A lidar and device

Abstract

This disclosure provides a lidar and device, comprising: a housing, a transmitting assembly, and a receiving assembly. The housing includes a first panel and a viewing window, which are disposed opposite to each other along a first direction. The transmitting assembly is disposed within the housing and includes: a transmitter, a first lens, and a first optical path deflector. The transmitter is configured to emit a probe beam; the optical axis of the first lens is perpendicular to the first direction; the first optical path deflector includes a first reflective surface, which is configured to reflect the probe beam transmitted from the first lens to the viewing window. The receiving assembly is disposed within the housing and includes a receiver configured to receive the echo of the probe beam reflected by an object. This lidar is advantageous for reducing the size of the lidar in the first direction.

Description

Technical Field

[0001] This disclosure relates to the field of laser detection technology, and in particular to a lidar and device. Background Technology

[0002] LiDAR is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of targets. Due to its advantages such as high resolution, strong anti-interference capability, small size, and light weight, lidar is widely used in autonomous vehicles, drones, intelligent robots, and other devices.

[0003] As users have increasingly higher requirements for devices such as autonomous vehicles, drones, and intelligent robots, the size requirements for LiDAR are also increasing. Currently, LiDAR technologies have a large depth dimension, making it difficult to meet the installation needs of these devices. Utility Model Content

[0004] In view of this, the present disclosure provides a device and a lidar thereof that is advantageous in reducing the size of the lidar in the depth direction.

[0005] In a first aspect, this disclosure provides a lidar system, comprising: a housing, a transmitting assembly, and a receiving assembly. The housing includes a first panel and a viewing window, the first panel and the viewing window being disposed opposite each other along a first direction; the transmitting assembly is disposed within the housing and includes: a transmitter, a first lens, and a first optical path deflector. The transmitter is configured to emit a probe beam; the optical axis of the first lens is perpendicular to the first direction; the first optical path deflector includes a first reflective surface; the first reflective surface is configured to reflect the probe beam transmitted by the first lens to the viewing window; the receiving assembly is disposed within the housing and includes a receiver configured to receive the echo of the probe beam reflected by an object.

[0006] According to the lidar provided in this disclosure, the first panel and the viewing window are arranged opposite to each other along a first direction, the optical axis of the first lens is set perpendicular to the first direction, and the detection beam is deflected by a first optical path deflector. This reduces the space occupied by the first lens along the first direction, which is beneficial for reducing the size of the housing along the first direction, and consequently, for reducing the size of the lidar in the first direction.

[0007] In one possible implementation of the first aspect of this disclosure, the first optical path transition element further includes a first incident surface and a first exit surface; wherein the first incident surface is a plane or a curved surface; and the first exit surface is a plane or a curved surface.

[0008] In one possible implementation of the first aspect of this disclosure, the angle between the first reflecting surface and the optical axis of the first lens is α, where α satisfies: 30°≤α≤60°.

[0009] In one possible implementation of the first aspect of this disclosure, the transmitting assembly further includes a transmitting circuit board; the transmitting circuit board extends along a first direction, and the transmitter is disposed on the surface of the transmitting circuit board.

[0010] In one possible implementation of the first aspect of this disclosure, the transmitting assembly further includes a transmitting circuit board and a second optical path deflector; the transmitting circuit board is parallel to the optical axis of the first lens, and the transmitter is disposed on the surface of the transmitting circuit board; the second optical path deflector is configured to receive the probe beam emitted by the transmitter and reflect the probe beam to the first lens.

[0011] In one possible implementation of the first aspect of this disclosure, the receiving component includes a second lens and a third optical path deflector; the third optical path deflector includes a third reflective surface; the third reflective surface is configured to receive an echo and reflect the echo to the second lens; the second lens is configured to transmit the echo to the receiver, and the optical axis of the second lens is perpendicular to a first direction; wherein the first lens and the second lens are arranged along a second direction, and the second direction is perpendicular to the first direction.

[0012] In one possible implementation of the first aspect of this disclosure, the third optical path transition element further includes a third incident surface and a third exit surface; wherein the third incident surface is a plane or a curved surface; and the third exit surface is a plane or a curved surface.

[0013] In one possible implementation of the first aspect of this disclosure, the angle between the optical axis of the third reflecting surface and the second lens is β, where β satisfies: 30°≤β≤60°.

[0014] In one possible implementation of the first aspect of this disclosure, the receiving component further includes a receiving circuit board; the receiving circuit board extends along a first direction; and a receiver is disposed on the surface of the receiving circuit board.

[0015] In one possible implementation of the first aspect of this disclosure, the receiving component includes a receiving circuit board and a fourth optical path deflector; the receiving circuit board is parallel to the optical axis of the second lens, and the receiver is disposed on the surface of the receiving circuit board; the fourth optical path deflector is configured to receive the echo and reflect the echo back to the receiver.

[0016] In one possible implementation of the first aspect of this disclosure, the lidar includes a light-blocking structure; at least a portion of the light-blocking structure is located between a third optical path transition member and a first optical path transition member; and / or, at least a portion of the light-blocking structure is located between a first lens and a second lens; and / or, at least a portion of the light-blocking structure is located between a fourth optical path transition member and a second optical path transition member.

[0017] In one possible implementation of the first aspect of this disclosure, along the first direction, the size of the first lens is L1, the size of the housing is L2, and L2 and L1 satisfy: L2≤2L1; and / or, along the first direction, the size of the housing is L2, and L2 satisfies: L2≤25mm.

[0018] In one possible implementation of the first aspect of this disclosure, the lidar further includes a connector; the connector's insertion port faces a third direction, which is perpendicular to the first direction.

[0019] Secondly, this disclosure provides an apparatus comprising: an apparatus body and a lidar as described above, wherein the lidar is mounted on the apparatus body.

[0020] Since the second aspect includes any embodiment of the first aspect and the technical effects are similar, it will not be described again here. Attached Figure Description

[0021] Figure 1 A cross-sectional view of a lidar is shown;

[0022] Figure 2 A schematic diagram of an apparatus consistent with some embodiments of this disclosure is shown;

[0023] Figure 3 A schematic diagram of a lidar consistent with some embodiments of this disclosure is shown;

[0024] Figure 4 A schematic diagram of the internal structure of a lidar consistent with some embodiments of this disclosure is shown;

[0025] Figure 5 An embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Cross-sectional view at line AA;

[0026] Figure 6 An embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line BB;

[0027] Figure 7 An embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at the CC line;

[0028] Figure 8 A schematic diagram of the internal structure of another lidar consistent with some embodiments of this disclosure is shown;

[0029] Figure 9 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Cross-sectional view at line AA;

[0030] Figure 10 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line BB;

[0031] Figure 11 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at the CC line;

[0032] Figure 12 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Cross-sectional view at line AA;

[0033] Figure 13 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line BB;

[0034] Figure 14 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at the CC line;

[0035] Figure 15 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at the CC line;

[0036] Figure 16 A schematic diagram of the internal structure of another lidar consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0037] In this disclosure, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0038] In the embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0039] In the description of embodiments of this disclosure, the term "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0040] In the description of embodiments of this disclosure, the term "and / or" refers to and covers any and all possible combinations of one or more of the associated listed items. The term "and / or" describes an association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this disclosure generally indicates that the preceding and following related objects have an "or" relationship.

[0041] In the description of the embodiments disclosed herein, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, "linking" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0042] As used herein, "perpendicular" and "equal" include the described situation and situations that are similar to the described situation, within an acceptable deviation range, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable deviation range for approximate perpendicularity could be, for example, a deviation within 10°. "Equal" includes absolute equality and approximate equality, where the acceptable deviation range for approximate equality could be, for example, a difference between the two equalities less than or equal to 10% of either one.

[0043] Before formally introducing the embodiments of this disclosure, the structure of lidar in the related art will be briefly described first.

[0044] Figure 1 A cross-sectional view of a lidar system is shown. Please refer to [link / reference]. Figure 1The lidar 10a includes a housing 1a, a transmitting component 2a, and a receiving component 3a. Both the transmitting component 2a and the receiving component 3a are mounted on the housing 1a. The transmitting component 2a includes a transmitter 21a and a first lens 22a. The receiving component 3a includes a receiver 31a and a second lens 32a. The optical axes of the first lens 22a and the second lens 32a extend along the depth direction of the lidar 10a, where the depth direction of the lidar 10a refers to the direction in which the lidar 10a measures the target distance.

[0045] The LiDAR 10a has a specific focal length, and the first lens 22a and the second lens 32a have relatively large dimensions along the optical axis, resulting in a large depth dimension for the LiDAR 10a. However, the installation space available in the device mounting the LiDAR 10a in the depth direction is limited. This places high demands on the depth dimension of the LiDAR 10a.

[0046] To address the aforementioned technical problems, this disclosure provides a device and a lidar. In this embodiment, by making the optical axis of the lidar lens perpendicular to the depth direction of the lidar, the space occupied by the lens in the depth direction of the lidar is reduced, thereby facilitating the reduction of the lidar's dimensions in the depth direction to meet the size requirements when the lidar is installed in the device body.

[0047] The structure of the lidar and equipment disclosed herein will be illustrated with examples below.

[0048] This disclosure provides an apparatus. The apparatus includes, but is not limited to, movable devices. These movable devices include, but are not limited to, vehicles (e.g., autonomous vehicles or driver-assisted vehicles), drones, electric toys, or intelligent robots.

[0049] Figure 2 A schematic diagram of a device 100 consistent with some embodiments of this disclosure is shown. Please refer to... Figure 2 The description uses a movable device, specifically a vehicle, as an example and should not be construed as a specific limitation of this disclosure. In this example, device 100 includes a device body 20 and a lidar 10.

[0050] The lidar 10 is mounted on the device body 20. For example, the lidar 10 can be connected to the device body 20 by means of snap-fit, screw connection, adhesive bonding, welding, etc.

[0051] In some embodiments, please continue reading Figure 2The lidar 10 can be installed on the outside of the device body 20. For example, the lidar 10 can be installed outside the cockpit of the device body 20, such as on the top or side of the device body 20. In some embodiments, the lidar 10 can also be installed inside the device body 20. For example, the lidar 10 can be installed inside the windshield, inside the headlights, or in other locations.

[0052] Figure 3 A schematic diagram of a lidar 10 consistent with some embodiments of the present disclosure is shown. Figure 4 A schematic diagram of the internal structure of a lidar 10 consistent with some embodiments of this disclosure is shown. Figure 5 An embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line AA.

[0053] Please see Figure 3 , Figure 4 and Figure 5 The lidar 10 includes a housing 1, a transmitting component 2, and a receiving component 3.

[0054] The housing 1 is used to house the transmitting assembly 2 and the receiving assembly 3. The housing 1 includes a window 12 and a first wall panel 11. The window 12 allows at least the detection beam emitted by the transmitting assembly 2 to pass through. The first wall panel 11 and the window 12 are arranged opposite each other along a first direction F1. The first direction F1 may refer to the depth direction of the lidar 10.

[0055] In some embodiments, the window 12 may be flat. For example, the window 12 may be a rectangular flat plate, a circular flat plate, or an irregularly shaped flat plate. In other examples, the window 12 may also be curved.

[0056] In some embodiments, the first wall panel 11 may be flat. For example, the first wall panel 11 may be rectangular, circular, or irregularly shaped. In other examples, the first wall panel 11 may also be curved. The material of the first wall panel 11 may include, but is not limited to, metal, plastic, or a combination of both.

[0057] Both the transmitting component 2 and the receiving component 3 are installed inside the housing 1. The installation methods of the transmitting component 2 within the housing 1 include, but are not limited to, snap-fitting, screw connection, welding, or adhesive bonding. The installation methods of the receiving component 3 within the housing 1 include, but are not limited to, snap-fitting, screw connection, welding, or adhesive bonding.

[0058] Figure 6 An embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line BB. Figure 7 An embodiment consistent with some embodiments of this disclosure is shown. Figure 3Sectional view at the CC line. Please refer to the reference. Figures 4 to 7 The transmitting component 2 may include a transmitter 21, a first lens 22, and a first optical path deflector 23.

[0059] The transmitter 21 is configured to emit a probe beam L.

[0060] In some embodiments, the transmitter 21 may include a laser or a laser array. The laser array may include a one-dimensional or two-dimensional array of multiple lasers arranged together. The laser may include one or more of semiconductor lasers, solid-state lasers, or fiber lasers. Semiconductor lasers may include vertical-cavity surface-emitting lasers (VCSELs) or edge-emitting lasers (EELs).

[0061] The optical axis O1 of the first lens 22 is perpendicular to the first direction F1. The first lens 22 is configured to shape the probe beam L emitted by the transmitter 21. For example, the first lens 22 can collimate the probe beam L emitted by the transmitter 21. Alternatively, the first lens 22 can adjust the propagation direction of the probe beam L emitted by the transmitter 21.

[0062] The first optical path deflector 23 is used to achieve optical path deflection. The first optical path deflector 23 includes a first reflective surface 231. The first reflective surface 231 is configured to reflect the probe beam L transmitted from the first lens 22 to the viewing window 12. After the probe beam L transmitted from the viewing window 12 reaches the object, it is reflected by the object to form a shape like... Figure 7 The echo L' shown.

[0063] In some embodiments, the first reflective surface 231 may be a plane. The shape of the first reflective surface 231 includes, but is not limited to, a rectangle, a triangle, a circle, or an irregular shape. In some embodiments, the first reflective surface 231 may be a curved surface.

[0064] By setting the optical axis O1 of the first lens 22 perpendicular to the first direction F1 and using the first optical path deflector 23 to deflect the detection beam, the space occupied by the first lens 22 along the first direction F1 can be reduced. This reduces the space occupied by the first lens 22 in the depth direction of the lidar 10, which helps to reduce the size of the housing 1 in the depth direction of the lidar 10 and meets the size requirements when the lidar 10 is installed in the device body 20.

[0065] In some embodiments of this disclosure, please continue to refer to Figures 4 to 7The receiving component 3 may include a receiver 31. The receiver 31 is configured to receive the echo L' reflected from the object by the probe beam. Exemplarily, the receiver 31 may include a detector or a detector array. The detector array may include a one-dimensional array or a two-dimensional array of multiple detectors arranged together. The detector may include a single-photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), a photomultiplier tube (PMT), or similar devices.

[0066] In some embodiments, the detector and the laser can be configured in a one-to-one correspondence. One detector and one laser form a detection channel of the lidar 10 during operation. The echo L' generated by the reflection of the detection beam L emitted by the laser in the detection channel is received by the detector in the channel. In some embodiments, the lidar 10 can also be configured with multiple lasers corresponding to one detector, or multiple detectors corresponding to one laser. In some embodiments, the lidar 10 can also be configured with multiple lasers corresponding to multiple detectors. This disclosure does not impose specific limitations in this regard.

[0067] In some embodiments of this disclosure, please continue to refer to Figures 4 to 7 The receiving component 3 may include a third optical path deflector 33, a second lens 32, and a receiver 31.

[0068] The third optical path deflector 33 is used to achieve optical path deflection. The third optical path deflector 33 includes a third reflective surface 331. The third reflective surface 331 is configured to receive the echo L' reflected from the object and reflect the echo L' to the second lens 32.

[0069] In some embodiments, the third reflective surface 331 may be a plane. The shape of the third reflective surface 331 includes, but is not limited to, a rectangle, a triangle, a circle, or an irregular shape. In some embodiments, the third reflective surface 331 may be a curved surface.

[0070] In some embodiments, the third optical path transition member 33 and the first optical path transition member 23 are distributed along the second direction F2. The second direction F2 is perpendicular to the first direction F1.

[0071] For example, the first optical path transition member 23 and the third optical path transition member 33 can be two separate optical path transition members. Alternatively, the first optical path transition member 23 and the third optical path transition member 33 can be connected as a single unit. For instance, the first optical path transition member 23 and the third optical path transition member 33 can be different parts of a single optical path transition member.

[0072] The second lens 32 is configured to transmit the echo L' to the receiver 31. The optical axis O2 of the second lens 32 is perpendicular to the first direction F1. The second lens 32 is configured to shape the echo. For example, the second lens 32 can converge the echo. Alternatively, the second lens 32 can adjust the propagation direction of the echo.

[0073] In some embodiments, the second lens 32 and the first lens 22 are distributed along a second direction F2, which is perpendicular to the first direction F1. For example, the optical axis O2 of the second lens 32 is arranged parallel to the optical axis O1 of the first lens 22.

[0074] In this embodiment, by setting the optical axis O2 of the second lens 32 to be perpendicular to the first direction F1, and by using the third optical path deflector 33 to deflect the echo L', the space occupied by the second lens 32 along the first direction F1 can be reduced. This reduces the space occupied by the second lens 32 in the depth direction of the lidar 10, which is beneficial for reducing the size of the housing 1 in the depth direction of the lidar 10, thus meeting the size requirements when the lidar 10 is installed in the device body 20.

[0075] In some embodiments, please continue reading Figure 6 Along the first direction F1, the size of the first lens 22 is L1. Along the first direction F1, the size of the housing 1 is L2. L2 and L1 satisfy: L2≤2L1. For example, L2 can be 1.2 times L1, 1.5 times L1, 1.6 times L1, or 1.8 times L1, etc.

[0076] In some embodiments, please continue reading Figure 7 Along the first direction F1, the size of the second lens 32 is L3. Along the first direction F1, the size of the housing 1 is L2. L2 and L1 satisfy: L2≤2L3. For example, L2 can be 1.2 times L3, 1.5 times L3, 1.6 times L3, or 1.8 times L3, etc.

[0077] In some embodiments, along the first direction F1, the size L3 of the second lens 32 may be the same as the size L1 of the first lens 22. In other examples, along the first direction F1, the size L3 of the second lens 32 may be different from the size L1 of the first lens 22. For example, the size L3 of the second lens 32 may be larger than the size L1 of the first lens 22.

[0078] In some embodiments, the size of the housing 1 along the first direction F1 is L2. L2 satisfies: L2≤25mm. For example, L2 is 10mm, 15mm, 16mm, 17mm, 18mm, 19mm, 20mm, 21mm, 22mm, 23mm or 24mm, etc.

[0079] It is worth noting that the measurements of L1, L2, and L3 can be performed as follows: In a plane parallel to the optical axis O1 and the first direction F1 of the first lens 22, the vertical projection of the first lens 22 has a first end and a second end opposite to each other along the first direction F1. The maximum distance between the first end and the second end along the first direction F1 is L1. Similarly, in a plane parallel to the optical axis O1 and the first direction F1 of the first lens 22, the vertical projection of the outer casing 1 has a third end and a fourth end opposite to each other along the first direction F1. The maximum distance between the third end and the fourth end along the first direction F1 is L2. The measurement method for L3 is similar to that for L1, and will not be repeated here.

[0080] In some embodiments, please continue reading Figures 4-7 The transmitting assembly 2 also includes a transmitting circuit board 25. The transmitting circuit board 25 extends along a first direction F1. The transmitter 21 is disposed on the surface of the transmitting circuit board 25. This facilitates a reduction in the size of the lidar 10 in the direction of the optical axis O1 of the first lens 22.

[0081] For example, please continue reading Figures 4-7 Along the direction of the optical axis O1, the transmitting circuit board 25 can be directly facing the first lens 22. In this way, the detection beam L emitted by the transmitter 21 can be directly projected into the first lens 22 without the need for other optical path deflection components, simplifying the structure of the lidar 10 and achieving a compact structure for the lidar 10.

[0082] In some embodiments, please continue reading Figures 4-7 The receiving component 3 also includes a receiving circuit board 35. The receiving circuit board 35 extends along the first direction F1. The receiver 31 is disposed on the surface of the receiving circuit board 35. This facilitates a reduction in the size of the lidar 10 in the direction of the optical axis O2 of the second lens 32.

[0083] For example, the receiving circuit board 35 can be directly facing the second lens 32 along the direction of the optical axis O2 of the second lens 32. In this way, the echo transmitted from the second lens 32 can be directly directed to the receiver 31 without the need for other optical path deflection components, which helps to simplify the structure of the lidar 10 and achieve a compact structure for the lidar 10.

[0084] In some embodiments, the transmitting circuit board 25 and the receiving circuit board 35 are distributed along a second direction F2. The second direction F2 is perpendicular to the first direction F1.

[0085] In some embodiments, the transmitting circuit board 25 and the receiving circuit board 35 can be two separate circuit boards.

[0086] In some embodiments, the transmitting circuit board 25 and the receiving circuit board 35 may also be connected as a single unit. For example, the transmitting circuit board 25 and the receiving circuit board 35 are different parts of a single circuit board.

[0087] The transmitter circuit board 25 is set so that the surface of the transmitter 21 and the receiver circuit board 35 is set so that the surface of the receiver 31 can be parallel or coplanar, which helps to improve the structural compactness of the lidar 10.

[0088] Figure 8 A schematic diagram of the internal structure of another lidar consistent with some embodiments of this disclosure is shown. Figure 9 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 A cross-sectional view at line AA. Figure 10 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line BB. Figure 11 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 A cross-sectional view at the CC line. In some embodiments, please refer to... Figures 8 to 11 The transmitting component 2 also includes a second optical path transition element 24.

[0089] The second optical path deflector 24 is used to achieve optical path deflection. The second optical path deflector 24 includes a second reflective surface 241. The second reflective surface 241 of the second optical path deflector 24 is configured to receive the probe beam L emitted by the transmitter 21 and reflect the probe beam L to the first lens 22. This facilitates the optimization of the structural layout of the transmitting assembly 2 within the housing 1.

[0090] In some embodiments, the second reflective surface 241 may be a plane. The shape of the second reflective surface 241 includes, but is not limited to, a rectangle, a triangle, a circle, or an irregular shape. In some embodiments, the second reflective surface 241 may be a curved surface.

[0091] In some embodiments, please refer to Figures 8 to 11 The receiving component 3 also includes a fourth optical path deflector 34. The fourth optical path deflector 34 is used to achieve optical path deflection. The fourth optical path deflector 34 includes a fourth reflective surface 341. The fourth reflective surface 341 of the fourth optical path deflector 34 is configured to receive the echo L' and reflect the echo L' to the receiver 31. This facilitates the optimization of the structural layout of the receiving component 3 within the housing 1.

[0092] In some embodiments, the fourth reflective surface 341 may be a plane. The shape of the fourth reflective surface 341 includes, but is not limited to, a rectangle, a triangle, a circle, or an irregular shape. In some embodiments, the fourth reflective surface 341 may be a curved surface.

[0093] In some embodiments, the fourth optical path transition member 34 and the second optical path transition member 24 are distributed along the second direction F2. The second direction F2 is perpendicular to the first direction F1.

[0094] For example, the second optical path transition member 24 and the fourth optical path transition member 34 can be two separate optical path transition members. Alternatively, the second optical path transition member 24 and the fourth optical path transition member 34 can be connected as a single unit. For instance, the second optical path transition member 24 and the fourth optical path transition member 34 can be different parts of a single optical path transition member.

[0095] Figure 12 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 A cross-sectional view at line AA. Figure 13 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 Sectional view at line BB. Figure 14 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 A cross-sectional view at the CC line. In some embodiments, please refer to... Figure 12 , Figure 13 and Figure 14 The first optical path deflector 23 further includes a first incident surface 232 and a first exit surface 233. For example, the first optical path deflector 23 is a prism, such as a triangular prism or other prisms.

[0096] The first incident surface 232 can face the light-emitting end of the first lens 22. The first exit surface 233 can face the viewing window 12. The probe beam L transmitted by the first lens 22 can pass through the first incident surface 232 and enter the first optical path deflector 23. After being reflected by the first reflecting surface 231, the probe beam L is deflected towards the first exit surface 233 and exits from the first exit surface 233 through the first optical path deflector 233.

[0097] In this embodiment, by making the first optical path turning member 23 include a first incident surface 232 and a first exit surface 233, it is convenient to design the surface shape of the first reflecting surface 231 and the first exit surface 233 according to the actual needs of the lidar 10, so as to adjust the optical path and / or focal length of the lidar 10.

[0098] For example, the first incident surface 232 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For example, when the first incident surface 232 is a spherical surface, the optical axis O1 of the first lens 22 passes through the center of the first incident surface 232. For example, the first incident surface 232 is a convex surface. In other examples, the first incident surface 232 can also be a concave surface. For yet another example, the first incident surface 232 can be a plane. This facilitates the manufacturing of the first optical path deflector 23.

[0099] For example, the first exit surface 233 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For instance, the first exit surface 233 is a convex surface. In other examples, the first exit surface 233 can also be a concave surface.

[0100] As another example, the first exit surface 233 can be a plane. This facilitates the processing and manufacturing of the first optical path deflector 23.

[0101] In some embodiments, when the first incident surface 232 and / or the first exit surface 233 are set as curved surfaces, the curved surface of the first optical path deflector 23 can jointly define the focal length of the transmitting assembly 2 with the first lens 22. In this way, the focal length of the transmitting assembly 2 is determined at least by the first lens 22 and the first optical path deflector 23. Without changing the focal length of the lidar 10, setting the first incident surface 232 and / or the first exit surface 233 as curved surfaces helps to reduce the size of the first lens 22, thereby reducing the overall size of the device. Without changing the size of the first lens 22, it also helps to increase the focal length of the transmitting assembly 2, which helps to improve the range-finding performance of the lidar. Furthermore, the curved surface can act as a divergence point for the detection beams L. With the lidar's field of view unchanged, setting the first incident surface 232 and / or the first exit surface 233 as curved surfaces can reduce the divergence of multiple detection beams L incident from the first lens 22 to the first optical path deflector 23, thereby helping to reduce the area of ​​light spot coverage when multiple detection beams L incident on the viewing window 12. This helps to reduce the size of the first optical path transition member 23 and the size of the window 12. Therefore, without changing the field of view of the transmitting component 2, it is advantageous to make the window 12 and the first optical path transition member 23 smaller, and without changing the size of the window 12 and the first optical path transition member 23, it is advantageous to increase the emission field of view of the transmitting component 2.

[0102] It is understood that the first optical path deflector 23 is not limited to the prism described above. In other examples, the first optical path deflector 23 can also be a plane mirror. Plane mirrors have a simple structure, small size, and occupy less space within the housing 1, which is beneficial for achieving a compact structure of the lidar 10.

[0103] In some embodiments, please continue reading Figure 12 , Figure 13 and Figure 14 The third optical path deflector 33 also includes a third incident surface 332 and a third exit surface 333. For example, the third optical path deflector 33 is a prism, such as a triangular prism or other prisms.

[0104] The third incident surface 332 can face the viewing window 12. The third exit surface 333 can face the second lens 32. The echo L' reflected by the object can pass through the third incident surface 332 and enter the third optical path deflector 33, then be reflected by the third reflecting surface 331, deflected towards the third exit surface 333, and exit the third optical path deflector 33 from the third exit surface 333.

[0105] In this embodiment, by making the third optical path turning element 33 include a third incident surface 332 and a third exit surface 333, it is convenient to design the surface shape of the third reflective surface 331 and the third exit surface 333 according to the actual needs of the lidar 10, so as to facilitate the design of the optical path and / or focal length of the lidar 10.

[0106] For example, the third incident surface 332 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For instance, the third incident surface 332 is a convex surface. In other examples, the third incident surface 332 can also be a concave surface.

[0107] As another example, the third incident surface 332 can be a plane. This facilitates the processing and manufacturing of the third optical path deflector 33.

[0108] For example, the third exit surface 333 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For example, when the third exit surface 333 is a spherical surface, the optical axis O2 of the second lens 32 passes through the center of the third exit surface 333. For example, the third exit surface 333 is a convex surface. In other examples, the third exit surface 333 can also be a concave surface.

[0109] As another example, the third exit surface 333 can be a plane. This facilitates the processing and manufacturing of the third optical path transition element 33.

[0110] In this embodiment, when the third incident surface 332 and / or the third exit surface 333 are curved, the curved surface of the third optical path deflector 33 can jointly define the focal length of the receiving component 3 with the second lens 32. Thus, the focal length of the receiving component 3 is determined at least by the second lens 32 and the third optical path deflector 33. Without changing the focal length of the receiving component 3, setting the third incident surface 332 and / or the third exit surface 333 as curved helps to reduce the size of the second lens 32, thereby reducing the overall size of the device. Without changing the size of the second lens 32, it also helps to increase the focal length of the receiving component 3. Furthermore, while keeping the field of view of the lidar unchanged, setting the third incident surface 332 and / or the third exit surface 333 as curved also helps to make the window 12 and the third optical path deflector 33 smaller. Without changing the size of the window 12 and the third optical path deflector 33, it helps to increase the receiving field of view of the receiving component 3.

[0111] It is understood that the third optical path deflector 33 is not limited to the prism described above. In other examples, the third optical path deflector 33 can be a plane mirror. Plane mirrors have a simple structure, small size, and occupy less space within the housing 1, which is beneficial for achieving a compact structure of the lidar 10.

[0112] In some embodiments, please continue reading Figure 12 , Figure 13 and Figure 14 In addition to the second reflecting surface 241, the second optical path deflector 24 also includes a second incident surface 242 and a second exiting surface 243. The second incident surface 242 can face the transmitter 21. The second exiting surface 243 can face the first lens 22. The probe beam L emitted by the transmitter 21 can pass through the second incident surface 242 and enter the second optical path deflector 24. After being reflected by the second reflecting surface 241, the probe beam L is deflected towards the second exiting surface 243 and exits the second optical path deflector 24 from the second exiting surface 243.

[0113] In this embodiment, by making the second optical path deflector 24 include a second incident surface 242 and a second exit surface 243, it is convenient to design the surface shape of the second reflective surface 241 and the second exit surface 243 according to the actual needs of the lidar 10, so as to facilitate the design of the optical path and / or focal length of the emitting component 2.

[0114] For example, the second incident surface 242 can be a plane. This facilitates the manufacturing of the second optical path deflector 24.

[0115] As another example, the second incident surface 242 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For example, the second incident surface 242 is a convex surface. In other examples, the second incident surface 242 can also be a concave surface.

[0116] For example, the second exit surface 243 can be a plane. This facilitates the processing and manufacturing of the second optical path deflector 24.

[0117] As another example, the second exit surface 243 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For example, when the second exit surface 243 is a spherical surface, the optical axis O1 of the first lens 22 passes through the center of the second exit surface 243. For instance, the second exit surface 243 can be a convex surface. In other examples, the second exit surface 243 can also be a concave surface.

[0118] In some embodiments, in addition to including a fourth reflective surface 341, please continue reading Figure 12 , Figure 13 and Figure 14The fourth optical path deflector 34 also includes a fourth incident surface 342 and a fourth exit surface 343. The fourth incident surface 342 can face the second lens 32. The fourth exit surface 343 can face the receiver 31. The echo L' transmitted by the second lens 32 can pass through the fourth incident surface 342 and enter the fourth optical path deflector 34. After being reflected by the fourth reflecting surface 341, the echo L' is deflected towards the fourth exit surface 343 and exits the fourth optical path deflector 343.

[0119] In this embodiment, by making the fourth optical path turning element 34 include a fourth incident surface 342 and a fourth exit surface 343, it is convenient to design the surface shape of the fourth reflective surface 341 and the fourth exit surface 343 according to the actual needs of the lidar 10, so as to facilitate the design of the optical path and / or focal length of the receiving component 3.

[0120] For example, the fourth incident surface 342 can be a plane. This facilitates the fabrication of the fourth optical path deflector 34.

[0121] As another example, the fourth incident surface 342 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For example, the fourth incident surface 342 can be a convex or concave surface.

[0122] For example, the fourth exit surface 343 can be a plane. This facilitates the manufacturing of the fourth optical path deflector 34.

[0123] As another example, the fourth exiting surface 343 can be a curved surface. This curved surface includes, but is not limited to, a spherical or non-spherical surface. For example, the fourth exiting surface 343 can be a convex or concave curved surface.

[0124] In some embodiments, please continue reading Figure 12 , Figure 13 and Figure 14 The transmitting assembly 2 also includes a transmitting circuit board 25 and a second optical path deflector 24. The transmitting circuit board 25 is parallel to the optical axis O1 of the first lens 22. The transmitter 21 is disposed on the surface of the transmitting circuit board 25.

[0125] The second optical path deflector 24 is used to achieve optical path deflection. The second optical path deflector 24 includes a second reflective surface 241. The second reflective surface 241 of the second optical path deflector 24 is configured to receive the probe beam L emitted by the transmitter 21 and reflect the probe beam L to the first lens 22. This facilitates the optimization of the structural layout of the transmitting assembly 2 within the housing 1.

[0126] In some embodiments, please continue reading Figure 12 , Figure 13 and Figure 14The receiving assembly 3 also includes a receiving circuit board 35 and a fourth optical path deflector 34. The receiving circuit board 35 is parallel to the optical axis O2 of the second lens 32. The receiver 31 is disposed on the surface of the receiving circuit board 35.

[0127] The fourth optical path deflector 34 is used to achieve optical path deflection. The fourth optical path deflector 34 includes a fourth reflective surface 341. The fourth reflective surface 341 of the fourth optical path deflector 34 is configured to receive the echo L' and reflect the echo L' to the receiver 31. This facilitates the optimization of the structural layout of the receiving assembly 3 within the housing 1.

[0128] In some embodiments, please continue reading Figure 13 The angle between the first reflecting surface 231 and the optical axis O1 of the first lens 22 is α. α satisfies: 30°≤α≤60°. The angle α can be set according to the detection requirements of the lidar 10 to adjust the field of view of the lidar 10 and meet the actual usage requirements of the lidar 10. 30°≤α≤60° allows the lidar 10 to meet the detection requirements without excessively increasing the size of the viewing window, which is beneficial for meeting the installation requirements of the lidar.

[0129] For example, the angle α between the first reflecting surface 231 and the optical axis O1 of the first lens 22 can be 32°, 35°, 36°, 38°, 40°, 42°, 45°, 48°, 50°, 52°, 55°, or 58°.

[0130] In some embodiments, please continue reading Figure 14 The angle between the third reflecting surface 331 and the optical axis O2 of the second lens 32 is β. β satisfies: 30°≤β≤60°. This facilitates optimizing the relative positional relationship between the center line of the field of view of the receiving component 3 and the viewing window 12, adjusting the field of view direction of the receiving component 3, and meeting the actual usage requirements of the lidar 10. The 30°≤β≤60° constraint allows the lidar 10 to meet detection requirements without excessively increasing the size of the viewing window, thus facilitating the installation of the lidar.

[0131] For example, the angle β between the third reflecting surface 331 and the optical axis O2 of the second lens 32 can be 32°, 35°, 36°, 38°, 40°, 42°, 45°, 48°, 50°, 52°, 55°, or 58°.

[0132] In some embodiments, please continue reading Figure 12 The lidar 10 includes a light-blocking structure 4. The light-blocking structure 4 serves to isolate the transmitting and receiving optical paths inside the lidar 10. This reduces stray light interference inside the lidar.

[0133] For example, at least a portion of the light-blocking structure 4 is located between the third optical path transition member 33 and the first optical path transition member 23. In this way, the arrangement of the light-blocking structure 4 can prevent optical crosstalk between the third optical path transition member 33 and the first optical path transition member 23, which is beneficial to improving the detection accuracy of the lidar 10 at least to a certain extent.

[0134] For example, at least a portion of the light-blocking structure 4 is located between the first lens 22 and the second lens 32. In this way, the arrangement of the light-blocking structure 4 can prevent optical crosstalk between the first lens 22 and the second lens 32, which is beneficial to improving the detection accuracy of the lidar 10 at least to some extent.

[0135] For example, at least a portion of the light-blocking structure 4 is located between the fourth optical path transition member 34 and the second optical path transition member 24. In this way, the arrangement of the light-blocking structure 4 can prevent optical crosstalk between the fourth optical path transition member 34 and the second optical path transition member 24, which is beneficial to improving the detection accuracy of the lidar 10 at least to a certain extent.

[0136] For example, a portion of the light-blocking structure 4 is located between the third optical path transition member 33 and the first optical path transition member 23, another portion is located between the first lens 22 and the second lens 32, and yet another portion is located between the fourth optical path transition member 34 and the second optical path transition member 24. In this way, the light-blocking structure 4 can separate the transmitting optical path and the receiving optical path, preventing optical crosstalk between them and improving the detection accuracy of the lidar 10.

[0137] For example, a portion of the light-blocking structure 4 is located between the third optical path transition member 33 and the first optical path transition member 23, another portion is located between the first lens 22 and the second lens 32, and yet another portion is located between the transmitter 21 and the receiver 31. In this way, the light-blocking structure 4 can separate the transmitting and receiving optical paths, preventing optical crosstalk between them and improving the detection accuracy of the lidar 10.

[0138] The materials of the light-blocking structure 4 include, but are not limited to, plastic parts with black ink on their surfaces and / or metal parts with black ink on their surfaces.

[0139] In some embodiments, please continue reading Figures 12-14 The lidar 10 also includes a connector 5.

[0140] Connector 5 is electrically connected to transmitting circuit board 25 and receiving circuit board 35. Connector 5 has an insertion port 51.

[0141] The device 100 may also include electrical connectors (not shown), such as cables. One end of the electrical connector is plugged into the insertion port 51, and the other end of the electrical connector can be electrically connected to the device body 20.

[0142] The insertion port 51 of connector 5 faces a third direction. This third direction is perpendicular to the first direction F1. Here, the third direction can be parallel to the second direction F2, perpendicular to the second direction F2, or at a certain angle to the second direction, as long as the third direction F3 is perpendicular to the first direction F1.

[0143] In this embodiment, by setting the insertion port 51 of the connector 5 to face the third direction, it is beneficial to reduce the space occupied by the connector 5 in the first direction F1, thereby reducing the size of the lidar 10 in the first direction F1.

[0144] For example, please continue reading Figure 14 Connector 5 is mounted on the peripheral side wall of housing 1.

[0145] Figure 15 Another embodiment consistent with some embodiments of this disclosure is shown. Figure 3 A cross-sectional view at the CC line. See, for an example, [link to example]. Figure 15 The connector 5 is disposed on the first wall panel 11, and the connector 5 is bent, for example, the connector 5 is bent at 90°.

[0146] In some embodiments, the lidar 10 further includes a main circuit board 6. The main circuit board 6 is mounted inside the housing 1.

[0147] The arrangement of the main circuit board 6 within the housing 1 can be arbitrary. For example, the main circuit board 6 can be parallel to or perpendicular to the optical axis O1 of the first lens 22. This disclosure does not impose any specific restrictions on this arrangement.

[0148] The main circuit board 6 is electrically connected to both the transmitting circuit board 25 and the receiving circuit board 35. Connector 5 is electrically connected to the main circuit board 6. The electrical connection between the main circuit board 6 and the transmitting circuit board 25 and the receiving circuit board 35 can be either direct or indirect. When the main circuit board 6 is indirectly connected to the transmitting circuit board 25 and the receiving circuit board 35, the connection can be made using wires or flexible circuit boards.

[0149] For example, the main circuit board 6 can be used to integrate the control module of the lidar 10. The control module is configured to control the transmitter 21 to emit the detection beam L. The control module can also control the receiver 31. For example, the main circuit board 6 can be used to integrate the power conversion module of the lidar 10.

[0150] Figure 16 A schematic diagram of the internal structure of another lidar 10 consistent with some embodiments of this disclosure is shown. Please refer to [link / reference]. Figure 16 The receiving component 3 may not include the second lens 32 and the third optical path deflector 33. The transmitter 21 and the receiver 31 may share the first lens 22 and the first optical path deflector 23.

[0151] In some embodiments, the lidar 10 may further include a beam splitter 7. The beam splitter 7 may be disposed on the side of the first lens 22 away from the first optical path deflector 23, and the beam splitter 7 is configured to separate the detection beam L and the echo L'. In this way, the structure of the lidar 10 is simpler, which is beneficial to reducing the size of the lidar 10.

[0152] For example, the beam splitter 7 can transmit the probe beam L emitted by the transmitter 21 to the first lens 22. The beam splitter 7 can reflect the echo L' to the receiver 31. It should be noted that in other examples, the positions of the transmitter 21 and the receiver 31 can be interchanged. In this case, the beam splitter 7 can reflect the probe beam L emitted by the transmitter 21 and transmit the echo L'.

[0153] For example, the beam splitter 7 can be a semi-transparent and semi-reflective mirror. The semi-transparent and semi-reflective mirror transmits the probe beam L and reflects the echo L', or the semi-transparent and semi-reflective mirror reflects the probe beam L and transmits the echo L'.

[0154] For example, the beam splitter 7 can be a mirror with a small hole. The probe beam L can be transmitted through the small hole in the mirror to the first lens 22, and the echo L' can be reflected by the mirror to the receiver 31.

[0155] For example, the beam splitter 7 can be a reflector. When the reflector has a small size, the probe beam L can be reflected by the reflector to the first lens 22, and the echo L' can be transmitted from the periphery of the reflector to the receiver 31.

[0156] In the description of this specification, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples without contradicting each other.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such 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 disclosure.

Claims

1. A lidar, characterized in that, include: The housing includes a first wall panel and a viewing window, the first wall panel and the viewing window being disposed opposite to each other along a first direction; A transmitting assembly, disposed within the housing, comprises: The transmitter is configured to emit a probe beam; A first lens, wherein the optical axis of the first lens is perpendicular to the first direction; A first optical path deflector includes a first reflective surface; the first reflective surface is configured to reflect the probe beam transmitted by the first lens to the viewing window; A receiving component is disposed within the housing; the receiving component includes a receiver configured to receive the echo of the probe beam reflected by an object.

2. The lidar according to claim 1, characterized in that, The first optical path deflector further includes a first incident surface and a first exit surface; Wherein, the first incident surface is a plane or a curved surface; the first exit surface is a plane or a curved surface.

3. The lidar according to claim 1, characterized in that, The angle between the first reflecting surface and the optical axis of the first lens is α, and α satisfies: 30°≤α≤60°.

4. The lidar according to claim 1, characterized in that, The transmitting assembly also includes a transmitting circuit board; The transmitting circuit board extends along the first direction, and the transmitter is disposed on the surface of the transmitting circuit board.

5. The lidar according to claim 1, characterized in that, The transmitting assembly also includes a transmitting circuit board and a second optical path transition component; The transmitting circuit board is parallel to the optical axis of the first lens, and the transmitter is disposed on the surface of the transmitting circuit board; The second optical path deflector is configured to receive the probe beam emitted by the transmitter and reflect the probe beam to the first lens.

6. The lidar according to claim 1, characterized in that, The receiving component includes a second lens and a third optical path deflector; The third optical path deflector includes a third reflective surface; the third reflective surface is configured to receive the echo and reflect the echo to the second lens; The second lens is configured to transmit the echo to the receiver, and the optical axis of the second lens is perpendicular to the first direction; The first lens and the second lens are arranged along a second direction, which is perpendicular to the first direction.

7. The lidar according to claim 6, characterized in that, The third optical path deflector also includes a third incident surface and a third exit surface; Wherein, the third incident surface is a plane or a curved surface; the third exit surface is a plane or a curved surface.

8. The lidar according to claim 6, characterized in that, The angle between the third reflecting surface and the optical axis of the second lens is β, and β satisfies: 30°≤β≤60°.

9. The lidar according to claim 6, characterized in that, The receiving component also includes a receiving circuit board; The receiving circuit board extends along the first direction; the receiver is disposed on the surface of the receiving circuit board.

10. The lidar according to claim 6, characterized in that, The receiving component includes a receiving circuit board and a fourth optical path deflector; The receiving circuit board is parallel to the optical axis of the second lens, and the receiver is disposed on the surface of the receiving circuit board; The fourth optical path deflector is configured to receive the echo and reflect the echo back to the receiver.

11. The lidar according to claim 10, characterized in that, Including light-blocking structures; At least a portion of the light-blocking structure is located between the third optical path transition member and the first optical path transition member; and / or, At least a portion of the light-blocking structure is located between the first lens and the second lens; and / or, At least a portion of the light-blocking structure is located between the fourth optical path transition member and the second optical path transition member.

12. The lidar according to claim 1, characterized in that, Along the first direction, the size of the first lens is L1, and the size of the housing is L2, wherein L2 and L1 satisfy: L2 ≤ 2L1; and / or, Along the first direction, the size of the outer shell is L2, and L2 satisfies: L2≤25mm.

13. The lidar according to any one of claims 1-12, characterized in that, It also includes connectors; The connector's insertion port faces a third direction, which is perpendicular to the first direction.

14. A device, characterized in that, include: Equipment body; and The lidar according to any one of claims 1-13 is mounted on the device body.

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