Laser radar and vehicle

Abstract

The utility model provides a laser radar and a vehicle. The laser radar comprises: an emitter configured to emit a detection beam; the receiver is configured to receive echoes generated after the detection light beams are reflected by the object; the first optical device is configured to collimate the detection light beam and transmit an echo to the receiver; and a second optic configured to vary at least one of a field of view and a maximum detection distance of the lidar, where the collimated detection beam is transmitted to the object via at least the second optic and the echo is transmitted to the first optic via at least the second optic. The laser radar disclosed by the utility model can detect a larger field of view or detect a farther distance.

Description

Technical Field

[0001] The present disclosure relates to the field of photoelectric detection, and more specifically to a laser radar and a vehicle. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of an object. LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration and other fields due to its advantages such as high resolution, good concealment, strong anti-active interference ability, good low-altitude detection performance, small size and light weight.

[0003] At present, laser radars can be divided into mechanical rotating laser radars, laser radars with scanners, and solid-state laser radars. In mechanical rotating laser radars, the transmitter and receiver can rotate 360° in the horizontal direction to form a 360° horizontal field of view. The vertical field of view and the maximum detection distance of mechanical rotating laser radars are limited by the lens parameters and the distribution of the transmitter and receiver in the vertical direction. In solid-state laser radars, the transmitter, receiver, and lens remain fixed. The field of view and the maximum detection distance of solid-state laser radars are limited by the size and lens parameters of the transmitter and receiver. In laser radars with scanners, the transmitter and receiver remain fixed. The field of view and the maximum detection distance of this laser radar are limited by the parameters of the scanner. Utility Model Content

[0004] The purpose of the present disclosure is to overcome the above-mentioned and / or other problems in the prior art, and to provide a laser radar that can detect a larger field of view or a longer distance.

[0005] Some embodiments of the present disclosure provide a laser radar. The laser radar includes: a transmitter configured to transmit a detection beam; a receiver configured to receive an echo generated by the detection beam after being reflected by an object; a first optical device configured to collimate the detection beam and transmit the echo to the receiver; and a second optical device configured to change at least one of the field of view and the maximum detection distance of the laser radar, wherein the collimated detection beam is transmitted to the object at least via the second optical device, and the echo is transmitted to the first optical device at least via the second optical device.

[0006] Optionally, the laser radar further includes: a scanner, arranged between the first optical device and the second optical device on the optical path, and configured to change the transmission direction of the detection light beam and the echo in at least one direction.

[0007] Optionally, at least one of the field of view and the maximum detection distance of the laser radar is determined based on at least one of the angular range of the scanner, the distribution of the transmitters in the vertical direction, and the distribution of the receivers in the vertical direction.

[0008] Optionally, the second optical device includes: a first lens group having positive optical power and including at least one convex lens; and a second lens group having negative optical power and including at least one concave lens.

[0009] Optionally, the first lens group is arranged between the first optical device and the second lens group in the optical path, and the second optical device is configured to expand the field of view of the laser radar.

[0010] Optionally, the second optical device is configured to expand the detection angle of the detection beam to expand the field of view of the lidar.

[0011] Optionally, the second lens group is arranged between the first optical device and the first lens group in the optical path, and the second optical device is configured to increase the maximum detection distance of the laser radar.

[0012] Optionally, the second optical device is configured to increase the optical effective aperture to increase the maximum detection distance of the laser radar, wherein the optical effective aperture determines the intensity of the echo received by the receiver.

[0013] Optionally, the second optical device includes a window of the laser radar, and the thickness of a central area of ​​the field of view of the window is different from the thickness of an edge area of ​​the field of view of the window.

[0014] Optionally, the window has negative optical power, the inner surface of the window is concave, and the outer surface of the window is flat.

[0015] Optionally, the window has positive optical power, the outer surface of the window is convex, and the inner surface of the window is flat.

[0016] Optionally, the second optical device includes a window of the laser radar, the thickness of the central area of ​​the field of view of the window is different from the thickness of the edge area of ​​the field of view of the window, the inner surface of the window is concave, and the outer surface of the window is convex.

[0017] Optionally, both the inner surface and the outer surface of the window are spherical.

[0018] Optionally, the radius of curvature of the inner surface of the window is different from the radius of curvature of the outer surface of the window.

[0019] Optionally, the second optical device includes a zoom lens group, and the focal length of the zoom lens group is adjustable.

[0020] Optionally, the zoom lens group includes at least one fixed lens and at least one movable lens, and the at least one movable lens is configured to be movable along an optical axis to change the focal length of the zoom lens group.

[0021] Optionally, the zoom lens group includes a liquid lens.

[0022] Some other embodiments of the present disclosure provide a vehicle, which includes the laser radar as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0024] Figure 1A A schematic block diagram of a laser radar according to a first exemplary embodiment of the present disclosure is shown.

[0025] Figure 1B A schematic block diagram of a laser radar according to a second exemplary embodiment of the present disclosure is shown.

[0026] Figure 1C A schematic block diagram of a laser radar according to a third exemplary embodiment of the present disclosure is shown.

[0027] Figure 2 A schematic diagram of field of view adjustment of a laser radar including a scanner according to some exemplary embodiments of the present disclosure is shown.

[0028] Figure 3 and Figure 4 The schematic structure of the second optical device according to some embodiments of the present disclosure is shown.

[0029] Figure 5 and Figure 6 The schematic structure of the second optical device according to some other embodiments of the present disclosure is shown.

[0030] Figure 7 A schematic diagram showing a laser radar window used as a second optical device according to the first embodiment of the present disclosure.

[0031] Figure 8 A schematic diagram showing a laser radar window used as a second optical device according to a second embodiment of the present disclosure is shown.

[0032] Fig.9A , Fig. 9B , Fig. 10A and Fig. 10B A schematic diagram of the viewing window of a lidar according to some embodiments of the present disclosure is shown.

[0033] Fig.11 A schematic diagram showing a laser radar window used as a second optical device according to a third embodiment of the present disclosure.

[0034] Fig.12 A schematic diagram showing a laser radar window used as a second optical device according to a fourth embodiment of the present disclosure.

[0035] Fig.13 Schematic diagrams of the viewing windows of laser radars according to other embodiments of the present disclosure are shown.

[0036] Fig.14 A schematic diagram of a zoom lens group of a laser radar according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0037] The following will describe the embodiments of the present disclosure. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present disclosure, some changes in design, manufacturing or production based on the technical content disclosed in the present disclosure are just conventional technical means, and should not be understood as insufficient content of the present disclosure.

[0038] Unless otherwise defined, the technical terms or scientific terms used in the claims and the specification shall have the usual meanings understood by persons with ordinary skills in the technical field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "one" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalent elements, and do not exclude other elements or objects. Words such as "connect", "couple" or "connected" and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0039] In the present disclosure, unless otherwise specified, all embodiments and preferred embodiments mentioned herein can be combined with each other to form a new technical solution. In the present disclosure, unless otherwise specified, all technical features and preferred features mentioned herein can be combined with each other to form a new technical solution.

[0040] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0041] The laser radar provided according to the embodiments of the present disclosure is described in detail below with reference to the accompanying drawings.

[0042] The present disclosure proposes a laser radar. The laser radar includes a transmitter configured to emit a detection beam; a receiver configured to receive an echo generated by the detection beam after being reflected by an object; a first optical device configured to collimate the detection beam and transmit the echo to the receiver; and a second optical device configured to change at least one of the field of view and the maximum detection distance of the laser radar, wherein the collimated detection beam is transmitted to the object at least via the second optical device, and the echo is transmitted to the first optical device at least via the second optical device. The optical system in the laser radar of the present disclosure includes a first optical device and a second optical device, the first optical device can collimate the detection beam and transmit the echo generated by the detection beam after being reflected by the object to the receiver, and the second optical device can change at least one of the field of view and the maximum detection distance of the laser radar to adjust the performance of the laser radar. The scheme of the present disclosure can be applied to improve various types of current laser radars, so as to flexibly configure the optical system of the laser radar according to the application scenario of the laser radar. In some embodiments, various types of laser radars may include a laser radar with a coaxial optical system or a laser radar with a non-coaxial optical system. In other embodiments, various types of laser radars may also include mechanical rotating laser radars, laser radars with scanners, or solid-state laser radars, etc.

[0043] See also Figure 1A ,in Figure 1A 1 is a schematic block diagram of a laser radar 100 according to a first exemplary embodiment of the present disclosure. The laser radar 100 may include a transmitter 110, a receiver 120, a first optical device 130, and a second optical device 140.

[0044] The transmitter 110 may include a laser or a laser array that emits a probe beam. In some embodiments of the present disclosure, the transmitter 110 may use various types of lasers, including but not limited to vertical cavity surface emitting lasers (VCSEL), edge emitting lasers (Edge-Emitting Laser, EEL), etc.

[0045] The first optical device 130 can collimate the detection beam to guide the detection beam to the outside of the laser radar 100. In some embodiments of the present disclosure, the first optical device 130 can collimate the detection beam from the transmitter 110 to form a detection beam with a vertical (y-direction) field of view angle α, as shown in Figure 1. In the present application, "collimating the detection beam" means that the first optical device 130 shapes the detection beam emitted by the transmitter 110 so that the detection beam has a smaller divergence angle, is as close to parallel as possible, and forms a specific vertical field of view angle α. The divergence angle of the collimated detection beam is very small and can be regarded as a parallel beam in practical applications. In some embodiments, the laser radar 100 may include a mechanical rotating laser radar or a solid-state laser radar, and its vertical field of view angle α may be at least partially determined by the distribution of the transmitter 110 and the receiver 120 in the vertical direction.

[0046] The receiver 120 may include a detector or a detector array that receives the echo generated by the detection beam after being reflected by the object. The receiver 120 may use various types of detectors, including but not limited to single photon avalanche diode (SPAD), avalanche photo diode (APD), silicon photomultiplier (SiPM), etc.

[0047] The first optical device 130 may transmit the echo to the receiver 120 .

[0048] The optical system of the laser radar 100 may be a non-coaxial optical system. The non-coaxial optical system may include a transmitting lens and a receiving lens. The transmitting lens may collimate the detection beam from the transmitter 110 to guide the detection beam to the outside of the laser radar 100. The receiving lens may transmit the echo to the receiver 120. The transmitting lens and the receiving lens may together constitute the first optical device 130.

[0049] The second optical device 140 can change at least one of the field of view and the maximum detection distance of the laser radar 100. In some embodiments of the present disclosure, the second optical device 140 may include one or more optical devices capable of increasing or decreasing the field of view or the maximum detection distance of the laser radar 100. The collimated detection beam can be transmitted to the object at least via the second optical device 140, and the echo can be transmitted to the first optical device 130 at least via the second optical device 140. As shown in Figure 1, the detection beam with a vertical field of view angle α can be formed into a detection beam with a vertical field of view angle β after adjustment by the second optical device 140, wherein the vertical field of view angle β may be different from the vertical field of view angle α. The vertical field of view of the laser radar 100 is limited by the distribution of the transmitter and the receiver in the vertical direction, and the second optical device 140 can be used to adjust the vertical field of view of the laser radar 100.

[0050] It should be noted that although Figure 1A The change of the vertical field of view of the laser radar 100 by the second optical device 140 is described for the vertical direction (y direction), but those skilled in the art can understand that the above method is also applicable to the change of the horizontal field of view of the laser radar 100. For example, the laser radar 100 is a solid-state laser radar, and since its field of view (including the horizontal field of view and the vertical field of view) is limited by the size of the transmitter and the receiver, the second optical device 140 can be used to adjust at least one of the horizontal field of view and the vertical field of view of the solid-state laser radar.

[0051] The optical system of the laser radar 100 may be a coaxial optical system. Figure 1B , which shows a schematic block diagram of a laser radar 100 according to a second exemplary embodiment of the present disclosure. The laser radar 100 with a coaxial optical system may include a transmitter 110, a receiver 120, a first optical device 130, a scanner 135, a second optical device 140, and a beam splitter 150. The beam splitter 150 may reflect a probe beam and transmit an echo. For example, the beam splitter 150 may include a polarization beam splitter, a beam splitting mirror, a pinhole mirror, etc.

[0052] The detection beam emitted by the transmitter 110 is reflected by the beam splitter 150 to the first optical device 130 (eg, a transmitting and receiving lens shared by both transmitting and receiving), and is shaped by the first optical device 130 and then transmitted to the scanner 135. Figure 2 In more detail, the scanner 135 can change the transmission direction of the light beam in at least one direction. Figure 1BIn the illustrated embodiment, the scanner 135 is a rotating mirror that rotates 360 degrees around a rotation axis. The detection beam reflected by the scanner 135 is transmitted to the object via the second optical device 140. The detection beam is reflected after encountering the object to form an echo, wherein the echo is transmitted to the scanner 135 through the second optical device 140. The echo reflected by the scanner 135 is converged via the first optical device 130 and transmitted via the beam splitter 150 to be detected by the receiver 120.

[0053] See also Figure 1C , which shows a schematic block diagram of a laser radar 100 according to a third exemplary embodiment of the present disclosure. The laser radar 100 with a coaxial optical system may include a transmitter 110, a receiver 120, a transmitting lens 131, a receiving lens 132, a scanner 135, a second optical device 140, and a spectrometer 150.

[0054] The detection beam emitted by the transmitter 110 is shaped by the transmitting lens 131 and then reflected by the beam splitter 150 to the scanner 135. Figure 2 In more detail, the scanner 135 can change the transmission direction of the light beam in at least one direction. Figure 1C In the illustrated embodiment, the scanner 135 is a rotating mirror that rotates 360 degrees around a rotation axis. The detection beam reflected by the scanner 135 is transmitted to the object via the second optical device 140. After encountering the object, the detection beam is reflected to form an echo, wherein the echo is transmitted to the scanner 135 through the second optical device 140. The echo reflected by the scanner 135 is transmitted through the beam splitter 150 and converged by the receiving lens 132 to be detected by the receiver 120. In this embodiment, the transmitting lens 131 and the receiving lens 132 can together constitute the first optical device.

[0055] It is understandable that the structure of the above-mentioned laser radar is only used to introduce the basic detection principle. In practical applications, the beam splitter 150 can be set to different styles, and the relative positions of the transmitter 110 and the receiver 120 can be adjusted. For example, the beam splitter 150 can be a polarizing beam splitter (PBS) or a polarizing beam splitter; in this case, the laser radar 100 can also include a wave plate (such as a quarter wave plate), which can change the polarization state of the detection beam and the echo for splitting by the polarizing beam splitter 150. For another example, the beam splitter 150 can be a beam splitter reflector; the beam splitter reflector can have a first area and a second area surrounding the first area, the transmittance of the first area can be different from the transmittance of the second area, or the reflectance of the first area can be different from the reflectance of the second area, so that the first area can be configured to reflect the detection beam, and the second area can be configured to transmit the echo.

[0056] Combined with the following Figure 2 The following describes in detail how to adjust the field of view or maximum detection range of a laser radar including a scanner. Figure 2 Only a schematic diagram of the optical path of the detection beam is shown, and those skilled in the art can understand that the optical path of the echo also follows a similar principle.

[0057] The scanner 135 may be arranged between the first optical device 130 and the second optical device 140 on the optical path. The scanner 135 may change the transmission direction of the detection beam and the echo in at least one direction. In some embodiments of the present disclosure, the scanner 135 may be a one-dimensional scanner or a two-dimensional scanner. The one-dimensional scanner may include one of a multi-faceted mirror rotating in a single direction, a reciprocating oscillating mirror, a galvanometer mirror, and a MEMS mirror. The two-dimensional scanner may be a MEMS mirror. The scanner 135 is used to adjust the transmission direction of the detection beam and the echo within a preset angle range to limit the scanning area. Figure 2 As shown, the detection beam collimated by the first optical device 130 is scanned by the scanner 135 to form detection beams with different angles, and these detection beams with different angles constitute a vertical field angle α. For the laser radar 100 including the scanner 135, its vertical field angle α can be at least partially determined by the scanning range / motion range of the scanner 135.

[0058] The second optical device 140 can change the transmission direction of the detection beam from the scanner 135, so that the parallel detection beams of different angles form a vertical field angle β after passing through the second optical device 140, wherein the vertical field angle β can be different from the vertical field angle α. Figure 2 The scanner 135 is described for scanning the detection beam in the vertical direction (y direction) to form a vertical field of view, but those skilled in the art will appreciate that the above method is also applicable to scanning the detection beam in the horizontal direction to form a horizontal field of view.

[0059] In the case where the laser radar 100 includes a scanner 135, at least one of the field of view and the maximum detection distance of the laser radar 100 can be determined based on at least one of the angular range of the scanner 135, the distribution of the transmitter 110 in the vertical direction, and the distribution of the receiver 120 in the vertical direction. For example, the laser radar 100 includes a multi-faceted rotating mirror that rotates in one direction or a reciprocating swing mirror. Since the mirror size of the rotating mirror or the swing mirror is large, the field of view of the laser radar 100 will not be limited. Therefore, at least one of the field of view and the maximum detection distance of the laser radar 100 can be determined based on the distribution of the transmitter 110 in the vertical direction or the distribution of the receiver 120 in the vertical direction. The distribution of the transmitter 110 in the vertical direction may include the height of the laser array in the transmitter 110 in the vertical direction, and the distribution of the receiver 120 in the vertical direction may include the height of the detector array in the receiver 120 in the vertical direction. For example, the laser radar 100 includes a MEMS mirror or a galvanometer mirror. Since the mirror size of scanners such as MEMS mirrors and galvanometer mirrors is small, the field of view of the laser radar 100 may be limited to the angle range scanned by the scanner 135. Therefore, the second optical device 140 can be used to adjust at least one of the horizontal field of view and the vertical field of view of the laser radar with a scanner.

[0060] In some embodiments of the present disclosure, the second optical device 140 may include a first lens group 141 and a second lens group 142. The first lens group 141 may have positive power and include at least one convex lens, and the second lens group 142 may have negative power and include at least one concave lens.

[0061] Figure 3 and Figure 4 1 shows a schematic structure of a second optical device according to some embodiments. The first lens group 141 can be arranged between the first optical device (not shown) and the second lens group 142 on the optical path. In the case where the laser radar 100 includes a scanner 135, the first lens group 141 can be arranged between the scanner (not shown) and the second lens group 142 on the optical path. The second optical device 140 can be configured to expand the field of view of the laser radar. Figure 3As shown, the detection beam with a detection angle θ1 is converged by the first lens group 141 and then diverged by the second lens group 142 to form a detection beam with a detection angle θ2, and the detection angle θ2 is greater than the detection angle θ1. The detection angle θ1 can correspond to the vertical field of view angle α, and the detection angle θ2 can correspond to the vertical field of view angle β. The second optical device 140 enlarges the field of view of the laser radar. In some embodiments, the focal length of the first lens group 141, the focal length of the second lens group 142, and the distance between the first lens group 141 and the second lens group 142 can be changed to adjust the magnification M (θ2 / θ1) of the laser radar field of view, M>1. In some embodiments, the second optical device 140 can be a short-focus lens, such as a wide-angle lens or a fisheye lens.

[0062] On the other hand, the second optical device 140 will reduce the effective optical aperture of the laser radar while expanding the field of view. Figure 4 As shown, the optical effective aperture D of the first optical device or scanner receiving the echo is reduced to D' after passing through the second optical device 140, so that the intensity of the laser radar receiving the echo is reduced to reduce the maximum detection distance of the laser radar. Although the reduction of the optical effective aperture will reduce the maximum detection distance of the laser radar, it can also bring advantages. As described above, the vertical field of view of the laser radar 100 can be related to the angular range of the scanner 135 and the height of the transmitter 110 and the receiver 120 in the vertical direction. Since the second optical device 140 can be configured to expand the vertical field of view of the laser radar, the height of the transmitter 110 and the receiver 120 in the vertical direction can be reduced while keeping the vertical field of view of the laser radar 100 unchanged, thereby reducing the height of the laser radar. Compared with a laser radar without the second optical device 140, the laser radar 100 with the second optical device 140 can at least expand the vertical field of view of the laser radar 100 while keeping the sizes of the transmitter and receiver of the laser radar 100 unchanged, or can reduce the sizes of the transmitter and receiver of the laser radar 100 while achieving the same vertical field of view, thereby saving costs, because the reduction in the field of view caused by the reduction in the size of the transmitter and receiver can be compensated by the expansion of the field of view by the second optical device 140.

[0063] Figure 5 and Figure 6 Schematic structures of the second optical device according to other embodiments are shown. The second lens group 142 can be arranged between the first optical device (not shown) and the first lens group 141 on the optical path. In the case where the laser radar 100 includes a scanner 135, the second lens group 142 can be arranged between the scanner (not shown) and the first lens group 141 on the optical path. The second optical device 140 can be configured to increase the maximum detection distance of the laser radar. Figure 5As shown, the detection beam with a detection angle θ1 is diverged by the second lens group 142 and then converged by the first lens group 141 to form a detection beam with a detection angle θ2, which is smaller than the detection angle θ1. The detection angle θ1 may correspond to a vertical field of view angle α, and the detection angle θ2 may correspond to a vertical field of view angle β. The second optical device 140 will expand the optical effective aperture of the laser radar while reducing the field of view angle. Figure 6 As shown, the optical effective aperture D of the first optical device or scanner receiving the echo is expanded to D' after passing through the second optical device 140. The second optical device 140 can increase the optical effective aperture of the laser radar 100. The optical effective aperture of the laser radar 100 determines the intensity of the echo received by the receiver 120, thereby increasing the maximum detection distance of the laser radar 100. In some embodiments, the maximum detection distance of the laser radar can be adjusted by changing the focal length of the first lens group 141, the focal length of the second lens group 142, and the distance between the first lens group 141 and the second lens group 142. In some embodiments, the second optical device 140 can be a telephoto lens, such as a telephoto lens.

[0064] The laser radar is provided with a window to protect the components inside the laser radar, such as the optical device, the transmitter and the receiver, etc. At the same time, the window can also filter out the interference of the noise light signal to ensure the detection performance of the laser radar. In some embodiments of the present disclosure, the second optical device 140 may include a window of the laser radar 100. For example, the window of the laser radar 100 may be used as a part of the second optical device 140; or, the window of the laser radar 100 may also be used alone as the second optical device 140 to adjust at least one of the field of view and the maximum detection distance of the laser radar 100 without the need for other optical devices.

[0065] Figure 7 , Figure 8 , Fig.11 and Fig.12 Schematic diagrams showing the window of the laser radar 100 used as the second optical device 140 are shown respectively. In some embodiments of the present disclosure, the thickness of the field of view center area C of the window of the laser radar 100 may be different from the thickness of the field of view edge area E of the window of the laser radar 100.

[0066] See also Figure 7 , the inner surface of the window of the laser radar 100 may be concave, and the outer surface may be flat. The window may have a negative optical power, which is equivalent to a negative lens, so that the window can diverge the detection beam from the first optical device 130 or the scanner 135, thereby expanding the vertical field of view of the laser radar 100. As an example, the window of the laser radar 100 may be formed as a plano-concave cylindrical window, such as Fig.9A and Fig. 9B shown. Fig.9AThe inner surface of the window is concave inward in the vertical direction, which is beneficial to expanding the vertical field of view of the laser radar 100. Fig. 9B The inner surface of the window is recessed inward in the horizontal direction, which is beneficial to expanding the horizontal field of view of the laser radar 100.

[0067] See also Figure 8 , the outer surface of the window of the laser radar 100 may be convex, and the inner surface may be flat. The window may have positive optical power, equivalent to a positive lens, so the window can converge the detection beam from the first optical device 130 or the scanner 135, increasing the maximum detection distance of the laser radar 100. As an example, the window of the laser radar 100 may be formed as a plano-convex cylindrical window, such as Fig. 10A and Fig. 10B shown. Fig. 10A The outer surface of the window protrudes outward in the vertical direction, which is beneficial to increasing the maximum detection distance of the laser radar 100. Fig. 10B The inner surface of the window protrudes outward in the horizontal direction, which is beneficial to increasing the maximum detection distance of the laser radar 100.

[0068] See also Fig.11 and Fig.12 , the inner surface 41 of the window of the laser radar 100 may be a concave surface, and the outer surface 42 may be a convex surface. Fig.11 As shown, the window can be formed as a negative meniscus lens with a thin center and thick edges, which is beneficial to expanding the field of view of the laser radar 100. Fig.12 As shown, the window can be formed as a positive meniscus lens with a thick center and thin edges, which is beneficial to increase the maximum detection distance of the laser radar 100. In some embodiments, the inner surface 41 and the outer surface 42 of the window of the laser radar 100 can both be spherical, such as Fig.13 As shown. The radius of curvature of the inner surface 41 of the window may be different from the radius of curvature of the outer surface 42 of the window. For example, the radius of curvature of the inner surface 41 of the window may be greater than the radius of curvature of the outer surface 42 of the window, and the window is equivalent to a positive lens, so that the maximum detection distance of the laser radar 100 is increased; or, the radius of curvature of the inner surface 41 of the window may be less than the radius of curvature of the outer surface 42 of the window, and the window is equivalent to a negative lens, so that the field of view of the laser radar 100 is expanded.

[0069] In some embodiments of the present disclosure, the second optical device 140 may include a zoom lens group. The focal length of the zoom lens group is adjustable, so as to more flexibly adjust the performance of the laser radar 100, such as the field of view, the maximum detection distance, etc.

[0070] In some embodiments, the zoom lens group may include at least one fixed lens and at least one movable lens. At least one movable lens may be configured to be movable along the optical axis to change the focal length of the zoom lens group, thereby adjusting the performance of the laser radar 100. Fig.14 An example of a zoom lens group 1400 is shown. The zoom lens group 1400 may include a first lens 1401, a second lens 1402, and a third lens 1403. The first lens 1401 and the third lens 1403 may be convex lenses for converging light. The second lens 1402 may be a concave lens for diverging light. The third lens 1403 may be fixed, for example, it may be used as a window of the laser radar 100. The first lens 1401 and the second lens 1402 may be movable along the optical axis, for example, by electric transmission. Fig.14 As shown in (a) to (c), the second lens 1402 can move from left to right, from being close to the first lens 1401 to being close to the third lens 1403, while the first lens 1401 can move first to the left and then to the right. This combined movement changes the focal length of the zoom lens group 1400, thereby adjusting (increasing or decreasing) the field of view / maximum detection distance of the laser radar 100. Fig.14 As shown, the optical effective aperture D can be changed between D1, D2 and D3 after passing through the zoom lens group 1400, where Fig.14 As shown in (a), D1 is greater than D and the zoom lens group 1400 can increase the optical effective aperture of the laser radar 100 and improve the maximum detection distance. Fig.14 (b), D2 is equal to D, as Fig.14 As shown in (c), D3 is smaller than D, and the zoom lens group 1400 expands the field of view of the laser radar 100. It should be noted that the structure of the zoom lens group including three lenses is only an example, and the present disclosure is not limited thereto.

[0071] In some embodiments, the zoom lens group may include a liquid lens. The liquid lens can use liquid as a lens, and the liquid lens changes its focal length by changing the surface curvature of the liquid. For example, the liquid lens can use an electric control method to drive a motor to drive the liquid to squeeze a film to produce a surface shape change, so that the curvature of the liquid lens changes without the lens moving or tilting, thereby changing the focal length of the entire zoom lens group. Alternatively, the liquid lens can also include a variable focus optical lens using the principle of dielectric electrowetting (EWOD), which can change the shape of the droplet by applying an external voltage, thereby changing its focal length.

[0072] According to another exemplary embodiment of the present disclosure, a vehicle is further provided. The vehicle may include any one of the laser radars described above.

[0073] So far, the laser radar and vehicle according to the present disclosure have been described. The present disclosure proposes a solution for expanding the field of view angle or the optical effective aperture of the laser radar. For situations where the laser / detector distribution, the angular range of the scanner, and the optical effective aperture are limited, the present disclosure can be used to further improve the field of view angle or increase the optical effective aperture, so that it can detect a larger field of view or detect a longer distance. This solution provides the system with the feasibility of more flexible configuration without changing the system architecture of the laser radar, thereby increasing the flexibility of the system.

[0074] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or their various aspects) can be used in combination with each other. In addition, without departing from the scope of the present disclosure, many modifications can be made to adapt specific conditions or materials to the teachings of the various embodiments of the present disclosure. Although the size and type of the material described herein are used to define the parameters of the various embodiments of the present disclosure, the various embodiments are not meant to be restrictive, but exemplary embodiments. In reading the above description, many other embodiments are obvious to those skilled in the art. Therefore, the scope of the various embodiments of the present disclosure should be determined with reference to the attached claims, and the full range of equivalent forms claimed by these claims.

Claims

1. A laser radar, comprising: a transmitter configured to transmit a probe beam; a receiver configured to receive an echo generated by the detection beam after being reflected by an object; a first optic configured to collimate the probe beam and transmit the echo to the receiver; as well as A second optical device is configured to change at least one of the field of view and the maximum detection distance of the laser radar, wherein the collimated detection beam is transmitted to the object at least via the second optical device, and the echo is transmitted to the first optical device at least via the second optical device.

2. The laser radar according to claim 1, characterized in that The laser radar also includes: The scanner is arranged between the first optical device and the second optical device on the optical path, and is configured to change the transmission direction of the detection beam and the echo in at least one direction.

3. The laser radar according to claim 2, characterized in that At least one of the field of view and the maximum detection distance of the laser radar is determined based on at least one of the angular range of the scanner, the distribution of the transmitters in the vertical direction, and the distribution of the receivers in the vertical direction.

4. The laser radar according to claim 1, characterized in that The second optical device comprises: a first lens group having positive optical power and including at least one convex lens; and The second lens group has negative optical power and includes at least one concave lens.

5. The laser radar according to claim 4, characterized in that The first lens group is arranged between the first optical device and the second lens group on the optical path, and the second optical device is configured to expand the field of view of the laser radar.

6. The laser radar according to claim 5, characterized in that The second optical device is configured to expand the detection angle of the detection beam to expand the field of view of the laser radar.

7. The laser radar according to claim 4, characterized in that: The second lens group is arranged between the first optical device and the first lens group on the optical path, and the second optical device is configured to increase the maximum detection distance of the laser radar.

8. The laser radar according to claim 7, characterized in that: The second optical device is configured to increase the optical effective aperture to increase the maximum detection distance of the laser radar, wherein the optical effective aperture determines the intensity of the echo received by the receiver.

9. The laser radar according to claim 1, characterized in that: The second optical device includes a window of the laser radar, and the thickness of the central area of ​​the field of view of the window is different from the thickness of the edge area of ​​the field of view of the window.

10. The laser radar according to claim 9, characterized in that: The window has negative optical power, the inner surface of the window is a concave surface, and the outer surface of the window is a plane.

11. The laser radar according to claim 9, characterized in that: The window has positive optical power, the outer surface of the window is convex, and the inner surface of the window is flat.

12. The laser radar according to claim 1, characterized in that: The second optical device includes a window of the laser radar, the thickness of the central area of ​​the field of view of the window is different from the thickness of the edge area of ​​the field of view of the window, the inner surface of the window is concave, and the outer surface of the window is convex.

13. The laser radar according to claim 12, characterized in that: The inner surface and the outer surface of the window are both spherical surfaces.

14. The laser radar according to claim 13, characterized in that: The radius of curvature of the inner surface of the viewing window is different from the radius of curvature of the outer surface of the viewing window.

15. The laser radar according to claim 1, characterized in that: The second optical device includes a zoom lens group, and the focal length of the zoom lens group is adjustable.

16. The laser radar according to claim 15, characterized in that: The zoom lens group includes at least one fixed lens and at least one movable lens, and the at least one movable lens is configured to be movable along an optical axis to change a focal length of the zoom lens group.

17. The laser radar according to claim 15, characterized in that: The zoom lens group includes a liquid lens.

18. A vehicle comprising the laser radar according to any one of claims 1-17.

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