment, drawing or its description. However, this does not mean that the combination of these features is necessary. When reading the present application, it is entirely possible for a person skilled in the art to mark out a part of the devices as a separate embodiment. In other words, the embodiments in the present application can also be understood as the integration of multiple secondary embodiments. This is also true when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0116] Each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, documents, articles, etc., cited herein, except any historical prosecution documents to which it is relevant, any equivalent that may be inconsistent or conflicting with this document, or any equivalent historical prosecution documents that may have a limiting effect on the broadest scope of the claims, may be incorporated herein by reference and used for all purposes now or hereafter associated with this document. In addition, in the event of any inconsistency or conflict between the descriptions, definitions, and / or use of terms associated with any of the incorporated materials and the terminology, descriptions, definitions, and / or use associated with this document, the terminology in this document shall control.

[0117] Finally, it should be understood that the embodiments of the application disclosed herein are explanations of the principles of the embodiments of the present application. Other modified embodiments are also within the scope of the present application. Therefore, the embodiments disclosed in the present application are merely examples and not limitations. Those skilled in the art can adopt alternative configurations according to the embodiments in the present application to implement the application in the present application. Therefore, the embodiments of the present application are not limited to the embodiments accurately described in the application.

Claims

1. A radar component, characterized in that: The radar assembly comprises: An optical deflection element is disposed on an outgoing light path of the laser radar and is directly or indirectly connected to the laser radar, and is configured to deflect an original outgoing light beam of the laser radar; Wherein, at least part of the original outgoing light beam is deflected in a preset direction after being deflected by the optical deflection element to obtain a target outgoing light beam; The preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward.

2. The radar assembly according to claim 1, characterized in that The laser radar and the optical deflection element are arranged inside the vehicle, and the optical deflection element is arranged between the laser radar and the windshield of the vehicle.

3. The radar assembly according to claim 2, characterized in that If the upper side of the optical deflection element is tilted toward the laser radar, the inclination angle of the optical deflection element satisfies a first angle range, the high threshold of the first angle range is the angle corresponding to the inclination angle of the windshield, and the low threshold of the first angle range is 0; If the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies a second angle range, the high threshold of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the original outgoing light beam at the bottom in the vertical field of view of the laser radar vertically enters the optical deflection element, and the low threshold of the second angle range is 0; The inclination angle of the optical deflection element is the angle between the optical deflection element and a vertical plane, and the inclination angle of the windshield is the angle between the windshield and a vertical plane.

4. The radar assembly according to claim 3, characterized in that: The tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

5. The radar assembly according to claim 2, characterized in that: The optical deflection element is arranged in a cylindrical space surrounded by extinction material, wherein one end of the cylindrical space is connected to the window of the laser radar.

6. The radar assembly according to claim 1, characterized in that in, The laser radar and the optical deflection element are arranged on the top of a vehicle, and the at least part of the original outgoing light beam includes the lowermost original outgoing light beam in the vertical field of view of the laser radar.

7. The radar assembly according to any one of claims 1 to 6, characterized in that: The incident surface of the optical deflection element is parallel to the exit surface of the optical deflection element; Wherein, the incident surface and the exit surface are both planes, or the incident surface and the exit surface are both curved surfaces.

8. The radar assembly according to claim 7, characterized in that When both the incident surface and the exit surface of the optical deflection element are curved surfaces, the convex surface of the curved surface faces the laser radar.

9. The radar assembly according to any one of claims 1 to 6, characterized in that: The incident surface of the optical deflection element and the exit surface of the optical deflection element are not parallel.

10. The radar assembly according to claim 9, characterized in that The target angle of the optical deflection element is negatively correlated with the maximum incident angle of the original outgoing light beam; The target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

11. A laser radar, characterized in that: The laser radar comprises: case; a transceiver assembly, disposed inside the housing, the transceiver assembly comprising a transmitting unit and a transmitting lens, the transmitting unit transmitting a first output light beam through the transmitting lens; and an optical deflection element connected to the housing and configured to deflect the first outgoing light beam, wherein at least a portion of the first outgoing light beam is deflected in a preset direction to obtain a second outgoing light beam after being deflected by the optical deflection element, and the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; The transceiver assembly further includes a receiving unit and a receiving lens, and an echo light beam formed by reflection of the second outgoing light beam reaches the receiving unit via the optical deflection element and the receiving lens.

12. The laser radar according to claim 11, characterized in that: The optical deflection element is configured as a viewing window of the laser radar.

13. The laser radar according to claim 11, characterized in that: The laser radar also includes a window, and the optical deflection element is arranged on the inner side of the window, or the optical deflection element is arranged on the outer side of the window.

14. The laser radar according to claim 11, characterized in that: The laser radar is arranged inside a vehicle, and the second outgoing light beam passes through a windshield of the vehicle and then exits the vehicle.

15. The laser radar according to claim 14, characterized in that: If the upper side of the optical deflection element is tilted toward the emitting lens, the inclination angle of the optical deflection element satisfies a first angle range, the upper threshold of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower threshold of the first angle range is 0; If the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies a second angle range, the upper threshold of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the first outgoing light beam at the bottom in the vertical field of view of the laser radar vertically enters the optical deflection element, and the lower threshold of the second angle range is 0; The inclination angle of the optical deflection element is the angle between the optical deflection element and a vertical plane, and the inclination angle of the windshield is the angle between the windshield and a vertical plane.

16. The laser radar according to claim 15, characterized in that: The tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

17. The laser radar according to claim 11, characterized in that: The laser radar is arranged on the top of the vehicle.

18. The laser radar according to any one of claims 11 to 17, characterized in that: At least part of the first outgoing light beam includes the first outgoing light beam at the bottom in the vertical field of view of the laser radar.

19. The laser radar according to any one of claims 11 to 17, characterized in that: The incident surface of the optical deflection element is parallel to the exit surface of the optical deflection element; Wherein, the incident surface and the exit surface are both planes, or the incident surface and the exit surface are both curved surfaces.

20. The laser radar according to claim 19, characterized in that: When both the incident surface and the exit surface are curved surfaces, the convex surface of the curved surface faces the transceiver assembly.

21. The laser radar according to any one of claims 11 to 17, characterized in that: The incident surface of the optical deflection element and the exit surface of the optical deflection element are both planes and are not parallel.

22. The laser radar according to claim 21, characterized in that: The target angle of the optical deflection element is negatively correlated with the maximum incident angle of the first outgoing light beam; The target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

23. The laser radar according to any one of claims 11 to 17, characterized in that: The emitting lens is also configured to adjust the first outgoing light beam so that the second outgoing light beam after being deflected by the optical deflection element is a collimated light beam.

24. A measuring device, characterized in that: include: A laser radar configured to emit a raw outgoing beam; as well as The radar assembly according to any one of claims 1 to 10 is directly or indirectly connected to the laser radar and is configured to fold an original outgoing beam of the laser radar, wherein at least part of the original outgoing beam is offset in a preset direction after passing through the radar assembly to obtain a target outgoing beam, and the target outgoing beam reaches a target object and is reflected by the target object to form an echo beam, and the radar assembly is further configured to fold the echo beam, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; The laser radar is also configured to receive the echo light beam after being deflected by the radar component.

25. A means of transport, characterized in that: The transportation means include: the subject; and The laser radar described in any one of claims 11 to 23 is installed on the main body; or the measuring device described in claim 24 is installed on the main body.

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