Optical element, optical-mechanical structure, laser radar and carrier

Abstract

The invention discloses an optical element, an optical machine module, a laser radar and a carrier. The optical element is used for a laser radar and comprises a body. The body comprises a first face and a second face which are opposite, and an opening is formed in the body and penetrates through the first face and the second face. The first surface is configured to receive and reflect light on a first light path; the second face is configured to receive light on the second optical path and transmit the light on the second optical path through the opening. The first light path comprises a transmitting light path of the laser radar, the second light path comprises a receiving light path of the laser radar, and the section size of the opening on the first surface is larger than that of the opening on the second surface; or, the first light path comprises a receiving light path of the laser radar, the second light path comprises a transmitting light path of the laser radar, and the sectional dimension of the opening on the first surface is smaller than that of the opening on the second surface. According to the structural design of the opening, the reflection direction of the laser can be influenced, stray light emitted to a receiving light path is greatly reduced, and the detection performance of the laser radar is improved with low cost.

Description

Technical Field

[0001] This disclosure relates to the field of optical detection technology, and more particularly to optical elements, optomechanical structures, lidar and carriers. Background Technology

[0002] Optical detection technology uses light as a medium for object detection. Lasers, compared to ordinary light sources, possess characteristics such as monochromaticity and good directionality, making laser-based object detection a focus of increasing attention. For example, LiDAR (Light Detection and Ranging) uses lasers for object detection and has found applications in fields such as autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring. However, the application of LiDAR is still constrained by cost and performance. For instance, higher-performance optical components may be more expensive, limiting the widespread use of LiDAR; while low-cost optical components may not meet performance requirements. Summary of the Invention

[0003] This disclosure provides optical components, optomechanical modules, lidar, and carriers, reducing the cost of optical components while taking into account their performance requirements, thereby reducing the overall cost of lidar and mitigating cost and performance constraints in lidar applications.

[0004] In a first aspect, an optical element is provided for use in a lidar system. The optical element includes a body, which includes a first surface and a second surface facing each other. An opening is provided on the body, penetrating both the first and second surfaces. The first surface is configured to receive and reflect light from a first optical path; the second surface is configured to receive light from a second optical path and transmit light from the second optical path through the opening. The first optical path includes a receiving optical path of the lidar, and the second optical path includes a transmitting optical path of the lidar, wherein the cross-sectional dimension of the opening on the first surface is smaller than the cross-sectional dimension of the opening on the second surface; or, the first optical path includes the transmitting optical path of the lidar, and the second optical path includes the receiving optical path of the lidar, wherein the cross-sectional dimension of the opening on the first surface is larger than the cross-sectional dimension of the opening on the second surface.

[0005] The above-described opening design allows for a non-perpendicular inner wall that is tilted towards the incident laser. In the emission optical path, when the laser is incident on the opening, even if it deviates abnormally or its divergence angle changes, causing it to hit the inner wall of the opening, the non-perpendicular inner wall influences the reflection direction of the laser, significantly reducing stray light entering the receiving optical path and improving the detection performance of the lidar at a lower cost. Furthermore, when the first optical path includes the lidar's receiving optical path and the second optical path includes the lidar's emission optical path, this opening design also allows the optical element to have a larger reflective working area on the first surface within a smaller size, contributing to a reduction in the overall size of the lidar.

[0006] Optionally, the main body can be made of plastic. Plastic is less expensive than glass. Furthermore, using plastic for the processing of openings further reduces manufacturing complexity, facilitates the fabrication of optical components, and further reduces the cost of the lidar.

[0007] Optionally, a reflective film is provided on the first surface to reflect light in the first optical path. This reflective film may include a metal film. The metal film provides better adhesion stability to the first surface of the main body, making it less prone to detachment over long-term use. This reduces the cost of the lidar while improving its stability.

[0008] Optionally, the reflectivity of the second surface is less than or equal to 15%, which can further reduce stray light that may be generated in the receiving optical path, thereby improving the detection performance of the lidar.

[0009] Optionally, the inner wall of the opening includes a first segment, the cross-sectional dimensions of which linearly change from the first surface to the second surface. This structural arrangement facilitates the fabrication of optical components, simplifies fabrication design, improves fabrication yield, and thus reduces the production cost of lidar.

[0010] Optionally, the tilt angle of the first segment relative to the second surface is greater than or equal to 30 degrees and less than or equal to 60 degrees. This tilt angle setting has a better effect on reducing stray light from the lidar, and can further improve the detection performance of the lidar.

[0011] Optionally, the inner wall of the opening has a first roughness, and the second surface has a second roughness. In this embodiment, roughening the inner wall and second surface of the optical element opening can effectively suppress stray light generation in the lidar, achieving a significant improvement in lidar detection performance at a lower cost.

[0012] Optionally, the first roughness is greater than or equal to 3.2 micrometers and less than or equal to 18 micrometers; the second roughness is greater than or equal to 3.2 micrometers and less than or equal to 18 micrometers.

[0013] Optionally, at least one of the inner wall or the second surface of the opening is provided with a colored coating with a light transmittance of no more than 10%; or, the plastic includes colored plastic with a light transmittance of no more than 10%. By blackening the inner wall and / or the second surface of the opening, or by directly using colored plastic with a light transmittance of no more than 10% to make the body of the optical element, the light transmittance of the non-reflective working surface of the optical element can be reduced, further reducing stray light inside the lidar.

[0014] Optionally, at least one of the inner wall or the second surface of the opening is provided with a black coating; or, the colored plastic is black plastic.

[0015] Optionally, the cross-sections of the opening on the first and second surfaces can be elliptical or racetrack-shaped. Setting the opening cross-sections to elliptical or racetrack-shaped allows for flexible adaptation to lasers of different specifications or arrangement configurations. This makes the optical element more versatile and adaptable to various lidar designs. Furthermore, the opening shape design can match the beam shape, better shaping the laser beam and accommodating different laser specifications and arrangement configurations while maximizing the area of ​​the reflective working surface. This balances the transmission and reflection performance of the optical element, improving the lidar's detection performance and resulting in a more rational and practical structural design.

[0016] Optionally, the main body also includes a first sidewall and a second sidewall, which are disposed opposite to each other on the first and second surfaces; the first sidewall forms a first chamfer relative to the second surface, and the second sidewall forms a second chamfer relative to the second surface, with the first and second chamfers being greater than 90 degrees. The placement of the first and second chamfers allows for avoidance of other structures within the lidar, reducing structural interference, facilitating a compact layout between different components, reducing light leakage, and further reducing stray light generation.

[0017] Optionally, the first and second sidewalls have a third roughness, which is less than the first roughness of the inner wall of the opening or the second roughness of the second surface. By processing the roughness of the first and second sidewalls, their reflectivity can be reduced, further reducing stray light. Furthermore, since the first and second sidewalls are located at the edges of the body, the likelihood of them reflecting light and generating stray light is lower than that of the second surface and the opening. Therefore, during the fabrication of the optical element, the third roughness can be appropriately lower than the second or first roughness to reduce processing costs.

[0018] Secondly, an optomechanical module is provided for use with lidar, comprising: a frame including a mounting platform located on the transmitting optical path and the receiving optical path of the lidar; and any one of the above optical elements disposed on the mounting platform.

[0019] Thirdly, a lidar is provided, comprising: a housing; any one of the above optical elements disposed within the housing; a laser disposed within the housing and configured to emit laser light, the laser light being emitted from the lidar via the optical elements; and a detector disposed within the housing and configured to receive the echo of the laser light, the echo being received by the detector via the optical elements.

[0020] Fourthly, a vehicle is provided, including a lidar as described in the above implementation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the following description of the embodiments will be provided as examples. The drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0022] Figure 1 An example block diagram of a lidar provided in some embodiments of this disclosure is shown.

[0023] Figure 2A An example optical path diagram of a lidar provided in some embodiments of this disclosure is shown.

[0024] Figure 2B An example optical path diagram of another lidar provided in some embodiments of this disclosure is shown.

[0025] Figure 3 An example three-dimensional structural diagram of an optical element provided in some embodiments of this disclosure is shown.

[0026] Figure 4 An example diagram of a planar structure of an optical element provided in some embodiments of this disclosure is shown.

[0027] Figure 5 A cross-sectional example diagram of an optical element provided in some embodiments of this disclosure is shown.

[0028] Figure 6 An example diagram of a planar structure of another optical element provided in some embodiments of this disclosure is shown.

[0029] Figure 7 The diagram shows an example structure of an optomechanical structure provided in some embodiments of this disclosure.

[0030] Figure 8 A breakdown example diagram of an optomechanical structure provided in some embodiments of this disclosure is shown.

[0031] Figure 9A A three-dimensional example of an optical element mounting provided in some embodiments of this disclosure is shown.

[0032] Figure 9B A side view of an example optical element mounting structure provided in some embodiments of this disclosure is shown.

[0033] Figure 10A A perspective view of another optical element mounting structure provided in some embodiments of this disclosure is shown.

[0034] Figure 10B A side view of another optical element mounting structure provided in some embodiments of this disclosure is shown.

[0035] Figure 11A A perspective view of another optical element mounting structure provided in some embodiments of this disclosure is shown.

[0036] Figure 11B A side view of another optical element mounting structure provided in some embodiments of this disclosure is shown.

[0037] Figure 12A A perspective view of a mounting structure for another optical element provided in some embodiments of this disclosure is shown.

[0038] Figure 12B A cross-sectional example of the mounting structure of another optical element provided in some embodiments of this disclosure is shown. Detailed Implementation

[0039] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0040] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment. They do not represent the actual structure of the product, and there may be more or fewer structures or parts in reality. In addition, for the sake of simplicity and ease of understanding, there may be more or fewer similar structures or parts in reality for the structures or parts shown in the figures.

[0041] The terms “installation,” “setting up,” and “connection” should be interpreted broadly. For example, “installation” can mean direct installation or installation through other components; “setting up” can mean direct setting or setting through other components; and “connection” can mean direct connection or connection through other components.

[0042] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) are relative rather than absolute when describing the structure or movement of the various components, and are not intended to limit the direction of the product during actual use.

[0043] LiDAR (Light Detection and Ranging) uses laser light as a medium for object detection and can be applied in fields such as autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automatic driving or assisted driving, includes any level of autonomous driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform analysis, decision-making, or control functions. Vehicles include, for example, vehicles, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0044] Figure 1 An example block diagram of a lidar provided in some embodiments of this disclosure is shown. Please refer to... Figure 1 The lidar 100 includes a laser emitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 140. Optionally, the lidar 100 may also include a scanning system 150, such as a mechanical lidar or a semi-solid-state lidar. The scanning system 150 may include a rotating platform, a rotating mirror, a tilting mirror, a galvanometer mirror, or other devices that can direct the laser beam to different locations in the environment.

[0045] The laser emitting circuit 110 emits a laser beam. When the laser beam encounters an object, it is reflected back to the lidar 100 by the object's surface; this reflected light is called an echo. The laser receiving circuit 120 receives the echo and converts it into an electrical signal. After preprocessing, the electrical signal yields echo data, which is provided to the control and processing system 140. The control and processing system 140 processes the echo data to obtain sensing data, such as point cloud data. The control and processing system 140 sends the sensing data to the vehicle, which uses the sensing data to perform analysis, decision-making, or control functions.

[0046] The laser emitting circuit 110 includes a driving circuit and a laser. Driven by the driving circuit, the laser emits laser light, which exits through the optical system 130. The laser may include, for example, a semiconductor laser, a fiber laser, or other types of lasers. Semiconductor lasers may include, for example, laser emitting circuits, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices. These are merely examples, and the embodiments disclosed herein do not limit the type of laser.

[0047] The laser receiving circuit 120 includes a detector and a preprocessing circuit. The optical system 130 focuses the echo onto the photosensitive surface of the detector; the detector uses the photoelectric effect to convert the optical signal into an electrical signal. The detector may include, for example, a photodetector circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of detector.

[0048] Preprocessing, also known as analog front-end processing, includes one or more of the following: amplification, filtering, and digitization. Preprocessing circuits, also known as analog front-end circuits, include one or more of the following: amplification circuits, filtering circuits, and digitization circuits. Amplification circuits, for example, include amplifiers, which amplify the electrical signal converted by the detector, improving the signal-to-noise ratio. Filtering circuits, for example, include filters, used to remove noise or interference. Digitization circuits, for example, include one or more of the following: analog-to-digital converter (ADC) or time-to-digital converter (TDC). For example, an ADC periodically samples the detector output signal, converting the analog electrical signal into a digital signal representing the echo waveform, thus obtaining echo data. Alternatively, the electrical signal converted by the detector can be converted (e.g., amplified into a voltage and compared with a reference voltage to generate an over-threshold signal) and provided to the TDC. The TDC, based on the received electrical signal, performs timing to measure the echo arrival time, obtaining echo data. Echo data can include data reflecting echo time and / or echo intensity.

[0049] Optical system 130 includes, for example, a transmitting optical element and a receiving optical element. The transmitting optical element, located in the laser emission path (hereinafter referred to as the emission optical path), is used to shape the laser emitted by the laser and adjust its exit path. The receiving optical element, located in the laser reception path (hereinafter referred to as the reception optical path), is used to collect the echo reflected back from the object and converge the echo onto the photosensitive surface of the detector. For example, the transmitting optical element may include one or more optical elements such as a mirror, lens, beam splitter, homogenizer, or beam splitter. For example, the receiving optical element may include one or more optical elements such as a mirror, lens, beam splitter, or filter. The transmitting and receiving optical elements can be independent, partially multiplexed, or fully multiplexed. For example, in a coaxial laser radar, optical system 130 may include independent transmitting and receiving optical elements, such as independent transmitting and receiving lenses. The optical system 130 may also include optical elements shared by the transmitting and receiving optical paths, such as a beam splitter (or beam splitter) for separating the laser in the transmitting and receiving optical paths to prevent optical interference between the transmitting and receiving optical paths; or, for example, a shared lens for shaping the coaxial beam in the transmitting and receiving optical paths.

[0050] The control and processing system 140 processes the echo data to obtain sensing data. The control and processing system 140 also sends control signals to the drive circuit to control the drive circuit to drive the laser to emit light, thus realizing laser emission. When the lidar 100 includes a scanning system 150, the control and processing system 140 also controls the scanning system 150. In some embodiments, the control and processing system 140 may include one or more processors. Processors include, but are not limited to, hardware circuits implemented with application-specific integrated circuits (ASICs), programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), and central processing units (CPUs). Hardware circuits implemented with PLDs include, for example, field-programmable gate arrays (FPGAs). When the control and processing system 140 includes multiple processors, the types of processors can be the same or different. For example, the control and processing system 140 may include an MCU and an FPGA; or, the control and processing system 140 may include an MCU, an FPGA, and a CPU; or, the control and processing system 140 may include a CPU and an FPGA, and so on. When the control and processing system 140 includes multiple processors, these processors can be set up separately, partially integrated together, or fully integrated together. For example, the control and processing system 140 can be implemented in the form of a system on chip (SOC) or an ASIC.

[0051] Figure 2AAn example optical path diagram of a lidar provided in some embodiments of this disclosure is shown. Referring to Figure 2, Pt represents the transmitting optical path and Pr represents the receiving optical path. The lidar 200 includes multiple optical elements, including, for example, a reflector 231, a lens 232, a beam splitter (or beam splitter) 233, a lens 234, a lens 235, and a reflector 236. The beam splitter 233 and the lens 234 are optical elements shared by the transmitting and receiving optical paths. The lidar 200 includes at least one circuit board, and the laser transmitting circuit and the laser receiving circuit can be disposed on the same circuit board or on different circuit boards. For example, the lidar 200 includes a circuit board 210, on which both the laser transmitting circuit and the laser receiving circuit are disposed. The laser emitted by the laser of the laser transmitting circuit is reflected by the reflector 231 and then emitted through the lens 232, the beam splitter 233, and the lens 234. After being emitted, the laser beam is reflected by an object and then passes through lens 234, beam splitter 233, lens 235, and reflector 236 before entering the detector of the laser receiving circuit. Figure 2B An example optical path diagram of another lidar provided in some embodiments of this disclosure is shown. Please refer to... Figure 2B For example, the lidar 200 includes circuit boards 210 and 220. A laser emitting circuit can be disposed on circuit board 210. The laser emitted by the laser is reflected by mirror 231 and then emitted through lens 232, beam splitter 233, and lens 234. A laser receiving circuit can be disposed on circuit board 220. The reflected light passes through lens 234, beam splitter 233, and lens 235 and is incident on the detector of the laser receiving circuit.

[0052] The above figures are merely examples, and this disclosure does not impose any limitations on the arrangement of the circuit board and optical components. The type and location of the optical components can be arranged according to the locations of the laser emitting circuit and the laser receiving circuit. Optionally, at least a portion of the circuitry of the control and processing system 140 can be arranged on the same circuit board as one or more of the laser emitting circuit or the laser receiving circuit; for example, the circuitry for processing echo data can be arranged on the same circuit board as the laser receiving circuit; similarly, the circuitry for controlling the drive circuitry can be arranged on the same circuit board as the laser emitting circuitry, etc. All or part of the circuitry of the laser emitting circuit, the laser receiving circuitry, and the control and processing system 140 can be integrated together or arranged independently.

[0053] Optionally, the lidar 200 may further include a scanning system. The scanning system may include a drive mechanism 251 and a scanning optical element 252. The drive mechanism 251 controls the movement of the scanning optical element 252, enabling the laser to scan vertical and / or horizontal fields of view. This disclosure does not limit the type of scanning optical element 252; for example, it may include a rotating mirror, a tilting mirror, a galvanometer mirror, or other elements that can direct the laser beam to different locations in the environment. Optionally, the scanning system may also include a rotating platform. For example, the laser emitting circuit, the laser receiving circuit, and the optical system may be mounted on the rotating platform to achieve scanning of vertical or horizontal fields of view.

[0054] LiDAR contains numerous optical components, electronic components, and mechanical structures. The embodiments disclosed herein design the optical components so that they can be shared by both the transmitting and receiving optical paths, thus reducing the number of optical components required. Furthermore, these optical components exhibit good optical performance in both the transmitting and receiving optical paths, enabling the LiDAR to achieve better detection performance at a lower cost. For example, this optical component includes a beam splitter as shown in Figure 2.

[0055] The following description is in conjunction with the accompanying drawings.

[0056] Figure 3 An example three-dimensional structural diagram of an optical element provided in some embodiments of this disclosure is shown. Figure 4 An example diagram of a planar structure of an optical element provided in some embodiments of this disclosure is shown. Figure 5 A cross-sectional example view of an optical element provided in some embodiments of this disclosure is shown. Please refer to... Figures 3 to 5 The optical element 300 can be used in lidar and includes a main body 310. The main body 310 includes a first surface 311 and a second surface 312; the first surface 311 and the second surface 312 are opposite to each other. An opening 320 is provided on the main body 310, which penetrates the first surface 311 and the second surface 312. The first surface 311 can serve as a reflective working surface and is configured to receive and reflect light on a first optical path; the second surface 312 is configured to receive light on a second optical path and transmit light on the second optical path through the opening 320.

[0057] In some embodiments of this disclosure, the first optical path includes, for example, the receiving optical path of a lidar; the second optical path includes, for example, the transmitting optical path of a lidar. For clarity, the laser in the transmitting optical path can be referred to as a laser, and the laser in the receiving optical path can be referred to as an echo. For example, a laser emits a laser beam; the laser beam, after optical path adjustment by at least one optical element, is directed towards the second surface 312 of the optical element 300 and passes through an opening 320; the laser beam passing through the opening 320 can be emitted from the lidar via optical path adjustment by at least one optical element. After the emitted laser beam encounters an object, it is reflected by the object's surface, and at least a portion of the reflected light (hereinafter referred to as the echo) returns to the lidar; the echo, after optical path adjustment by at least one optical element, is directed towards the first surface 311 of the optical element 300; after reflection by the first surface 311, the echo can be directed towards the detector via optical path adjustment by at least one optical element.

[0058] In other embodiments of this disclosure, the first optical path includes, for example, the transmitting optical path of the lidar; the second optical path includes, for example, the receiving optical path of the lidar. For example, a laser emits a laser beam; the laser beam is directed towards the first surface 311 of the optical element 300 after being adjusted by at least one optical element; after being reflected by the first surface 311, the laser beam can exit the lidar after being adjusted by at least one optical element. When the emitted laser beam encounters an object, it is reflected by the object's surface, and at least a portion of the reflected light (hereinafter referred to as the echo) returns to the lidar; the echo is directed towards the second surface 312 of the optical element 300 after being adjusted by at least one optical element; the echo passes through the opening 320 and can be directed towards the detector after being adjusted by at least one optical element.

[0059] In some embodiments of this disclosure, the first optical path includes the receiving optical path of the lidar, and the second optical path includes the transmitting optical path of the lidar; the cross-sectional dimension of the opening 320 on the first surface 311 is smaller than the cross-sectional dimension of the opening 320 on the second surface 312. Alternatively, the first optical path includes the transmitting optical path of the lidar, and the second optical path includes the receiving optical path of the lidar; the cross-sectional dimension of the opening 320 on the first surface 311 is larger than the cross-sectional dimension of the opening 320 on the second surface 312.

[0060] Although lasers possess high directionality, they may exhibit non-ideal beam characteristics in practical applications. For example, the beam may diverge to some extent, or vibrations may cause device movement and deflection of the emitted light path. Stray light may also be generated by reflections from other components within the laser cavity, causing some laser light to strike the inner wall 321 of the opening 320. This inner wall 321 may reflect the laser light onto the receiving light path, affecting it and reducing the detection performance of the lidar. The structural design of the opening 320 allows it to have a non-perpendicular inner wall 321, which is tilted towards the incident laser. Even when the laser strikes the opening 320, the non-perpendicular inner wall 321 influences the reflection direction, significantly reducing stray light onto the receiving light path and improving the lidar's detection performance at a lower cost. Furthermore, the tilted inner wall 321 towards the incident laser also reduces the amount of laser light reflected back to the laser, minimizing damage to the laser.

[0061] The above-mentioned opening 320 structural design, in the embodiment where the first optical path includes the receiving optical path of the lidar and the second optical path includes the transmitting optical path of the lidar, also enables the optical element 300 to have a larger reflective working area on the first surface 311 with a smaller size, which is beneficial to the reduction of the overall size of the lidar.

[0062] In some embodiments of this disclosure, please continue to refer to Figure 3 The cross-sectional dimensions of the inner wall 321 of the opening 320 change linearly from the first surface 311 to the second surface 312. Figure 3 Taking the first optical path as the receiving optical path and the second optical path as the transmitting optical path as an example, the area linearly increases from the first surface 311 to the second surface 312, forming a horn-shaped opening 320 with the larger end located on the second surface 312. Similarly, when the first optical path is the transmitting optical path and the second optical path is the receiving optical path, the area linearly increases from the second surface to the first surface, forming a horn-shaped opening with the larger end located on the first surface. This design facilitates the fabrication of the optical element 300, simplifies the fabrication design, improves the fabrication yield, and thus reduces the production cost of the lidar.

[0063] In other embodiments of this disclosure, there are no restrictions on the cross-sectional shape or size of the inner wall 321 of the opening 320. For example, the cross-sectional size of the inner wall 321 of the opening 320 may change non-linearly from the first surface 311 to the second surface 312. For example, the change amplitude may gradually decrease, gradually increase, decrease first and then increase, increase first and then decrease, or exhibit an exponential change, etc. For example, the inner wall shape of the opening 320 may be a concave arc surface, or a convex arc surface, or a parabolic shape. For example, the cross-section of the inner wall of the opening 320 may include multiple segments, such as multiple linear segments (or inclined straight line segments), or multiple arc segments, or at least one linear segment and at least one arc segment, wherein the linear segments are not perpendicular to the first surface 311 or the second surface 312.

[0064] In some embodiments of this disclosure, the opening 320 can be formed by turning on the body 310 using a machine tool. Error segments may be included during the machining process. For example, please refer to... Figure 5 The circular region S1 shows an enlarged schematic diagram of one end of the opening 320 near the first surface 311 (shown in the circular region S2). The inner wall 321 of the opening 320 may have a vertical straight segment 3211, the cross-sectional dimensions of which remain unchanged. This vertical straight segment 3211 is likely due to machining errors; for example, its axial length is less than or equal to 0.2 mm, where axial length refers to the direction perpendicular to the first surface 311 or the second surface 312. The description of the cross-sectional shape or dimensions of the interior 321 of the opening 320 in the above embodiments ignores the description of this error segment. For clarity, the portion outside the error segment can be referred to as the main body segment or the first segment of the inner wall 321.

[0065] In some embodiments of this disclosure, in the first segment of the inner wall 321 of the opening 320, the linear segment has an inclination angle α relative to the second surface 312 greater than or equal to 30 degrees and less than or equal to 60 degrees. For example, please refer to... Figure 5 The cross-sectional dimensions of the first segment change linearly from the first surface 311 to the second surface 312, and the tilt angle α of the first segment relative to the second surface 312 is greater than or equal to 30 degrees and less than or equal to 60 degrees. For example, the tilt angle α is around 45 degrees. Extensive simulation tests have shown that this tilt angle setting has a better effect on reducing stray light from the lidar, and can further improve the lidar's detection performance.

[0066] The main body 310 may be made of materials such as plastic or glass. In some embodiments of this disclosure, the main body 310 is made of plastic. Plastic has a lower cost compared to glass. Furthermore, using plastic for the processing of the opening 320 can further reduce the processing difficulty, facilitate the processing of optical components, and further reduce the cost of the lidar.

[0067] A reflective film may be disposed on the first surface 311 of the main body 310 to reflect light from the first optical path. In some embodiments of this disclosure, for a plastic main body 310, the reflective film may be, for example, a metal film. This provides better connection stability with the first surface 311 of the main body 310, making it less prone to detachment during long-term use, thus reducing the cost of the lidar while improving its stability. In other embodiments of this disclosure, for a glass main body 310, the reflective film may be, for example, a dielectric film.

[0068] In some embodiments of this disclosure, the reflectivity of the second surface 312 can be set to less than or equal to 15%. This can further reduce stray light that may be generated in the receiving optical path and further improve the detection performance of the lidar.

[0069] Figure 6 An example planar structure diagram of another optical element provided in some embodiments of this disclosure is shown. Please refer to... Figure 6 In some embodiments of this disclosure, the inner wall 321 of the opening 320 has a first roughness, and the second surface 312 has a second roughness.

[0070] In some embodiments of this disclosure, roughness is characterized, for example, by the arithmetic mean Ra (micrometers) of the absolute values ​​of surface profile offsets. The range of the first roughness and the second roughness may include: greater than or equal to 3.2 micrometers and less than or equal to 18 micrometers. Roughness is also characterized, for example, by VDI (Verein Deutscher Ingenieure) values. The range of the first roughness and the second roughness may include: VDI values ​​greater than or equal to 30 and less than or equal to 45. The VDI standard is a surface roughness standard developed by Verein Deutscher Ingenieure and the Association of German Engineers, and it corresponds to the arithmetic mean Ra of the absolute values ​​of surface profile offsets. Roughness can also be characterized by a ten-point average roughness Rz or a maximum profile height Rmax, which can be used to represent the distance between the peak line and the valley line of the surface profile. This disclosure does not limit the method of characterizing the first roughness and the second roughness.

[0071] By roughening the inner wall 321 of the opening 320 of the optical element 300 to achieve the aforementioned first roughness range, and by roughening the second surface 312 to achieve the aforementioned second roughness range, the generation of stray light from the lidar can be effectively suppressed, achieving a significant improvement in lidar detection performance at a lower cost. Optionally, the first roughness is expressed as a VDI value, with a range including, for example, 34-41, or even 36-39. The first roughness is expressed as an arithmetic mean Ra, with a range including, for example, greater than or equal to 5 micrometers and less than or equal to 11.2 micrometers; or even greater than or equal to 6.3 micrometers and less than or equal to 9 micrometers. The second roughness may be the same as or different from the first roughness.

[0072] In some embodiments of this disclosure, the first roughness is equal to the second roughness, or the first roughness is greater than the second roughness, or the first roughness is less than the second roughness. When the first roughness is greater than the second roughness, the reflectivity of the inner wall 321 of the opening 320 can be lower than the reflectivity of the second surface 312. Thus, when laser light is incident on the inner wall 321 of the opening 320, the lower reflectivity of the inner wall 321 can further reduce the light reflected to the receiving optical path, effectively reducing the generation of stray light.

[0073] When the first roughness is equal to the second roughness, the processing technology of the optical element can be simplified, thereby further reducing the processing cost of the optical element 300 and thus reducing the cost of the lidar.

[0074] In some embodiments of this disclosure, the inner wall 321 of the opening 320 can be roughened by means of electrical discharge machining (EDM) or chemical etching, for example, to obtain a first roughness; the second surface 312 can be roughened by means of electrical discharge machining (EDM) or chemical etching, for example, to obtain a second roughness. When the main body 310 is made of plastic, obtaining the above-mentioned first and second roughnesses by electrical discharge machining is a simple and inexpensive process, which can further reduce the cost of lidar.

[0075] In some embodiments of this disclosure, the inner wall 321 of the opening 320 may be coated with a colored coating. This reduces the light transmittance of the inner wall 321, further reducing stray light inside the lidar. Similarly, the surface of the second surface 312 may be coated with a colored coating. This reduces the light transmittance of the second surface 312, further reducing stray light inside the lidar. Optionally, the light transmittance of the colored coating may be, for example, no more than 10%. Optionally, the colored coating may be, for example, a black coating.

[0076] In some embodiments of this disclosure, the optical element 300 is made of, for example, colored plastic. Optionally, the light transmittance of the colored plastic is, for example, not greater than 10%. Optionally, the optical element 300 is made of, for example, black plastic. By selecting black plastic or painting the inner wall 321 and / or the second surface 312 of the opening 320 black, the light absorption of the non-reflective working surface of the optical element 300 can be increased, effectively reducing the reflectivity of the non-reflective working surface of the optical element 300, further reducing stray light, reducing interference between different optical paths, and thus improving the detection performance of the lidar.

[0077] In some embodiments of this disclosure, the opening 320 has an elliptical or racetrack-shaped cross-section on the first surface 311 and the second surface 312. The laser emitting circuit of the lidar can be equipped with one or more lasers 300; for example, when the laser emitting circuit is equipped with multiple lasers, the multiple lasers can be arranged into at least one-dimensional or two-dimensional arrays. Setting the transverse cross-section of the opening 320, including the cross-sections on the first surface 311 and the second surface 312, to be elliptical or racetrack-shaped allows the opening 320 to be flexibly adapted to lasers of different specifications or arrangement forms. Thus, the optical element 300 can be flexibly adapted to lidars of different specifications, resulting in greater versatility. Furthermore, the above opening shape design can match the spot shape, better shaping the laser, satisfying the needs of lasers of different specifications and arrangement forms, while preserving as much of the reflective working surface area as possible, balancing the transmission and reflection performance of the optical element 300, which is beneficial to improving the detection performance of the lidar, resulting in a more reasonable and practical structural design.

[0078] In some embodiments of this disclosure, please continue to refer to Figures 3 to 5 The main body 310 also includes a first sidewall 314 and a second sidewall 315, which are disposed opposite to each other on both sides of the first surface 311 and the second surface 312. The first sidewall 314 has a first chamfer β1 relative to the second surface 312, and the second sidewall 315 has a second chamfer β2 relative to the second surface 312. The first chamfer β1 and the second chamfer β2 are obtuse angles, i.e., greater than 90 degrees. The arrangement of the first chamfer β1 and the second chamfer β2 can avoid other structures within the lidar, reduce structural interference, and facilitate a compact layout between different components, reducing light leakage and further reducing the generation of stray light. The angles of the first chamfer β1 and the second chamfer β2 can be related to the mounting angle of the optical element. For example, when the optical element 300 is mounted at 45 degrees, the angles of the first chamfer β1 and the second chamfer β2 are, for example, 135 degrees.

[0079] In some embodiments of this disclosure, please continue to refer to Figure 6The first sidewall 314 and the second sidewall 315 may have a third roughness. Optionally, the third roughness is less than or equal to the first roughness or the second roughness. For example, the third roughness is expressed as a VDI value, and its range includes, for example, 18-28, or even 21-24. The first roughness is expressed as an arithmetic mean Ra, and its range includes, for example, greater than or equal to 0.8 micrometers and less than or equal to 2.5 micrometers; or even greater than or equal to 1.12 micrometers and less than or equal to 1.6 micrometers. The processing technology for the third roughness can refer to the processing technology for the first roughness and the second roughness described above.

[0080] By processing the roughness of the first sidewall 314 and the second sidewall 315, the reflectivity of the first sidewall 314 and the second sidewall 315 can be reduced, further reducing stray light. The first sidewall 314 and the second sidewall 315 are located at the edges of the body 310, and the possibility of them reflecting light and generating stray light is lower than that of the second surface 312 and the opening 320. During the processing of the optical element, the third roughness can be appropriately lower than the second roughness or the first roughness to reduce processing costs.

[0081] Figure 7 The diagram shows an example structure of an optomechanical structure provided in some embodiments of this disclosure. Figure 8 This diagram illustrates a disassembled example of an optomechanical structure provided in some embodiments of the present disclosure. This optomechanical structure, also known as an optomechanical module, is housed within the housing of a lidar unit. It houses multiple optical components for the lidar, ensuring that the mounting positions of these components meet the optical path design requirements of the lidar. This improves the stability of the lidar's optical system, prevents changes in the positions of the optical components during use that could affect the lidar's optical path, and prevents a decrease in the lidar's optical performance due to changes in the optical path.

[0082] Please refer to Figure 7 and Figure 8 The optomechanical structure 700 includes, for example, a frame 71, which includes a mounting platform 711 located on the transmitting and receiving optical paths of the lidar. Optical elements 300 are mounted on the mounting platform 711 to share the transmitting and receiving optical paths, thus achieving optical path separation. The optomechanical structure 700 may also include other optical elements. For example, it may include one or more of optical elements 710, 720, 730, 740, and 750. Optical elements 710 and 720 may, for example, include mirrors. Optical elements 730, 740, and 750 may, for example, include lenses. At least one circuit board may also be provided on the optomechanical structure 700; for example, a circuit board 72 is provided, on which a laser receiving circuit or a laser transmitting circuit is provided.

[0083] In some embodiments of this disclosure, the first optical path includes, for example, the receiving optical path of a lidar; the second optical path includes, for example, the emitting optical path of a lidar. A laser emits a laser beam. The laser beam is shaped by the optical path adjustment of at least one optical element and directed toward the second surface 312 of optical element 300. For example, the laser beam is reflected by optical element 720 and directed toward optical element 730; optical element 730 shapes the laser beam and directs it toward the second surface 312 of optical element 300. The laser beam passes through opening 320; the laser beam passing through opening 320 can be emitted from the lidar by the optical path adjustment of at least one optical element. For example, the laser beam is shaped by optical element 740 and then emitted or directed toward a scanning optical element; the scanning optical element can adjust the emission angle of the laser beam from the lidar. After the emitted laser beam encounters an object, it is reflected by the object's surface, and at least a portion of the reflected light (hereinafter referred to as the echo) returns to the lidar. The echo is shaped by the optical path adjustment of at least one optical element and directed toward the first surface 311 of optical element 300. For example, after being shaped by optical element 740, the echo is directed toward the first surface 311 of optical element 300. After being reflected by the first surface 311, it can be directed toward the detector through the optical path adjustment of at least one optical element. For example, after being shaped by optical element 750 and reflected by optical element 710, the echo is directed toward the detector.

[0084] When the first optical path includes the transmitting optical path of the lidar and the second optical path includes the receiving optical path of the lidar, the above description can be used as a reference. The difference is that the optical paths of the laser and the echo are opposite.

[0085] In some embodiments of this disclosure, the optomechanical structure 700 further includes a light-blocking plate 760 disposed adjacent to the second surface 312 of the optical element 300. The light-blocking plate 760 reduces laser leakage, further suppresses stray light, and improves the detection performance of the lidar. During installation, the first sidewall 314 and the second sidewall 315 of the optical element 300 can be used to avoid the light-blocking plate 760, making the optomechanical structure 700 more compact and reducing the overall size of the lidar.

[0086] This disclosure does not limit the mounting method of the optical element 300 on the mounting platform 711. For example, the optical element 300 can be fixedly connected to the mounting platform 711 by a mechanical connection structure. Alternatively, the optical element 300 can be fixedly connected to the mounting platform 711 by adhesive bonding. Adhesive bonding can further reduce the cost of the lidar.

[0087] The following describes several adhesion methods with reference to the accompanying drawings.

[0088] Figure 9A A three-dimensional example of an optical element mounting provided in some embodiments of this disclosure is shown. Figure 9BA side view of an example optical element mounting structure provided in some embodiments of this disclosure is shown. Please refer to... Figure 9A and Figure 9B The mounting platform 910 is provided with bosses 911 to form adhesive grooves 912 between the bosses 911. By applying adhesive in the adhesive grooves 912, the first surface 311 of the optical element 300 is fixed to the mounting platform 910 using adhesive.

[0089] Figure 10A A perspective view of another optical element mounting structure provided in some embodiments of this disclosure is shown. Figure 10B A side view of another optical element mounting structure provided in some embodiments of this disclosure is shown. Please refer to... Figure 10A and Figure 10B , and Figure 9A , Figure 9B The difference in the embodiment shown is that no boss is provided on the mounting platform 910. Adhesive is applied directly to the first surface 311 of the optical element 300, and the first surface 311 of the optical element 300 is fixed to the mounting platform 101 using adhesive 102.

[0090] Figure 11A A perspective view of another optical element mounting structure provided in some embodiments of this disclosure is shown. Figure 11B A side view of another optical element mounting structure provided in some embodiments of this disclosure is shown. Please refer to... Figure 11A and Figure 11B The mounting platform 111 includes a support edge 1111. An optical element 300 is mounted on the mounting platform 111. The optical element 300 also includes a third sidewall 316 and a fourth sidewall 317. A first surface 311 and a second surface 312 are opposite each other. The third sidewall 316 is located on the first side of the optical element 300 and intersects with the first surface 311 and the second surface 312. The fourth sidewall 317 is located on the second side of the optical element 300 and intersects with the first surface 311 and the second surface 312. The first surface 311 is supported on the support edge 1111 of the mounting platform 111, and the optical element 300 includes a dispensing area for applying adhesive 112, by which the optical element 300 is fixed to the mounting platform 111.

[0091] In some embodiments of this disclosure, the dispensing area is located on the third sidewall 316 and the fourth sidewall 317, and the adhesive 112 fixes the optical element 300 to the bearing edge 1111 through the third sidewall 316 and the fourth sidewall 317. Thus, when the adhesive 112 in the dispensing area cures and shrinks, or shrinks at low temperatures, it generates a lateral tensile force on the optical element 300, having a smaller impact on the first surface 311 of the optical element 300, resulting in less change in the surface shape of the first surface 311. The first surface 311 of the optical element 300, for example, is the reflective working surface of a beam splitter. Reducing the change in the surface shape of the first surface 311 can reduce the impact of the optical element 300 on the receiving or transmitting optical path of the lidar, reduce the deviation between the actual optical path and the theoretical design, and improve the detection performance of the lidar.

[0092] Please continue to refer to this. Figure 11A and Figure 11B In some embodiments of this disclosure, the bearing edge 1111 includes a first edge E1 and a second edge E2. A third sidewall 316 intersects with the first edge E1, and adhesive 112 fixes the third sidewall 316 to the first edge E1. A fourth sidewall 317 intersects with the second edge E2, and adhesive 112 fixes the fourth sidewall 317 to the second edge E2. The intersection of the third sidewall 316 on the first edge E1 and the intersection of the fourth sidewall 317 on the second edge E2 can form dispensing positions, facilitating dispensing operations and benefiting automated assembly.

[0093] The first edge E1 and the second edge E2 can be disposed on opposite sides or adjacent sides of the mounting platform 111. For example, referring to FIG11, in some embodiments of this disclosure, the first edge E1 and the second edge E2 can be disposed on opposite sides of the mounting platform 111, and the third sidewall 316 and the fourth sidewall 317 are located on opposite sides of the optical element 300. This arrangement allows the optical element 300 to be subjected to a more uniform force when the adhesive 112 cures and shrinks or shrinks at low temperatures, further reducing the surface shape change of the optical element 300, making the actual optical path of the lidar less affected, and further improving the detection performance of the lidar.

[0094] For any of the optical elements 300 provided in the above embodiments, when the cross-sectional shape of the opening 320 is elliptical or racetrack-shaped, the third sidewall 316 and the fourth sidewall 317 may be disposed opposite each other in the minor axis direction of the opening 320. Alternatively, the third sidewall 316 and the fourth sidewall 317 may be disposed opposite each other in the major axis direction of the opening 320, and the embodiments of this disclosure do not limit this.

[0095] use Figure 11A and Figure 11BThe installation scheme shown can reduce the impact of adhesive curing shrinkage on the surface shape of optical components during installation; or it can reduce the impact of ambient temperature on the surface shape of optical components during lidar use, thereby reducing the deviation between the optical path and the theoretical design during lidar use and improving the detection performance of lidar.

[0096] Figure 12A A perspective view of a mounting structure for another optical element provided in some embodiments of this disclosure is shown. Figure 12B A cross-sectional example of a mounting structure for another optical element provided in some embodiments of this disclosure is shown. Please refer to... Figure 12A and Figure 12B The mounting platform 121 includes a support edge 1211. An optical element 300 is mounted on the mounting platform 121. The optical element 300 also includes a third sidewall 316 and a fourth sidewall 317. A first surface 311 and a second surface 312 face each other. The third sidewall 316 is located on the first side of the optical element 300 and intersects with the first surface 311 and the second surface 312. The fourth sidewall 317 is located on the second side of the optical element 300 and intersects with the first surface 311 and the second surface 312. The first surface 311 is supported on the support edge 1211 of the mounting platform 121, and the optical element 300 includes a dispensing area for applying adhesive 122, which fixes the optical element 300 to the mounting platform 121. The dispensing area may be located on the second surface 312, and the adhesive 122 fixes the optical element 320 to the support edge 1211 via the second surface 322. When the adhesive 122 in the dispensing area cures and shrinks, or shrinks at low temperatures, it exerts a pulling force on the second surface 312 of the optical element 300 (e.g., the non-reflective working surface of a beam splitter). Compared to Figure 9A , Figure 9B ,as well as Figure 10A , Figure 10B The dispensing scheme shown in this embodiment has a smaller impact on the surface shape of the optical element 300, especially the surface shape of the first surface 311 (e.g., the reflective working surface of the beam splitter), when the adhesive 122 shrinks. This can reduce the impact of the optical element 300 on the receiving or transmitting optical path of the lidar, reduce the deviation between the actual optical path and the theoretical design, and improve the detection performance of the lidar.

[0097] Please continue to refer to this. Figure 12A and Figure 12BIn some embodiments of this disclosure, a first flange 1212 and a second flange 1213 may also be provided on the bearing edge 1211. The first flange 1212 and the second flange 1213 protrude from the bearing edge 1211. The dispensing area may, for example, include a first region A1 and a second region A2 located on the second surface 312; the first region A1 intersects with the third sidewall 316, and the second region A2 intersects with the fourth sidewall 317. The adhesive 122 includes a first portion located in the first region A1 and a second portion located in the second region A2; the first portion fixes the first flange 1212 and the second surface 312 together, and the second portion fixes the second flange 1213 and the second surface 312 together.

[0098] The above embodiments provide an additional adhesion structure for the adhesive 122 by setting a first flange 1212 and a second flange 1213 that protrude from the bearing edge 1211. This facilitates the stable bonding of optical components to the bearing edge 1211 by dispensing adhesive on the non-bearing surface, resulting in better fixation, greater connection strength, improved optical structure stability of the lidar, and improved long-term stable operation of the lidar.

[0099] The first flange 1212 and the second flange 1213 can be disposed on opposite sides or adjacent sides of the mounting platform 121. For example, referring to FIG12, in some embodiments of this disclosure, the first flange 1212 and the second flange 1213 can be disposed on opposite sides of the mounting platform 121. The first region A1 and the second region A2 are located at opposite edge regions of the second surface 312. This arrangement allows the optical element 300 to be subjected to a more uniform force when the adhesive 122 cures and shrinks or shrinks at low temperatures, further reducing the surface shape change of the optical element 300, making the actual optical path of the lidar less affected, and further improving the detection performance of the lidar.

[0100] In some embodiments of this disclosure, the first and second sides of the optical element 300 are opposite each other, that is, the third sidewall 316 and the fourth sidewall 317 are located on opposite sides of the optical element 300. The first region A1 is in contact with the first flange 1212, and the second region A2 is in contact with the second flange 1213. That is, the third sidewall 316 abuts against the first flange 1212, and the fourth sidewall 317 abuts against the second flange 1213. In this way, a dispensing position can be formed at the abutment position, which facilitates the dispensing operation and reduces the occurrence of dispensing position displacement during the dispensing process. In addition, the sidewall of the optical element 300 can abut against the flange, making the connection between the optical element 300 and the mounting stage 121 more reliable, and reducing the possible movement of the optical element 300 during the dispensing process, further reducing the impact on the optical path of the lidar.

[0101] For any of the optical elements 300 provided in the above embodiments, when the cross-sectional shape of the opening 320 is elliptical or racetrack-shaped, the first region A1 and the second region A2 can be disposed opposite to each other in the minor axis direction or the major axis direction of the opening 320.

[0102] above Figure 11A , Figure 11B The installation scheme shown, or Figure 12A , Figure 12B The installation scheme shown is compared to Figure 9A , Figure 9B ,as well as Figure 10A , Figure 10B The installation scheme shown reduces the impact of changes in the optical component's surface shape on the lidar's optical path (receiving or transmitting), both during lidar production and operation, thereby improving the lidar's detection performance. Furthermore, the adhesive bonding method reduces installation costs and provides better stability between the optical component and the mounting platform during use, preventing positional shifts in the optical component from causing a decrease in lidar detection performance.

[0103] In the above installation scheme, the optical element is a beam splitter as an example, but the embodiments disclosed herein are not limited to this and can also be used for the installation of other optical elements that are more sensitive to surface shape.

[0104] For ease of illustration, the mounting stage in the above embodiments has been simplified. The mounting stage in the optomechanical structure can be adapted to the design of the optomechanical structure. The embodiments disclosed herein do not impose any restrictions on the mounting stage.

[0105] This disclosure also provides a lidar, including a housing, a laser, a detector, and an optical element 300 provided in any of the above embodiments. The laser, detector, and optical element 300 are all disposed within the housing. The laser is configured to emit a laser beam, which exits from the lidar via the optical element 300. The detector is configured to receive the echo of the laser beam, which is received by the detector via the optical element 300.

[0106] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, "first lidar" may include one lidar or multiple lidars.

[0107] "Multiple" includes two or more, and other classifiers are similar.

[0108] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0109] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. An optical element, characterized in that, For use in lidar, the optical element includes: The main body includes a first surface and a second surface, the first surface and the second surface being opposite to each other; the main body is provided with an opening that penetrates through the first surface and the second surface. The first surface is configured to receive and reflect light in a first optical path; the second surface is configured to receive light in a second optical path and transmit light in the second optical path through the opening. The first optical path includes the receiving optical path of the lidar, the second optical path includes the transmitting optical path of the lidar, and the cross-sectional dimension of the opening on the first surface is smaller than the cross-sectional dimension of the opening on the second surface; or, The first optical path includes the transmitting optical path of the lidar, the second optical path includes the receiving optical path of the lidar, and the cross-sectional dimension of the opening on the first surface is larger than the cross-sectional dimension of the opening on the second surface.

2. The optical element according to claim 1, characterized in that, The main body is made of plastic.

3. The optical element according to claim 2, characterized in that, A reflective film is provided on the first surface, which is used to reflect light in the first optical path, wherein the reflective film includes a metal film.

4. The optical element according to claim 2 or 3, characterized in that, The reflectivity of the second surface is less than or equal to 15%.

5. The optical element according to any one of claims 1-4, characterized in that, The inner wall of the opening includes a first segment, the cross-sectional dimensions of which change linearly from the first surface to the second surface.

6. The optical element according to claim 5, characterized in that, The tilt angle of the first segment relative to the second surface is greater than or equal to 30 degrees and less than or equal to 60 degrees.

7. The optical element according to any one of claims 1-6, characterized in that, The inner wall of the opening has a first roughness, and the second surface has a second roughness.

8. The optical element according to claim 7, characterized in that, The first roughness is greater than or equal to 3.2 micrometers and less than or equal to 18 micrometers; The second roughness is greater than or equal to 3.2 micrometers and less than or equal to 18 micrometers.

9. The optical element according to any one of claims 1-8, characterized in that, At least one of the inner wall of the opening or the second surface is provided with a colored coating with a light transmittance of not more than 10%; or, The plastic includes colored plastics with a light transmittance of no more than 10%.

10. The optical element according to any one of claims 1-9, characterized in that, At least one of the inner wall of the opening or the second surface is provided with a black coating; or, The plastic includes black plastic.

11. The optical element according to any one of claims 1-10, characterized in that, The opening has an elliptical or racetrack-shaped cross-section on the first surface and a cross-section on the second surface.

12. The optical element according to any one of claims 1-11, characterized in that, The main body also includes a first sidewall and a second sidewall, which are disposed opposite to each other on both sides of the first surface and the second surface; Furthermore, the first sidewall has a first chamfer relative to the second surface, and the second sidewall has a second chamfer relative to the second surface, with the first chamfer and the second chamfer being greater than 90 degrees.

13. The optical element according to claim 12, characterized in that, The first sidewall and the second sidewall have a third roughness, which is less than the first roughness of the inner wall of the opening or the second roughness of the second surface.

14. An optomechanical structure, characterized in that, For use in lidar, including: The rack, including the mounting platform, is located on the transmitting and receiving optical paths of the lidar; The optical element as described in any one of claims 1-13 is disposed on the mounting platform.

15. A lidar, characterized in that, include: case; The optical element as described in any one of claims 1-13 is disposed within the housing; A laser, disposed within the housing, is configured to emit a laser beam, which exits from the lidar via the optical element; A detector, disposed within the housing, is configured to receive the echo of the laser, the echo being received by the detector via the optical element.

16. A vehicle, characterized in that, Including the lidar as described in claim 15.

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