Laser radar

Abstract

The invention provides a laser radar, and the laser radar comprises a curved prism located at a first side of a rotating motor module, an optical lens group, a laser transmitting plate, a laser receiving plate and a semi-transparent and semi-reflective prism or a turning prism located at a second side of the rotating motor module, and the first side and the second side are two opposite sides. The semi-transparent and semi-reflective prism or the turning prism is positioned among the optical lens group, the laser emitting plate and the laser receiving plate; laser emitted by the laser emitting plate is emitted to an object to be measured after being acted by the semi-transparent and semi-reflective prism or the turning prism, the optical lens group and the curved prism; the laser reflected by the object to be measured is incident to the laser receiving plate after being acted by the curved prism, the optical lens group and the semi-transparent and semi-reflective prism or the turning prism; and the rotating motor module is used for driving the curved prism to rotate so as to change the field angle of the laser radar, so that the laser radar has a large field angle and can be miniaturized, and the laser receiving reliability and the laser receiving stability of the laser radar are improved.

Description

Technical Field

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

[0002] With the development and application of LiDAR technology, the market demand for LiDAR's field of view is getting higher and higher, and the field of view of LiDAR is being designed to be larger and larger. However, in related technologies, the following problems are prone to occur when designing LiDAR with a large field of view:

[0003] (1) The laser radar's optical machine is tilted to increase the laser radar's field of view, but this will increase the size of the laser radar's optical machine, which is not conducive to the miniaturization of the laser radar;

[0004] (2) Using a mechanical radar, the transmitting module and receiving module of the mechanical radar are set on the motor to increase the field of view of the mechanical radar, but this will have an adverse effect on the laser reception reliability and laser reception stability of the mechanical radar.

[0005] Therefore, how to increase the field of view of the laser radar, improve the miniaturization of the laser radar, and improve the laser reception reliability and laser reception stability of the laser radar have become technical problems that need to be solved urgently. Summary of the Invention

[0006] The main purpose of this application is to provide a laser radar that has a large field of view and can be miniaturized, while improving the laser reception reliability and laser reception stability of the laser radar.

[0007] The embodiment of the present application provides a laser radar, which includes a laser emitting board, a laser receiving board, a rotating motor module, an optical transceiver module, and a semi-transparent and semi-reflective prism or a folding prism; the optical transceiver module includes a curved prism and an optical lens group;

[0008] The curved prism is located on a first side of the rotating motor module, and the optical lens group, the laser emitting plate, the laser receiving plate, and the semi-transparent and semi-reflective prism or the folding prism are located on a second side of the rotating motor module, wherein the first side and the second side are opposite sides; the semi-transparent and semi-reflective prism or the folding prism is located between the optical lens group, the laser emitting plate, and the laser receiving plate;

[0009] The laser light emitted by the laser emitting plate is emitted to the object to be measured after passing through the semi-transparent and semi-reflective prism or the folding prism, the optical lens group and the curved prism; the laser light reflected by the object to be measured is incident on the laser receiving plate after passing through the curved prism, the optical lens group and the semi-transparent and semi-reflective prism or the folding prism;

[0010] The rotating motor module is used to drive the curved prism to rotate to change the field of view angle of the laser radar.

[0011] In one embodiment, the vertical field of view angle of the laser radar includes -45° to 45°, and the horizontal field of view angle of the laser radar includes 0° to 360°.

[0012] In one embodiment, the laser emitted by the laser emitting plate is reflected by the semi-transparent and semi-reflective prism to the optical lens assembly, and the laser reflected by the object to be measured is transmitted by the semi-transparent and semi-reflective prism to the laser receiving plate; or

[0013] The laser light emitted by the laser emitting plate is reflected to the optical lens group via the folding prism, and the laser light reflected by the object to be measured is transmitted through the folding prism and then reflected to the laser receiving plate.

[0014] In one embodiment, the folding prism includes a first prism surface and a second prism surface, and relative to the first prism surface, the second prism surface is away from the optical lens assembly;

[0015] The first prism surface is coated with a semi-transparent and semi-reflective film, and the second prism surface is coated with a reflective film.

[0016] In one embodiment, the thickness of the curved prism is 20 mm to 60 mm.

[0017] In one embodiment, the curved prism has a first side surface and a second side surface. Relative to the first side surface of the curved prism, the second side surface of the curved prism is close to the optical lens group; the curvature radius of the first side surface of the curved prism is greater than the curvature radius of the second side surface of the curved prism, and both are negative values.

[0018] In one embodiment, the optical lens assembly includes a first lens, a second lens, a third lens, a fourth lens, and a fifth lens arranged in sequence; the first lens to the fifth lens respectively have a first side surface and a second side surface, and relative to the first side surface of each of the first lens to the fifth lens, the second side surface of each of the first lens to the fifth lens is away from the curved prism;

[0019] The curvature radius of the first side surface of the first lens is greater than the curvature radius of the second side surface of the first lens, and both are negative values;

[0020] The curvature radius of the first side surface of the second lens is greater than the curvature radius of the second side surface of the second lens, and both are positive values;

[0021] The curvature radius of the first side surface of the third lens is greater than the curvature radius of the second side surface of the third lens, and both are positive values;

[0022] The curvature radius of the first side surface of the fourth lens is positive, and the curvature radius of the second side surface of the fourth lens is negative;

[0023] The curvature radius of the first side surface of the fifth lens is positive, and the curvature radius of the second side surface of the fifth lens is negative.

[0024] In one embodiment, the distance between the fifth lens and an image plane of the optical transceiver module when the laser reflected by the object to be measured is incident on the laser receiving plate is within a range of 10 mm to 20 mm.

[0025] In one embodiment, the aperture of the optical lens assembly is located between the second lens and the third lens.

[0026] In one embodiment, the rotary motor module includes a rotary motor and a rotary bracket, and the rotary motor is connected to the rotary bracket;

[0027] The curved prism is located on a first side of the rotating bracket, and the optical lens, the laser emitting plate, and the laser receiving plate group are located on a second side of the rotating bracket;

[0028] The rotary motor is used to drive the rotary bracket to rotate, so that the rotary bracket drives the curved prism to rotate.

[0029] An embodiment of the present application provides a laser radar, which drives the curved prism to rotate through a rotating motor module to change the field of view of the laser radar without having to tilt the laser radar. This allows the laser radar to have a large field of view and be miniaturized, while improving the laser reception reliability and stability of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are some embodiments of this application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. The realization of the objectives, functional features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the drawings.

[0031] Figure 1 This is a schematic diagram of the structure of a laser radar in one embodiment of the present application;

[0032] Figure 2 Schematic diagram of the optical path of the optical transceiver module involved in one embodiment of the present application;

[0033] Figure 3 This is a schematic diagram of the field of view of a laser radar in one embodiment of the present application;

[0034] Figure 4 A schematic diagram of the optical path of a laser radar according to an embodiment of the present application;

[0035] Figure 5 This is a structural diagram of a laser radar in another embodiment of the present application.

[0036] Explanation of the accompanying drawings: 10, laser radar; 110, laser emitting board; 120, laser receiving board; 130, rotating motor module; 131, rotating motor; 132, rotating bracket; 140, optical transceiver module; 141, curved prism; 142, optical lens group; 1421, first lens; 1422, second lens; 1423, third lens; 1424, fourth lens; 1425, fifth lens; 150, semi-transparent and semi-reflective prism; 160, folding prism. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0039] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a laser radar 10 provided in one embodiment of the present application. The laser radar 10 includes a laser emitting board 110, a laser receiving board 120, a rotating motor module 130, an optical transceiver module 140, and a semi-transparent and semi-reflective prism 150 or a folding prism 160. The optical transceiver module 140 includes a curved prism 141 and an optical lens assembly 142.

[0040] Curved prism 141 is located on a first side of rotating motor module 130. Optical lens assembly 142, laser emitting plate 110, laser receiving plate 120, and transflective prism 150 or folding prism 160 are located on a second side of rotating motor module 130. The first and second sides are opposite each other. Transflective prism 150 or folding prism 160 is located between optical lens assembly 142, laser emitting plate 110, and laser receiving plate 120.

[0041] The laser emitted by the laser emitting plate 110 is emitted to the object to be measured after passing through the semi-transparent and semi-reflective prism 150 or the folding prism 160, the optical lens group 142 and the curved prism 141; the laser reflected by the object to be measured is incident on the laser receiving plate 120 after passing through the curved prism 141, the optical lens group 142 and the semi-transparent and semi-reflective prism 150 or the folding prism 160.

[0042] The rotating motor module 130 is used to drive the curved prism 141 to rotate to change the field of view of the laser radar 10 .

[0043] like Figure 1 As shown, the rotating motor module 130 is formed with a storage area. The storage area extends through the rotating motor module 130. The exterior of the storage area can serve as the first side of the rotating motor module 130, for installing the curved prism 141. The interior of the storage area can serve as the second side of the rotating motor module 130, for installing the optical lens assembly 142, the laser emitting plate 110, the laser receiving plate 120, and the semi-transparent and semi-reflective prism 150 or the folding prism 160. Due to the function of the storage area, the first side of the rotating motor module 130 and the second side of the rotating motor module 130 are connected, allowing the optical transceiver module 140 to transmit the laser emitted by the laser emitting plate 110 and transmit the received laser emitted by the object to be measured.

[0044] Please refer to Figure 2 , Figure 2 FIG. 1 is a schematic diagram of an optical path of an optical transceiver module 140 according to an embodiment of the present application.

[0045] like Figure 2 As shown, the optical transceiver module 140 can serve as the transmitting system of the laser radar 10. The laser light emitted by the laser emitting board 110 can be sequentially transmitted through the optical lens assembly 142 and curved prism 141 included in the optical transceiver module 140 and then transmitted to the image plane of the transmitting system. If an object to be measured is located on the image plane of the transmitting system, the laser light emitted by the laser emitting board 110 can be transmitted to the object to be measured.

[0046] like Figure 2 As shown, the optical transceiver module 140 can serve as the receiving system of the laser radar 10. When the laser radar 10 receives laser light emitted by an object to be detected, the laser light reflected by the object to be detected can be incident on the image plane of the receiving system after passing through the curved prism 141 and optical lens assembly 142 included in the optical transceiver module 140. If a laser receiving plate 120 is located on the image plane of the receiving system, the laser light reflected by the object to be detected by the laser radar 10 can be incident on the laser receiving plate 120 of the laser radar 10.

[0047] When the optical transceiver module 140 serves as both the transmitting and receiving systems of the laser radar 10, the laser radar 10 can utilize a semi-transparent and semi-reflective prism 150 or a folding prism 160, so that the transmitting and receiving systems of the laser radar 10 use a coaxial optical system, thereby making the optical path of the laser radar 10 more compact. When the transmitting and receiving systems of the laser radar 10 use a coaxial optical system, the image quality of the central field of view and the edge field of view of the laser radar 10 remains consistent, and the quality at the point cloud level is better, which is conducive to improving the detection effect of the laser radar 10 on the object to be detected.

[0048] The field of view of the laser radar 10 can include a horizontal field of view angle and a vertical field of view angle. The horizontal field of view angle is used to indicate the coverage range of the laser radar 10 in the horizontal (azimuth) direction. The vertical field of view angle is used to indicate the coverage range of the laser radar 10 in the vertical (pitch) direction.

[0049] When the rotary motor module 130 of the laser radar 10 is in operation, it can drive the curved prism 141 to rotate. The field of view of the laser radar 10 will change as the curved prism 141 rotates.

[0050] In one embodiment, the vertical field of view angle of the laser radar 10 includes -45° to 45°, and the horizontal field of view angle of the laser radar 10 includes 0° to 360°.

[0051] like Figure 1 As shown, the vertical field of view angle of the laser radar 10 can be determined according to the field of view angle of the optical transceiver module 140. When the field of view angle of the optical transceiver module 140 includes -45° to 45°, it can be determined that the vertical field of view angle of the laser radar 10 includes -45° to 45°.

[0052] When the rotating motor module 130 of the laser radar 10 drives the curved prism 141 to rotate in the horizontal direction, the horizontal field of view angle of the laser radar 10 can be changed. Figure 3 As shown, when the rotating motor module 130 can drive the curved prism 141 to rotate 360° horizontally, the horizontal field of view angle of the laser radar 10 includes 0° to 360°. Correspondingly, when the rotating motor module 130 drives the curved prism 141 to rotate horizontally, since the curved prism 141 does not rotate vertically, the vertical field of view angle of the laser radar 10 still includes -45° to 45°.

[0053] Accordingly, when the rotating motor module 130 is in operation, the optical lens assembly 142 , the laser emitting plate 110 and the laser receiving plate 120 will not rotate along with the rotating motor module 130 .

[0054] In an exemplary embodiment, the curved prism 141 can be disposed in a contact manner on a first side of the rotating motor module 130, and the optical lens assembly 142, the laser emitting plate 110, and the laser receiving plate 120 can be disposed in a non-contact manner on a second side of the rotating motor module 130. When the rotating motor module 130 is in operation, the curved prism 141 can be driven to rotate based on the contact relationship between the curved prism 141 and the rotating motor module 130. This is of course not limiting and is not intended to be limiting herein.

[0055] In one embodiment, the rotating motor module 130 includes a rotating motor 131 and a rotating bracket 132, the rotating motor 131 is connected to the rotating bracket 132; the curved prism 141 is located on a first side of the rotating bracket 132, and the optical lens group 142, the laser emitting plate 110 and the laser receiving plate 120 are located on a second side of the rotating bracket 132; the rotating motor 131 is used to drive the rotating bracket 132 to rotate, so that the rotating bracket 132 drives the curved prism 141 to rotate.

[0056] The first side of the rotating bracket 132 can serve as the first side of the rotating motor module 130, and the second side of the rotating bracket 132 can serve as the second side of the rotating motor module 130. The first side of the rotating bracket 132 and the second side of the rotating bracket 132 are opposite sides.

[0057] For example, the rotating motor module 130 may have a storage area formed on the second side of the rotating bracket 132. A corresponding channel is formed at the projection of the storage area on the rotating bracket 132, extending through the rotating bracket 132. The storage area and the corresponding channel allow the first side of the rotating bracket 132 and the second side of the rotating bracket 132 to communicate, allowing the optical transceiver module 140 to transmit laser light emitted by the laser emitting board 110 and receive laser light emitted by the object under test.

[0058] While the rotating motor 131 is driving the rotating bracket 132 to rotate, thereby causing the rotating bracket 132 to rotate the curved prism 141, the optical lens assembly 142, the laser emitting plate 110, the laser receiving plate 120, the semi-transparent and semi-reflective prism 150, or the folding prism 160 do not rotate along with the rotating bracket 132. The rotation speed of the rotating motor 131 can range from 600 rpm to 6000 rpm, which is not limited herein.

[0059] When the laser radar 10 rotates the curved prism 141 via the rotating motor module 130 to change the field of view of the laser radar 10, the laser radar 10 can have a large field of view. Accordingly, in the process of improving the field of view of the laser radar 10, there is no need to tilt the laser radar 10, which is conducive to improving the miniaturization of the laser radar 10. In addition, the laser radar 10 does not need to rotate the optical lens group 142, the laser emitting plate 110, the laser receiving plate 120, the semi-transparent and semi-reflective prism 150, or the folding prism 160 via the rotating motor module 130, which can ensure that the laser receiving plate 120 is in a stable state when receiving laser light, such as a non-rotating state, which is conducive to improving the laser reception reliability and laser reception stability of the laser radar 10.

[0060] In one embodiment, the laser emitted by the laser emitting plate 110 is reflected by the semi-transparent and semi-reflective prism 150 to the optical lens assembly 142 , and the laser reflected by the object to be measured is transmitted by the semi-transparent and semi-reflective prism 150 to the laser receiving plate 120 .

[0061] like Figure 4 As shown, when the optical transceiver module 140 is used as the transmitting system of the laser radar 10, the laser emitted by the laser emitting plate 110 can be transmitted to the optical lens group 142 through the semi-transparent and semi-reflective prism 150, and then emitted to the object to be measured after being acted upon by the optical lens group 142 and the curved prism 141 in sequence.

[0062] like Figure 4 As shown, when the optical transceiver module 140 serves as the receiving system of the laser radar 10, the laser reflected by the object to be measured can be incident on the semi-transparent and semi-reflective prism 150 after passing through the curved prism 141 and the optical lens group 142 in sequence, and then reflected by the semi-transparent and semi-reflective prism 150 and incident on the laser receiving plate 120.

[0063] In one embodiment, the laser emitted by the laser emitting plate 110 is reflected by the folding prism 160 to the optical lens assembly 142 , and the laser reflected by the object to be measured is transmitted by the folding prism 160 and then reflected to the laser receiving plate 120 .

[0064] like Figure 5 As shown, when the optical transceiver module 140 is used as the transmitting system of the laser radar 10, the laser emitted by the laser emitting plate 110 can be reflected to the optical lens group 142 through the folding prism 160, and then emitted to the object to be measured after passing through the optical lens group 142 and the curved prism 141 in sequence.

[0065] like Figure 5As shown, when the optical transceiver module 140 serves as the receiving system of the laser radar 10, the laser reflected by the object to be measured can be incident on the folding prism 160 after passing through the curved prism 141 and the optical lens group 142, and then reflected to the laser receiving plate 120 after being transmitted through the folding prism 160.

[0066] In one embodiment, the folding prism 160 includes a first prism surface and a second prism surface. Relative to the first prism surface, the second prism surface is farther away from the optical lens assembly 142 . The first prism surface is coated with a semi-transparent and semi-reflective film, and the second prism surface is coated with a reflective film.

[0067] For example, when the optical transceiver module 140 is used as the transmitting system of the laser radar 10, the laser emitted by the laser emitting plate 110 can be reflected to the optical lens group 142 through the semi-transparent and semi-reflective film on the first prism surface of the folding prism 160, and then emitted to the object to be measured after passing through the optical lens group 142 and the curved prism 141 in sequence.

[0068] When the optical transceiver module 140 serves as the receiving system of the laser radar 10, the laser reflected by the object to be measured can be incident on the folding prism 160 after passing through the curved prism 141 and the optical lens group 142, and after being transmitted through the semi-transparent and semi-reflective film on the first prism surface of the folding prism 160, it is reflected to the laser receiving plate 120 through the reflective film on the second prism surface of the folding prism 160.

[0069] When the laser radar 10 includes a semi-transparent and semi-reflective prism 150 or a folding prism 160 , the laser radar 10 can utilize the semi-transparent and semi-reflective prism 150 or the folding prism 160 to further improve the compactness of the optical path, thereby improving the miniaturization of the laser radar 10 .

[0070] In one embodiment, the thickness of the curved prism 141 ranges from 20 mm to 60 mm.

[0071] When the thickness of the curved prism 141 is between 20 mm and 60 mm, the thickness of the curved prism 141 is relatively thick. The thickness of the curved prism 141 can provide sufficient space for folding the optical path in the subsequent structural arrangement of the laser radar 10.

[0072] In one embodiment, the curved prism 141 has a first side surface and a second side surface. Relative to the first side surface of the curved prism 141, the second side surface of the curved prism 141 is close to the optical lens group 142. The radius of curvature of the first side surface of the curved prism 141 is greater than the radius of curvature of the second side surface of the curved prism 141, and both are negative values.

[0073] When the optical transceiver module 140 serves as the transmitting system of the laser radar 10, the laser emitted by the laser emitting plate 110 is sequentially transmitted through the semi-transparent and semi-reflective prism 150 or the folding prism 160, the optical lens group 142, the second side surface of the curved prism 141, and the first side surface of the curved prism 141 and then emitted to the object to be measured.

[0074] When the optical transceiver module 140 serves as the receiving system of the laser radar 10, the laser reflected by the object to be measured passes through the first side surface of the curved prism 141, the second side surface of the curved prism 141, the optical lens group 142, and the semi-transparent and semi-reflective prism 150 or the folding prism 160 in sequence and then is incident on the laser receiving plate 120.

[0075] In one embodiment, the optical lens group 142 includes a first lens 1421, a second lens 1422, a third lens 1423, a fourth lens 1424, and a fifth lens 1425, which are arranged in sequence. The first lens 1421 to the fifth lens 1425 respectively have a first side surface and a second side surface. With respect to the first side surfaces of the first lens 1421 to the fifth lens 1425, the second side surfaces of the first lens 1421 to the fifth lens 1425 are away from the curved prism 141. The curvature radius of the first side surface of the first lens 1421 is greater than the curvature radius of the second side surface of the first lens 1421. The curvature radii of the two side surfaces are both negative; the curvature radius of the first side surface of the second lens 1422 is greater than the curvature radius of the second side surface of the second lens 1422, and both are positive; the curvature radius of the first side surface of the third lens 1423 is greater than the curvature radius of the second side surface of the third lens 1423, and both are positive; the curvature radius of the first side surface of the fourth lens 1424 is positive, and the curvature radius of the second side surface of the fourth lens 1424 is negative; the curvature radius of the first side surface of the fifth lens 1425 is positive, and the curvature radius of the second side surface of the fifth lens 1425 is negative.

[0076] When the optical transceiver module 140 serves as the transmitting system of the laser radar 10, the laser light emitted by the laser emitting plate 110 passes through the transflective prism 150 or the folding prism 160, the fifth lens 1425, the fourth lens 1424, the third lens 1423, the second lens 1422, the first lens 1421, and the curved prism 141, before being emitted to the object under test. Specifically, when the laser light emitted by the laser emitting plate 110 passes through the fifth lens 1425, it first passes through the second side surface of the fifth lens 1425 and then the first side surface of the fifth lens 1425. When the laser light passes through the fourth lens 1424, it first passes through the second side surface of the fourth lens 1424 and then the first side surface of the fourth lens 1424, and so on.

[0077] When the optical transceiver module 140 serves as the receiving system of the laser radar 10, the laser light reflected by the object to be measured passes through the curved prism 141, the first lens 1421, the second lens 1422, the third lens 1423, the fourth lens 1424, the fifth lens 1425, and the semi-transparent and semi-reflective prism 150 or the folding prism 160 in sequence before being incident on the laser receiving plate 120. Specifically, when the laser light emitted by the object to be measured passes through the first lens 1421, it first passes through the first side surface of the first lens 1421 and then passes through the second side surface of the first lens 1421. When the laser light passes through the second lens 1422, it first passes through the first side surface of the second lens 1422 and then passes through the second side surface of the second lens 1422, and so on.

[0078] In one embodiment, the distance between the fifth lens 1425 and the image plane of the optical transceiver module 140 when the laser reflected by the object to be measured is incident on the laser receiving plate 120 is within a range of 10 mm to 20 mm.

[0079] For example, when the laser receiving plate 120 of the laser radar 10 is disposed on the image plane when the optical transceiver module 140 transmits laser light emitted by the object to be measured and incident on the laser receiving plate 120, the distance between the fifth lens 1425 and the image plane when the optical transceiver module 140 transmits laser light reflected by the object to be measured and incident on the laser receiving plate 120 is equivalent to the distance between the fifth lens 1425 and the laser receiving plate 120. With the distance between the fifth lens 1425 and the laser receiving plate 120 reserved, the distance between the fifth lens 1425 and the laser receiving plate 120 allows the laser radar 10 to be provided with a semi-transparent and semi-reflective prism 150 or a folding prism 160. Therefore, when the transmitting system and receiving system of the laser radar 10 are coaxial optical systems, the laser transmitting plate 110 and the laser receiving plate 120 included in the laser radar 10 can be disposed at different positions on the second side of the rotating motor module 130, thereby further improving the compactness of the optical path.

[0080] In one embodiment, the aperture of the optical lens assembly 142 is located between the second lens 1422 and the third lens 1423 .

[0081] When the optical transceiver module 140 serves as the transmitting system of the laser radar 10, the aperture located between the second lens 1422 and the third lens 1423 can perform beam shaping, energy control, etc. on the laser emitted by the laser emitting plate 110 to improve the laser emission effect of the laser radar 10.

[0082] When the optical transceiver module 140 serves as the receiving system of the laser radar 10 , the aperture located between the second lens 1422 and the third lens 1423 can suppress stray light of the laser reflected from the object to be measured, etc., so as to improve the laser receiving effect of the laser radar 10 .

[0083] For example, Figure 1 or Figure 5 The specific parameter settings of the optical transceiver module 140 included in the laser radar 10 are shown in Table 1. Among them, the first side surface of the curved prism 141 included in the optical transceiver module 140 can be expressed as G1S1, the second side surface of the curved prism 141 can be expressed as G1S2, the first side surface of the first lens 1421 in the optical lens group 142 can be expressed as G2S1, the second side surface of the first lens 1421 can be expressed as G2S2, and so on.

[0084] Table 1:

[0085]

[0086]

[0087] After the above parameters are set, the laser radar 10 can have a vertical field of view angle of -45° to 45°. When the rotating motor module 130 in the laser radar 10 drives the curved prism 141 in the optical transceiver module 140 to rotate, it can form a vertical field of view angle of -45° to 45°. Figure 3 The field of view angle shown can enable the laser radar 10 to have a vertical field of view angle of -45° to 45° and a horizontal field of view angle of 0° to 360°, thereby enabling the laser radar 10 to have a large field of view angle.

[0088] In summary, the laser radar 10 in the embodiment of the present application drives the curved prism 141 to rotate by the rotating motor module 130 to change the field of view of the laser radar 10, so that the laser radar 10 can have a large field of view. Accordingly, in the process of improving the field of view of the laser radar 10, there is no need to tilt the laser radar 10, which is conducive to improving the miniaturization of the laser radar 10. In addition, the laser radar 10 does not need to drive the optical lens group 142, the laser emitting plate 110, the laser receiving plate 120, and the semi-transparent and semi-reflective prism 150 or the folding prism 160 to rotate by the rotating motor module 130, so that the laser receiving plate 120 can be ensured to be in a stable state when receiving laser light, such as a non-rotating state, which is conducive to improving the laser reception reliability and laser reception stability of the laser radar 10.

[0089] The disclosure above provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. Any non-substantial changes and replacements made by those skilled in the art based on the present application all fall within the scope of protection claimed in the present application.

[0090] In addition, this application may repeat reference numbers and / or reference letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art will recognize the application of other processes and / or the use of other materials.

Claims

1. A laser radar, characterized in that: The laser radar includes a laser emitting board, a laser receiving board, a rotating motor module, an optical transceiver module, and a semi-transparent and semi-reflective prism or a folding prism; the optical transceiver module includes a curved prism and an optical lens group; The curved prism is located on a first side of the rotating motor module, and the optical lens group, the laser emitting plate, the laser receiving plate, and the semi-transparent and semi-reflective prism or the folding prism are located on a second side of the rotating motor module, wherein the first side and the second side are opposite sides; the semi-transparent and semi-reflective prism or the folding prism is located between the optical lens group, the laser emitting plate, and the laser receiving plate; The laser light emitted by the laser emitting plate is emitted to the object to be measured after passing through the semi-transparent and semi-reflective prism or the folding prism, the optical lens group and the curved prism; the laser light reflected by the object to be measured is incident on the laser receiving plate after passing through the curved prism, the optical lens group and the semi-transparent and semi-reflective prism or the folding prism; The rotating motor module is used to drive the curved prism to rotate to change the field of view angle of the laser radar.

2. The laser radar according to claim 1, characterized in that The vertical field of view angle of the laser radar includes -45° to 45°, and the horizontal field of view angle of the laser radar includes 0° to 360°.

3. The laser radar according to claim 1, wherein The laser light emitted by the laser emitting plate is reflected by the semi-transparent and semi-reflective prism to the optical lens group, and the laser light reflected by the object to be measured is transmitted by the semi-transparent and semi-reflective prism to the laser receiving plate; or The laser light emitted by the laser emitting plate is reflected to the optical lens group via the folding prism, and the laser light reflected by the object to be measured is transmitted through the folding prism and then reflected to the laser receiving plate.

4. The laser radar according to claim 1, wherein The folding prism includes a first prism surface and a second prism surface. Relative to the first prism surface, the second prism surface is away from the optical lens group; The first prism surface is coated with a semi-transparent and semi-reflective film, and the second prism surface is coated with a reflective film.

5. The laser radar according to any one of claims 1 to 4, characterized in that The thickness of the curved prism ranges from 20 mm to 60 mm.

6. The laser radar according to any one of claims 1 to 4, characterized in that The curved prism has a first side surface and a second side surface. Relative to the first side surface of the curved prism, the second side surface of the curved prism is close to the optical lens group; the curvature radius of the first side surface of the curved prism is greater than the curvature radius of the second side surface of the curved prism, and both are negative values.

7. The laser radar according to any one of claims 1 to 4, characterized in that The optical lens assembly includes a first lens, a second lens, a third lens, a fourth lens, and a fifth lens arranged in sequence; the first lens to the fifth lens respectively have a first side surface and a second side surface, and relative to the first side surface of each of the first lens to the fifth lens, the second side surface of each of the first lens to the fifth lens is away from the curved prism; The curvature radius of the first side surface of the first lens is greater than the curvature radius of the second side surface of the first lens, and both are negative values; The curvature radius of the first side surface of the second lens is greater than the curvature radius of the second side surface of the second lens, and both are positive values; The curvature radius of the first side surface of the third lens is greater than the curvature radius of the second side surface of the third lens, and both are positive values; The curvature radius of the first side surface of the fourth lens is positive, and the curvature radius of the second side surface of the fourth lens is negative; The curvature radius of the first side surface of the fifth lens is positive, and the curvature radius of the second side surface of the fifth lens is negative.

8. The laser radar according to claim 7, characterized in that The distance between the fifth lens and the image plane when the optical transceiver module transmits the laser reflected by the object to be measured to the laser receiving plate is within a range of 10 mm to 20 mm.

9. The laser radar according to claim 7, characterized in that The aperture of the optical lens group is located between the second lens and the third lens.

10. The laser radar according to any one of claims 1 to 4, characterized in that The rotating motor module includes a rotating motor and a rotating bracket, and the rotating motor is connected to the rotating bracket; The curved prism is located on a first side of the rotating bracket, and the optical lens group, the laser emitting plate and the laser receiving plate are located on a second side of the rotating bracket; The rotary motor is used to drive the rotary bracket to rotate, so that the rotary bracket drives the curved prism to rotate.

Images