Laser radar

Abstract

The embodiment of the utility model discloses a laser radar. The laser radar comprises a transmitting module, a receiving module and a refraction element. The refraction element comprises a first refraction part, the echo light which is output by the receiving lens, is not deflected by the first refraction part and is transmitted to the first boundary of the receiver is first echo light, and the first echo light has a first acute angle between one side of the object side surface of the receiving lens and the receiving optical axis; the first echo light forms a first light passing area between the receiving lens and the receiving surface. Wherein the echo light output to the receiving surface through the receiving lens and the first refraction part is second echo light, a second acute angle is formed between the second echo light and the receiving optical axis on one side of the object side surface of the receiving lens, the second acute angle is larger than the first acute angle, and the first refraction part is located outside the first light transmission area. The laser radar provided by the embodiment of the utility model can reduce the close-range blind area of the laser radar and improve the close-range detection performance of the laser radar on the premise of not interfering the main optical path.

Description

Technical Field

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

[0002] LiDAR is widely used in scenarios such as unmanned driving, vehicle-road collaboration, and unmanned exploration because of its advantages such as active detection, strong anti-interference, long ranging, and real-time feedback on the distance and speed of the detected object. More application scenarios are still to be developed and the scope of use is refined.

[0003] When the laser radar detects a target object, due to the limited size of the receiving device, the echo light signal of the target object at a large angle and close distance will deviate from the receiving device and cannot be received by the receiving device, resulting in a close-range blind spot. Utility Model Content

[0004] The embodiment of the present application provides a laser radar for improving the current situation in which the laser radar in the related art has a large blind spot at close range.

[0005] The embodiment of the present application provides a laser radar, including a transmitting module, a receiving module and a refractive element. The transmitting module is used to emit detection light. The receiving module includes a receiving lens and a receiver, the receiving lens is used to receive echo light and transmit the echo light to the receiver, the receiving surface of the receiver has a first boundary at the end away from the transmitting module, and the echo light is formed by the target object reflecting the detection light. The refractive element includes a first refractive portion, along the extension direction of the receiving optical axis of the receiving lens, the first refractive portion is located between the receiving lens and the receiver; the first refractive portion is located on the side of the receiving optical axis of the receiving lens away from the transmitting module. Among them, the echo light output through the receiving lens and transmitted to the first boundary without being deflected by the first refractive portion is the first echo light, the first echo light has a first acute angle between the receiving optical axis and the object side of the receiving lens, and the first echo light encloses a first light-transmitting area between the receiving lens and the receiving surface. Among them, the echo light output to the receiving surface through the receiving lens and the first refraction part is the second echo light, and the second echo light has a second acute angle between one side of the object side of the receiving lens and the receiving light axis, and the second acute angle is greater than the first acute angle, and the first refraction part is located outside the first light-transmitting area.

[0006] The laser radar of the embodiment of the present application is designed so that the second acute angle is greater than the first acute angle, so that the target object corresponding to the second echo light is closer to the laser radar than the target object corresponding to the first echo light. After the first refraction part is set in the embodiment of the present application, the second echo light of the target object closer to the laser radar can also be received by the receiver, that is, the setting of the first refraction part can realize the reception of large-angle short-range signals, reduce the short-range blind area of ​​the laser radar, and improve the short-range detection performance of the laser radar.

[0007] Since the first refraction part is located on the side of the receiving optical axis away from the transmitting module and outside the first light-transmitting area, and the second acute angle is greater than the first acute angle, the setting of the first refraction part will not interfere with all the echo lights output by the receiving lens and transmitted to the receiver without being deflected by the first refraction part, will not cause attenuation of the signal energy of the main optical path, and will not generate stray light in the main optical path. In other words, the first refraction part can reduce the close-range blind area of ​​the laser radar without interfering with the main optical path, and improve the close-range detection performance of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0009] Figure 1 is a schematic diagram of optical path transmission of a laser radar provided in some embodiments of the present application;

[0010] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of a refractive element in a laser radar is shown;

[0011] Figure 3 yes Figure 1 The main structural diagram of the refractive element in the laser radar is shown;

[0012] Figure 4 yes Figure 1 Schematic diagram of local optical path transmission of laser radar shown;

[0013] Figure 5 yes Figure 1 Another local optical path transmission schematic diagram of the laser radar is shown;

[0014] Figure 6 is a schematic diagram of optical path transmission of laser radars provided in other embodiments of the present application;

[0015] Figure 7 yes Figure 6 A schematic diagram of the three-dimensional structure of a refractive element in a laser radar is shown;

[0016] Figure 8 is a schematic diagram of optical path transmission of laser radars provided in some other embodiments of the present application;

[0017] Fig. 9 yes Figure 8 A schematic diagram of the three-dimensional structure of a refractive element in a laser radar is shown;

[0018] Fig.10 yes Figure 8 A schematic three-dimensional structure diagram of an alternative solution for a refractive element in a laser radar is shown.

[0019] Description of reference numerals:

[0020] 1. LiDAR;

[0021] 10. Launch module; 11. Launch lens; 12. Launcher;

[0022] 20. receiving module; 21. receiving lens; 22. receiver; 221. receiving surface; 2211. first boundary;

[0023] 30, refractive element; 31, first refractive portion; 311, prism; 3111, first end surface; 3112, second end surface; 3113, light incident surface; 3114, light exit surface; 32, first light transmitting portion; 33, second refractive portion;

[0024] p, receiving optical axis; q, transmitting optical axis. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0026] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0027] See also Figure 1 An embodiment of the present application provides a laser radar 1, which includes a transmitting module 10, a receiving module 20 and a refractive element 30.

[0028] The transmitting module 10 is used to emit detection light, wherein the transmitting module 10 may include a transmitting lens 11 and a transmitter 12, wherein the transmitter 12 is used to emit detection light, and the transmitting lens 11 is used to receive the detection light and emit the detection light to the external environment of the laser radar to detect the target object. The receiving module 20 includes a receiving lens 21 and a receiver 22, wherein the receiving lens 21 is used to receive the echo light and transmit the echo light to the receiver 22, wherein the echo light is formed by the detection light reflected by the target object. The refractive element 30 includes a first refractive portion 31, and along the extension direction of the receiving optical axis p of the receiving lens 21, the first refractive portion 31 is located between the receiving lens 21 and the receiver 22. The first refractive portion 31 is located on the side of the receiving optical axis p of the receiving lens 21 away from the transmitting module 10, for example, the first refractive portion 31 may be located as a whole on the side of the receiving optical axis p of the receiving lens 21 away from the above-mentioned transmitting optical axis q.

[0029] The receiving surface 221 of the receiver 22 has a first boundary 2211 at one end away from the transmitting module 10. The echo light outputted by the receiving lens 21 and transmitted to the first boundary 2211 without being deflected by the first refraction portion 31 is the first echo light, and the first echo light has a first acute angle β between one side of the object side of the receiving lens 21 and the receiving optical axis p, and the first echo light forms a first light-transmitting area between the receiving lens 21 and the receiving surface 221.

[0030] Among them, the echo light output to the receiving surface 221 through the receiving lens 21 and the first refractive portion 31 is the second echo light, and the second echo light has a second acute angle θ1 between one side of the object side of the receiving lens 21 and the receiving light axis p, and the second acute angle θ1 is greater than the first acute angle β, and the first refractive portion 31 is located outside the first light-transmitting area.

[0031] The first echo light has a first acute angle β between the object side of the receiving lens 21 and the receiving optical axis p, that is, the first echo light has the first acute angle β between the receiving optical axis p before being deflected by the receiving lens 21. The second echo light has a second acute angle θ1 between the object side of the receiving lens 21 and the receiving optical axis p, that is, the second echo light has the second acute angle θ1 between the receiving optical axis p before being deflected by the receiving lens 21. In this way, the second acute angle θ1 is greater than the first acute angle β, then Figure 1 , the target object corresponding to the second echo light may be closer to the laser radar 1 than the target object corresponding to the first echo light.

[0032] It can be understood that when the first refraction portion 31 is not provided, the echo light of the target object closest to the laser radar 1 that can be received by the receiver 22 is: the first echo light transmitted to the first boundary 2211 as mentioned above. After the first refraction portion 31 is provided, the second echo light of the target object closer to the laser radar 1 can also be received by the receiver 22, that is, the provision of the first refraction portion 31 can realize the reception of large-angle short-range signals, reduce the short-range blind area of ​​the laser radar 1, and improve the short-range detection performance of the laser radar 1. Since the first refraction portion 31 has a certain volume, the first refraction portion 31 can receive short-range signals at different angles within a certain range, thereby improving the short-range blind spot filling effect of the laser radar 1.

[0033] Since the first refraction portion 31 is located outside the first light-transmitting area, and the second acute angle θ1 is greater than the first acute angle β, the first refraction portion 31 is located on the side of the first light-transmitting area away from the emission optical axis q. In this way, the setting of the first refraction portion 31 will not interfere with all the echo lights output by the receiving lens 21 and transmitted to the receiver 22 without being deflected by the first refraction portion 31, will not cause attenuation of the signal energy of the main optical path, and will not generate stray light in the main optical path. That is, the first refraction portion 31 can reduce the short-range blind area of ​​the laser radar 1 without interfering with the main optical path, and improve the short-range detection performance of the laser radar 1.

[0034] The first boundary 2211 has a certain length. The echo light outputted by the receiving lens 21 and transmitted to any point on the first boundary 2211 without being deflected by the first refractive portion 31 can be defined as the first echo light. Thus, the first light-transmitting area is a combination of the light-transmitting areas enclosed by all the first echo lights between the receiving lens 21 and the receiving surface 221. Each beam of the first echo light has a certain contour area. After the first echo light is converged and outputted by the receiving lens 21, the light-transmitting area enclosed by the receiving lens 21 and the receiving surface 221 can be roughly cone-shaped. The first light-transmitting area can be a combination of the cone-shaped areas corresponding to all the first echo lights transmitted to the first boundary 2211. Please refer to Figure 1, because the closer to the receiving surface 221, the closer the boundary line of the first light-transmitting area away from the receiving optical axis p will be to the receiving optical axis p; then, when the size of the first refraction portion 31 is the same, the closer the first refraction portion 31 is to the receiving surface 221, the more conducive it is to avoid the first refraction portion 31 from intervening in the above-mentioned main light path area. For example, in some embodiments, along the extension direction of the receiving optical axis p, the spacing between the first refraction portion 31 and the above-mentioned receiving surface 221 is a first spacing; along the extension direction of the receiving optical axis p, the spacing between the optical center of the receiving lens 21 and the receiving surface 221 is a second spacing; the ratio of the above-mentioned first spacing to the second spacing is less than 1 / 8, thereby reducing the risk of the first refraction portion 31 invading the main light path area. It should be noted that in actual design, the position of the first refraction portion 31 can be flexibly designed according to factors such as detection requirements. It can be designed to be closer to the receiving surface 221 or closer to the receiving lens 21, and there is no limitation on this.

[0035] Among them, the transmitting optical axis q is parallel to the receiving optical axis p. That is, the transmitting module 10 and the receiving module 20 constitute an off-axis transceiver system. In the off-axis transceiver system, the receiving field angle corresponding to the close-range target object is larger and is not easily received by the receiver 22 of limited size. Based on this, the setting of the first refraction part 31 can well improve the problem that the large-angle close-range signal is difficult to be received by the receiver 22 in the off-axis transceiver system, reduce the close-range blind area of ​​the laser radar 1, and realize the blind spot compensation of the off-axis transceiver system.

[0036] For the above-mentioned refractive element 30, see Figures 2 to 4 , the first refraction part 31 may have a light incident surface 3113 and a light exit surface 3114 arranged at an angle, the light incident surface 3113 is used to receive the second echo light and deflect it into the first refraction part 31, and the light exit surface 3114 is used to receive the second echo light incident from the light incident surface 3113 and deflect it to the receiving surface 221. The first refraction part 31 of the above design deflects the second echo light to the receiving surface 221 of the receiver 22 through the light incident surface 3113 and the light exit surface 3114 arranged at an angle, so that the number of interfaces passed by the second echo light is small, which is conducive to reducing the design difficulty of the first refraction part 31 and the difficulty of assembling and adapting the first refraction part 31 with the receiving module 20 and the transmitting module 10. It should be noted that the first refractive portion 31 may also have a reflective surface, and the second echo light entering the first refractive portion 31 through the light incident surface 3113 may also be deflected by one or more reflective surfaces to reach the light emitting surface 3114, and further deflected to the receiving surface 221 through the light emitting surface 3114.

[0037] For ease of description, the following will use "the light incident surface 3113 is used to receive the second echo light and deflect it into the first refraction portion 31, and the light output surface 3114 is used to receive the second echo light incident from the light incident surface 3113 and deflect it to the receiving surface 221" as an example for exemplary explanation.

[0038] In an exemplary embodiment, the first refractive portion 31 may include a prism 311, wherein the prism 311 has a first end face 3111, a second end face 3112, and a plurality of side faces connected between the first end face 3111 and the second end face 3112, wherein the plurality of side faces include a light incident surface 3113 and a light exit surface 3114. At this time, the light incident surface 3113 is used to receive the second echo light and deflect it into the prism 311, and the light exit surface 3114 is used to receive the second echo light incident from the light incident surface 3113 and deflect it to the receiving surface 221. Since the structure of the prism 311 is relatively regular, the above-mentioned deflection of the second echo light to the receiving surface 221 of the receiver 22 by the prism 311 is conducive to the optimal arrangement of the prism 311 in the laser radar 1.

[0039] Among them, the prism 311 can be a triangular prism, a quadrangular prism, a pentaprism, etc., which is not limited. In the embodiment of the present application, the prism 311 is a triangular prism, that is, the first end face 3111 and the second end face 3112 are triangles, and the prism 311 has three sides to simplify the structure of the prism 311. Further, if the prism 311 is a triangular prism, the first end face 3111 and the second end face 3112 can be any one of a right triangle, an acute triangle, and an obtuse triangle. In the embodiment of the present application, the first end face 3111 and the second end face 3112 can be a right triangle, the light incident surface 3113 can correspond to the hypotenuse of the right triangle, and the light exit surface 3114 can correspond to a right angle side of the right triangle, wherein the hypotenuse is longer than the right angle side, and the range of the second echo light that can be received is larger, which is conducive to improving the blind spot distance of the laser radar 1.

[0040] In another exemplary solution, the first refractive portion 31 may include a special-shaped structure having a light incident surface 3113 and a light emitting surface 3114. For example, the first end surface 3111 and / or the second end surface 3112 of the prism 311 are replaced from a flat surface to a curved surface; for another example, the side surfaces other than the light incident surface 3113 and the light emitting surface 3114 of the multiple side surfaces of the prism 311 are replaced from being parallel to the central axis of the prism 311 to being inclined to the central axis of the prism 311.

[0041] The light incident surface 3113 has a first end close to the receiving optical axis p and a second end far from the receiving optical axis p. From the first end to the second end, the portion of the light incident surface 3113 that is farther from the first end is closer to the receiving surface 221 along the extending direction of the receiving optical axis p. Figure 4 As shown, the light incident surface 3113 extends to the upper left, so that the second echo light transmitted in the direction away from the receiving optical axis p can be deflected to the direction close to the receiving optical axis p, so that the second echo light emitted through the light exiting surface 3114 can be further deflected to the receiving surface 221.

[0042] The light emitting surface 3114 may be parallel to the receiving surface 221. Compared with the light emitting surface 3114 being tilted to the receiving surface 221, the light emitting surface 3114 is designed to be parallel to the receiving surface 221. This can reduce the deflection angle of the light path transmitted from the light emitting surface 3114 to the receiving surface 221, the difficulty of adapting the relative position of the first refractive portion 31 to the receiving surface 221, and the difficulty of assembling the first refractive portion 31 and the receiver 22. It should be noted that the light emitting surface 3114 may also be designed to be tilted to the receiving surface 221, etc., according to the space margin inside the laser radar 1, etc., and the embodiments of the present application are not limited to this.

[0043] See also Figure 4 and Figure 5 , the laser radar 1 satisfies the following conditional formula:

[0044] sinθ1 = H / D (1);

[0045] n*sinθ2 = sin(α+ θ1) (2);

[0046] π / 2- θ2 +α = θ3 +π / 2 (3);

[0047] n*sinθ3 = sinθ4 (4);

[0048] L*tanθ4≈(fL)*tanθ1(5).

[0049] In the above conditional formula, since θ1, θ2, θ3, and θ4 are all relatively small, for the convenience of calculation, their radians can be roughly regarded as equal to their sine and tangent values. Thus, the above conditional formula (1) can be roughly regarded as: θ1 = H / D; the above conditional formula (2) can be roughly regarded as: n*θ2 = α + θ1; the above conditional formula (4) can be roughly regarded as: n*θ3 = θ4; the above conditional formula (5) can be roughly regarded as: L*θ4 = (fL)*θ1, and further, since L is relatively small relative to f, for the convenience of calculation, it can be further roughly regarded as: L*θ4 = f*θ1. The above conditional formula (3) can be abbreviated as: α = θ2 + θ3.

[0050] After integrating the above conditional expressions, it can be obtained that the laser radar 1 satisfies the following conditional expressions:

[0051] α =((f+L)*H) / (L*D*(n-1)) (6).

[0052] Wherein, α is the angle between the light incident surface 3113 and the light exit surface 3114, 0<α<π / 2; f is the effective focal length of the receiving lens 21, in mm; L is the distance from the light incident surface 3113 to the receiving surface 221 on the receiving optical axis p, in mm; H is the distance between the transmitting optical axis q and the receiving optical axis p, in mm; D is the limit distance of the close-range blind zone of the laser radar 1, in mm; n is the refractive index of the first refractive portion 31, and the refractive index of air is regarded as 1. Wherein, before setting the first refractive portion 31, both f and H in the laser radar 1 can be obtained, and when setting the first refractive portion 31, after roughly selecting the setting position and material of the first refractive portion 31, L and n can be determined, and then D can be reasonably selected according to factors such as detection requirements, and α can be calculated according to the above conditional formula (6), that is, the first refractive portion 31 is finally designed and the specific installation position of the first refractive portion 31 in the laser radar 1 is determined. In the embodiment of the present application, after the first refraction portion 31 is designed and installed, the second echo light corresponding to the target object closer to the laser radar 1 can be received, and the roughness requirements for the light incident surface 3113 and the light exit surface 3114 of the first refraction portion 31 are not high, which is beneficial to reducing the manufacturing cost of the first refraction portion 31.

[0053] It should be noted that if the receiving lens 21 can converge the output echo light, the angle between the light incident surface 3113 and the light exit surface 3114 in the first refraction portion 31 can be less than or equal to the α value calculated by the above conditional formula (6). For example, if the convergence degree of the output echo light by the receiving lens 21 is a, where a is in radians, the angle between the light incident surface 3113 and the light exit surface 3114 can be: α-a to α.

[0054] See also Figure 6 and Figure 7, the refractive element 30 may further include a first light-transmitting portion 32 through which the laser can pass. Along the transmission path of the echo light, the first light-transmitting portion 32 is located between the receiving lens 21 and the receiver 22, and the receiving optical axis p passes through the first light-transmitting portion 32. The first light-transmitting portion 32 is through which the laser can pass, and the first light-transmitting portion 32 may be an existing device on the transmission path of the echo light in the laser radar 1. The provision of the first light-transmitting portion 32 will not interfere with the transmission of the original echo light, nor will it increase the size of the laser radar 1. In the embodiment of the present application, the first refractive portion 31 is connected to the first light-transmitting portion 32. In this way, the first refractive portion 31 may be directly installed with the aid of the existing devices in the laser radar 1, and the assembly is more convenient. It should be noted that the first light-transmitting portion 32 may not be an original component in the laser radar 1, but a specially added component. In this case, the first light-transmitting portion 32 has a surface facing the receiving lens 21 and a surface facing the receiving surface 221, which are two parallel surfaces to each other, so that the transmission direction of the echo light of the main light path will not change after passing through the first light-transmitting portion 32, that is, the specially added first light-transmitting portion 32 will not interfere with the transmission of the echo light of the main light path.

[0055] Among them, the first refractive portion 31 and the first light-transmitting portion 32 can be an integrated structure to save the assembly process of the first refractive portion 31 and the first light-transmitting portion 32, and compared with the first refractive portion 31 and the first light-transmitting portion 32 being independently formed and then assembled, the tolerance of the first refractive portion 31 and the first light-transmitting portion 32 being an integrated structure can be smaller and the installation consistency is better.

[0056] The refraction element 30 may be a filter, a protective cover of the receiver 22, etc. The portion of the filter / protective cover located on the transmission path of the main light path is equivalent to the original filter portion / protective cover portion, that is, the first light-transmitting portion 32. The portion of the filter / protective cover located on the transmission path of the second echo light is equivalent to the first refraction portion 31. The material of each part of the refractive element 30 can be the same, and different effects on light can be achieved by designing different shapes of different parts of the refractive element 30; for example, the part of the refractive element 30 located on the transmission path of the main light path, that is, the part of the first light-transmitting portion 32, is designed to have a surface facing the receiving lens 21 and a surface facing the receiving surface 221 that are parallel to each other, so that the transmission direction of the echo light of the main light path does not change after passing through the first light-transmitting portion 32; and the part of the refractive element 30 located on the transmission path of the second echo light, that is, the part of the first refractive portion 31, is designed to have a light incident surface 3113 facing the receiving lens 21 and a light exit surface 3114 facing the receiving surface 221 that are arranged at an angle, and the specific angle between the two can be designed as described above, so that the transmission direction of the second echo light changes after passing through the first refractive portion 31 and is deflected to the receiving surface 221.

[0057] The light incident surface 3113 of the above-mentioned first refractive portion 31 can be connected to the surface of the first light-transmitting portion 32 facing the receiving lens 21, and the two are set at an angle; the light emitting surface 3114 of the first refractive portion 31 can be connected to the surface of the first light-transmitting portion 32 facing the receiving surface 221, and the two are parallel or coplanar.

[0058] If the first refraction portion 31 includes a prism 311 , the first refraction portion 31 may be connected to the first light-transmitting portion 32 by: at least one side surface other than the light incident surface 3113 and the light emitting surface 3114 of the multiple side surfaces of the prism 311 is connected to the first light-transmitting portion 32 .

[0059] See also Figures 8 to 10 , the refraction element 30 may also include a second refraction portion 33, and along the extension direction of the receiving optical axis p, the second refraction portion 33 is located between the receiving lens 21 and the receiver 22, and the second refraction portion 33 is connected to the first light-transmitting portion 32, and the second refraction portion 33 and the first refraction portion 31 are arranged in a circular array around the receiving optical axis p. By setting the refraction element 30 to include the first refraction portion 31 and the second refraction portion 33, when the first refraction portion 31 is damaged, by adjusting (for example, rotating) the position of the refraction element 30, the second refraction portion 33 can be located at the position of the original first refraction portion 31 and replace the damaged first refraction portion 31 as a new first refraction portion 31, without disassembling the refraction element 30 for overall replacement, and maintenance is more convenient. It should be noted that the second refraction portion 33 is mainly used as an alternative, and when it does not replace the first refraction portion 31 as the new first refraction portion 31, it does not act on the echo light in the entire optical path, and does not affect the transmission of the echo light in the entire optical path.

[0060] The second refraction portion 33 and the first refraction portion 31 are arranged in a circular array around the receiving optical axis p, and the angle between the second refraction portion 33 and the first refraction portion 31 in the circumferential direction around the receiving optical axis p can be 60°, 90°, 180°, 240°, etc., so that the design position of the second refraction portion 33 is flexible and can be designed in combination with the manufacturing process according to actual needs. In the embodiment of the present application, the second refraction portion 33 and the first refraction portion 31 are centrally symmetrical about the receiving optical axis p, simplifying the manufacturing process of the refraction element 30.

[0061] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0062] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A laser radar, characterized in that: include: A transmitting module, used for emitting detection light; A receiving module, comprising a receiving lens and a receiver, wherein the receiving lens is used to receive the echo light and transmit the echo light to the receiver, wherein a receiving surface of the receiver has a first boundary at an end away from the transmitting module, and the echo light is formed by the target object reflecting the detection light; as well as The refraction element comprises a first refraction portion, and along the extension direction of the receiving optical axis of the receiving lens, the first refraction portion is located between the receiving lens and the receiver; the first refraction portion is located on a side of the receiving optical axis of the receiving lens away from the transmitting module; The echo light outputted from the receiving lens and transmitted to the first boundary without being deflected by the first refraction portion is the first echo light, the first echo light has a first acute angle between one side of the object side of the receiving lens and the receiving optical axis, and the first echo light forms a first light-transmitting area between the receiving lens and the receiving surface; Among them, the echo light output to the receiving surface through the receiving lens and the first refraction part is the second echo light, the second echo light has a second acute angle between one side of the object side of the receiving lens and the receiving light axis, the second acute angle is greater than the first acute angle, and the first refraction part is located outside the first light-transmitting area.

2. The laser radar according to claim 1, characterized in that: The transmitting module includes a transmitting lens and a transmitter, wherein the transmitter is used to emit detection light, and the transmitting lens is used to receive the detection light and emit it to the external environment of the laser radar to detect the target object; Wherein, the receiving optical axis is parallel to the transmitting optical axis of the transmitting lens.

3. The laser radar according to claim 1, characterized in that: The first refraction portion has a light incident surface and a light exit surface set at an angle, the light incident surface is used to receive the second echo light and deflect it into the first refraction portion, and the light exit surface is used to receive the second echo light incident from the light incident surface and deflect it to the receiving surface.

4. The laser radar according to claim 3, characterized in that: The first refractive portion includes a prism; The prism has a first end face, a second end face and a plurality of side faces connected between the first end face and the second end face, the plurality of side faces include the light incident surface and the light exit surface, the light incident surface is used to receive the second echo light and deflect it into the prism, and the light exit surface is used to receive the second echo light incident from the light incident surface and deflect it to the receiving surface.

5. The laser radar according to claim 4, characterized in that: The prism is a triangular prism, and the first end surface and the second end surface are triangular.

6. The laser radar according to any one of claims 3 to 5, characterized in that: The light incident surface has a first end close to the receiving optical axis and a second end far from the receiving optical axis, and from the first end to the second end, the portion of the light incident surface farther from the first end is closer to the receiving surface along the extension direction of the receiving optical axis; And / or, the light emitting surface is parallel to the receiving surface.

7. The laser radar according to claim 6, characterized in that: The laser radar satisfies the following conditional formula: α=((f+L)*H) / (L*D*(n-1)) Among them, α is the angle between the light incident surface and the light emitting surface, 0<α<π / 2; f is the effective focal length of the receiving lens, in mm; L is the distance from the light incident surface to the receiving surface on the receiving optical axis, in mm; the receiving optical axis is parallel to the transmitting optical axis, H is the distance between the transmitting optical axis and the receiving optical axis, in mm; D is the limit distance of the close-range blind spot of the laser radar, in mm; n is the refractive index of the first refractive portion.

8. The laser radar according to claim 1, characterized in that: The refractive element further comprises a first light-transmitting portion through which the laser can pass; Along the transmission path of the echo light, the first light-transmitting portion is located between the receiving lens and the receiver, and the receiving light axis passes through the first light-transmitting portion; Wherein, the first refracting portion is connected to the first light-transmitting portion.

9. The laser radar according to claim 8, characterized in that: The first light-reflecting portion and the first light-transmitting portion are an integrated structure; And / or, the refractive element is a filter or a protective cover of the receiver.

10. The laser radar according to claim 8 or 9, characterized in that: The refractive element further includes a second refractive portion; Along the extension direction of the receiving optical axis, the second refraction portion is located between the receiving lens and the receiver, the second refraction portion is connected to the first light-transmitting portion, and the second refraction portion and the first refraction portion are arranged in a circular array around the receiving optical axis.

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