Optical transceiver assembly for laser radar, laser radar and terminal equipment

Abstract

The utility model relates to an optical transceiver assembly for a laser radar, the laser radar and terminal equipment. The optical transceiver assembly comprises: an emitter configured to emit a detection light beam; the receiver is configured to receive an echo light beam generated after the detection light beam is reflected by an object; and a transmit-receive optic configured to shape the probe light beam and direct the probe light beam to an external field of view, and transmit the echo light beam to the receiver, the transmit-receive optic including one or more mirrors configured to change a transmission direction of at least one of the probe light beam and the echo light beam; wherein the one or more reflectors comprise a cylindrical reflector, and the cylindrical reflector is configured to shape at least one of the detection light beam and the echo light beam so as to compensate for aberration caused by the cylindrical window.

Description

Technical Field

[0001] The present utility model relates to the field of lidar, and more particularly to an optical transceiver assembly for lidar, a lidar, and a terminal device. Background Art

[0002] A lidar (Light Detection and Ranging) is a radar system that emits laser beams to detect the position, speed, and other characteristic quantities of an object. 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, lidar is widely used in fields such as autonomous driving, traffic communication, unmanned aerial vehicles, intelligent robots, and resource exploration.

[0003] A lidar generally includes a base, a window, and an optical transceiver assembly. Although the window provides necessary protection and isolation for the optical transceiver assembly, it also introduces aberration, which in turn affects the detection performance of the lidar. Summary of the Utility Model

[0004] The present disclosure provides an optical transceiver assembly for lidar, which can improve the detection performance of lidar.

[0005] According to a first aspect of the present disclosure, there is provided an optical transceiver assembly for lidar, characterized in that the optical transceiver assembly includes: a transmitter configured to emit a detection beam; a receiver configured to receive an echo beam generated after the detection beam is reflected by an object; and a transceiver optical device configured to shape the detection beam and guide the detection beam to an external field of view, and transmit the echo beam to the receiver, the transceiver optical device including one or more reflectors configured to change the transmission direction of at least one of the detection beam and the echo beam; wherein the one or more reflectors include a cylindrical reflector configured to shape at least one of the detection beam and the echo beam to compensate for the aberration caused by a cylindrical window.

[0006] Optionally, the curvature of the cylindrical reflector is set such that the root mean square (RMS) radius of the spot formed after at least one of the detection beam and the echo beam passes through the cylindrical window does not exceed 50 μm.

[0007] Optionally, the transceiver optical device includes: a transmitting optical device configured to shape the detection beam and guide the detection beam to an external field of view; and a receiving optical device configured to transmit the received beam to the receiver.

[0008] Optionally, one or more mirrors include at least one of the following: a transmitting mirror, which is disposed on the optical path of the detection beam and is configured to change the transmission direction of the detection beam; or a receiving mirror, which is disposed on the optical path of the echo beam and is configured to change the transmission direction of the echo beam.

[0009] Optionally, the transmitting mirror includes a cylindrical mirror.

[0010] Optionally, the cylindrical mirror includes one or more of a convex cylindrical mirror or a concave cylindrical mirror.

[0011] Optionally, the curvature of the transmitting mirror is set such that the RMS radius of the light spot formed after the detection beam passes through the cylindrical window does not exceed 30 μm.

[0012] Optionally, the receiving mirror includes a cylindrical mirror.

[0013] Optionally, the curvature of the receiving mirror is set such that the RMS radius of the light spot formed after the echo beam passes through the cylindrical window does not exceed 30 μm.

[0014] Optionally, the transmitting mirror may include one or more mirrors.

[0015] Optionally, the receiving mirror may include one or more mirrors.

[0016] Optionally, the optical transceiver further includes one or more spherical lenses.

[0017] Optionally, the spherical lens is a plastic lens or a glass lens.

[0018] Optionally, the cylindrical mirror can rotate about the rotation axis of the cylindrical mirror.

[0019] Optionally, the cylindrical mirror can swing back and forth about the rotation axis of the cylindrical mirror.

[0020] Optionally, the optical transceiver assembly further includes a beam splitter, which is configured to guide and separate the detection beam and the echo beam.

[0021] According to a second aspect of the present disclosure, there is provided a lidar, including: a base; a cylindrical window, which is placed on the base to form an internal space of the lidar; and any one of the above-mentioned optical transceiver assemblies, which is located in the internal space.

[0022] According to a third aspect of the present disclosure, there is provided a terminal device, including the above-mentioned lidar. Description of the Drawings

[0023] The exemplary embodiments of the present utility model will be described with reference to the accompanying drawings, which can help better understand the present utility model. It should be understood that the drawings only depict the typical embodiments of the present utility model and should not be considered as limiting the scope of protection required by the present utility model. In the drawings,

[0024] Figure 1 a schematic block diagram of a lidar according to some embodiments of the present disclosure is shown;

[0025] Figure 2 a schematic block diagram of a vehicle system according to some embodiments of the present disclosure is shown;

[0026] Figure 3 a schematic block diagram of an optical transceiver module for a lidar according to some embodiments of the present disclosure is shown;

[0027] Figure 4A and Figure 4B respectively show the spot under normal conditions and the spot image after passing through a cylindrical window according to some embodiments of the present disclosure;

[0028] Figure 5 a schematic block diagram of an optical transceiver module according to some exemplary embodiments of the present disclosure is shown;

[0029] Figure 6 a spot image optimized by a cylindrical mirror according to some embodiments of the present disclosure is shown; and

[0030] Figure 7 a schematic block diagram of an optical transceiver module according to some other exemplary embodiments of the present disclosure is shown.

[0031] Figure 8 and Figure 9 respectively show several examples of reflectors according to some embodiments of the present disclosure.

[0032] Figure 10 a schematic diagram of a lidar according to some embodiments of the present disclosure is shown. Detailed Embodiments

[0033] The embodiments of the present disclosure will be described below. It should be noted that in the specific description of these embodiments, for the sake of concise description, this specification may not describe in detail 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 constraints, various specific decisions are often made, and these will also change from one embodiment to another. In addition, it should also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content of the present disclosure, some design, manufacturing, or production changes based on the technical content disclosed in the present disclosure are only conventional technical means and should not be construed as insufficient content of the present disclosure.

[0034] Unless otherwise defined, the technical terms or scientific terms used in the claims and the specification should have the ordinary meanings understood by those of ordinary skill in the technical field to which the present disclosure pertains. The terms "first", "second", and similar terms used in the specification and claims of the present patent application do not denote any order, quantity, or importance, but are only used to distinguish different components. The terms "a" or "an" and the like do not denote a quantity limitation, but mean that there is at least one. The terms "comprising", "including", or similar terms are intended to mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalent elements, and do not exclude other elements or items. The terms "connected", "coupled", or "linked" and the like are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0035] In the present disclosure, if not otherwise specified, all the embodiments and preferred embodiments mentioned herein can be combined with each other to form new technical solutions. In the present disclosure, if not otherwise specified, all the technical features and preferred features mentioned herein can be combined with each other to form new technical solutions.

[0036] In the description of the embodiments of the present disclosure, the term "at least one of the following" is used to describe the relationship between associated objects, which means non-exclusive inclusion. For example, "at least one of A and B" can include: "A alone", "B alone", or "A and B", where "A" and "B" can include single objects or multiple objects. Again, "at least one of A, B, or C" and "at least one of A, B, and C" can both include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B, and C", where "A", "B", and "C" can include single objects or multiple objects. Additionally, " / " in the present disclosure is used to represent the "or" relationship between the preceding and following associated objects.

[0037] The following will describe in detail an optical transceiver module, a lidar, and a terminal device provided according to the embodiments of the present disclosure with reference to the accompanying drawings.

[0038] A lidar can use laser to measure the distance of an object. For example, the lidar emits laser, and after the laser encounters an object, it is reflected by the surface of the object to form reflected light (referred to as an echo), and a part of the reflected light (referred to as an echo) will be received by the lidar and converted into an electrical signal. The lidar can determine information about the object, such as the distance, position, or speed of the object, by processing the electrical signal.

[0039] Figure 1 A schematic block diagram of a lidar according to some embodiments of the present disclosure is shown. Refer to Figure 1 , the lidar 100 includes a laser emission system 110, a laser reception system 120, and a control and processing system 130. Optionally, the lidar 100 further includes a scanning system 140. The scanning system 140 can include at least one of a rotating optical machine, a multi-faceted mirror that rotates in a single direction, a galvanometer mirror that reciprocates, or a vibrating mirror (such as a microelectromechanical system mirror, a galvanometer mirror, etc.), and other components that can direct the laser to different directions in the environment.

[0040] The laser emission system 110 is used to emit laser. After the laser encounters the object 10, an echo is formed by reflection from the surface of the object 10, and the echo returns to the lidar 100. The laser reception system 120 receives the reflected echo and converts the received echo into an electrical signal. The electrical signal is preprocessed to determine echo data, such as the reception time of the echo, and is provided to the control and processing system 130. The control and processing system 130 processes the echo data to determine information about the object 10, such as the distance, position, or speed of the object 10. This process is repeated millions of times per second to create an accurate, real-time three-dimensional environmental map, such as a point cloud. A computer in a terminal device such as a vehicle can use the point cloud for safe navigation.

[0041] The laser emission system 110 includes an excitation source (such as a drive circuit, etc.), a laser, and an emission optical device. The laser emits laser light under the drive of the excitation source, and the laser light exits through the emission optical device. The laser can be a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or other lasers capable of generating laser light. The wavelength of the laser light emitted by the laser can be any one of 905 nm, 940 nm, or 1550 nm, and the laser can also emit laser light of other wavelengths. The excitation source can include a driver integrated circuit, such as an analog chip or a digital-analog hybrid chip.

[0042] The laser receiving system 120 includes a receiving optical device and a detector. The receiving optical device collects the echo after being reflected by the object and converges the echo onto the detector; the detector converts the echo into an electrical signal by using the photoelectric effect. The detector may include a single-photon detector, and the detector includes a single-photon avalanche diode (SPAD) or a silicon photomultiplier (SiPM). The detector also includes an avalanche photo diode (APD). The lidar 100 may further include a preprocessing circuit. The preprocessing circuit may include a digitizing circuit, for example, including an analog-to-digital converter (ADC), which converts an analog signal into a digital signal and provides it to the control and processing system 130. For another example, the preprocessing circuit may include a time-to-digital converter (TDC); the echo is detected and converted into an electrical signal by the detector, and the electrical signal is provided to the TDC; based on the received electrical signal, the TDC can determine the time information (such as a timestamp) of the echo and convert the time information into a digital signal and provide it to the control and processing system 130. The preprocessing circuit may further include an analog front-end circuit for channel gating and analog signal amplification. In some embodiments, the preprocessing circuit may be implemented in the form of a system on chip (SOC) or an application specific integrated circuit (ASIC), etc. The transmitting optical device and the receiving optical device include, for example, one or more optical devices such as lenses or lens groups, mirrors, filters, beam splitters, diaphragms, light homogenizers, etc. The transmitting optical device and the receiving optical device may be independently provided optical devices, or may be fully or partially multiplexed.

[0043] The control and processing system 130 may include an information processing circuit and a light source control circuit. The information processing circuit is used to process electrical signals to determine information about an object. For example, the information processing circuit includes: a circuit implemented by an Application Specific Integrated Circuit (ASIC), or a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), or a Microcontroller Unit (MCU), or a Digital Signal Processor (DSP), etc. Another example is that the information processing circuit includes a Central Processing Unit (CPU). The light source control circuit is used to send a control signal to an excitation source to control the excitation source to drive the laser to emit light, realizing pulsed emission of the laser. For example, the light source control circuit may send a timing signal to control the emission timing of the laser. Again, the light source control circuit can increase the pulse coding function and enhance the anti-interference ability of the lidar by controlling one or more of the pulse interval, pulse intensity, and pulse width. The light source control circuit and the information processing circuit may be integrated together. For example, they are integrated into a main control chip, or may be independent or partially independent as chips. When the lidar 100 includes a scanning system 140, the control and processing system 130 may further include a scanning control circuit for controlling the scanning system. The scanning control circuit may be integrated with one or all of the light source control circuit and the information processing circuit. For example, the scanning control circuit, the light source control circuit, and the information processing circuit are integrated into a main control chip; or they may be independent or partially independent as chips. In some embodiments, the control and processing system 130 may be implemented in the form of a System On Chip (SOC) or an Application Specific Integrated Circuit (ASIC).

[0044] The lidar can be installed on a terminal device and send the detected perception data to the terminal device. The terminal device uses the perception data to implement one or more functions such as analysis, decision-making, or control. Terminal devices include, for example, vehicles, ships, aircraft (such as flying vehicles or drones, etc.), robots (such as industrial robots or household robots, etc.).

[0045] Figure 2FIG. 0 shows a schematic block diagram of a vehicle system according to some embodiments of the present disclosure. In some examples, vehicle system 200 includes a sensor system 202, a perception system 204, a planning system 206, and a control system 208. Vehicle system 200 may have autonomous capabilities, e.g., having at least one function, feature, device, or the like that enables the vehicle to operate partially or fully without human intervention, including but not limited to fully autonomous vehicles (e.g., vehicles that dispense with reliance on human intervention), highly autonomous vehicles (e.g., vehicles that dispense with reliance on human intervention in certain situations), or the like. Wherein the sensor system 202 includes one or more devices, such as lidar 202a, radar 202b, camera 202c, sonar 202d, global positioning system (GPS) 202e, and inertial measurement unit (IMU) 202f. Lidar 202a may include lidar sensors, such as long-range lidar sensors, mid-range lidar sensors, or short-range lidar sensors. In some embodiments, the sensor system 202 uses one or more devices included in the sensor system 202 to generate data related to the environment. The data generated by the sensor system 202 can be used by one or more systems to observe the environment in which the vehicle is located.

[0046] In some examples, the perception system 204 receives data related to at least one object in the environment and classifies the at least one object. In some examples, the perception system 204 receives image data (e.g., point cloud) associated with an object captured by at least one lidar. In such examples, the perception system 204 classifies the object according to the grouping of the objects (e.g., bicycles, vehicles, traffic signs, pedestrians, or the like). In some embodiments, the perception system 204 transmits data related to the object classification to the planning system 206.

[0047] In some examples, the planning system 206 receives data related to a destination and generates data related to at least one route or trajectory along which the vehicle can travel towards the destination. In some embodiments, the planning system 206 periodically or continuously receives data from the perception system 204 and updates the route or trajectory according to the data generated by the perception system 204.

[0048] In some examples, the control system 208 receives data related to at least one trajectory from the planning system 206, and the control system 208 controls the operation of the vehicle. In some embodiments, the control system 208 includes a steering control system 208a and a powertrain control system 208b. The control system 208 can control the operation of the steering control system 208a and the powertrain control system 208b according to the received trajectory. In some embodiments, the powertrain control system 208b receives a control signal from the control system 208 to start, stop, accelerate, decelerate, turn left, turn right, or perform similar operations on the vehicle. The steering control system 208a is configured to receive a control signal from the control system 208 to rotate one or more wheels of the vehicle. In some examples, when the trajectory includes a left turn, the control system 208 transmits a control signal to cause the steering control system 208a to adjust the direction.

[0049] The present disclosure provides an optical transceiver assembly for lidar, including: a transmitter configured to emit a detection beam; a receiver configured to receive an echo beam generated after the detection beam is reflected by an object; and an optical transceiver configured to shape the detection beam and guide the detection beam to an external field of view, and transmit the echo beam to the receiver, the optical transceiver including one or more mirrors configured to change the transmission direction of at least one of the detection beam and the echo beam; wherein the one or more mirrors include a cylindrical mirror configured to shape at least one of the detection beam and the echo beam to compensate for the aberration caused by the cylindrical window.

[0050] Figure 3 A schematic block diagram of an optical transceiver assembly for lidar according to some embodiments of the present disclosure is shown. The optical transceiver assembly 300 can be used for lidar. The optical transceiver assembly 300 can include a transmitter 310, a receiver 320, and an optical transceiver 330.

[0051] The transmitter 310 can include a laser or a laser array that emits a detection beam. In some embodiments of the present disclosure, the transmitter 310 can employ various types of lasers, including but not limited to vertical cavity surface emitting lasers, edge emitting lasers, fiber lasers, etc.

[0052] The optical transceiver 330 can shape the detection beam (e.g., collimate, expand, homogenize, etc.) to guide the detection beam outside the optical transceiver assembly 300 (e.g., through the window 20). In some embodiments of the present disclosure, the optical transceiver 330 can collimate the detection beam from the transmitter 310 to form a detection beam having a vertical field of view angle α (e.g., in the y direction), refer to Figure 3。In the present disclosure, "collimating the detection beam" means that the optical transceiver 330 shapes the detection beam emitted by the emitter 310, so that the detection beam has a small divergence angle, is as close to parallel as possible, and forms a specific vertical field of view angle α. The divergence angle of the collimated detection beam is very small and can be regarded as a parallel beam in practical applications. In some embodiments, the lidar including the optical transceiver assembly 300 may include a mechanically rotating lidar, a solid-state lidar, or a hybrid lidar, and its vertical field of view angle may be at least partially determined by the distribution of the emitter 310 and the receiver 320 in the vertical direction and the optical transceiver 330.

[0053] The optical transceiver 330 may transmit the echo returned via the window 20 to the receiver 320. The receiver 320 may include a detector or a detector array for receiving the echo generated after the detection beam is reflected by an object. The receiver 320 may employ 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.

[0054] To meet the sealing and volume requirements, the lidar including the optical transceiver assembly 300 may adopt a cylindrical window 20. The cylindrical window 20 may cause aberration in the optical system. For example, the cylindrical window 20 may cause the spot passing through the cylindrical window to broaden in the horizontal direction.

[0055] Figure 4A and Figure 4B respectively show the spot in the normal state and the spot image after passing through the cylindrical window according to some embodiments of the present disclosure. In the absence of interference from the cylindrical window, the spot formed after the laser beam passes through the optical system may be circular or nearly circular (refer to Figure 4A ). It should be noted that although a circular spot in the normal state is used as an example for illustration in this article, the shape of the spot in the normal state of the present disclosure is not limited to circular, and may also be other shapes (for example, rectangular, rhombic, or elliptical, etc.). When the laser beam passes through the cylindrical window, due to the cylindrical geometric characteristics of the window, the light rays will be deflected during the passing process. Especially when the light rays are not parallel to the normal of the window surface, the deflection effect is more obvious. This refraction causes the light rays to deflect and disperse in the horizontal direction, so that the originally concentrated spot broadens in the horizontal direction. Refer to Figure 4B as shown, the spot of the laser beam with a circular spot becomes flattened in the horizontal direction after passing through the cylindrical window, which may affect the ranging accuracy and target recognition ability of the lidar.

[0056] In some embodiments, the optical system of the optical transceiver module 300 may also be a non-coaxial optical system. The non-coaxial optical system may include a separately arranged transmitting optical device and a receiving optical device. The transmitting optical device may shape the detection beam from the transmitter 310 (e.g., collimate, expand, homogenize, etc.) to guide the detection beam outside the optical transceiver module 300. The receiving optical device may transmit the echo to the receiver 320. The transmitting optical device and the receiving optical device may jointly form the transmitting and receiving optical device 330.

[0057] Figure 5 A schematic block diagram of an optical transceiver module 500 according to some exemplary embodiments of the present disclosure is shown. The optical transceiver module 500 may include a transmitter 510, a receiver 520, a transmitting optical device 530, and a receiving optical device 540. Several details of the optical transceiver module 500 are the same as those of the optical transceiver module 300 and will not be described herein again. The following mainly describes the special features of the optical transceiver module 500.

[0058] The transmitting optical device 530 and the receiving optical device 540 may jointly form the Figure 3 depicted transmitting and receiving optical device 330. For example, the transmitting optical device 530 may include one or more spherical lenses 531 for modulating the detection beam, and the receiving optical device 540 may include one or more spherical lenses 541 for modulating the echo beam. The spherical lens may be a plastic lens, a glass lens, or a combination thereof.

[0059] To turn the optical path to compress the volume, the transmitting and receiving optical device (the transmitting optical device 530 and the receiving optical device 540) may include one or more mirrors. In some embodiments of the present disclosure, the one or more mirrors may include a cylindrical mirror, and the cylindrical mirror may shape at least one of the detection beam and the echo beam to compensate for the aberration caused by the cylindrical window 20. For example, when designing the lens in the early stage, the curvature of the cylindrical mirror may be set in the case of having the cylindrical window 20 such that the root mean square (RMS) radius of the spot formed by at least one of the detection beam and the echo beam after passing through the cylindrical window 20 is optimized to an acceptable range (e.g., below 50 μm), refer to Figure 6 .

[0060] In some embodiments, the cylindrical mirror may include at least one of a concave cylindrical mirror or a convex cylindrical mirror.

[0061] In some embodiments, the transmitting optical device 530 may include at least one transmitting mirror, and the at least one transmitting mirror may be disposed on the optical path of the detection beam and configured to change the transmission direction of the detection beam. In some embodiments, the at least one transmitting mirror may be configured as a cylindrical mirror, and the curvature of the cylindrical mirror may be set such that the RMS radius of the light spot formed after the detection beam passes through the cylindrical window does not exceed 30 μm.

[0062] In some embodiments, the receiving optical device 540 may include at least one receiving mirror, and the at least one receiving mirror may be disposed on the optical path of the echo beam and may be configured to change the transmission direction of the echo beam. In some embodiments, the at least one receiving mirror may be configured as a cylindrical mirror, and the curvature of the cylindrical mirror may be set such that the RMS radius of the light spot formed after the detection beam passes through the cylindrical window does not exceed 30 μm.

[0063] In Figure 5 In some of the illustrated embodiments, the transmitting optical device 530 includes a transmitting mirror 532, the receiving optical device 540 includes a receiving mirror 542, and both the transmitting mirror 532 and the receiving mirror 542 may be configured as cylindrical mirrors to compensate for the aberration caused by the cylindrical window 20 for the detection beam and the echo beam, respectively. In other embodiments, only the transmitting mirror 532 may be configured as a cylindrical mirror to compensate for the aberration caused by the cylindrical window 20 for the detection beam, and other methods (e.g., setting a cylindrical lens or a spherocylindrical lens for optimization) may be used to compensate for the aberration caused by the cylindrical window 20 for the echo beam. In still other embodiments, only the receiving mirror 542 may be configured as a cylindrical mirror to compensate for the aberration caused by the cylindrical window 20 for the echo beam, and other methods (e.g., setting a cylindrical lens or a spherocylindrical lens for optimization) may be used to compensate for the aberration caused by the cylindrical window 20 for the echo beam.

[0064] It should be appreciated that although Figure 5 the illustrated transmitting and receiving optical devices include only one mirror, the transmitting optical device 530 and the receiving optical device 540 may also include multiple mirrors. At least one of the multiple transmitting mirrors of the transmitting optical device 530 and the multiple receiving mirrors of the receiving optical device 540 (whether a transmitting mirror or a receiving mirror) may be configured as a cylindrical mirror as needed to compensate for the aberration brought by the cylindrical window 20.

[0065] It should be noted that although Figure 5It shows that three spherical lenses 531 are located between the emission mirror 532 and the cylindrical window 20, and one spherical lens 531 is located between the emission mirror 532 and the emitter 510. However, the present disclosure is not limited thereto, because the present disclosure does not aim to limit the number and distribution of the spherical lenses 531 and the emission mirror 532 in the emission optical device 530. Similarly, although Figure 5 It shows that three spherical lenses 541 are located between the reception mirror 542 and the cylindrical window 20, and one spherical lens 541 is located between the emission mirror 542 and the receiver 520. However, the present disclosure is not limited thereto, because the present disclosure does not aim to limit the number and distribution of the spherical lenses 541 and the emission mirror 542 in the reception optical device 540.

[0066] Figure 7 It shows a schematic block diagram of an optical transceiver assembly 700 according to some other exemplary embodiments of the present disclosure. The optical transceiver assembly 700 may include a transmitter 710, a receiver 720, and a transceiver optical device 730.

[0067] The transceiver optical device 730 may include an optical device 731, which may be disposed on the optical path of the detection beam emitted by the transmitter 710 and configured to shape the detection beam (e.g., collimate, expand, homogenize, etc.). The transceiver optical device 730 may further include an optical device 732, which may be disposed on the optical path of the echo beam received by the receiver 720 and configured to modulate the echo beam (e.g., focus). The transceiver optical device 730 may further include an optical device 733, which may be disposed on the common optical path of the detection beam and the echo beam to modulate both the detection beam and the echo beam simultaneously. The transceiver optical device 730 may further include a reflector 734, which may include one or more reflectors and is configured to receive the detection beam and reflect it outside the lidar, and receive the echo beam and reflect it to the receiver 720.

[0068] Similar to the lidar 300 described above, one or more reflectors in the reflector 734 may be set as cylindrical reflectors to compensate for the aberration caused by the cylindrical window 20.

[0069] Figure 8 and Figure 9 respectively show several examples of reflectors according to some embodiments of the present disclosure. In some embodiments, the reflector 734 may be a rotating mirror, that is, one or more reflectors 80 in the reflector 734 may rotate around its rotation axis R, for example, perform circular motion along one direction, refer to Figure 8 . In some embodiments, the reflector 734 may be a swinging mirror, that is, one or more reflectors 90 in the reflector 734 may swing back and forth around its rotation axis R, for example, perform reciprocating motion in opposite directions, refer toFigure 9 。

[0070] The transceiver optical device 730 may further include a beam splitter 735, which can direct and separate the detection beam and the echo beam. For example, the beam splitter 735 may include a polarization beam splitter, a beam splitting mirror, or a pinhole mirror, etc. In practical applications, the beam splitter 735 can be set in different styles, and the relative positions of the transmitter 710 and the receiver 720 can be adjusted. For example, the beam splitter 735 can be a Polarizing Beam Splitter (PBS) or a polarization beam splitting film; in this case, the transceiver optical device 730 may further include a wave plate (such as a quarter-wave plate), which can change the polarization states of the detection beam and the echo beam for splitting by the polarization beam splitter 735. Another example is that the beam splitter 735 can be a beam splitting mirror; the beam splitting mirror can have a first region and a second region surrounding the first region, and the transmittance of the first region can be different from that of the second region, or the reflectivity of the first region can be different from that of the second region. Thus, the first region can be configured to reflect the detection beam, while the second region can be configured to transmit the echo beam.

[0071] The present disclosure also provides a lidar. Figure 10 A schematic diagram of a lidar according to some embodiments of the present disclosure is shown. The lidar 1000 may include a base 1010 and a cylindrical window 1020. The cylindrical window 1020 may be placed on the base 1010 to form the internal space of the lidar 1000. The optical transceiver assemblies 300 / 500 / 700 ( Figure 10 not shown in the figure) described above may be located inside the internal space.

[0072] The present disclosure also provides a terminal device, which includes the lidar 1000 described in the present disclosure. The terminal device may also include, for example, the vehicle system 200 combined with Figure 2 as depicted.

[0073] So far, the optical transceiver assembly for lidar, the lidar, and the terminal device according to the present disclosure have been described. The optical transceiver assembly for lidar according to the present disclosure configures the original mirror into a cylindrical mirror to compensate for the aberration caused by the cylindrical window. Such a configuration helps to improve the beam quality of the detection beam emitted from the lidar and the echo beam received by the lidar receiver, thereby improving the detection performance of the lidar. In addition, compared with using a spherical-cylindrical lens or additionally setting a cylindrical lens to optimize the aberration, the configuration of the present disclosure is beneficial to reducing costs or improving compactness.

[0074] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or aspects thereof) can be used in combination with each other. In addition, many modifications can be made to adapt a particular situation or material to the teachings of various embodiments of the present disclosure without departing from the scope of the present disclosure. Although the dimensions and types of materials described herein are used to define the parameters of various embodiments of the present disclosure, the various embodiments are not meant to be restrictive but are exemplary embodiments. Many other embodiments will be apparent to those skilled in the art upon reading the above description. Accordingly, the scope of the various embodiments of the present disclosure should be determined with reference to the appended claims and the full scope of equivalents to which these claims are entitled.

Claims

1. An optical transceiver component for a lidar, characterized in that, The optical transceiver assembly includes: a transmitter configured to emit a detection beam; a receiver configured to receive an echo beam generated after the detection beam is reflected by an object; and a transceiver optical device configured to shape the detection beam and guide the detection beam to an external field of view, and transmit the echo beam to the receiver, the transceiver optical device including one or more mirrors configured to change the transmission direction of at least one of the detection beam and the echo beam; wherein the one or more mirrors include a cylindrical mirror configured to shape at least one of the detection beam and the echo beam to compensate for aberration caused by the cylindrical window.

2. The optical transceiver module according to claim 1, characterized in that, The curvature of the cylindrical mirror is set such that the root mean square radius of the spot formed after at least one of the detection beam and the echo beam passes through the cylindrical window does not exceed 50 μm.

3. The optical transceiver module according to claim 1, characterized in that The transceiver optical device includes: a transmitting optical device configured to shape the detection beam and guide the detection beam to an external field of view; and a receiving optical device configured to transmit the received beam to the receiver.

4. The optical transceiver module according to claim 2 or 3, characterized in that The one or more mirrors include at least one of the following: a transmitting mirror disposed on the optical path of the detection beam and configured to change the transmission direction of the detection beam; or a receiving mirror disposed on the optical path of the echo beam and configured to change the transmission direction of the echo beam.

5. The optical transceiver module according to claim 4, wherein The transmitting mirror includes a cylindrical mirror, and the curvature of the transmitting mirror is set such that the root mean square radius of the spot formed after the detection beam passes through the cylindrical window does not exceed 30 μm.

6. The optical transceiver module according to claim 4, wherein The receiving mirror includes a cylindrical mirror, and the curvature of the receiving mirror is set such that the root mean square radius of the spot formed after the echo beam passes through the cylindrical window does not exceed 30 μm.

7. The optical transceiver module according to claim 1, wherein The transceiver optical device further includes one or more spherical lenses.

8. The optical transceiver module according to claim 7, wherein, The spherical lens is a plastic lens or a glass lens.

9. The optical transceiver module according to claim 1, characterized in that, The cylindrical mirror can rotate about the rotation axis of the cylindrical mirror.

10. The optical transceiver module according to claim 1, wherein, The cylindrical mirror can swing back and forth about the rotation axis of the cylindrical mirror.

11. The optical transceiver module according to any one of claims 9-10, characterized in that, The optical transceiver assembly further includes a beam splitter configured to guide and separate the detection beam and the echo beam.

12. A lidar, characterized in that, The lidar includes: a base; a cylindrical window disposed on the base to form an internal space of the lidar; and the optical transceiver assembly according to any one of claims 1-11, the optical transceiver assembly being located in the internal space.

13. A terminal device, characterized in that, Including the lidar according to claim 12.

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