Laser radar and device
By setting a receiving reflector in the lidar, the path length of the receiving beam is extended, solving the problem of a short receiving path and improving the receiving effect of the light spot.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-07
- Publication Date
- 2026-04-03
AI Technical Summary
In existing lidar systems, the receiver path is relatively short, resulting in poor light spot reception.
By setting up a receiving reflector, the received light beam reflected by the aperture reflector is reflected back to the receiver by the receiving reflector, thus extending the receiving path length.
This improves the receiver's ability to receive light spots, making it easier to accurately receive the light spots.
Smart Images
Figure CN224081804U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of lidar technology, and more particularly to a lidar and device. Background Technology
[0002] LiDAR (Light Detection and Ranging) is an optical remote sensing technology that measures information such as distance, speed, and direction of a target object by emitting a laser beam towards it and receiving the reflected light signal. In autonomous driving and driverless systems, LiDAR can generate high-precision point cloud data, including information such as the spatial location and reflection intensity of each point, providing rich environmental perception data for autonomous driving systems.
[0003] In existing technologies, lidar typically uses a lens to collimate the emitted laser beam and adjust the received laser beam. The received laser beam, passing through the lens, is then focused directly onto the receiver via an aperture reflector. However, the receiving path of the laser beam directly reflected to the receiver via the aperture reflector is relatively short, which is detrimental to the receiver's ability to receive the light spot. Utility Model Content
[0004] In view of this, this application provides a lidar and device to increase the path length of the receiving path between the received beam after lens adjustment and the receiver, so as to facilitate the receiver to receive the light spot.
[0005] In a first aspect, this application provides a lidar, the lidar comprising: a housing, and a transceiver module, a lens, a transmitting mirror, an aperture mirror, and a receiving mirror disposed inside the housing; wherein, the transceiver module includes a transmitter and a receiver, the transmitter being used to emit a transmitted light beam, and the receiver being used to detect a received light beam; the received light beam is the light beam reflected back by the target object after the transmitted light beam has propagated to it; the transmitting mirror is used to reflect the transmitted light beam to the lens; the lens is used to collimate the transmitted light beam to obtain a collimated light beam and to focus the received light beam onto the aperture mirror; the aperture mirror is used to reflect the received light beam to the receiving mirror; and the receiving mirror is used to reflect the received light beam reflected by the aperture mirror to the receiver.
[0006] Furthermore, the aperture reflector includes a light-transmitting area and a reflective area, wherein the portion of the aperture reflector other than the light-transmitting area is the reflective area; the light-transmitting area is used to transmit the emitted light beam reflected by the emitting reflector, and the reflective area is used to reflect the received light beam after it has been focused by the lens.
[0007] Furthermore, the light-transmitting range of the light-transmitting area corresponds to the range of the emitted light beam reflected by the emitting reflector.
[0008] Furthermore, the light-transmitting area is strip-shaped, and the length of the light-transmitting area is 99mm~101mm.
[0009] Furthermore, the lens includes a plurality of spaced lenses arranged concentrically.
[0010] Furthermore, the lens surface is covered by the received light beam.
[0011] Furthermore, the lidar is a single-lens lidar, the focal length of the lens is 214mm~216mm, and the thickness of the lens is 74mm~76mm.
[0012] Furthermore, the transceiver module is a coaxial transceiver module.
[0013] Furthermore, there are one or more transmitters and one or more receivers, and the emitted beam from the transmitter is only detected by the corresponding receiver.
[0014] Secondly, this application also provides an apparatus comprising: a main body and a lidar disposed on the main body.
[0015] In summary, this application improves the path length between the received light beam after lens adjustment and the receiver by setting a receiving reflector, which reflects the received light beam reflected by the aperture reflector to the receiver. This makes it easier for the receiver to receive the light spot. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0017] Figure 1 This is a cross-sectional schematic diagram of a lidar provided in an embodiment of this application.
[0018] Figure 2 This is a schematic diagram of the device provided in an embodiment of this application.
[0019] Component Symbol Explanation
[0020]
[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0022] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.
[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0025] To provide a clearer and more accurate understanding of the contents of this application, a detailed description will now be provided in conjunction with the accompanying drawings. The accompanying drawings illustrate examples of embodiments of this application, wherein the same reference numerals denote the same elements. It is to be understood that the scale shown in the accompanying drawings is not the actual scale of this application, and is for illustrative purposes only, and is not a drawing based on the original dimensions.
[0026] Please refer to Figure 2 This application provides a device 100. Device 100 is applicable to multiple fields, including but not limited to transportation, meteorology, and civil aviation. Device 100 can be a weather radar, agricultural detection radar, or traffic flow detection radar, etc. In this embodiment, device 100 includes a main body 200 and a lidar 3003, with the lidar 3003 mounted on the main body 200. Device 100 can improve people's work efficiency and quality of life through the lidar 3003.
[0027] Please refer to Figure 1This application provides a lidar 300. In this embodiment, the lidar 300 can be installed on the wall of a building, such as a wall or corridor, or on the housing of a device 100, such as the housing of a car or detector. The lidar 300 is used to sense information about target objects in the space where an object is located.
[0028] The lidar 300 includes a housing 10, a lens 20, a transceiver module 30, a transmitting reflector 40, a receiving reflector 50, and an aperture reflector 60. The housing 10 has an internal space 70, within which the transceiver module 30, lens 20, transmitting reflector 40, aperture reflector 60, and receiving reflector 50 are detachably mounted. In this embodiment, the lidar 300 is a single-lens lidar. The transceiver module 30 emits a transmitting beam and detects the receiving beam to detect target object information at a preset detection position corresponding to the transmitting and receiving directions. The transmitting reflector 40 changes the path of the transmitting beam. The receiving reflector 50 changes the path of the receiving beam. The aperture reflector 60 reflects the received beam back to the receiving reflector 50. The transceiver module 30 emits a light beam, which is reflected by the transmitting mirror 40 to the aperture mirror 60 and then propagates through the aperture mirror 60 to the lens 20. The lens 20 collimates the divergence angle of the emitted light beam to form parallel light (see first path 80) to detect target object information corresponding to the emission direction. The emitted light beam is reflected by the target object to form a receiving light beam, which is collimated by the lens 20 and enters the internal space 70. The receiving light beam is reflected by the aperture mirror 60 and the receiving mirror 50 to the transceiver module 30 (see second path 81) to acquire target object information.
[0029] The transceiver module 30 includes one or more transmitters 301 and one or more receivers 302. Each transmitter 301 corresponds to at least one receiver 302, and the emitted beam from each transmitter 301 is only detected by its corresponding receiver 302. Specifically, the transmitters 301 are arranged at a preset angle along the transmission channel and configured to emit beams into the field of view to perform three-dimensional information detection of target objects within the field of view. Part of the beam is reflected back by the target object, forming beam echoes. The receivers 302 are arranged at a preset angle along the reception channel and configured to sense photons from the field of view and output corresponding light sensing signals. It should be understood that the light signals sensed by the receivers 302 may include photons reflected back by target objects within the field of view (beam echoes) and photons of ambient light within the field of view. In this embodiment, the transceiver module is coaxial, meaning the optical paths of the emitted and received beams coincide. This application solves the problems of optical blind spots and performance degradation caused by binocular parallax in close-range situations by setting the central axis of the transceiver path on the same line instead of two separate parallel lines. It also simplifies channel calibration and reduces the area of the lens 20 while maintaining the same optical aperture. The transceiver module 30 can be an EEL laser (Edge Emitting Laser) or a VCSEL laser (Vertical Cavity Surface Emitting Laser), etc.
[0030] The housing 10 is used to protect the components of the lidar 300 and to provide storage space for them. The housing 10 can be made of materials such as plastic or metal. In this embodiment, the housing 10 has a spherical structure. In some embodiments, the surface of the housing 10 is coated with an electromagnetic shielding material to reduce electromagnetic noise around the lidar 300, thereby improving the quality of the emitted beam from the transmitter 301 and reducing noise in the signal received by the receiver 302. The electromagnetic shielding material is a material capable of absorbing electromagnetic radiation and can be metal, carbon foam, or metallic ink, etc.
[0031] A single lens 20 is provided inside the housing 10. The lens 20 includes a plurality of spaced lenses 201 arranged concentrically. The lens 20 is used to configure the optical parameters of the emitted beam and the received beam, so that the emitted beam is collimated into a parallel beam (see emission path 90) to detect the target object. In this embodiment, the lens 20 is close to the housing 10, and the receiver 302 is located on the same side as the lens 20. The portion of the housing 10 directly above the lens 20 is made of a light-transmitting material. The received beam reflected back from the target object enters the lens 20 in the form of parallel light (see receiving path 91) and completely covers the surface of the lens 20. The focal length of each lens 201 is 214mm to 216mm, and the thickness of the lens 20 is 74mm to 76mm. The beam emitted by the transmitter 301 and the beam received by the receiver 302 are collimated by the same lens 20. This application can reduce the weight of the lidar 300 by setting a single lens 20 in the internal space 70 of the housing 10, and can increase the aperture of the lens 20 to improve the ranging capability and other indicators of the lidar 300.
[0032] An aperture reflector 60 is used to achieve coaxiality of the light receiving and transmitting paths. In this embodiment, the aperture reflector 60 is disposed between the lens 20 and the transceiver module 30. The aperture reflector 60 includes a reflective area 601 and a light-transmitting area 602. In this embodiment, the aperture reflector 60 is strip-shaped, with the light-transmitting area 601 disposed in the middle of the aperture reflector 60, and the portion of the aperture reflector 600 other than the light-transmitting area 601 being the reflective area 602. The light-transmitting range of the light-transmitting area 601 corresponds to the range of the emitted light beam reflected by the transmitting reflector 40. In this embodiment, the length of the light-transmitting area 601 is 99mm~101mm. The light-transmitting area 601 is used to transmit the laser beam and is made of a light-transmitting material, such as crystal or glass; the reflective area 602 is used to adjust the propagation of the light beam received by the receiver 302 along a preset path and is made of a high-reflectivity material, such as an optical reflective film, optical fiber, or metal.
[0033] The emitting reflector 40 is configured according to the structural and dimensional requirements of the lidar 300. In this embodiment, the emitting reflector 40 is positioned opposite to the transmitter 301, allowing the light beam emitted by the transmitter 301 to be reflected by the emitting reflector 40 to the aperture reflector 60. Specifically, the light beam emitted by the transmitter 301 propagates to the emitting reflector 40, which reflects the received emitted light beam along a preset path to the light-transmitting area 601 of the aperture reflector 60. The emitted light beam then propagates through the light-transmitting area 601 to the lens 20. The emitted light beam entering the lens 20 is collimated by several lenses 201 to correct the divergence angle of the emitted light beam and form a parallel beam (see emitted beam 80).
[0034] The receiving reflector 50 is configured according to the structural and dimensional requirements of the lidar 300. In this embodiment, the receiving reflector 50 is positioned opposite to the reflection area 602 of the aperture reflector 60, and is used to reflect the received light beam reflected from the reflection area 602. Specifically, the reflection area 602 of the aperture reflector 60 reflects the received light beam to the receiving reflector 50, and the receiving reflector 50 reflects the received light beam to the corresponding receiver 302. This application increases the length of the receiving path by setting the receiving reflector 50 so that the received light beam, after being focused by the lens 20, enters the receiver 302 after two reflections, thus facilitating the receiver 302 to receive the light spot.
[0035] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.
[0036] The above-listed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.
Claims
1. A lidar, comprising: The laser radar comprises a shell, and a transceiving module, a lens, a transmitting mirror, a hole mirror and a receiving mirror arranged inside the shell. The transceiving module comprises a transmitter and a receiver, the transmitter is used for emitting a transmitting light beam, and the receiver is used for detecting a receiving light beam. The transmitting mirror is used for reflecting the transmitting light beam to the lens. The lens is used for collimating the transmitting light beam to obtain a collimated light beam and focusing the receiving light beam to the hole mirror. The hole mirror is used for reflecting the received receiving light beam to the receiving mirror. The receiving mirror is used for reflecting the receiving light beam reflected by the hole mirror to the receiver.
2. The lidar of claim 1, wherein, The hole mirror comprises a light-transmitting region and a reflecting region, and the part of the hole mirror other than the light-transmitting region is the reflecting region.
3. The lidar of claim 2, wherein, The light-transmitting region is used for transmitting the transmitting light beam reflected by the transmitting mirror, and the reflecting region is used for reflecting the receiving light beam focused by the lens.
4. The lidar of claim 3, wherein, The light-transmitting range of the light-transmitting region corresponds to the range of the transmitting light beam reflected by the transmitting mirror.
5. The lidar of claim 1, wherein, The light-transmitting region is in a strip shape, and the length of the light-transmitting region is 99mm-101mm.
6. The lidar of claim 1, wherein, The lens comprises a plurality of lenses arranged at intervals and with the same center.
7. The lidar of claim 1, wherein, The lens surface is covered by the receiving light beam.
8. The lidar of claim 1, wherein, The laser radar is a single-lens laser radar, the focal length of the lens is 214mm-216mm, and the thickness of the lens is 74mm-76mm.
9. The lidar of claim 1, wherein, The transceiving module is a coaxial transceiving module.
10. An apparatus, comprising: The transmitter is one or more, and the receiver is one or more, and the transmitting light beam emitted by the transmitter is only detected by the corresponding receiver. The device comprises a main body and the laser radar arranged on the main body, and the laser radar is any one of claims 1-9.