Receiving module and laser radar
By using optical deflection devices in lidar to deflect the optical signal, the problems of insufficient near-field echo energy and near-field blind zone caused by the interval between the transmitting and receiving channels are solved, achieving higher point cloud imaging accuracy and detection accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUTENG INNOVATION TECHNOLOGY CO LTD
- Filing Date
- 2025-03-17
- Publication Date
- 2026-04-21
AI Technical Summary
In existing lidar systems, the triangular reception effect caused by the distance between the transmitting and receiving channels leads to an expansion of the bistatic angle in the near-field region, increasing the near-field blind zone. Furthermore, the echo energy of near-field targets is insufficient, affecting the accuracy of point cloud imaging.
By employing optical deflection devices, such as cylindrical lenses, Fresnel lenses, or wavy lenses, the light signal is deflected along a second direction, allowing the deflected light signal to enter the detection component, thus solving the problem of insufficient echo energy. Furthermore, the lens assembly corrects aberrations to ensure accurate focusing of the light signal.
It improves the echo energy of near-range targets, smooths the energy curve changes between near and far distances, reduces near-field blind zones, enhances point cloud imaging accuracy and detection accuracy, and reduces calibration difficulty.
Smart Images
Figure CN224152644U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of optical technology, specifically to a receiving module and a lidar. Background Technology
[0002] LiDAR technology benefits from the high directionality, high monochromaticity, and high coherence of lasers, enabling long-distance anti-interference detection. It is of great significance in fields such as medicine, atmospheric monitoring, geological mapping, urban modeling, and intelligent driving.
[0003] In existing technologies, lidar systems employing off-axis optical systems suffer from a "triangular reception effect" due to the spatial spacing between the transmitting and receiving channels. As the distance between the transmitting and receiving channels increases, the bistatic angle in the near-field region also expands, leading to a significant increase in the near-field blind zone. Summary of the Invention
[0004] This application provides a receiving module and a lidar, which can improve the accuracy of near-range point cloud imaging and improve the problems of insufficient echo energy and unsmooth near-range echo energy curve by deflecting the light beam through an optical deflection device.
[0005] In a first aspect, embodiments of this application provide a receiving module, which includes a lens assembly and a detection assembly arranged sequentially along the optical axis of the receiving module. The lens assembly is configured to focus an optical signal onto the detection assembly, and the detection assembly is configured to convert the optical signal into an electrical signal. The detection assembly includes a plurality of detectors arranged in an array along a first direction. The lens assembly includes a light deflection device configured to deflect the optical signal along a second direction, wherein the first direction is perpendicular to the second direction, and the first direction and the second direction are respectively perpendicular to the optical axis of the receiving module.
[0006] This receiving module deflects optical signals using an optical deflector, which is then applied in lidar. For optical signals that cannot pass through the lens assembly to the detector due to excessive angle, the optical deflector can deflect them along a second direction, causing these deflected optical signals to be deflected onto the detection assembly. This increases the echo energy of near-range targets, solves the problem of insufficient echo energy caused by the triangular effect of near-range targets, and makes the energy curve changes of lidar at near and far ranges smoother. It not only achieves near-field blind zone compensation but also improves the accuracy of near-range point cloud imaging.
[0007] In some embodiments, the optical deflection device includes a cylindrical lens; the first side of the cylindrical lens is convex, and the second side of the cylindrical lens is planar; the first side of the cylindrical lens, the second side of the cylindrical lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
[0008] In this embodiment, by setting a cylindrical lens, the light signal can be deflected along the second direction, thereby achieving optical compensation for the near-field blind zone.
[0009] In some embodiments, the optical deflection device includes a Fresnel lens; a first side of the Fresnel lens includes a sawtooth structure, and a second side of the Fresnel lens is a plane; the sawtooth structure includes a first inclined surface, a first straight edge, and a second inclined surface, the first straight edge connecting the first inclined surface and the second inclined surface, the first inclined surface and the second inclined surface being inclined relative to the second side, and the extension direction of the first straight edge being the same as the first direction; the first side of the Fresnel lens, the second side of the Fresnel lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
[0010] In this embodiment, by setting a Fresnel lens, the light signal can be deflected along the second direction, thereby achieving optical compensation for the near-field blind zone.
[0011] In some embodiments, the optical deflection device includes a wavy lens; the first side of the wavy lens has a wave structure, the wave structure includes a plurality of continuous convex surfaces, and the second side of the wavy lens is a plane; the first side of the wavy lens, the second side of the wavy lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
[0012] In this embodiment, by setting a wavy lens, the light signal can be deflected along the second direction to achieve optical compensation for the near-field blind zone.
[0013] In some embodiments, the projected area of the optical deflection device in a plane perpendicular to the optical axis of the receiving module is less than 20 percent of the maximum projected area of the lens assembly in a plane perpendicular to the optical axis of the receiving module.
[0014] The above settings can prevent the optical deflection device from over-deflecting the optical signal, reduce the obstruction of the receiving module, and ensure the working performance of the receiving module.
[0015] In some embodiments, the lens assembly further includes a first optical lens and a second optical lens; the light deflection device, the first optical lens, the second optical lens and the detection component are arranged sequentially along the optical axis of the receiving module; or, the first optical lens, the light deflection device, the second optical lens and the detection component are arranged sequentially along the optical axis of the receiving module.
[0016] By setting a first optical lens and a second optical lens in the lens assembly, the light entering the receiving module can be controlled to correct aberrations and ensure that the light signal can be accurately focused on the detector.
[0017] In some embodiments, the lens assembly further includes a wedge mirror; the wedge mirror is disposed between the first optical lens and the second optical lens, and the wedge surface of the wedge mirror is disposed away from the detection assembly.
[0018] In this embodiment, by setting a wedge-shaped mirror, the echo light of the target object at a specific angle at close range can be further deflected, thereby further enhancing the lidar's ability to detect targets at close range.
[0019] Secondly, embodiments of this application also provide a lidar, which includes: a transmitting module for transmitting probe light to a target object; and a receiving module as described in any embodiment of the first aspect for receiving echo light formed by the probe light reflected by the target object; the optical axes of the transmitting module and the receiving module are spaced apart.
[0020] In this lidar, light signals that cannot pass through the lens assembly to the detector due to excessive angle can be deflected along a second direction by a light deflection device, so that these deflected light signals are deflected onto the detection assembly. This can improve the echo energy of near-range targets, solve the problem of insufficient echo energy caused by the triangular effect of near-range targets, and make the energy curve of the lidar at near and far ranges more gradual. It not only achieves near-field blind zone compensation, but also improves the accuracy of near-range point cloud imaging.
[0021] In some embodiments, the lidar further includes a lens barrel, the receiving module is located inside the lens barrel, and the wedge-shaped mirror is disposed on the side of the lens barrel away from the transmitting module.
[0022] By setting up a lens barrel, the internal optical components can be fixed, supported, and protected, solving the problem of insufficient space in the transmitting module to place a wedge mirror.
[0023] In some embodiments, the lidar further includes a light-blocking structure disposed between the transmitting module and the receiving module, and the light deflection device is disposed close to the transmitting module.
[0024] By setting up a light-blocking structure to isolate the transmitting and receiving optical paths, it is ensured that the optical signals between the transmitting and receiving modules will not interfere with each other. Attached Figure Description
[0025] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.
[0026] Figure 1 A structural block diagram of a lidar provided in an embodiment of this application;
[0027] Figure 2 This application provides a schematic diagram of the optical path of a lidar according to an embodiment of the present application.
[0028] Figure 3 A structural block diagram of a receiving module provided in an embodiment of this application;
[0029] Figure 4 This is a schematic diagram of the structure of a detection component provided in an embodiment of this application;
[0030] Figure 5 This is a schematic diagram of the structure of a lens assembly provided in an embodiment of this application;
[0031] Figure 6 Another optical path diagram of a lidar provided in this application embodiment;
[0032] Figure 7 A structural diagram of a cylindrical lens provided in an embodiment of this application;
[0033] Figure 8 A structural diagram of a Fresnel lens provided in an embodiment of this application;
[0034] Figure 9 A structural diagram of a wave-shaped lens provided in an embodiment of this application;
[0035] Figure 10 This is a structural diagram of another receiving module provided in an embodiment of this application;
[0036] Figure 11 A structural diagram of another receiving module provided in the embodiments of this application;
[0037] Figure 12 This is a partial structural diagram of a lidar provided in an embodiment of this application.
[0038] Explanation of reference numerals in the attached figures: 100, LiDAR; 10, Transmitting module; 20, Receiving module; 200, Target object; θ, Angle between echo light and probe light; y, First direction; x, Second direction; z, Direction parallel to the optical axis of the receiving module; 21, Lens assembly; 22, Detector assembly; 221, Detector; 211, Light deflection device; 2111, Cylindrical lens; S1, First side of the cylindrical lens; S2, Second side of the cylindrical lens; 2112, Fresnel lens; S3 S4, the first side of the Fresnel lens; S5, the second side of the Fresnel lens; S6, the serrated structure; S7, the first inclined plane; S8, the first right edge; S9, the second inclined plane; S0, the wavy lens; S10, the first side of the wavy lens; S11, the second optical lens; S21, the second optical lens; S3, the emitting lens assembly; S4, the emitting assembly; S5, the second side of the wavy lens; S6, the first optical lens; S7, the second optical lens; S8, the emitting lens assembly; S9, the emitting assembly; S10, the emitting device; S11, the light-blocking structure. Detailed Implementation
[0039] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application.
[0040] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.
[0041] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram, in some cases, they can be divided differently from those in the device. In addition, the terms "first" and "second" used herein do not limit the data or execution order, but only distinguish between identical or similar items with essentially the same function and effect.
[0042] See Figure 1 , Figure 1 This is a structural block diagram of a lidar 100 provided in an embodiment of this application. Figure 1 As shown, the lidar 100 includes a transmitting module 10 and a receiving module 20. The transmitting module 10 is used to transmit probe light to the target object 200; the receiving module 20 is used to receive the echo light formed by the probe light reflected by the target object 200; wherein, the optical axis of the transmitting module 10 and the optical axis of the receiving module 20 are spaced apart.
[0043] The optical axis of the transmitting module 10 refers to the central axis of symmetry of the optical system in the transmitting module 10. When the probe light propagates along the optical axis of the transmitting module 10, the optical characteristics of the probe light do not change. The optical axis of the receiving module 20 refers to the central axis of symmetry of the optical system in the receiving module 20. When the echo light propagates along the optical axis of the receiving module 20, the optical characteristics of the echo light do not change. The optical axis of the transmitting module 10 and the optical axis of the receiving module 20 are spaced apart, meaning that the optical axes of the transmitting module 10 and the receiving module 20 are not coaxial in spatial arrangement, and there is a distance between them. That is, the lidar 100 provided in this application embodiment all adopt an off-axis optical system for transmitting and receiving.
[0044] In this type of lidar 100, see Figure 2 The optical axes of the transmitting module 10 and the receiving module 20 are separated by a certain distance, which leads to a triangular reception effect between the transmitting and receiving channels. The triangular reception effect refers to the physical phenomenon where the spatial distance (baseline length) between the transmitting module 10 and the receiving module 20 causes the echo signal from the target object 200 to form a geometric triangular relationship on the transmitting and receiving paths, thus introducing measurement errors or changes in signal characteristics. It is understandable that for a target object 200 within a close range, when the probe light illuminates the target object 200, the transmitting and receiving paths are different, forming a certain angle, or θ. As the distance between the transmitting and receiving channels gradually increases, the θ also increases. However, as the θ increases, some probe light may not reach the detector 221 in the receiving module 20, resulting in a significant increase in the near-field blind zone. Traditional solutions typically involve adding a wedge mirror before the receiving channel to compensate for blind spots within a specific range. The wedge mirror, a tilted transparent medium, alters the propagation direction of the probe light through refraction, allowing the echo signal, originally in the lidar's blind spot, to be captured by the receiving module 20. The tilt angle of the wedge mirror determines the coverage area of the blind spot. However, for targets at close range, such as within 5 or 10 meters, the echo light reflected from the target enters the wedge mirror at a large incident angle. After refraction by the wedge mirror, the exit angle is significantly deflected. Due to the drastic adjustment of the refraction path, the signal intensity detected by the detection component changes rapidly, causing the near- and far-range energy curves (the relationship between signal intensity and target distance) of the lidar 100 to change too quickly. This results in larger point cloud ranging errors at close ranges, making calibration more difficult.
[0045] Based on the above reasons, this application provides a receiving module 20, which deflects the light signal in the second direction x by setting a light deflection device 211, so that some of the light signal that cannot reach the detector 221 due to the excessive angle θ can be deflected into the detector 221, thereby improving the problem of insufficient echo energy in the near-field blind zone and the problem of excessively rapid change in the echo energy curve, so as to improve the ranging accuracy of the lidar and enhance the lidar 100's ability to detect near-range targets.
[0046] like Figure 3 As shown, the receiving module 20 provided in this embodiment includes a lens assembly 21 and a detector assembly 22 arranged sequentially along the optical axis of the receiving module 20. The lens assembly 21 is configured to focus an optical signal onto the detector assembly 22, and the detector assembly 22 is configured to convert the optical signal into an electrical signal. (See reference...) Figure 4 The detection component 22 includes multiple detectors 221, which are arranged in an array along the first direction y. (See reference...) Figure 5 The lens assembly 21 includes a light deflection device 211, which is configured to deflect a light signal along a second direction x, wherein a first direction y is perpendicular to the second direction x, and the first direction y and the second direction x are respectively perpendicular to the optical axis of the receiving module 20.
[0047] Detector 221 includes a single-photon avalanche diode (SPAD) sensor. When a light signal shines on the SPAD sensor, the SPAD sensor generates pulses, thereby obtaining a point cloud. In the detection assembly 22, multiple detectors 221 are arranged in an array in the first direction y.
[0048] Lens assembly 21 refers to an assembly that includes multiple optical elements. Each optical element adjusts the light signal entering the receiving module 20 so that the light signal can reach the detector 221.
[0049] When the receiving module 20 is applied in the lidar 100, such as Figure 6As shown, the optical signal is deflected by the optical deflector 211. Thus, optical signals that cannot pass through the lens assembly 21 to the detector 221 due to an excessively large angle θ can be deflected along the second direction x by the optical deflector 211, directing these deviated optical signals to the detector assembly 22. This increases the echo energy of the near-range target object 200, solving the problem of insufficient echo energy caused by the triangular effect. It also makes the energy curve changes of the lidar 100 at near and far ranges smoother, achieving not only near-field blind zone compensation but also improving the accuracy of near-range point cloud imaging, reducing the calibration difficulty of the lidar 100, effectively avoiding fingerprint echo interference, and improving detection accuracy and anti-fouling capabilities. Furthermore, the optical deflector 211 deflects the light along the second direction x, which is perpendicular to the first direction y, reducing crosstalk between adjacent optical paths and ensuring the accuracy of the detection results. It is understandable that the angle between the probe light and the emitted light after being deflected by the optical deflector 211 is smaller than the angle between the probe light and the emitted light before being deflected by the optical deflector 211.
[0050] In some embodiments, the optical deflection device 211 includes a cylindrical lens 2111. See also... Figure 7 The first side S1 of the cylindrical lens 2111 is convex, and the second side S2 of the cylindrical lens 2111 is planar. The first side S1 of the cylindrical lens 2111, the second side S2 of the cylindrical lens 2111, and the detector assembly 22 are arranged sequentially along the optical axis of the receiving module 20.
[0051] In this embodiment, the second side S2 of the cylindrical lens 2111 is positioned close to the detection component 22, and the curvature of the convex surface of the cylindrical lens 2111 is set according to actual needs. Under the action of the cylindrical lens 2111, the light signal passing through the cylindrical lens 2111 is deflected in the second direction x, causing the light signal that deviated due to the excessively large angle θ to be deflected onto the detection component 22, thereby increasing the echo energy of the near-range target object 200, solving the problem of insufficient echo energy of the near-range target object 200 caused by the triangular effect, and also making the energy curve changes of the lidar 100 at near and far ranges smoother. This not only achieves near-field blind zone compensation but also improves the accuracy of near-range point cloud imaging. Moreover, the light signal propagates in the first direction y while maintaining its propagation direction before incident, avoiding the introduction of stray light or crosstalk in the first direction y, and ensuring the accuracy of detection.
[0052] In some embodiments, the optical deflection device 211 includes a Fresnel lens 2112. See also... Figure 8The first side of the Fresnel lens 2112 includes a sawtooth structure 21121, and the second side of the Fresnel lens 2112 is a plane. The sawtooth structure 21121 includes a first inclined surface 211211, a first straight edge 211212, and a second inclined surface 211213. The first straight edge 211212 connects the first inclined surface 211211 and the second inclined surface 211213. The first inclined surface 211211 and the second inclined surface 211213 are inclined relative to the second side, and the extension direction of the first straight edge 211212 is the same as the first direction y. The first side of the Fresnel lens 2112, the second side of the Fresnel lens 2112, and the detection assembly 22 are arranged sequentially along the optical axis of the receiving module 20. In the sawtooth structure 21121, the first inclined surface 211211 and the second inclined surface 211213 intersect at the first right edge 211212. The included angle between the first inclined surface 211211 and the second inclined surface 211213 is adjusted according to actual needs. The included angle between the first inclined surface 211211 and the second inclined surface 211213 in each sawtooth structure 21121 may be equal or unequal.
[0053] The extension direction of the first right edge 211212 is the same as the first direction y, which allows the Fresnel lens 2112 to deflect the light signal along the second direction x. This causes the light signal that has deviated due to the large angle θ to be deflected onto the detection component 22, thereby increasing the echo energy of the near-range target object 200. This solves the problem of insufficient echo energy of the near-range target object 200 caused by the triangular effect. It also makes the energy curve changes of the lidar 100 at near and far ranges smoother. This not only achieves near-field blind zone compensation but also improves the accuracy of near-range point cloud imaging. Furthermore, it can reduce crosstalk between adjacent optical paths and improve the accuracy of detection.
[0054] In some embodiments, the optical deflection device 211 includes a corrugated lens 2113. See also... Figure 9 The first side of the wave-shaped lens 2113 has a wave structure, which includes multiple convex surfaces. The second side of the wave-shaped lens 2113 is a plane. The first side of the wave-shaped lens 2113, the second side of the wave-shaped lens 2113, and the detection component 22 are arranged sequentially along the optical axis of the receiving module 20. The curvature of each convex surface in the wave structure is set according to actual needs. For ease of processing, the curvature of each convex surface can be the same, or, to improve the deflection effect, the curvature of each convex surface can be different. When the light signal is incident on the wave structure, it will be refracted through these convex surfaces, causing the outgoing light signal to deflect along the second direction x compared to the light signal before incident. This deflects the light signal that has deviated due to the large angle θ to the detection component 22, increasing the echo energy of the near-range target object 200, solving the problem of insufficient echo energy of the near-range target object 200 caused by the triangular effect, and making the energy curve changes of the lidar 100 at near and far ranges smoother. This not only achieves near-field blind zone compensation but also improves the accuracy of near-range point cloud imaging.
[0055] In some embodiments, the projected area of the light deflection device 211 in the plane perpendicular to the optical axis of the receiving module 20 is less than 20 percent of the maximum projected area of the lens assembly 21 in the plane perpendicular to the optical axis of the receiving module 20.
[0056] The plane perpendicular to the optical axis of the receiving module 20 is a virtual plane. By limiting the size of the optical deflection device 211, the optical path obstruction of the optical signal transmitted in the receiving module 20 by the optical deflection device 211 is reduced. In particular, when the optical signal is incident on the receiving module 20 at an incident angle of 0°, the optical deflection device 211 obstructs the main light path by a maximum of 20%. Since the light in the obstructed area and the light in the central field of view do not need to be deflected, the above design can ensure the working performance of the lidar.
[0057] In some embodiments, see Figure 10 or Figure 11 The lens assembly 21 also includes a first optical lens 212 and a second optical lens 213. The light deflection device 211, the first optical lens 212, the second optical lens 213 and the detection component 22 are arranged sequentially along the optical axis of the receiving module 20; or, the first optical lens 212, the light deflection device 211, the second optical lens 213 and the detection component 22 are arranged sequentially along the optical axis of the receiving module 20.
[0058] The first optical lens 212 includes at least one lens, and the second optical lens 213 includes at least one lens. The number of lenses, radius of curvature, surface type, thickness, refractive index, Abbe number, and other optical parameters of the first optical lens 212 and the second optical lens 213 are designed according to actual needs.
[0059] The lens assembly 21 includes a first optical lens 212 and a second optical lens 213, which can regulate the light entering the receiving module 20 to correct aberrations and ensure that the light signal is accurately focused on the detector 221. Furthermore, in practical applications, the first optical lens 212 and the second optical lens 213 can be adjusted according to actual needs.
[0060] The parameters of the second optical lens 213 provide greater design freedom for the receiving module 20.
[0061] In some embodiments, the lens assembly 21 further includes a wedge mirror. The wedge mirror is disposed between the first optical lens 212 and the second optical lens 213, with the wedge surface of the wedge mirror disposed away from the detection assembly 22.
[0062] A wedge mirror is an optical element with a wedge-shaped structure, usually made of transparent materials (such as glass or optical plastics). A wedge mirror has two non-parallel surfaces that form an inclined angle, making one end of the wedge mirror thicker and the other end thinner, thus presenting a wedge shape. The wedge surface of the wedge mirror is the surface with gradually changing thickness.
[0063] By working in conjunction with the wedge mirror and the light deflector 211, the echo light from the target object 200 at a specific angle at close range can be further deflected, enhancing the lidar 100's ability to detect close-range targets. Furthermore, the wedge mirror solves the problem of abrupt changes in the close-range echo energy curve, smoothing the curve and improving the ranging accuracy at close range. Additionally, the wedge surface of the wedge mirror is positioned away from the detection component 22, allowing the close-range echo light to be more effectively deflected to the detector 221, thereby improving the efficiency of receiving the echo energy from the close-range target object 200.
[0064] As another aspect of the embodiments of this application, see Figure 1 This application also provides a lidar 100, which includes a transmitting module 10 and a receiving module 20 as described in any of the above embodiments. The transmitting module 10 is used to transmit probe light to a target object 200; the receiving module 20 is used to receive the echo light formed by the reflection of the probe light from the target object 200; wherein the optical axes of the transmitting module 10 and the receiving module 20 are spaced apart.
[0065] In this embodiment, the receiving module 20 has the same structure and function as the receiving module 20 in the above embodiments, and will not be described in detail here.
[0066] In some implementations, refer to Figure 6 The launch module 10 includes a launch lens assembly 11 and a launch assembly 12. (See attached image) Figure 12 The emitting assembly 12 includes a plurality of emitters 121 arranged in an array along a first direction y. Each emitter 121 includes a laser source for generating probe light. The laser source can be a continuous light source, such as a light-emitting diode (LED), or a pulsed light source, such as a laser diode (LD). The emitting lens assembly 11 includes at least one optical element (such as a lens) for collimating, focusing, or shaping the probe light generated by the emitters 121 to ensure that the probe light is emitted to the target object 200 in a specific direction and shape.
[0067] In some embodiments, the lidar 100 further includes a lens barrel, with the receiving module 20 located inside the lens barrel and a wedge-shaped mirror disposed on the side of the lens barrel away from the transmitting module 10.
[0068] The lens barrel can be made of materials such as metal or plastic to fix and support the various optical components inside the receiving module 20, ensuring that each optical component is in the correct position during operation and preventing external factors such as dust and moisture from damaging the internal optical components.
[0069] By placing the wedge mirror on the side of the lens barrel away from the transmitting module 10, it helps to optimize the position of each optical element inside the lens barrel and solves the problem that the wedge mirror cannot be placed due to the limited internal space of the receiving module 20.
[0070] In some embodiments, see Figure 6 The lidar 100 also includes a light-blocking structure 30, which is disposed between the transmitting module 10 and the receiving module 20, and the light deflection device 211 is disposed close to the transmitting module 10.
[0071] The light-blocking structure 30 refers to an opaque optical element made of a high-absorbency or high-reflectivity material. It blocks light beams from propagating from the transmitting module 10 to the receiving module 20, and vice versa. By placing the light-blocking structure 30 between the transmitting module 10 and the receiving module 20, the transmitting and receiving optical paths are isolated, ensuring that the optical signals between the transmitting module 10 and the receiving module 20 do not interfere with each other. Furthermore, the light deflection device 211 is positioned close to the transmitting module 10 to prevent excessive deflection of the echo light by the light deflection device 211, which could affect the detection accuracy of the lidar 100 and ensure its operational performance.
[0072] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A receiving module, characterized in that, The receiver module includes a lens assembly and a detector assembly arranged sequentially along the optical axis of the receiver module. The lens assembly is configured to focus an optical signal onto the detector assembly, and the detector assembly is configured to convert the optical signal into an electrical signal. The detection component includes multiple detectors, which are arranged in an array along a first direction; The lens assembly includes an optical deflector configured to deflect the optical signal along a second direction, wherein the first direction is perpendicular to the second direction, and the first direction and the second direction are respectively perpendicular to the optical axis of the receiving module.
2. The receiving module of claim 1, wherein, The optical deflection device includes a cylindrical lens; The first side of the cylindrical lens is convex, and the second side of the cylindrical lens is flat. The first side of the cylindrical lens, the second side of the cylindrical lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
3. The receiving module of claim 1, wherein, The optical deflection device includes a Fresnel lens; The first side of the Fresnel lens includes a sawtooth structure, and the second side of the Fresnel lens is a plane; The sawtooth structure includes a first inclined surface, a first straight edge, and a second inclined surface. The first straight edge connects the first inclined surface and the second inclined surface. The first inclined surface and the second inclined surface are inclined relative to the second side. The extension direction of the first straight edge is the same as the first direction. The first side of the Fresnel lens, the second side of the Fresnel lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
4. The receiving module of claim 1, wherein, The optical deflection device includes a wavy lens; The first side of the wave-shaped lens has a wave structure, which includes a series of convex surfaces, and the second side of the wave-shaped lens is a plane. The first side of the wavy lens, the second side of the wavy lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
5. The receiving module of claim 1, wherein, The projected area of the optical deflection device in the plane perpendicular to the optical axis of the receiving module is less than 20 percent of the maximum projected area of the lens assembly in the plane perpendicular to the optical axis of the receiving module.
6. The receiving module of claim 1, wherein, The lens assembly also includes a first optical lens and a second optical lens; The optical deflection device, the first optical lens, the second optical lens, and the detection component are arranged sequentially along the optical axis of the receiving module; or, The first optical lens, the optical deflection device, the second optical lens, and the detection component are arranged sequentially along the optical axis of the receiving module.
7. The receiving module of claim 6, wherein, The lens assembly also includes a wedge-shaped lens; The wedge-shaped mirror is disposed between the first optical lens and the second optical lens, with the wedge surface of the wedge-shaped mirror positioned away from the detection component.
8. A lidar, comprising: include: The transmitting module is used to emit probe light to the target object; as well as The receiving module as described in any one of claims 1-7 is used to receive the echo light formed by the detection light reflected by the target object; The optical axes of the transmitting module and the receiving module are spaced apart.
9. The lidar of claim 8, wherein, The lidar also includes a lens barrel, the receiving module is located inside the lens barrel, and the wedge-shaped mirror is disposed on the side of the lens barrel away from the transmitting module.
10. The lidar according to claim 8, characterized in that, The laser radar further comprises a light blocking structure, which is arranged between the transmitting module and the receiving module, and the light deflection device is arranged close to the transmitting module.