Lidar device

Abstract

The utility model provides a laser radar device, which comprises a lens cone, a laser emitter, a detector, an emitting lens group, a receiving lens group and at least one blind compensation device, the lens cone is of a cavity structure, the emitting lens group and the receiving lens group are positioned in the cavity of the lens cone, the emitting lens group is positioned at the front end of the laser emitter, and the receiving lens group is positioned at the rear end of the laser emitter. The emission lens group is used for collimating laser emitted by the laser emitter, the receiving lens group is located at the front end of the detector and used for converging laser reflected from an object to be subjected to distance measurement to the detector, and the at least one blind compensation device is located on the inner wall of the lens barrel close to one side of the emission lens group and used for compensating the distance between the at least one blind compensation device and the detector. The at least one blind compensation device is used for deflecting the laser emitted by the laser emitter for at least one time, so that the deflected laser is reflected back to the detector after reaching the object to be subjected to distance measurement, and the technical problem that the detector of the laser radar cannot detect a close-range blind area in the related technology is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser radar technical field, specifically, relate to a kind of laser radar device. BACKGROUND

[0002] Laser radar is a commonly used ranging sensor, with the characteristics of long detection distance, accurate ranging, small environmental interference, etc., widely used in intelligent robots, unmanned driving and other fields.

[0003] Laser radar currently widely uses a kind of transceiving parallel optical system, in order to test long-distance target, laser radar transmitting end and receiving end are completely corresponding under long distance. Figure 1 It is the schematic diagram of near distance blind area, as shown in Figure 1 In the measurement of the area of close distance to laser radar, the echo signal reflected by near distance object is not focused by receiving lens on receiving detection surface, the actual focusing position of near distance signal is outside receiving detection surface, and the direction is in the direction away from transmitter device, so in this near distance, the detector of laser radar cannot receive the signal reflected by target object directly or the received reflected signal is very weak, this area is called near distance blind area.

[0004] In the application of laser radar, the detector of laser radar cannot receive the laser beam of emission in near distance blind area region, the detector cannot receive the signal light reflected from the target in this area, and further cannot detect near distance blind area region, so cannot generate point cloud diagram.

[0005] For the above problems, no effective solution has been proposed so far. UTILITY MODEL CONTENT

[0006] The utility model provides a kind of laser radar device to at least solve the technical problem that the detector of laser radar in relevant technology cannot receive the laser beam of emission in near distance blind area, so cannot detect near distance blind area, and cannot generate point cloud diagram.

[0007] In order to achieve the above object, the utility model provides the following technical scheme: a laser radar device, include: lens barrel (13), laser emitter (5), detector (6), emission lens group (1), receiving lens group (3) and at least one blind filling device (8), lens barrel (13) is the cavity structure, emission lens group (1) and receiving lens group (3) are located in the cavity inside lens barrel (13), emission lens group (1) is located in the front end of laser emitter (5), emission lens group (1) is used to collimate the laser that laser emitter (5) emits, receiving lens group (3) is located in the front end of detector (6), receiving lens group (3) is used to converge the laser that reflects from the object to be measured back to detector (6), at least one blind filling device (8) is located in the inner wall of lens barrel (13) near the side of emission lens group (1), at least one blind filling device (8) is used to deflect the laser that laser emitter (5) emits at least once, so that the laser after deflection reaches the object to be measured and reflects back to detector (6).

[0008] Optionally, in the laser radar device provided by the utility model, the number of the at least one blind filling device (8) is determined based on the length of the lens barrel (13).

[0009] Optionally, in the laser radar device provided by the utility model, the at least one blind filling device (8) is at a preset angle, and the preset angle is determined based on the structure of the laser radar device.

[0010] Optionally, the laser radar device provided by the utility model further comprises: a radar window sheet (2), which is located at the front end of the lens barrel (13) and is used to isolate the internal devices of the lens barrel (13) from the external environment.

[0011] Optionally, the laser radar device provided by the utility model further comprises: a scanning circuit, which is used to control the scanning direction of the laser.

[0012] Optionally, the laser radar device provided by the utility model further comprises: a circuit board (4), which carries the laser emitter (5) and the detector (6).

[0013] Optionally, the circuit board (4) of the laser radar device provided by the utility model further carries: a signal processing circuit, which is used to receive the electric signal generated by the detector (6) and calculate the distance between the laser radar device and the object to be measured.

[0014] Optionally, the circuit board (4) of the laser radar device provided by the utility model further carries: a power management circuit, which is used to provide the power required for the operation of the laser radar device.

[0015] Optionally, the circuit board (4) of the laser radar device provided by this utility model also carries a communication interface, which is used to transmit data between the laser radar device and external devices.

[0016] Optionally, the lidar device provided by this utility model further includes a cooling system for managing the internal temperature of the lidar device.

[0017] This invention addresses the problem of blind spot in lidar. By designing a blind spot compensation structure to receive a portion of the main laser beam emitted from the laser emitting module and deflecting it onto the receiving detector's field of view through one or more reflections, the blind spot compensation beam overlaps with the main beam in the near-range region, thus compensating for the lidar's near-range blind spot. Therefore, this invention solves the technical problem in related technologies where lidar detectors cannot receive the emitted laser beam in the near-range blind spot, resulting in the inability to detect the near-range blind spot and generate point cloud maps. This ultimately reduces the lidar blind spot and improves lidar performance. Attached Figure Description

[0018] Figure 1 This is a diagram illustrating the near-field blind spot.

[0019] Figure 2 This is a cross-sectional structural diagram of the radar of this utility model;

[0020] Figure 3 This is a cross-sectional optical path diagram of this utility model;

[0021] Figure 4 This is a schematic diagram of a single reflection of a near-range blind-filling structure according to this utility model;

[0022] Figure 5 This is a schematic diagram of two reflections of the close-range blind-filling structure according to this utility model;

[0023] Figure 6 This is a schematic diagram of the optical path principle according to this utility model.

[0024] The above figures include the following reference numerals:

[0025] Transmitting lens group (1), radar window (2), receiving lens group (3), circuit board (4), laser emitter (5), detector (6), radar itself structure (7), at least one blind spot filling device (8), near-range reflector (9), main beam (10), blind spot filling beam (11), blind spot filling beam (12), lens tube (13), transmitting lens tube (14), receiving lens tube (15). Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and other terms indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0029] To address the technical problem that existing lidar detectors cannot detect near-range blind spots, this invention provides a lidar device.

[0030] The lidar device includes: a lens tube (13), a laser emitter (5), a detector (6), a transmitting lens group (1), a receiving lens group (3), and at least one blind spot compensation device (8).

[0031] Specifically, the lens tube has a cavity structure. The emitting lens group (1) and the receiving lens group (3) are located inside the cavity of the lens tube. The emitting lens group (1) is located at the front end of the laser emitter (5) and is used to collimate the laser emitted by the laser emitter (5). The receiving lens group (3) is located at the front end of the detector (6) and is used to converge the laser reflected back from the object to be measured to the detector (6). At least one blind spot device (8) is located on the inner wall of the lens tube near the emitting lens group (1). At least one blind spot device (8) is used to deflect the laser emitted by the laser emitter (5) at least once so that the deflected laser is reflected back to the detector (6) after reaching the object to be measured.

[0032] Specifically, Figure 2 This is a cross-sectional structural diagram of the radar of this utility model, as shown below. Figure 2 As shown, the radar cross-sectional structure includes a transmitting lens group (1), a radar window (2), a receiving lens group (3), a circuit board (4), a laser transmitter (5), a detector (6), the radar itself (7), and at least one blind spot filling device (8).

[0033] Specifically, Figure 3 This is a cross-sectional optical path diagram of this utility model, as shown below. Figure 3 As shown, the cross-sectional optical path diagram includes a near-field reflecting surface (9), a main beam (10), a blind spot beam (11), and a blind spot beam (12). The main beam (10) emitted by the laser emitter (5) is collimated by the emitting lens group (1) and then emitted to a distance. The outer beam that is not received by the emitting lens group (1) is reflected by the blind spot device (8) inside the emitting lens tube (14) to form the blind spot beam (11). The blind spot beam (11) is reflected by the near-field reflecting surface (9) to form the blind spot beam (12). The blind spot beam (12) is directly reflected by the near-field reflecting surface (9) and converged onto the detector (6).

[0034] Specifically, Figure 4 This is a schematic diagram of a near-range blind-spotting structure based on the present invention, showing a single reflection. Figure 4 As shown, the laser emitted by the emitting device (i.e., the laser emitter (5)) passes through the emitting lens group (1) to form the main beam (i.e., Figure 4 The solid line represents the beam of light. The laser beam outside the main beam is reflected and deflected by the blinding structure to form the blinding beam (i.e., the beam of light that is not in the main beam). Figure 4 (The dashed line represents the light beam).

[0035] Figure 4In the process, when the distance between the object to be measured and the lidar device is relatively far (e.g., within 5 cm to 10 m), the main beam is collimated by the transmitting lens group (1) and reaches the object to be measured. Then, it is reflected from the object to the receiving lens, which converges the main beam to the receiving device (i.e., detector (6)). When the distance between the object to be measured and the lidar device is relatively close (e.g., less than 5 cm), the blind spot beam is deflected by the blind spot structure and reaches the object to be measured. Then, it is reflected from the object and converges to the receiving device (i.e., detector (6)), thereby achieving the blind spot effect.

[0036] Specifically, Figure 5 This is a schematic diagram of the two reflections of the near-range blind-filling structure according to this utility model, as shown below. Figure 5 As shown, in Figure 4 Based on the blind spot compensation principle of the laser radar device, if the radar mirror group structure is long, the blind spot compensation beam can be reflected twice to achieve the effect of close-range blind spot compensation. When the distance between the object to be measured and the laser radar device is far (for example, within 5 cm to 10 m), the main beam is collimated by the transmitting lens group (1) and reaches the object to be measured. Then it is reflected from the object to be measured to the receiving lens, which focuses the main beam to the receiving device (i.e., detector (6)). When the distance between the object to be measured and the laser radar device is close (for example, less than 5 cm) and the radar mirror group structure is long, multiple blind spot compensation devices (8) can be set. Figure 5 Taking two blind spot compensation devices (8) as an example, the blind spot compensation beam is deflected by the first blind spot compensation device (8) and then reaches the second blind spot compensation device (8). The blind spot compensation beam is then deflected by the second blind spot compensation device (8) and reaches the object to be measured. Then it is reflected from the object to be measured and converged to the receiving device (i.e., the detector (6)).

[0037] Specifically, Figure 6 The schematic diagram of the optical path principle of this utility model is as follows: Figure 6As shown, the light source can be emitted by a laser emitter (5). The laser emitter (5) can be, for example, an edge-emitting semiconductor laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL). The light source forms a main beam (10) through the emitting lens group (1). The emitting lens group (1) can be a single lens or a lens group. The outer beam of the emitting lens group (1) is deflected by the first blinding device (8) on the inner wall of the emitting lens barrel (14) to the second blinding device (8) on the inner wall of the emitting lens barrel (14), and is deflected by the second blinding device (8) to form a blinding beam (11). The blinding beam (11) is reflected by the near-distance reflecting surface (9) to form a blinding beam (12). The blinding beam (12) is reflected by the near-distance reflecting surface (9) and converged onto the detector (6). The receiving lens group (3) can be a single lens or a lens group. The detector (6) can be a SiPM array, an APD array, or a SPAD array.

[0038] This invention, through the radar's own lens structure, without adding additional components, directly and effectively improves the blind zone problem of radar's inability to receive echo signals at close range at low cost. By designing the radar's lens structure, through one or more reflections of the structural components, a portion of the beam outside the main beam is deflected towards the receiving detection surface to form a blind spot beam. This portion of the beam is at a certain angle to the main beam, and the receiving field of view at the receiving end overlaps in this close-range region, enabling the lidar detector (6) to receive signals reflected from nearby objects. This solves the technical problem in the prior art where the lidar detector (6) cannot detect the close-range blind zone.

[0039] Optionally, the number of at least one blinding device (8) is determined based on the length of the lens tube (13).

[0040] Specifically, the number of blinding devices (8) depends on the length of the lens barrel (13). Generally, the longer the lens barrel (13), the more blinding devices (8) are needed to ensure the performance and quality of the optical system. Therefore, in order to ensure the accuracy and precision of the lens barrel (13), the number of blinding devices (8) to be installed needs to be determined according to the length of the lens barrel (13).

[0041] Optionally, at least one blind spot compensation device (8) is at a preset angle, the preset angle being determined based on the structure of the lidar device.

[0042] Specifically, at least one blind spot compensation device (8) is installed at a specific angle, which is determined according to the structure of the lidar device. That is, at least one blind spot compensation device (8) is designed to operate at a specific angle to ensure effective compensation of blind spots within the scanning range of the lidar device, thereby improving the system's recognition and measurement performance.

[0043] Optionally, the lidar device further includes a radar window (2) located at the front end of the lens barrel (13), which is used to isolate the internal components of the lens barrel from the external environment.

[0044] Specifically, the radar window (2) can protect internal components from external dust, moisture, corrosive gases, etc., while also transmitting laser signals to ensure the normal operation of the lidar system. The radar window (2) typically has high light transmittance and wear resistance to ensure the accuracy and stability of the lidar system.

[0045] Optionally, the lidar device further includes a scanning circuit for controlling the scanning direction of the laser.

[0046] Specifically, the scanning circuit controls the scanning direction of the laser beam, enabling omnidirectional detection of the surrounding environment. Common scanning devices include rotating mirrors, galvanometers, microelectromechanical systems (MEMS) scanners, and fiber optic scanners. The design of the scanning device directly affects the scanning speed, angular resolution, and mechanical stability of the lidar.

[0047] Optionally, the lidar device further includes a circuit board (4) on which a laser emitter (5) and a detector (6) are mounted.

[0048] Specifically, the laser emitter (5) is a device used to generate a laser beam, which can send a laser signal to the target object by emitting the laser beam. The detector (6) is used to receive the laser signal reflected back from the target object, and calculates information such as the distance and shape of the target object and the lidar by measuring the time delay and intensity of the laser signal. The laser emitter (5) and the detector (6) are two crucial components in the lidar device, used to emit and receive laser signals respectively, to achieve long-range ranging and imaging of the target object.

[0049] Optionally, the circuit board (4) also carries a signal processing circuit, which is used to receive the electrical signal generated by the detector (6) and calculate the distance between the lidar device and the object to be measured.

[0050] Specifically, the signal processing circuit is responsible for processing the electrical signals generated by the receiver, measuring the signal time delay or signal strength, and thus calculating the distance to the target. The signal processing unit typically includes an analog-to-digital converter (ADC), a digital signal processor (DSP), and other electronic components.

[0051] Optionally, the circuit board (4) also carries a power management circuit, which provides the power required for the lidar device to operate.

[0052] Specifically, the power management circuit manages and controls the power supply to ensure the stable operation of the lidar device and provide the required power. The power management circuit may include functions such as voltage converters, current limiters, overvoltage protection, and overcurrent protection to protect the lidar device and other circuit boards (4) from power fluctuations and malfunctions. Through the power management circuit, the power supply can be effectively managed and optimized, ensuring the normal operation and long-term stability of the lidar device.

[0053] Optionally, the circuit board (4) also carries a communication interface for transmitting data between the lidar device and external devices.

[0054] Specifically, through the communication interface, the data collected by the lidar device can be transmitted to external devices, or control signals sent by external devices can be received, enabling information interaction and data exchange between devices. The design and implementation of the communication interface can effectively improve the flexibility and scalability of the device, making the lidar device more intelligent and easier to connect and communicate with other devices.

[0055] Optionally, the lidar device also includes a cooling system for managing the internal temperature of the lidar device.

[0056] Specifically, the cooling system is used to manage the temperature inside the system and ensure that the devices operate within a safe temperature range.

[0057] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0058] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A lidar device, characterized in that, The lidar device includes: a lens barrel (13), a laser emitter (5), a detector (6), a transmitting lens group (1), a receiving lens group (3), and at least one blind spot compensation device (8). The lens barrel (13) has a cavity structure. The transmitting lens group (1) and the receiving lens group (3) are located inside the cavity of the lens barrel (13). The transmitting lens group (1) is located at the front end of the laser emitter (5). The transmitting lens group (1) is used to collimate the laser emitted by the laser emitter (5). The receiving lens group (3) is located at the front end of the detector (6). The receiving lens group (3) is used to converge the laser reflected from the object to be measured to the detector (6). The at least one blind spot compensation device (8) is located on the inner wall of the lens barrel (13) near the transmitting lens group (1). The at least one blind spot compensation device (8) is used to deflect the laser emitted by the laser emitter (5) at least once so that the deflected laser reaches the object to be measured and is reflected back to the detector (6).

2. The lidar device according to claim 1, characterized in that, The number of the at least one blinding device (8) is determined based on the length of the lens tube (13).

3. The lidar device according to claim 1, characterized in that, The at least one blind spot filling device (8) is at a preset angle, which is determined based on the structure of the lidar device.

4. The lidar device according to claim 1, characterized in that, The lidar device further includes a radar window (2), which is located at the front end of the lens barrel (13) and is used to isolate the internal components of the lens barrel (13) from the external environment.

5. The lidar device according to claim 1, characterized in that, The lidar device further includes a scanning circuit, which controls the scanning direction of the laser.

6. The lidar device according to claim 1, characterized in that, The lidar device further includes a circuit board (4), on which the laser emitter (5) and the detector (6) are mounted.

7. The lidar device according to claim 6, characterized in that, The circuit board (4) also carries a signal processing circuit, which is used to receive the electrical signal generated by the detector (6) and calculate the distance between the lidar device and the object to be measured.

8. The lidar device according to claim 6, characterized in that, The circuit board (4) also carries a power management circuit, which provides the power required for the lidar device to operate.

9. The lidar device according to claim 6, characterized in that, The circuit board (4) also carries a communication interface, which is used for data transmission between the lidar device and external devices.

10. The lidar device according to any one of claims 1-9, characterized in that, The lidar device further includes a cooling system for managing the internal temperature of the lidar device.

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