Laser radar and vehicle

Abstract

The utility model provides a laser radar and a vehicle. The laser radar comprises: an emitter configured to emit a detection beam; the receiver is configured to receive echoes generated after the detection light beams are reflected by the object; the first optical device is configured to collimate the detection light beam; and a second optical device configured to change at least one of a field of view and a maximum detection distance of the lidar, where the collimated detection beam is transmitted to an object at least via the second optical device, where the second optical device includes at least one convex lens and at least one concave lens.

Description

[0001] This application is a divisional application of application number 202420436163.3, filed on March 6, 2024, entitled "LiDAR and Vehicle". Technical Field

[0002] This disclosure relates to the field of photoelectric detection, and more specifically to a lidar and a vehicle. Background Technology

[0003] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of objects. Due to its advantages such as high resolution, good concealment, strong resistance to active interference, good low-altitude detection performance, small size, and light weight, LiDAR is widely used in fields such as autonomous driving, transportation communication, drones, intelligent robots, and resource exploration.

[0004] Currently, LiDAR can be categorized into mechanically rotating LiDAR, LiDAR with scanners, and solid-state LiDAR. In mechanically rotating LiDAR, the transmitter and receiver can rotate 360° horizontally to form a 360° horizontal field of view. The vertical field of view and maximum detection range of mechanically rotating LiDAR are limited by lens parameters and the vertical distribution of the transmitter and receiver. In solid-state LiDAR, the transmitter, receiver, and lens remain fixed. The field of view and maximum detection range of solid-state LiDAR are limited by the size of the transmitter and receiver and lens parameters. In LiDAR with scanners, the transmitter and receiver remain fixed. The field of view and maximum detection range of this type of LiDAR are limited by scanner parameters. Utility Model Content

[0005] The purpose of this disclosure is to overcome the above and / or other problems in the prior art and to provide a lidar that can detect a larger field of view or a greater distance.

[0006] Some embodiments of this disclosure provide a lidar. The lidar includes: a transmitter configured to emit a probe beam; a receiver configured to receive an echo generated by reflection of the probe beam from an object; a first optics configured to collimate the probe beam; and a second optics configured to change at least one of the lidar's field of view and maximum detection range, wherein the collimated probe beam is transmitted to the object at least via the second optics, wherein the second optics includes at least one convex lens and at least one concave lens.

[0007] Optionally, at least one of the field of view and maximum detection range of the lidar can be determined based on the vertical distribution of the transmitter or the vertical distribution of the receiver.

[0008] Optionally, the second optics is configured to increase the detection angle of the detection beam to expand the field of view of the lidar.

[0009] Optionally, the second optics is configured to increase the effective optical aperture of the lidar.

[0010] Optionally, the second optics includes: a first lens group having positive optical power and including at least one convex lens; and a second lens group having negative optical power and including at least one concave lens.

[0011] Optionally, the first lens group is arranged in the optical path between the first optics and the second lens group, and the second optics is configured to expand the field of view of the lidar.

[0012] Optionally, the second lens group is arranged in the optical path between the first optics and the first lens group, and the second optics is configured to increase the maximum detection range of the lidar.

[0013] Optionally, the second optics is configured to increase the effective optical aperture to increase the maximum detection range of the lidar, wherein the effective optical aperture determines the intensity of the echo received by the receiver.

[0014] Optionally, the second optics includes a window of the lidar, wherein the thickness of the central region of the field of view of the window is different from the thickness of the edge region of the field of view of the window.

[0015] Other embodiments of this disclosure provide a vehicle. The vehicle includes a lidar as described above. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0017] Figure 1A A schematic block diagram of a lidar according to a first exemplary embodiment of the present disclosure is shown.

[0018] Figure 1B A schematic block diagram of a lidar according to a second exemplary embodiment of the present disclosure is shown.

[0019] Figure 1C A schematic block diagram of a lidar according to a third exemplary embodiment of the present disclosure is shown.

[0020] Figure 2 A schematic diagram of field-of-view adjustment of a lidar including a scanner according to some exemplary embodiments of the present disclosure is shown.

[0021] Figure 3 and Figure 4 A schematic structure of a second optics according to some embodiments of the present disclosure is shown.

[0022] Figure 5 and Figure 6 A schematic structure of a second optics according to some other embodiments of the present disclosure is shown.

[0023] Figure 7 A schematic diagram is shown of a lidar window used as a second optics according to a first embodiment of the present disclosure.

[0024] Figure 8 A schematic diagram of a lidar window used as a second optics according to a second embodiment of the present disclosure is shown.

[0025] Figure 9A , Figure 9B , Figure 10A and Figure 10B A schematic diagram of a viewport of a lidar according to some embodiments of the present disclosure is shown.

[0026] Figure 11 A schematic diagram of a lidar window used as a second optics according to a third embodiment of the present disclosure is shown.

[0027] Figure 12 A schematic diagram of a lidar window used as a second optics according to a fourth embodiment of the present disclosure is shown.

[0028] Figure 13 A schematic diagram of the viewport of a lidar according to other embodiments of this disclosure is shown.

[0029] Figure 14 A schematic diagram of a zoom lens assembly for a lidar according to some embodiments of the present disclosure is shown. Detailed Implementation

[0030] The following describes embodiments of this disclosure. It should be noted that, in order to maintain brevity, this specification cannot provide a detailed description of all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content of this disclosure, changes in design, manufacturing, or production based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0031] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar words used in this patent application description and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar words mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected,” “coupled,” or “linked” and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0032] Unless otherwise specified, all embodiments and preferred embodiments mentioned herein can be combined to form new technical solutions. Similarly, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0033] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0034] The lidar provided according to embodiments of the present disclosure is described in detail below with reference to the accompanying drawings.

[0035] This disclosure discloses a lidar. The lidar includes a transmitter configured to emit a probe beam; a receiver configured to receive the echo generated by the probe beam after reflection from an object; a first optics configured to collimate the probe beam and transmit the echo to the receiver; and a second optics configured to change at least one of the lidar's field of view and maximum detection range, wherein the collimated probe beam is transmitted to the object at least via the second optics, and the echo is transmitted to the first optics at least via the second optics. The optical system of the lidar disclosed herein includes a first optics and a second optics. The first optics can collimate the probe beam and transmit the echo generated by the probe beam after reflection from an object to the receiver, while the second optics can adjust the lidar's performance by changing at least one of the lidar's field of view and maximum detection range. The solution disclosed herein can be applied to improve various types of lidar, thereby flexibly configuring the lidar's optical system according to the application scenario. In some embodiments, various types of lidar may include lidars with coaxial optical systems or lidars with non-coaxial optical systems. In other embodiments, various types of lidar may also include mechanically rotating lidar, lidar with a scanner, or solid-state lidar, etc.

[0036] See Figure 1A ,in Figure 1A A schematic block diagram of a lidar 100 according to a first exemplary embodiment of the present disclosure is shown. The lidar 100 may include a transmitter 110, a receiver 120, a first optics 130, and a second optics 140.

[0037] The transmitter 110 may include a laser or laser array that emits a probe beam. In some embodiments of this disclosure, the transmitter 110 may employ various types of lasers, including but not limited to vertical cavity surface emitting lasers (VCSELs), edge-emitting lasers (EELs), etc.

[0038] The first optics 130 can collimate the probe beam to guide it outward from the lidar 100. In some embodiments of this disclosure, the first optics 130 can collimate the probe beam from the transmitter 110 to form a probe beam with a vertical (y-direction) field of view α, as shown in FIG1. ​​In this application, "collimating the probe beam" means that the first optics 130 shapes the probe beam emitted by the transmitter 110 to give the probe beam a small divergence angle, making it as close to parallel as possible, and forming a specific vertical field of view α. The divergence angle of the collimated probe beam is very small and can be considered as a parallel beam in practical applications. In some embodiments, the lidar 100 may include a mechanically rotating lidar or a solid-state lidar, whose vertical field of view α may be determined at least in part by the vertical distribution of the transmitter 110 and the receiver 120.

[0039] Receiver 120 may include a detector or detector array for receiving the echo generated after the probe beam is reflected by an object. Receiver 120 may employ various types of detectors, including but not limited to single photon avalanche diodes (SPADs), avalanche photodiodes (APDs), silicon photomultipliers (SiPMs), etc.

[0040] The first optics 130 can transmit the echo to the receiver 120.

[0041] The optical system of the lidar 100 can be a non-coaxial optical system. A non-coaxial optical system can include a transmitting lens and a receiving lens. The transmitting lens can collimate the detection beam from the transmitter 110 to guide the detection beam outside the lidar 100. The receiving lens can transmit the echo to the receiver 120. The transmitting and receiving lenses can together constitute a first optics 130.

[0042] The second optics 140 can alter at least one of the field of view and maximum detection range of the lidar 100. In some embodiments of this disclosure, the second optics 140 may include one or more optics capable of increasing or decreasing the field of view or maximum detection range of the lidar 100. A collimated detection beam can be transmitted to an object at least via the second optics 140, and the echo can be transmitted to the first optics 130 at least via the second optics 140. As shown in FIG1, a detection beam having a vertical field of view angle α can be adjusted by the second optics 140 to form a detection beam having a vertical field of view angle β, wherein the vertical field of view angle β may be different from the vertical field of view angle α. The vertical field of view of the lidar 100 is limited by the vertical distribution of the transmitter and receiver, and the vertical field of view of the lidar 100 can be adjusted using the second optics 140.

[0043] It should be noted that, although Figure 1A The description of how the second optics 140 alters the vertical field of view of the lidar 100 in the vertical direction (y-direction) is presented; however, those skilled in the art will understand that the same approach applies to altering the horizontal field of view of the lidar 100. For example, if the lidar 100 is a solid-state lidar, and its field of view (including both horizontal and vertical fields of view) is limited by the size of the transmitter and receiver, the second optics 140 can be used to adjust at least one of the horizontal and vertical fields of view of the solid-state lidar.

[0044] The optical system of the lidar 100 can be a coaxial optical system. See also Figure 1B The diagram illustrates a schematic block diagram of a lidar 100 according to a second exemplary embodiment of the present disclosure. The lidar 100, having a coaxial optical system, may include a transmitter 110, a receiver 120, a first optics 130, a scanner 135, a second optics 140, and a beam splitter 150. The beam splitter 150 may reflect the probe beam and transmit the echo. For example, the beam splitter 150 may include a polarizing beam splitter, a beam-splitting mirror, or a pinhole mirror, etc.

[0045] The detection beam emitted by transmitter 110 is reflected by beam splitter 150 to first optics 130 (e.g., a transceiver lens shared by both transceivers and receivers), and after being shaped by first optics 130, it is transmitted to scanner 135. (See below for reference.) Figure 2 In more detail, the scanner 135 can change the transmission direction of the beam in at least one direction. Figure 1BIn the illustrated embodiment, the scanner 135 is described as a rotating mirror that rotates 360 degrees around a rotation axis. The detection beam reflected by the scanner 135 is transmitted to the object via the second optics 140. After encountering the object, the detection beam is reflected to form an echo, which is transmitted to the scanner 135 via the second optics 140. The echo reflected by the scanner 135 is converged by the first optics 130 and transmitted through the beam splitter 150 before being detected by the receiver 120.

[0046] See Figure 1C The diagram illustrates a schematic block diagram of a lidar 100 according to a third exemplary embodiment of the present disclosure. The lidar 100, which has a coaxial optical system, may include a transmitter 110, a receiver 120, a transmitting lens 131, a receiving lens 132, a scanner 135, a second optics 140, and a beam splitter 150.

[0047] The probe beam emitted by transmitter 110 is shaped by transmitter lens 131 and then reflected by beam splitter 150 to scanner 135. (See below for reference.) Figure 2 In more detail, the scanner 135 can change the transmission direction of the beam in at least one direction. Figure 1C In the illustrated embodiment, the scanner 135 is described as a rotating mirror that rotates 360 degrees around a rotation axis. The detection beam reflected by the scanner 135 is transmitted to the object via the second optics 140. Upon encountering the object, the detection beam is reflected to form an echo, which is transmitted through the second optics 140 back to the scanner 135. The echo reflected by the scanner 135 is transmitted through the beam splitter 150 and converged by the receiving lens 132 before being detected by the receiver 120. In this embodiment, the transmitting lens 131 and the receiving lens 132 can together constitute the first optics.

[0048] It is understood that the above-described lidar structure is only for illustrating the basic detection principle. In practical applications, the beam splitter 150 can be configured in different ways, and the relative positions of the transmitter 110 and receiver 120 can be adjusted. For example, the beam splitter 150 can be a polarizing beam splitter (PBS) or a polarizing beam splitter; in this case, the lidar 100 can also include a waveplate (such as a quarter-wave plate), which can change the polarization state of the probe beam and the echo for beam splitting through the polarizing beam splitter 150. As another example, the beam splitter 150 can be a beam-splitting mirror; the beam-splitting mirror can have a first region and a second region surrounding the first region, the transmittance of the first region can be different from the transmittance of the second region, or the reflectance of the first region can be different from the reflectance of the second region, thereby the first region can be configured to reflect the probe beam, while the second region can be configured to transmit the echo.

[0049] The following text combines Figure 2 This section describes in detail how the field of view or maximum detection range of the LiDAR, including the scanner, is adjusted. For the sake of brevity, Figure 2 Only a schematic diagram of the optical path of the probe beam is shown; those skilled in the art will understand that the optical path of the echo follows a similar principle.

[0050] The scanner 135 can be arranged between the first optics 130 and the second optics 140 in the optical path. The scanner 135 can change the transmission direction of the probe beam and echo in at least one direction. In some embodiments of this disclosure, the scanner 135 can be a one-dimensional scanner or a two-dimensional scanner. The one-dimensional scanner can include one of a unidirectional rotating multifaceted mirror, a reciprocating pendulum mirror, a galvanometer mirror, and a MEMS mirror. The two-dimensional scanner can be a MEMS mirror. The scanner 135 is used to adjust the transmission direction of the probe beam and echo within a preset angle range to define the scanning area. Figure 2 As shown, the detection beam collimated by the first optics 130 is scanned by the scanner 135 to form detection beams with different angles, and these detection beams with different angles constitute the vertical field of view α. For the lidar 100 including the scanner 135, its vertical field of view α can be determined at least in part by the scanning range / movement range of the scanner 135.

[0051] The second optics 140 can change the transmission direction of the probe beam from the scanner 135, so that parallel probe beams at different angles form a vertical field of view β after passing through the second optics 140, wherein the vertical field of view β can be different from the vertical field of view α. It should be noted that, although... Figure 2 The scanner 135 is described for scanning the probe beam to form a vertical field of view in the vertical direction (y direction), but those skilled in the art will understand that the same method applies to scanning the probe beam in the horizontal direction to form a horizontal field of view.

[0052] When the lidar 100 includes a scanner 135, at least one of the lidar 100's field of view and maximum detection range can be determined based on at least one of the scanner 135's angular range, the vertical distribution of the transmitter 110, and the vertical distribution of the receiver 120. For example, if the lidar 100 includes a unidirectional rotating multifaceted mirror or a reciprocating oscillating mirror, since the mirror size of the rotating or oscillating mirror is large and does not limit the lidar 100's field of view, at least one of the lidar 100's field of view and maximum detection range can be determined based on either the vertical distribution of the transmitter 110 or the vertical distribution of the receiver 120. The vertical distribution of the transmitter 110 may include the vertical height of the laser array in the transmitter 110, and the vertical distribution of the receiver 120 may include the vertical height of the detector array in the receiver 120. For example, the lidar 100 includes a MEMS mirror or a galvanometer mirror. Since the mirror size of the scanner such as the MEMS mirror or the galvanometer mirror is small, the field of view of the lidar 100 may be limited by the angle range scanned by the scanner 135. Therefore, at least one of the horizontal field of view and the vertical field of view of the lidar with the scanner can be adjusted by using the second optics 140.

[0053] In some embodiments of this disclosure, the second optics 140 may include a first lens group 141 and a second lens group 142. The first lens group 141 may have positive optical power and include at least one convex lens, and the second lens group 142 may have negative optical power and include at least one concave lens.

[0054] Figure 3 and Figure 4 A schematic structure of a second optics according to some embodiments is shown. A first lens group 141 may be arranged in the optical path between the first optics (not shown) and the second lens group 142. In the case where the lidar 100 includes a scanner 135, the first lens group 141 may be arranged in the optical path between the scanner (not shown) and the second lens group 142. The second optics 140 may be configured to expand the field of view of the lidar. Figure 3As shown, a detection beam with a detection angle θ1 is converged by a first lens group 141 and then diverged by a second lens group 142 to form a detection beam with a detection angle θ2, which is greater than the detection angle θ1. The detection angle θ1 can correspond to the vertical field of view α, and the detection angle θ2 can correspond to the vertical field of view β. The second optics 140 magnifies the field of view of the lidar. In some embodiments, the magnification M(θ2 / θ1) of the lidar field of view can be adjusted by changing the focal length of the first lens group 141, the focal length of the second lens group 142, and the distance between the first lens group 141 and the second lens group 142, where M > 1. In some embodiments, the second optics 140 can be a short focal length lens, such as a wide-angle lens or a fisheye lens.

[0055] On the other hand, while expanding the field of view, the second optics 140 reduces the effective optical aperture of the lidar. For example... Figure 4 As shown, the effective optical aperture D of the first optics or scanner receiving the echo is reduced to D' after passing through the second optics 140, which reduces the intensity of the echo received by the lidar and thus reduces the maximum detection range of the lidar. Although the reduction in the effective optical aperture reduces the maximum detection range of the lidar, it can also bring advantages. As mentioned above, the vertical field of view of the lidar 100 can be related to the angular range of the scanner 135 and the vertical height of the transmitter 110 and receiver 120. Since the second optics 140 can be configured to expand the vertical field of view of the lidar, the vertical height of the transmitter 110 and receiver 120 can be reduced while keeping the vertical field of view of the lidar 100 unchanged, thereby reducing the height of the lidar. Compared to a lidar without a second optics 140, a lidar 100 with a second optics 140 can at least expand the vertical field of view of the lidar 100 while keeping the size of the transmitter and receiver of the lidar 100 unchanged, or can reduce the size of the transmitter and receiver of the lidar 100 while achieving the same vertical field of view, thus saving costs, because the reduction in field of view caused by the reduction in the size of the transmitter and receiver can be compensated by expanding the field of view through the second optics 140.

[0056] Figure 5 and Figure 6 A schematic structure of a second optics according to some other embodiments is shown. A second lens group 142 may be arranged in the optical path between the first optics (not shown) and the first lens group 141. In the case where the lidar 100 includes a scanner 135, the second lens group 142 may be arranged in the optical path between the scanner (not shown) and the first lens group 141. The second optics 140 may be configured to increase the maximum detection range of the lidar. For example... Figure 5As shown, the detection beam with a detection angle θ1 is diverged by the second lens group 142 and then converged by the first lens group 141 to form a detection beam with a detection angle θ2, which is smaller than the detection angle θ1. The detection angle θ1 can correspond to the vertical field of view α, and the detection angle θ2 can correspond to the vertical field of view β. The second optics 140 increases the effective optical aperture of the lidar while reducing the field of view. Figure 6 As shown, the effective optical aperture D of the echo received by the first optics or scanner is expanded to D' after passing through the second optics 140. The second optics 140 can increase the effective optical aperture of the lidar 100, which determines the intensity of the echo received by the receiver 120, thereby increasing the maximum detection range of the lidar 100. In some embodiments, the maximum detection range of the lidar can be adjusted by changing the focal length of the first lens group 141, the focal length of the second lens group 142, and the distance between the first lens group 141 and the second lens group 142. In some embodiments, the second optics 140 can be a telephoto lens, such as a telephoto lens.

[0057] A window is provided in the lidar to protect the internal components, such as optics, transmitters, and receivers. The window also filters out interference from noisy light signals, ensuring the lidar's detection performance. In some embodiments of this disclosure, the second optics 140 may include the window of the lidar 100. For example, the window of the lidar 100 may be part of the second optics 140; alternatively, the window of the lidar 100 may function as the second optics 140 alone to adjust at least one of the lidar 100's field of view and maximum detection range, without requiring other optics.

[0058] Figure 7 , Figure 8 , Figure 11 and Figure 12 Schematic diagrams are shown of the viewport of the lidar 100 used as a second optics 140. In some embodiments of this disclosure, the thickness of the central region C of the viewport of the lidar 100 may differ from the thickness of the edge region E of the viewport of the lidar 100.

[0059] See Figure 7 The inner surface of the window of the lidar 100 can be concave, while the outer surface can be planar. The window can have negative optical power, equivalent to a negative lens, thus diverging the detection beam from the first optics 130 or the scanner 135, expanding the vertical field of view of the lidar 100. As an example, the window of the lidar 100 can be formed as a plano-concave cylindrical window, such as... Figure 9A and Figure 9B As shown. Figure 9AThe inner surface of the window is recessed in the vertical direction, which helps to expand the vertical field of view of the lidar 100. Figure 9B The inner surface of the window is recessed in the horizontal direction, which helps to expand the horizontal field of view of the lidar 100.

[0060] See Figure 8 The outer surface of the window of the lidar 100 can be convex, while the inner surface can be planar. The window can have positive optical power, equivalent to a positive lens, thus allowing it to converge the detection beam from the first optics 130 or the scanner 135, increasing the maximum detection range of the lidar 100. As an example, the window of the lidar 100 can be formed as a plano-convex cylindrical window, such as... Figure 10A and Figure 10B As shown. Figure 10A The outer surface of the window protrudes outward in the vertical direction, which helps to increase the maximum detection range of the lidar 100. Figure 10B The inner surface of the window protrudes outward in the horizontal direction, which helps to increase the maximum detection range of the lidar 100.

[0061] See Figure 11 and Figure 12 The inner surface 41 of the viewing window of the lidar 100 can be concave, while the outer surface 42 can be convex. For example... Figure 11 As shown, the window can be formed as a negative meniscus lens that is thin at the center and thick at the edges, which is beneficial for expanding the field of view of the lidar 100. Figure 12 As shown, the window can be formed as a positive meniscus lens, thicker at the center and thinner at the edges, which is beneficial for increasing the maximum detection range of the lidar 100. In some embodiments, the inner surface 41 and the outer surface 42 of the window of the lidar 100 can both be spherical, such as... Figure 13 As shown. The radius of curvature of the inner surface 41 of the window can be different from the radius of curvature of the outer surface 42 of the window. For example, the radius of curvature of the inner surface 41 of the window can be greater than the radius of curvature of the outer surface 42 of the window, and the window is equivalent to a positive lens, which increases the maximum detection range of the lidar 100; or, the radius of curvature of the inner surface 41 of the window can be smaller than the radius of curvature of the outer surface 42 of the window, and the window is equivalent to a negative lens, which expands the field of view of the lidar 100.

[0062] In some embodiments of this disclosure, the second optics 140 may include a zoom lens group. The focal length of the zoom lens group is adjustable, thereby allowing for more flexible adjustment of the performance of the lidar 100, such as the field of view and maximum detection range.

[0063] In some embodiments, the zoom lens group may include at least one fixed lens and at least one movable lens. The at least one movable lens may be configured to be movable along the optical axis to change the focal length of the zoom lens group, thereby adjusting the performance of the lidar 100. Figure 14 An example of a zoom lens group 1400 is shown. The zoom lens group 1400 may include a first lens 1401, a second lens 1402, and a third lens 1403. The first lens 1401 and the third lens 1403 may be convex lenses used to converge light rays. The second lens 1402 may be a concave lens used to diverge light rays. The third lens 1403 may be fixed, for example, serving as a viewing window for a lidar system 100. The first lens 1401 and the second lens 1402 may be movable along the optical axis, for example, by an electric drive. Figure 14 As shown in (a) to (c), the second lens 1402 can move from left to right, changing from being closer to the first lens 1401 to being closer to the third lens 1403, while the first lens 1401 can move first to the left and then to the right. This combined movement changes the focal length of the zoom lens group 1400, thereby adjusting (increasing or decreasing) the field of view / maximum detection range of the lidar 100. Figure 14 As shown, the effective optical aperture D can vary between D1, D2, and D3 after passing through the zoom lens group 1400. For example... Figure 14 As shown in (a), D1 is greater than D, and at this time, the zoom lens group 1400 can increase the effective optical aperture of the lidar 100, thereby increasing the maximum detection range. Figure 14 As shown in (b), D2 equals D, as... Figure 14 As shown in (c), D3 is smaller than D, and the zoom lens group 1400 expands the field of view of the lidar 100. It should be noted that the above-described structure of a zoom lens group containing three lenses is only an example, and this disclosure is not limited thereto.

[0064] In some embodiments, the zoom lens assembly may include a liquid lens. A liquid lens uses a liquid as a lens, and its focal length is changed by altering the surface curvature of the liquid. For example, a liquid lens may employ an electrically controlled motor to push the liquid to compress a thin film, causing a change in its surface shape. Without lens movement or tilting, this change in the curvature of the liquid lens alters the focal length of the entire zoom lens assembly. Alternatively, the liquid lens may also include a variable-focus optical lens utilizing the principle of dielectric electrowetting (EWOD), which can change the shape of a liquid droplet by applying an external voltage, thereby changing its focal length.

[0065] According to yet another exemplary embodiment of this disclosure, a vehicle is also provided. The vehicle may include any of the lidar types described above.

[0066] This concludes the description of the lidar and vehicle according to this disclosure. This disclosure proposes a scheme to expand the field of view or increase the effective optical aperture of a lidar. For situations where the laser / detector distribution, scanner angular range, or effective optical aperture is limited, this disclosure can further improve its field of view or increase its effective optical aperture, enabling it to detect a larger field of view or a greater distance. This scheme provides the system with more flexible configuration possibilities without changing the lidar's system architecture, increasing the system's flexibility.

[0067] 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. Furthermore, many modifications can be made to adapt particular situations or materials to the teachings of the various embodiments of this disclosure without departing from the scope of this disclosure. While the dimensions and types of materials described herein are used to define parameters of the various embodiments of this disclosure, the embodiments are not intended to be restrictive but are exemplary. Many other embodiments will become apparent to those skilled in the art upon reading the above description. Therefore, the scope of the various embodiments of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A lidar, comprising: The lidar comprises: a transmitter configured to emit a probe beam; a receiver configured to receive a return wave generated after the probe beam is reflected by an object; first optics comprising a transmitting lens configured to collimate the probe beam and a receiving lens configured to transmit the return wave to the receiver; and second optics configured to change at least one of a field of view and a maximum detection distance of the lidar, wherein the collimated probe beam is transmitted to the object at least via the second optics, and the return wave is transmitted to the receiving lens at least via the second optics, wherein the second optics comprises a view window of the lidar.

2. The lidar of claim 1, wherein, The at least one of the field of view and the maximum detection distance of the lidar can be determined based on a distribution of the transmitter in a vertical direction or a distribution of the receiver in the vertical direction.

3. The lidar of claim 1, wherein, The second optics is configured to expand a detection angle of the probe beam to expand the field of view of the lidar.

4. The lidar of claim 1, wherein, The second optics is configured to increase an optically effective aperture of the lidar.

5. The lidar of claim 4, wherein, The optically effective aperture determines an intensity of the return wave received by the receiver.

6. The lidar of claim 1, wherein, The lidar further comprises: a scanner arranged in an optical path between the first optics and the second optics and configured to change a transmission direction of the probe beam and the return wave in at least one direction.

7. The lidar of claim 6, wherein, The at least one of the field of view and the maximum detection distance of the lidar is determined based on at least one of an angular range of the scanner, the distribution of the transmitter in the vertical direction, and the distribution of the receiver in the vertical direction.

8. The lidar of claim 1, wherein, A thickness of a central region of the field of view of the view window is different from a thickness of a peripheral region of the field of view of the view window.

9. A vehicle characterized by comprising: The vehicle comprises the lidar as claimed in any one of claims 1-8.

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