Solid state lidar

Abstract

The invention relates to the technical field of optical detection, and provides a solid-state laser radar, which comprises a transmitting module, a first receiving module, a second receiving module, a transmitting lens group, a first receiving lens group and a second receiving lens group, the emission module is used for emitting array laser, the emission lens group, the first receiving lens group and the second receiving lens group are arranged side by side, the emission lens group is used for shaping the array laser emitted by the emission module and emitting the array laser outwards, and the first receiving lens group and the second receiving lens group are located on the two opposite sides of the emission module respectively; the first receiving lens group and the second receiving lens group are used for receiving laser echoes and sending the laser echoes to the first receiving lens group and the second receiving lens group respectively. The emission module emits array laser to enlarge the field angle, and the first receiving lens group and the second receiving lens group are located on the two sides of the emission lens group to obtain large-angle laser echoes, so that the scanning field angle is increased, and the scanning blind area is reduced.

Description

Technical Field

[0001] The present invention relates to the field of optical detection technology, and in particular to a solid-state lidar. Background Art

[0002] A lidar is a device that detects the parameters of a target object by emitting laser beams. Its working principle is as follows: emit a laser beam (i.e., the transmitted signal) towards the target object, and then compare the received echo signal reflected from the target with the transmitted signal. After appropriate processing, relevant parameters of the target object can be obtained, such as: the distance, azimuth, altitude, speed, attitude, shape, etc. of the target object.

[0003] A solid-state lidar includes a transmitting module, a transmitting lens group, a receiving module, and a receiving lens group. The transmitting module is used to generate laser beams, the transmitting lens group is used to shape and collimate the laser beams and emit them outward, and the receiving lens group is used to receive the laser echo reflected by the target object and transmit it back to the receiving module. However, the existing solid-state lidar has the technical problem of a small detection angle and a large blind area. Summary of the Invention

[0004] The purpose of the present invention is to provide a solid-state lidar, aiming to solve the technical problem of a large blind area existing in the existing solid-state lidar.

[0005] The present application provides a solid-state lidar, which includes a transmitting module, a first receiving module, a second receiving module, a transmitting lens group, a first receiving lens group, and a second receiving lens group;

[0006] The transmitting module is used to emit array lasers. The transmitting lens group, the first receiving lens group, and the second receiving lens group are arranged side by side. The transmitting lens group is used to shape the array lasers emitted by the transmitting module and emit them outward. The first receiving lens group and the second receiving lens group are respectively located on opposite sides of the transmitting module. The first receiving lens group and the second receiving lens group are used to receive laser echoes and respectively send them to the first receiving lens group and the second receiving lens group.

[0007] In one embodiment, the transmitting lens group includes a first transmitting lens, a second transmitting lens, a third transmitting lens, a fourth transmitting lens, a fifth transmitting lens, and a sixth transmitting lens that are sequentially and spaced apart along the object side to the image side;

[0008] The first transmitting lens has a negative refractive power;

[0009] The second transmitting lens has a negative refractive power;

[0010] The third transmitting lens has a positive refractive power;

[0011] The fourth emission lens has a negative refractive power;

[0012] The fifth emission lens has a positive refractive power;

[0013] The sixth emission lens has a positive refractive power.

[0014] In one embodiment, the object side surface of the first emission lens is convex, and the image side surface of the first emission lens is concave.

[0015] In one embodiment, the object side surface of the second emission lens is convex, and the image side surface of the second emission lens is concave.

[0016] In one embodiment, the object side surface of the third emission lens is convex, and the image side surface of the third emission lens is convex.

[0017] In one embodiment, the object side surface of the fourth emission lens is convex, and the image side surface of the fourth emission lens is concave.

[0018] In one embodiment, the object side surface of the fifth emission lens is convex, and the image side surface of the fifth emission lens is convex.

[0019] In one embodiment, the object side surface of the sixth emission lens is convex, and the image side surface of the fifth emission lens is flat.

[0020] In one embodiment, 1.8 < n1 < 1.9, where n1 is the refractive index of the first emission lens at the d-wavelength.

[0021] In one embodiment, 1.9 < n2 < 2.0, where n2 is the refractive index of the second emission lens at the d-wavelength.

[0022] In one embodiment, 2.0 < n3 < 2.1, where n3 is the refractive index of the third emission lens at the d-wavelength.

[0023] In one embodiment, 1.7 < n4 < 1.8, where n4 is the refractive index of the fourth emission lens at the d-wavelength.

[0024] In one embodiment, 1.9 < n5 < 2.0, where n5 is the refractive index of the fifth emission lens at the d-wavelength.

[0025] In one embodiment, 2.0 < n6 < 2.1, where n6 is the refractive index of the sixth emission lens at the d-wavelength.

[0026] In one embodiment, 18.5mm < f1*f2 / f0 < 22, where f1 is the focal length of the first emission lens, f2 is the focal length of the second emission lens, and f0 is the effective focal length of the emission lens group.

[0027] In one embodiment, a first aperture stop is disposed between the third emission lens and the fourth emission lens.

[0028] In one embodiment, 2.5 < |f4 / f3| < 3.5, where f3 is the focal length of the third emission lens and f4 is the focal length of the fourth emission lens.

[0029] In one embodiment, 125° < FOV0 < 145°, where FOV0 is the maximum field of view angle of the emission lens group.

[0030] In one embodiment, 0.05 < f0 / TTL0 < 0.13, where f0 is the effective focal length of the emission lens group and TTL0 is the total length of the emission lens group.

[0031] In one embodiment, 1.55 < F.no < 1.65, where F.no is the ratio of the effective focal length to the entrance pupil diameter.

[0032] In one embodiment, the first receiving lens group and / or the second receiving lens group includes a first receiving lens, a second receiving lens, a third receiving lens, a fourth receiving lens, a fifth receiving lens, and a sixth receiving lens that are sequentially and spaced apart along the object side to the image side;

[0033] The first receiving lens has a negative refractive power;

[0034] The second receiving lens has a negative refractive power;

[0035] The third receiving lens has a positive refractive power;

[0036] The fourth receiving lens has a negative refractive power;

[0037] The fifth receiving lens has a positive refractive power;

[0038] The sixth receiving lens has a positive refractive power.

[0039] In one embodiment, the object side surface of the first receiving lens is convex, and the image side surface of the first receiving lens is concave.

[0040] In one embodiment, the object side surface of the second receiving lens is convex, and the image side surface of the second receiving lens is concave.

[0041] In one embodiment, the object side of the third receiving lens is convex, and the image side of the third receiving lens is convex.

[0042] In one embodiment, the object side of the fourth receiving lens is convex, and the image side of the fourth receiving lens is concave.

[0043] In one embodiment, the object side of the fifth receiving lens is flat, and the image side of the fifth receiving lens is convex.

[0044] In one embodiment, the object side of the sixth receiving lens is convex, and the image side of the fifth receiving lens is convex.

[0045] In one embodiment, 2.0 < n7 < 2.1, where n7 is the refractive index of the first receiving lens at the d-wavelength.

[0046] In one embodiment, 1.8 < n8 < 1.9, where n8 is the refractive index of the second receiving lens at the d-wavelength.

[0047] In one embodiment, 2.0 < n9 < 2.1, where n9 is the refractive index of the third receiving lens at the d-wavelength.

[0048] In one embodiment, 1.8 < n10 < 1.9, where n10 is the refractive index of the fourth receiving lens at the d-wavelength.

[0049] In one embodiment, 2.0 < n11 < 2.1, where n11 is the refractive index of the fifth receiving lens at the d-wavelength.

[0050] In one embodiment, 2.0 < n12 < 2.1, where n12 is the refractive index of the sixth receiving lens at the d-wavelength.

[0051] In one embodiment, a second aperture stop is disposed between the third receiving lens and the fourth receiving lens.

[0052] In one embodiment, 30mm < f7*f8 / f < 35, where f7 is the focal length of the first receiving lens, f8 is the focal length of the second receiving lens, and f is the effective focal length of the first receiving lens group and the second receiving lens group.

[0053] In one embodiment, 125° < FOV < 145°, where FOV is the maximum field of view angle of the first receiving lens group and the second receiving lens group.

[0054] In one embodiment, 0.04 < f / TTL < 0.1, where f is the effective focal length of the first receiving lens group and the second receiving lens group, and TTL is the total length of the first receiving lens group and the second receiving lens group.

[0055] In one embodiment, the angle between the optical axis of the first receiving lens group and the optical axis of the transmitting lens group is between -30° and 30°.

[0056] In one embodiment, the angle between the optical axis of the second receiving lens group and the optical axis of the transmitting lens group is between -30° and 30°.

[0057] In one embodiment, a first light shielding member is disposed between the first receiving lens group and the transmitting lens group.

[0058] In one embodiment, a second light shielding member is disposed between the second receiving lens group and the transmitting lens group.

[0059] In one embodiment, the first receiving module and the first receiving lens group, the transmitting module and the transmitting lens group, and the second receiving module and the second receiving lens group are respectively spaced apart along a first direction. The transmitting module is located between the first receiving lens group and the second receiving lens group, and the interval between the first receiving module and the second receiving module is less than the width of the transmitting module.

[0060] In one embodiment, for the first lenses of the transmitting lens group, the first receiving lens group, and the second receiving lens group that are close to the object side, the first lenses are plastic lenses or glass lenses, and the first lenses are directly connected to the outside.

[0061] The beneficial effects of the solid-state lidar provided by the present invention are as follows: The transmitting module emits array lasers to provide a surface light source. The transmitting lens group shapes and emits the array lasers to expand the field of view angle. The first receiving lens group and the second receiving lens group are located on both sides of the transmitting lens group. By means of the two receiving lens groups, laser echoes at large angles are obtained and then transmitted to the first receiving module and the second receiving module respectively for data processing. Thereby, the outgoing field of view angle and the receiving field of view angle are increased, the technical problem of large blind areas existing in the existing solid-state lidar is solved, the scanning field of view angle is increased, and the scanning blind area is reduced. Description of the Drawings

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0063] Figure 1 Structural schematic diagram of the solid lidar transceiver device provided by the embodiment of the present invention;

[0064] Figure 2 A layout schematic diagram of the transmitting lens group, the first receiving lens group, and the second receiving lens group of the solid lidar transceiver device provided by the embodiment;

[0065] Figure 3 For Figure 2 The central field of view schematic diagram corresponding to the transmitting lens group, the first receiving lens group, and the second receiving lens group in

[0066] Figure 4 Another layout schematic diagram of the transmitting lens group, the first receiving lens group, and the second receiving lens group of the solid lidar transceiver device provided by the embodiment;

[0067] Figure 5 For Figure 4 The central field of view schematic diagram corresponding to the transmitting lens group, the first receiving lens group, and the second receiving lens group in

[0068] Figure 6 Structural schematic diagram of the transmitting lens group of the solid lidar transceiver device provided by the embodiment;

[0069] Figure 7 For Figure 6 The field curvature and distortion diagram of the transmitting lens group in

[0070] Figure 8 For Figure 6 The spot diagram of the transmitting lens group in

[0071] Figure 9 For Figure 6 The MTF diagram and field curvature diagram of the transmitting lens group in

[0072] Figure 10 Structural schematic diagram of the first receiving lens group or the second receiving lens group of the solid lidar transceiver device provided by the embodiment;

[0073] Figure 11 For Figure 10 The field curvature and distortion diagram of the first receiving lens group or the second receiving lens group in

[0074] Figure 12 For Figure 10 the spot diagram of the first receiving lens group or the second receiving lens group in

[0075] Figure 13 For Figure 10 the field curvature diagram of the MTF diagram of the first receiving lens group or the second receiving lens group in

[0076] Among them, each reference numeral in the figure:

[0077] 1. Transmitting module; 2. First receiving module; 3. Second receiving module; 4. Housing;

[0078] 10. Transmitting lens group; 101. First optical axis; 11. First transmitting lens; 12. Second transmitting lens; 13. Third transmitting lens; 14. Fourth transmitting lens; 15. Fifth transmitting lens; 16. Sixth transmitting lens; 17. First aperture stop;

[0079] 21. First receiving lens group; 211. First detection area; 212. Second optical axis; 22. Second receiving lens group; 221. Second detection area; 222. Third optical axis; 201. First receiving lens; 202. Second receiving lens; 203. Third receiving lens; 204. Fourth receiving lens; 205. Fifth receiving lens; 206. Sixth receiving lens; 207. Second aperture stop;

[0080] 31. First light shield; 32. Second light shield. Detailed implementation mode

[0081] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0082] Referring to "one embodiment" or "embodiment" throughout the specification means that the specific features, structures, or characteristics described in connection with the embodiment are included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. In addition, in one or more embodiments, the specific features, structures, or characteristics can be combined in any suitable manner.

[0083] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0084] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0085] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] Please combine Figure 1 with this. The solid-state lidar provided in this embodiment includes a transmitting module 1, a first receiving module 2, a second receiving module 3, a transmitting lens group 10, a first receiving lens group 21, and a second receiving lens group 22.

[0087] The transmitting module 1 is used to emit array lasers. It has a large light-emitting surface and a large scanning area, which is beneficial to reducing the blind area. The transmitting lens group 10, the first receiving lens group 21, and the second receiving lens group 22 are arranged side by side. The transmitting lens group 10 is used to shape the array lasers emitted by the transmitting module 1 and emit them outward. The first receiving lens group 21 and the second receiving lens group 22 are respectively located on opposite sides of the transmitting module 1. The first receiving lens group 21 and the second receiving lens group 22 are used to receive laser echoes and send them to the first receiving module 21 and the second receiving module 3 respectively.

[0088] Among them, the emission module 1 emits array laser to provide a surface light source. The emission lens group 10 shapes and emits the array laser. The first receiving lens group 21 and the second receiving lens group 22 are located on both sides of the emission lens group 10, and both can be arranged close to the emission lens group 10, so that the first receiving lens group 21 and the emission lens group 10 are basically coaxially arranged, and the second receiving lens group 22 and the emission lens group 10 are basically coaxially arranged. The field of view angles of the two receiving lens groups can be maximally combined to converge the laser energy in different fields of view, increase the detection range, and the overlapping area of the combined field of view angle and the field of view angle of the emission lens group 10 is large or even coincides, avoiding the loss of laser echoes in part of the field of view angle of the emission lens group 10. Thus, the first receiving lens group 21 and the second receiving lens group 22 cooperate together to obtain laser echoes at large angles, and then are respectively transmitted to the first receiving module 2 and the second receiving module 3 for data processing, generally increasing the outgoing field of view angle and the receiving field of view angle and reducing the scanning blind area.

[0089] It should be noted that the emission lens group 10, the first receiving lens group 21 and the second receiving lens group 22 are arranged side by side, which means that the optical axes of the three are oriented in the same or approximately the same direction, that is, the first optical axis 101 of the emission lens group 10, the second optical axis 212 of the first receiving lens group 21, and the third optical axis 222 of the second receiving lens group 22 can be parallel or there can be an included angle, and no specific limitation is made here.

[0090] In one embodiment, combined with Figure 2 and Figure 4 , the included angle between the optical axis of the first receiving lens group 21 and the optical axis of the emission lens group 10 is between -30° and 30°, that is, the included angle θ between the first optical axis 101 and the second optical axis 212 is between -30° and 30°. Based on this, the solid lidar transceiver device can adapt to different scanning regions and different scanning angles by adjusting the included angle θ, align and cover the required scanning region, reduce the blind area, have a flexible layout, and expand the range of application scenarios.

[0091] Specifically, Figure 3 is the distribution diagram of the first detection region 211 of the first receiving lens group 21 and the second detection region 221 of the second receiving lens group 22 when the included angle θ is 0. The first detection region 211 and the second detection region 221 are spliced together to ensure that the two detection regions are independent of each other, are responsible for different regions, expand the detection region through combination, reduce the blind area, and the detection region is complete and there is no blind area at the splicing place.

[0092] Specifically, when the absolute value of the included angle θ is greater than 0, the blind area of the radar system can be reduced. The blind area distance before tilting is d1 (see Figure 2 ), and after tilting the optical axis of the receiving system, the blind area distance is d2 (see Figure 4 ), and d2 < d1. And, combined with Figure 5, there is partial overlap between the first detection area 211 of the first receiving lens group 21 and the second detection area 221 of the second receiving lens group 22 at the middle position. The point cloud density is high and the point cloud data quality is good. On the premise of ensuring the unchanged field of view angle of the whole machine, the detection density of the central field of view can be improved, and the angular resolution of the central field of view can be enhanced.

[0093] For example, compared with the edge position, the user's attention is more likely to be concentrated on the central field of view and the central field of view is observed more clearly and carefully. Also, it avoids the edge field of view distortion due to being located at the edge position. The central field of view is often the region of interest (ROI region). With a high point cloud density and good point cloud data quality, it is beneficial to reduce possible artifacts and image noise, and can scan the object of interest repeatedly, multiple times, from multiple perspectives and stably. It can eliminate the errors introduced by the change of the scanning position, without relying on specific algorithms, complex controls, and fast communication networks, saving network bandwidth occupancy and computing resources, and can be widely applicable to scenarios with many objects in the detection area, outdoors, or network congestion.

[0094] Specifically, the included angle θ between the first optical axis 101 and the second optical axis 212 can be selected as -30°, -20°, -10°, 0, 10°, 20°, or 30°.

[0095] In one embodiment, combined with Figures 2 to 5 , the included angle between the optical axis of the second receiving lens group 22 and the optical axis of the transmitting lens group 10 is between -30° and 30°, that is, the included angle θ between the first optical axis 101 and the third optical axis 222 is between -30° and 30°. The included angle θ can be adjusted to adapt to different scanning areas and different scanning angles, align and cover the required scanning area, and reduce the blind area.

[0096] Specifically, by adjusting the included angle θ, the first detection area 211 and the second detection area 221 can be spliced (see Figure 3 ), the detection area is expanded by merging, the blind area is reduced, and the detection area is complete without a blind area at the splicing position. Or, compare Figure 2 and Figure 4 , the blind area distance before tilting is d1, and after tilting the optical axis of the receiving system, the blind area distance is d2, and d2 < d1. By adjusting the included angle θ, the blind area of the radar system can be reduced, and there is partial overlap in the central field of view. On the premise of ensuring the unchanged field of view angle of the whole machine, the detection density of the central field of view can be improved, and the angular resolution of the central field of view can be enhanced.

[0097] Specifically, the included angle θ between the first optical axis 101 and the third optical axis 222 can be selected as -30°, -20°, -10°, 0, 10°, 20°, or 30°.

[0098] In some embodiments, combined with Figure 6, the transmitting lens group 10 includes a first transmitting lens 11, a second transmitting lens 12, a third transmitting lens 13, a fourth transmitting lens 14, a fifth transmitting lens 15 and a sixth transmitting lens 16 which are sequentially spaced from the object side to the image side. As shown in the figure, the image side refers to the side close to the inside of the laser radar, such as the side close to the transmitting module 1, and the object side refers to the side close to the outside of the laser radar, such as the side away from the transmitting module 1. The first transmitting lens 11 has a negative refractive power, the second transmitting lens 12 has a negative refractive power, the third transmitting lens 13 has a positive refractive power, the fourth transmitting lens 14 has a negative refractive power, the fifth transmitting lens 15 has a positive refractive power, and the sixth transmitting lens 16 has a positive refractive power.

[0099] Among them, the laser beam of the emitting lens group 10 is emitted along the sixth emitting lens 16 to the first emitting lens 11. The first emitting lens 11 has a negative refractive power, which is used to emit the laser beam from the second emitting lens 12, thereby expanding the field of view and reducing the blind spot. The second emitting lens 12 has a negative refractive power, which emits the laser beam from the third emitting lens 13, which is beneficial to expanding the field of view. The first emitting lens 11 and the second emitting lens 12 cooperate to gradually expand the field of view, which is beneficial to reduce distortion, and the air gap between the two can be used to reduce aberrations. The third emitting lens 13 has a positive refractive power, which corrects the aberration of the light beam diffused by the fourth emitting lens 14. The fourth emitting lens 14 is used to diffusely emit the laser beam. The fifth emitting lens 15 and the sixth emitting lens 16 gradually converge the laser beam, effectively increasing the optical path, improving the detection distance, reducing the distance blind spot, and reducing aberrations. That is, the light beam generated by the emitting module 1 is optimized before being emitted to the third emitting lens 13. In this way, combined with Figures 7 to 9 The six lenses cooperate with each other, the positive and negative refractive forces are reasonably distributed, and the refractive forces are basically balanced, which is conducive to forming a scanning area with clear pattern images, sharp spot edges and high spot uniformity.

[0100] In combination with the convergence or divergence of the light beam, the diameters of the first emitting lens 11, the second emitting lens 12, the third emitting lens 13 and the fourth emitting lens 14 are gradually reduced, and the diameters of the fourth emitting lens 14, the fifth emitting lens 15 and the sixth emitting lens 16 are gradually increased, which is conducive to the reasonable distribution of the diameters of the lenses, maximizes the use of the size of the lenses, and reduces the diameter of the downstream lenses as much as possible, which is conducive to the miniaturization and lightweight design of the emitting lens group 10.

[0101] In one embodiment, in combination Figure 6 The object side surface of the first emitting lens 11 is convex, and the image side surface of the first emitting lens 11 is concave. Both sides of the first emitting lens 11 are conducive to the diffusion of the light beam, so that the emitting lens group 10 can achieve wide-angle emission. Specifically, the object side surface and the image side surface of the first emitting lens 11 can be spherical or aspherical.

[0102] In one embodiment, in combination with Figure 6 , the object side of the second emission lens 12 is convex, the image side of the second emission lens 12 is concave, and both sides of the second emission lens 12 are conducive to the diffusion of the light beam, so that the emission lens group 10 realizes wide-angle emission. Specifically, the object side and the image side of the second emission lens 12 can be spherical surfaces or aspherical surfaces.

[0103] In one embodiment, in combination with Figure 6 , the object side of the third emission lens 13 is convex, the image side of the third emission lens 13 is convex, so that the third emission lens 13 has a positive refractive power, corrects the light beam, is conducive to the diffusion of the light beam at the second emission lens 12 and the first emission lens 11, and the absolute value of the refractive power is small, avoiding excessive beam deflection and generating aberration.

[0104] In one embodiment, in combination with Figure 6 , the object side of the fourth emission lens 14 is convex, the image side of the fourth emission lens 14 is concave, and both sides of the fourth emission lens 14 are conducive to the diffusion of the light beam, which is conducive to expanding the field of view angle. Specifically, the object side and the image side of the fourth emission lens 14 can be spherical surfaces or aspherical surfaces.

[0105] In one embodiment, in combination with Figure 6 , the object side of the fifth emission lens 15 is convex, the image side of the fifth emission lens 15 is convex, which is conducive to increasing the optical path.

[0106] In one embodiment, in combination with Figure 6 , the object side of the sixth emission lens 16 is convex, the image side of the fifth emission lens 15 is flat, and the flat surface has no refraction on the light and no aberration. The sixth emission lens 16 adopts a plano-convex lens, so that the back focal length of the emission lens group 10 becomes smaller, and the collimation efficiency of the emission lens group 10 is improved. Specifically, the object side and the image side of the sixth emission lens 16 can be spherical surfaces or aspherical surfaces.

[0107] In this embodiment, the emission lens group 10 is a non-reflective optical lens group, which reduces the total length of the emission lens group 10 and is conducive to reducing the design difficulty of the emission lens group 10.

[0108] In this embodiment, the emission lens group 10 can ensure small aberration through reasonable surface type matching, ensure that the spot passing through the emission lens group 10 has high clarity and small aberration, and the energy is evenly distributed within the field of view angle.

[0109] Optionally, the emission lens group 10 only includes the above six lenses. The small number of lenses helps to reduce the volume of the optical lens and lower the cost.

[0110] In the field of optics, d light refers to a light wave with a wavelength of 589.3 nm.

[0111] In one embodiment, the refractive index of the first emission lens 11 at the d light wavelength is n1, and n1 satisfies the following mathematical relationship: 1.8 < n1 < 1.9. Based on this, the first emission lens 11 can operate within a relatively wide wavelength range and has high light transmittance, that is, a high light transmission efficiency.

[0112] Optionally, the refractive index n1 of the first emission lens 11 is 1.8, 1.82, 1.85, 1.88, or 1.9.

[0113] In one embodiment, the refractive index of the second emission lens 12 at the d light wavelength is n2, and n2 satisfies the following mathematical relationship: 1.9 < n2 < 2.0. Based on this, the second emission lens 12 has a high refractive index, which is beneficial to reducing spherical aberration.

[0114] Optionally, the refractive index n2 of the second emission lens 12 is 1.9, 1.92, 1.95, 1.98, or 2.0.

[0115] In one embodiment, the refractive index of the third emission lens 13 at the d light wavelength is n3, and n3 satisfies the following mathematical relationship: 2.0 < n3 < 2.1. Based on this, the third emission lens 13 has a large refractive index, which is beneficial to ultra-wide-angle imaging, wide-angle emission, and has a stronger focusing ability, which is beneficial to increasing the detection distance.

[0116] Optionally, the refractive index n3 of the third emission lens 13 is 2.0, 2.02, 2.05, 2.08, or 2.1.

[0117] In one embodiment, the refractive index of the fourth emission lens 14 at the d light wavelength is n4, and n4 satisfies the following mathematical relationship: 1.7 < n4 < 1.8. The fourth emission lens 14 is a low-refractive-index lens.

[0118] Optionally, the refractive index n4 of the fourth emission lens 14 is 1.70, 1.75, 1.77, 1.78, or 1.80.

[0119] In one embodiment, the refractive index of the fifth emission lens 15 at the d light wavelength is n5, and n5 satisfies the following mathematical relationship: 1.9 < n5 < 2.0. Based on this, the fifth emission lens 15 has a high refractive index, which is beneficial to reducing spherical aberration.

[0120] Optionally, the refractive index n5 of the fifth emission lens 15 is 1.9, 1.92, 1.95, 1.98, or 2.0.

[0121] In one embodiment, the refractive index of the sixth emission lens 16 at the d-light wavelength is n6, and n6 satisfies the following mathematical relationship: 2.0 < n6 < 2.1. Based on this, the sixth emission lens 16 has a relatively large refractive index, which is beneficial for ultra-wide-angle imaging, wide-angle emission, and has a stronger focusing ability, which is beneficial for increasing the detection distance.

[0122] Optionally, the refractive index n6 of the sixth emission lens 16 is 2.0, 2.02, 2.05, 2.08, or 2.1.

[0123] In one embodiment, combined with Figure 6 , f1 is the focal length of the first emission lens 11, f2 is the focal length of the second emission lens 12, f0 is the effective focal length of the emission lens group 10, and 18.5 mm < f1 * f2 / f0 < 22. Among them, 18.5 mm < f1 * f2 / f0 < 22 can control the emission lens group 10 to be a short-focus, large-aperture optical system, reduce the occupied space of the reflection lens group, reduce the overall size of the lidar, realize the miniaturized design of the solid-state radar, and at the same time shorten the optical axis center distance between the emission lens group 10 and the first receiving lens group 21 and the second receiving lens group 22, which can reduce the radar blind area. If the value of f1 * f2 / f0 is less than 18.5 mm, the effective focal length of the emission lens group 10 is large, resulting in a large total length of the emission lens group 10 and a large volume of the solid-state radar. If the value of f1 * f2 / f0 is greater than 22, the focal length is too small, resulting in insufficient detection distance.

[0124] In one embodiment, combined with Figure 6 , a first aperture stop 17 is provided between the third emission lens 13 and the fourth emission lens 14. The first aperture stop 17 can improve the imaging quality of points outside the first optical axis 101, control the depth of field, improve the imaging quality, improve the clarity of the image, and is beneficial for improving the resolution of the lens group.

[0125] In one embodiment, combined with Figure 6 , f3 is the focal length of the third emission lens 13, f4 is the focal length of the fourth emission lens 14, and 2.5 < |f4 / f3| < 3.5, which ensures that the third emission lens 13 and the fourth emission lens 14 have an appropriate focal length differentiation, is beneficial for beam shaping, and is beneficial for optimizing the back focal shift at high and low temperatures. If the ratio of f4 / f3 is less than 2.5, the focal lengths of the two lenses are relatively close, making it difficult to further optimize the beam, and instead increasing the total length of the emission lens group 10. If the ratio of f4 / f3 is greater than 3.5, the focal length difference between the two lenses is significant, resulting in too sharp beam deflection and increasing aberration.

[0126] In one embodiment, combined with Figure 6, FOV0 is the maximum field of view angle of the emission lens group 10, 125° < FOV0 < 145°, ensuring that the emission lens group 10 can emit light at a wide angle and reducing the blind area of the field of view angle.

[0127] In one embodiment, f0 is the effective focal length of the emission lens group 10, and TTL0 is the total length of the emission lens group 10, 0.05 < f0 / TTL0 < 0.13. Based on this, the overall optical path of the emission lens group 10 can be reduced compared with the optical path, effective focal length, back focal length, etc. of the traditional emission lens group 10, the total length is shortened, and at the same time, the field of view angle can be increased to achieve wide-angle emission of light.

[0128] In one embodiment, 1.55 < F.no < 1.65, where F.no is the ratio of the effective focal length to the entrance pupil diameter. A smaller ratio is beneficial for the emission lens group 10 to have a greater light focusing ability or wide-angle emission of light, which can increase the light flux and help improve the image quality and the signal-to-noise ratio of the sensor.

[0129] Combined with Figure 8 , the image quality of the emission lens group 10 is good. The RMS radius (representing the radius of the central circle containing all rays at the reference point) is less than 5 μm, and the GEO radius is less than 15 μm, with a good energy convergence effect. Specifically, when the object plane is 73°, the RMS radius is the largest and the GEO radius is the largest. At this time, the RMS radius is 4.986 μm and the GEO radius is 13.814 μm. When the object plane is 45°, the RMS radius is the smallest. At this time, the RMS radius is 3.159 μm and the GEO radius is 8.310 μm. When the object plane is 20°, the GEO radius is the smallest. At this time, the RMS radius is 4.307 μm and the GEO radius is 7.257 μm.

[0130] Combined with Figure 9 , when the spatial frequency is 20 mm, the field of view MTF (Modulation Transfer Function) value of the emission lens group 10 is relatively large, and the MTF of each field of view is basically greater than 0.5, with a strong ability to restore details.

[0131] In some embodiments, to match light sources of different sizes, by adjusting the air gap between the six emission lenses, it is possible to achieve the same field of view angle emission of light source spots of different sizes without changing the size of the lenses. Only by adjusting the relative positions of the emission lenses can a compatible design be achieved, with strong light source adaptability.

[0132] In some embodiments, to match different detection requirements, different radar ranging systems have different requirements for the light emitted by the transmitting lens group 10. The above-mentioned transmitting lens group 10 has small aberration, a sharp exit light spot, and good energy convergence. By only changing the structure of the first transmitting lens 11, the focal length of the first transmitting lens 11 can be changed. At the same time, by adjusting the first transmitting lens 11, the aberration optimization of the transmitting lens group 10 can be made more uniform, the light spot can be homogenized, and the light spot can evenly cover the detection surface. Cooperating with the array receiving device, high-resolution detection can be achieved.

[0133] In some embodiments, in combination with Figure 10 , the first receiving lens group 21 and / or the second receiving lens group 22 include a first receiving lens 201, a second receiving lens 202, a third receiving lens 203, a fourth receiving lens 204, a fifth receiving lens 205, and a sixth receiving lens 206 that are sequentially spaced apart along the object side to the image side. The first receiving lens 201 has a negative refractive power, the second receiving lens 202 has a negative refractive power, the third receiving lens 203 has a positive refractive power, the fourth receiving lens 204 has a negative refractive power, the fifth receiving lens 205 has a positive refractive power, and the sixth receiving lens 206 has a positive refractive power.

[0134] Among them, the laser beam converges along the first receiving lens 201 to the sixth receiving lens 206. The first receiving lens 201 has a negative refractive power, and the second receiving lens 202 has a negative refractive power, which is beneficial for wide-angle light reception, gradually converges the light beam, reduces the light beam diameter, and reduces distortion. The third receiving lens 203 has a positive refractive power to correct the aberration generated by the previous two lenses, but the aperture is further reduced. The fourth receiving lens 204 is used to continue converging the laser beam, and the fifth receiving lens 205 and the sixth receiving lens 206 gradually converge the laser beam so that the light beam is incident horizontally on the first receiving module 2 and the second receiving module 3. Thus, in combination with Figures 11 to 13 , the six lenses cooperate with each other, the positive and negative refractive powers are reasonably distributed, and the refractive powers are basically balanced, which is beneficial to form a scanning area with a clear pattern image, a sharp light spot edge, and a high light spot uniformity.

[0135] In one of the embodiments, in combination with Figure 10 , the object side surface of the first receiving lens 201 is a convex surface, and the image side surface of the first receiving lens 201 is a concave surface. Both side surfaces of the first receiving lens 201 are beneficial for the light beam to converge from the object side surface to the image side surface, so that the first receiving lens group 21 realizes wide-angle incidence. Specifically, the object side surface and the image side surface of the first receiving lens 201 can be spherical surfaces or aspherical surfaces.

[0136] In one of the embodiments, in combination with Figure 10, the object side of the second receiving lens 202 is convex, and the image side of the second receiving lens 202 is concave. Both sides of the second receiving lens 202 facilitate the convergence of the light beam from the object side to the image side. Specifically, the object side and the image side of the second receiving lens 202 can be spherical surfaces or aspherical surfaces.

[0137] In one embodiment, in combination with Figure 10 , the object side of the third receiving lens 203 is convex, and the image side of the third receiving lens 203 is convex, so that the third receiving lens 203 has a positive refractive power to correct the light beam, and the absolute value of the refractive power is small to avoid excessive deflection of the light beam and generate aberration.

[0138] In one embodiment, in combination with Figure 10 , the object side of the fourth receiving lens 204 is convex, and the image side of the fourth receiving lens 204 is concave. Both sides of the fourth receiving lens 204 facilitate the convergence of the light beam from the object side to the image side and reduce the light beam diameter. Specifically, the object side and the image side of the fourth receiving lens 204 can be spherical surfaces or aspherical surfaces.

[0139] In one embodiment, in combination with Figure 10 , the object side of the fifth receiving lens 205 is flat, and the image side of the fifth receiving lens 205 is convex. The flat surface has no refraction on the light and no aberration. The sixth receiving lens 206 uses a plano-convex lens, which reduces the back focal length of the first receiving lens group 21 and / or the second receiving lens group 22. Specifically, the object side and the image side of the sixth receiving lens 206 can be spherical surfaces or aspherical surfaces.

[0140] In one embodiment, in combination with Figure 10 , the object side of the sixth receiving lens 206 is convex, and the image side of the fifth receiving lens 205 is convex, which is beneficial to increasing the optical path.

[0141] In this embodiment, the first receiving lens group 21 and / or the second receiving lens group 22 are non-reflective optical lens groups, which reduce the total length of the first receiving lens group 21 and / or the second receiving lens group 22, and at the same time facilitate reducing the design difficulty of the first receiving lens group 21 and / or the second receiving lens group 22.

[0142] In this embodiment, the first receiving lens group 21 and / or the second receiving lens group 22 can ensure small aberration through reasonable surface type matching, ensure that the light spot passing through the first receiving lens group 21 and / or the second receiving lens group 22 has high clarity and small aberration, and the energy is evenly distributed within the field of view angle.

[0143] Specifically, the first receiving lens group 21 adopts the combination of the above six receiving lenses, or the second receiving lens group 22 adopts the combination of the above six receiving lenses, or both the first receiving lens group 21 and the second receiving lens group 22 adopt the combination of the above six receiving lenses. Optionally, the first receiving lens group 21 and / or the second receiving lens group 22 only include the above six lenses. With fewer lenses, it helps to reduce the volume of the optical lens and lower the cost.

[0144] In one embodiment, 2.0 < n7 < 2.1, where n7 is the refractive index of the first receiving lens 201 at the d-light wavelength. Based on this, the first receiving lens 201 has a relatively large refractive index, which is beneficial for wide-angle incidence and has a stronger focusing ability, which is beneficial for increasing the detection distance.

[0145] Optionally, the refractive index n7 of the first receiving lens 201 is 2.0, 2.02, 2.05, 2.08, or 2.1.

[0146] In one embodiment, 1.8 < n8 < 1.9, where n8 is the refractive index of the second receiving lens 202 at the d-light wavelength. Based on this, the second receiving lens 202 has a relatively high light transmittance, that is, a relatively high light transmission efficiency.

[0147] Optionally, the refractive index n8 of the second receiving lens 202 is 1.8, 1.82, 1.85, 1.88, or 1.9.

[0148] In one embodiment, 2.0 < n9 < 2.1, where n9 is the refractive index of the third receiving lens 203 at the d-light wavelength. Based on this, the third receiving lens 203 has a relatively large refractive index, which is beneficial for wide-angle incidence and has a stronger focusing ability, which is beneficial for increasing the detection distance.

[0149] Optionally, the refractive index n9 of the third receiving lens 203 is 2.0, 2.02, 2.05, 2.08, or 2.1.

[0150] In one embodiment, 1.8 < n10 < 1.9, where n10 is the refractive index of the fourth receiving lens 204 at the d-light wavelength. Based on this, the fourth receiving lens 204 has a relatively high light transmittance, that is, a relatively high light transmission efficiency.

[0151] Optionally, the refractive index n10 of the fourth receiving lens 204 is 1.8, 1.82, 1.85, 1.88, or 1.9.

[0152] In one embodiment, 2.0 < n11 < 2.1, where n11 is the refractive index of the fifth receiving lens 205 at the d-light wavelength. Based on this, the fifth receiving lens 205 has a relatively large refractive index, which is beneficial for wide-angle incidence and has a stronger focusing ability, which is beneficial for increasing the detection distance.

[0153] Optionally, the refractive index n11 of the fifth receiving lens 205 is 2.0, 2.02, 2.05, 2.08, or 2.1.

[0154] In one embodiment, 2.0 < n12 < 2.1, where n12 is the refractive index of the sixth receiving lens 206 at the d-light wavelength. Based on this, the sixth receiving lens 206 has a relatively large refractive index, which is beneficial for wide-angle incidence and has a stronger focusing ability, which is beneficial for increasing the detection distance.

[0155] Optionally, the refractive index n12 of the sixth receiving lens 206 is 2.0, 2.02, 2.05, 2.08, or 2.1.

[0156] In one embodiment, a second aperture stop 207 is disposed between the third receiving lens 203 and the fourth receiving lens 204. The second aperture stop 207 can improve the imaging quality of off-axis points, control the depth of field, improve the imaging quality, enhance the clarity of the image, and is beneficial for improving the resolution of the lens group.

[0157] In one embodiment, 30mm < f7*f8 / f < 35, where f7 is the focal length of the first receiving lens 201, f8 is the focal length of the second receiving lens 202, and f is the effective focal length of the first receiving lens group 21 and the second receiving lens group 22. Among them, 30mm < f7*f8 / f < 35 can control the receiving lens group to be a medium-short focal length and large-aperture optical system, reduce the occupied space of the receiving lens group, reduce the overall size of the lidar, realize the miniaturized design of the solid-state radar, and at the same time shorten the optical axis center distance between the transmitting lens group 10 and the first receiving lens group 21 and the second receiving lens group 22, which can reduce the radar blind area. If the value of f7*f8 / f is less than 30mm, the effective focal length is large, resulting in an excessive total length of the receiving lens group and a large volume of the solid-state radar. If the value of f7*f8 / f is greater than 35, the focal length is small and medium-distance detection cannot be achieved.

[0158] In one embodiment, 125° < FOV < 145°, where FOV is the maximum field of view angle of the first receiving lens group 21 and the second receiving lens group 22, ensuring wide-angle incidence and reducing the field-of-view angle blind area.

[0159] Wide-angle lenses usually have large distortions. If the distortions of the transmitting and receiving systems do not match, it will cause differences in the field angles of the transmitting and receiving systems in the edge field of view, resulting in the light rays emitted by the transmitting lens group 10 not being received by the receiving lens group after being reflected by the surface to be measured, causing energy waste. In this embodiment, the field angles of the transmitting lens group 10, the first receiving lens group 21, and the second receiving lens group 22 are the same. Combining Figure 7 and Figure 11 , it is ensured that under the same field angle, the distortions of the transmitting and receiving systems are exactly the same, realizing the perfect matching of the field angles of the transmitting and receiving systems at the off-axis edge positions.

[0160] In one embodiment, 0.04 < f / TTL < 0.1, where f is the effective focal length of the first receiving lens group 21 and the second receiving lens group 22, and TTL is the total length of the first receiving lens group 21 and the second receiving lens group 22. Based on this, the overall optical path, effective focal length, back focal length, etc. of the first receiving lens group 21 and the second receiving lens group 22 can be reduced, the total length can be shortened, and at the same time, the field angle can be increased to achieve wide-angle incidence of light rays.

[0161] Combining Figure 12 , the image quality of the first receiving lens group 21 and / or the second receiving lens group 22 is good. The RMS radius (representing the radius of the central circle containing all light rays at the reference point) is less than 12.5 μm, and the GEO radius is less than 25 μm, which has a good energy convergence effect. Specifically, when the object surface is 45°, the RMS radius is the largest, and at this time, the RMS radius is 12.476 μm and the GEO radius is 22.972 μm. When the object surface is 35°, the GEO radius is the largest, and at this time, the RMS radius is 11.665 μm and the GEO radius is 23.452 μm. When the object surface is 0, the RMS radius is the smallest and the GEO radius is also the smallest. At this time, the RMS radius is 9.938 μm and the GEO radius is 16.756 μm.

[0162] Combining Figure 13 , when the spatial frequency is 20 mm, the field MTF (Modulation Transfer Function) values of the first receiving lens group 21 and / or the second receiving lens group 22 are relatively large, and the MTF is basically greater than 0.5, which has a strong ability to restore details

[0163] In one embodiment, combining Figure 1 , a first light shield 31 is provided between the first receiving lens group 21 and the transmitting lens group 10. The first light shield 31 is used to isolate the optical paths of the transmitting and receiving systems, reducing signal interference and filter cover echoes.

[0164] The first light shield 31 can be an opaque sheet such as a metal sheet, a plastic sheet, or a rubber sheet.

[0165] Specifically, the first light shielding member 31 is disposed at the interval of the receiving system APD, and is used to absorb the received signal with a large incident angle and block the received signal from irradiating the APDs of other channels.

[0166] In one embodiment, in combination with Figure 1 , a second light shielding member 32 is disposed between the second receiving lens group 22 and the transmitting lens group 10. The second light shielding member 32 is used to isolate the optical paths of the transmitting system and the receiving system, reduce signal interference and filter cover echo. The second light shielding member 32 can be an opaque sheet such as a metal sheet, a plastic sheet, or a rubber sheet. The second light shielding member 32 can be disposed at the interval of the receiving system APD.

[0167] In one embodiment, in combination with Figure 1 , the first receiving module 2 and the first receiving lens group 21, the transmitting module 1 and the transmitting lens group 10, and the second receiving module 3 and the second receiving lens group 22 are respectively spaced apart along the first direction. In this way, the light beam of the first receiving lens group 21 can be directly converged to the first receiving module 2 without deflection, and the two are compactly arranged; the light beam of the second receiving lens group 22 can be directly converged to the second receiving module 3 without deflection, and the two are compactly arranged; the light beam generated by the transmitting module 1 can be directly emitted to the transmitting lens group 10 without deflection, and the two are compactly arranged. The transmitting module 1 is located between the first receiving lens group 21 and the second receiving lens group 22, and the interval between the first receiving module 2 and the second receiving module 3 is less than the width of the transmitting module 1, realizing a compact layout, which is beneficial to the miniaturized design of the solid-state radar.

[0168] Specifically, in combination with Figure 1 , the first receiving lens group 21 and the second receiving lens group 22 have the same structure, and the total length is greater than that of the transmitting lens group 10. The front ends of the three lens groups are flush, and the rear ends of the first receiving lens group 21 and the second receiving lens group 22 exceed the transmitting lens group 10 and the transmitting module 1. Thus, the first receiving lens group 21 and the second receiving lens group 22 surround the transmitting module 1, reducing the width of the transceiver device and facilitating the coaxial setting of the optical axes.

[0169] Specifically, the solid-state lidar further includes a housing 4, and the first receiving module 2, the first receiving lens group 21, the transmitting module 1, the transmitting lens group 10, the second receiving module 3 and the second receiving lens group 22 are installed in the housing 4.

[0170] In one embodiment, the chief ray angle (CRA) of the transmitting lens group 10, the first receiving lens group 21, and the second receiving lens group 22 is less than or equal to 10°. At the receiving end, it has little influence on the transmittance of the filter, ensuring high transmittance. At the same time, when considering the bandwidth of the filter, the influence of the incident angle can be ignored, reducing the bandwidth of the filter and the influence of stray light on the lidar. At the transmitting end, the light output efficiency of the marginal field of view can be ensured, improving the ranging ability of the marginal field of view.

[0171] In one of the embodiments, in combination with Figure 1 , for the first lens of the transmitting lens group 10, the first receiving lens group 21, and the second receiving lens group 22 that is close to the object side, the first lens is a plastic lens or a glass lens. Glass or plastic has good reliability. The first lens is directly connected to the outside, that is, the solid-state lidar removes the window, reducing the influence of stray light generated by the reflection of the window on the radar and improving the ranging ability at close range.

[0172] Specifically, the first transmitting lens 11 and the first receiving lens 201 are the first lenses, and their materials are glass or plastic.

[0173] Specifically, the coefficient of thermal expansion of the first lens is less than or equal to 30×10 -6 / °C, having good high and low temperature characteristics, without obvious deformation and no obvious change in refractive index under high and low temperature conditions.

[0174] Specifically, the first lens has good chemical resistance. For example, after being coated with ink by chemical reagents, the appearance performance has no obvious change. Chemical reagents include but are not limited to the following: automatic transmission fluid, hydraulic oil, gasoline, diesel, brake fluid, dilute sulfuric acid, etc.

[0175] Specifically, the hydrophobic angle of the first lens is greater than 110°, having good hydrophobicity and can contact external rainwater.

[0176] Specifically, the Shore hardness of the first lens is greater than or equal to 70A, having good wear resistance. After being worn by coarse canvas and pig bristle, the appearance has no obvious change.

[0177] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A solid-state lidar, characterized in that: the solid-state lidar includes a transmitting module, a first receiving module, a second receiving module, a transmitting lens group, a first receiving lens group and a second receiving lens group; the transmitting module is used to emit array lasers, the transmitting lens group, the first receiving lens group and the second receiving lens group are arranged side by side, the transmitting lens group is used to shape the array lasers emitted by the transmitting module and emit them outwards, the first receiving lens group and the second receiving lens group are respectively located on opposite sides of the transmitting module; the first receiving lens group and the second receiving lens group are used to receive laser echoes and send them to the first receiving lens group and the second receiving lens group respectively.

2. The solid-state lidar according to claim 1, characterized in that: the transmitting lens group includes a first transmitting lens, a second transmitting lens, a third transmitting lens, a fourth transmitting lens, a fifth transmitting lens and a sixth transmitting lens which are sequentially and spaced apart from the object side to the image side; the first transmitting lens has a negative refractive power; the second transmitting lens has a negative refractive power; the third transmitting lens has a positive refractive power; the fourth transmitting lens has a negative refractive power; the fifth transmitting lens has a positive refractive power; the sixth transmitting lens has a positive refractive power.

3. The solid-state lidar according to claim 2, characterized in that: the object side surface of the first transmitting lens is convex, and the image side surface of the first transmitting lens is concave; the object side surface of the second transmitting lens is convex, and the image side surface of the second transmitting lens is concave; the object side surface of the third transmitting lens is convex, and the image side surface of the third transmitting lens is convex; the object side surface of the fourth transmitting lens is convex, and the image side surface of the fourth transmitting lens is concave; the object side surface of the fifth transmitting lens is convex, and the image side surface of the fifth transmitting lens is convex; the object side surface of the sixth transmitting lens is convex, and the image side surface of the fifth transmitting lens is flat.

4. The solid-state lidar according to claim 2, characterized in that: the following mathematical relationships are also satisfied: 1.8 < n1 < 1.9, where n1 is the refractive index of the first transmitting lens at the d-light wavelength; 1.9 < n2 < 2.0, where n2 is the refractive index of the second transmitting lens at the d-light wavelength; 2.0 < n3 < 2.1, where n3 is the refractive index of the third transmitting lens at the d-light wavelength; 1.7 < n4 < 1.8, where n4 is the refractive index of the fourth transmitting lens at the d-light wavelength; 1.9 < n5 < 2.0, where n5 is the refractive index of the fifth transmitting lens at the d-light wavelength; 2.0 < n6 < 2.1, where n6 is the refractive index of the sixth transmitting lens at the d-light wavelength.

5. The solid-state lidar according to claim 2, characterized in that, the transmitting lens group satisfies at least one of the following optical conditions: 18.5mm < f1*f2 / f0 < 22, f1 is the focal length of the first transmitting lens, f2 is the focal length of the second transmitting lens, and f0 is the effective focal length of the transmitting lens group; A first aperture stop is disposed between the third emission lens and the fourth emission lens; 2.5 < |f4 / f3| < 3.5, where f3 is the focal length of the third emission lens and f4 is the focal length of the fourth emission lens.

6. The solid-state lidar according to claim 1, characterized in that, the emission lens group satisfies the following optical conditions: 125° < FOV0 < 145°, where FOV0 is the maximum field of view angle of the emission lens group; 0.05 < f0 / TTL0 < 0.13, where f0 is the effective focal length of the emission lens group and TTL0 is the total length of the emission lens group; 1.55 < F.no < 1.65, where F.no is the ratio of the effective focal length to the entrance pupil diameter.

7. The solid-state lidar according to claim 1, characterized in that: the first receiving lens group and / or the second receiving lens group includes a first receiving lens, a second receiving lens, a third receiving lens, a fourth receiving lens, a fifth receiving lens, and a sixth receiving lens that are sequentially spaced apart along the object side to the image side; the first receiving lens has a negative refractive power; the second receiving lens has a negative refractive power; the third receiving lens has a positive refractive power; the fourth receiving lens has a negative refractive power; the fifth receiving lens has a positive refractive power; the sixth receiving lens has a positive refractive power.

8. The solid-state lidar according to claim 7, characterized in that: the object side surface of the first receiving lens is convex, and the image side surface of the first receiving lens is concave; the object side surface of the second receiving lens is convex, and the image side surface of the second receiving lens is concave; the object side surface of the third receiving lens is convex, and the image side surface of the third receiving lens is convex; the object side surface of the fourth receiving lens is convex, and the image side surface of the fourth receiving lens is concave; the object side surface of the fifth receiving lens is flat, and the image side surface of the fifth receiving lens is convex; the object side surface of the sixth receiving lens is convex, and the image side surface of the fifth receiving lens is convex.

9. The solid-state lidar according to claim 7, characterized in that, the following mathematical relationship is further satisfied: 2.0 < n7 < 2.1, where n7 is the refractive index of the first receiving lens at the d-wavelength; 1.8 < n8 < 1.9, where n8 is the refractive index of the second receiving lens at the d-wavelength; 2.0 < n9 < 2.1, where n9 is the refractive index of the third receiving lens at the d-wavelength; 1.8 < n10 < 1.9, where n10 is the refractive index of the fourth receiving lens at the d-wavelength; 2.0 < n11 < 2.1, where n11 is the refractive index of the fifth receiving lens at the d-wavelength; 2.0 < n12 < 2.1, where n12 is the refractive index of the sixth receiving lens at the d-wavelength.

10. The solid-state lidar according to claim 7, characterized in that: a second aperture stop is disposed between the third receiving lens and the fourth receiving lens; And / or, 30mm < f7 * f8 / f < 35, where f7 is the focal length of the first receiving lens, f8 is the focal length of the second receiving lens, and f is the effective focal length of the first receiving lens group and the second receiving lens group.

11. The solid-state lidar according to claim 1, characterized in that: The first receiving lens group and the second receiving lens group also satisfy the following optical conditions: 125° < FOV < 145°, where FOV is the maximum field of view angle of the first receiving lens group and the second receiving lens group; 0.04 < f / TTL < 0.1, where f is the effective focal length of the first receiving lens group and the second receiving lens group, and TTL is the total length of the first receiving lens group and the second receiving lens group.

12. The solid-state lidar according to claim 1, characterized in that: The included angle between the optical axis of the first receiving lens group and the optical axis of the transmitting lens group is between -30° and 30°; And / or, the included angle between the optical axis of the second receiving lens group and the optical axis of the transmitting lens group is between -30° and 30°.

13. The solid-state lidar according to claim 1, characterized in that: A first light shield is provided between the first receiving lens group and the transmitting lens group; And / or, a second light shield is provided between the second receiving lens group and the transmitting lens group.

14. The solid-state lidar according to claim 1, characterized in that: The first receiving module and the first receiving lens group, the transmitting module and the transmitting lens group, and the second receiving module and the second receiving lens group are respectively spaced apart along a first direction. The transmitting module is located between the first receiving lens group and the second receiving lens group, and the interval between the first receiving module and the second receiving module is less than the width of the transmitting module.

15. The solid-state lidar according to any one of claims 1 to 14, characterized in that: For the first lens of the transmitting lens group, the first receiving lens group, and the second receiving lens group close to the object side, the first lens is a plastic lens or a glass lens, and the first lens is directly connected to the outside.

Images