Detection device, laser radar and vehicle

Abstract

The utility model provides a detection device, a laser radar and a vehicle. The detection device comprises a transmitting end which is provided with a laser and a transmitting lens; the receiving end is provided with a receiving lens and a detector; wherein the laser and the detector are arranged on a common circuit board; the transmitting lens is provided with N transmitting lenses, the receiving lens is provided with N receiving lenses, the ith transmitting lens of the transmitting lens is the same as the ith receiving lens of the receiving lens, i = 1,..., N, and N is an integer greater than 1; the focal length of the transmitting lens is different from that of the receiving lens, so that the light-emitting surface of the laser is located on the focal plane of the transmitting lens and the light-sensitive surface of the detector is located on the focal plane of the receiving lens. The transmitting lens and the receiving lens in the detection device disclosed by the utility model adopt the same lens to realize the flexible adjustment of the focal length based on the positions of the light-emitting surface of the laser and the light-sensitive surface of the detector, so that the stability of the detection performance of the detection device and the laser radar at high and low temperatures can be ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of photoelectric detection, and more specifically to a detection device, 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 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] The detection device in the laser radar using the paraxial transceiver optical system includes a transmitter and a receiver. The transmitter has a laser and a transmitting lens. The receiver has a detector and a receiving lens. The laser and detector in the detection device usually have different specifications, and the light-emitting surface of the laser and the photosensitive surface of the detector may not be in the same plane; in order to improve the detection capability of the laser radar, the receiving end needs a larger receiving aperture, and in order to reduce the volume, the transmitting aperture of the transmitter does not need to be too large. In the current laser radar, the transmitting lens and the receiving lens have different lens designs, for example, the number and type of lenses in the transmitting lens and the receiving lens are different. Under high and low temperature conditions, such as the temperature range of -40°-120°, the detection performance of the laser radar will be weakened because the focal length, image height and other lens parameters of the lens will change under high and low temperature conditions, and the transmitting lens and the receiving lens with different lens designs may cause the echo spot focused on the detector under high and low temperature conditions to exceed the photosensitive range of the detector. In the current laser radar, in order to improve the stability of the laser radar detection performance under high and low temperature conditions, the size of the detector is configured to be much larger than the size of the echo spot. Utility Model Content

[0004] The purpose of the present disclosure is to overcome the above-mentioned and / or other problems in the prior art. It provides a detection device, in which the transmitting lens and the receiving lens use the same lens to achieve flexible adjustment of the focal length based on the position of the light-emitting surface of the laser and the photosensitive surface of the detector, which helps to ensure the stability of the detection performance of the detection device and the laser radar at high and low temperatures.

[0005] According to some aspects of the present disclosure, a detection device is provided. The detection device includes: a transmitting end, having a laser and a transmitting lens; a receiving end, having a receiving lens and a detector; wherein the laser and the detector are arranged on a common circuit board; the transmitting lens has N transmitting lenses, the receiving lens has N receiving lenses, the i-th transmitting lens of the transmitting lens is the same as the i-th receiving lens of the receiving lens, i=1,…,N, N is an integer greater than 1; the focal length of the transmitting lens is different from the focal length of the receiving lens, so that the light-emitting surface of the laser is located in the focal plane of the transmitting lens and the light-sensitive surface of the detector is located in the focal plane of the receiving lens.

[0006] Optionally, the distance between the jth transmitting lens and the j+1th transmitting lens of the transmitting lens is different from the distance between the jth receiving lens and the j+1th lens of the receiving lens, 1≤j≤N-1.

[0007] Optionally, the transmitting aperture of the transmitting end is smaller than or equal to the receiving aperture of the receiving end.

[0008] Optionally, the back focal length of the receiving lens is smaller than the back focal length of the transmitting lens.

[0009] Optionally, a height of the laser on the common circuit board is smaller than a height of the detector on the common circuit board.

[0010] Optionally, the size of the photosensitive surface of the detector is greater than or equal to the size of the light-emitting surface of the laser.

[0011] Optionally, the receiving field of view of the receiving end is greater than or equal to the transmitting field of view of the transmitting end.

[0012] Optionally, the receiving lens further includes a filter, and the filter is located between the Nth receiving lens and the detector, and the Nth receiving lens is the receiving lens closest to the detector among the N receiving lenses.

[0013] Optionally, a first distance between an entrance pupil of the transmitting lens and a focal plane of the transmitting lens is greater than a second distance between an entrance pupil of the receiving lens and a focal plane of the receiving lens.

[0014] Optionally, the j-th transmitting lens and the j+1-th transmitting lens of the transmitting lens are connected by a first barrel part and the connecting part has a first length, and the j-th receiving lens and the j+1-th receiving lens of the receiving lens are connected by a second barrel part and the connecting part has a second length, 1≤j≤N-1, wherein the first length and the second length satisfy at least one of the following conditions: the difference between the first length and the second length is less than ±30%; and the difference between the first length and the second length is less than ±0.5mm.

[0015] Optionally, the thermal expansion coefficients of the first barrel portion and the second barrel portion are between 10 ppm / °C and 50 ppm / °C.

[0016] Optionally, at least one of the N emitting lenses is a plastic lens.

[0017] Optionally, at least one of the front surface and the back surface of the plastic lens is an even-order aspheric surface configured to correct aberrations.

[0018] Optionally, the plastic lens is rotationally symmetric, and the vector height of the plastic lens decreases monotonically in a direction from its rotation center toward the edge of the lens.

[0019] Optionally, the plastic lens is a rotationally symmetric circular lens, and at a first temperature, at least one of the front surface and the rear surface of the plastic lens has a target sag distribution to reduce the aberration of the plastic lens, wherein the sag of a specific point on at least one of the front surface and the rear surface of the plastic lens has a target value, and at a second temperature, the sag of the specific point on at least one of the front surface and the rear surface of the plastic lens has a preset value, and the second temperature is lower than the first temperature, wherein when the sag of the specific point of the plastic lens increases with rising temperature, the preset value is lower than the target value; or when the sag of the specific point of the plastic lens decreases with rising temperature, the preset value is higher than the target value.

[0020] Optionally, the transmitting lens and the receiving lens are configured as wide-angle lenses, so that the vertical transmitting field of view of the transmitting end and the vertical receiving field of view of the receiving end are both greater than 70 degrees.

[0021] Optionally, the transmitting lens and the receiving lens have the same distortion curve.

[0022] According to other aspects of the present disclosure, a laser radar is provided, comprising the detection device as described above.

[0023] According to other aspects of the present disclosure, a vehicle is provided, comprising the laser radar as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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:

[0025] Figure 1 A schematic diagram of a detection device according to an exemplary embodiment of the present disclosure is shown.

[0026] Figure 2 A schematic diagram of a lens group including a first lens and a second lens is shown.

[0027] Figure 3 A schematic diagram of a detection device according to some embodiments of the present disclosure is shown.

[0028] Figure 4 Schematic diagrams of detection devices according to other embodiments of the present disclosure are shown.

[0029] Figure 5A Shows the surface shape of a plastic lens at room temperature.

[0030] Figure 5B The figure shows the difference in the surface shape of a plastic lens at room temperature and ambient temperature.

[0031] Figure 5C The surface shape of a compensated plastic lens relative to an uncompensated plastic lens is shown.

[0032] Figure 5D The surface shape of a compensated plastic lens at ambient temperature and the surface shape of an uncompensated plastic lens at room temperature are shown.

[0033] Figure 6 A schematic diagram of a laser radar according to an exemplary embodiment of the present disclosure is shown.

[0034] Figure 7 A schematic diagram of distortion mismatch is shown.

[0035] Figure 8 A schematic diagram of distortion matching according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The detection device provided according to the embodiments of the present disclosure is described in detail below with reference to the accompanying drawings.

[0041] The present disclosure proposes a detection device. The detection device includes: a transmitting end, having a laser and a transmitting lens; a receiving end, having a receiving lens and a detector; wherein the laser and the detector are arranged on a common circuit board; the transmitting lens has N transmitting lenses, the receiving lens has N receiving lenses, the i-th transmitting lens of the transmitting lens is the same as the i-th receiving lens of the receiving lens, i=1,…,N, N is an integer greater than 1; the focal length of the transmitting lens is different from the focal length of the receiving lens, so that the light-emitting surface of the laser is located in the focal plane of the transmitting lens and the photosensitive surface of the detector is located in the focal plane of the receiving lens. The transmitting lens and the receiving lens in the detection device of the present disclosure use the same lens to achieve flexible adjustment of the focal length, so that the light-emitting surface of the laser is located in the focal plane of the transmitting lens and the photosensitive surface of the detector is located in the focal plane of the receiving lens. At the same time, since the transmitting lens and the receiving lens use the same lens, the performance changes of the transmitting lens and the receiving lens at high and low temperatures offset each other, thereby ensuring the stability of the detection performance of the detection device and the laser radar at high and low temperatures.

[0042] See also Figure 1 ,in Figure 1 1 shows a schematic diagram of a detection device 100 according to an exemplary embodiment of the present disclosure. The detection device 100 may include a transmitting end 10 and a receiving end 20. The transmitting end 10 may include a laser 110 and a transmitting lens 120. The laser 110 may emit a detection beam. The transmitting lens 120 may guide the detection beam to the field of view of the laser radar. The receiving end 20 may include a detector 210 and a receiving lens 220. The receiving lens 220 may guide the echo formed by the detection beam after being reflected by an object to the detector 210. Figure 1 As shown, the laser 110 and the detector 210 can be arranged on a common circuit board 130, which is convenient for assembly and debugging and suitable for mass production.

[0043] In some embodiments of the present disclosure, the laser 110 may be various types of lasers, including but not limited to a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), etc. The detector 210 may be various types of detectors, including but not limited to a single photon avalanche diode (SPAD), an avalanche photo diode (APD), a silicon photomultiplier (SiPM), etc.

[0044] The transmitting lens 120 may have N transmitting lenses 12; the receiving lens 220 may have N receiving lenses 22, where N is an integer greater than 1. For example, the N transmitting lenses may be numbered sequentially from 1 to N along the optical axis direction of the transmitting lens 120, i.e., the first transmitting lens 121, the second transmitting lens 122, ..., the nth transmitting lens 12 n The N receiving lenses can be numbered sequentially from 1 to N along the optical axis direction of the receiving lens 220, that is, the first receiving lens 221, the second receiving lens 222, ..., the Nth receiving lens 22 N The ith emitting lens 12 of the emitting lens 120 i The i-th receiving lens 22 of the receiving lens 220 i For example, the first transmitting lens 121 of the transmitting lens 120 may be the same as the first receiving lens 221 of the receiving lens 220; the second transmitting lens 122 of the transmitting lens 120 may be the same as the second receiving lens 222 of the receiving lens 220; ...; the N-1th transmitting lens 121 of the transmitting lens 120 may be the same as the first receiving lens 221 of the receiving lens 220; N-1 The N-1 receiving lens 220 can be used together with the receiving lens 22 N-1 Same; the Nth emitting lens 12 of the emitting lens 120 N The Nth receiving lens 22 of the receiving lens 220 can be N same.

[0045] The focal length of the transmitting lens 120 may be different from the focal length of the receiving lens 220 so that the light emitting surface P of the laser 110 11 Located at the focal plane of the transmitting lens 120 and the photosensitive surface P of the detector 210 21 Located at the focal plane of the receiving lens 220.

[0046] In the detection device 100 of the present disclosure, the transmitting lens 120 and the receiving lens 220 use the same lens to achieve different focal lengths, so that the light-emitting surface of the laser 110 is located in the focal plane of the transmitting lens 120 and the photosensitive surface of the detector 210 is located in the focal plane of the receiving lens 220. At the same time, since the transmitting lens 120 and the receiving lens 220 use the same lens, their performance changes at high and low temperatures offset each other, thereby ensuring the stability of the detection performance of the detection device and the laser radar at high and low temperatures, and there is no need to design the size of the detector to be much larger than the size of the echo spot at room temperature.

[0047] The advantages of using the same lens for both the transmitting lens and the receiving lens are: (1) reducing the number of lens types and lowering the difficulty of lens management and production management; (2) reducing lens costs, because the more identical lenses are used, the lower the cost; and (3) the error of lens batches has less impact on lidar performance, because the errors of the same lenses in the transmitting lens and the receiving lens (such as curvature radius, thickness, eccentricity, tilt) will offset each other.

[0048] In addition, at high and low temperatures, the focal length, image height and other parameters of the lens change because: the refractive index of the lens changes at high and low temperatures; the thermal expansion and contraction of the lens barrel at high and low temperatures causes the position of the lens to change, and the radius of curvature of the lens to change. The above problems can be solved by the present disclosure. Since the transmitting lens and the receiving lens use the same lens (the type and number of lenses are the same), the above changes are offset on the transmitting lens and the receiving lens, thereby ensuring the stability of the detection performance of the detection device and the laser radar at high and low temperatures.

[0049] In some embodiments of the present disclosure, the distance between the jth transmitting lens and the j+1th transmitting lens of the transmitting lens 120 may be different from the distance between the jth receiving lens and the j+1th lens of the receiving lens 220, 1≤j≤N-1. In this way, the focal length (e.g., back focal length) of the transmitting lens 120 may be different from the focal length (e.g., back focal length) of the receiving lens 220 while using the same lens.

[0050] The following uses the lens including the first lens and the second lens as an example to explain the focal length and back focal length of the lens group. Figure 2 , which shows a schematic diagram of a lens group including a first lens L1 and a second lens L2. Assuming that the focal length of the first lens L1 is f1, the focal length of the second lens L2 is f2 (the focal length of a convex lens is a positive number, and the focal length of a concave lens is a negative number), and the distance between the optical center of the first lens L1 and the optical center of the second lens L2 is d, then the focal length f of the lens group formed by the first lens L1 and the second lens L2 can be defined as:

[0051]

[0052] The back focal length (BFL) of the lens group formed by the first lens L1 and the second lens L2 can be defined as:

[0053]

[0054] The back focal length BFL of the lens group is the last lens (in Figure 2 In the example, the second lens L2) is at the rear focus F of the lens group BACKThe distance is the position of the rear focal plane.

[0055] For a system having N emitting lenses (a first emitting lens 121, a second emitting lens 122, ..., an nth emitting lens 12 n ) of the emitting lens 120, the lens group L of the first emitting lens 121 and the second emitting lens 122 can be calculated according to the above formula 12 The focal length f 12 and back focal length BFL 12 , the lens group L 12 Combined with the third emitting lens 123 to calculate the lens group L 123 The focal length f 123 and back focal length BFL 123 , and so on, the calculation is combined in sequence until the Nth emitting lens 12 n , thereby obtaining the focal length f of the transmitting lens 120 t and back focal length BFL t .

[0056] Similarly, for a device having N receiving lenses (a first receiving lens 221, a second receiving lens 222, ..., an nth receiving lens 22 n ) of the receiving lens 220, the lens group L′ of the first receiving lens 221 and the second receiving lens 222 can also be calculated according to the above formula 12 The focal length f′ 12 and back focal length BFL′ 12 , the lens group L′ 12 Combined with the third receiving lens 223 to calculate the lens group L' 12 The focal length f′ 123 and back focal length BFL′ 123 , and so on, the calculation is combined in sequence until the Nth receiving lens 22 n , thereby obtaining the focal length f of the receiving lens 220 r and back focal length BFL r .

[0057] See also Figure 3 , which shows a schematic diagram of a detection device 100 according to some embodiments of the present disclosure. As shown in the figure, the laser 110 and the detector 210 can be arranged on a common surface of a common circuit board 130.

[0058] In some embodiments, the height h1 of the laser 110 on the common circuit board 130 is different from the height h2 of the detector 210 on the common circuit board 130. 11 The photosensitive surface P of the detector 210 21 The focal length f of the transmitting lens 120 may be adjusted. tand back focal length BFL t and the focal length f of the receiving lens 220 r and back focal length BFL r , so that the light emitting surface P of the laser 110 11 Located at the focal plane of the transmitting lens 120 and the photosensitive surface P of the detector 210 21 Located at the focal plane of the receiving lens 220.

[0059] Since the transmitting lens 120 and the receiving lens 220 use the same lens, the distance between the jth transmitting lens and the j+1th transmitting lens of the transmitting lens 120 can be set to be different from the distance between the jth receiving lens and the j+1th lens of the receiving lens 220, so that the back focal length BFL of the receiving lens 220 is r Different from the back focal length BFL of the transmitting lens 120 t For example, the distance between the first transmitting lens 121 and the second transmitting lens 122 of the transmitting lens 120 may be different from the distance between the first receiving lens 221 and the second receiving lens 222 of the receiving lens 220; the distance between the second transmitting lens 122 and the third transmitting lens 123 of the transmitting lens 120 may be different from the distance between the second receiving lens 222 and the third receiving lens 223 of the receiving lens 220; ...; or, the N-1th transmitting lens 121 of the transmitting lens 120 may be different from the distance between the first receiving lens 221 and the second receiving lens 222 of the receiving lens 220. N-1 With the Nth emission lens 12 N The distance between the receiving lens 220 and the receiving lens 221 may be different from the distance between the receiving lens 220 and the receiving lens 221. N-1 With the Nth receiving lens 22 N It can be seen that when the transmitting lens 120 and the receiving lens 220 have N lenses with fixed focal lengths, the transmitting lens 120 and the receiving lens 220 both have (N-1) degrees of freedom to adjust the focal length, and the degree of freedom represents the distance between any two adjacent lenses. According to the above formula, it can be flexibly adjusted to achieve different focal lengths and back focal plane positions of the transmitting lens 120 and the receiving lens 220.

[0060] The height h1 of the laser 110 on the common circuit board 130 and the height h2 of the detector 210 on the common circuit board 130 may be the same or different, and the present disclosure is not intended to be limited thereto. For example, at least one of the height h1 of the laser 110 on the common circuit board 130 and the height h2 of the detector 210 on the common circuit board 130 may be between 100 μm and 500 μm. In some embodiments, the height h1 of the laser 110 on the common circuit board 130 may be less than the height h2 of the detector 210 on the common circuit board 130. In some embodiments, the back focal length BFL of the receiving lens 220 rIt can be smaller than the back focal length BFL of the transmitting lens 120 t .

[0061] The transmitting aperture of the transmitting end 10 may be the same as or different from the receiving aperture of the receiving end 20, and the present disclosure is not intended to limit this. t Can be defined as:

[0062] D t =f t ×tanθ t ;

[0063] Among them, f t is the focal length of the transmitting lens 120, θ t is the divergence angle of the laser 110 .

[0064] Receiving aperture D of receiving end 20 r Can be defined as:

[0065] D r =f r ×tanθ r ;

[0066] Among them, f r is the focal length of the receiving lens 220, θ r is the receiving angle of the detector 210.

[0067] In some embodiments of the present disclosure, the transmitting aperture D of the transmitting end 10 t Can be less than or equal to the receiving aperture D of the receiving end r . Larger receiving aperture D r This helps to improve the detection capability of the detection device 100 in detecting objects at a long distance. t This helps to reduce the size of the detection device 100.

[0068] Launch caliber D t With receiving aperture D r The focal length f of the transmitting lens 120 can be adjusted. t Or the focal length f of the receiving lens 220 r For example, the focal length f of the transmitting lens 120 is t and the focal length f of the receiving lens 220 r The following conditions can be met to make the launch aperture D t Less than or equal to receiving aperture D r :

[0069]

[0070] The size of the light-emitting surface of the laser 110 and the size of the photosensitive surface of the detector 210 may be the same or different, and the present disclosure is not intended to limit this. For example, at least one of the size of the light-emitting surface of the laser 110 and the size of the photosensitive surface of the detector 210 may be characterized by a diameter, and both the diameter of the light-emitting surface and the diameter of the photosensitive surface may be between 50 μm and 350 μm. In some embodiments, the size of the photosensitive surface of the detector 210 may be larger than the size of the light-emitting surface of the laser 110. For example. The size of the photosensitive surface of the detector 210 may be 20 μm to 50 μm larger than the size of the light-emitting surface of the laser 110.

[0071] The transmitting field of view of the transmitting end 10 and the receiving field of view of the receiving end 20 may be the same or different, and the present disclosure is not intended to limit this. In some embodiments, the focal length f of the receiving lens 220 is r It can be greater than the focal length f of the transmitting lens 120 t And the photosensitive surface size can be larger than the light-emitting surface size. According to FOV*f=h, the receiving field of view FOV can be r Greater than or equal to the launch field of view FOV t . Transmitting field of view FOV t The divergence angle θ of the laser 110 may be based at least in part on t In some embodiments, the divergence angle θ of the laser 110 is t The receiving angle θ of the detector 210 may be between 15° and 30°. r can be greater than or equal to the divergence angle θ of the laser 110 t .

[0072] In some embodiments of the present disclosure, the receiving lens 220 may further include a filter 23. The filter 23 may be located at the Nth receiving lens 22 N and the detector 210. Figure 4 As shown, the Nth receiving lens 22 N is the receiving lens closest to the detector 210 among the N receiving lenses 22. The filter 23 can be configured to filter the undesired light beam. For example, the filter 23 can only transmit the echo formed by the detection light beam emitted by the laser 110 after being reflected by the object.

[0073] In some embodiments of the present disclosure, the entrance pupil Pt of the emitting lens 120 is aligned with the focal plane of the emitting lens 120 (located at the light emitting surface Pt of the laser 110). 11) is greater than the second distance Lr (referred to as the total length of the receiving lens) between the entrance pupil Pr of the receiving lens 220 and the focal plane of the receiving lens 220 (located on the photosensitive surface P21 of the detector). In some embodiments, the entrance pupil position Pt of the transmitting lens 120 may be the same as the entrance pupil position Pr of the receiving lens 220. The first distance Lt is greater than the second distance Lr.

[0074] Wherein Lt-Lr=h2-h1, h1 is the device height of the laser 110, and h2 is the device height of the detector 210.

[0075] In some embodiments of the present disclosure, the jth emitting lens 12 of the emitting lens 120 j With the j+1th emission lens 12 j+1 The j-th receiving lens 22 of the receiving lens 220 may be connected by a first lens barrel portion (not shown) and the connecting portion has a first length. j With the j+1th receiving lens 22 j+1 The first and second lengths may be connected by a second lens barrel portion (not shown) and the connecting portion has a second length, 1≤j≤N-1. In some embodiments, the first length and the second length may satisfy a first condition: the difference between the first length and the second length is less than ±30%. In the present disclosure, "the difference between the first length and the second length is less than ±30%" means that the absolute value of the difference between the first length and the second length does not exceed 30% of the first length or the second length. Alternatively, the first length and the second length may satisfy a second condition: the difference between the first length and the second length is less than ±0.5 mm.

[0076] It can be understood that the barrel portion connecting two adjacent lenses will expand and contract under high and low temperatures, thereby causing the position of the two lenses (the distance between the two lenses) to change. Since the transmitting lens 120 and the receiving lens 220 use the same lens, configuring the first barrel portion and the second barrel portion to meet at least one of the first condition and the second condition can make the lens position change caused by the thermal expansion and contraction of the barrel portion connecting any two adjacent lenses consistent in the transmitting lens 120 and the receiving lens 220, thereby ensuring that the focal length change trends of the transmitting lens 120 and the receiving lens 220 are consistent. In this way, the effect of the focal length change of the transmitting lens 120 on the detection beam and the effect of the focal length change of the receiving lens 220 on the echo can offset each other, which is conducive to keeping the focal length of the transmitting lens and the receiving lens at high and low temperatures. Changes do not exceed 5%, thereby meeting the automotive regulations for laser radar when used for autonomous driving.

[0077] In some embodiments, the thermal expansion coefficient of the first barrel portion and the second barrel portion may be between 10ppm / °C and 50ppm / °C. The material of the first barrel portion and the second barrel portion may include metal or plastic. The first barrel portion and the second barrel portion may be different sections of the same barrel, or may belong to different barrels.

[0078] In some embodiments of the present disclosure, the transmitting lens 120 may include a glass lens, a plastic lens, or a combination of a glass lens and a plastic lens. In some embodiments, at least one transmitting lens 12 in the transmitting lens 120 and at least one receiving lens 22 in the receiving lens 220 may be a plastic lens. For example, the i-th transmitting lens 12 of the transmitting lens 120 may be a plastic lens. i The i-th receiving lens 22 of the receiving lens 220 i It can be the same plastic lens. At least one of the front surface and the rear surface of the plastic lens can be an even-order aspheric surface. In this way, aberrations can be corrected by the design of the aspheric surface. Although the plastic lens is very sensitive to temperature changes, since the transmitting lens 120 and the receiving lens 220 use the same plastic lens, the changes in the plastic lens with temperature can offset each other, which is conducive to keeping the focal length of the transmitting lens and the receiving lens from changing by no more than 5% at high and low temperatures. In some embodiments, the plastic lens can be rotationally symmetric, and the sagittal height of the plastic lens decreases monotonically in the direction from the rotation center of the plastic lens toward the edge of the plastic lens.

[0079] Since plastic lenses have a large expansion coefficient and low strength, they are more likely to deform at high and low temperatures. For any pair of identical plastic lenses in the transmitting lens 120 and the receiving lens 220 (for example, the i-th transmitting lens 12 i With the i-th receiving lens 22 i ) of the front or back surface, assuming that the surface shape will change at a specific temperature, a reverse surface shape compensation amount can be set in advance, and the surface shape can be compensated to an ideal surface shape at a specific temperature. For example, a plastic lens can be a rotationally symmetrical circular lens, and the sagitta of any point on the front or back surface can be determined. If the sagitta of a point increases at a specific temperature, the sagitta of the point is reduced during processing; otherwise, the sagitta of the point is increased.

[0080] In some embodiments, the surface shape compensation for the plastic lens can be performed in the following manner: at a first temperature, at least one of the front surface and the back surface of the plastic lens can have a target sag distribution to reduce the aberration of the plastic lens, wherein the sag of a specific point on at least one of the front surface and the back surface of the plastic lens can have a target value; at a second temperature, the sag of a specific point on at least one of the front surface and the back surface of the plastic lens can have a preset value; when the sag of the specific point of the plastic lens increases with increasing temperature, the preset value can be less than the target value; or when the sag of the specific point of the plastic lens decreases with increasing temperature, the preset value can be greater than the target value. The first temperature can be the ambient temperature when the detection device 100 is working, and the second temperature can be a normal temperature or a processing temperature. As an example, the second temperature can be less than the first temperature, that is, the detection device 100 works in a high temperature environment.

[0081] See also Figure 5A-5D . Figure 5A The surface shape of a plastic lens at normal temperature is shown, and the surface shape is configured to correct aberrations. Figure 5B The difference in surface shape of a plastic lens at room temperature and ambient temperature (eg, high temperature) is shown, wherein the solid line shows the surface shape of the plastic lens at room temperature, and the dotted line shows the surface shape of the plastic lens at ambient temperature. Figure 5C The surface shape of the compensated plastic lens relative to the uncompensated plastic lens is shown, wherein the solid line shows the surface shape of the uncompensated plastic lens at room temperature, the dotted line shows the surface shape of the compensated plastic lens at room temperature, and the surface shape compensation amount is set for the surface shape at room temperature. Figure 5D The surface shape of a compensated plastic lens at ambient temperature (eg, high temperature) (dashed line) and the surface shape of an uncompensated plastic lens at room temperature (solid line) are shown. Figure 5D As shown, the surface shape of the compensated plastic lens at ambient temperature can be compensated to an ideal value, that is, consistent with the surface shape of the uncompensated plastic lens at room temperature, thereby correcting the aberration.

[0082] In an embodiment where the transmitting lens 120 and the receiving lens 220 include plastic lenses, pre-compensating the surface shape of the plastic lenses in the above manner can reduce the degradation of detection performance caused by surface shape changes of the detection device and the laser radar under ambient temperature.

[0083] According to another exemplary embodiment of the present disclosure, a laser radar is also provided.

[0084] like Figure 6 As shown, the laser radar 600 may include the detection device 100 described above.

[0085] The laser 110 of the detection device 100 can provide a detection beam to an object in the field of view via the transmitting lens 120 . The detection beam is reflected by the object to form an echo, and the echo is received by the detector 210 via the receiving lens 220 .

[0086] The transmitting end 10 of the detection device 100 may have a transmitting field of view FOV t , the receiving end 20 may have a receiving field of view FOV r Detection within the horizontal field of view of the laser radar 600 is achieved by rotating the detection device 100. The horizontal field of view can be determined based on the rotation angle of the detection device 100. For example, the detection device 100 can be rotated 360 degrees, and the horizontal field of view of the laser radar is 360 degrees.

[0087] In some embodiments, the detection device 100 may have multiple lasers and multiple detectors along the vertical direction. The emission field of view of the laser corresponds to the receiving field of view of the detector, that is, the emission field of view matches its corresponding receiving field of view. The emission fields of view of all lasers arranged along the vertical direction are combined into the emission field of view FOV of the transmitting end 10. t The receiving fields of view of all detectors arranged in the vertical direction are combined into the receiving field of view FOV of the receiving end 20 t , emission field of view FOV t Receiver Field of View FOV t All the transmitting fields of view formed by all the lasers 110 rotating 360 degrees in the horizontal direction or all the receiving fields of view formed by all the detectors 210 rotating 360 degrees in the horizontal direction are combined into the field of view range of the laser radar 600. The laser radar 600 may include a horizontal field of view range and a vertical field of view range, wherein the vertical field of view range of the laser radar 600 is at least partially based on the transmitting field of view FOV of the transmitting end 10. t and the receiving field of view FOV of the receiving end 20 r Sure.

[0088] In some embodiments of the present disclosure, the transmitting lens 120 and the receiving lens 220 can be configured as wide-angle lenses. This can expand the vertical transmitting field of view FOV of the transmitting end 10. t and the vertical receiving field of view FOV of the receiving end 20 r , for example, it can be extended to greater than 70°, greater than 80°, greater than 90°, greater than 100°, greater than 120° or greater.

[0089] For the laser radar 600, the emission angle of the detection beam emitted by the laser 110 through the transmitting lens 120 matches the receiving angle of the echo received by the detector 210 through the receiving lens 220, thereby ensuring the alignment of transmission and reception (i.e., the transmitting field of view of the laser and the receiving field of view of the detector correspond one to one). Figure 7When there is no distortion between the transmitting lens 710 and the receiving lens 720, the light emitting angle α1 is the same as the receiving angle β1, so the transmitting and receiving alignment can be achieved. When there is distortion between the transmitting lens 710 and the receiving lens 720 and the distortion of the transmitting lens 710 and the receiving lens 720 does not match, then the actual light emitting angle α2 is different from the actual receiving angle β2, resulting in a mismatch between the transmitting and receiving.

[0090] In some embodiments of the present disclosure, see Figure 8 Since the transmitting lens 120 and the receiving lens 220 use the same lens, the transmitting lens 120 and the receiving lens 220 can have the same or similar distortion curves, so that the actual light output angle α3 is the same as the actual receiving angle β3, thereby avoiding the mismatch between transmission and reception caused by the distortion mismatch between the transmitting lens 120 and the receiving lens 220.

[0091] The laser radar 600 may further include a controller 601. The controller 601 may be connected to the detection device 100 and may control the laser 110 to emit a detection beam and determine at least one of a distance and a reflectivity of an object according to an echo received by the detector 120.

[0092] As an example, the controller 601 may include, but is not limited to, chips such as a CPU (central processing unit), an FPGA (Field Programmable Gate Array), and a DSP (Digital Signal Processing).

[0093] According to yet another exemplary embodiment of the present disclosure, a vehicle is further provided, and the vehicle may include the laser radar 600 as described above.

[0094] So far, the detection device, the laser radar and the vehicle including the same according to the present disclosure are described. The detection device of the present disclosure allows the use of the same lens in the transmitting lens and the receiving lens to achieve differentiated design and flexible adjustment of the focal length.

[0095] The advantages of using the same lens for both the transmitting lens and the receiving lens are: (1) reducing the number of lens types and lowering the difficulty of lens management and production management; (2) reducing lens costs, because the more identical lenses are used, the lower the cost; and (3) the error of lens batches has less impact on lidar performance, because the errors of the same lenses in the transmitting lens and the receiving lens (such as curvature radius, thickness, eccentricity, tilt) will offset each other.

[0096] In addition, at high and low temperatures, the focal length, image height and other parameters of the lens change because: the refractive index of the lens changes at high and low temperatures; the thermal expansion and contraction of the lens barrel at high and low temperatures causes the position of the lens to change, and the radius of curvature of the lens to change. The above problems can be solved by the present disclosure. Since the transmitting lens and the receiving lens use the same lens (the type and number of lenses are the same), the above changes are offset on the transmitting lens and the receiving lens, thereby ensuring the stability of the detection performance of the detection device and the laser radar at high and low temperatures.

[0097] 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 detection device, comprising: The transmitting end has a laser and a transmitting lens; The receiving end has a receiving lens and a detector; wherein the laser and the detector are arranged on a common circuit board; The transmitting lens has N transmitting lenses, and the receiving lens has N receiving lenses, the i-th transmitting lens of the transmitting lens is the same as the i-th receiving lens of the receiving lens, i=1, ..., N, and N is an integer greater than 1; The focal length of the transmitting lens is different from the focal length of the receiving lens, so that the light emitting surface of the laser is located in the focal plane of the transmitting lens and the light sensing surface of the detector is located in the focal plane of the receiving lens.

2. The detection device according to claim 1, characterized in that The distance between the jth transmitting lens and the j+1th transmitting lens of the transmitting lens is different from the distance between the jth receiving lens and the j+1th lens of the receiving lens, 1≤j≤N-1.

3. The detection device according to claim 1, characterized in that The transmitting aperture of the transmitting end is smaller than or equal to the receiving aperture of the receiving end.

4. The detection device according to claim 1, characterized in that The back focal length of the receiving lens is smaller than the back focal length of the transmitting lens.

5. The detection device according to claim 1, characterized in that: The height of the laser on the common circuit board is smaller than the height of the detector on the common circuit board.

6. The detection device according to claim 1, characterized in that: The size of the photosensitive surface of the detector is greater than or equal to the size of the light-emitting surface of the laser.

7. The detection device according to claim 1, characterized in that: The receiving field of view of the receiving end is greater than or equal to the transmitting field of view of the transmitting end.

8. The detection device according to claim 1, characterized in that: The receiving lens further includes a filter, and the filter is located between the Nth receiving lens and the detector. The Nth receiving lens is the receiving lens closest to the detector among the N receiving lenses.

9. The detection device according to claim 8, characterized in that A first distance between an entrance pupil of the transmitting lens and a focal plane of the transmitting lens is greater than a second distance between an entrance pupil of the receiving lens and a focal plane of the receiving lens.

10. The detection device according to claim 1, characterized in that: The jth transmitting lens and the j+1th transmitting lens of the transmitting lens are connected by a first lens barrel portion, and the connecting portion has a first length; the jth receiving lens and the j+1th receiving lens of the receiving lens are connected by a second lens barrel portion, and the connecting portion has a second length, 1≤j≤N-1, The first length and the second length satisfy at least one of the following conditions: The first length differs from the second length by less than ±30%; and The difference between the first length and the second length is less than ±0.5 mm.

11. The detection device according to claim 10, characterized in that The thermal expansion coefficients of the first barrel portion and the second barrel portion are between 10 ppm / °C and 50 ppm / °C.

12. The detection device according to claim 1, characterized in that: At least one of the N emitting lenses is a plastic lens.

13. The detection device according to claim 12, characterized in that At least one of the front surface and the rear surface of the plastic lens is an even-order aspherical surface configured to correct aberrations.

14. The detection device according to claim 12, characterized in that: The plastic lens is rotationally symmetric, and the sag of the plastic lens decreases monotonically in a direction from the rotation center toward the edge of the lens.

15. The detection device according to claim 12, characterized in that: The plastic lens is a rotationally symmetrical circular lens, and At a first temperature, at least one of the front surface and the back surface of the plastic lens has a target sag distribution to reduce aberrations of the plastic lens, wherein a sag at a specific point on at least one of the front surface and the back surface of the plastic lens has a target value, At a second temperature, the sagittal height of the specific point on at least one of the front surface and the back surface of the plastic lens has a preset value, the second temperature being lower than the first temperature, Wherein, when the vector height of the specific point of the plastic lens increases with increasing temperature, the preset value is less than the target value; or When the vector height of the specific point of the plastic lens decreases as the temperature increases, the preset value is greater than the target value.

16. The detection device according to claim 1, characterized in that: The transmitting lens and the receiving lens are configured as wide-angle lenses, so that the vertical transmitting field of view of the transmitting end and the vertical receiving field of view of the receiving end are both greater than 70 degrees.

17. The detection device according to claim 16, characterized in that The transmitting lens and the receiving lens have the same distortion curve.

18. A laser radar, comprising: A detection device as claimed in any one of claims 1 to 17.

19. A vehicle comprising the laser radar as claimed in claim 18.

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