Optical lens and related devices

Abstract

An optical lens and a related device are applied to the field of optical imaging technology. The optical lens comprises: at least seven lenses coaxially arranged in sequence from an object side to an image side, wherein the at least seven lenses comprise at least four lenses with positive focal power and at least three lenses with negative focal power, and the at least seven lenses comprise at least two meniscus lenses, two double-concave lenses, and three double-convex lenses. The optical lens adopts an optical architecture of at least seven lenses, and through reasonable allocation of the shapes and focal powers of the at least seven lenses, the laser radar and the camera can share the optical lens, light rays can be collected and smoothly transmitted to the light-sensitive surfaces of the laser radar and the camera to form images, and the high-resolution performance of the optical lens is improved, so that the advantages of the point cloud data of the laser radar and the image data of the camera can be combined by using the optical lens, and the intelligent driving perception accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of optical imaging technology, and in particular to an optical lens and related device. Background Technology

[0002] With the development of information technology and computer vision, detection technology has advanced rapidly, and various detection devices have brought great convenience to people's lives and travel. Detection devices can be seen as the "eyes" of the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, lidar (light detection and ranging) has significant advantages in detection range, ranging accuracy, and reliability, and is characterized by near-all-weather operation, making it a key sensor in the field of perception and playing an important role in fields such as intelligent driving, intelligent transportation, surveying and mapping, and intelligent manufacturing. Cameras have higher resolution and color perception capabilities, providing rich visual information and the advantage of being able to identify targets such as traffic signals, pedestrians, and vehicles through image recognition technology.

[0003] Therefore, there is an urgent need for a feasible solution that combines the advantages of point cloud data from LiDAR and image data from cameras to improve the perception accuracy of intelligent driving. Summary of the Invention

[0004] This application provides an optical lens and related device that can combine the advantages of point cloud data from lidar and image data from cameras to improve the perception accuracy of intelligent driving.

[0005] In a first aspect, embodiments of this application provide an optical lens comprising: at least seven lenses arranged coaxially from the object side to the image side, the at least seven lenses including at least four lenses with positive optical power and at least three lenses with negative optical power, and the at least seven lenses including at least two meniscus lenses, two biconcave lenses, and three biconvex lenses.

[0006] In this embodiment of the application, an optical lens is provided. The optical lens adopts an optical architecture with at least seven lenses. By setting the shape of at least seven lenses and reasonably allocating the optical power, the optical lens can be shared by the lidar and the camera. The light is collected and smoothly transmitted to the photosensitive surface of the lidar and the photosensitive surface of the camera for imaging, thereby improving the high resolution performance of the optical lens. Thus, by utilizing the advantage of combining the point cloud data of the lidar and the image data of the camera, the perception accuracy of intelligent driving can be improved.

[0007] In one possible implementation, the at least seven lenses include: a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, a seventh lens, and an eighth lens. The first, fourth, fifth, seventh, and eighth lenses have positive optical power, while the second, third, and sixth lenses have negative optical power. The first lens is a meniscus lens, the second lens is a meniscus lens, the third lens is a biconcave lens, the fourth lens is a biconvex lens, the fifth lens is a meniscus lens, the sixth lens is a biconcave lens, the seventh lens is a biconvex lens, and the eighth lens is a biconvex lens.

[0008] In this embodiment, the first lens of the optical lens is a meniscus lens with positive optical power, which can collect as much light as possible within the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the back focal length and for reducing the aperture of the second lens, ensuring the mountability of the lenses in the optical lens. The second lens of the optical lens is a meniscus lens with negative optical power, which facilitates a smooth transition of the light collected by the first lens to the third lens and ensures the sensitivity of the optical lens to tolerances. The third lens of the optical lens is a biconcave lens with negative optical power, and the fourth lens is a biconvex lens with positive optical power. Through the combined design of the third and fourth lenses, light of different wavelengths can be converged to the same point as much as possible after passing through the third and fourth lenses, thereby achieving the purpose of correcting chromatic aberration. The fifth lens of the optical lens is a meniscus lens with positive optical power, which can precisely control the light at different field of view angles, correct optical distortion, and match the distortion of the transmitting lens, ensuring large-angle light reception efficiency and improving the imaging quality of the optical lens. The sixth lens in this optical lens is a negative optical power biconcave lens, and the seventh lens is a positive optical power biconvex lens. The combination of the sixth and seventh lenses allows light of different wavelengths to converge at the same point as much as possible after passing through them, thereby further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens. The eighth lens in this optical lens is a positive optical power biconvex lens, which improves the resolving performance of the optical lens. This embodiment employs an eight-lens optical architecture. By setting the shape of the eight lenses and rationally allocating their optical powers, the optical lens can be shared by both the lidar and the camera. This allows light to be collected and smoothly transmitted to the photosensitive surfaces of the lidar and the camera for imaging, improving the high-resolution performance of the optical lens. Furthermore, by leveraging the advantage of combining the point cloud data from the lidar and the image data from the camera, the perception accuracy of intelligent driving can be enhanced.

[0009] Optionally, the first lens and the second lens can be combined into a meniscus lens, which can collect as much light as possible within the field of view, allowing more light to enter the rear optical system, and facilitates the smooth transition of the collected light to the next lens, thus ensuring the sensitivity of the optical lens tolerance.

[0010] In one possible implementation, the object-side surface of the first lens is convex, and the image-side surface of the first lens is concave. The object-side surface of the second lens is convex, and the image-side surface of the second lens is concave. The object-side surface of the third lens is concave, and the image-side surface of the third lens is concave. The object-side surface of the fourth lens is convex, and the image-side surface of the fourth lens is convex. The object-side surface of the fifth lens is concave, and the image-side surface of the fifth lens is convex. The object-side surface of the sixth lens is concave, and the image-side surface of the sixth lens is concave. The object-side surface of the seventh lens is convex, and the image-side surface of the seventh lens is convex. The object-side surface of the eighth lens is convex, and the image-side surface of the eighth lens is convex.

[0011] In this embodiment, the object-side surface of the first lens is convex, and the image-side surface is concave. By setting the first lens as a meniscus lens with a positive optical power and a convex surface facing the object side, it is possible to collect as much light as possible within the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the back focal length and for reducing the aperture of the second lens, ensuring the mountability of lenses in the optical lens. The object-side surface of the second lens is convex, and the image-side surface is concave. By setting the second lens as a meniscus lens with a negative optical power and a convex surface facing the object side, the light collected by the first lens can be smoothly transferred to the third lens, and the sensitivity of the optical lens tolerance can be maintained. The object-side surface of the third lens is concave, and the image-side surface of the fourth lens is concave. By setting the third lens as a biconcave lens with a negative optical power and the fourth lens as a biconvex lens with a positive optical power, light of different wavelengths can be converged to the same point as much as possible after passing through the third and fourth lenses, thereby achieving the purpose of correcting chromatic aberration. The fifth lens has a concave object-side and a convex image-side. By setting the fifth lens as a meniscus lens with a positive power and a convex image-side, it allows for precise control of light rays at different field of view angles, corrects optical distortion, and matches the distortion of the transmitting lens, ensuring efficient light reception at large angles and improving the image quality of the optical lens. The sixth lens has a concave object-side and a concave image-side, while the seventh lens has a convex object-side and a convex image-side. By setting the sixth lens as a biconcave negative power lens and the seventh lens as a biconvex positive power lens, light rays of different wavelengths can converge at the same point as much as possible after passing through the sixth and seventh lenses, thereby further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens. The eighth lens has a convex object-side and a convex image-side. By setting the eighth lens as a biconvex positive power lens, it improves the resolving performance of the optical lens.

[0012] In one possible implementation, the first lens, the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens are spherical lenses, and the fifth lens and the eighth lens are aspherical lenses.

[0013] In this embodiment, the first, second, third, fourth, sixth, and seventh lenses are spherical lenses, which improve light transmission performance and optimize aberrations. The fifth and eighth lenses are aspherical lenses. Aspherical lenses are characterized by a continuous change in curvature from the center to the periphery, unlike spherical lenses which have a constant curvature. Aspherical lenses have better radius of curvature characteristics, greater degrees of freedom, and advantages in improving distortion and astigmatism. The use of aspherical lenses in the fifth and eighth lenses results in better light convergence and minimizes aberrations that occur during imaging, thereby improving the image quality of the optical lens.

[0014] In one possible implementation, the third lens and the fourth lens are coupled together.

[0015] In this embodiment, the third lens and the fourth lens are coupled together, specifically through a cemented design. By combining the third lens and the fourth lens, light of different wavelengths can be converged at the same point as much as possible after passing through the third lens and the fourth lens, thereby achieving the purpose of correcting chromatic aberration.

[0016] In one possible implementation, the third lens and the fourth lens are made of different materials.

[0017] In this embodiment, the third lens and the fourth lens are made of different materials. Different materials have different refractive properties for different wavelengths of light, which allows light of different wavelengths to converge at the same point as much as possible after passing through the third lens and the fourth lens, thereby achieving the purpose of correcting chromatic aberration.

[0018] In one possible implementation, the sixth lens and the seventh lens are coupled together.

[0019] In this embodiment, the sixth lens and the seventh lens are coupled together, specifically through a cemented design. By combining the sixth and seventh lenses, light of different wavelengths can be focused at the same point as much as possible after passing through the sixth and seventh lenses, thereby achieving the purpose of correcting chromatic aberration.

[0020] In one possible implementation, the sixth and seventh lenses are made of different materials.

[0021] In this embodiment, the sixth and seventh lenses are made of different materials. Different materials have different refractive properties for different wavelengths of light, which allows light of different wavelengths to converge at the same point as much as possible after passing through the sixth and seventh lenses, thereby achieving the purpose of correcting chromatic aberration.

[0022] In one possible implementation, the material of the seventh lens includes a first material used to suppress the heating of the seventh lens.

[0023] In this embodiment, the seventh lens uses a first material, such as H-ZPK1A, to suppress the heating of the seventh lens, thereby ensuring the light transmission performance and the high resolution performance of the optical lens.

[0024] Optionally, the first material may include, but is not limited to, low-expansion-coefficient glass materials, optical plastics, special composite materials, etc., and the embodiments of this application do not impose any restrictions on this.

[0025] In one possible implementation, the material of the eighth lens includes a second material used to suppress the heating of the eighth lens.

[0026] In this embodiment, the eighth lens uses a second material, such as D-FK61, to suppress the heating of the eighth lens, thereby ensuring the light transmission performance and the high resolution performance of the optical lens.

[0027] Optionally, the second material may include, but is not limited to, low-expansion-coefficient glass materials, optical plastics, special composite materials, etc., and the embodiments of this application do not impose any restrictions on this.

[0028] In one possible implementation, the object-side surface of the first lens satisfies the following relationship: 0.2 ≤ R1 / T ≤ 0.36. Wherein, R1 is the radius of curvature of the object-side surface of the first lens, and T is the distance on the optical axis from the center of the object-side surface of the first lens to the imaging surface of the optical lens.

[0029] In one possible implementation, the focal length of the second lens satisfies the following relationship: -0.24 ≤ f2 / T ≤ -0.1. Where f2 is the focal length of the second lens, and T is the distance on the optical axis from the center of the object side of the first lens to the imaging plane of the optical lens.

[0030] In one possible implementation, the Abbe coefficients of the third and fourth lenses satisfy the following relationship: 1.5 ≤ vd3 / vd4 ≤ 3. Where vd3 is the Abbe coefficient of the third lens, and vd4 is the Abbe coefficient of the fourth lens.

[0031] In one possible implementation, the object-side surface and the image-side surface of the fifth lens satisfy the following relationship: 0.15 ≤ R8 / R9 ≤ 0.6. Wherein, R8 is the radius of curvature of the object-side surface of the fifth lens, and R9 is the radius of curvature of the image-side surface of the fifth lens.

[0032] In one possible implementation, the Abbe coefficients of the sixth and seventh lenses satisfy the following relationship: 0.2 ≤ vd6 / vd7 ≤ 0.7. Where vd6 is the Abbe coefficient of the sixth lens, and vd7 is the Abbe coefficient of the seventh lens.

[0033] In one possible implementation, the object-side surface and image-side surface of the eighth lens satisfy the following relationship: -1.5 ≤ R13 / R14 ≤ -0.9. Wherein, R13 is the radius of curvature of the object-side surface of the eighth lens, and R14 is the radius of curvature of the image-side surface of the eighth lens.

[0034] Secondly, embodiments of this application provide an optical lens comprising: a first lens group, a second lens group, a third lens group, a fourth lens group, and a fifth lens group arranged coaxially from the object side to the image side. The first lens group collects light from the object space and transmits the light to the second lens group. The second lens group refracts the light to correct chromatic aberration. The third lens group refracts the light to correct optical distortion. The fourth lens group refracts the light to further correct chromatic aberration. The fifth lens group suppresses heat generation during light transmission.

[0035] In this embodiment of the application, an optical lens is provided. The optical lens adopts an optical architecture of five lens groups. By setting the optical characteristics of the five lens groups, the LiDAR and the camera can share the optical lens, collect light and transmit it smoothly to the photosensitive surface of the LiDAR and the photosensitive surface of the camera for imaging, thereby improving the high resolution performance of the optical lens. Thus, by utilizing the advantage of the optical lens that can combine the point cloud data of the LiDAR and the image data of the camera, the perception accuracy of intelligent driving can be improved.

[0036] In one possible implementation, the first lens group includes a first lens and a second lens, the second lens group includes a third lens and a fourth lens, the third lens group includes a fifth lens, the fourth lens group includes a sixth lens and a seventh lens, and the fifth lens group includes an eighth lens. The first, fourth, fifth, seventh, and eighth lenses have positive optical power, while the second, third, and sixth lenses have negative optical power. The first lens is a meniscus lens, the second lens is a meniscus lens, the third lens is a biconcave lens, the fourth lens is a biconvex lens, the fifth lens is a meniscus lens, the sixth lens is a biconcave lens, the seventh lens is a biconvex lens, and the eighth lens is a biconvex lens. Alternatively, the first lens group includes a ninth lens, the second lens group includes a third and fourth lens, the third lens group includes a fifth lens, the fourth lens group includes a sixth and seventh lens, and the fifth lens group includes an eighth lens. The fourth, fifth, seventh, and eighth lenses have positive optical power, while the ninth, third, and sixth lenses have negative optical power. The ninth lens is a meniscus lens, the third lens is a biconcave lens, the fourth lens is a biconvex lens, the fifth lens is a meniscus lens, the sixth lens is a biconcave lens, the seventh lens is a biconvex lens, and the eighth lens is a biconvex lens.

[0037] In this embodiment, the first lens in the first lens group is a meniscus lens with positive optical power, which can collect as much light as possible within the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the back focal length and for reducing the aperture of the second lens, ensuring the mountability of lenses in the optical lens. The second lens in the first lens group is a meniscus lens with negative optical power, which facilitates the smooth transition of light collected by the first lens to the third lens and ensures the sensitivity of the optical lens tolerance. Alternatively, the first and second lenses can be combined into a single meniscus lens with negative optical power, so that the first lens group only needs to include a ninth lens to collect light within the field of view and smoothly transition the collected light to the next lens. The third lens in the second lens group is a biconcave lens with negative optical power, and the fourth lens in the second lens group is a biconvex lens with positive optical power. Through the combined design of the third and fourth lenses, light of different wavelengths can be converged at the same point as much as possible after passing through the third and fourth lenses, thereby achieving the purpose of correcting chromatic aberration. The fifth lens in the third lens group is a meniscus lens with positive optical power, capable of precisely controlling light rays at different field of view angles, correcting optical distortion, and matching the distortion of the transmitting lens to ensure efficient light reception at large angles and improve the image quality of the optical lens. The sixth lens in the fourth lens group is a biconcave lens with negative optical power, and the seventh lens in the fourth lens group is a biconvex lens with positive optical power. The combination of the sixth and seventh lenses allows light rays of different wavelengths to converge at the same point as much as possible after passing through them, thereby further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens. The eighth lens in the fifth lens group is a biconvex lens with positive optical power, which improves the resolving performance of the optical lens.

[0038] In one possible implementation, the object-side surface of the first lens is convex, and the image-side surface of the first lens is concave. The object-side surface of the second lens is convex, and the image-side surface of the second lens is concave. The object-side surface of the third lens is concave, and the image-side surface of the third lens is concave. The object-side surface of the fourth lens is convex, and the image-side surface of the fourth lens is convex. The object-side surface of the fifth lens is concave, and the image-side surface of the fifth lens is convex. The object-side surface of the sixth lens is concave, and the image-side surface of the sixth lens is concave. The object-side surface of the seventh lens is convex, and the image-side surface of the seventh lens is convex. The object-side surface of the eighth lens is convex, and the image-side surface of the eighth lens is convex.

[0039] In one possible implementation, the first lens, the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens are spherical lenses, and the fifth lens and the eighth lens are aspherical lenses.

[0040] In one possible implementation, the third lens and the fourth lens are coupled together.

[0041] In one possible implementation, the third lens and the fourth lens are made of different materials.

[0042] In one possible implementation, the sixth lens and the seventh lens are coupled together.

[0043] In one possible implementation, the sixth and seventh lenses are made of different materials.

[0044] In one possible implementation, the material of the seventh lens includes a first material used to suppress the heating of the seventh lens.

[0045] In one possible implementation, the material of the eighth lens includes a second material used to suppress the heating of the eighth lens.

[0046] In one possible implementation, the object-side surface of the first lens satisfies the following relationship: 0.2 ≤ R1 / T ≤ 0.36. Wherein, R1 is the radius of curvature of the object-side surface of the first lens, and T is the distance on the optical axis from the center of the object-side surface of the first lens to the imaging surface of the optical lens.

[0047] In one possible implementation, the focal length of the second lens satisfies the following relationship: -0.24 ≤ f2 / T ≤ -0.1. Where f2 is the focal length of the second lens, and T is the distance on the optical axis from the center of the object side of the first lens to the imaging plane of the optical lens.

[0048] In one possible implementation, the Abbe coefficients of the third and fourth lenses satisfy the following relationship: 1.5 ≤ vd3 / vd4 ≤ 3. Where vd3 is the Abbe coefficient of the third lens, and vd4 is the Abbe coefficient of the fourth lens.

[0049] In one possible implementation, the object-side surface and the image-side surface of the fifth lens satisfy the following relationship: 0.15 ≤ R8 / R9 ≤ 0.6. Wherein, R8 is the radius of curvature of the object-side surface of the fifth lens, and R9 is the radius of curvature of the image-side surface of the fifth lens.

[0050] In one possible implementation, the Abbe coefficients of the sixth and seventh lenses satisfy the following relationship: 0.2 ≤ vd6 / vd7 ≤ 0.7. Where vd6 is the Abbe coefficient of the sixth lens, and vd7 is the Abbe coefficient of the seventh lens.

[0051] In one possible implementation, the object-side surface and image-side surface of the eighth lens satisfy the following relationship: -1.5 ≤ R13 / R14 ≤ -0.9. Wherein, R13 is the radius of curvature of the object-side surface of the eighth lens, and R14 is the radius of curvature of the image-side surface of the eighth lens.

[0052] Regarding the optical lens described in the second aspect and any possible implementation, its optical characteristics can be referred to the corresponding embodiments in the first aspect.

[0053] For the technical effects of the second aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0054] Thirdly, embodiments of this application provide an optical imaging device, which includes a beam splitting component and an optical lens as described in any of the first to second aspects and any possible implementations.

[0055] The optical lens and the beam splitter are arranged coaxially from the object side to the image side. The beam splitter is used to receive the light from the optical lens and split and transmit the light from the optical lens.

[0056] In this application embodiment, an optical imaging device is provided. The optical imaging device adopts an optical architecture in which a beam splitter is placed behind an optical lens. By setting the optical characteristics of the optical lens, the LiDAR and the camera can share the optical lens and the beam splitter. The beam splitter transmits the light from the optical lens to the photosensitive surfaces of the LiDAR and the camera for imaging. Thus, by utilizing the advantage that the optical imaging device can combine the point cloud data of the LiDAR and the image data of the camera, the perception accuracy of intelligent driving can be improved.

[0057] In one possible implementation, the beam splitting assembly includes a prism formed by splicing a first prism and a second prism, wherein the splicing surface of the first prism and the second prism forms a first angle with the optical axis of the optical lens.

[0058] In this embodiment, the beam splitting component is coaxially arranged with the optical lens, and the splicing surface of the first prism and the second prism in the beam splitting component forms a first angle with the optical axis of the optical lens. This allows the light from the optical lens to be transmitted to the splicing surface of the first prism and the second prism in the beam splitting component, forming a deflection optical path and a direct optical path, thereby achieving the purpose of beam splitting and transmission.

[0059] In one possible implementation, the optical imaging device further includes a first sensor and a second sensor. The first and second sensors are respectively disposed on the beam-splitting optical path of the beam-splitting assembly, which is used to split and transmit light from the optical lens to the first and second sensors.

[0060] In this embodiment, different sensors can be set on the turning optical path and the direct optical path of the beam splitter, so that different sensors share the optical lens and the beam splitter. The beam splitter splits the light from the optical lens and transmits it to different sensors for imaging. Thus, the optical imaging device can combine the sensing advantages of different sensors to improve the perception accuracy of intelligent driving.

[0061] In one possible implementation, the first sensor includes an infrared light sensor and the second sensor includes a visible light sensor.

[0062] In this embodiment, the first sensor includes an infrared light sensor, such as a lidar, and the second sensor includes a visible light sensor, such as a camera. This embodiment combines the advantages of lidar point cloud data and camera image data to improve the perception accuracy of intelligent driving.

[0063] In one possible implementation, the first sensor includes a lidar sensor, and the second sensor includes an image sensor.

[0064] In one possible implementation, the first sensor is disposed on the turning optical path of the beam splitter, and the second sensor is disposed on the direct optical path of the beam splitter.

[0065] In this embodiment, since the defocus amount of the turning optical path of the beam splitter is greatly affected by the positioning of the beam splitter, a first sensor (infrared light sensor) with a larger depth of field (DOF) can be set on the turning optical path of the beam splitter. On the other hand, the defocus amount of the direct optical path of the beam splitter is less affected by the positioning of the beam splitter, so a second sensor (visible light sensor) with a smaller DOF can be set on the direct optical path of the beam splitter. This allows for high-quality imaging of both the first and second sensors.

[0066] In one possible implementation, the first sensor is offset from the center of the beam splitter by a first distance.

[0067] In this embodiment, by setting the first sensor to be offset from the center of the beam splitter by a first distance, the field of view (FOV) of the first sensor can be changed, thereby enabling the first sensor to detect the sky or the ground.

[0068] In one possible implementation, the field of view of the optical lens is greater than or equal to the larger field of view of the first sensor and the second sensor.

[0069] In this embodiment, since the first sensor and the second sensor have different FOVs and the first sensor and the second sensor share the same optical lens, in order to match sensors with different FOVs, the field of view of a single optical lens is designed according to the sensor with a larger FOV, which can be backward compatible with the sensor with a smaller FOV, so as to realize the different FOV ratios of the first sensor and the second sensor.

[0070] Fourthly, embodiments of this application provide a sensing device, which includes at least one optical lens as described in the first aspect, or the second aspect, or the third aspect. Further, the sensing device includes a housing, within which the optical lens or the optical imaging device is housed.

[0071] Optionally, the sensing device includes sensors that utilize light to sense the environment, such as one or more of LiDAR, cameras, or fusion sensing devices. Fusion sensing devices integrate at least two types of sensors, such as LiDAR, cameras, and radar.

[0072] Fifthly, embodiments of this application provide a terminal, which includes at least one optical lens as described in the first aspect, or an optical lens as described in the second aspect, or an optical imaging device as described in the third aspect, or a sensing device as described in the fourth aspect.

[0073] Optionally, the terminal can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0074] Alternatively, the terminal can be a vehicle, drone, or robot. Attached Figure Description

[0075] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1A This is a schematic diagram of an application scenario for radar provided in an embodiment of this application;

[0077] Figure 1B This is a schematic diagram of an application scenario for radar provided in an embodiment of this application;

[0078] Figure 2 A schematic diagram of a radar architecture provided for an embodiment of this application;

[0079] Figure 3 A schematic diagram of a beam splitting architecture provided in an embodiment of this application;

[0080] Figure 4 This is a schematic diagram of the structure of an optical lens provided in an embodiment of this application;

[0081] Figure 5 This is a schematic diagram of another optical lens structure provided in an embodiment of this application;

[0082] Figure 6 A schematic diagram of a light path provided in an embodiment of this application;

[0083] Figure 7 This is a schematic diagram of the structure of an optical imaging device provided in an embodiment of this application;

[0084] Figure 8 A schematic diagram of a light path provided in an embodiment of this application;

[0085] Figure 9 A schematic diagram of a field of view (FOV) provided for an embodiment of this application;

[0086] Figure 10 A schematic diagram of another FOV provided for an embodiment of this application;

[0087] Figure 11 A schematic diagram of a sensing device provided in an embodiment of this application;

[0088] Figure 12 This is a schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0089] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0090] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0091] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0092] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0093] In the accompanying drawings, the thickness, size, and shape of the lenses have been slightly exaggerated for ease of illustration. Specifically, the shapes of the spherical or aspherical surfaces shown in the drawings are illustrated by way of example. That is, the shapes of the spherical or aspherical surfaces are not limited to those shown in the drawings. The drawings are for illustrative purposes only and are not strictly to scale.

[0094] To more clearly describe the solution in this application, some possible application scenarios for lidar will be introduced below.

[0095] Please see Figure 1A and Figure 1B , Figure 1A and Figure 1B This is a schematic diagram illustrating the application scenario of radar provided in the embodiments of this application.

[0096] like Figure 1A and Figure 1B As shown, this exemplary application scenario uses a lidar installed on a vehicle as an example.

[0097] The vehicle could be, for example, an autonomous vehicle, a smart car, an electric vehicle, or a digital car. LiDAR can be deployed at various locations within the vehicle (see [reference needed]). Figure 1B For example, lidar can be deployed in any one or more of the four directions of a vehicle—front, rear, left, and right—to capture information about the vehicle's surrounding environment. Figure 1A This example uses a lidar system deployed at the front of a vehicle. LiDAR can sense objects such as... Figure 1A The fan-shaped area shown in the dashed box can be referred to as the detection area of ​​the lidar (or the field of view of the lidar).

[0098] In one possible implementation, the lidar can acquire the vehicle's latitude, longitude, speed, and orientation in real time or periodically, or the associated information (e.g., target distance, target speed, target attitude, or target grayscale image) of targets within a certain range (e.g., other surrounding vehicles). The lidar or vehicle can then determine its position and / or plan its path based on this associated information. For example, latitude and longitude can be used to determine the vehicle's position, speed and orientation can be used to determine the vehicle's future direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Further, optionally, it can be combined with the functions of an advanced driving assistance system (ADAS) to achieve assisted driving or autonomous driving. It should be understood that the principle of lidar detecting target association information is as follows: the lidar emits detection light in a certain direction; if a target exists within the lidar's detection area, the target can reflect the received detection light back to the lidar (the reflected detection light can be called an echo signal), and the lidar then determines the target's association information based on the echo signal.

[0099] It should be noted that the above application scenarios are merely examples. The lidar provided in this application (including the optical waveguide component provided in this application) can also be applied to a variety of other possible scenarios, and is not limited to the scenarios exemplified above. For example, the lidar can also be installed on a drone as an airborne radar. Another example is that the lidar can be installed on a roadside unit (RSU) as a roadside traffic lidar, enabling intelligent vehicle-road cooperative communication. Yet another example is that the lidar can be installed on an automated guided vehicle (AGV), where AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions. These are just a few examples. It should be understood that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0100] Based on the above, the above application scenarios can be applied to fields such as unmanned driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security detection, remote interaction, surveying and mapping, or artificial intelligence.

[0101] The following is combined Figure 2 This section introduces some concepts related to lidar.

[0102] LiDAR, also known as optical radar, is short for light detection and ranging system. It can also be called Laser Radar or LADAR (laser detection and ranging).

[0103] LiDAR (Light Detection and Ranging) uses light as its detection medium. It utilizes the emission and reception of laser light to detect targets, such as for ranging, velocity measurement, or azimuth measurement. LiDAR can measure target distance based on the laser's time-of-flight (TOF), which is the time difference between transmission and reception. Alternatively, it can measure target distance based on the phase difference between the emitted and received echo signals of the same laser. The greatest advantage of LiDAR lies in its ability to create clear three-dimensional (3D) images of targets using Doppler imaging technology. LiDAR collects information such as the 3D coordinates, reflectivity, and texture of numerous dense points on the target surface through laser emission and reception. Based on this information, it obtains a 3D model of the target, builds a 3D point cloud map, and creates an environmental map to achieve environmental perception. Compared to traditional passive imaging technologies such as visible light and infrared, lidar imaging technology overturns the traditional two-dimensional projection imaging mode. It can collect the depth information of the target surface, obtain relatively complete spatial information of the target, and reconstruct the three-dimensional surface of the target through data processing to obtain a three-dimensional graphic that better reflects the geometric shape of the target. At the same time, it can also obtain rich feature information such as the reflectivity of the target surface and the speed of movement, providing sufficient information support for data processing such as target detection, identification, and tracking, and reducing the difficulty of algorithms.

[0104] Please see Figure 2 , Figure 2 This is a schematic diagram of the architecture of a radar provided in an embodiment of this application.

[0105] like Figure 2 As shown, a lidar mainly includes a laser emitting part (or system) 100, a laser receiving part (or system) 200, and a signal processing part (or system) 300.

[0106] The laser emitting section 100 includes an excitation source (or laser driver), a laser, and an emitting optical system. The excitation source drives the laser to emit a laser beam (or laser pulse), which is then emitted outward through the emitting optical system. The laser receiving section 200 includes a receiving optical system and a detector. When the laser beam emitted from the lidar encounters a target object, it interacts with the object to form a reflected / scattered echo beam. This echo beam is collected by the receiving optical system and received by the detector, which converts the optical signal into an electrical signal. The electrical signal is then processed by an analog front-end and transmitted to the signal processing section 300. The signal processing section 300 processes the received signal to obtain information such as the target object's distance, velocity, and azimuth. Furthermore, it can acquire information such as the target's surface morphology and physical properties to build an object model. The detector is typically a photodetector, which converts the received light signal into an electrical signal. This electrical signal is usually an analog signal, while the signal processing unit 300 is typically used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal by an analog-to-digital converter (ADC) and provided to the signal processing unit 300. Furthermore, the electrical signal can be amplified, and the amplified electrical signal is converted back to a digital signal by the ADC before being provided to the signal processing unit 300. The signal processing unit 300 includes signal processing circuitry for processing the digital signal to obtain information such as the target object's distance, velocity, and azimuth angle, and further constructs an object model. The lidar also includes control circuitry, such as a control unit for controlling the excitation source and a control unit for controlling the scanning drive circuit. These two control units can be integrated together or set up independently. Furthermore, the signal processing circuitry and the control circuitry can also be integrated together or set up independently.

[0107] In another implementation, the laser emitting section 100 may also include a laser modulator and a beam controller. The laser beam emitted by the laser passes through the beam controller, which, under the control of the laser modulator, controls the direction and number of lines of the emitted laser beam. The laser beam emitted from the beam controller is emitted outward through the emitting optical system.

[0108] In addition, the lidar may also include a scanning section (or system) 400. The laser beam emitted by the laser is scanned across a plane by the scanning section 400 to generate real-time planar image information. The scanning section 400 mainly includes a scanning mechanism and a scanning drive circuit. The scanning drive circuit drives the scanning mechanism to operate, and the laser beam, under the action of the scanning mechanism, transforms from a "line" to a "plane".

[0109] As described in the background section, there is an urgent need for a feasible solution that combines the advantages of point cloud data from LiDAR and image data from cameras to improve the perception accuracy of intelligent driving.

[0110] Please see Figure 3 , Figure 3 This is a schematic diagram of a beam splitting architecture provided in an embodiment of this application.

[0111] like Figure 3 As shown, the beam splitting architecture includes, but is not limited to: a light source, an emitting lens, a beam splitting prism, a first receiving lens, a first sensor, a second receiving lens, and a second sensor.

[0112] In this process, the infrared signal light emitted by the light source is collimated and homogenized by the transmitting lens before being emitted into the object space. The signal light from the object space and the ambient light (visible light) are incident on the beam splitter (BS) and split into a transmission path and a deflection path. The ambient light is transmitted and then converged by the second receiving lens onto the photosensitive surface of the second sensor (such as a camera). The signal light is reflected by the BS and then converged by the first receiving lens onto the photosensitive surface of the first sensor (such as a LiDAR).

[0113] The design of a beam-splitting architecture that places the beam-splitting prism in front of the receiving lens is relatively simple, and the size of the dual-lens system (first and second receiving lenses) can be made smaller. However, on the one hand, because the transmitting lens needs to ensure sufficient emission efficiency, its aperture is relatively large, thus limiting the overall height of the device. On the other hand, since the first sensor (e.g., LiDAR) and the second sensor (e.g., a camera) do not share the receiving lens, their different fields of view (FOV) may lead to distortion mismatch. Furthermore, distortion mismatch between the two receiving lenses under high and low temperatures can increase pixel-level alignment deviations between the first sensor (e.g., LiDAR) and the second sensor (e.g., a camera), resulting in lower perception accuracy for autonomous driving.

[0114] In view of this, embodiments of this application provide an optical lens and related devices that are applied in the field of optical imaging technology, such as optical imaging of lidar and cameras. They can combine the advantages of point cloud data from lidar and image data from cameras to improve the perception accuracy of intelligent driving.

[0115] The optical lens and related devices provided in this application will be described below with reference to the accompanying drawings.

[0116] Please see Figure 4 , Figure 4 This is a schematic diagram of an optical lens provided in an embodiment of this application. This optical lens is used in the field of optical imaging technology, such as optical imaging in lidar and cameras.

[0117] like Figure 4As shown, the optical lens includes:

[0118] At least seven lenses are arranged coaxially from the object side to the image side.

[0119] The at least seven lenses include at least four lenses with positive optical power and at least three lenses with negative optical power.

[0120] The at least seven lenses include at least two meniscus lenses, two biconcave lenses, and three biconvex lenses.

[0121] It is understood that the optical lens in this application embodiment adopts an optical architecture of at least seven lenses. By setting the shape of at least seven lenses and reasonably allocating the optical power, the LiDAR and the camera can share the optical lens, collect light and transmit it smoothly to the photosensitive surface of the LiDAR and the photosensitive surface of the camera for imaging, improve the high resolution performance of the optical lens, and thus utilize the advantage of combining the point cloud data of the LiDAR and the image data of the camera to improve the perception accuracy of intelligent driving.

[0122] In one possible embodiment, the above-mentioned at least seven lenses include:

[0123] Lens L1, lens L2, lens L3, lens L4, lens L5, lens L6, lens L7, and lens L8.

[0124] Among them, the first lens L1, the fourth lens L4, the fifth lens L5, the seventh lens L7, and the eighth lens L8 have positive optical power, while the second lens L2, the third lens L3, and the sixth lens L6 have negative optical power.

[0125] The first lens L1 is a meniscus lens, the second lens L2 is a meniscus lens, the third lens L3 is a biconcave lens, the fourth lens L4 is a biconvex lens, the fifth lens L5 is a meniscus lens, the sixth lens L6 is a biconcave lens, the seventh lens L7 is a biconvex lens, and the eighth lens L8 is a biconvex lens.

[0126] It is understandable that the first lens L1 in this optical lens can be a meniscus lens with positive optical power, which can collect as much light as possible in the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the rear focal length and for reducing the aperture of the second lens L2, thus ensuring the mountability of the lenses in the optical lens.

[0127] The second lens L2 in this optical lens can be a meniscus lens with negative optical power, which is beneficial for smoothly transitioning the light collected by the first lens L1 to the third lens L3, and can ensure the sensitivity of the optical lens tolerance.

[0128] The third lens L3 in this optical lens can be a negative optical power biconcave lens, and the fourth lens L4 in this optical lens can be a positive optical power biconvex lens. Through the combined design of the third lens L3 and the fourth lens L4, light of different wavelengths can be converged at the same point as much as possible after passing through the third lens L3 and the fourth lens L4, thereby achieving the purpose of correcting chromatic aberration.

[0129] The fifth lens L5 in this optical lens can be a meniscus lens with positive optical power, which can precisely control the light at different field of view angles, correct optical distortion, and match the distortion of the transmitting lens, thus ensuring the light reception efficiency at a large angle and improving the imaging quality of the optical lens.

[0130] The sixth lens L6 in this optical lens can be a negative optical power biconcave lens, and the seventh lens L7 in this optical lens can be a positive optical power biconvex lens. Through the combined design of the sixth lens L6 and the seventh lens L7, light of different wavelengths can be converged at the same point as much as possible after passing through the sixth lens L6 and the seventh lens L7, thereby achieving the purpose of further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens.

[0131] The eighth lens L8 in this optical lens can be a biconvex lens with positive optical power, which can improve the resolution performance of the optical lens.

[0132] Optionally, the first lens L1 and the second lens L2 can be combined into a meniscus lens, which can collect as much light as possible within the field of view, allowing more light to enter the rear optical system, and facilitates the smooth transition of the collected light to the next lens, thus ensuring the sensitivity of the optical lens tolerance.

[0133] This application embodiment adopts an optical architecture of eight lenses (L1, L2, L3, L4, L5, L6, L7, L8). By setting the shape of the eight lenses and reasonably allocating the optical power, the LiDAR and the camera can share the same optical lens, collect light and transmit it smoothly to the photosensitive surface of the LiDAR and the photosensitive surface of the camera for imaging, improve the high resolution performance of the optical lens, and thus utilize the advantages of combining the point cloud data of the LiDAR and the image data of the camera to improve the perception accuracy of intelligent driving.

[0134] In one possible embodiment, the object-side surface S1 of the first lens L1 is convex, and the image-side surface S2 of the first lens L1 is concave.

[0135] By configuring the first lens L1 as a meniscus lens with positive optical power and convex surface facing the object side, it is possible to collect as much light as possible within the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the rear focal length and for reducing the aperture of the second lens L2, thus ensuring the installability of lenses in the optical lens.

[0136] In one possible embodiment, the object-side surface S3 of the second lens L2 is convex, and the image-side surface S4 of the second lens L2 is concave.

[0137] By configuring the second lens L2 as a meniscus lens with negative optical power and convex surface facing the object side, the light collected by the first lens L1 can be smoothly transferred to the third lens L3, and the sensitivity of optical lens tolerance can be guaranteed.

[0138] In one possible embodiment, the object-side surface S5 of the third lens L3 is concave, and the image-side surface S6 of the third lens L3 is concave. The object-side surface S6 of the fourth lens L4 is convex, and the image-side surface S7 of the fourth lens L4 is convex.

[0139] By setting the third lens L3 as a biconcave lens with negative optical power and the fourth lens L4 as a biconvex lens with positive optical power, light of different wavelengths can be converged at the same point as much as possible after passing through the third lens L3 and the fourth lens L4, thereby achieving the purpose of correcting chromatic aberration.

[0140] In one possible embodiment, the object-side surface S8 of the fifth lens L5 is concave, and the image-side surface S9 of the fifth lens L5 is convex.

[0141] By configuring the fifth lens L5 as a meniscus lens with positive optical power and convex surface facing the image side, it is possible to precisely control light at different field of view angles, correct optical distortion, and match the distortion of the transmitting lens, thereby ensuring large-angle light reception efficiency and improving the imaging quality of the optical lens.

[0142] In one possible embodiment, the object-side surface S10 of the sixth lens L6 is concave, and the image-side surface S11 of the sixth lens L6 is concave. The object-side surface S11 of the seventh lens L7 is convex, and the image-side surface S12 of the seventh lens L7 is convex.

[0143] By setting the sixth lens L6 as a biconcave lens with negative optical power and the seventh lens L7 as a biconvex lens with positive optical power, light of different wavelengths can be converged at the same point as much as possible after passing through the sixth lens L6 and the seventh lens L7, thereby achieving the purpose of further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens.

[0144] In one possible embodiment, the object-side surface S13 of the eighth lens L8 is a convex surface, and the image-side surface S14 of the eighth lens L8 is a convex surface.

[0145] By setting the eighth lens L8 as a biconvex lens with positive optical power through the embodiments of this application, the resolving performance of the optical lens can be improved.

[0146] Optionally, the optical lens may also include an aperture stop (STO).

[0147] The aperture STO can be positioned between the fourth lens L4 and the fifth lens L5.

[0148] Understandably, the STO (Stop-Operated Lens) allows for adjustment of the light intensity, thereby improving image quality. Furthermore, by placing the STO in front of each lens, the overall size of the lens can be reduced, achieving miniaturization of the optical lens.

[0149] In one possible embodiment, the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the sixth lens L6, and the seventh lens L7 are spherical lenses.

[0150] By designing the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the sixth lens L6, and the seventh lens L7 as spherical lenses through the embodiments of this application, the transmission performance of light can be improved and aberrations can be optimized.

[0151] In one possible embodiment, the fifth lens L5 and the eighth lens L8 are aspherical lenses.

[0152] In this embodiment, the fifth lens L5 and the eighth lens L8 are designed as aspherical lenses. Aspherical lenses are characterized by a continuous change in curvature from the center to the periphery, unlike spherical lenses which have a constant curvature from the center to the periphery. Aspherical lenses have better curvature radius characteristics, greater degrees of freedom, and advantages in improving distortion and astigmatism. By using aspherical lenses, the fifth lens L5 and the eighth lens L8 achieve better light convergence and can eliminate aberrations that occur during imaging as much as possible, thereby improving the image quality of the optical lens.

[0153] In one possible embodiment, the third lens L3 and the fourth lens L4 are coupled together.

[0154] It is understandable that the third lens L3 and the fourth lens L4 are coupled together, specifically through a cemented design. By combining the third lens L3 and the fourth lens L4, light of different wavelengths can be converged at the same point as much as possible after passing through the third lens L3 and the fourth lens L4, thereby achieving the purpose of correcting chromatic aberration.

[0155] Optionally, the third lens L3 and the fourth lens L4 are made of different materials.

[0156] It is understandable that the third lens L3 and the fourth lens L4 are made of different materials. Different materials have different refractive properties for different wavelengths of light, which allows light of different wavelengths to converge at the same point as much as possible after passing through the third lens L3 and the fourth lens L4, thereby achieving the purpose of correcting chromatic aberration.

[0157] In one possible embodiment, the sixth lens L6 and the seventh lens L7 are coupled together.

[0158] It is understandable that the sixth lens L6 and the seventh lens L7 are coupled together, specifically through a cemented design. By combining the sixth lens L6 and the seventh lens L7, light of different wavelengths can be converged at the same point as much as possible after passing through the sixth lens L6 and the seventh lens L7, thereby achieving the purpose of correcting chromatic aberration.

[0159] Optionally, the sixth lens L6 and the seventh lens L7 are made of different materials.

[0160] It is understandable that the sixth lens L6 and the seventh lens L7 are made of different materials. Different materials have different refractive properties for different wavelengths of light, which allows light of different wavelengths to converge at the same point as much as possible after passing through the sixth lens L6 and the seventh lens L7, thereby achieving the purpose of correcting chromatic aberration.

[0161] In one possible embodiment, the material of the seventh lens L7 described above includes the first material.

[0162] The first material is used to suppress the heating of the seventh lens L7.

[0163] Optionally, the first material may include, but is not limited to, low-expansion-coefficient glass materials, optical plastics, special composite materials, etc., and the embodiments of this application do not impose any restrictions on this.

[0164] Understandably, the seventh lens L7 uses a primary material, such as H-ZPK1A, to suppress the heating of the seventh lens L7, thus ensuring the light transmission performance and the high resolution performance of the optical lens.

[0165] In one possible embodiment, the material of the eighth lens L8 described above includes a second material.

[0166] The second material is used to suppress the heating of the eighth lens L8.

[0167] Optionally, the second material may include, but is not limited to, low-expansion-coefficient glass materials, optical plastics, special composite materials, etc., and the embodiments of this application do not impose any restrictions on this.

[0168] Understandably, the eighth lens L8 uses a second material, such as D-FK61, to suppress the heating of the eighth lens L8, thus ensuring the light transmission performance and the high resolution performance of the optical lens.

[0169] Optionally, the object-side surface of the first lens L1 satisfies the following relationship:

[0170] 0.2≤R1 / T≤0.36.

[0171] Where R1 is the radius of curvature of the object side surface of the first lens L1, and T is the distance on the optical axis from the center of the object side surface of the first lens L1 to the imaging surface of the optical lens.

[0172] It is understandable that the first lens L1, which satisfies the above focal length f1, can collect as much light as possible within the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the rear focal length and for reducing the aperture of the second lens L2, thus ensuring the mountability of the lenses in the optical lens.

[0173] Optionally, the focal length of the second lens L2 described above satisfies the following relationship:

[0174] -0.24≤f2 / T≤-0.1.

[0175] Where f2 is the focal length of the second lens L2, and T is the distance on the optical axis from the center of the object side of the first lens L1 to the imaging surface of the optical lens.

[0176] It is understandable that the second lens L2, which satisfies the above focal length f2, helps to smoothly transition the light collected by the first lens L1 to the third lens L3, and can ensure the sensitivity of the optical lens tolerance.

[0177] Optionally, the Abbe coefficients of the third lens L3 and the fourth lens L4 satisfy the following relationship:

[0178] 1.5≤vd3 / vd4≤3.

[0179] Where vd3 is the Abbe coefficient of the third lens L3, and vd4 is the Abbe coefficient of the fourth lens L4.

[0180] It is understandable that the third lens L3, which satisfies the Abbe coefficient vd3, and the fourth lens L4, which satisfies the Abbe coefficient vd4, can make light of different wavelengths converge at the same point as much as possible after passing through the third lens L3 and the fourth lens L4, thereby achieving the purpose of correcting chromatic aberration.

[0181] Optionally, the object-side surface S8 and the image-side surface S9 of the fifth lens L5 satisfy the following relationship:

[0182] 0.15≤R8 / R9≤0.6.

[0183] Wherein, R8 is the radius of curvature of the object side surface S8 of the fifth lens L5, and R9 is the radius of curvature of the image side surface S9 of the fifth lens L5.

[0184] It is understandable that the fifth lens L5, which satisfies the above-mentioned radii of curvature R8 and R9, can precisely control the light at different field of view angles, correct optical distortion, and match the distortion of the transmitting lens, thus ensuring the light reception efficiency at large angles and improving the imaging quality of the optical lens.

[0185] Optionally, the Abbe coefficients of the sixth lens L6 and the seventh lens L7 satisfy the following relationship:

[0186] 0.2≤vd6 / vd7≤0.7.

[0187] Where vd6 is the Abbe coefficient of the sixth lens L6, and vd7 is the Abbe coefficient of the seventh lens L7.

[0188] It is understandable that the sixth lens L6, which satisfies the Abbe coefficient vd6, and the seventh lens L7, which satisfies the Abbe coefficient vd7, can make light of different wavelengths converge at the same point as much as possible after passing through the sixth lens L6 and the seventh lens L7, thereby achieving the purpose of further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens.

[0189] Optionally, the object-side surface S13 and the image-side surface S14 of the eighth lens L8 satisfy the following relationship:

[0190] -1.5≤R13 / R14≤-0.9.

[0191] Wherein, R13 is the radius of curvature of the object side surface S13 of the eighth lens L8, and R14 is the radius of curvature of the image side surface S14 of the eighth lens L8.

[0192] It is understandable that the eighth lens L8, which satisfies the above-mentioned radii of curvature R13 and R14, can improve the resolving performance of the optical lens.

[0193] Please see Figure 5 , Figure 5 This is a schematic diagram of another optical lens provided in an embodiment of this application. This optical lens is applied in the field of optical imaging technology, such as optical imaging in lidar and cameras.

[0194] It is understood that the optical lens in the embodiments of this application can be regarded as described above. Figure 4Reasonable variations or additions to the embodiments in this application; or, it is understood that the optical lens in the embodiments of this application can also be regarded as an embodiment that can be executed independently, and this application does not limit it.

[0195] like Figure 5 As shown, the optical lens includes:

[0196] The first, second, third, fourth, and fifth lens groups are arranged coaxially from the object side to the image side.

[0197] The first mirror group is used to collect light in the object space and transmit the light to the second mirror group.

[0198] The second lens group is used to refract light to correct chromatic aberration.

[0199] The third lens group is used to refract light to correct optical distortion.

[0200] The fourth lens group is used to refract light to further correct chromatic aberration.

[0201] The fifth lens group is used to suppress heat generation during light transmission.

[0202] It is understood that the optical lens in this application embodiment adopts a five-lens optical architecture. By setting the optical characteristics of the five-lens system, the LiDAR and the camera can share the optical lens to collect and smoothly transmit light to the photosensitive surfaces of the LiDAR and the camera for imaging, thereby improving the high-resolution performance of the optical lens. This allows the optical lens to combine the point cloud data of the LiDAR and the image data of the camera, thus enhancing the perception accuracy of intelligent driving.

[0203] In one possible embodiment, the first lens group includes a first lens L1 and a second lens L2, the second lens group includes a third lens L3 and a fourth lens L4, the third lens group includes a fifth lens L5, the fourth lens group includes a sixth lens L6 and a seventh lens L7, and the fifth lens group includes an eighth lens L8.

[0204] Among them, the first lens L1, the fourth lens L4, the fifth lens L5, the seventh lens L7, and the eighth lens L8 have positive optical power, while the second lens L2, the third lens L3, and the sixth lens L6 have negative optical power.

[0205] The first lens L1 is a meniscus lens, the second lens L2 is a meniscus lens, the third lens L3 is a biconcave lens, the fourth lens L4 is a biconvex lens, the fifth lens L5 is a meniscus lens, the sixth lens L6 is a biconcave lens, the seventh lens L7 is a biconvex lens, and the eighth lens L8 is a biconvex lens.

[0206] It is understandable that the first lens L1 in the first lens group can be a meniscus lens with positive optical power, which can collect as much light as possible in the field of view, allowing more light to enter the rear optical system. This is beneficial for increasing the rear focal length and for reducing the aperture of the second lens L2, thus ensuring the mountability of the lenses in the optical lens.

[0207] The second lens L2 in the first lens group can be a meniscus lens with negative optical power, which is beneficial for smoothly transitioning the light collected by the first lens L1 to the third lens L3, and can ensure the sensitivity of optical lens tolerance.

[0208] The third lens L3 in the second lens group can be a negative optical power biconcave lens, and the fourth lens L4 in the second lens group can be a positive optical power biconvex lens. Through the combined design of the third lens L3 and the fourth lens L4, light of different wavelengths can be converged at the same point as much as possible after passing through the third lens L3 and the fourth lens L4, thereby achieving the purpose of correcting chromatic aberration.

[0209] The fifth lens L5 in the third lens group can be a meniscus lens with positive optical power, which can precisely control light at different field of view angles, correct optical distortion, and match the distortion of the transmitting lens, thus ensuring the light reception efficiency at a large angle and improving the imaging quality of the optical lens.

[0210] The sixth lens L6 in the fourth lens group can be a negative optical power biconcave lens, and the seventh lens L7 in the fourth lens group can be a positive optical power biconvex lens. Through the combined design of the sixth lens L6 and the seventh lens L7, light of different wavelengths can be converged at the same point as much as possible after passing through the sixth lens L6 and the seventh lens L7, thereby achieving the purpose of further correcting chromatic aberration and reducing the tolerance sensitivity of the optical lens.

[0211] The eighth lens L8 in the fifth lens group can be a biconvex lens with positive optical power, which can improve the resolving performance of the optical lens.

[0212] Alternatively, the first lens group may include a ninth lens L9, the second lens group may include a third lens L3 and a fourth lens L4, the third lens group may include a fifth lens L5, the fourth lens group may include a sixth lens L6 and a seventh lens L7, and the fifth lens group may include an eighth lens L8.

[0213] Among them, the fourth lens L4, the fifth lens L5, the seventh lens L7, and the eighth lens L8 have positive optical power, while the ninth lens L9, the third lens L3, and the sixth lens L6 have negative optical power.

[0214] The ninth lens L9 is a meniscus lens, the third lens L3 is a biconcave lens, the fourth lens L4 is a biconvex lens, the fifth lens L5 is a meniscus lens, the sixth lens L6 is a biconcave lens, the seventh lens L7 is a biconvex lens, and the eighth lens L8 is a biconvex lens.

[0215] Optionally, the aforementioned ninth lens L9 can be understood as a negative optical power meniscus lens formed by combining the first lens L1 and the second lens L2. This allows the first lens group to collect as much light as possible within the field of view as possible, enabling more light to enter the rear optical system. It also facilitates the smooth transition of the collected light to the next lens, ensuring the sensitivity of the optical lens tolerance.

[0216] In this embodiment, the five lens groups adopt an optical architecture of eight lenses (L1, L2, L3, L4, L5, L6, L7, L8) or seven lenses (L9, L3, L4, L5, L6, L7, L8). By setting the shape of the eight or seven lenses and the reasonable allocation of optical power, the LiDAR and the camera can share the same optical lens, collect light and transmit it smoothly to the photosensitive surface of the LiDAR and the photosensitive surface of the camera for imaging, improve the high resolution performance of the optical lens, and thus utilize the advantages of combining the point cloud data of the LiDAR and the image data of the camera to improve the perception accuracy of intelligent driving.

[0217] Optionally, the optical characteristics of the eight lenses (L1, L2, L3, L4, L5, L6, L7, L8) in this embodiment can be found in the above text. Figure 4 The descriptions of the first lens L1, the second lens L2, the third lens L3, the fourth lens L4, the fifth lens L5, the sixth lens L6, the seventh lens L7, and the eighth lens L8 are not repeated here.

[0218] Optionally, the technical effects brought about by the optical characteristics of the optical lens in the embodiments of this application can be specifically referred to the above text. Figure 4 The relevant descriptions of the technical effects brought about by the optical characteristics of optical lenses will not be repeated here.

[0219] In summary, based on the above... Figure 4 , Figure 5 As can be seen from the optical lenses described in the various embodiments, the path of light from the object space to the imaging surface of the imaging sensor is as follows.

[0220] For details, please refer to [link / reference]. Figure 6 , Figure 6 This is a schematic diagram of a light path provided in an embodiment of this application.

[0221] like Figure 6As shown, light from the object space passes sequentially through the object-side surface S1 and image-side surface S2 of the first lens L1, the object-side surface S3 and image-side surface S4 of the second lens L2, the object-side surface S5 and image-side surface S6 of the third lens L3, the object-side surface S6 and image-side surface S7 of the fourth lens L4, the aperture S10, the object-side surface S8 and image-side surface S9 of the fifth lens L5, the object-side surface S10 and image-side surface S11 of the sixth lens L6, the object-side surface S11 and image-side surface S12 of the seventh lens L7, and the object-side surface S13 and image-side surface S14 of the eighth lens L8, and finally forms an image on the imaging surface of the imaging sensor.

[0222] Understandable Figure 6 The light shown passes through Figure 4 , Figure 5 The path of the optical lens to the imaging plane shown is only illustrated by way of example and is not drawn to scale, and therefore should not be construed as limiting the embodiments of this application.

[0223] Optionally, the above Figure 4 , Figure 5 The parameter information (radius of curvature, thickness / spacing, material) of each component of the optical lens shown can be found in Table 1 below:

[0224] Table 1

[0225]

[0226]

[0227] In this context, number 1 represents the object-side surface of the first lens L1, number 2 represents the image-side surface of the first lens L1, number 3 represents the object-side surface of the second lens L2, number 4 represents the image-side surface of the second lens L2, number 5 represents the object-side surface of the third lens L3, number 6 represents the image-side surface of the third lens L3 and the fourth lens L4, number 7 represents the image-side surface of the fourth lens L4, number STO represents the aperture stop, number 8 represents the object-side surface of the fifth lens L5, and number 9 represents the image-side surface of the fifth lens L5. On the side, number 10 represents the object side of the sixth lens L6, number 11 represents the image side of the sixth lens L6 and the object side of the seventh lens L7, number 12 represents the image side of the seventh lens L7, number 13 represents the object side of the eighth lens L8, number 14 represents the image side of the eighth lens L8, number 15 represents the object side of the beam splitter, number 16 represents the image side of the beam splitter, number 17 represents the front surface of the sensor's protective glass, and number 18 represents the rear surface of the sensor's protective glass.

[0228] Alternatively, the surface profile (z) of the fifth lens L5 can satisfy the following formula:

[0229]

[0230] Where z is the distance vector from the vertex of the aspherical surface along the optical axis at a position of height r, c is the paraxial curvature of the aspherical surface, c = 1 / R, R is the radius of curvature, k is the conic coefficient, and a4, a6, a8, a 10 The coefficients for higher-order terms can be set as shown in Table 2 below:

[0231] Table 2

[0232] Serial Number (S) k <![CDATA[a4]]> <![CDATA[a6]]> <![CDATA[a8]]> <![CDATA[a 10 ]]> 8 -6.36E+01 -3.26E-05 4.22E-07 3.27E-08 -3.51E-11 9 -1.31E+00 -3.71E-05 9.04E-06 -1.65E-09 3.59E-10

[0233] Alternatively, the surface profile (z) of the eighth lens L8 can satisfy the following formula:

[0234]

[0235] Where z is the distance vector from the vertex of the aspherical surface along the optical axis at a position of height r, c is the paraxial curvature of the aspherical surface, c = 1 / R, R is the radius of curvature, k is the conic coefficient, and a4, a6, a8, a 10 The coefficients for higher-order terms can be set as shown in Table 3 below:

[0236] Table 3

[0237] Serial Number (S) k <![CDATA[a4]]> <![CDATA[a6]]> <![CDATA[a8]]> <![CDATA[a 10 ]]> 13 -2.53E+00 1.70E-05 4.34E-08 -1.83E-09 3.81E-11 14 -1.88E+00 8.82E-06 6.70E-08 -2.27E-09 4.37E-11

[0238] Please see Figure 7 , Figure 7 This is a schematic diagram of an optical imaging device provided in an embodiment of this application. This optical imaging device is applied in the field of optical imaging technology, such as optical imaging in lidar and cameras.

[0239] It is understood that the optical imaging device in the embodiments of this application can be considered as described above. Figure 4 or Figure 5 Reasonable variations or additions to the embodiments in this application; or, it is understood that the optical imaging device in the embodiments of this application can also be regarded as an embodiment that can be executed independently, and this application does not limit it.

[0240] like Figure 7 As shown, the optical imaging device includes a beam-splitting component, and the aforementioned Figure 4 or Figure 5 The optical lens described in the embodiments.

[0241] The optical lens and beam splitter are arranged coaxially from the object side to the image side.

[0242] The beam splitter is used to receive light from the optical lens and to split and transmit the light from the optical lens.

[0243] It is understood that the optical imaging device in this application embodiment adopts an optical architecture in which the beam splitter is placed behind the optical lens. By setting the optical characteristics of the optical lens, the LiDAR and the camera can share the optical lens and the beam splitter. The beam splitter transmits the light from the optical lens to the photosensitive surface of the LiDAR and the photosensitive surface of the camera for imaging. Thus, by utilizing the advantage that the optical imaging device can combine the point cloud data of the LiDAR and the image data of the camera, the perception accuracy of intelligent driving can be improved.

[0244] In one possible embodiment, the beam splitting assembly includes a prism formed by splicing a first prism and a second prism, wherein the splicing surface of the first prism and the second prism forms a first angle with the optical axis of the optical lens.

[0245] It is understandable that the beam splitter is coaxially arranged with the optical lens, and the splicing surface of the first and second prisms in the beam splitter forms a first angle with the optical axis of the optical lens. This allows the light from the optical lens to be transmitted to the splicing surface of the first and second prisms in the beam splitter, forming a deflection optical path and a direct optical path, thereby achieving the purpose of beam splitting and transmission.

[0246] In one possible embodiment, the optical imaging device further includes: a first sensor and a second sensor.

[0247] The first sensor and the second sensor are respectively disposed on the beam splitting optical path of the beam splitting assembly, which is used to split the light from the optical lens and transmit it to the first sensor and the second sensor.

[0248] It is understandable that different sensors can be set on the turning optical path and the direct optical path of the beam splitter, so that different sensors can share the optical lens and the beam splitter. The beam splitter splits the light from the optical lens and transmits it to different sensors for imaging. In this way, the optical imaging device can combine the sensing advantages of different sensors to improve the perception accuracy of intelligent driving.

[0249] In one possible embodiment, the first sensor includes an infrared light sensor and the second sensor includes a visible light sensor.

[0250] Optionally, the first sensor may include an infrared light sensor, such as a lidar, and the second sensor may include a visible light sensor, such as a camera.

[0251] In one possible embodiment, the first sensor includes a lidar sensor and the second sensor includes an image sensor.

[0252] It is understood that, through the embodiments of this application, the advantages of combining the point cloud data of LiDAR and the image data of the camera can be used to improve the perception accuracy of intelligent driving.

[0253] In one possible embodiment, the first sensor is disposed on the turning optical path of the beam splitter, and the second sensor is disposed on the direct optical path of the beam splitter.

[0254] It is understandable that, since the defocusing amount of the beam splitter's turning optical path is greatly affected by the beam splitter's positioning, a first sensor (infrared light sensor) with a larger depth of field (DOF) can be placed on the beam splitter's turning optical path. On the other hand, the defocusing amount of the beam splitter's direct optical path is less affected by the beam splitter's positioning, so a second sensor (visible light sensor) with a smaller DOF can be placed on the beam splitter's direct optical path. This allows for high-quality imaging from both the first and second sensors.

[0255] Optional, see details Figure 8 , Figure 8 This is a schematic diagram of a light path provided in an embodiment of this application.

[0256] like Figure 8 As shown, light from the object space passes sequentially through the object-side surface S1 and image-side surface S2 of the first lens L1, the object-side surface S3 and image-side surface S4 of the second lens L2, the object-side surface S5 and image-side surface S6 of the third lens L3, the object-side surface S6 and image-side surface S7 of the fourth lens L4, the aperture S10, the object-side surface S8 and image-side surface S9 of the fifth lens L5, the object-side surface S10 and image-side surface S11 of the sixth lens L6, the object-side surface S11 and image-side surface S12 of the seventh lens L7, and the object-side surface S13 and image-side surface S14 of the eighth lens L8. When passing through the beam splitter, the beam splitter splits and transmits the light from the aforementioned optical lenses, refracts and transmits the infrared light to the first sensor, and images it on the imaging surface of the first sensor, and transmits the visible light directly to the second sensor, and images it on the imaging surface of the second sensor.

[0257] Understandable Figure 8 The light shown passes through Figure 7 The path of the optical imaging device to the imaging surface shown is only illustrated by way of example and is not drawn to scale, and therefore should not be construed as limiting the embodiments of this application.

[0258] Optionally, the above Figure 7 For detailed parameter information of each component in the optical imaging device shown, please refer to the above text. Figure 4 The parameters of the optical lens shown are not repeated here.

[0259] In one possible embodiment, the first sensor is set at a first distance offset from the center of the beam splitter.

[0260] It is understandable that by setting a first distance offset between the first sensor and the center of the beam splitter, the field of view (FOV) of the first sensor can be changed, thereby enabling the first sensor to detect the sky or the ground.

[0261] Optional, see details Figure 9 , Figure 9 This is a schematic diagram of a field of view (FOV) provided in an embodiment of this application.

[0262] like Figure 9 As shown, by setting a first distance offset between the center of the first sensor and the center of the beam splitter, the field of view (FOV) of the first sensor can be changed, thereby enabling the first sensor to detect the sky or the ground.

[0263] In one possible embodiment, the field of view of the optical lens is greater than or equal to the larger field of view of the first sensor and the second sensor.

[0264] It is understandable that, since the first sensor and the second sensor have different FOVs and share the same optical lens, in order to match sensors with different FOVs, the field of view of a single optical lens is designed according to the sensor with a larger FOV, which can be backward compatible with the sensor with a smaller FOV, so as to achieve different FOV ratios for the first sensor and the second sensor.

[0265] Optional, see details Figure 10 , Figure 10 This is a schematic diagram of another FOV provided in an embodiment of this application.

[0266] like Figure 10 As shown, the field of view of a single optical lens is designed according to the larger FOV of the first sensor and the second sensor, that is, according to the FOV of the second sensor. This allows for backward compatibility with sensors with smaller FOVs, that is, backward compatibility with the FOV of the first sensor, thus achieving different FOV ratios between the first sensor and the second sensor.

[0267] This application provides a sensing device, which can be found in the following embodiments: Figure 11 , Figure 11 This is a schematic diagram of a sensing device provided in an embodiment of this application.

[0268] like Figure 11 As shown, the sensing device 200 includes a light receiving device 100 and a light emitting device 300. For details regarding the light receiving device 100, please refer to the descriptions of the optical lens and optical imaging device above.

[0269] The light emitting device 300 is capable of generating an emitted light beam. For example, the light emitting device 300 includes a light source. Exemplarily, the light source includes one or more of a vertical surface-emitting laser (VCSEL) and / or an edge-emitting laser (EEL). When a VCSEL is mounted on a circuit board, its emitting surface is parallel to the surface of the circuit board, such as one or more of VCSELs, PCSELs, horizontal cavity surface-emitting lasers (HCSELs), and fiber lasers. For example, the light source can be a single VCSEL chip or a VCSEL chip array formed by splicing multiple VCSEL chips. An edge-emitting laser is a laser that emits light through a side surface; in other words, when an edge-emitting laser is mounted on a circuit board, its emitting surface is a side surface (or a surface perpendicular to the circuit board). Alternatively, the EEL can be replaced with other devices that emit light at the edge of the light-emitting element, such as silicon photonics chips.

[0270] The light receiving device 100 is used to receive the returned light beam, which includes the echo of the emitted light beam and may also include light from other light sources in the environment. The light emitting device is able to obtain relevant information about targets in the environment based on the echo of the emitted light beam.

[0271] Furthermore, the light receiving device 100 is also used to receive a light beam from the object space, the light beam from the object space including a return beam and also including background light, and the light receiving device 100 is able to obtain at least a point cloud of the environment using the return beam, and obtain an image of the environment using the background beam.

[0272] This application also provides a terminal, which includes the optical lens, optical imaging device, or sensing device provided in this application. The terminal can be a vehicle, drone, robot, or other intelligent terminal or means of transportation. It should be understood that "vehicle" here is a broad concept, and can include transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.). For example, a robot can be an automated guided vehicle (AGV), a walking conversational robot, a service robot, etc. The terminal is equipped with one or more optical lenses, optical imaging devices, or sensing devices provided in this application.

[0273] Optionally, the terminal may also include a glass assembly integrated with the sensing device.

[0274] For details, please refer to [link / reference]. Figure 12 , Figure 12This is a schematic diagram of a vehicle provided in an embodiment of this application. The sensing device can sense the vehicle's surrounding environment and obtain relevant information about targets in the surrounding environment. This target-related information can be used to control the vehicle or assist the driver in driving. It should be understood that... Figure 12 The installation location of the sensing device shown is for illustrative purposes only. In actual implementation, the detection device can be installed in other locations, such as on the top of the cockpit, or at the front, side, or rear of the vehicle.

[0275] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An optical lens, characterized in that, The optical lens is used in an optical imaging device, which includes a beam-splitting assembly, a first sensor, and a second sensor. The beam-splitting assembly receives light from the optical lens and splits the light from the optical lens, transmitting it to the first sensor and the second sensor. The first sensor includes a lidar sensor, and the second sensor includes a visible light image sensor. The optical lens includes: At least seven lenses are arranged coaxially from the object side to the image side; The at least seven lenses include a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens, a seventh lens, and an eighth lens arranged coaxially from the object side to the image side; The first lens is a meniscus lens with positive optical power that is convex on the object side and concave on the image side; The second lens is a meniscus lens with negative optical power that is convex on the object side and concave on the image side; The third lens is a negative optical power biconcave lens with both object-side and image-side concave surfaces. The fourth lens is a biconvex lens with positive optical power that is convex on both the object and image sides. The fifth lens is a meniscus lens with positive optical power, which is concave on the object side and convex on the image side. The sixth lens is a biconcave lens with negative optical power, being concave on both the object and image sides. The seventh lens is a biconvex lens with positive optical power that is convex on both the object and image sides; The eighth lens is a biconvex lens with positive optical power that is convex on both the object and image sides. The first lens, the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens are spherical lenses, and the fifth lens and the eighth lens are aspherical lenses; The third lens and the fourth lens are coupled to each other, and the sixth lens and the seventh lens are coupled to each other; The optical lens also includes an aperture stop, which is disposed between the fourth lens and the fifth lens.

2. The optical lens according to claim 1, characterized in that, The third lens and the fourth lens are made of different materials.

3. The optical lens according to claim 1 or 2, characterized in that, The sixth lens and the seventh lens are made of different materials.

4. The optical lens according to claim 1 or 2, characterized in that, The material of the seventh lens includes a first material, which is used to suppress the heating of the seventh lens.

5. The optical lens according to claim 1 or 2, characterized in that, The material of the eighth lens includes a second material, which is used to suppress the heating of the eighth lens.

6. The optical lens according to claim 1 or 2, characterized in that, The object-side surface of the first lens satisfies the following relationship: 0.2≤R1 / T≤0.36; Wherein, R1 is the radius of curvature of the object side surface of the first lens, and T is the distance on the optical axis from the center of the object side surface of the first lens to the imaging surface of the optical lens.

7. The optical lens according to claim 1 or 2, characterized in that, The focal length of the second lens satisfies the following relationship: -0.24≤f² / T≤-0.1; Where f2 is the focal length of the second lens, and T is the distance on the optical axis from the center of the object side of the first lens to the imaging surface of the optical lens.

8. The optical lens according to claim 1 or 2, characterized in that, The Abbe coefficients of the third lens and the fourth lens satisfy the following relationship: 1.5≤vd3 / vd4≤3; Wherein, vd3 is the Abbe coefficient of the third lens, and vd4 is the Abbe coefficient of the fourth lens.

9. The optical lens according to claim 1 or 2, characterized in that, The object-side surface and image-side surface of the fifth lens satisfy the following relationship: 0.15≤R8 / R9≤0.6; Wherein, R8 is the radius of curvature of the object side of the fifth lens, and R9 is the radius of curvature of the image side of the fifth lens.

10. The optical lens according to claim 1 or 2, characterized in that, The Abbe coefficients of the sixth lens and the seventh lens satisfy the following relationship: 0.2≤vd6 / vd7≤0.7; Wherein, vd6 is the Abbe coefficient of the sixth lens, and vd7 is the Abbe coefficient of the seventh lens.

11. The optical lens according to claim 1 or 2, characterized in that, The object-side surface and image-side surface of the eighth lens satisfy the following relationship: -1.5≤R13 / R14≤-0.9; Wherein, R13 is the radius of curvature of the object side of the eighth lens, and R14 is the radius of curvature of the image side of the eighth lens.

12. An optical lens, characterized in that, The optical lens is used in an optical imaging device, which includes a beam-splitting assembly, a first sensor, and a second sensor. The beam-splitting assembly receives light from the optical lens and splits the light from the optical lens, transmitting it to the first sensor and the second sensor. The first sensor includes a lidar sensor, and the second sensor includes a visible light image sensor. The optical lens includes: The first lens group, the second lens group, the third lens group, the fourth lens group, and the fifth lens group are arranged coaxially from the object side to the image side. The first mirror group is used to collect light in the object space and transmit the light to the second mirror group; The second lens group, comprising a biconcave lens and a biconvex lens with coupling, is used to refract light to correct chromatic aberration; The third mirror group is used to refract light to correct optical distortion; The fourth lens group, which includes another biconcave lens and another biconvex lens with coupling configuration, is used to refract light to further correct chromatic aberration; The fifth lens group is used to suppress heat generation during light transmission; The first lens group includes a first lens and a second lens, the second lens group includes a third lens and a fourth lens, the third lens group includes a fifth lens, the fourth lens group includes a sixth lens and a seventh lens, and the fifth lens group includes an eighth lens; The first lens is a meniscus lens with positive optical power that is convex on the object side and concave on the image side; The second lens is a meniscus lens with negative optical power that is convex on the object side and concave on the image side; The third lens is a negative optical power biconcave lens with both object-side and image-side concave surfaces. The fourth lens is a biconvex lens with positive optical power that is convex on both the object and image sides. The fifth lens is a meniscus lens with positive optical power, which is concave on the object side and convex on the image side. The sixth lens is a biconcave lens with negative optical power, being concave on both the object and image sides. The seventh lens is a biconvex lens with positive optical power that is convex on both the object and image sides; The eighth lens is a biconvex lens with positive optical power that is convex on both the object and image sides. The first lens, the second lens, the third lens, the fourth lens, the sixth lens, and the seventh lens are spherical lenses, and the fifth lens and the eighth lens are aspherical lenses; The third lens and the fourth lens are coupled to each other, and the sixth lens and the seventh lens are coupled to each other; The optical lens also includes an aperture stop, which is disposed between the second lens group and the third lens group.

13. An optical imaging device, characterized in that, The optical imaging device includes: a beam splitter assembly, and an optical lens as described in any one of claims 1 to 12; The optical lens and the beam splitter are arranged coaxially from the object side to the image side. The beam splitter is used to receive light from the optical lens and to split and transmit the light from the optical lens.

14. The optical imaging device according to claim 13, characterized in that, The beam splitting assembly includes a prism formed by splicing a first prism and a second prism, wherein the splicing surface of the first prism and the second prism forms a first angle with the optical axis of the optical lens.

15. The optical imaging device according to claim 13, characterized in that, The optical imaging device further includes: a first sensor and a second sensor; The first sensor and the second sensor are respectively disposed on the beam splitting optical path of the beam splitting component; The beam splitter is used to split the light from the optical lens and transmit it to the first sensor and the second sensor.

16. The optical imaging device according to claim 15, characterized in that, The first sensor includes an infrared light sensor, and the second sensor includes a visible light sensor.

17. The optical imaging device according to claim 15, characterized in that, The first sensor includes a lidar sensor, and the second sensor includes an image sensor.

18. The optical imaging apparatus according to claim 16 or 17, characterized in that, The first sensor is disposed on the turning optical path of the beam splitter, and the second sensor is disposed on the direct optical path of the beam splitter.

19. The optical imaging apparatus according to claim 16 or 17, characterized in that, The first sensor is offset from the center of the beam splitter by a first distance.

20. The optical imaging apparatus according to any one of claims 15 to 17, characterized in that, The field of view of the optical lens is greater than or equal to the larger field of view of the first sensor and the second sensor.

21. A terminal, characterized in that, The terminal includes an optical lens according to any one of claims 1 to 11, or an optical lens according to claim 12, or an optical imaging device according to any one of claims 13 to 20, and the terminal further includes a glass assembly integrated with the optical imaging device.

Images