Laser radar

Abstract

The utility model provides a laser radar, which comprises a transmitter, a receiver, an optical splitter and an optical device, and is characterized in that the transmitter is configured to generate detection light, and the receiver is configured to be echo light formed by reflection of the detection light through an object; the optical splitter is configured to separate a light path of the echo light from a light path of the detection light; the optical device includes: a common lens group configured to transmit the probe light and the echo light, and to converge the echo light to the receiver; and an emission lens group, wherein the emission lens group and the common lens group are configured to collimate the probe light. The laser radar is provided with the common lens group, so that the number of non-common optical devices at the transmitting end and the receiving end in the laser radar can be reduced, the structure of the laser radar can be simplified, and the influence of the tolerance of the optical devices in the laser radar on the performance of the laser radar can be reduced.

Description

Technical Field

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

[0002] LiDAR is a conventional distance-measuring sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in unmanned driving, intelligent robots, drones, etc. Autonomous driving technology is developing rapidly, and LiDAR is the core sensor of autonomous driving.

[0003] In a laser radar, the reflective surface of the scanner reflects the light beam to form a scanning beam for three-dimensional space scanning. The laser radar scanner realizes the scanning beam scanning within the field of view of the laser radar through the reciprocating motion of the reflective surface.

[0004] However, it is difficult for existing laser radars to achieve a balance between ensuring detection performance and simplifying the structure and reducing the difficulty of installation and adjustment. Utility Model Content

[0005] The problem solved by the present disclosure is how to simplify the structure of the laser radar and reduce the difficulty of installation and adjustment while ensuring the detection performance of the laser radar.

[0006] In order to solve the above problems, the present disclosure provides a laser radar, comprising:

[0007] A transmitter and a receiver, wherein the transmitter is configured to generate a detection light, and the receiver is configured to generate an echo light formed by the detection light reflected by an object; a spectrometer, wherein the spectrometer is configured to separate the optical path of the echo light from the optical path of the detection light; an optical device, wherein the optical device comprises: a common lens group, wherein the common lens group is configured to transmit the detection light and the echo light; the common lens group is also configured to converge the echo light to the receiver; and an emission lens group, wherein the emission lens group is located in the optical path between the transmitter and the spectrometer, and the emission lens group and the common lens group are configured to collimate the detection light.

[0008] Optionally, the optical center of the beam splitter is located within an aperture stop formed by the detection light passing through the emitting lens group.

[0009] Optionally, the focal point of the emitting lens group is located at the center of the aperture stop.

[0010] Optionally, the transmitting lens group is configured to compress the divergence angle of the detection light generated by the transmitter.

[0011] Optionally, the detection light transmits the emission lens group and the common lens group in sequence to form a telecentric optical path.

[0012] Optionally, the angle between the main ray of the detection light and the optical axis of the emitting lens group is less than 5°.

[0013] Optionally, all lenses of the emitting lens group are positive lenses.

[0014] Optionally, the optical device further includes: a receiving lens group, wherein the receiving lens group is located in the optical path between the receiver and the beam splitter, and the receiving lens group and the common lens group cooperate to converge the echo light to the receiver.

[0015] Optionally, all lenses of the receiving lens group are positive lenses.

[0016] Optionally, the laser radar further includes: a receiving reflector, wherein the receiving reflector is located between the receiving lens group and the receiver to change the optical path of the echo light.

[0017] Optionally, the laser radar further includes: a transmitting reflector, wherein the transmitting reflector is located between the transmitting lens group and the transmitter to change the optical path of the detection light.

[0018] Optionally, the receiver includes: 1 detector, the detector is a two-dimensional array detector, the two-dimensional array detector includes: a plurality of detection areas, and the plurality of detection areas correspond one-to-one to the plurality of lasers of the transmitter.

[0019] Optionally, the receiver includes: a plurality of detectors, and the plurality of detectors correspond one-to-one to the plurality of lasers of the transmitter.

[0020] Optionally, the plurality of detectors are arranged in an array; the detectors in adjacent columns are staggered along the column direction, or the detectors in adjacent rows are staggered along the row direction.

[0021] Optionally, the receiver includes a plurality of detector groups, each of which includes a plurality of detectors, and the plurality of detector groups correspond one-to-one to the plurality of lasers of the transmitter.

[0022] Optionally, multiple detector groups are arranged along the row direction, multiple detectors in the same detector group are arranged along the column direction, and detectors of adjacent detector groups are staggered along the column direction; or, multiple detector groups are arranged along the column direction, multiple detectors in the same detector group are arranged along the row direction, and detectors of adjacent detector groups are staggered along the row direction.

[0023] Optionally, the laser radar further includes: a light homogenizer, wherein the light homogenizer is located in the optical path of the detection light.

[0024] Optionally, the laser in the transmitter and the detector in the receiver are arranged on the same circuit board.

[0025] Optionally, the beam splitter comprises an aperture reflector or a partial reflector.

[0026] Optionally, the optical center of the beam splitter is the center of the opening of the aperture reflector; or, the optical center of the beam splitter is the center of the transmission area in the partial reflector.

[0027] Optionally, it also includes: a scanner, which is configured to emit the detection light to the outside of the laser radar and receive the echo light emitted to the spectrometer; the spectrometer transmits the detection light generated by the transmitter to the scanner, and the spectrometer also transmits the echo light received by the scanner to the receiver.

[0028] Optionally, the scanner includes: at least one reflecting surface moving around a rotation axis, and an angle between the reflecting surface and the rotation axis has a preset value.

[0029] Optionally, the scanner comprises: a plurality of the reflecting surfaces, and the angles between the plurality of reflecting surfaces and the rotating shaft are the same.

[0030] Optionally, the field of view of the laser radar includes: an edge area and a central area, the central area is located between two edge areas; the detection light reflected by adjacent reflection surfaces all covers the central area; the detection light reflected by adjacent reflection surfaces covers different edge areas.

[0031] Optionally, the scanner has an even number of reflection surfaces, wherein adjacent reflection surfaces have different angles with the rotation axis, and spaced reflection surfaces have the same angle with the rotation axis.

[0032] The technical solution disclosed in the present invention has the following advantages:

[0033] In some embodiments of the present disclosure, the optical device includes: a common lens group and a transmitting lens group, wherein the common lens group is configured to converge the echo light to the receiver, and the transmitting lens group and the common lens group are configured to collimate the detection light. The laser radar is provided with the common lens group, which can reduce the number of non-shared optical devices at the transmitting end and the receiving end of the laser radar, which is conducive to simplifying the structure of the laser radar and can reduce the influence of the tolerance of the optical devices in the laser radar on the performance of the laser radar.

[0034] In some other embodiments of the present disclosure, the optical center of the beam splitter is located within the aperture stop formed by the detection light passing through the emission lens group; the emission lens group is configured to compress the divergence angle of the detection light generated by the emitter. The arrangement of the beam splitter and the emission lens group is conducive to improving the emission efficiency of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0036] Figure 1 A functional block diagram of a first embodiment of a laser radar disclosed in the present invention is shown;

[0037] Figure 2 Shows Figure 1 The optical path structure schematic diagram of the first embodiment of the laser radar shown;

[0038] Figure 3 Shows Figure 1 A schematic diagram of the structure of the aperture reflector of the beam splitter in the first embodiment of the laser radar shown;

[0039] Figure 4 A schematic diagram showing the structure of a partial reflector of a beam splitter in a second embodiment of a laser radar disclosed herein;

[0040] Figure 5 A functional block diagram of a third embodiment of the laser radar disclosed in the present invention is shown;

[0041] Figure 6 Shows Figure 5 A schematic diagram of the optical path structure of the third embodiment of the laser radar shown;

[0042] Figure 7 Shows Figure 5 The corresponding schematic diagram of the laser and the detector in the third embodiment of the laser radar shown;

[0043] Figure 8 A functional block diagram of a fourth embodiment of the laser radar disclosed in the present invention is shown;

[0044] Fig. 9 Shows Figure 8 A schematic diagram of the optical path structure of the fourth embodiment of the laser radar shown;

[0045] Fig.10 Shows Figure 8 A schematic diagram of the field of view of the fourth embodiment of the laser radar shown;

[0046] Fig.11 Shows Figure 8 The corresponding schematic diagram of the laser and the detector in the fourth embodiment of the laser radar shown;

[0047] Fig.12 The corresponding schematic diagrams of the laser and the detector in the fifth embodiment of the laser radar disclosed in the present invention are shown. DETAILED DESCRIPTION

[0048] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0049] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0050] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0051] In the present disclosure, unless otherwise expressly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0052] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0053] As can be seen from the background technology, it is difficult for the laser radar in the prior art to simplify the structure of the laser radar and reduce the difficulty of installation and adjustment while ensuring the detection performance.

[0054] To solve the technical problem, the present disclosure provides a laser radar, comprising: a transmitter, a scanner and a receiver; a transmitter and a receiver, wherein the transmitter is configured to generate detection light, and the receiver is configured to generate echo light formed by the detection light reflected by an object; a spectrometer, wherein the spectrometer is configured to separate the optical path of the echo light from the optical path of the detection light; an optical device, wherein the optical device comprises: a common lens group, wherein the common lens group is located in the optical path between the spectrometer and the scanner, and wherein the common lens group is configured to converge the echo light to the receiver; and an emitting lens group, wherein the emitting lens group is located in the optical path between the transmitter and the spectrometer, and wherein the emitting lens group and the common lens group are configured to collimate the detection light.

[0055] The laser radar disclosed in the present invention is provided with the shared lens group, which can reduce the number of non-shared optical devices at the transmitting end and the receiving end of the laser radar, is beneficial to simplifying the structure of the laser radar, and can reduce the impact of the tolerance of the optical devices in the laser radar on the performance of the laser radar.

[0056] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0057] refer to Figure 1 , showing a functional block diagram of the first embodiment of the laser radar disclosed in the present invention.

[0058] Combined with reference Figure 2 , showing Figure 1 Schematic diagram of the optical path structure of the first embodiment of the laser radar.

[0059] The laser radar includes: a transmitter 110 and a receiver 120, wherein the transmitter 110 is configured to generate detection light, and the receiver 120 is configured to generate echo light formed by the detection light reflected by an object; a spectrometer 130, wherein the spectrometer 130 is configured to separate the optical path of the echo light from the optical path of the detection light; an optical device, wherein the optical device includes: a common lens group 141, wherein the common lens group 141 is configured to transmit the detection light and the echo light; the common lens group 141 is also configured to converge the echo light to the receiver 120; an emitting lens group 142, wherein the emitting lens group 142 is located in the optical path between the transmitter 110 and the spectrometer 130, and the emitting lens group 142 and the common lens group 141 are configured to collimate the detection light.

[0060] The specific technical solution of the laser radar embodiment is described in detail below with reference to the accompanying drawings.

[0061] The emitter 110 is used to generate detection light.

[0062] In some embodiments, the transmitter 110 includes a plurality of lasers, each of which generates a beam of detection light, and the emission areas formed by the detection light in the field of view of the laser radar do not overlap. For example, the plurality of lasers are arranged along a preset first direction so that the formed detection light covers the vertical field of view of the laser radar, for example, the entire emission area formed by the detection light formed by the plurality of lasers in the field of view of the laser radar matches the vertical field of view of the laser radar, wherein the first direction corresponds to the direction of the vertical field of view of the laser radar.

[0063] In some embodiments, the laser may be a vertical cavity surface emitting laser (VCSEL). In other embodiments of the present disclosure, the laser may also be an edge emitting laser (EEL), or other light emitters capable of generating laser light. The wavelength of the laser emitted by the laser may be any one of 905 nm, 940 nm or 1550 nm, and the laser may also emit laser light of other wavelengths.

[0064] The receiver 120 receives the echo light generated by the detection light being reflected by the object.

[0065] In some embodiments of the present disclosure, the receiver 120 includes: 1 detector, which is a two-dimensional array detector, and the two-dimensional array detector includes: multiple detection areas, and the multiple detection areas correspond one-to-one to the multiple lasers of the transmitter 110.

[0066] For example, the two-dimensional array detector includes a plurality of detectors arranged in two dimensions, and the plurality of detectors are activated by two-dimensional addressing to receive echo light. The detector may be a single-photon detector, and the single-photon detector may be a single-photon avalanche diode (SPAD) or a silicon photomultiplier (SiPM).

[0067] Each of the detection areas includes a plurality of pixels. The pixels include a plurality of SPADs, for example, each of the pixels includes 2×2 or 3×3 SPADs, and each of the pixels (4 or 9 SPADs) is individually strobed to output a signal for subsequent circuit collection and processing. In other embodiments of the present disclosure, each of the detection areas includes a plurality of detectors. For example, SPADs, each of the detectors is individually strobed to output a signal for subsequent circuit collection and processing.

[0068] The multiple detection areas in the two-dimensional array detector are detected in a time-sharing activation manner, each pixel in the detection area is selected and controlled in an independent addressing manner, and multiple SPADs (2×2 or 3×3 SPADs) are activated simultaneously as a pixel, so that the laser radar can produce a higher point cloud density.

[0069] In some embodiments, the two-dimensional array detector further includes: a compensation area, wherein the compensation area surrounds the plurality of detection areas.

[0070] The compensation area includes a plurality of pixels. The pixels include a plurality of SPADs, for example, each pixel includes 2×2 or 3×3 SPADs, and each pixel (4 or 9 SPADs) is individually strobed to output a signal for subsequent circuit collection and processing. In other embodiments of the present disclosure, each compensation area includes a plurality of detectors. For example, SPADs, each of the detectors is individually strobed to output a signal for subsequent circuit collection and processing.

[0071] The multiple compensation areas in the two-dimensional array detector are detected by time-sharing activation, each pixel in the compensation area is gated and controlled by independent addressing, and multiple SPADs (2×2 or 3×3 SPADs) are activated simultaneously as a pixel, and the laser radar can produce a higher point cloud density. The two-dimensional array detector can achieve alignment of the emission field of view and the receiving field of view by addressing and gated the pixels of the detection area and the compensation area. The pixels in the activated compensation area and the pixels in the activated detection area cooperate to form a compensation detection area, and the compensation detection area corresponds to the laser one by one. The compensation area compensates for the deviation of the emission field of view and the receiving field of view, avoids the optical device adjustment process, and reduces the difficulty of adjustment.

[0072] It should also be noted that if Figure 1 and Figure 2 In some of the embodiments shown, a filter 121 is further provided upstream of the receiver 120 in the echo light path to suppress stray light and improve the signal-to-noise ratio.

[0073] The optical splitter 130 can separate the optical path of the echo light and the optical path of the detection light.

[0074] In some embodiments, the beam splitter 130 includes an aperture reflector or a partial reflector. Using an aperture reflector or a partial reflector for beam splitting can reduce the requirements of the laser radar on the transmitter 110. For example, the transmitter can emit circularly polarized light, and the laser radar does not use a polarization beam splitter, which is conducive to reducing costs.

[0075] like Figure 3 As shown, the beam splitter 130 includes an aperture reflector. The aperture reflector includes a reflective mirror surface 132 and an aperture 131 located in the reflective mirror surface 132. In some embodiments, the reflective mirror surface 132 and the aperture 131 are both circular and concentrically arranged.

[0076] In some embodiments, the beam splitter 130 has an optical center 133, such as Figure 3 As shown, the optical center 133 of the aperture reflector in the beam splitter 130 is the geometric center of the aperture 131 .

[0077] In some other embodiments, the beam splitter comprises a partial reflector, wherein the partial reflector comprises a reflective region and a transmissive region, wherein the transmissive region can transmit the detection light, and the reflective region can transmit the echo light, and the reflective region surrounds the transmissive region.

[0078] like Figure 4In some of the embodiments shown, the partial reflector includes a reflective region 231 and a transmissive region 232, wherein the reflective region 231 surrounds the transmissive region 232; the transmissive region 232 can transmit the detection light, and the reflective region 232 can reflect the echo light.

[0079] For example, the optical center 233 of the beam splitter is the geometric center of the area in the partial reflector that transmits the detection light. Figure 4 As shown, the optical center 233 of the beam splitter is the center of the transmission area in the partial reflector.

[0080] Continue to refer Figure 1 In some embodiments, the laser radar further includes: a scanner 160, wherein the scanner 160 is configured to emit the detection light to the outside of the laser radar and receive the echo light emitted to the spectrometer 130; the spectrometer 130 transmits the detection light generated by the transmitter 110 to the scanner 160, and the spectrometer 130 also transmits the echo light received by the scanner 160 to the receiver 120.

[0081] The multiple lasers of the transmitter 110 are arranged along the first direction; Figure 1 In some of the illustrated embodiments, the scanner 160 is a one-dimensional scanner that scans the detection light along a second direction that intersects the first direction, for example, the second direction is perpendicular to the first direction.

[0082] The scanner 160 includes at least one of a MEMS, a polygon mirror, a galvanometer mirror, or a swing mirror. The scanner 160 can reflect the detection light so that the detection light is emitted in different directions outside the laser radar to form a horizontal field of view of the laser radar. Figure 2 As shown, the scanner 160 includes: at least one reflecting surface 162 that moves around a rotation axis 163, for example, the reflecting surface 162 can rotate 360 ​​degrees, and the angle between the reflecting surface 162 and the rotation axis 163 has a preset value.

[0083] like Figure 2 In some of the illustrated embodiments, the scanner 160 includes a multi-faceted rotating mirror 161 , and the multi-faceted rotating mirror 161 includes a plurality of the reflecting surfaces, such as a reflecting surface 1621 , a reflecting surface 1622 , a reflecting surface 1623 , a reflecting surface 1624 , and a reflecting surface 1625 , and the plurality of reflecting surfaces all rotate 360° around the rotating axis 163 .

[0084] The angles between the multiple reflecting surfaces and the rotation axis 163 are not all the same, and the angle between at least one reflecting surface and the rotation axis 163 is different from the angle between the other reflecting surfaces 162 and the rotation axis 163. The angles between the reflecting surface 1621, the reflecting surface 1622, the reflecting surface 1623, the reflecting surface 1624, and the reflecting surface 1625 and the rotation axis 163 are not all the same. For example, the reflecting surface 1621, the reflecting surface 1623, and the reflecting surface 1625 and the rotation axis 163 have the same angle, which is α; the reflecting surface 1622 and the reflecting surface 1624 have the same angle, which is β; but the reflecting surface 1621 and the reflecting surface 1622 have different angles with the rotation axis 163, and the angle α is different from the angle β. Continue to refer to Figure 1 and Figure 2 The laser radar also includes an optical device, which is used to transmit the detection light and the echo light; the optical device includes a common lens group 141 and a transmitting lens group 142.

[0085] The transmitting lens group 142 is located in the optical path between the beam splitter 130 and the transmitter 110; the transmitting lens group 142 and the common lens group 141 transmit the detection light from the transmitter 110 in sequence, and the detection light is emitted from the laser radar.

[0086] like Figure 1 and Figure 2 As shown, the laser radar further includes the scanner 160, and the common lens group 141 is located in the optical path between the beam splitter 130 and the scanner 160. The detection light generated by the transmitter 110 is transmitted from the transmitting lens group 142 and the beam splitter 130 in sequence, and is transmitted to the common lens group 141. The detection light transmitted by the beam splitter 130 is transmitted through the common lens group 141 and reflected by the scanner 160 to the outside of the laser radar, and the detection light is emitted from the laser radar.

[0087] The transmitting optical system in the laser radar includes the common lens group 141 and the transmitting lens group 142. The transmitting optical system adjusts the optical path of the detection light and shapes and collimates the detection light. The transmitting lens group 142 includes at least one lens, and the common lens group 141 includes at least one lens. The optical parameters of the lenses of the transmitting lens group 142 and the lenses of the common lens group 141 are determined based on the emission requirements of the detection light. Figure 2 In some of the embodiments shown, the emitting lens group 142 includes 1 to 3 lenses, and the shared lens group 14 includes 1 to 3 lenses.

[0088] In some embodiments of the present disclosure, the transmitting lens group 142 compresses the divergence angle of the detection light generated by the transmitter 110 so that the detection light is transmitted to the optical center or near the optical center of the beam splitter 130, for example Figure 3 The opening 131 of the aperture reflector is the optical center of the beam splitter. Figure 4 The transmission area 232 of the partial reflector shown is the optical center of the beam splitter, so that as much detection light as possible can be emitted from the beam splitter 130, which is beneficial to improving the emission efficiency of the laser radar.

[0089] In some embodiments, the optical center of the beam splitter 130 is located within the aperture stop formed by the detection light passing through the emission lens group 142 .

[0090] It should be noted that, in some embodiments of the present disclosure, the transmitter 110 is located on the focal plane of the transmitting lens group 142 .

[0091] In some embodiments of the present disclosure, the transmitting optical system includes a telecentric lens, and the detection light sequentially transmits the transmitting lens group 142 and the common lens group 141 to form a telecentric optical path. In some embodiments, the angle between the main ray of the detection light and the optical axis of the transmitting lens group 142 is less than 5° to ensure the telecentricity of the telecentric optical path and the detection performance of the laser radar.

[0092] like Figure 2 In some of the embodiments shown, the lenses of the emission lens group 142 are all positive lenses to compress the divergence angle of the detection light and ensure the telecentricity of the optical path of the detection light. The emission lens group 142 is a positive lens group, and 1 to 3 lenses in the emission lens group 142 are all positive lenses. The focal length of the emission lens group 142 is short, which can effectively compress the optical path length of the laser radar along the propagation direction of the detection light, which is conducive to the miniaturization of the laser radar.

[0093] The emitted detection light is reflected outside the laser radar to form echo light, and the scanner 160 of the laser radar receives the echo light and reflects the received echo light toward the common lens group 141. The common lens group 141 converges the echo light to the receiver 120.

[0094] The common lens group 141 is used to form a receiving lens of the laser radar optical system. Specifically, the common lens group 141 has at least one lens; the selection and design of the lens of the common lens group 141 are determined based on the reception requirements of the echo light.

[0095] Since the lenses of the common lens group 141 are used for both converging the echo light and collimating the detection light, the selection and design of the lenses of the common lens group 141 take into account both the emission requirements of the detection light and the reception requirements of the echo light.

[0096] like Figure 1 and Figure 2 In some of the embodiments shown, the optical device also includes: a receiving lens group 143, wherein the receiving lens group 143 is located in the optical path between the receiver 120 and the beam splitter 130, and the receiving lens group 143 and the common lens group 141 cooperate to converge the echo light to the receiver 120.

[0097] Figure 1 and Figure 2 In some of the embodiments shown, the receiving lens group 143 cooperates with the common lens group 141 to form a receiving lens group of the laser radar optical system to adjust the optical path of the echo light so that the echo light converges to the receiver 120.

[0098] The receiving lens group 142 has at least one lens, and the selection and design of the lens of the transmitting lens group 142 is determined based on the emission requirements of the detection light and in combination with the lens of the common lens group 141. Figure 2 In some of the embodiments shown, the receiving lens group 143 has 1 to 3 lenses.

[0099] like Figure 2 In some embodiments shown, the lenses of the receiving lens group 143 are all positive lenses, so that the receiving lens group 143 and the common lens group 141 cooperate to converge the echo light. The receiving lens group 143 is a positive lens group, and 1 to 3 lenses in the receiving lens group 143 are all positive lenses.

[0100] The lenses in the receiving lens group 143 are all convex lenses that converge light. The focal length of the receiving lens group 143 is short, which can effectively compress the optical path length of the laser radar along the propagation direction of the echo light, which is conducive to the miniaturization of the laser radar.

[0101] It should be noted that, in some embodiments, a filter 121 is further provided in the optical path upstream of the receiver 120; Figure 1 and Figure 2 As shown, the filter 121 is located in the optical path between the receiving lens group 143 and the receiver 120 .

[0102] refer to Figure 5 , showing a functional block diagram of another embodiment of the laser radar disclosed in the present invention.

[0103] Combined with reference Figure 6 , showing Figure 5 Schematic diagram of the optical path structure of the laser radar embodiment shown.

[0104] The same as the above embodiment, the present disclosure will not repeat it here. The difference from the above embodiment is that: Figure 5 and Figure 6 In some of the illustrated embodiments, the laser radar further includes: an emission reflector 245, wherein the emission reflector 245 is located between the emission lens group 242 and the transmitter 210 to change the optical path of the detection light.

[0105] By setting the transmitting reflector 245, the light path is redirected to other directions of the laser radar, thereby compressing the space occupied by the optical device in the laser radar.

[0106] like Figure 6 In some of the embodiments shown, the transmitter 210 generates a cross section of a light path direction of the detection light parallel to the light path direction of the echo light incident on the receiver 220, and the detection light and the echo light are not coplanar.

[0107] It should be noted that Figure 5 and Figure 6 Some of the embodiments shown are also different from the aforementioned embodiments in that the scanner 260 includes a swinging mirror, which includes a reciprocatingly swinging reflecting surface 261, and the swinging mirror is capable of scanning the detection light along a second direction, which intersects with the first direction, and the swinging mirror scans the detection light along the second direction to form a horizontal field of view of the laser radar.

[0108] In some embodiments of the present disclosure, the receiver 220 includes: a plurality of detectors (including detectors 221a and detectors 221b), and the plurality of detectors correspond one-to-one with the plurality of lasers (including lasers 211a and lasers 211b) of the transmitter 210, such as laser 211a corresponds to detector 221a, laser 211b corresponds to detector 221b, and the corresponding laser's emission field of view matches the detector's receiving field of view. In some embodiments, the plurality of detectors 221 are arranged in an array; the detectors 221 of adjacent columns are staggered along the column direction, or the detectors of adjacent rows are staggered along the row direction. The column direction of the detector arrangement corresponds to the first direction and corresponds to the vertical field of view direction of the laser radar. The row direction of the detector arrangement corresponds to the second direction and corresponds to the horizontal field of view direction of the laser radar.

[0109] like Figure 7As shown, the multiple detectors of the receiver 220 are arranged in an array. The multiple detectors 221a are arranged along the column direction, and the multiple detectors 221b are arranged along the column direction. The column where the detector 221a is located is adjacent to the column where the detector 221b is located along the row direction. Along the row direction, no other detectors are arranged between the column formed by the detector 221a and the column formed by the detector 221b. Along the column direction, the detector 221a is located between two adjacent detectors 221b, and the detector 221b is located between two adjacent detectors 221a.

[0110] The multiple lasers of the transmitter 210 correspond one-to-one to the multiple detectors. Figure 7 In some embodiments shown, a plurality of the lasers 211a are arranged in the column direction, a plurality of the lasers 211b are arranged in the column direction, a column formed by the lasers 211a and a column formed by the lasers 211b are adjacent in the row direction, and no other lasers are arranged between the column formed by the lasers 211a and the column formed by the lasers 211b in the row direction. Moreover, in the column direction, the laser 211a is located between two adjacent lasers 211b, and the laser 211b is located between two adjacent lasers 211a.

[0111] It should be noted that in other embodiments of the present disclosure, detectors in adjacent rows may also be staggered along the row direction.

[0112] refer to Figure 8 , shows a functional block diagram of another embodiment of the laser radar disclosed in the present invention.

[0113] Combined with reference Fig. 9 , showing Figure 8 Schematic diagram of the optical path structure of the laser radar embodiment shown.

[0114] The same as the above embodiment, the present disclosure will not repeat it here. The difference from the above embodiment is that: Figure 8 and Fig. 9 In some of the embodiments shown, the laser radar further includes: a receiving reflector 344, wherein the receiving reflector 344 is located between the receiving lens group 343 and the receiver 320 to change the optical path of the echo light.

[0115] By setting the receiving reflector 344, the light path is redirected to other directions of the laser radar, thereby compressing the space occupied by the optical device of the laser radar.

[0116] like Figure 8 and Fig. 9In some of the illustrated embodiments, the laser radar has a transmitting reflector 345 and a receiving reflector 344, and the transmitting reflector 345 and the receiving reflector 344 make the detection light and the echo light coplanar.

[0117] In some embodiments, the laser in the transmitter 310 and the detector in the receiver 320 are disposed on the same circuit board 350 . Figure 8 and Fig. 9 In some of the embodiments shown, the laser radar has at least one of the transmitting reflector 345 and the receiving reflector 344 so that the detection light and the echo light are coplanar light rays, so that the optical path of the detection light and the optical path of the echo light are in the same plane, and the laser in the transmitter 310 and the detector in the receiver 320 are arranged on the same circuit board.

[0118] In some embodiments, the scanner 360 includes: a plurality of the reflective surfaces 362 , and the angles between the plurality of reflective surfaces 362 and the rotation axis 363 are the same.

[0119] like Figure 8 and Fig. 9 As shown, the multi-faceted rotating mirror 361 of the scanner 360 is a four-faceted mirror, and the multi-faceted rotating mirror 361 has four reflecting surfaces 362, and the angles between the four reflecting surfaces 362 and the rotating shaft 363 are not all the same; among the four reflecting surfaces 362, the angle between at least one of the reflecting surfaces 362 and the rotating shaft 363 is different from the angles between the other reflecting surfaces 362 and the rotating shaft 163.

[0120] In some embodiments, the scanner 360 has an even number of reflection surfaces 362, wherein adjacent reflection surfaces 362 have different angles with the rotation axis 363, and alternate reflection surfaces 362 have the same angle with the rotation axis 363. Fig. 9 As shown, in the polygonal mirror 361 of the scanner 360, the angles between the four reflecting surfaces 362 along the circumference of the rotation axis 363 and the rotation axis 363 are +1°, -1°, +1° and -1° respectively.

[0121] It should be noted that the positive and negative values ​​of the angle between the reflecting surface 362 and the rotating shaft 363 indicate that the directions of the angles formed by the reflecting surface 362 and the rotating shaft 363 are different. Therefore, the directions of the angles formed by the reflecting surface 362 and the rotating shaft 363 with an angle of +1° are the same, and the directions of the angles formed by the reflecting surface 362 and the rotating shaft 363 with an angle of +1° are opposite to the directions of the angles formed by the reflecting surface 362 and the rotating shaft 363 with an angle of -1°.

[0122] Fig. 9In some embodiments shown, the scanner 360 is used to scan the detection light in the horizontal direction, and the rotation axis 363 of the multi-faceted mirror 361 intersects with the horizontal plane, for example, the rotation axis 363 is perpendicular to the horizontal plane. The vertical field of view of the laser radar is -13° to +13°

[0123] In some embodiments of the present disclosure, the field of view of the laser radar includes: an edge area and a central area, the central area is located between two edge areas; the detection light reflected by adjacent reflection surfaces covers the central area; the detection light reflected by adjacent reflection surfaces covers different edge areas.

[0124] The scanner 360 is used to scan the detection light in the horizontal direction. Fig.10 As shown, the vertical field of view formed by the emitted detection light includes: a central area 305c and edge areas 305m located on both sides of the central area 305c. For example, the vertical field of view of the central area 305c ranges from -9° to +9°, the vertical field of view of the edge area 305m on the lower side ranges from -13° to -9°, and the vertical field of view of the edge area 305m on the upper side ranges from +9° to +11°. The detection light reflected by the adjacent reflection surfaces 362 can all cover the central area 305c. The detection light reflected by the adjacent reflection surfaces 362 covers the upper edge area 305m and the lower edge area 305m respectively. For example, the detection light reflected by one reflection surface 362 covers the upper edge area 305m, and the detection light reflected by another adjacent reflection surface 362 covers the lower edge area 305m. The frame rate of the central area 305c is higher, and the frame rate of the edge area 305m is lower. The central area 305c is a high frame rate area, and the edge area 305m is a low frame rate area.

[0125] By setting the angles between the multiple reflecting surfaces 362 of the multi-faceted rotating mirror 361 and the rotating axis 363, the field of view of the laser radar is expanded.

[0126] Continue to refer Figure 8 , combined with reference Fig.11 In some embodiments of the present disclosure, the receiver 320 includes a plurality of detector groups, and the detector groups include a plurality of detectors 321 , and the plurality of detector groups correspond one-to-one to the plurality of lasers 311 of the transmitter 310 .

[0127] like Fig.11 As shown, the laser 311 of the transmitter 310 is a large light-emitting surface laser, such as a VCSEL with a larger light-emitting surface. The light-emitting area of ​​the detection light generated by the laser 311 is larger, and the echo light formed by the reflection of the detection light by the object is received by multiple detectors 321 of the corresponding detector group.

[0128] In some embodiments, the plurality of detector groups are arranged along a row direction, and the plurality of detectors 321 in the same detector group are arranged along a column direction; the detectors of adjacent detector groups are staggered along the column direction.

[0129] Fig.11 Four detector groups of the receiver 320 are shown, with detector group 322a and detector group 322b as examples. The detector group 322a and the detector group 322b are arranged along the row direction x1. The multiple detectors 321 of the detector group 322a are arranged along the column direction y1, and the multiple detectors 321 of the detector group 322b are arranged along the column direction y1.

[0130] The detector group 322a and the detector group 322b are adjacent to each other along the row direction x1, and the multiple detectors 321 of the detector group 322a and the multiple detectors 321 of the detector group 322b are alternately arranged along the column direction y1.

[0131] Along the column direction y1, the detector 321 of the detector group 322a is located between the detectors 321 of two adjacent detector groups 322b, and the detector 321 of the detector group 322b is located between the detectors 321 of two adjacent detector groups 322a.

[0132] In other embodiments, the plurality of detector groups are arranged along a column direction, the plurality of detectors in the same detector group are arranged along a row direction, and the detectors of adjacent detector groups are staggered along the row direction.

[0133] In other embodiments, the detector 321 of the receiver 320 is a detector with a large photosensitive surface, such as a two-dimensional SPAD array. The detector 321 can receive echo light with a large photosensitive area. The transmitter 310 includes multiple laser groups, and the laser group includes multiple lasers 311. The multiple laser groups correspond one-to-one to the multiple detectors 321. The echo light formed by the detection light generated by the multiple lasers 311 in the laser group and reflected by the object is received by the corresponding detector 321.

[0134] It should also be noted that Fig.11 In the laser radar shown, a large emitting surface laser corresponds to a plurality of detectors 321 in a detector group. In other embodiments of the present disclosure, the laser radar may also add an optical device to reduce the emitting area of ​​the laser.

[0135] like Fig.12In some of the embodiments shown, the laser radar further includes: a light homogenizer 470, and the light homogenizer 470 is located in the optical path of the detection light. In the laser radar, the light emitting area of ​​the laser 411 in the transmitter 410 is small, and the detection light generated by one of the lasers 411 is homogenized by the light homogenizer 470 to form a detection light with a larger light spot to be emitted from the laser radar, and the echo light formed by the emitted detection light after being reflected by the object is received by the multiple detectors 421 of the receiving unit 420.

[0136] In an embodiment of the present disclosure, the optical device includes: a common lens group and a transmitting lens group, wherein the common lens group is configured to converge the echo light to the receiver, and the transmitting lens group and the common lens group are configured to collimate the detection light. The laser radar is provided with the common lens group, which can reduce the number of non-shared optical devices at the transmitting end and the receiving end of the laser radar, which is conducive to simplifying the structure of the laser radar and can reduce the influence of the tolerance of the optical devices in the laser radar on the performance of the laser radar.

[0137] Moreover, the optical center of the beam splitter is located within the aperture stop formed by the detection light passing through the transmitting lens group; the transmitting lens group is configured to compress the divergence angle of the detection light generated by the transmitter. The arrangement of the beam splitter and the transmitting lens group is conducive to improving the transmission efficiency of the laser radar.

[0138] Although the disclosure is disclosed as above, the disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the disclosure, so the protection scope of the disclosure should be based on the scope defined by the claims.

Claims

1. A laser radar, characterized in that: include: A transmitter and a receiver, wherein the transmitter is configured to generate a detection light, and the receiver is configured to receive an echo light formed by the detection light being reflected by an object; a spectrometer configured to separate a light path of the echo light from a light path of the detection light; An optical device, comprising: A common lens group, wherein the common lens group is configured to transmit the detection light and the echo light; the common lens group is also configured to converge the echo light to the receiver; An emission lens group is located in the optical path between the emitter and the beam splitter, and the emission lens group and the common lens group are configured to collimate the detection light.

2. The laser radar according to claim 1, characterized in that The optical center of the beam splitter is located within the aperture stop formed by the detection light passing through the emission lens group.

3. The laser radar according to claim 2, characterized in that The emitter is located on the focal plane of the emission lens group.

4. The laser radar according to claim 1, characterized in that The transmitting lens group is configured to compress the divergence angle of the detection light generated by the transmitter.

5. The laser radar according to claim 1, characterized in that: The detection light sequentially transmits the emission lens group and the common lens group to form a telecentric optical path.

6. The laser radar according to claim 5, characterized in that The angle between the main ray of the detection light and the optical axis of the emitting lens group is less than 5°.

7. The laser radar according to any one of claims 1 to 6, characterized in that The lenses of the emitting lens group are all positive lenses.

8. The laser radar according to any one of claims 1 to 6, characterized in that The optical device also includes: A receiving lens group is located in the optical path between the receiver and the beam splitter, and the receiving lens group and the common lens group cooperate to converge the echo light to the receiver.

9. The laser radar according to claim 8, characterized in that The lenses of the receiving lens group are all positive lenses.

10. The laser radar according to claim 8, characterized in that: The laser radar also includes: a receiving reflector, which is located between the receiving lens group and the receiver to change the optical path of the echo light.

11. The laser radar according to claim 1, characterized in that: The laser radar also includes: a transmitting reflector, which is located between the transmitting lens group and the transmitter to change the optical path of the detection light.

12. The laser radar according to claim 1, characterized in that: The receiver includes: 1 detector, the detector is a two-dimensional array detector, the two-dimensional array detector includes: a plurality of detection areas, and the plurality of detection areas correspond one-to-one to the plurality of lasers of the transmitter.

13. The laser radar according to claim 1, characterized in that: The receiver includes: a plurality of detectors, and the plurality of detectors correspond one-to-one to the plurality of lasers of the transmitter.

14. The laser radar according to claim 12, characterized in that: The plurality of detectors are arranged in an array; the detectors in adjacent columns are staggered along the column direction, or the detectors in adjacent rows are staggered along the row direction.

15. The laser radar according to claim 1, characterized in that: The receiver includes a plurality of detector groups, each of which includes a plurality of detectors, and the plurality of detector groups correspond one-to-one to the plurality of lasers of the transmitter.

16. The laser radar according to claim 15, characterized in that: A plurality of the detector groups are arranged along a row direction, a plurality of detectors in the same detector group are arranged along a column direction, and detectors of adjacent detector groups are staggered along the column direction; or, The plurality of detector groups are arranged along the column direction, the plurality of detectors in the same detector group are arranged along the row direction, and the detectors of adjacent detector groups are staggered along the row direction.

17. The laser radar according to claim 15, characterized in that: The laser radar further includes a light homogenizer, which is located in the optical path of the detection light.

18. The laser radar according to claim 1, characterized in that: The laser in the transmitter and the detector in the receiver are arranged on the same circuit board.

19. The laser radar according to claim 1, characterized in that: The beam splitter includes an aperture reflector or a partial reflector.

20. The laser radar according to claim 19, characterized in that: The optical center of the beam splitter is the center of the opening of the aperture reflector; Alternatively, the optical center of the beam splitter is the center of the transmission area in the partial reflector.

21. The laser radar according to claim 1, characterized in that: Also includes: A scanner, wherein the scanner is configured to emit the detection light to the outside of the laser radar and receive the echo light to be emitted to the spectrometer; The optical splitter transmits the detection light generated by the transmitter to the scanner, and the optical splitter also transmits the echo light received by the scanner to the receiver.

22. The laser radar according to claim 21, characterized in that The scanner comprises: at least one reflecting surface moving around a rotation axis, and the angle between the reflecting surface and the rotation axis has a preset value.

23. The laser radar according to claim 22, characterized in that: The scanner comprises: a plurality of the reflecting surfaces, and the angles between the plurality of reflecting surfaces and the rotating shaft are the same.

24. The laser radar according to claim 23, characterized in that The field of view of the laser radar includes: an edge area and a central area, wherein the central area is located between the two edge areas; The detection lights reflected by the adjacent reflection surfaces all cover the central area; The detection lights reflected by adjacent reflection surfaces cover different edge regions.

25. The laser radar according to claim 23, characterized in that: The scanner has an even number of reflection surfaces, wherein adjacent reflection surfaces have different included angles with the rotation axis, and spaced reflection surfaces have the same included angle with the rotation axis.

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