Window of laser radar and laser radar

Abstract

The invention provides a window of a laser radar and the laser radar, and the window comprises an emission light-passing area which is arranged corresponding to an emission module, and probe light is emitted to the outside of the laser radar through the emission light-passing area; the receiving light transmission area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light transmission area; and the inhibition area is at least located between the emission light transmission area and the receiving light transmission area, and the inhibition area is suitable for inhibiting light beams transmitted through the window. The window is provided with an inhibition area, which can effectively reduce or even prevent the detection light emitted by the emission module from being conducted by the window to generate stray light and being received by the receiving module, thereby effectively reducing the noise points generated in the laser radar point cloud, and facilitating the guarantee of the accuracy of laser radar detection.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar, and in particular to a laser radar window and a laser radar. Background Art

[0002] LiDAR is a commonly used distance measurement sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in unmanned driving, intelligent robots, drones and other fields. In recent years, autonomous driving technology has developed rapidly, and LiDAR, as its core sensor for distance perception, has become indispensable.

[0003] Figure 1 The schematic diagram of the structure of a laser radar using a paraxial transceiver system is shown. The detection light generated by the transmitting unit is transmitted through the transmitting lens, and then emitted to the outside of the laser radar after passing through the window; the emitted detection light is reflected by the target to form an echo light; the echo light is transmitted through the window and transmitted through the receiving lens, and then received by the receiving unit.

[0004] Existing laser radars that use a rangefinder transceiver system often have too much stray light. The receiving unit in the laser radar receives too much stray light, which may cause a large number of noise points to appear on the point cloud of the laser radar, resulting in ghost images in the point cloud, widening of the detected target, etc., affecting the performance of the laser radar.

[0005] How to reduce stray light in LiDAR using a rangefinder transceiver system has become an urgent problem to be solved in the LiDAR field. Summary of the invention

[0006] The problem solved by the present disclosure is to reduce stray light in a laser radar using a side-axis transceiver system and improve the accuracy of laser radar detection.

[0007] To solve the above problems, the present disclosure provides a window of a laser radar, wherein the laser radar has a transmitting module and a receiving module, and the detection light generated by the transmitting module is reflected by a target to form an echo light received by the receiving module; the window includes: an transmitting light-transmitting area, the transmitting light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting light-transmitting area; a receiving light-transmitting area, the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the interior of the laser radar through the receiving light-transmitting area; and a suppression area, the suppression area is at least located between the transmitting light-transmitting area and the receiving light-transmitting area, and the suppression area is suitable for suppressing the light beam transmitted through the window.

[0008] Optionally, the window has an inner surface and an outer surface, the outer surface faces the external space of the laser radar, and the inner surface is arranged opposite to the outer surface; at least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone causes the incident light beam to be scattered or transmitted.

[0009] Optionally, the window has an inner surface and an outer surface, the outer surface faces the external space of the laser radar, and the inner surface is arranged opposite to the outer surface; a light absorbing layer is arranged on at least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone.

[0010] Optionally, the direction of the line between the geometric center of the emitting light transmission area and the geometric center of the receiving light transmission area is a first direction, and the direction perpendicular to the first direction and located within the surface of the window is a second direction; the inhibition area extends from one side of the receiving light transmission area to the other side along the second direction.

[0011] Optionally, the emission light transmission area and the receiving light transmission area have a first thickness; and the thickness of at least part of the inhibition area is different from the first thickness.

[0012] Optionally, the inhibition zone has a light attenuation portion protruding from or recessed into the inner surface of the window.

[0013] Optionally, the light attenuation portion extends from one side to the other side of the inhibition zone along the second direction.

[0014] Optionally, the thickness of the inhibition zone is less than the first thickness; the window further comprises: an embedding piece, wherein the embedding piece is located in the inhibition zone.

[0015] Optionally, the insert extends from one side of the inhibition zone to the other side along the second direction.

[0016] Optionally, the material of the embedding part has a preset absorption coefficient for the detection light.

[0017] Optionally, the insert penetrates at least part of the thickness of the window in a direction perpendicular to the inner surface and / or outer surface of the window.

[0018] Optionally, the suppression area, the emission light transmission area, and the reception light transmission area are integrally formed.

[0019] Optionally, the embedding part has a first surface and a side surface, wherein the first surface faces the interior of the laser radar, and the side surface is connected to the first surface and is obliquely intersected.

[0020] Optionally, the embedment has a second surface facing the outside of the laser radar, and the second surface is configured to have a light attenuation portion.

[0021] Optionally, the window has an inner surface and an outer surface, the outer surface faces the outside of the laser radar, and the inner surface is arranged opposite to the outer surface;

[0022] The window further includes: a functional layer, wherein the functional layer is located on at least one of the inner surface and the outer surface.

[0023] Optionally, the functional layer includes at least one of: an anti-reflection layer, a heating layer, and a conductive layer.

[0024] Optionally, the transmitting module has a transmitting lens; the receiving module has a receiving lens; the transmitting light-transmitting area corresponds to the transmitting lens; and the receiving light-transmitting area corresponds to the receiving lens.

[0025] Optionally, a light-isolating portion is provided between the transmitting lens and the receiving lens, and a projection of the light-isolating portion on the surface of the viewing window is located within the inhibition zone.

[0026] Optionally, along a direction perpendicular to the inner surface and / or outer surface of the window, the light-isolating portion extends from one side of the receiving lens to the other side and exceeds an end surface of the receiving lens close to the window.

[0027] Optionally, the inhibition zone has a light attenuation portion sunken into the inner surface, and the light isolation portion extends into the light attenuation portion on a side close to the window; or, the inhibition zone has a light attenuation portion protruding from the inner surface, and the light isolation portion extends to the light attenuation portion on a side close to the window.

[0028] Optionally, a side of the light-isolating portion close to the window is connected to the inhibition zone.

[0029] Optionally, a side of the light-isolating portion close to the viewing window is connected to a surface of the embedding component facing the interior of the laser radar.

[0030] Optionally, the coverage area of ​​the detection light generated by the transmitting module on the window corresponds to the transmitting light transmission area; the coverage area of ​​the echo light received by the receiving module on the window corresponds to the receiving light transmission area.

[0031] Correspondingly, the present disclosure also provides a laser radar, including: a transmitting module, which is suitable for generating detection light; a receiving module, which is suitable for receiving echo light formed by the detection light reflected by a target; a window, which includes: an emission light-transmitting area, which is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the emission light-transmitting area; a receiving light-transmitting area, which is arranged corresponding to the receiving module, and the echo light enters the interior of the laser radar through the receiving light-transmitting area; and a suppression area, which is at least located between the emission light-transmitting area and the receiving light-transmitting area, and the suppression area is suitable for suppressing the light beam transmitted through the window.

[0032] Optionally, the transmitting module has multiple transmitting units arranged in a specific direction, and the receiving module includes a single-photon receiving unit array; the activation area in the single-photon receiving unit array is configured to receive echo light formed by the detection light generated by one of the transmitting units or at least two adjacent transmitting units.

[0033] Compared with the prior art, the technical solution disclosed in the present invention has the following advantages:

[0034] In the technical solution disclosed in the present invention, in the window, an inhibition zone is provided between the emission light transmission zone and the receiving light transmission zone to inhibit the light beam transmitted through the window. The inhibition zone is provided in the window, which can effectively reduce or even prevent the detection light emitted by the transmitting module from generating stray light transmitted through the window and being received by the receiving module, thereby effectively reducing the noise points generated in the laser radar point cloud, which is conducive to ensuring the accuracy of laser radar detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation on the present disclosure. In the drawings:

[0036] Figure 1 It is a schematic diagram of the structure of a laser radar using a side-axis transceiver system;

[0037] Figure 2 is a schematic cross-sectional structure diagram of a first embodiment of a window of a laser radar disclosed in the present invention;

[0038] Figure 3 yes Figure 2 The schematic diagram of the optical paths of the detection light and the echo light in the first embodiment of the window of the laser radar disclosed in the present invention is shown;

[0039] Figure 4 yes Figure 2 A schematic diagram of the top view structure of the inner surface of the window in the first embodiment of the window of the laser radar disclosed in the present invention is shown;

[0040] Figure 5 yes Figure 2 The schematic diagram of the enlarged structure of the suppression area of ​​the window in the first embodiment of the window of the laser radar disclosed in the present invention is shown;

[0041] Figure 6 yes Figure 2A schematic diagram of the optical path structure of the light absorbing layer of the window in the first embodiment of the window of the laser radar disclosed in the present invention is shown;

[0042] Figure 7 is a schematic cross-sectional structure diagram of a second embodiment of a window of a laser radar disclosed in the present invention;

[0043] Figure 8 yes Figure 7 A schematic diagram of the top view structure of the inner surface of the window in the second embodiment of the window of the laser radar disclosed in the present invention is shown;

[0044] Fig. 9 is a schematic cross-sectional structure diagram of a third embodiment of a window of a laser radar disclosed in the present invention;

[0045] Fig.10 is a schematic cross-sectional structure diagram of a fourth embodiment of a window of a laser radar disclosed in the present invention;

[0046] Fig.11 yes Fig.10 A schematic diagram of the top view structure of the inner surface of the window in the fourth embodiment of the window of the laser radar disclosed in the present invention is shown;

[0047] Fig.12 is a schematic cross-sectional structure diagram of a fifth embodiment of a window of a laser radar disclosed in the present invention;

[0048] Fig.13 It is a schematic diagram of the cross-sectional structure of the sixth embodiment of the window of the laser radar disclosed in the present invention. DETAILED DESCRIPTION

[0049] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0050] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0051] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0052] In the present disclosure, unless otherwise expressly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0054] As can be seen from the background technology, the laser radar using the side-axis transceiver system in the prior art has the problem that stray light affects the detection accuracy. Figure 1 As shown, in the laser radar using a side-axis transceiver system, the window is an integrated structure, that is, along the direction of the transmitting lens pointing to the receiving lens, the window extends from the position corresponding to the transmitting lens to the position corresponding to the receiving lens; therefore, when the detection light emitted by the transmitting lens passes through the window, most of the detection light will be transmitted through the window and emitted to the outside of the laser radar, and another part of the detection light will enter the window and undergo multiple reflections, that is, it will be conducted in the window from the position corresponding to the transmitting lens to the position corresponding to the receiving lens, and then emitted from the window to the inside of the laser radar to become stray light, and the stray light will be received by the receiving module through the receiving lens.

[0055] In order to solve the technical problem, the present disclosure provides a window of a laser radar, wherein the laser radar has a transmitting module and a receiving module, and the detection light generated by the transmitting module is reflected by a target to form an echo light received by the receiving module; the window includes: an transmitting light-transmitting area, the transmitting light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting light-transmitting area; a receiving light-transmitting area, the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the interior of the laser radar through the receiving light-transmitting area; and a suppression area, the suppression area is at least located between the transmitting light-transmitting area and the receiving light-transmitting area, and the suppression area is suitable for suppressing the light beam transmitted through the window.

[0056] In the technical solution disclosed in the present invention, in the window, an inhibition zone is provided between the emission light transmission zone and the receiving light transmission zone to inhibit the light beam transmitted through the window. The inhibition zone is provided in the window, which can effectively reduce or even prevent the detection light emitted by the transmitting module from generating stray light transmitted through the window and being received by the receiving module, thereby effectively reducing the noise points generated in the laser radar point cloud, which is conducive to ensuring the accuracy of laser radar detection.

[0057] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0058] refer to Figure 2 , showing a schematic cross-sectional structure diagram of an embodiment of a window of the laser radar disclosed in the present invention.

[0059] The laser radar comprises a transmitting module 101 and a receiving module 102. The detection light generated by the transmitting module 101 is reflected by the target to form the echo light received by the receiving module 102. Figure 2 As shown, the window 100 includes: an emission light-transmitting area 111, the emission light-transmitting area 111 is arranged corresponding to the emission module 101, and the detection light ( Figure 3 The laser radar is shown in the solid arrow in the middle) through the emission light transmission area 111 and emitted to the outside of the laser radar (such as Figure 3 receiving light-transmitting area 112, the receiving light-transmitting area 112 is arranged corresponding to the receiving module 102, the echo light ( Figure 3 The laser radar is shown as the dotted arrow in the middle) through the receiving light transmission area 112 and enters the interior of the laser radar (as shown in FIG. Figure 3 The inhibition zone 120 is located between the emission light transmission zone 111 and the receiving light transmission zone 112, and the inhibition zone 120 is suitable for inhibiting the light beam transmitted through the window 100.

[0060] The suppression zone 120 is set in the window 100, which can effectively reduce or even prevent the detection light emitted by the transmitting module 101 from being transmitted through the window 100 to generate stray light and be received by the receiving module 102, thereby effectively reducing the noise points generated in the laser radar point cloud, which is beneficial to ensure the accuracy of laser radar detection.

[0061] The technical solution of the window embodiment of the laser radar disclosed in the present invention is described in detail below with reference to the accompanying drawings.

[0062] The emission light transmission area 111 and the reception light transmission area 112 are suitable for light beams to pass through the window 100 .

[0063] Specifically, the position of the emission light transmission area 111 corresponds to the position of the emission module 101, and the emission light transmission area 111 is located downstream of the emission module 101 in the optical path of the detection light. In some embodiments, the coverage area of ​​the detection light generated by the emission module 101 on the window 100 corresponds to the emission light transmission area 111, and specifically, the coverage area of ​​the light spot formed by the detection light generated by the emission module 101 on the window 100 corresponds to the emission light transmission area 111.

[0064] Specifically, the position of the receiving light-transmitting area 112 corresponds to the position of the receiving module 102, and the receiving light-transmitting area 111 is located upstream of the receiving module 102 in the optical path of the echo light. In some embodiments, the coverage area of ​​the echo light received by the receiving module 102 on the window 100 corresponds to the receiving light-transmitting area 112, and specifically, the coverage area of ​​the light spot formed by the echo light received by the receiving module 102 on the window 100 corresponds to the receiving light-transmitting area 112.

[0065] It should be noted that, in some embodiments, the light spot formed by the echo light on the window 100 is located within the receiving light-transmitting area 112. The receiving light-transmitting area matches the detection field of view of the receiving unit, and the receiving light-transmitting area is configured as an aperture to limit the light beam outside the detection field of view from entering the receiving lens and being received by the receiving unit. In other embodiments of the present disclosure, the light spot formed by the echo light on the window may also cover the receiving light-transmitting area, that is, the receiving light-transmitting area is within the range of the light spot formed by the echo light on the window.

[0066] In some specific embodiments of the present disclosure, the transmitting module 101 of the laser radar has a transmitting lens 105; the receiving module 102 of the laser radar has a receiving lens 106; the transmitting light-transmitting area 111 corresponds to the transmitting lens 105; and the receiving light-transmitting area 112 corresponds to the receiving lens 106.

[0067] Specific as Figure 2 In some of the illustrated embodiments, the emitting light-transmitting area 111 is directly opposite to the emitting lens 105, that is, the emitting light-transmitting area 111 is opposite to the emitting lens 105, and the projection of the emitting lens 105 on the visual window 100 is located within the emitting light-transmitting area 111; the receiving light-transmitting area 112 is directly opposite to the receiving lens 106, that is, the receiving light-transmitting area 112 is opposite to the receiving lens 106, and the projection of the receiving lens 106 on the visual window 100 is located within the receiving light-transmitting area 112.

[0068] In other embodiments of the present disclosure, the emitting light-transmitting area may not be directly opposite to the emitting lens, and a reflector for light path folding is provided between the emitting light-transmitting area and the emitting lens, and the reflector folds the detection light transmitted by the emitting lens to the emitting light-transmitting area; similarly, the receiving light-transmitting area may not be directly opposite to the receiving lens, and a reflector for light path folding is provided between the receiving light-transmitting area and the receiving lens, and the reflector folds the detection light transmitted by the receiving lens to the receiving light-transmitting area.

[0069] The suppression area 120 suppresses the light beam transmitted through the window 100 .

[0070] Specifically, the suppression area 120 is suitable for suppressing the light beam incident into the window 100 and transmitted to the receiving light transmission area 112. The light beam transmitted through the window 100 to the receiving light transmission area 112 is incident on the receiving lens 106 and becomes stray light.

[0071] In some embodiments of the present disclosure, the direction of the line between the geometric center of the emitting light-transmitting area 111 and the geometric center of the receiving light-transmitting area 112 is a first direction X, and the direction perpendicular to the first direction and located within the surface of the window 100 is a second direction Y; the inhibition area 120 extends along the second direction Y from one side of the receiving light-transmitting area 112 to the other side.

[0072] Specific as Figure 4 In some embodiments shown, the inhibition zone 120 is located in an area of ​​the window 100 other than the emission light transmission area 111 and the receiving light transmission area 112. The inhibition zone 120 is not only located between the emission light transmission area 111 and the receiving light transmission area 112, but also located in other areas around the emission light transmission area 111. The inhibition zone 120 is also located in other areas around the receiving light transmission area 112. Figure 4 As shown, the suppression area 120 surrounds the emission light transmission area 111 and the reception light transmission area 112 .

[0073] Continue to refer Figure 2 The window 100 has an inner surface 103 and an outer surface 104 , the outer surface 104 faces the external space of the laser radar, and the inner surface 103 is arranged opposite to the outer surface 104 .

[0074] It should be noted that the suppression zone 120 suppresses the light beam incident into the window 100 from being incident between the inner surface 103 and the outer surface 104 of the window 100 and propagating between the inner surface 103 and the outer surface 104 of the window 100 (propagating toward the receiving light transmission zone 112).

[0075] In some specific embodiments, the window 100 has a window body 100a, and the material of the window body 100a has a preset transmittance to the detection light. For example, the material of the window body 100a can be glass, and the transmittance of the window body 100a made of glass to the detection light is more than 80%. The window body 100a transmits the detection light and the echo light. The inner surface 103 and the outer surface 104 are respectively the surface of the window body 100a facing the inside of the laser radar and the surface facing the outside of the laser radar.

[0076] The transmitting module 101 and the receiving module 102 are both arranged inside the laser radar, the outer surface 104 faces the outside of the laser radar, and the outer surface 104 faces away from the inside of the laser radar; the inner surface 103 faces the inside of the laser radar, that is, the inner surface 103 faces the transmitting module 101 and the receiving module 102.

[0077] In some embodiments of the present disclosure, at least one of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120 causes an incident light beam to be scattered or transmitted.

[0078] At least one of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120 is configured to scatter or transmit the incident light beam, thereby destroying the reflective interface in the window 100. Figure 5 As shown by the solid arrow in the middle, the light beam transmitted in the window 100 is scattered or transmitted, and the propagation path of the scattered or transmitted light beam is changed, which reduces or even avoids the light beam after the scattered or transmitted light beam from entering the receiving lens 106 and being received by the receiving module 102, thereby achieving the purpose of reducing stray light.

[0079] In some embodiments, at least one of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120 is a frosted surface. Specifically, at least one of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120 is frosted to form a frosted surface. During the frosting process of the surface of the inhibition zone 120, the emission light transmission area 111 and the receiving light transmission area 112 are avoided, and only the surface of the inhibition zone 120 is frosted glass-like. The propagation path of the light beam transmitted in the inhibition zone 120 is changed, and it is no longer received by the receiving module 102 through the receiving lens 106 at the original angle.

[0080] In some embodiments of the present disclosure, a light absorbing layer 121 is disposed on at least one of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120 , wherein the light absorbing layer 121 has a preset absorption coefficient for the detection light.

[0081] The light absorbing layer 121 is disposed on at least one of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120; in some specific embodiments, the transmitting module of the laser radar includes a laser, and the detection light is a laser of a specific wavelength generated by the laser. For example, the wavelength of the detection light can be 905nm, 940nm, 1550nm, etc. The light absorbing layer 121 has a relatively high absorption coefficient for the electromagnetic waves in the wavelength band of the detection light, and the light beam incident on the light absorbing layer 121 is absorbed by the light absorbing layer 121 and its conduction path is blocked, such as Figure 6 As shown by the dotted arrows, the light beam transmitted in the window 100 is reduced or even prevented from passing through the receiving lens 106 and being received by the receiving module 102 , thereby achieving the purpose of reducing stray light.

[0082] In some embodiments, ink coating is performed on at least one of the inner surface 103 of the window 100 in the inhibition zone 120 and the outer surface 104 of the window 100 in the inhibition zone 120. The ink coating on the surface of the inhibition zone 120 can increase the possibility that the light beam transmitted in the window 100 is absorbed in the inhibition zone 120, and can effectively block the propagation path of the light beam, thereby reducing stray light.

[0083] In some embodiments of the present disclosure, the inner surface 103 of the inhibition zone 120 can scatter or transmit the incident light beam, and the light absorbing layer 121 is disposed on the inner surface 103 of the inhibition zone 120. In other embodiments of the present disclosure, the outer surface of the inhibition zone can also be configured to scatter or transmit the incident light beam, and the light absorbing layer can also be disposed on the outer surface of the inhibition zone. In other embodiments of the present disclosure, the inner surface of the inhibition zone and the outer surface of the inhibition zone can also be configured to scatter or transmit the incident light beam; the light absorbing layer can also be disposed on the inner surface of the inhibition zone and the outer surface of the inhibition zone.

[0084] like Figure 2 As shown, in some embodiments of the present disclosure, the window 100 further includes: a functional layer 130, and the functional layer 130 is located on at least one of the inner surface 103 and the outer surface 104. The window 100 is an integrated structure, and the functional layer 130 can be formed on the surface of the window 100 at one time, which can not only simplify the process steps, but also effectively ensure the uniformity of the functional layer 130. Specifically, the functional layer 130 includes: the functional layer 130 includes: at least one of an anti-reflection layer, a heating layer, and a conductive layer.

[0085] It should be noted that the anti-reflection layer is used to increase the transmittance of the detection light and the echo light through the window, so as to significantly reduce the light beam transmitted in the window, which is conducive to reducing stray light; the heating layer is used to heat the window to prevent rain, snow, fog, etc. from remaining on the surface of the window and affecting the normal detection of the laser radar; the conductive layer is used to achieve the effect of electromagnetic shielding, that is, the conductive layer is a conductor, and the conductive layer is connected to the outer shell of the laser radar so that the window and the laser radar outer shell form a conductive equipotential body, so that the laser radar can shield electromagnetic interference (Electromagnetic Compatibility, EMC). Specifically, the conductive layer is a transparent conductive layer (Transparent Conducting Oxides, TCO), and the material of the conductive layer is transparent oxide (Indium Tin Oxide, ITO).

[0086] In some specific embodiments, the inner surface 103 and the outer surface 104 are two surfaces of the window body 100a respectively, and the functional layer 130 is located on at least one of the surface of the window body 100a facing the inside of the laser radar and the surface facing the outside of the laser radar.

[0087] Specific as Figure 2 In some of the embodiments shown, the functional layer 130 is located on the outer surface 104, and the functional layer 130 is located on the surface of the window body 100a facing the outside of the laser radar. In other embodiments of the present disclosure, the functional layer may also be located on the inner surface, and the functional layer is located on the surface of the window body facing the inside of the laser radar.

[0088] It should be noted that, in some embodiments of the present disclosure, at least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone causes the incident light beam to be scattered or transmitted, and the functional layer is located on the surface that causes the incident light beam to be scattered or transmitted. In some embodiments, at least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone is a frosted surface, and the functional layer is located on the frosted surface. For example, the inner surface of the inhibition zone is a frosted surface, and the functional layer is located on the frosted surface.

[0089] In some other embodiments of the present disclosure, a light absorbing layer is provided on at least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone; the functional layer is located on the light absorbing layer, for example, the inner surface of the inhibition zone has a light absorbing layer, and the functional layer is located on the light absorbing layer.

[0090] Continue to refer Figure 2In some embodiments of the present disclosure, in the laser radar, a light-isolating portion 107 is provided between the transmitting lens 105 and the receiving lens 106 , and a projection area of ​​the light-isolating portion 107 on the surface of the window 100 is located within the suppression zone 120 .

[0091] It should be noted that Figure 2 In some of the illustrated embodiments, the projection of the light-isolating portion 107 on the surface of the window 100 is located within the inhibition zone 120. However, such a light-isolating portion 107 is only an example. In other embodiments of the present disclosure, the projection of the light-isolating portion on the surface of the window may also overlap with the inhibition zone; in other embodiments, the projection of the light-isolating portion on the surface of the window covers the inhibition zone, and the inhibition zone is located within the projection range of the light-isolating portion on the surface of the window.

[0092] The light-isolating portion 107 is used to perform optical isolation between the transmitting module 101 and the receiving module 102, and to separate the internal space of the laser radar where the transmitting lens 105 is located from the internal space of the laser radar where the receiving lens 106 is located as much as possible, thereby reducing the light beam reflected by the window surface from being incident on the receiving lens 106 and being received by the receiving module 102, thereby reducing the formation of stray light.

[0093] In some embodiments of the present disclosure, the light-isolating portion 107 extends from one side of the receiving lens 106 to the other side along a direction perpendicular to the inner surface 103 and the outer surface 104 of the window 100 , and exceeds the end surface of the receiving lens 106 close to one end of the window 100 .

[0094] It should be noted that if Figure 2 In some specific embodiments shown, the light-blocking portion 107 also extends from one side of the emitting lens 105 to the other side along a direction perpendicular to the inner surface 103 and the outer surface 104 of the window 100 , and exceeds the end surface of the emitting lens 105 close to one end of the window 100 .

[0095] The light isolation effect of the light isolation portion 107 is related to the distance of the light isolation portion 107 close to the inner surface of the window 100 and / or the distance beyond the end of the receiving lens 106. The greater the distance of the light isolation portion 107 close to the inner surface of the window 100 and / or the greater the distance beyond the end of the receiving lens 106, the more stray light the light isolation portion 107 can isolate, and the better the light isolation effect of the light isolation portion 107.

[0096] Specifically, along a direction perpendicular to the inner surface 103 and the outer surface 104 of the window 100, that is, in a direction perpendicular to the window 100, the light-isolating portion 107 extends from one side of the receiving lens 106 to the other side, and exceeds the end surface of the receiving lens 106 close to the window 100. Figure 2 In some of the embodiments shown, a side of the light-isolating portion 107 close to the window 100 is connected to the window 100 of the inhibition zone 120 .

[0097] If the width of the light-isolating portion 107 is too large, it will affect the angle at which the transmitting lens 105 emits the detection light, and will also affect the angle at which the receiving lens 106 receives the echo light. Therefore, the width of the light-isolating portion 107 is determined based on the emission field of view of the detection light and the reception field of view of the echo light to avoid interfering with the emission of the detection light and the reception of the echo light. The width K of the light-isolating portion 107 is the size of the light-isolating portion 107 in the direction of the line connecting the transmitting lens 105 and the receiving lens 106.

[0098] It should be noted that, in the aforementioned embodiment, the surface of the inhibition zone 120 is processed to inhibit the light beam transmitted through the window 100. However, this is only an example, and in other embodiments of the present disclosure, a special structure may be formed in the window of the inhibition zone 120 to achieve the purpose of inhibiting the light beam transmission in the window.

[0099] refer to Figure 7 , showing a schematic diagram of the cross-sectional structure of the second embodiment of the window of the laser radar disclosed in the present invention.

[0100] The present disclosure will not repeat the same points as the above embodiments. The difference from the above embodiments is that, in some embodiments, the thickness of the inhibition area 220 in the window 200 is different from the thickness of other areas.

[0101] In some embodiments of the present disclosure, the emission light-transmitting area 211 and the reception light-transmitting area 212 have a first thickness D1; ​​and the thickness D2 of at least a portion of the inhibition area 220 is different from the first thickness D1.

[0102] By changing the thickness of the inhibition zone 220 and forming a light attenuation structure in the inhibition zone 220 , the path of the light beam transmitted in the inhibition zone 220 can be changed to achieve the effect of inhibiting the light beam transmission.

[0103] In some embodiments of the present disclosure, the thickness D2 of the inhibition zone 220 is greater than the first thickness D1. In the window 200, the inhibition zone 220 protrudes from the surface of the emission light transmission zone 211, and the inhibition zone 220 also protrudes from the surface of the receiving light transmission zone 212. In some embodiments, the inhibition zone 220 has a light attenuation portion 222 protruding from the surface of the window 200.

[0104] The light attenuation portion 222 protrudes from the surface of the window 200 to form a light trap-like structure, so that the light beam transmitted in the window 200 is reflected multiple times in the light attenuation portion 222 to achieve the effect of blocking transmission and attenuating light intensity.

[0105] Specific as Figure 7 In some of the embodiments shown, the light attenuation portion 222 protrudes from the inner surface 203 of the window 200 so that the outer surface 204 of the window 200 maintains a complete surface and there is no splicing gap on the outer surface 204. This not only ensures the beauty of the laser radar, but also reduces the difficulty of further processing and integrating functional layers of the window 200.

[0106] In some specific embodiments, the laser radar further comprises a light-isolating portion 207 located between the transmitting lens 205 of the transmitting module 201 and the receiving lens 206 of the receiving module 202; and the suppression zone 220 comprises a light-attenuating portion 222 protruding from the inner surface 203; the light-isolating portion 207 extends to the light-attenuating portion 222 on one side close to the window 200, as shown in FIG. Figure 7 As shown, the side of the light-isolating portion 307 close to the window 400 is connected to the light-attenuating portion 222 .

[0107] In some embodiments of the present disclosure, the inhibition zone 220 extends from one side of the receiving light transmission zone 212 to the other side along the second direction Y, wherein the direction of the line between the geometric center of the emitting light transmission zone 211 and the geometric center of the receiving light transmission zone 212 is the first direction X, and the direction perpendicular to the first direction X and located within the surface of the window 200 is the second direction Y.

[0108] like Figure 8 As shown, the emission light transmission area 211 and the receiving light transmission area 212 are equal in size along the second direction Y and are arranged in parallel along the first direction X, wherein along the second direction Y, the inhibition area 220 extends from one side edge to the other side edge of the receiving light transmission area 212. In some specific embodiments, the light attenuation portion 222 extends along the second direction Y from one side of the inhibition area 220 to the other side.

[0109] It should be noted that if Figure 7In some of the embodiments shown, the surface of the light attenuation portion 222 facing the interior of the laser radar can also be set to a frosted surface, and a light absorbing layer can also be provided on the surface of the light attenuation portion 222 facing the interior of the laser radar to enhance its effect of blocking conduction and attenuating light intensity.

[0110] refer to Fig. 9 , showing a schematic diagram of the cross-sectional structure of the third embodiment of the window of the laser radar disclosed in the present invention.

[0111] The present disclosure will not repeat the same points as the above embodiments. The difference from the above embodiments is that, in some embodiments, the thickness D3 of the inhibition zone 320 is smaller than the first thickness D1.

[0112] Specifically, in the window 300, the inhibition zone 320 is sunken into the surface where the emission light transmission zone 311 and the reception light transmission zone 312 are located. In some embodiments, the inhibition zone 320 has a light attenuation portion 323 sunken into the surface of the window 300, specifically a groove structure.

[0113] The light attenuation portion 323 is sunken into the surface of the window 300, and the thickness of the inhibition zone 320 is relatively small, that is, the distance between the inner surface 303 and the outer surface 304 of the window 300 is relatively small, so that the number of reflections and scatterings of the light beam in the inhibition zone 320 increases, and each reflection and scattering will attenuate the intensity of the light beam. Therefore, the light attenuation portion 323 is provided in the inhibition zone 320, which can effectively attenuate or even block the light beam from being transmitted from the emitting light transmission zone 311 to the receiving light transmission zone 312, thereby achieving the effect of blocking conduction and attenuating light intensity.

[0114] Specific as Fig. 9 In some of the embodiments shown, the light attenuation portion 323 is recessed into the inner surface 303 of the window 300 so that the outer surface 304 of the window 300 maintains a complete plane and there is no splicing gap on the outer surface 304, which not only ensures the beauty of the laser radar, but also reduces the difficulty of further processing and integrating functional layers of the window 300.

[0115] In some specific embodiments, the laser radar further comprises a light-isolating portion 307 located between the transmitting lens 305 of the transmitting module 301 and the receiving lens 306 of the receiving module 302; and the suppression zone 320 comprises a light attenuation portion 323 sunken into the inner surface 303; Fig. 9 As shown, the light isolation portion 307 close to a side of the window 300 extends into the light attenuation portion 323 .

[0116] In some embodiments, the suppression area 320 extends from one side edge to the other side edge of the receiving light transmission area 312 along the second direction Y. In some specific embodiments, the light attenuation portion 323 extends from one side to the other side of the suppression area 320 along the second direction Y, wherein the direction of the line between the geometric center of the emitting light transmission area 311 and the geometric center of the receiving light transmission area 312 is the first direction X, and the direction perpendicular to the first direction X and located within the surface of the window 300 is the second direction Y.

[0117] It should also be noted that if Fig. 9 In some of the embodiments shown, the inner surface of the light attenuation portion 323 may also be set as a frosted surface, and a light absorbing layer may also be provided on the inner surface of the light attenuation portion 323 to improve the effect of blocking conduction and attenuating light intensity.

[0118] refer to Fig.10 , showing a schematic diagram of the cross-sectional structure of the fourth embodiment of the window of the laser radar disclosed in the present invention.

[0119] The present disclosure will not repeat the same points as the above embodiments. The difference from the above embodiments is that, in some embodiments, the window 400 further has an insert 424 .

[0120] like Fig.10 In some embodiments shown, the window 400 further includes: an insert 424, the insert 424 being located in the inhibition zone 420. The insert 424 is embedded in the surface of the window 400. In some embodiments, along a direction perpendicular to the inner surface 403 and the outer surface 404 of the window 400, the insert 424 penetrates at least a portion of the thickness of the window 400.

[0121] The insert 424 is located in the groove structure formed in the inhibition zone 420. As mentioned above, the groove structure can effectively attenuate or even block the transmission of the light beam from the emission light transmission zone 411 to the receiving light transmission zone 412, thereby achieving the effect of blocking conduction and attenuating light intensity. In addition, the arrangement of the insert 424 can effectively improve the strength of the inhibition zone 420, thereby improving the protection capability and service life of the window 200.

[0122] The effect of the groove structure in blocking conduction and attenuating light intensity is related to the thickness of the window 400 where the groove structure is located. Therefore, the greater the thickness of the insert 424, the smaller the thickness of the window 400 where the insert 424 is located, that is, the smaller the distance between the inner surface 403 and the outer surface 404, so that the number of reflections and scattering of the light beam in the inhibition area 420 increases, thereby better blocking conduction and attenuating light intensity.

[0123] In some specific embodiments, the thickness of the embedding member 424 can be determined based on the requirement of blocking transmission and attenuating light intensity, or can be determined based on the intensity of the detection light generated by the transmitting module 401, the intensity of the transmission light beam in the window 400, and the detection threshold of the received echo light identified by the receiving module 402. The thickness of the embedding member 424 refers to the size of the embedding member 424 in the direction along the line between the inner surface 403 and the outer surface 404.

[0124] In some embodiments of the present disclosure, the embedding piece 424 penetrates a portion of the thickness of the window 400 , and the inhibition area 420 , the emission light-transmitting area 411 , and the reception light-transmitting area 412 are integrally formed.

[0125] Specific as Fig.10 In some of the embodiments shown, the embedment 424 is recessed into the inner surface 403 of the window 400 so that the outer surface 404 of the window 400 maintains a complete plane and there are no splicing gaps on the outer surface 404, which not only ensures the aesthetics of the laser radar but also reduces the difficulty of further processing and integrating functional layers of the window 400.

[0126] In some specific embodiments, the laser radar further comprises a light-shielding portion 407 located between the transmitting lens 405 of the transmitting module 401 and the receiving lens 406 of the receiving module 402; and the window 400 of the inhibition zone 420 comprises an insert 424 recessed into the inner surface 403; Fig.10 As shown, the side of the light-isolating portion 407 close to the window 400 is connected to the surface of the embedding part 424 facing the inside of the laser radar.

[0127] In some embodiments of the present disclosure, the inhibition zone 420 extends from one side of the receiving light transmission zone 412 to the other side along the second direction Y, wherein the direction of the line between the geometric center of the emitting light transmission zone 411 and the geometric center of the receiving light transmission zone 412 is the first direction X, and the direction perpendicular to the first direction X and located within the surface of the window 400 is the second direction Y.

[0128] like Fig.11 As shown, the emission light transmission area 411 and the receiving light transmission area 412 are equal in size along the second direction Y and are arranged in parallel along the first direction X. Along the second direction Y, the inhibition area 420 extends from one side edge to the other side edge of the receiving light transmission area 412. In some specific embodiments, the embedding piece 424 extends from one side of the inhibition area 420 to the other side along the second direction Y.

[0129] In some embodiments, the width w1 of the embedding member 424 is greater than the width w2 of the light-isolating portion 407, wherein the width is a dimension parallel to the first direction X. Fig.10 and Fig.11 In some embodiments shown, the insert 424 extends from one side of the inhibition zone 420 to the other side along the first direction X, and the insert 424 covers the entire inhibition zone 420 along the first direction X.

[0130] By providing an insert 424 in the window 400, the insert 424 has a larger width to improve the effect of the suppression zone 420 in blocking conduction and attenuating light intensity. The light-isolating portion 407 can also have a smaller width to provide more layout space inside the laser radar.

[0131] It should be noted that, in some embodiments, the material of the embedding member 424 has a preset absorption coefficient for the detection light. Setting the material of the embedding member 424 to a material having a preset absorption coefficient for the detection light can enable the embedding member 424 to absorb the light beam in the detection light band, and can effectively improve the effect of the inhibition zone 420 in blocking conduction and attenuating light intensity.

[0132] In addition, the selection of the material of the embedding member 424 will also affect the scattering of the detection light. Therefore, when setting the material of the embedding member 424, the effect of the material on the scattering of the detection light also needs to be considered.

[0133] It should also be noted that, as mentioned above, the roughness of the inner surface 403 and the outer surface 404 of the inhibition zone 420 will also affect the conduction of the light beam in the window 400. The higher the roughness of the inner surface 403 and the outer surface 404, the greater the probability that the light beam transmitted in the window 400 is scattered or transmitted, and the smaller the probability that the light beam transmitted in the window 400 is received by the receiving module 402, and the better the effect of the inhibition zone in blocking conduction and attenuating light intensity.

[0134] In some specific embodiments, the surfaces of the embedding member 424 and the suppression zone 420 have a preset roughness, that is, the surfaces of the embedding member 424 and the suppression zone 420 are both rough frosted surfaces to destroy the reflective interface and improve the effect of blocking conduction and attenuating light intensity.

[0135] It should be noted that Fig.10 and Fig.11 In some embodiments shown, the cross section of the insert 400 is rectangular. In other embodiments of the present disclosure, the effect of blocking conduction and attenuating light intensity can be further improved by designing the cross section of the insert. Fig.10The cross section shown is a plane defined by a line connecting the inner surface 403 and the outer surface 404 and a line connecting the emission light-transmitting area 411 and the reception light-transmitting area 412 .

[0136] like Fig.12 In some embodiments shown, the insert 524 has a first surface 524a and a side surface 524b, wherein the first surface 524a faces the interior of the laser radar, and the side surface 524b is connected to and obliquely intersects with the first surface 524a. The obliquely intersecting side surface 524b can effectively adjust the transmission direction of the incident light beam in the window 500, and can further enhance the effect of blocking transmission and attenuating light intensity.

[0137] Specifically, there is an acute angle between the first surface 524a of the insert 524 and the side surface 524b, and the thickness of the insert 524 increases along the edge of the insert 524 toward the center of the insert 524, so that the light beam transmitted in the window 500 is emitted to the outside of the laser radar, blocking and preventing the light beam from being transmitted in the direction of the receiving module 502, wherein the thickness of the insert 524 refers to the size of the insert 524 in the direction perpendicular to the inner surface and / or the outer surface.

[0138] In some embodiments of the present disclosure, the insert 524 has at least one side surface 524b. Fig.12 As shown, the insert 524 has two side surfaces 524b. In the direction of the line between the transmitting module 501 and the receiving module 502, the two side surfaces 524b are respectively located on both sides of the first surface 524a and are respectively connected to the two side edges of the first surface 524a.

[0139] like Fig.13 In some embodiments shown, the insert 624 has a second surface 624c facing the outside of the laser radar, and the second surface 624c is configured to have a light attenuation portion 622. Specifically, the second surface 624c is a concave-convex surface with a plurality of continuous undulations, which cooperates with the inhibition area in the window 600 to form the light attenuation portion 622. Specifically, the second surface 624c can be wavy, square wave, or sawtooth.

[0140] Specifically, the second surface 624 c is a concave-convex surface with a plurality of continuous undulations, and the window 600 has a convexity at the concave position of the second surface 624 c ; the concave second surface 624 c and the convexity of the window 600 cooperate with each other to form the light attenuation portion 622 .

[0141] like Fig.13As shown, the second surface 624 c has a plurality of depressions, and the viewing window 600 has a plurality of protrusions. The second surface 624 c and the viewing window 600 cooperate with each other to form a plurality of the light attenuation portions 622 .

[0142] Correspondingly, the present disclosure also provides a laser radar.

[0143] refer to Figure 2 The laser radar includes: a transmitting module 101, wherein the transmitting module 101 is suitable for generating detection light; a receiving module 102, wherein the receiving module 102 is suitable for receiving the echo light formed by the detection light reflected by the target; a window 100, wherein the window 100 includes: an emission light-transmitting area 111, wherein the emission light-transmitting area 111 is arranged corresponding to the transmitting module 101, and the detection light is emitted to the outside of the laser radar through the emission light-transmitting area 111; a receiving light-transmitting area 112, wherein the receiving light-transmitting area 112 is arranged corresponding to the receiving module 102, and the echo light enters the interior of the laser radar through the receiving light-transmitting area 112; and a suppression area 120, wherein the suppression area 120 is at least located between the emission light-transmitting area 111 and the receiving light-transmitting area 112, and wherein the suppression area 120 is suitable for suppressing the light beam transmitted through the window 100.

[0144] In some specific embodiments, the window 100 is the window of the present disclosure. The specific technical solution of the window refers to the specific embodiment of the window of the aforementioned laser radar, which will not be repeated in this disclosure.

[0145] The inhibition zone 120 inhibits the light beam transmitted through the window 100. Specifically, the inhibition zone 120 is suitable for inhibiting the light beam incident into the window 100 and transmitted toward the receiving light transmission zone 112, and the light beam transmitted through the window 100 to the receiving light transmission zone 112 is incident on the receiving lens 106 and becomes stray light.

[0146] In some embodiments of the present disclosure, the transmitting module 101 has multiple transmitting units arranged in a specific direction, and the receiving module includes a single-photon receiving unit array; the activation area in the single-photon receiving unit array is configured to receive echo light formed by the detection light generated by one of the transmitting units or at least two adjacent transmitting units.

[0147] In some specific embodiments, the activated area in the single-photon receiving unit array receives echo light formed by the detection light emitted simultaneously by at least two adjacent emission units and reflected by the target.

[0148] In some specific embodiments, the specific direction is one of a vertical direction and a horizontal direction.

[0149] In addition, the single photon receiving unit array includes: a plurality of single photon avalanche diodes (Single Photon Avalanche Diode, SAPD), and the plurality of single photon avalanche diodes are arranged in an array in the vertical direction and the horizontal direction to form a two-dimensional array.

[0150] Since the suppression area in the window can effectively reduce or even prevent the detection light emitted by the transmitting module from generating stray light through the window and being received by the receiving module, even if a single-photon receiving unit array is used, and the activation area in the single-photon receiving unit array is configured to receive the echo light formed by the detection light generated by multiple adjacent transmitting units, the noise points in the laser radar point cloud are relatively small, and the detection accuracy of the laser radar is relatively high.

[0151] In some embodiments of the present disclosure, the laser radar is a laser radar using a side-axis transceiver system, and the optical axis of the optical path of the detection light does not overlap with the optical axis of the optical path of the echo light.

[0152] In summary, in the window, an inhibition zone is provided between the emission light transmission zone and the receiving light transmission zone to inhibit the light beam transmitted through the window. The inhibition zone is provided in the window, which can effectively reduce or even prevent the detection light emitted by the transmitting module from being transmitted through the window to generate stray light and be received by the receiving module, thereby effectively reducing the noise points generated in the laser radar point cloud, which is conducive to ensuring the accuracy of laser radar detection.

[0153] Although the disclosure is disclosed as above, the disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, so the protection scope of the disclosure should be based on the scope defined by the claims.

Claims

1. A laser radar window, characterized in that: The laser radar has a transmitting module and a receiving module. The detection light generated by the transmitting module is reflected by the target to form the echo light received by the receiving module. The window includes: An emission light-transmitting area, the emission light-transmitting area is arranged corresponding to the emission module, and the detection light is emitted to the outside of the laser radar through the emission light-transmitting area; A receiving light-transmitting area, the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the interior of the laser radar through the receiving light-transmitting area; The suppression zone is located at least between the emission light transmission zone and the reception light transmission zone, and the suppression zone is suitable for suppressing the light beam transmitted through the window.

2. The window according to claim 1, wherein: The viewing window has an inner surface and an outer surface, the outer surface faces the external space of the laser radar, and the inner surface is arranged opposite to the outer surface; At least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone scatters or transmits an incident light beam.

3. The window according to claim 1, wherein: The viewing window has an inner surface and an outer surface, the outer surface faces the external space of the laser radar, and the inner surface is arranged opposite to the outer surface; A light absorbing layer is provided on at least one of the inner surface of the inhibition zone and the outer surface of the inhibition zone.

4. The window according to claim 1, wherein: The direction of the line between the geometric center of the emission light transmission area and the geometric center of the receiving light transmission area is the first direction, and the direction perpendicular to the first direction and located within the surface of the window is the second direction; The suppression zone extends from one side of the light receiving area to the other side along the second direction.

5. The window according to any one of claims 1 to 4, characterized in that The emission light-transmitting area and the receiving light-transmitting area have a first thickness; At least a portion of the inhibition zone has a thickness different from the first thickness.

6. The window according to claim 5, characterized in that The inhibition zone has a light attenuating portion protruding from or recessed into the inner surface of the viewing window.

7. The window according to claim 6, characterized in that The light attenuating portion extends from one side to the other side of the inhibition zone along a second direction.

8. The window according to claim 5, characterized in that The thickness of the inhibition zone is less than the first thickness; The viewing window further comprises an insert, wherein the insert is located in the inhibition zone.

9. The window according to claim 8, wherein: The insert extends from one side of the inhibition zone to the other side along a second direction.

10. The window according to claim 8, wherein: The material of the embedding member has a predetermined absorption coefficient for the detection light.

11. The window according to claim 8, wherein: The insert penetrates at least part of the thickness of the viewing window in a direction perpendicular to the inner surface and / or the outer surface of the viewing window.

12. The window according to claim 8, wherein: The suppression area, the emission light transmission area, and the receiving light transmission area are integrally formed.

13. The window according to claim 8, wherein: The embedding component has a first surface and a side surface, wherein the first surface faces the interior of the laser radar, and the side surface is connected to and obliquely intersects with the first surface.

14. The window according to claim 8, wherein: The embedding piece has a second surface facing the outside of the laser radar, and the second surface is configured to have a light attenuation portion.

15. The window according to claim 1, wherein: The window has an inner surface and an outer surface, the outer surface faces the outside of the laser radar, and the inner surface is arranged opposite to the outer surface; The window further includes: a functional layer, wherein the functional layer is located on at least one of the inner surface and the outer surface.

16. The window according to claim 15, wherein: The functional layer includes at least one of an anti-reflection layer, a heating layer, and a conductive layer.

17. The window according to claim 1, wherein: The transmitting module has a transmitting lens; the receiving module has a receiving lens; The emission light transmission area corresponds to the emission lens; The receiving light transmission area corresponds to the receiving lens.

18. The window according to claim 17, wherein: A light-isolating portion is provided between the transmitting lens and the receiving lens, and a projection of the light-isolating portion on the surface of the viewing window is located within the inhibition zone.

19. The window according to claim 18, wherein: Along a direction perpendicular to the inner surface and / or outer surface of the viewing window, the light-isolating portion extends from one side of the receiving lens to the other side and exceeds an end surface of the receiving lens close to the viewing window.

20. The window according to claim 19, wherein: The inhibition zone has a light attenuation portion sunken into the inner surface, and the light isolation portion extends into the light attenuation portion on a side close to the window; Alternatively, the inhibition zone has a light attenuation portion protruding from the inner surface, and the light isolation portion extends to the light attenuation portion on a side close to the viewing window.

21. The window according to claim 19, wherein: The side of the light-isolating portion close to the viewing window is connected to the inhibition zone.

22. The window according to claim 21, wherein A side of the light-isolating portion close to the viewing window is connected to a surface of the embedding component facing the interior of the laser radar.

23. The window according to claim 1, wherein: The coverage area of ​​the detection light generated by the transmitting module on the window corresponds to the transmitting light transmission area; the coverage area of ​​the echo light received by the receiving module on the window corresponds to the receiving light transmission area.

24. A laser radar, characterized in that: include: A transmitting module, wherein the transmitting module is suitable for generating a detection light; A receiving module, wherein the receiving module is adapted to receive the echo light formed by the detection light being reflected by the target; A window, the window comprising: an emission light-transmitting area, the emission light-transmitting area is arranged corresponding to the emission module, and the detection light is emitted to the outside of the laser radar through the emission light-transmitting area; A receiving light transmission area, the receiving light transmission area is arranged corresponding to the receiving module, and the echo light enters the interior of the laser radar through the receiving light transmission area; a suppression area, the suppression area is at least located between the transmitting light transmission area and the receiving light transmission area, and the suppression area is suitable for suppressing the light beam transmitted through the window.

25. The laser radar according to claim 24, characterized in that: The transmitting module has a plurality of transmitting units arranged in a specific direction, and the receiving module includes a single photon receiving unit array; The activation area in the single-photon receiving unit array is configured to receive echo light formed by the detection light generated by one of the transmitting units or at least two adjacent transmitting units.

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