Lens group for solid-state laser radar, solid-state laser radar and vehicle

Abstract

The utility model provides a lens group for a solid-state laser radar, the solid-state laser radar and a vehicle, belongs to the technical field of laser radars, and is used for solving the problems that the field angle of the solid-state laser radar is limited and the production process is difficult. The lens group for the solid-state laser radar comprises a first lens, a second lens, a diaphragm, a third lens, a fourth lens and a fifth lens which are sequentially arranged along an optical axis. The first lens has negative focal power. The second lens, the third lens, the fourth lens and the fifth lens have positive focal power. The lens group provided by the scheme has a relatively large field angle and can have a relatively large detection range, and the optical system adopting the scheme can effectively reduce the design difficulty, not only can meet the use requirements, but also is beneficial to reducing the cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of laser radars, and in particular relates to a lens group for a solid-state laser radar, a solid-state laser radar and a vehicle. Background Art

[0002] With the rapid development of the automotive industry, LiDAR is increasingly being used in vehicles. However, vehicles still have certain blind spots in close-range vision. The application of side-viewing LiDAR can fill these blind spots and better assist the vehicle's intelligent driving system in handling three major scenarios: highways, urban roads, and automated parking. Most side-viewing LiDARs use mechanical or hybrid LiDARs. These have internal rotating mechanisms, which put power supply and data transmission at risk and make internal communication difficult to guarantee. Solid-state LiDARs, on the other hand, have a limited field of view and complex production processes. Utility Model Content

[0003] Therefore, the technical problem to be solved by the present invention is to provide a lens group, a solid-state laser radar and a vehicle for a solid-state laser radar, which can expand the detection range and reduce the manufacturing difficulty.

[0004] To address the above-mentioned issues, the present invention provides a lens assembly for a solid-state laser radar, comprising: a first lens, a second lens, an aperture, a third lens, a fourth lens, and a fifth lens, arranged in sequence along the optical axis. The first lens has negative optical power. The second, third, fourth, and fifth lenses have positive optical power.

[0005] Optionally, the focal length of the lens group is 5 to 9 mm.

[0006] Optionally, the total optical length of the lens group is T L , T L ≤35mm.

[0007] Optionally, the lens group further includes: a filter, arranged on a side of the fifth lens away from the fourth lens.

[0008] Optionally, the first lens, the second lens, the fourth lens, and the fifth lens are all meniscus lenses. When the lens group is arranged on the transmitting optical path, the concave surfaces of the first lens, the second lens, and the fifth lens are curved toward the object side of the transmitting end of the solid-state laser radar. The concave surface of the fourth lens is curved toward the image side of the transmitting end of the solid-state laser radar. When the lens group is arranged on the receiving optical path, the concave surfaces of the first lens, the second lens, and the fifth lens are curved toward the image side of the receiving end of the solid-state laser radar. The concave surface of the fourth lens is curved toward the object side of the receiving end of the solid-state laser radar.

[0009] Optionally, the third lens is a plano-convex lens. When the lens group is positioned on the transmitting optical path, the convex surface of the third lens is curved toward the image side of the transmitting end of the solid-state laser radar. When the lens group is positioned on the receiving optical path, the convex surface of the third lens is curved toward the object side of the receiving end of the solid-state laser radar.

[0010] Optionally, the lens group satisfies the following relationship:

[0011] 0.8<|IH / (f*tanθ)|<1 (1)

[0012] Wherein, IH represents the half image height of the lens group, θ represents the maximum half field angle of the lens group, and f represents the effective focal length of the lens group.

[0013] Optionally, the lens group satisfies the following relationship:

[0014] -2.0<f1 / f<-1.5 (2)

[0015] Wherein, f is the effective focal length of the lens group, and f1 is the effective focal length of the first lens.

[0016] The utility model also provides a solid-state laser radar, the emission light path and the receiving light path of the solid-state laser radar are respectively provided with the above-mentioned lens group for the solid-state laser radar.

[0017] The utility model further provides a vehicle, characterized in that the vehicle is provided with a side blind spot compensation radar, which includes the lens assembly for the solid-state laser radar.

[0018] Beneficial effects

[0019] 1. The lens group for solid-state laser radar provided by the present invention includes a first lens, a second lens, an aperture, a third lens, a fourth lens and a fifth lens arranged in sequence along the optical axis. The first lens has a negative optical focal length. The second lens, the third lens, the fourth lens and the fifth lens have positive optical focal lengths. By distributing and combining the optical focal lengths of the first lens, the second lens, the third lens, the fourth lens and the fifth lens arranged in sequence along the optical axis, the field of view angle of the lens group can reach 70°, and clear imaging can be achieved in the 830-980nm band. The size of the field of view angle determines the field of view range of the optical instrument. The lens group of this solution has a larger field of view angle and can have a larger detection range. In addition, the lens group of this solution can effectively reduce the design difficulty, which can not only meet the use requirements but also help reduce costs.

[0020] 2. The transmitting optical path and the receiving optical path of the solid-state laser radar provided by the present invention are respectively provided with the above-mentioned lens group for solid-state laser radar, which can have a larger detection range without having a rotating mechanism inside, and the internal power supply, data transmission and communication can be guaranteed. While meeting the detection range requirements, it also significantly reduces the difficulty of structural design.

[0021] 3. The vehicle provided by the present invention is equipped with a side blind spot radar, and its side blind spot radar includes the above-mentioned lens group for solid-state laser radar, which can detect the close area around the vehicle body, make up for the detection blind spot around the vehicle body, and is conducive to improving the safety and sensitivity of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention;

[0023] Figure 2 A full-field-of-view spot diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention;

[0024] Figure 3 This is a first field curvature curve diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention (the beam wavelength is 0.890 mm);

[0025] Figure 4 A second field curvature curve diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention (the beam wavelength is 0.905 mm);

[0026] Figure 5 This is a third field curvature curve diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention (the beam wavelength is 0.920 mm);

[0027] Figure 6 A distortion curve diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention;

[0028] Figure 7 A relative illumination curve diagram of a lens assembly for a solid-state laser radar according to an embodiment of the present invention;

[0029] Figure 8 A schematic diagram of a lens assembly of a solid-state laser radar according to an embodiment of the present invention.

[0030] The reference numerals indicate:

[0031] 1. First lens; 2. Second lens; 3. Aperture; 4. Third lens; 5. Fourth lens; 6. Fifth lens; 7. Filter;

[0032] S1 to S12 are the surface numbers of the respective lenses. DETAILED DESCRIPTION

[0033] In the description of this utility model, the terms "first," "second," ..., and "fifth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" through "fifth" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0034] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0035] In a first aspect, this embodiment provides a lens group for a solid-state laser radar. Figure 1 A schematic structural diagram of a lens assembly for a solid-state laser radar provided in this embodiment.

[0036] like Figure 1 As shown, the lens assembly for a solid-state laser radar in this embodiment includes: a first lens 1, a second lens 2, an aperture 3, a third lens 4, a fourth lens 5, and a fifth lens 6, which are arranged in sequence along the optical axis. The first lens 1 has negative optical power. The second lens 2, the third lens 4, the fourth lens 5, and the fifth lens 6 have positive optical power.

[0037] For some examples, see Figure 1 The first lens 1, the second lens 2, the third lens 4, the fourth lens 5 and the fifth lens 6 are made of transparent materials, including but not limited to silicone, acrylic, polycarbonate, glass, etc. This embodiment does not impose too many restrictions on this, as long as it can meet the use requirements.

[0038] For some examples, see Figure 1 The aperture 3 can be a metal aperture or a metal aperture. This embodiment does not impose too many restrictions on this, as long as it can meet the requirements of use. In this embodiment, the aperture 3 is arranged between the second lens 2 and the third lens 4 to control the amount of light passing according to the lighting environment, effectively suppress stray light, and thus help improve image quality.

[0039] It can be understood that the solid-state laser radar includes a laser for emitting laser light and a detector for receiving reflected laser light. The laser light path emitted by the laser is the emitting light path, and the laser light path received by the detector is the receiving light path. The lens group for the solid-state laser radar of this embodiment can be set on the emitting light path or on the receiving light path. When set on the emitting light path, the first lens 1 is close to the object side of the emitting end, and the fifth lens 6 is close to the image side of the emitting end, and the laser emitted by the laser can be emitted to the object to be measured at different angles. When set on the receiving light path, the first lens 1 is close to the image side of the receiving end, and the fifth lens 6 is close to the object side of the receiving end, and the laser reflected from the surface of the object to be measured can be received and transmitted to the detector.

[0040] The lens group for solid-state laser radar of this embodiment includes a first lens 1, a second lens 2, an aperture 3, a third lens 4, a fourth lens 5 and a fifth lens 6 arranged in sequence along the optical axis, that is, along the direction of light propagation. The first lens 1 has a negative optical focal length. The second lens 2, the third lens 4, the fourth lens 5 and the fifth lens 6 have positive optical focal lengths. By distributing and combining the optical focal lengths of the first lens 1, the second lens 2, the third lens 4, the fourth lens 5 and the fifth lens 6 arranged in sequence along the optical axis, the field of view angle of the lens group can reach 70°, and clear imaging can be achieved in the 830-980nm band. The size of the field of view angle determines the field of view range of the optical instrument. The lens group of this embodiment has a larger field of view angle and can have a larger detection range. In addition, the lens group using this solution can effectively reduce the design difficulty, which can not only meet the use requirements but also help reduce costs.

[0041] In some embodiments, see Figure 1 , the focal length of the lens group is 5~9mm.

[0042] The focal length of the lens group of this embodiment is 5 to 9 mm, which has a wider viewing angle, allowing observation of a wider range, and a larger depth of field and a stronger sense of perspective, allowing the capture of more three-dimensional images.

[0043] In some embodiments, see Figure 1 The total optical length of the lens group is T L , T L ≤35mm.

[0044] The total optical length of the lens group of this embodiment is no more than 35 mm, which is beneficial to reducing the volume of the optical system.

[0045] In some embodiments, as Figure 1 As shown, the lens group further includes: a filter 7, which is arranged on a side of the fifth lens 6 away from the fourth lens 5.

[0046] For some examples, see Figure 1The material of the filter 7 includes glass, plastic and composite materials, etc. This embodiment does not impose too many restrictions on this, as long as it can meet the use requirements.

[0047] In this embodiment, by disposing the filter 7 on the side of the fifth lens 6 away from the fourth lens 5, unnecessary wavelengths and stray light signals can be filtered out, thereby improving the quality of light and further facilitating improved imaging clarity.

[0048] In some embodiments, as Figure 1 As shown, the first lens 1, the second lens 2, the fourth lens 5 and the fifth lens 6 are all meniscus lenses. The third lens 4 is a plano-convex lens.

[0049] When the lens group is set on the emission light path, the concave surfaces of the first lens 1, the second lens 2 and the fifth lens 6 are bent toward the object side of the emission end of the solid-state laser radar; the concave surface of the fourth lens 5 is bent toward the image side of the emission end of the solid-state laser radar; and the convex surface of the third lens 4 is bent toward the image side of the emission end of the solid-state laser radar.

[0050] When the lens group is set on the receiving light path, the concave surfaces of the first lens 1, the second lens 2 and the fifth lens 6 are bent toward the image side of the receiving end of the solid-state laser radar; the concave surface of the fourth lens 5 is bent toward the object side of the receiving end of the solid-state laser radar; and the convex surface of the third lens 4 is bent toward the object side of the receiving end of the solid-state laser radar.

[0051] The lens group for the solid-state laser radar in this embodiment is set on the emission light path as an example, and the design parameters of each lens are shown in Table 1.

[0052] Table 1

[0053]

[0054]

[0055] In Table 1, the surface number column sets the surface close to the object side of the transmitting end as the S1 surface and increases the number one by one as it moves toward the image side of the transmitting end. The surface type column shows the surface type of each lens. The curved surfaces of the lenses of this embodiment are all spherical, which is convenient for design and processing and helps to reduce production costs. The curvature radius of each lens is shown in the curvature radius column. When the curvature radius is positive, it indicates that the surface is curved toward the object side of the transmitting end (the image side of the receiving end). When the curvature radius is negative, it indicates that the surface is curved toward the image side of the transmitting end (the object side of the receiving end), and the curvature radius of the plane is infinite. The center thickness column shows the surface spacing of adjacent surfaces on the image side on the optical axis. The refractive index column shows the refractive index of each lens. The Abbe number column shows the Abbe number of each lens.

[0056] In this embodiment, the first lens 1, second lens 2, fourth lens 3, and fifth lens 4 are all meniscus lenses, and the third lens 4 is a plano-convex lens. The distribution and combination of the optical powers of the first lens 1, second lens 2, third lens 4, fourth lens 5, and fifth lens 6 provide the optical system with a larger field of view and a wider detection range.

[0057] In some embodiments, see Figure 1 , the lens group satisfies the following relationship:

[0058] 0.8<|IH / (f*tanθ)|<1 (1)

[0059] Wherein, IH represents the half image height of the lens group, θ represents the maximum half field angle of the lens group, and f represents the effective focal length of the lens group.

[0060] The lens assembly of this embodiment satisfies the relational expression (1), can achieve both wide viewing angle and low compression deformation (low distortion aberration), can reduce manufacturing costs, and has better imaging quality.

[0061] In some embodiments, see Figure 1 , the lens group satisfies the following relationship:

[0062] -2.0<f1 / f<-1.5 (2)

[0063] Wherein, f is the effective focal length of the lens group, and f1 is the effective focal length of the first lens 1.

[0064] The lens group of this embodiment satisfies the relationship (2), which limits the ratio of the effective focal length of the lens group to the effective focal length of the first lens 1, so that the first lens 1 can appropriately disperse the light to fully scan the object side or disperse and magnify the image on the image side, thereby improving the image clarity.

[0065] In some embodiments, the full field of view of the lens group for solid-state laser radar is as follows: Figure 2 As shown. Figure 2 It can be seen that in each field of view of the lens group for solid-state laser radar in this embodiment, the image dispersion is small, the resolution is high, and the image is clearer.

[0066] In some embodiments, the first field curvature curve of the lens group for solid-state laser radar (beam wavelength is 0.890 mm) is as follows: Figure 3 The second field curvature curve (beam wavelength is 0.905mm) is shown as Figure 4 As shown; the third field curvature curve (beam wavelength is 0.920mm) is as follows Figure 5 shown by Figures 3-5As shown, when the beam wavelength is 0.890mm, 0.905mm, and 0.920mm, the field curvature is small, the deviation between the position of the clear point of each field of view and the rational image point is small, and the imaging of each field of view is clear near the ideal image plane. There will be no phenomenon that the middle imaging and the edge point imaging cannot be adjusted clearly at the same time, and there will be no obvious bending phenomenon under the deformation of the edge field of view.

[0067] In some embodiments, the distortion curve of the lens group for solid-state laser radar is as follows: Figure 6 As shown. Figure 6 As shown, the lens assembly of this embodiment has small distortion at the maximum field of view, small deformation at the edge of the field of view, and no obvious bending phenomenon occurs.

[0068] In some embodiments, the relative illumination curve of the lens group for solid-state laser radar is as follows: Figure 7 As shown. Figure 7 It can be seen that the lens assembly of this embodiment has a high peripheral brightness of the image, is less likely to form dark corners, and has good imaging quality.

[0069] Secondly, this embodiment also provides a solid-state laser radar. Figure 8 A schematic diagram of a lens assembly of a solid-state laser radar provided in this embodiment.

[0070] like Figure 8 As shown, the transmitting optical path and the receiving optical path of the solid-state laser radar of this embodiment are respectively provided with the lens groups used for the solid-state laser radar in the above embodiments.

[0071] Understandably, see Figure 8 The solid-state laser radar also includes a laser for emitting laser light and a detector for receiving reflected laser light. The laser light path emitted by the laser is the emitting light path, and the laser light path received by the detector is the receiving light path. The lens group arranged on the emitting light path is used to transmit the laser emitted by the laser to the object to be measured at different angles. The lens group arranged on the receiving light path is used to receive the reflected laser light from the surface of the object to be measured and transmit it to the detector. The control processing unit controls the working state of the laser and the detector, calculates the distance of the object to be measured based on the time difference between the laser emitting the laser and the detector receiving the reflected laser light, obtains the direction information of the object to be measured based on the angle of the emitted laser, and obtains the point cloud data containing distance and direction information based on multiple measurements to obtain the spatial three-dimensional information of the object to be measured.

[0072] The transmitting optical path and receiving optical path of the solid-state laser radar provided in this embodiment are respectively provided with the above-mentioned lens group for solid-state laser radar, which can have a larger detection range without having a rotating mechanism inside, and the internal power supply, data transmission and communication can be guaranteed. While meeting the detection range requirements, it also significantly reduces the difficulty of structural design.

[0073] In a third aspect, this embodiment further provides a vehicle equipped with a side blind spot compensation radar. The side blind spot compensation radar includes the lens assembly for the solid-state laser radar in the above embodiment.

[0074] It can be understood that the lens group for solid-state laser radar in the above embodiment can be combined with the vehicle's side blind spot radar, and can also be combined with sensors at any appropriate position of the vehicle, such as the forward-looking sensor, rear-looking sensor, etc., to achieve detection of the vehicle's environment with a large field of view and non-uniform angular resolution, which is suitable for vehicle needs and pays attention to obstacles near all sides of the vehicle.

[0075] The vehicle provided in this embodiment has a side blind spot radar, and its side blind spot radar includes the above-mentioned lens group for solid-state laser radar, which can detect the close area around the vehicle body, make up for the detection blind spot around the vehicle body, and is conducive to improving the safety and sensitivity of intelligent driving.

[0076] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0077] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. The above are only preferred embodiments of the present invention. It should be noted that for those skilled in the art, several improvements and variations can be made without departing from the technical principles of the present invention, and such improvements and variations shall also be considered within the scope of protection of the present invention.

Claims

1. A lens assembly for a solid-state laser radar, characterized in that: include: A first lens, a second lens, an aperture, a third lens, a fourth lens, and a fifth lens are sequentially arranged along the optical axis; the first lens has a negative optical power; The second lens, the third lens, the fourth lens, and the fifth lens have positive refractive power; When arranged on the emission light path, the first lens is close to the object side of the emission end, and the fifth lens is close to the image side of the emission end; When arranged on the receiving optical path, the first lens is close to the image side of the receiving end, and the fifth lens is close to the object side of the receiving end; The lens group satisfies the following relationship: -2.0<f1 / f<-1.5 (2) Wherein, f is the effective focal length of the lens group, and f1 is the effective focal length of the first lens.

2. The lens assembly for solid-state laser radar according to claim 1, characterized in that: The focal length of the lens group is 5 to 9 mm.

3. The lens assembly for solid-state laser radar according to claim 1, characterized in that: The total optical length of the lens group is T L , T L ≤35mm.

4. The lens assembly for solid-state laser radar according to claim 1, characterized in that: The lens assembly further includes: The filter is arranged on a side of the fifth lens away from the fourth lens.

5. The lens assembly for solid-state laser radar according to claim 1, characterized in that: The first lens, the second lens, the fourth lens and the fifth lens are all meniscus lenses; When the lens group is arranged on the emission light path, the concave surfaces of the first lens, the second lens and the fifth lens are curved toward the object side of the emission end of the solid-state laser radar; the concave surface of the fourth lens is curved toward the image side of the emission end of the solid-state laser radar; When the lens group is arranged on the receiving light path, the concave surfaces of the first lens, the second lens and the fifth lens are bent toward the image side of the receiving end of the solid-state laser radar; the concave surface of the fourth lens is bent toward the object side of the receiving end of the solid-state laser radar.

6. The lens assembly for solid-state laser radar according to claim 5, characterized in that: The third lens is a plano-convex lens; When the lens group is arranged on the emission light path, the convex surface of the third lens is curved toward the image side of the emission end of the solid-state laser radar; When the lens group is arranged on the receiving light path, the convex surface of the third lens is bent toward the object side of the receiving end of the solid-state laser radar.

7. The lens assembly for solid-state laser radar according to claim 1, characterized in that: The lens group satisfies the following relationship: 0.8<|IH / (f*tanθ)|<1 (1) Wherein, IH represents the half image height of the lens group, θ represents the maximum half field angle of the lens group, and f represents the effective focal length of the lens group.

8. A solid-state laser radar, characterized in that: The transmitting optical path and the receiving optical path of the solid-state laser radar are respectively provided with a lens group for the solid-state laser radar as described in any one of claims 1 to 7.

9. A vehicle, characterized in that: The vehicle is provided with a side blind spot radar; the side blind spot radar comprises a lens group for a solid-state laser radar as described in any one of claims 1 to 7.

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