lidar

Abstract

The present disclosure provides a LiDAR, comprising an emitter, a receiver, a first circuit board, an optomechanical frame, and an optical component. The emitter is capable of emitting detection light. The receiver is capable of receiving an echo generated after the detection light is reflected by an object, and converting the echo into an electrical signal. The emitter and the receiver are both disposed on the first circuit board. The optomechanical frame is fixedly connected to the first circuit board. The optical component is disposed in an optical path of at least one of the detection light and the echo, and the optical component is fixedly disposed in the optomechanical frame. The optical component comprises a transmitting lens and a receiving lens. At least one of the transmitting lens and the receiving lens comprises a housing. At least one of a transmitting lens element in the transmitting lens and a receiving lens element in the receiving lens is fixed within the housing.

Description

Laser radar

[0001] This application claims priority to Chinese Patent Application No. 202421808834.0, filed July 29, 2024, entitled “Housing of Laser Radar, Laser Radar, Sensor Assembly, and Vehicle,” Chinese Patent Application No. 202411254880.5, filed September 6, 2024, entitled “Laser Radar and Housing Assembly Thereof,” Chinese Patent Application No. 202422199332.9, filed September 6, 2024, entitled “Laser Radar and Housing Assembly Thereof,” Chinese Patent Application No. 202421846637.8, filed July 31, 2024, entitled “Laser Radar,” and Chinese Patent Application No. 202421939000.3, filed August 9, 2024, entitled “Laser Radar Light Machine and Laser Radar.” TECHNICAL FIELD

[0002] The present disclosure relates to the field of laser detection technology, and in particular, to a laser radar. BACKGROUND

[0003] Optical detection technology detects objects using light as a medium. Laser light has better monochromaticity and directivity than ordinary light sources, and thus, object detection using laser light as a medium has gained more attention. For example, laser radar (light detection and ranging, LiDAR) uses laser light as a medium to detect objects and has been applied in intelligent driving, industrial manufacturing, unmanned aerial vehicles, robot recognition, geographic mapping, and environmental monitoring. However, laser radar has high requirements for assembly accuracy, and the relative positions of various components in the laser radar, such as the transmitter and the receiver, need to be assembled and adjusted. This results in a high difficulty in producing and preparing laser radar and high costs.

[0004] The contents of the background section merely represent the technology known to the inventors, and do not necessarily represent the state of the art in this field. SUMMARY

[0005] In a first aspect, the present disclosure provides a housing of a laser radar, comprising: a rear shell and a front shell. The rear shell is connected with the front shell to form a first accommodating space; a transmitter and a receiver of the laser radar are arranged in the first accommodating space. The rear shell comprises a front end face, the front end face comprises a light transmission area, a window frame and an extension; the detection light emitted by the transmitter is emitted to the environment via the light transmission area, the detection light reflected by an object in the environment generates a return wave, and the return wave is incident on the receiver via the light transmission area. The shape of the window frame matches the shape of the light transmission area. The extension is arranged on one side or both sides of the window frame, the extension is connected with the front shell, and is configured to provide support to the front shell. The front shell comprises a first light transmission area, and the first light transmission area corresponds to the position of the light transmission area.

[0006] Optionally, at least one of the window frame and the extension is provided with a stop structure, and a gap is formed between the inner surface of the front shell and the stop structure, and the stop structure is configured to limit the inward deformation of the front shell.

[0007] Optionally, the gap between the inner surface of the front shell and the stop structure is 0.1-0.5 mm.

[0008] Optionally, a circumferential edge of at least one of the window frame and the extension is provided with a glue injection groove, and the front shell is adhesively connected with the rear shell at the position of the glue injection groove.

[0009] Optionally, the front shell is adhesively connected with the window frame.

[0010] Optionally, the inner surface of the front shell is provided with a positioning structure, and at least one of the window frame and the extension is provided with a matching structure that matches the positioning structure, and the position of the positioning structure corresponds to the position of the matching structure.

[0011] Optionally, the front shell is integrally formed, and the front shell has a curvature in a first direction and a second direction.

[0012] Optionally, the front shell comprises a second light transmission area, and the second light transmission area corresponds to the position of the extension.

[0013] Optionally, the first light transmission area is configured to allow light of a first wave band to pass through, and the second light transmission area is configured to allow light of a second wave band to pass through.

[0014] Optionally, the width of the extension gradually decreases in a direction away from the window frame.

[0015] In a second aspect, the present disclosure also provides a laser radar, which comprises the housing, the optical-mechanical assembly and the circuit board as described above. The optical-mechanical assembly is arranged in the first accommodating space, and the optical-mechanical assembly comprises a transmitting lens and a receiving lens. The circuit board is provided with a transmitter and a receiver, and the circuit board is configured to drive the transmitter to emit probe light and receive an electrical signal output by the receiver, and determine sensing data of the laser radar according to the electrical signal, wherein the sensing data comprises distance information of the object.

[0016] In a third aspect, the present disclosure also provides a sensor assembly, which comprises a first sensor and a second sensor. The first sensor comprises the laser radar as described above. The second sensor comprises an image sensor.

[0017] Optionally, the position of the image sensor corresponds to the position of the extension, and the image sensor is configured to acquire image information of an external environment of the sensor assembly.

[0018] In a fourth aspect, the present disclosure also provides a vehicle, which comprises a main body structure and a laser radar. The top surface of the main body structure has a detection window. The laser radar is arranged on the top surface of the main body structure, and the laser radar is configured to be capable of detecting an environment outside the vehicle through the detection window, wherein the laser radar comprises a housing, and the housing comprises a rear shell and a front shell. The rear shell comprises a front end surface, and the front end surface comprises a light transmission area. The front shell comprises a first light transmission area, and the first light transmission area corresponds to the position of the light transmission area. The front shell is configured to conform to the top surface of the main body structure in terms of a circumferential edge.

[0019] Optionally, the upper edge of the front shell is flush with the upper edge of the detection window, and the lower edge of the front shell is close to the lower edge of the detection window.

[0020] Optionally, the top surface of the main body structure comprises a cover, the cover is arranged above the rear shell, and the cover constitutes at least part of the upper edge of the detection window. The curvature of the side of the front shell close to the cover is substantially equal to the curvature of the side of the cover close to the front shell.

[0021] Optionally, the cover and the rear shell are fixedly connected, and there is a gap between the front shell and the cover. The rear shell is provided with a groove at a position corresponding to the gap.

[0022] Optionally, the two ends of the upper edge of the front shell are curved or bent towards the top surface of the main body structure, and the included angle between the curved or bent part of the upper edge of the front shell and the top surface of the main body structure is not less than 120°.

[0023] Optionally, the rear shell comprises an upper end surface, and the upper end surface is provided with a mounting portion configured to be connected with the carrier.

[0024] Optionally, the laser radar comprises the laser radar as described above.

[0025] In a fifth aspect, the present disclosure provides a housing assembly of a laser radar, the laser radar comprising a transmitter and a receiver, the transmitter emitting a probe light, and the receiver receiving a return wave generated after the probe light is reflected by an object; the housing assembly comprising: a window, the window allowing the probe light to exit to an external space of the laser radar, and the window also allowing the return wave to enter to an internal space of the laser radar; and a flange, the flange being in contact with a side surface of the window facing the internal space of the laser radar.

[0026] Optionally, when the laser radar is installed on a carrier, the window is exposed from a mounting hole of the carrier; and the side surface of the flange facing the mounting hole of the carrier is in abutment with an inner wall of the carrier via a sealing ring.

[0027] Optionally, the material of the sealing ring is foam.

[0028] Optionally, the flange comprises a limiting rib, and the limiting rib is located on a surface of the flange facing the external space of the laser radar.

[0029] Optionally, each edge of the window is provided with at least one limiting rib.

[0030] Optionally, at least one edge of the window is provided with at least two limiting ribs.

[0031] Optionally, the flange comprises an abutting portion, the abutting portion comprising an abutting surface and an outer surface, wherein the abutting surface faces the external space of the laser radar, the outer surface is connected with the abutting surface and forms a preset included angle with the abutting surface; and the limiting rib is protruded from the outer surface.

[0032] Optionally, the limiting rib is a wedge-shaped limiting rib.

[0033] Optionally, when the laser radar is installed on a carrier, the wedge-shaped surface of at least part of the limiting rib is in contact with the inner wall of the mounting hole of the carrier, so that the distance between the geometric center of the window and the geometric center of the mounting hole is less than a preset distance threshold.

[0034] Optionally, the housing assembly further comprises: a rear shell, the rear shell and the window being fixedly connected to form an internal space of the laser radar; and the flange is connected with the rear shell.

[0035] Optionally, the flange and the rear shell are in an integrated structure.

[0036] Optionally, the flange protrudes from an outer surface of the rear shell facing away from an inner space of the lidar.

[0037] Optionally, the flange comprises an abutting portion between the rear shell and the window, the abutting portion protrudes from an outer surface of the rear shell facing away from an inner space of the lidar.

[0038] Optionally, the rear shell comprises an upper cover and a base, the flange is in an integral structure with the upper cover, and the flange further comprises an extension portion, an extension direction of the extension portion is towards the inner space of the lidar, and the extension portion is in contact with the base.

[0039] In a sixth aspect, the present disclosure further provides a lidar, comprising: a transmitter configured to emit probe light; a receiver configured to receive a return wave generated by the probe light after being reflected by an object; a housing assembly adapted to form an inner space of the lidar to accommodate the transmitter and the receiver, the housing assembly comprising: a window, through which the probe light exits to the outside of the lidar, and through which the return wave enters the receiver; and a flange, which can be in contact with a side surface of the window facing the inner space of the lidar.

[0040] Optionally, the housing assembly further comprises: a rear shell, which is fixedly connected with the window to form the inner space of the lidar; and the transmitter and the receiver are located in the inner space.

[0041] In a seventh aspect, the present disclosure provides a lidar, comprising: a transmitter configured to emit probe light; a receiver configured to receive a return wave generated by the probe light after being reflected by an object, and convert the return wave into an electrical signal; a first circuit board, on which the transmitter and the receiver are arranged; an optical-mechanical frame fixedly connected with the first circuit board; and an optical element arranged in an optical path of at least one of the probe light and the return wave, the optical element being fixedly arranged in the optical-mechanical frame.

[0042] Optionally, the optical element comprises: a transmitting lens, which comprises at least one piece of transmitting lens, and is configured to collimate the probe light emitted by the transmitter and emit the collimated probe light; and a receiving lens, which comprises at least one piece of receiving lens, and is configured to receive the return wave and converge the return wave to the receiver.

[0043] Optionally, at least one of the transmitting lens and the receiving lens comprises a package, and at least one of the transmitting lens in the transmitting lens and the receiving lens in the receiving lens is fixed in the package.

[0044] Optionally, the optical machine frame is provided with a positioning portion, the first circuit board is provided with a matching portion, and the position of the positioning portion corresponds to the position of the matching portion.

[0045] Optionally, the first circuit board and the optical machine frame are fixedly connected through a connecting piece, and the positioning portion and the matching portion have an adjustment range.

[0046] Optionally, the optical device further comprises a first reflecting mirror arranged in the light path of the probe light or the echo, and a first beam splitter arranged in the light path of the probe light or the echo; wherein the optical machine frame comprises a transceiver port configured to pass the probe light and the echo.

[0047] Optionally, the first beam splitter is configured to reflect the probe light and transmit the echo; or the first beam splitter is configured to reflect the echo and transmit the probe light.

[0048] Optionally, the probe light is linearly polarized light, the optical device further comprises a quarter-wave plate, and the first beam splitter comprises a polarization beam splitter.

[0049] Optionally, the laser radar further comprises a light shield arranged on the optical machine frame to limit the light entering the receiving lens.

[0050] Optionally, the surface of the light shield towards the inside of the optical machine frame is adapted to reduce the reflection of light.

[0051] Optionally, the laser radar further comprises a second circuit board fixedly arranged between the first circuit board and the optical machine frame and electrically connected with the first circuit board.

[0052] Optionally, the laser radar further comprises a scanner fixedly arranged opposite to the optical machine frame and configured to deflect the probe light emitted by the transmitter and the echo generated after the probe light is reflected by an object.

[0053] In an eighth aspect, the present disclosure provides a laser radar optical machine, comprising a transmitter, a transmitting optical element, a transmitting lens barrel, a receiver, a receiving optical element and a receiving lens barrel, wherein the transmitter is configured to emit probe light; the transmitting optical element is arranged in the transmitting lens barrel and located on the light path of the probe light emitted by the transmitter; the receiver is configured to receive a return wave formed by reflection of the probe light by an object; the receiving optical element is mounted in the receiving lens barrel and located on the light path of the return wave; a first light leakage hole is arranged on the barrel wall of the transmitting lens barrel, and / or a second light leakage hole is arranged on the barrel wall of the receiving lens barrel.

[0054] Optionally, the transmitting optical element comprises a first transmitting lens and a first reflecting mirror, and the transmitting lens barrel comprises a first lens barrel segment and a second lens barrel segment arranged in sequence along the light path of the probe light; wherein the first transmitting lens is arranged in the first lens barrel segment, and the first reflecting mirror is arranged between the first lens barrel segment and the second lens barrel segment.

[0055] Optionally, the first light leakage hole is arranged on the barrel wall of the first lens barrel segment and located between the transmitter and the first reflecting mirror.

[0056] Optionally, the inner wall of the transmitting lens barrel is provided with a first positioning stop edge and a first abutting platform, and the first transmitting lens is arranged against the first positioning stop edge and the first abutting platform.

[0057] Optionally, the transmitting optical element further comprises a second transmitting lens, and the second transmitting lens is arranged in the first lens barrel segment; the inner wall of the transmitting lens barrel is provided with a second positioning stop edge and a second abutting platform, and the second transmitting lens is arranged against the second positioning stop edge and the second abutting platform.

[0058] Optionally, the second transmitting lens is located on the upstream side of the light path of the first transmitting lens, and the distance between the platform of the second abutting platform and the central axis of the first lens barrel segment is greater than the distance between the platform of the first abutting platform and the central axis of the first lens barrel segment.

[0059] Optionally, a first cutout is arranged between the first lens barrel segment and the second lens barrel segment, and the first reflecting mirror is arranged at the first cutout.

[0060] Optionally, the receiving optical element comprises a first receiving lens and a second reflecting mirror, and the receiving lens barrel comprises a third lens barrel segment and a fourth lens barrel segment arranged in sequence along the light path of the return wave; wherein the first receiving lens is arranged in the fourth lens barrel segment, and the second reflecting mirror is arranged between the third lens barrel segment and the fourth lens barrel segment.

[0061] Optionally, the second light leakage hole is arranged in the fourth lens barrel segment.

[0062] Optionally, the inner wall of the receiving lens barrel is provided with a third positioning stop and a third abutting platform, and the first receiving lens is arranged in abutment with the third positioning stop and the third abutting platform.

[0063] Optionally, the receiving optical unit further comprises a second receiving lens, which is arranged in the fourth lens barrel segment; the inner wall of the receiving lens barrel is provided with a fourth positioning stop and a fourth abutting platform, and the second receiving lens is arranged in abutment with the fourth positioning stop and the fourth abutting platform.

[0064] Optionally, the second receiving lens is located on the downstream side of the optical path of the first receiving lens, and the distance between the mesa of the fourth abutting platform and the central axis of the fourth lens barrel segment is greater than the distance between the mesa of the third abutting platform and the central axis of the fourth lens barrel segment.

[0065] Optionally, a second cutout is arranged between the third lens barrel segment and the fourth lens barrel segment, and the second reflecting mirror is arranged at the second cutout.

[0066] Optionally, the laser radar optical machine further comprises a beam splitter, which is located at the outlet of the transmitting lens barrel and on the optical path of the probe light.

[0067] Optionally, the transmitting lens barrel and the receiving lens barrel are integrally arranged.

[0068] In a ninth aspect, the present disclosure further provides a laser radar comprising the laser radar optical machine as described above. BRIEF DESCRIPTION OF DRAWINGS

[0069] FIG. 1 shows an exploded schematic view of a housing of an exemplary laser radar, consistent with some embodiments of the present disclosure.

[0070] FIG. 2A and FIG. 2B show structural schematic views of an exemplary rear housing, consistent with some embodiments of the present disclosure.

[0071] FIG. 3A and FIG. 3B show structural schematic views of an exemplary front housing, consistent with some embodiments of the present disclosure.

[0072] FIG. 4 shows an exploded schematic view of an exemplary laser radar, consistent with some embodiments of the present disclosure.

[0073] FIG. 5 shows a schematic view of an exemplary sensor assembly, consistent with some embodiments of the present disclosure.

[0074] FIG. 6A and FIG. 6B show schematic views of the cooperation of a probe window and a front housing, consistent with some embodiments of the present disclosure.

[0075] FIG. 7 shows a schematic view of the cooperation of an outer cover and a rear housing, consistent with some embodiments of the present disclosure.

[0076] FIG. 8 illustrates a perspective structural schematic diagram of a housing assembly of an exemplary lidar, consistent with some embodiments of the present disclosure.

[0077] FIG. 9 illustrates a cross-sectional structural schematic diagram of a housing assembly of a lidar after assembly is complete, consistent with some embodiments of the present disclosure.

[0078] FIG. 10 illustrates a cross-sectional structural schematic diagram of a housing assembly of a lidar after assembly is complete, consistent with some embodiments of the present disclosure.

[0079] FIG. 11 illustrates a cross-sectional structural schematic diagram of a housing assembly of a lidar after assembly is complete, consistent with some embodiments of the present disclosure.

[0080] FIG. 12 illustrates a cross-sectional structural schematic diagram of a housing assembly of a lidar, consistent with some embodiments of the present disclosure.

[0081] FIG. 13 illustrates an exploded schematic diagram of an exemplary lidar, consistent with some embodiments of the present disclosure.

[0082] FIG. 14 illustrates a side schematic diagram of a light engine frame connected to a first circuit board, consistent with some embodiments of the present disclosure.

[0083] FIG. 15 illustrates a top view of an exemplary lidar light engine, consistent with some embodiments of the present disclosure.

[0084] FIG. 16 illustrates a cross-sectional view of an exemplary lidar light engine, consistent with some embodiments of the present disclosure.

[0085] FIG. 17 illustrates an optical path diagram of an exemplary lidar light engine, consistent with some embodiments of the present disclosure.

[0086] FIG. 18 illustrates a cross-sectional view of an exemplary transmitting lens barrel, receiving lens barrel, consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0087] In the following description, certain example embodiments are described exemplarily. As those skilled in the art will appreciate, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0088] In the description of the disclosure, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0089] In the description of the disclosure, it needs to be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the disclosure can be understood according to the specific circumstances.

[0090] In the disclosure, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "under", "below" and "under" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0091] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present disclosure. For the purpose of simplifying the present disclosure, the components and arrangements of the various examples are described. Of course, they are only examples and are not intended to be limiting of the present disclosure. Also, the present disclosure provides examples of various specific components and arrangements, but one of ordinary skill in the art will appreciate that other components and / or arrangements can be used without departing from the present disclosure. Furthermore, the various embodiments can be used alone or in combination with one another.

[0092] The preferred embodiments of the present disclosure are described herein with reference to the accompanying drawings, of which it should be understood that the preferred embodiments described herein are merely used to explain and describe the present disclosure, and are not intended to limit the present disclosure.

[0093] In the application process of the laser radar, the shape of the shell of the laser radar can affect the appearance consistency or use performance of the bearing structure on which the laser radar is mounted.

[0094] The present disclosure provides a shell of a laser radar. The shell includes a rear shell and a front shell. The rear shell is connected with the front shell to form a first accommodation space. A transmitter and a receiver of the laser radar are arranged in the first accommodation space. The rear shell includes a front end face. The front end face includes a light transmission area, a window frame, and an extension. The detection light emitted by the transmitter is emitted to the environment via the light transmission area. The detection light is reflected by an object in the environment to generate a return wave. The return wave is incident on the receiver via the light transmission area. The shape of the window frame matches the shape of the light transmission area. The extension is arranged on one side or both sides of the window frame. The extension is connected with the front shell and can provide support to the front shell. The front shell includes a first light transmission area. The first light transmission area corresponds to the position of the light transmission area.

[0095] In some embodiments of the present disclosure, the front end face of the rear shell includes a window frame and an extension. The window frame corresponds to the position of the light transmission area and does not affect the detection range of the laser radar. The extension is located on one side or both sides of the window frame. The extension is connected with the front shell. The extension can provide support to the front shell and improve the structural stability of the shell of the laser radar. The shape and size of the extension are not limited by the detection range of the laser radar and can be optimized according to the application scenario. The shell of the embodiments of the present disclosure is beneficial to maintaining the appearance consistency of the bearing structure of the laser radar or reducing the influence of the appearance structure of the laser radar on the use performance of the bearing structure.

[0096] FIG. 1 shows the structure of an exemplary shell 101 of a laser radar consistent with some embodiments of the present disclosure. The shell 101 of the laser radar is described below in conjunction with FIG. 1.

[0097] In some embodiments, the housing 101 includes a rear shell 110 and a front shell 120. The rear shell 110 and the front shell 120 are connected to form a first accommodation space 130. The emitters and the receivers of the lidar are disposed in the first accommodation space 130. The optical elements of the lidar, such as one or more of lenses, mirrors, filters, and scanning mirrors, can also be disposed in the first accommodation space 130. In some embodiments, a light-shielding and sealed structure can be disposed in the first accommodation space 130 to shield stray light and ambient light. The influence of the external environment on the lidar can be reduced. Those skilled in the art can easily understand that “front” and “rear” in the present disclosure are relative to the detection direction of the lidar. For example, the dashed lines shown in FIG. 1 respectively represent the first direction and the second direction. The shape center of the front shell 120 can be taken as the origin, and two directions perpendicular to each other in the tangent plane of the origin can be selected as the first direction and the second direction. The lidar emits a detection beam in a third direction (not shown in the figure) substantially perpendicular to the first direction and the second direction. The front shell 120 and the rear shell 110 are defined along the third direction.

[0098] As shown in FIG. 1, the rear shell 110 includes a front end surface 111. The front end surface 111 includes a light passage region 1111, a window frame 1112, and an extension 1113.

[0099] The emitters of the lidar can emit detection light. The detection light exits into the surrounding environment via the light passage region 1111. The detection light is reflected by objects in the environment to generate a return wave. The return wave enters the receiver via the light passage region 1111 and is converted into an electrical signal by the receiver.

[0100] The light passage region 1111 can be provided in a hollow structure, or can be provided in a light-transmissive structure through which the detection light and the return wave can be transmitted. According to some embodiments of the present disclosure, the shape of the light passage region 1111 can correspond to the detection range of the lidar. The shape of the light passage region 1111 is such that the detection light and the return wave can pass through the light passage region 1111 substantially without being blocked at the maximum detection field of view angle of the lidar. The light passage region 1111 is provided, for example, in a rectangular shape. In some embodiments, the front end surface 111 can be provided in a curved surface. The light passage region 1111 can be provided along the curved surface of the front end surface 111.

[0101] In some embodiments, the shape of the window frame 1112 is provided to match the shape of the light passage region 1111. For example, the window frame 1112 is provided to be circumferentially closed. The space defined at the hollow position of the window frame 1112 serves as the light passage region 1111. In other embodiments, the light passage region 1111 can be provided in a sheet-shaped light-transmissive structure. The window frame 1112 can be provided to surround the periphery of the sheet-shaped light-transmissive structure.

[0102] The extension 1113 is arranged on one side or both sides of the window frame 1112. The extension 1113 is connected with the front shell 120. The extension 1113 is arranged to provide support for the front shell 120. In some embodiments, the window frame 1112 and the extension 1113 can be integrally formed. Integrally forming is advantageous to improve structural stability, reduce the number of parts, and reduce assembly difficulty. In the embodiment shown in FIG. 1, the extension 1113 is arranged on both sides of the window frame 1112 in the transverse direction. In some embodiments, the extension 1113 can also be arranged on one side of the window frame 1112. The size and shape of the extension 1113 are not limited by the detection range of the lidar. The design freedom is higher, and the lidar can be optimized according to the application scenario of the lidar and the load-carrying structure on which the lidar is mounted, so that the appearance of the lidar and the load-carrying structure is uniform, or the influence of the lidar on the performance of the load-carrying structure is reduced.

[0103] In some embodiments, the front end surface 111 can be arranged as a whole plane, or as a whole curved surface, or as a part plane and a part curved surface. For example, the window frame 1112 can be arranged as a plane. The extension 1113 is curved relative to the window frame 1112. Or the window frame 1112 and the extension 1113 are both arranged as curved surfaces. The curvatures of the window frame 1112 and the extension 1113 can be the same or different. The curvature of the window frame 1112 (and the light-transmitting area 1111) can be determined according to the detection range of the lidar, the internal structure design, and the optical requirements, etc. The curvature of the extension 1113 can be determined according to the load-carrying structure on which the lidar is mounted.

[0104] As shown in FIG. 1, the front shell 120 includes a first light-transmitting area 121. The first light-transmitting area 121 can serve as a window of the lidar. The first light-transmitting area 121 or window can allow the detection light to exit to the outside space of the lidar. The first light-transmitting area 121 or window can also allow the echo to enter to the inside space of the lidar. The first light-transmitting area 121 and the light-transmitting area 1111 are in a corresponding position. For example, the first light-transmitting area 121 covers the front of the light-transmitting area 1111 (the exit direction of the detection light). The first light-transmitting area 121 can allow light in a first wavelength range to transmit. For example, the first light-transmitting area 121 can allow light at the working wavelength of the lidar to transmit, such as light at a wavelength near 905 nm, 940 nm, 1310 nm, or 1550 nm. The first light-transmitting area 121 can also at least partially block light in the visible light band from transmitting. In some embodiments, the shape of the first light-transmitting area 121 and the light-transmitting area 1111 can be substantially the same. For example, the size, length, width, and curvature can be substantially the same. In some embodiments, the size of the first light-transmitting area 121 can also be slightly larger or slightly smaller than the size of the light-transmitting area 1111.

[0105] FIGS. 2A and 2B show structural diagrams of an example back shell 110, consistent with some embodiments of the present disclosure. As shown in FIGS. 2A and 2B, a stop structure 1114 is disposed on the extension 1113. When the front shell 120 is mounted on the back shell 110, there is a gap between the inner surface of the front shell 120 (the surface on the side facing the first accommodation space 130) and the stop structure 1114. The stop structure 1114 is configured to limit the inward deformation of the front shell 120. Alternatively or additionally, the stop structure 1114 can also be disposed on the window frame 1112.

[0106] In actual use scenarios of the lidar, the front shell 120 can undergo certain deformation. For example, the lidar is mounted on a vehicle. During the movement of the vehicle, the front shell 120 deforms due to the air pressure, or the front shell 120 deforms due to the environmental temperature, etc. If the deformation of the front shell 120 is too large, it can affect the performance of the lidar. For example, if the first light-transmissive region 121 of the front shell 120 deforms too much, it can affect the direction of the probe light and the echo, or cause unexpected optical distortion, and also reduce the service life of the front shell 120. The stop structure 1114 can form a support pad on the side of the inner surface of the front shell 120. When the front shell 120 deforms and the deformation of the front shell 120 increases to the point that the inner surface of the front shell 120 abuts against the stop structure 1114, the stop structure 1114 can prevent the deformation of the front shell 120 from further increasing. The stop structure 1114 can limit the further expansion of the deformation of the front shell 120.

[0107] In the present embodiment, there is a gap between the front shell 120 and the stop structure 1114. For example, the gap between the front shell 120 and the stop structure 1114 is 0.1-0.5 mm, such as 0.2 mm or 0.3 mm. The gap between the front shell 120 and the stop structure 1114 can be determined according to the machining precision requirement, or the material and deformation of the front shell 120, etc.

[0108] When the front shell 120 deforms due to force or external environmental changes, the internal stress of the front shell 120 interacts to resist the external cause of the deformation of the front shell 120. In some embodiments, when the front shell 120 does not deform, the inner surface of the front shell 120 and the front end surface 111 do not abut against each other. The gap between the front shell 120 and the stop structure 1114 can absorb the deformation of the front shell 120. When the front shell 120 deforms, the gap between the front shell 120 and the stop structure 1114 allows the front shell 120 to deform by a certain amount. This can prevent the internal stress of the front shell 120 from being excessively concentrated, which can affect the service life of the front shell 120.

[0109] In some embodiments of the present disclosure, the front end surface 111 of the rear shell 110 and the front shell 120 are adhesively connected. For example, glue injection grooves 1115 are arranged on the circumferential edges of at least one of the window frame 1112 and the extension 1113. The front shell 120 can be adhesively connected to the rear shell 110 at the positions of the glue injection grooves 1115. As shown in FIGS. 2A and 2B, glue injection grooves 1115 can be arranged on the circumferential edges of the extension 1113 to improve the bonding strength of the front shell 120 and the rear shell 110.

[0110] In some embodiments, the front shell 120 and the window frame 1112 are adhesively connected. For example, glue injection grooves 1115 are arranged on the circumferential edges of the window frame 1112. This not only helps to define the position of the front shell 120, but also seals the connection position of the front shell 120 and the window frame 1112 with adhesive, reducing the influence of the environment on the lidar.

[0111] As shown in FIG. 3A, according to some embodiments of the present disclosure, the inner surface of the front shell 120 can be provided with a positioning structure 122. As shown in FIGS. 2A and 2B, the at least one of the window frame 1112 and the extension 1113 can be provided with a matching structure 1116 that matches the positioning structure 122. The position of the positioning structure 122 corresponds to the position of the matching structure 1116. The positioning structure 122 and the matching structure 1116 are aligned, which helps to position the rear shell 110 and the front shell 120, reduces the assembly difficulty of the outer shell 101, and improves the assembly accuracy. The positioning structure 122 includes a boss, for example. The matching structure 1116 can include a recess or a hole. For another example, the positioning structure 122 includes a recess or a hole. The positioning structure 122 includes a boss.

[0112] In some embodiments, the inner surface of the front shell 120 can not be provided with the positioning structure 122. For example, the front shell 120 is provided in a shape without protrusions or recesses, which helps to simplify the structure of the front shell 120. In embodiments in which the inner surface of the front shell 120 is not provided with the positioning structure 122, the positioning between the front shell 120 and the rear shell 110 can be achieved by other means. For example, a clamping device is used to fix and position the rear shell 110 and the front shell 120.

[0113] According to some embodiments of the present disclosure, the front shell 120 can be integrally formed. For example, the front shell 120 is made of organic polymer material. The organic polymer material includes polycarbonate (PC), polyethylene terephthalate (PET), or the like. The light transmittance of the front shell 120 at different positions can be the same or different. The front shell 120 at different positions can be provided with different light transmittance by coating or surface treatment. For example, the first light-transmissive region 121 can be configured to allow light in a first wavelength range to pass through. For example, the first light-transmissive region 121 has a relatively high light transmittance for light at the operating wavelength of the lidar and a relatively low light transmittance for light outside the operating wavelength range of the lidar. Optionally, other regions of the front shell 120 (regions of the front shell 120 outside the first light-transmissive region 121) can have a relatively low light transmittance for light at the operating wavelength of the lidar. For example, the first light-transmissive region 121 can also filter ambient light, such as reducing the transmittance of visible light. In this way, the influence of ambient light on the detection accuracy of the lidar can be reduced. Optionally, other regions of the front shell 120 can be configured to allow light in a second wavelength range to pass through. The second wavelength range can be different from the first wavelength range. The second wavelength range includes, for example, the visible light band, the millimeter wave band, or the infrared light band, etc.

[0114] In some embodiments, the front shell 120 has a curvature in the first direction and the second direction. The front shell 120 can be curved towards different directions in the first direction and the second direction. The curvature of the front shell 120 in the first direction and the second direction can be optimized according to actual application. For example, the curvature of the first light-transmissive region 121 in the front shell 120 can be configured to match the performance requirements of the lidar. The curvature of the front shell 120 in the first direction and the second direction can be uniform or can vary in the corresponding direction.

[0115] The curvature of the front shell 120 in the first direction and the second direction can also be set according to the shape of the load-bearing structure on which the lidar is installed or the use requirements. For example, the lidar is installed on a vehicle. The curvature of the front shell 120 in the first direction and the second direction can be configured to match the appearance shape of the vehicle or to reduce air resistance when the vehicle is moving. As shown in FIG. 1, in some embodiments, the width of the extension 1113 in the first direction can gradually decrease in a direction away from the window frame 1112. For example, the shape of the extension 1113 is approximately triangular. In this way, not only the structural strength of the extension 1113 can be improved, but also the shape of the housing 101 can be optimized so that the position close to the edge in the housing 101 gradually approaches the load-bearing structure on which the lidar is installed. In some embodiments, the shape of the front shell 120 is configured to be approximately equal to the shape of the front end face 111.

[0116] As shown in FIG. 3B, according to some embodiments of the present disclosure, the front shell 120 further comprises a second light-transmitting region 123. The second light-transmitting region 123 corresponds to the position of the extension 1113. The second light-transmitting region 123 is located outside the range corresponding to the light-transmitting region 1111, for example, on one side or both sides of the first light-transmitting region 121. In some embodiments, a second accommodating space can be provided at the position corresponding to the second light-transmitting region 123 (for example, inside the front shell 120 at the position corresponding to the second light-transmitting region 123). The second accommodating space can accommodate other sensors. The second light-transmitting region 123 can be configured to cooperate with the other sensors in the second accommodating space. The sensors in the second accommodating space can include visible light sensors, infrared sensors, ultrasonic sensors, or millimeter wave sensors, etc. In some embodiments, the sensors in the second accommodating space can include a laser radar.

[0117] For example, in some embodiments of the present disclosure, the first light-transmitting region 121 can allow light in a first waveband to transmit. The first waveband, for example, includes the waveband of the probe light emitted by the laser radar. The second light-transmitting region 123 can allow light in a second waveband to transmit. The second waveband can be selected according to the sensors corresponding to the second light-transmitting region 123. For example, when the sensors corresponding to the second light-transmitting region 123 include image sensors, the second waveband can include the visible light waveband. When the sensors corresponding to the second light-transmitting region 123 include infrared sensors, the second waveband can include the infrared waveband. In other embodiments, the first waveband and the second waveband can also be configured to be the same or similar. For example, another laser radar can be provided at the position corresponding to the second light-transmitting region 123. The two laser radars can correspond to different field of view ranges.

[0118] The present disclosure also relates to a laser radar. FIG. 4 shows an exploded schematic view of an exemplary laser radar 100, consistent with some embodiments of the present disclosure.

[0119] The laser radar 100 comprises a housing 101, an optical-mechanical assembly 140, and a circuit board 150, as in the foregoing embodiments. The housing 101 comprises a rear shell 110 and a front shell 120. The rear shell 110 and the front shell 120 are connected to form a first accommodating space 130. The optical-mechanical assembly 140 is arranged inside the first accommodating space 130. In some embodiments of the present disclosure, as shown in FIG. 4, the rear shell 110 comprises an upper shell 112 and a lower shell 113. The upper shell 112 and the lower shell 113 are buckled to each other. The front end face 111 can be arranged on the upper shell 112 or on the lower shell 113.

[0120] The circuit board 150 can be provided with a transmitter and a receiver (not shown in the figure). The circuit board 150 can drive the transmitter to emit probe light. The circuit board 150 can receive an electrical signal output by the receiver. The receiver receives the echo generated after the probe light is reflected by an object, and converts the echo into an electrical signal. The circuit board 150 receives the electrical signal output by the receiver, and determines the sensing data of the lidar 100 based on the electrical signal. The sensing data of the lidar 100 includes distance information and / or reflectivity information of the object reflecting the probe light. For example, the distance of the object relative to the lidar 100 and the reflectivity of the object are calculated based on the flight time of the probe light and the echo.

[0121] The optical-mechanical assembly 140 in the embodiment includes a transmitting lens and a receiving lens (not shown in the figure). The transmitting lens can be arranged downstream of the light path of the transmitter. The transmitting lens can shape, for example, collimate, the probe light emitted by the transmitter. The receiving lens is arranged upstream of the receiver. The receiving lens can shape, for example, converge, the echo onto the receiver.

[0122] The present disclosure also relates to a sensor assembly. FIG. 5 shows a schematic diagram of an exemplary sensor assembly 200, consistent with some embodiments of the present disclosure. The sensor assembly 200 includes a first sensor 210 and a second sensor 220. The first sensor 210 can include a lidar 100 as in the foregoing embodiments. The second sensor 220 can include an image sensor, a visible light sensor, an infrared sensor, an ultrasonic sensor, or a millimeter wave sensor, etc. In some embodiments, the second sensor 220 can include an image sensor. The image sensor can include a visible light sensor, an infrared sensor, or a thermal infrared sensor, etc.

[0123] In some embodiments, the position of the image sensor in the second sensor 220 corresponds to the position of the extension 1113. For example, the image sensor is arranged on the side of the extension 1113 away from the front shell 120. The image sensor can acquire image information of the external environment of the sensor assembly. For example, the external environment light can pass through the region of the front shell 120 corresponding to the position of the extension 1113 (e.g., the second light-transmissive region 123 in the foregoing embodiments). As shown in FIG. 5, the extension 1113 can be arranged as a hollow light-transmissive structure, so that the ambient light can be incident on the image sensor. In some embodiments, the image sensor can be arranged at the corresponding position of the extension 1113 on one side or both sides of the window frame 1112. The sensor assembly can include a plurality of second sensors. The plurality of second sensors can be used to implement different functions or correspond to different fields of view.

[0124] The present disclosure also relates to a vehicle 300. The vehicle 300 includes a body structure 310 and the lidar 100. FIGS. 6A and 6B show a portion of the body structure 310 and the lidar 100 in the vehicle 300. In FIGS. 6A and 6B, a portion of the lidar 100 is obscured by the body structure 310. The front housing 120 of the lidar 100 is shown in the figures.

[0125] In this embodiment, the vehicle 300 can be a transportation or a conveyance for carrying people or goods. For example, the vehicle 300 can be a vehicle controlled by a driver or automatically controlled, or a drone, a robot, a sweeper, a mower, etc. The lidar 100 can be used as one of the sensors of the vehicle 300 to obtain environmental information outside the vehicle 300.

[0126] The body structure 310 can include a frame or a portion of a frame of the vehicle 300. As shown in FIGS. 6A and 6B, the top surface of the body structure 310 has a detection window 311. For example, the detection window 311 includes a through hole or a counterbore formed on the top surface of the body structure 310. For example, the vehicle 300 is a vehicle, and the body structure 310 can include a body structure or a portion of the body structure. The top surface of the body structure 310 can include a top surface of the body structure, for example, an outer side of a roof of the vehicle. Or the body structure 310 includes a portion of the body structure corresponding to the roof, for example, a portion of the body structure corresponding to the roof. As shown in FIGS. 6A and 6B, the portion of the body structure corresponding to the roof is a substantially sheet-like structure.

[0127] The lidar 100 is disposed on the top surface of the body structure 310. The lidar 100 can detect the environment outside the vehicle 300 via the detection window 311. For example, the detection window 311 in the body structure 310 is a through hole. The lidar 100 is disposed on a side of the body structure 310 facing the inside of the vehicle 300. The detection light emitted by the lidar 100 can pass through the detection window 311 and be reflected by an object outside the vehicle 300. The echo generated by the reflection passes through the detection window 311 and is received by the lidar 100.

[0128] The lidar 100 in this embodiment includes a housing. The housing includes a rear housing and a front housing. According to some embodiments of the present disclosure, the lidar 100 can be the lidar 100 in the foregoing embodiments. Or the housing can be the housing 101 in the foregoing embodiments.

[0129] In some embodiments, the housing 101 is as shown in FIG. 1, the rear shell 110 includes a front end surface 111. The front end surface 111 includes a light passing region 1111. The front shell 120 includes a first light passing region 121. The first light passing region 121 is positioned corresponding to the position of the light passing region 1111. The probe light emitted by the lidar 100 and the echo generated by the reflection of the probe light can be configured to pass through the light passing region 1111 and the first light passing region 121.

[0130] According to some embodiments of the present disclosure, the front shell 120 is configured such that its circumferential edge is conformal to the top surface of the body structure 310. For example, “conformal” can mean that the profile of the outer surface of the front shell 120 and the top surface of the body structure 310 have substantially the same or matching shapes. For another example, the front shell 120 constitutes a part of the profile of the top surface of the body structure 310. For yet another example, the outer surface of the front shell 120 and the profile of the top surface of the body structure 310 together constitute a streamlined design. When viewed from the outside, the lidar 100 substantially blends into the profile of the top surface of the body structure 310 without standing out externally. In this way, the visual effect of the lidar installation can be improved. In some embodiments, the upper edge of the front shell 120 is configured to be flush with the upper edge of the probe window 311. The lower edge of the front shell 120 is configured to be close to the lower edge of the probe window 311. For example, the lower edge of the front shell 120 is aligned with the lower edge of the probe window 311. For another example, the lower edge of the front shell 120 is extended from the lower edge of the probe window 311 to the inside of the body structure 310. In the present embodiment, the shape of the front shell 120 is configured to substantially close the through hole or counterbore corresponding to the probe window 311. The front shell 120 can be part of the external profile of the vehicle 300. In some embodiments of the present disclosure, the shape of the front shell 120 can also be configured to be conformal to the shape of the body structure 310, maintaining the consistency of the appearance. The shape of the front shell 120 can also be optimized. For example, the shape of the front shell 120 can be configured to reduce air resistance when the vehicle 300 is moving.

[0131] According to some embodiments of the present disclosure, the front shell 120 is configured to have a shape that gradually narrows at both ends. The upper edge of the front shell 120 is curved or bent near the top surface of the body structure 310 at both ends and eventually extends to the top surface of the body structure 310. The front shell 120 and the top surface of the body structure 310 are connected relatively smoothly. According to some embodiments of the present disclosure, the included angle (the angle shown by the dashed line in FIG. 6A) between the curved or bent part of the upper edge of the front shell 120 and the top surface of the body structure 310 is configured to be no less than 120°.

[0132] In some embodiments of the present disclosure, the top surface of the main body structure 310 further comprises a cover 312. The cover 312 is arranged above the rear shell 110. As shown in FIGS. 6A and 6B, in the present embodiment, the cover 312 constitutes at least part of the upper edge of the detection window 311. For example, the cover 312 is buckled above the rear shell 110. The cover 312 constitutes at least part of the upper edge of the detection window 311 near the edge of the front shell 120.

[0133] The curvature of the side of the front shell 120 near the cover 312 is arranged to be substantially equal to the curvature of the side of the cover 312 near the front shell 120, so as to form a substantially smooth shape between the front shell 120 and the cover 312. It can prevent the front shell 120 or the cover 312 from having a protruding end surface, reduce the influence of external force on the end surface of the front shell 120 and the cover 312, and be conducive to improving the structural stability.

[0134] As shown in FIG. 7, according to some embodiments of the present disclosure, the cover 312 and the rear shell 110 are buckled and fixed. There can be a gap between the front shell 120 and the cover 312. The rear shell 110 is provided with a groove 114 at a position corresponding to the gap. In the present embodiment, the cover 312 and the front shell 120 are spaced apart from each other. The size of the gap is, for example, 0.5-5 mm, for example, 1 mm, 1.5 mm, or 2 mm, etc. It can avoid extrusion between the end surfaces of the cover 312 and the front shell 120, prevent the external environment from affecting, and cause the front shell 120 to deform greatly. The thermal expansion coefficients of the cover 312 and the front shell 120 are different. The gap between the front shell 120 and the cover 312 can serve as a reserved space for expansion, reducing the probability of extrusion bulging between the front shell and the cover.

[0135] In the present embodiment, the cover 312 is located on the top surface of the main body structure 310. The rear shell 110 can be provided with a groove 114. The position of the groove 114 corresponds to the gap between the cover 312 and the front shell 120. The sundries or rainwater entering from the gap between the cover 312 and the front shell 120 can be discharged or cleaned through the groove 114, preventing the sundries from accumulating and causing structural damage.

[0136] In some embodiments, as shown in FIGS. 1, 2A and 2B, the rear shell 110 further comprises an upper end surface 115. The mounting portion 116 is arranged on the upper end surface 115. The mounting portion 116 is arranged to be connected with the carrier 300. The mounting portion 116 can comprise, for example, threaded holes, buckles, or welding blocks, etc. The laser radar 100 can be connected to the main body structure 310 through the mounting portion 116, so that the position of the front shell 120 and the position of the detection window 311 remain fixed.

[0137] The laser radar is usually installed outside the vehicle cabin, such as on the top of the vehicle, on the side of the vehicle, etc. In order to ensure the normal use of the laser radar, it usually has waterproof and sealing requirements.

[0138] The present disclosure provides a housing assembly of a laser radar. The laser radar includes a transmitter and a receiver. The transmitter transmits probe light. The receiver receives echo generated after the probe light is reflected by an object. The housing assembly includes a window and a flange. The window can make the probe light exit to an external space of the laser radar. The window can also make the echo enter to an internal space of the laser radar. The flange can be in contact with a side surface of the window facing the internal space of the laser radar.

[0139] The present disclosure provides a housing assembly of a laser radar. The laser radar includes a transmitter and a receiver. The transmitter transmits probe light. The receiver receives echo generated after the probe light is reflected by an object. The housing assembly includes a window and a flange. The window can make the probe light exit to an external space of the laser radar. The window can also make the echo enter to an internal space of the laser radar. The flange can be in contact with a side surface of the window facing the internal space of the laser radar.

[0140] Referring to FIGS. 8-12, FIG. 8 shows a perspective structural schematic diagram of an exemplary housing assembly of a laser radar, consistent with some embodiments of the present disclosure. FIG. 9 shows a cross-sectional structural schematic diagram of the housing assembly of the laser radar after assembly, consistent with some embodiments of the present disclosure. FIG. 10 shows a cross-sectional structural schematic diagram of the housing assembly of the laser radar after assembly, consistent with some embodiments of the present disclosure. FIG. 11 shows a cross-sectional structural schematic diagram of the housing assembly of the laser radar after assembly, consistent with some embodiments of the present disclosure. FIG. 12 shows a cross-sectional structural schematic diagram of the housing assembly of the laser radar, consistent with some embodiments of the present disclosure.

[0141] The housing assembly 400 is used for a laser radar. The laser radar includes a transmitter and a receiver. The transmitter transmits probe light. The receiver receives echo generated after the probe light is reflected by an object.

[0142] The transmitter includes at least one laser. The laser can include a semiconductor laser, a fiber laser, a solid-state laser, or other types of lasers. The semiconductor laser, for example, includes one or more of a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), and a distributed feedback laser (DFB), etc. The receiver includes at least one detector. The detector can include one or more of a photodetector circuit, a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), and a p-i-n photo diode (PINPD), etc.

[0143] The housing assembly includes a window. The window can allow the probe light to exit to an external space of the lidar. The window can also allow the echo to enter to an internal space of the lidar. The housing assembly further includes a flange. The flange can be in contact with a side surface of the window facing the internal space of the lidar.

[0144] The flange protrudes from an outer edge of the window, and can shield a gap between the window and a vehicle (not shown in the figure). The flange can effectively improve the sealing between the lidar and the vehicle, and is conducive to the suppression or even elimination of wind noise. By setting the flange to suppress wind noise, the overall size of the lidar is not excessively increased, which is conducive to controlling the overall height of the lidar.

[0145] The flange protrudes from an outer edge of the window. The protruding part of the flange can abut against the vehicle, leaving a gap between the window and the vehicle. It can avoid the stress on the contact between the window and the vehicle, and avoid the problem of stress cracking of the window.

[0146] In some embodiments, the housing assembly includes a front shell. The front shell is the same as or similar to the front shell 12 of the foregoing embodiments. The flange can be arranged on a side surface of the front shell 12 facing the internal space of the lidar.

[0147] In some embodiments as shown in FIG. 8, the flange 420 surrounds the window 410 around an edge of the window 410. In a direction away from the internal space of the lidar, the flange 420 protrudes from the edge of the window 410.

[0148] In some embodiments of the present disclosure, the window is exposed from a mounting hole of the vehicle when the laser radar is mounted on the vehicle. The side surface of the flange facing the mounting hole of the vehicle is in abutment with the inner wall of the vehicle through a sealing ring.

[0149] The flange is in abutment with the vehicle through a sealing ring. The sealing ring surrounds the edge of the flange and fills the gap between the flange and the interior of the vehicle. The sealing ring can further improve the sealing between the laser radar and the vehicle, and is conducive to further control of wind noise. The sealing ring does not increase the overall size of the laser radar, and can improve the sealing without increasing the overall size of the laser radar.

[0150] As shown in FIGS. 9 and 10, the laser radar is a vehicle-mounted laser radar. The vehicle on which the laser radar is mounted is a vehicle. The vehicle is provided with a mounting hole on an outer panel 401. The window 410 is located in the mounting hole and is exposed from the mounting hole. The mounting hole can serve as a detection window for laser detection. The surface of the flange 420 facing the side of the mounting hole is in abutment with the inner wall of the outer panel 401 through a sealing ring 402.

[0151] In some embodiments, the material of the sealing ring is foam. In other embodiments of the present disclosure, the material of the sealing ring can also be other materials that can fill gaps or have elasticity.

[0152] Exemplarily, the outer panel 401 can be located on the top of the vehicle. For example, the outer panel 401 includes an outer cover located on the top surface of the vehicle body structure. The outer panel 401 can also be located at other parts of the vehicle. For example, the outer panel 401 can include one or more of a front bumper, a rear bumper, an engine cover, or a trunk lid.

[0153] In some embodiments of the present disclosure, the flange includes an abutting portion. The abutting portion includes an abutting surface. The abutting surface faces the external space of the laser radar. The abutting portion can be in contact with the window to achieve fixation of the window. The abutting surface can be in contact with the side surface of the window facing the internal space of the laser radar to enable contact between the window and the abutting portion.

[0154] The flange also includes an abutting portion. The abutting portion has an abutting surface. The abutting surface faces the inner wall of the vehicle. The abutting portion can be in abutment with the inner wall of the vehicle. The abutting portion can shield the gap between the window and the vehicle, improve the sealing between the laser radar and the vehicle, and suppress or even eliminate wind noise.

[0155] As shown in FIGS. 10-12, the flange 420 has an abutting portion 421. The abutting portion 421 is annular. The abutting surface 421a of the abutting portion 421 is in contact with the edge of the surface of the window 410 facing the interior of the lidar, achieving the connection between the window 410 and the flange 420.

[0156] The flange 420 also has an abutting portion 422. The abutting portion 422 is annular around the window 410. The abutting portion 422 is located on the side of the abutting portion 421 away from the window 410. The radial dimension of the abutting portion 422 is greater than the radial dimension of the abutting portion 421. The abutting portion 422 protrudes from the radially outer surface of the abutting portion 421. The radially outer end of the abutting portion 422 is in abutment with the inner wall of the outer trim panel 401 via the sealing ring 402. The abutting surfaces 422a and 422b (shown in FIG. 10) of the abutting portion 422 are in contact with the sealing ring 402. The radial direction can be the direction in which the geometric center of the flange points to the edge of the flange.

[0157] In some embodiments of the present disclosure, the radial dimension of the flange is determined according to the dimensions of the window and the carrier mounting structure. When the lidar is applied to a vehicle, the radial dimension of the flange is determined according to the radial dimension of the window and the gap between the window and the outer trim panel of the vehicle. The radial dimension of the flange can ensure the wind noise prevention effect and not excessively increase the overall height of the outer trim of the vehicle. In some embodiments, the radial dimension of the abutting portion 422 of the flange is in the range of 3-8 mm. For example, the radial dimension of the abutting portion 422 of the flange can be in the range of 5-6 mm.

[0158] In some embodiments of the present disclosure, the flange includes a limiting rib. The limiting rib is located on the surface of the flange facing the external space of the lidar. The limiting rib can define the position of the window in the mounting hole, achieving the purpose of reducing assembly difficulty and improving assembly accuracy.

[0159] In some embodiments as shown in FIG. 8, the flange 420 has a plurality of limiting ribs 423. The plurality of limiting ribs 423 are distributed along the direction in which the flange 420 surrounds the window 410.

[0160] In some embodiments, at least one limiting rib is provided at the position of each edge of the window. Providing the limiting rib at the position of each edge of the window can effectively ensure that the window is located in the central position of the mounting hole and ensure that the gap around the window is uniform.

[0161] In some example embodiments, at least two limiting ribs are provided at the position of at least one edge of the window. The at least two limiting ribs are distributed along the edge of the window, which can effectively ensure that the gap between the window and the carrier in this direction is uniform.

[0162] As shown in some embodiments of FIG. 8, the edges of the window 410 include four sides. The longer sides of the window 410 are provided with three of the limiting ribs 423. The shorter sides of the window 410 are provided with one of the limiting ribs 423.

[0163] In some embodiments, the abutting portion of the flange has an outer side surface. The outer side surface is connected to the abutting surface and forms a preset included angle with the abutting surface. The limiting rib protrudes from the outer side surface.

[0164] As shown in FIG. 8, the abutting portion 421 of the flange 420 has an outer side surface 421b. The outer side surface 421b and the abutting surface 422a form an obtuse angle. In some embodiments, the outer side surface can also form an acute angle or a right angle with the abutting surface. For example, the preset included angle can be in the range of 95° to 145°. In some embodiments, the preset included angle can be in the range of 95° to 420°. The limiting ribs 423 are distributed on the outer side surface 421b of the abutting portion 421. The limiting ribs 423 protrude from the outer side surface 421b of the abutting portion 421. The outer side surface 421b of the abutting portion 421 is exposed between adjacent limiting ribs 423.

[0165] In some embodiments, the limiting rib is a wedge-shaped limiting rib. The cross-sectional shape of the limiting rib is wedge-shaped. For example, the thickness of the limiting rib near one end of the outer space of the lidar is smaller than the thickness of the limiting rib near the other end of the inner space of the lidar. For example, in the direction from the outer space of the lidar to the inner space of the lidar, the thickness of the limiting rib gradually increases. The thickness of the limiting rib can be the dimension of the limiting rib in the direction perpendicular to the outer side surface of the abutting portion.

[0166] In some embodiments, when the lidar is mounted on a vehicle, the wedge-shaped surface of at least part of the limiting rib is in contact with the inner wall of the mounting hole of the vehicle, so that the distance between the geometric center of the window and the geometric center of the mounting hole is less than a preset distance threshold. In this way, the uniformity of the gap area around the window can be effectively guaranteed, the assembly difficulty is reduced, and the assembly precision is improved.

[0167] As shown in some embodiments of FIGS. 10 to 12, the limiting rib 423 has a wedge-shaped surface 423a. The wedge-shaped surface 423a forms a preset angle with the outer side surface of the abutting portion of the flange 420. As shown in FIG. 11, the wedge-shaped surface 423a of the limiting rib 423 and the outer trim panel 401 of the vehicle form a first gap E. A second gap F is formed between the window 410 and the outer trim panel 401 of the vehicle.

[0168] In some embodiments, the first gap E is in a range of 0-0.5 mm. When assembled along the X direction, the wedge surface 423a of the limiting rib 423 can be in contact with the outer trim panel 401. There can be an assembly error between the lidar and the vehicle. The wedge surface 423a of the limiting rib 423 can also have a gap of 0-0.5 mm with the outer trim panel 401. For example, part of the wedge surface 423a of the limiting rib 423 is in contact with the outer trim panel 401. Part of the wedge surface 423 of the limiting rib 423 has a gap with the outer trim panel 401.

[0169] In some embodiments, the second gap F is greater than the first gap E. When assembled along the X direction, the wedge surface 423a of the limiting rib 423 is in contact with the outer trim panel 401 first. The window edge is provided with a plurality of wedge limiting ribs. The plurality of wedge limiting ribs in contact with the outer trim panel 401 can make the distance between the geometric center of the window and the geometric center of the mounting hole less than a preset distance threshold. For example, the preset threshold can be any value in a range of 0.5-6 mm. For example, the threshold can be 5 mm, 4 mm, 3 mm, 2 mm, or 1 mm, etc.

[0170] The second gap F is greater than the first gap E. When assembled along the X direction, the wedge surface 423a of the limiting rib 423 is in contact with the outer trim panel 401 first. In this way, the window 410 can be prevented from being in contact with the outer trim panel 401, and the window 410 can be prevented from being cracked due to contact stress, thereby improving the safety and reliability of the lidar.

[0171] In some embodiments of the present disclosure, the housing assembly further includes a rear shell. The rear shell and the window are fixedly connected to form an internal space of the lidar. The flange is connected to the rear shell. The rear shell is located on a side of the flange away from the window. The rear shell cooperates with the window and the flange to enclose the internal space of the lidar to accommodate various elements of the lidar. For example, the rear shell includes an upper cover and a base.

[0172] With continued reference to FIGS. 8-12, the rear shell 430 of the housing assembly has a cuboid structure. The abutting portion 422 of the flange 420 is located between the rear shell 430 and the window 410. The side of the rear shell 430 close to the window 410 includes a window window. For example, the side of the rear shell 430 close to the window 410 is an open structure. The flange 420 is connected to the open side of the rear shell 430. The open structure of the rear shell allows the probe light and the echo to pass through the window 410.

[0173] In some embodiments, the flange is integrated with the rear shell. The flange and the rear shell are integrated, which can effectively reduce assembly, improve assembly accuracy, and reduce manufacturing cost. The flange can shield the gap between the window and the carrier. The flange can also separate the window modeling surface from the mounting point, break through the limitation of the mounting point on the carrier on the window modeling surface design, enable the platform design of multiple vehicle models, and facilitate the reduction of mold types and cost.

[0174] As shown in FIGS. 10-12, the rear shell 430 includes an upper cover 431 and a base 432. The upper cover 431 and the base 432 can be fixedly connected by a connecting piece. In some embodiments, the flange 420 is integrated with the upper cover 431.

[0175] In some embodiments, the flange protrudes from the outer surface of the rear shell away from the internal space of the lidar. For example, in the vertical direction, the flange protrudes from the outer surface of the rear shell away from the internal space of the lidar. In the horizontal direction, the abutting portion protrudes from the outer surface of the rear shell away from the internal space of the lidar.

[0176] In some embodiments, the flange further includes an extension. The extension extends toward the internal space of the lidar. The extension is in contact with the base. The extension can improve the stability of the connection between the flange and the rear shell.

[0177] As shown in FIGS. 10-12, the extension 424 of the flange 420 is located on the surface of the side of the base 432 facing the internal space of the lidar. In the vertical direction, the surface of the extension 424 facing the external space of the lidar is in contact with the surface of the base 432 facing the internal space of the lidar. The vertical direction can be parallel to the paper and perpendicular to the X direction. The horizontal direction can be perpendicular to the vertical direction.

[0178] In some embodiments, the extension 424 and the base 432 can be connected by a connecting piece. The extension 424 and the base 432 can also be connected by cooperating components on the extension 424 and the base 432. For example, a clamping groove is provided on the extension 424. A clamping buckle is provided on the base 432. The extension 424 and the base 432 are fixed by the cooperation of the clamping groove and the clamping buckle. The extension 424 and the base 432 can also be fixedly connected by an adhesive.

[0179] The present disclosure also provides a lidar.

[0180] The laser radar comprises a transmitter, a receiver and a housing assembly. The transmitter can emit probe light. The receiver can receive echo generated after the probe light is reflected by an object. The housing assembly can form an internal space of the laser radar to accommodate the transmitter and the receiver. The housing assembly comprises a window 410 and a flange 420. The probe light exits the laser radar through the window 410. The echo enters the receiver through the window 410. The flange 420 can be in contact with a side surface of the window 410 facing the internal space of the laser radar.

[0181] The flange 420 of the housing assembly protrudes from the outer edge of the window 410, which can shield the gap around the window 410. The flange 420 can effectively improve the sealing between the laser radar and the carrier, and can effectively suppress or even eliminate wind noise. Suppressing wind noise by the flange 420 will not significantly increase the volume of the laser radar, which is conducive to controlling the overall height of the laser radar.

[0182] In some embodiments of the present disclosure, the housing assembly further comprises a rear shell 430. The rear shell 430 and the window 410 are fixedly connected to form an internal space of the laser radar. The transmitter and the receiver are located in the internal space.

[0183] It should be understood that the division of each module and unit in the above system is only a logical function division, and another division mode can be used in actual implementation. In actual implementation, all or part of the modules and units can be integrated into one physical entity, or can be physically separated. In addition, the modules and units in the device can be implemented in the form of processor calling software. For example, the device includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any one of the above methods or to implement the functions of each module and each unit of the device. The processor is, for example, a general processor such as a central processing unit (CPU) or a microprocessor, and the memory is a system memory or an external memory. Alternatively, the modules and units in the device can be implemented in the form of hardware circuit, and the functions of part or all of the modules can be implemented by designing the hardware circuit. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application specific integrated circuit (ASIC), and the functions of part or all of the modules are implemented by designing the logical relationship between elements in the circuit. For another example, in another implementation, the hardware circuit is a programmable logic device (PLD) that can be implemented by configuring the logical relationship between the logic gate circuits through a configuration file, so as to implement the functions of part or all of the modules. All modules of the above system can be implemented in the form of processor calling program, or all modules can be implemented in the form of hardware circuit, or part of the modules can be implemented in the form of processor calling program, and the remaining part can be implemented in the form of hardware circuit.

[0184] The housing assembly of the laser radar has a flange in contact with a side surface of the window facing an internal space of the laser radar. The flange protrudes from an outer edge of the window. The flange can shield a gap between the window and the vehicle. The flange can effectively improve the sealing between the laser radar and the vehicle, which is conducive to the suppression or even elimination of wind noise. By providing the flange in the housing assembly of the laser radar to suppress wind noise, the volume of the laser radar is not excessively increased, which is conducive to controlling the overall height of the laser radar.

[0185] The flange includes a limiting rib. The limiting rib is located on a surface of the flange facing an external space of the laser radar. During assembly, the limiting rib is first contacted, and the limiting rib can effectively ensure that the gap areas around the window are uniform. The limiting rib can effectively reduce the assembly difficulty and improve the assembly precision.

[0186] The flange is an integral structure with the upper cover of the rear shell. The flange is integrally connected with the upper cover, which can effectively reduce the assembly surface difference. In this way, the separation of the window modeling surface and the mounting point can be realized, and the platformization of multiple vehicle models can be realized. The number of mold types can also be reduced, and the manufacturing cost can be reduced.

[0187] In actual application, the laser radar has high requirements on the assembly accuracy, and the positions of various components in the laser radar need to be assembled and adjusted, such as the relative positions of the transmitter and the receiver. This results in high difficulty and high cost in the production and preparation of the laser radar.

[0188] The present disclosure provides a laser radar. The laser radar comprises a transmitter, a receiver, a first circuit board, an optical-mechanical frame and optical components. The transmitter can emit probe light. The receiver can receive echoes generated after the probe light is reflected by an object and convert the echoes into electrical signals. The transmitter and the receiver are arranged on the first circuit board. The optical-mechanical frame is fixedly connected with the first circuit board. The optical components are arranged in the light path of at least one of the probe light and the echoes. The optical components are fixedly arranged in the optical-mechanical frame.

[0189] In some embodiments of the present disclosure, the transmitter and the receiver are arranged on the first circuit board. In this way, the integration of the internal devices of the laser radar can be improved, and the accuracy of the relative position relationship between the transmitter and the receiver can be improved, and the difficulty of adjusting the relative position relationship between the transmitter and the receiver can be reduced. The optical components are fixed by the optical-mechanical frame. The optical-mechanical frame can achieve high machining accuracy, which is conducive to reducing the assembly and adjustment difficulty of the optical components.

[0190] FIG. 13 shows an exploded schematic view of an exemplary laser radar, consistent with some embodiments of the present disclosure. The laser radar 500 is described below in conjunction with FIG. 13.

[0191] As shown in FIG. 13, in embodiments of the present disclosure, the laser radar 500 comprises a transmitter 510, a receiver 520, a first circuit board 530, an optical-mechanical frame 540 and optical components 550.

[0192] The transmitter 510 can emit probe light. The transmitter 510 comprises at least one laser or laser array, for example. The receiver 520 can receive echoes generated after the probe light is reflected by an object and convert the echoes into electrical signals. The receiver 520 comprises at least one detector or detector array, for example. The probe light emitted by the transmitter 510 is reflected by an object outside the laser radar 500. Part of the reflected light can return to the laser radar to become echoes. The receiver 520 can receive the echoes and convert them into electrical signals. According to the probe light emitted by the transmitter and the electrical signals converted by the receiver from the echoes, detection information can be obtained. For example, according to the time difference between the emitted probe light and the received echoes, the distance of the object relative to the laser radar 500 is determined.

[0193] In some embodiments, the transmitter 510 and the receiver 520 are disposed on the first circuit board 530. The transmitter 510 and the receiver 520 can be fixed by a processing technology such as a patch, so that high-precision positioning of the transmitter 510 and the receiver 520 can be achieved. The positions of the transmitter 510 and the receiver 520 on the first circuit board 530 remain fixed, and the deviation from the designed position is small. In this way, the accuracy requirements of the lidar can be met, and the difficulty of adjusting the transmitter 510 and the receiver 520 can be reduced. During the installation process or the adjustment process, the position of the first circuit board 530 can be adjusted, and the adjustment of the transmitter 510 and the receiver 520 can be simultaneously achieved, greatly simplifying the adjustment process of the lidar 500.

[0194] The optical-mechanical frame 540 is fixedly connected to the first circuit board 530. The optical component 550 is disposed in the optical-mechanical frame 540. The optical component 550 is located in the optical path of at least one of the probe light and the echo. The optical component 550 can include one or more optical elements. The optical component 550 can shape or modulate at least one of the probe light and the echo. The optical component can include one or more of a lens, a mirror, a rotating mirror, a galvanometer, a swing mirror, or a beam splitter. For example, the optical component can include one or more lenses. The lens can collimate the probe light or converge the echo, etc. For example, the optical component can include one or more mirrors. The mirror can change the direction of at least one of the probe light and the echo by reflection.

[0195] In some embodiments, a mounting and fixing mechanism can be disposed at a predetermined position inside the optical-mechanical frame 540, for fixing the optical component 550. For example, a fine processing surface can be provided in the optical-mechanical frame 540, for accurately setting the position and angle of the optical component 550. The optical component 550 is fixed at the position by the fixing structure, so that the accurate positioning of the optical component 550 is achieved.

[0196] In the laser radar, the position and angle of the optical component affect the outgoing direction of the probe light and the converging position of the echo. The laser radar has high requirements on the mounting precision of the optical component 550. The optical component 550 in the embodiment of the present disclosure is fixed in the optical-mechanical frame 540. In the manufacturing process, by accurately controlling the precision of each part in the optical-mechanical frame 540 for fixing the optical component 550, the accurate positioning of the optical component 550 can be realized, and the mounting precision requirement of the laser radar 500 on the optical component 550 can be met. By controlling the machining and manufacturing precision of the optical-mechanical frame 540, the positioning and adjustment of the optical component 550 can be completed. There is no need to adjust the optical elements included in the optical component 550 respectively, which greatly simplifies the production process of the laser radar 500. For example, the position for setting the optical component 550 in the optical-mechanical frame 540 is set as a finish surface. The finish surface is formed by a finish machining process such as milling or planing. The standard tolerance level can reach level 7 or level 6 (IT7-IT6). The mounting precision of the optical component can be ensured by the machining precision of the optical-mechanical frame 540.

[0197] When the laser radar 500 is adjusted, the relative positions between the transmitter 510 and the optical component 550 and between the receiver 520 and the optical component 550 need to meet the preset relationships. In the embodiment of the present disclosure, the first circuit board 530 and the optical-mechanical frame 540 are fixedly connected. The transmitter 510 and the receiver 520 are arranged on the first circuit board 530. The position of the transmitter 510 corresponds to the position of the optical component 550 arranged in the light path of the probe light. The position of the receiver 520 corresponds to the position of the optical component 550 arranged in the light path of the echo. When the laser radar 500 is assembled, by adjusting the relative position relationship between the first circuit board 530 and the optical-mechanical frame 540, the relative positions of the transmitter 510 and the receiver 520 and the optical component 550 can be adjusted at the same time. In this way, the adjustment steps of the laser radar 500 can be simplified, and the adjustment difficulty of the laser radar 500 can be reduced.

[0198] According to some embodiments of the present disclosure, as shown in FIG. 14, the optical-mechanical frame 540 is provided with a positioning part 541. As shown in FIG. 13, the first circuit board 530 is provided with a matching part 531. The position of the positioning part 541 corresponds to the position of the matching part 531.

[0199] For example, the positioning part 541 can include a protruding piece protruding from one side surface of the optical-mechanical frame 540. The matching part 531 can include a matching hole or a matching slot arranged on the first circuit board 530. In some embodiments, the matching part 531 can include a protruding piece protruding from the first circuit board 530. The positioning part 541 can include a matching hole or a matching slot on one side surface of the optical-mechanical frame 540. The protruding piece includes, for example, a boss or a positioning pin. The matching hole or the matching slot includes, for example, a through hole or a counterbore.

[0200] In assembling the laser radar 500, the positions of the matching portions 531 and the positioning portions 541 correspond, and the relative positional relationship between the first circuit board 530 and the optical engine frame 540 can be positioned. The laser radar of the embodiments of the present disclosure facilitates the fixed connection of the first circuit board 530 and the optical engine frame 540, and is conducive to simplifying the assembly process between the first circuit board 530 and the optical engine frame 540. Optionally, a plurality of positioning portions 541 can be provided on the optical engine frame 540. A corresponding number of matching portions 531 are provided on the first circuit board 530. In this way, the positioning accuracy can be improved, or as a foolproof design, to prevent misalignment during assembly.

[0201] In some embodiments, the first circuit board 530 and the optical engine frame 540 are fixedly connected by a connecting piece. The connecting piece includes, for example, a bolt, a buckle, or a rivet, etc. The first circuit board 530 and the optical engine frame 540 can be fixed by using the connecting piece after being positioned by the matching portions 531 and the positioning portions 541. The relative positional relationship of the transmitter 510, the receiver 520, and the optical component 550 can be kept fixed, meeting the use requirements of the laser radar 500.

[0202] There can be a certain processing error between the first circuit board 530 and the optical engine frame 540. After the first circuit board 530 and the optical engine frame 540 are connected and positioned by the matching portions 531 and the positioning portions 541, the relative positions between the transmitter 510, the receiver 520, and the optical component 550 can deviate. For example, the receiver 520 cannot receive the echo or can only receive part of the echo. In some embodiments, the positioning portion 541 and the matching portion 531 have a certain adjustable range. For example, the positioning portion 541 includes a positioning pin. The matching portion 531 includes a through hole or a counterbore. Alternatively, the positioning portion 541 includes a through hole or a counterbore. The matching portion 531 includes a positioning pin. The cross-sectional size of the through hole or the counterbore is larger than the cross-sectional size of the positioning pin. The relative positions between the first circuit board 530 and the optical engine frame 540 can be adjusted within the adjustable range.

[0203] The positioning portion 541 and the matching portion 531 have an adjustable range. When assembling the first circuit board 530 and the optical engine frame 540, the relative positions of the first circuit board 530 and the optical engine frame 540 can be adjusted within the adjustable range. After the relative positions of the first circuit board 530 and the optical engine frame 540 are adjusted, the first circuit board 530 and the optical engine frame 540 are fixedly connected, which can improve the assembly precision of the laser radar 500.

[0204] As shown in FIG. 13, according to some embodiments of the present disclosure, the optical component 550 includes a transmitting lens 551 and a receiving lens 552.

[0205] The transmitting lens 551 includes at least one transmitting lens (one transmitting lens is shown in FIG. 13). The transmitting lens 551 is configured to collimate the probe light emitted by the emitter 510. For example, the transmitting lens 551 is disposed in the optical path of the probe light to reduce the divergence angle of the probe light. In some embodiments, as shown in FIG. 13, the transmitting lens 551 includes one transmitting lens. However, those skilled in the art can understand that the transmitting lens 551 can include multiple transmitting lenses as long as the multiple transmitting lenses can produce a preset collimation effect on the probe light.

[0206] The receiving lens 552 includes at least one receiving lens. The receiving lens 552 is disposed in the optical path of the echo. The receiving lens 552 can receive the echo and converge the echo onto the receiver 520. The focal length, the number or the surface shape of the receiving lens of the receiving lens 552 can be set according to the optical path between the receiving lens 552 and the receiver 520. As shown in FIG. 13, in some embodiments, the receiving lens 552 includes multiple receiving lenses. Those skilled in the art can understand that the receiving lens 552 can also include one receiving lens as long as the one receiving lens can produce a preset convergence effect on the echo.

[0207] In some embodiments of the present disclosure, the transmitting lens 551 includes a package. The transmitting lens in the transmitting lens 551 is fixed in the package. Alternatively, the receiving lens 552 includes a package. The receiving lens in the receiving lens 552 is fixed in the package. Alternatively, the transmitting lens 551 includes a first package. The receiving lens 552 includes a second package. The transmitting lens is fixed in the first package. The receiving lens is fixed in the second package.

[0208] For example, as shown in FIG. 13, the receiving lens 552 includes multiple receiving lenses. The multiple receiving lenses are fixed in a package 553. The package 553 can be configured in a cylindrical lens barrel shape. In some embodiments, the package 553 can also be configured in other shapes, such as a prism, a circular truncated cone, a prismatic truncated cone, etc.

[0209] For example, as shown in the embodiment of FIG. 13, the multiple receiving lenses are fixed in the package 553 to constitute the receiving lens 552. Inside the receiving lens 552, the relative positional relationship between the multiple receiving lenses, such as the distance between the optical centers, can be fixed by the mounting positions of the lenses in the package 553. The receiving lens 552 can be mounted as a whole in the optical engine frame 540. The embodiments of the present disclosure can reduce the risk of assembly error caused by the independent mounting of the multiple receiving lenses in the receiving lens 552 on the optical engine frame and improve the structural stability.

[0210] In some embodiments, when the transmitting lens 551 includes multiple transmitting lenses, the multiple transmitting lenses can also be fixed by using a package.

[0211] According to some embodiments of the present disclosure, the optics 550 further includes a first mirror 554 and a first beamsplitter 555. The first mirror 554 is disposed in the optical path of the probe light or the return. The first beamsplitter 555 is disposed in the optical path of the probe light or the return. The optomechanical frame 540 includes a transceiver port 542. The probe light can exit the transceiver port 542 into the external environment. The return can enter the lidar through the transceiver port 542.

[0212] The transceiver port 542 can be an open end of the optomechanical frame 540 or a machined open end surface. The probe light and the return can pass through the transceiver port 542. For example, the probe light can be changed in optical path by the first mirror 554 and / or the first beamsplitter 555. The changed optical path can pass through the transceiver port 542. The return can pass through the transceiver port 542. The return can also be changed in optical path by the first mirror 554 and / or the first beamsplitter 555 after passing through the transceiver port 542. The optical paths of the probe light and the return overlap at the transceiver port 542, which is advantageous to reduce the volume of the lidar 500. For example, the probe light and the return share part of the optical path, which can reduce the size of the optomechanical frame 540 or the scanner.

[0213] In some embodiments of the present disclosure, the first beamsplitter 555 can reflect the probe light and transmit the return.

[0214] For example, the probe light emitted by the transmitter 510 can be incident on the first mirror 554. The probe light can be reflected by the first mirror 554. The first beamsplitter 555 can transmit the probe light. The probe light can exit the transceiver port 542 after transmitting through the first beamsplitter 555. The return can be incident on the first beamsplitter 555 after entering the transceiver port 542. The first beamsplitter 555 can reflect the return so that the return is reflected onto the receiver 520. In the embodiment of FIG. 13, the receiving lens 552 can be disposed between the receiver 520 and the first beamsplitter 555. The transmitting lens 551 can be disposed between the first mirror 554 and the first beamsplitter 555. In some embodiments, the transmitting lens 551 can also be disposed between the transmitter 510 and the first mirror 554. Exemplarily, the optical path of the probe light upstream of the first mirror 554 is parallel or approximately parallel to the optical path of the return downstream of the first beamsplitter 555.

[0215] In the embodiment of FIG. 13, the distance from the receiver 520 to the transceiver port 542 is less than the distance from the transmitter 510 to the transceiver port 542.

[0216] In some embodiments of the present disclosure, the first beamsplitter 555 can reflect the probe light and transmit the return.

[0217] The first mirror 554 can be disposed in the optical path of the echo. The first beam splitter 555 is disposed in the optical path of the probe light. The probe light emitted by the emitter 510 is reflected by the first beam splitter 555 and exits from the transceiver port 542. The echo enters from the transceiver port 542 and is transmitted through the first beam splitter 555. The echo is reflected by the first mirror 554 and irradiates on the receiver 520. The emission lens 551 can be disposed between the emitter 510 and the first beam splitter 555. The receiving lens 552 can be disposed between the receiver 520 and the first mirror 554, or between the first mirror 554 and the first beam splitter 555. Exemplarily, the optical path of the probe light upstream of the first beam splitter 555 is parallel or approximately parallel to the optical path of the echo downstream of the first mirror 554.

[0218] In some embodiments, the probe light emitted by the emitter 510 is linearly polarized light. To achieve linearly polarized light, the emitter 510 can include a polarizer, or the emitter 510 includes a laser that can emit linearly polarized light. The optical component 550 can further include a quarter-wave plate 556. The quarter-wave plate 556 can be disposed, for example, between the first beam splitter 556 and the transceiver port 542. In this case, the first beam splitter 555 includes a polarization beam splitter (PBS). The probe light enters the quarter-wave plate 556 and is converted to circularly polarized light after exiting. The probe light is reflected by the object. The echo enters the quarter-wave plate 556 and is converted to linearly polarized light from circularly polarized light. The polarization direction of the echo is perpendicular to the polarization direction of the probe light. For example, the probe light is S light (senkrecht-polarized light). The echo is converted to p light (parallel-polarized light) after passing through the quarter-wave plate 556. The first beam splitter 555 includes a PBS, which can reflect the echo and transmit the probe light, or reflect the probe light and transmit the echo.

[0219] The first beam splitter 555 includes a PBS. The cross section of the PBS perpendicular to the probe light or the echo can be used for transmission or reflection of the probe light or the echo. Compared with a beam splitter that is partially reflective and partially transmissive, the PBS can reduce light energy loss and improve the detection capability of the lidar.

[0220] As shown in FIG. 13, in some embodiments, the laser radar 500 further comprises a light shield 560. The light shield 560 is arranged on the optical engine frame 540. The light shield 560 can limit the light entering the receiving lens 552. For example, a partial through hole can be arranged on the optical engine frame 540 to facilitate processing or to reduce the weight of the optical engine frame 540. The light shield 560 can be arranged at the through hole to prevent stray light from entering the optical engine frame 540 and being incident on the receiving lens 552, thereby improving the signal-to-noise ratio of the laser radar 500. In some embodiments, the surface of the light shield 560 towards the inside of the optical engine frame 540 can reduce the reflection of light. For example, the surface of the light shield 560 can be treated by blackening, increasing the surface roughness, or brushing with light-absorbing materials. The treated light shield 560 can prevent the stray light inside the optical engine frame 540 from being received by the receiver 520, thereby improving the signal-to-noise ratio of the laser radar 500.

[0221] As shown in FIG. 13, in some embodiments of the present disclosure, the laser radar 500 further comprises a second circuit board 570. The second circuit board 570 is arranged between the first circuit board 530 and the optical engine frame 540. The second circuit board 570 is electrically connected to the first circuit board 530. In the present embodiment, electronic components can be arranged on the second circuit board 570 to realize part of the functions of the laser radar 500. In some embodiments, the second circuit board 570 can comprise a power supply. The power supply can supply power to the first circuit board 530 and the transmitter 510 and the receiver 520.

[0222] In some embodiments, the laser radar 500 further comprises a scanner. The scanner is fixedly arranged relative to the optical engine frame 540. The scanner can rotate within a range of 360°, or swing or vibrate back and forth within a certain range. The scanner can comprise a reflecting mirror. The reflecting mirror can deflect the probe light emitted by the transmitter 510 and the echo generated after the probe light is reflected by an object. For example, the probe light is reflected by the scanner to scan the external space of the laser radar 500. The echo is reflected by the scanner to the optical engine frame 540. In some embodiments, the scanner can comprise a swing mirror, a rotating mirror, or a vibrating mirror.

[0223] The laser radar 500 can further comprise a housing. The housing comprises, for example, an upper cover, a base, and a window. The upper cover, the base, and the window jointly define a receiving space. The first circuit board 530 and the optical engine frame 540 can be arranged in the receiving space. The scanner can also be fixedly arranged in the receiving space, for example, on the side of the optical engine frame 540. The scanner can correspond to the position of the transceiver port 542 in the optical engine frame 540. The probe light emitted from the transceiver port 542 can be incident on the scanner. After being reflected by the scanner, the probe light can be emitted from the window to the external space of the laser radar. The echo can be incident on the scanner after passing through the window. After being reflected by the scanner, the echo can be incident on the optical engine frame 540 from the transceiver port 542.

[0224] The laser radar 500 also includes a connector. The connector can deliver data to the outside of the laser radar 500. For example, the connector can output the detection results of the laser radar 500. The connector can also deliver data from the outside to the inside of the laser radar 500. For example, a user can write control parameters and the like to the laser radar 500 through the connector.

[0225] In some embodiments, the connector can be electrically connected with the peripheral power supply line. The connector can also be electrically connected with the first circuit board and / or the second circuit board. The connector can supply power to the first circuit board and / or the second circuit board.

[0226] In the optical mechanism of some laser radars, stray light converges and reflects in some areas of the inner wall of the lens barrel, which adversely affects the detection accuracy of the laser radar. In order to reduce the interference of stray light, one solution is to set a light-absorbing structure on the inner wall of the lens barrel. However, the light-absorbing structure is complex to manufacture and high in cost.

[0227] FIG. 15 shows a top view of an exemplary laser radar optical mechanism, consistent with some embodiments of the present disclosure. FIG. 16 shows a cross-sectional view of an exemplary laser radar optical mechanism, consistent with some embodiments of the present disclosure. FIG. 17 shows an optical path diagram of an exemplary laser radar optical mechanism, consistent with some embodiments of the present disclosure.

[0228] Embodiments of the present disclosure provide a laser radar. As shown in FIGS. 15-17, the laser radar includes an optical mechanism 600, a transmitter 610, and a receiver 640.

[0229] The transmitter 610 can emit detection light. The transmitter 610 includes, for example, a semiconductor laser, a fiber laser, or other types of lasers. The semiconductor laser includes, for example, a laser emission circuit, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), or the like. The above are merely examples, and embodiments of the present disclosure do not limit the type of laser.

[0230] The receiver 640 can receive a return of the probe light reflected by the object. The receiver 640 includes, for example, a photo detection circuit, a PIN photo diode (PIN PD), an avalanche photo diode (APD), a single photon avalanche diode (SPAD), a Silicon photomultiplier (SiPM), or the like. The above are merely examples, and the embodiments of the present disclosure do not limit the type of the detector.

[0231] In some embodiments, the light machine 600 includes a light machine frame (not shown in the figure) and an optical component (not shown in the figure). The optical component is disposed in the light machine frame. The light machine frame is located in an optical path of at least one of the probe light and the return. The optical component can include one or more optical elements. The optical component can shape or modulate at least one of the probe light and the return. The optical component can include one or more of a lens, a mirror, a rotating mirror, a galvanometer mirror, a galvanometer, or a beam splitter. For example, the optical component can include one or more lenses. The lens can collimate the probe light, or converge the return, etc. For example, the optical component can include one or more mirrors. The mirror can change the direction of at least one of the probe light and the return by reflection.

[0232] The light machine frame and the optical component can define a transmission optical path and a receiving optical path. The transmission optical path and the receiving optical path can be independent of each other, or can overlap with each other. Exemplarily, the transmission optical path and the receiving optical path partially overlap. The light machine frame can include a transmission lens barrel 630 corresponding to the transmission optical path. The light machine frame can also include a receiving lens barrel 660 corresponding to the receiving optical path. The transmission lens barrel 630 and the receiving lens barrel 660 can be independent of each other, or can have a common structure, such as a side wall.

[0233] The optical component can include a transmission optical component 620 and a receiving optical component 650. The transmission optical component 620 can be disposed in the transmission lens barrel 630. The receiving optical component 650 can be disposed in the receiving lens barrel 660.

[0234] In some embodiments, the transmission lens barrel 630 includes an incident end and an exit end. The receiving lens barrel 660 also includes an incident end and an exit end. The transmitter 610 is disposed at the incident end of the transmission lens barrel 630. The probe light emitted by the transmitter 610 is incident into the transmission lens barrel 630 from the incident end of the transmission lens barrel 630, and is modulated by the transmission optical component 620, and then is emitted from the exit end of the transmission lens barrel 630. The return is incident into the receiving lens barrel 660 from the incident end of the receiving lens barrel 660, and is modulated by the receiving optical component 650. The receiver 640 is disposed at the exit end of the receiving lens barrel 660. The receiver 640 can receive the return.

[0235] In some embodiments, the optical engine frame includes a first light leakage hole 670. The first light leakage hole 670 can be disposed on the barrel wall of the emission barrel 630. At least part of the stray light in the emission barrel 630 can be emitted from the first light leakage hole 670, which can reduce the interference of stray light. In some embodiments, the optical engine frame includes a second light leakage hole 680. The second light leakage hole 680 can be disposed on the barrel wall of the receiving barrel 660. At least part of the stray light in the receiving barrel 660 can be emitted from the second light leakage hole 680, which can reduce the interference of stray light. The optical engine frame can include the first light leakage hole 670 or the second light leakage hole 680. Alternatively, the optical engine frame can include the first light leakage hole 670 and the second light leakage hole 680. Alternatively, the first light leakage hole 670 and / or the second light leakage hole 680 can be disposed at a position where more stray light is generated or gathered, so that more stray light is emitted from the barrel, further reducing the interference of stray light.

[0236] According to some embodiments of the present disclosure, the optical engine frame can include one or more first light leakage holes 670. For example, the first light leakage hole 670 can be disposed on one or more of the upper barrel wall, the lower barrel wall, and the rear barrel wall of the emission barrel 630. The plurality of first light leakage holes 670 can cause more stray light to leak out, further reducing the interference of stray light.

[0237] According to some embodiments of the present disclosure, the optical engine frame can include one or more second light leakage holes 680. For example, the second light leakage hole 680 can be disposed on one or more of the upper barrel wall and the lower barrel wall of the receiving barrel 660. The plurality of second light leakage holes 680 can cause more stray light to leak out, further reducing the interference of stray light.

[0238] According to embodiments of the present disclosure, as shown in FIGS. 16 and 17, the emission barrel 630 includes a first barrel segment 630 and a second barrel segment 632 disposed along the emission light path. The first barrel segment 630 and the second barrel segment 632 are in communication. The first barrel segment 630 and the second barrel segment 632 are at a preset angle. The preset angle is, for example, in the range of 80°-100°. For example, the preset angle is 90°. The emission optical component 620 includes a first emission lens 621 and a first reflecting mirror 622. The first emission lens 621 is disposed in the first barrel segment 630 and can shape the probe light. The first reflecting mirror 622 is disposed between the first barrel segment 630 and the second barrel segment 632. The first reflecting mirror 622 can change the propagation direction of the probe light by reflection, so that the probe light enters the second barrel segment 632 from the first barrel segment 630. Alternatively, the first light leakage hole 670 is disposed on the barrel wall of the first barrel segment 630. The first light leakage hole 670 is located between the emitter 610 and the first reflecting mirror 622, which can reduce stray light.

[0239] FIG. 18 shows a cross-sectional view of an example transmitting lens barrel, receiving lens barrel, consistent with some embodiments of the present disclosure. As shown in FIGS. 16-18, the transmitting lens barrel 630 includes a first cutout 633 disposed between the first lens barrel segment 630 and the second lens barrel segment 632. The first reflecting mirror 622 is disposed at the first cutout 633. Optionally, the transmitting lens barrel 630 includes a first positioning surface 634 of high precision. The first positioning surface 634 is disposed at the first cutout 633. The first reflecting mirror 622 abuts against the first positioning surface 634.

[0240] According to some embodiments of the present disclosure, as shown in FIGS. 16-18, the transmitting lens barrel 630 includes a first positioning ledge 6311 and a first abutting platform 6312. The first positioning ledge 6311 and the first abutting platform 6312 are disposed on the inner wall of the first lens barrel segment 630. The first positioning ledge 6311 and the first abutting platform 6312 can be high-precision machined structures. The first positioning ledge 6311 is located downstream of the optical path of the first abutting platform 6312. The first transmitting lens 621 abuts against the first abutting platform 6312 and the first positioning ledge 6311.

[0241] By way of example, the first positioning ledge 6311 and the first abutting platform 6312 can be disposed circumferentially around the inner wall of the first lens barrel segment 630. The first positioning ledge 6311 and the first abutting platform 6312 can be continuous structures or can be multi-segment structures (e.g., with a certain distance between adjacent segments). The first positioning ledge 6311 and the first abutting platform 6312 provide support and positioning for the first transmitting lens 621, which can ensure the installation precision of the first transmitting lens 621. By disposing the first positioning ledge 6311 and the first abutting platform 6312 in the transmitting lens barrel 630 as high-precision machined surfaces, the machining difficulty and cost of the transmitting lens barrel 630 can be reduced. Optionally, the first transmitting lens 621 and the first abutting platform 6312 can be fixed by an adhesive. Optionally, the first lens barrel segment 630 has a first glue injection hole 6313 disposed on the barrel wall. The first glue injection hole 6313 is located near the first abutting platform 6312. An adhesive can be added between the first transmitting lens 621 and the first abutting platform 6312 through the first glue injection hole 6313.

[0242] According to some embodiments of the present disclosure, as shown in FIGS. 16-18, the transmitting optical assembly 620 further includes a second transmitting lens 623. The transmitting lens barrel 630 further includes a second positioning ledge 6314 and a second abutting platform 6315. The second positioning ledge 6314 and the second abutting platform 6315 are disposed on the inner wall of the first lens barrel segment 630. The second positioning ledge 6314 and the second abutting platform 6315 can be high-precision machined structures. The second positioning ledge 6314 is located downstream of the optical path of the second abutting platform 6315. The second transmitting lens 623 is disposed abutting against the second abutting platform 6315 and the second positioning ledge 6314.

[0243] Exemplarily, the second positioning flange 6314 and the second abutting platform 6315 can be circumferentially arranged on the inner wall of the first lens barrel segment 630. The second positioning flange 6314 and the second abutting platform 6315 can be a continuous structure or a multi-segment structure (for example, a certain distance apart between two adjacent segments). The second positioning flange 6314 and the second abutting platform 6315 provide support and positioning for the second emission lens 623, which can ensure the installation accuracy of the second emission lens 623. The second positioning flange 6314 and the second abutting platform 6315 in the emission lens barrel 630 are arranged as high-precision processing surfaces, which is beneficial to reduce the processing difficulty and cost of the emission lens barrel 630. Optionally, the second emission lens 623 and the second abutting platform 6315 can be fixed by an adhesive. Optionally, the second glue injection hole 6316 is arranged on the barrel wall of the first lens barrel segment 630. The second glue injection hole 6316 is located near the second abutting platform 6315. An adhesive can be added between the second emission lens 623 and the second abutting platform 6315 through the second glue injection hole 6316.

[0244] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the second emission lens 623 is located upstream of the first emission lens 621 in the light path. In a cross section perpendicular to the inner wall of the first lens barrel segment 630, the size of the second emission lens 623 is greater than that of the first emission lens 621. The second positioning flange 6314 and the second abutting platform 6315 are located upstream of the first positioning flange 6311 and the first abutting platform 6312 in the light path. The distance between the table surface of the second abutting platform 6315 and the central axis of the first lens barrel segment 630 is greater than the distance between the table surface of the first abutting platform 6312 and the central axis of the first lens barrel segment 630. In this way, the assembly of the first emission lens 621 and the second emission lens 623 is facilitated.

[0245] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the receiving lens barrel 660 includes a third lens barrel segment 661 and a fourth lens barrel segment 662 arranged along the receiving light path. The third lens barrel segment 661 and the fourth lens barrel segment 662 are in communication. The third lens barrel segment 661 and the fourth lens barrel segment 662 are at a preset angle. The preset angle is, for example, in the range of 80°-100°. For example, the preset angle is 90°. The receiving optical unit 650 includes a first receiving lens 651 and a second mirror 652. The first receiving lens 651 is arranged in the fourth lens barrel segment 662 and can shape the echo. The second mirror 652 is arranged between the third lens barrel segment 661 and the fourth lens barrel segment 662. The second mirror 652 can change the propagation direction of the echo by reflection, so that the echo enters the fourth lens barrel segment 662 from the third lens barrel segment 661. Optionally, the second light leakage hole 680 is arranged on the barrel wall of the fourth lens barrel segment 662.

[0246] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the receiving lens barrel 660 includes a second cutout 663 disposed between the third lens barrel segment 661 and the fourth lens barrel segment 662. The second reflecting mirror 652 is disposed at the second cutout 663. Optionally, the second cutout 663 is disposed outside the transition between the third lens barrel segment 661 and the fourth lens barrel segment 662. The receiving lens barrel 660 includes a second positioning surface 664 with high precision. The second positioning surface 664 is disposed at the second cutout 663. The second reflecting mirror 652 abuts against the second positioning surface 664.

[0247] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the receiving lens barrel 660 includes a third positioning stop 6621 and a third abutting platform 6622. The third positioning stop 6621 and the third abutting platform 6622 are disposed on the inner wall of the fourth lens barrel segment 662. The third positioning stop 6621 and the third abutting platform 6622 can be high-precision machined structures. The third positioning stop 6621 is located downstream of the optical path of the third abutting platform 6622. The first receiving lens 651 abuts against the third abutting platform 6622 and the third positioning stop 6621.

[0248] Illustratively, the third positioning stop 6621 and the third abutting platform 6622 can be disposed circumferentially around the inner wall of the fourth lens barrel segment 662. The third positioning stop 6621 and the third abutting platform 6622 can be continuous structures or multi-segment structures (e.g., with a certain distance between adjacent segments). The third positioning stop 6621 and the third abutting platform 6622 provide support and positioning for the first receiving lens 651, which can ensure the installation precision of the first receiving lens 651. The third positioning stop 6621 and the third abutting platform 6622 in the receiving lens barrel 660 are provided as high-precision machined surfaces, which is beneficial to reduce the processing difficulty and cost of the receiving lens barrel 660. Optionally, the first receiving lens 651 and the third abutting platform 6622 can be fixed by an adhesive. Optionally, the fourth lens barrel segment 662 is provided with a third glue injection hole 6623. The third glue injection hole 6623 is located near the third abutting platform 6622. An adhesive can be added between the first receiving lens 651 and the third abutting platform 6622 through the third glue injection hole 6623.

[0249] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the receiving optical component 650 further includes a second receiving lens 653. The receiving lens barrel further includes a fourth positioning stop 6624 and a fourth abutting platform 6625. The fourth positioning stop 6624 and the fourth abutting platform 6625 are disposed on the inner wall of the fourth lens barrel segment 662. The fourth positioning stop 6624 and the fourth abutting platform 6625 are high-precision machined structures. The fourth positioning stop 6624 is located downstream of the optical path of the fourth abutting platform 6625. The second receiving lens 653 abuts against the fourth abutting platform 6625 and the fourth positioning stop 6624.

[0250] Exemplarily, the fourth positioning stop 6624 and the fourth abutting platform 6625 can be circumferentially arranged on the inner wall of the fourth lens barrel section 662. The fourth positioning stop 6624 and the fourth abutting platform 6625 can be a continuous structure or a multi-section structure (for example, a certain distance apart between two adjacent sections). The fourth positioning stop 6624 and the fourth abutting platform 6625 provide support and positioning for the second receiving lens 653, which can ensure the installation accuracy of the second receiving lens 653. The fourth positioning stop 6624 and the fourth abutting platform 6625 in the receiving lens barrel 660 are provided as high-precision machined surfaces, which is beneficial to reduce the processing difficulty and processing cost of the receiving lens barrel 660. Optionally, the second transmitting lens 623 and the second abutting platform 6315 can be fixed by an adhesive. Optionally, the fourth lens barrel section 662 is provided with a fourth glue injection hole 6626. The fourth glue injection hole 6626 is located near the fourth abutting platform 6625. An adhesive can be added between the second receiving lens 653 and the fourth abutting platform 6625 through the fourth glue injection hole 6626.

[0251] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the second receiving lens 653 is located downstream of the light path of the first receiving lens 651. In a cross section perpendicular to the inner wall of the fourth lens barrel section 662, the size of the second receiving lens 653 is greater than that of the first receiving lens 651. The fourth positioning stop 6624 and the fourth abutting platform 6625 are located downstream of the light path of the third positioning stop 6621 and the third abutting platform 6622. The distance between the mesa of the fourth abutting platform 6625 and the central axis of the fourth lens barrel section 662 can be greater than the distance between the mesa of the third abutting platform 6622 and the central axis of the third lens barrel section 661. In this way, the assembly of the first receiving lens 651 and the second receiving lens 653 is facilitated.

[0252] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the transmitting optical unit 620 further includes a third transmitting lens 624. The receiving lens barrel 660 further includes a fifth positioning stop 6321 and a fifth abutting platform 6322. The fifth positioning stop 6321 and the fifth abutting platform 6322 are arranged on the inner wall of the second lens barrel section 632. The fifth positioning stop 6321 and the fifth abutting platform 6322 can be high-precision machined structures. The fifth positioning stop 6321 can be located downstream or upstream of the light path of the fifth abutting platform 6322. The third transmitting lens 624 abuts against the fifth abutting platform 6322 and the fifth positioning stop 6321.

[0253] Exemplarily, the fifth positioning stop 6321 and the fifth bearing platform 6322 can be circumferentially arranged around the inner wall of the second lens barrel section 632. The fifth positioning stop 6321 and the fifth bearing platform 6322 can be a continuous structure or a multi-section structure. The fifth positioning stop 6321 and the fifth bearing platform 6322 provide support and positioning for the third emission lens 624, and can ensure the installation accuracy of the third emission lens 624. The fifth positioning stop 6321 and the fifth bearing platform 6322 in the emission lens barrel 630 are provided as high-precision machined surfaces, which is beneficial to reduce the processing difficulty and processing cost of the emission lens barrel 630. Optionally, the third emission lens 624 and the fifth bearing platform 6322 can be fixed by an adhesive. Optionally, the fifth glue injection hole 6323 can be arranged on the barrel wall of the second lens barrel section 632. The fifth glue injection hole 6323 is located near the fifth bearing platform 6322. An adhesive can be added between the third emission lens 624 and the fifth bearing platform 6322 through the fifth glue injection hole 6323.

[0254] According to an embodiment of the present disclosure, as shown in FIGS. 16-18, the receiving optical component 650 further includes a third receiving lens 654. The receiving lens barrel further includes a sixth positioning stop 6611 and a sixth bearing platform 6612. The sixth positioning stop 6611 and the sixth bearing platform 6612 are arranged on the inner wall of the third lens barrel section 661. The sixth positioning stop 6611 and the sixth bearing platform 6612 can be high-precision machined structures. The sixth positioning stop 6611 is located downstream of the optical path of the sixth bearing platform 6612 or downstream. The third receiving lens 654 abuts against the sixth bearing platform 6612 and the sixth positioning stop 6611.

[0255] Exemplarily, the sixth positioning stop 6611 and the sixth bearing platform 6612 can be circumferentially arranged around the inner wall of the third lens barrel section 661. The sixth positioning stop 6611 and the sixth bearing platform 6612 can be a continuous structure or a multi-section structure. The sixth positioning stop 6611 and the sixth bearing platform 6612 provide support and positioning for the third receiving lens 654, and can ensure the installation accuracy of the third receiving lens 654. The sixth positioning stop 6611 and the sixth bearing platform 6612 in the receiving lens barrel 660 are provided as high-precision machined surfaces, which is beneficial to reduce the processing difficulty and processing cost of the receiving lens barrel 660. Optionally, the third receiving lens 654 and the sixth bearing platform 6612 can be fixed by an adhesive. Optionally, the sixth glue injection hole 6613 can be arranged on the barrel wall of the third lens barrel section 661. The sixth glue injection hole 6613 is located near the sixth bearing platform 6612. An adhesive can be added between the third receiving lens 654 and the sixth bearing platform 6612 through the sixth glue injection hole 6613.

[0256] According to embodiments of the present disclosure, as shown in FIGS. 16-18, the transmitting barrel 630 includes a first abutting surface 635 and a first positioning structure 636 disposed at the incident end. The first abutting surface 635 can be a high-precision machined surface with good surface flatness and accuracy. The first positioning structure 636 includes one or more of positioning grooves, positioning posts, or positioning holes. For example, in the embodiment shown in FIG. 18, the first positioning structure 636 includes two mutually parallel positioning grooves. As shown in FIGS. 16 and 18, the transmitter 610 abuts against the first abutting surface 635. Precise positioning of the transmitter 610 is achieved by the cooperation of the transmitter 610 and the first positioning structure 636.

[0257] According to embodiments of the present disclosure, as shown in FIGS. 16-18, the receiving barrel 660 includes a second abutting surface 665 and a second positioning structure 666 disposed at the exit end. The second abutting surface 665 can be a high-precision machined surface with good surface flatness and accuracy. The second positioning structure 666 includes one or more of positioning grooves, positioning posts, or positioning holes. For example, in the embodiment shown in FIG. 18, the first positioning structure 636 includes a positioning post. As shown in FIGS. 16 and 18, the receiver 640 abuts against the second abutting surface 665. Precise positioning of the receiver 640 is achieved by the cooperation of the receiver 640 and the second positioning structure 666.

[0258] According to embodiments of the present disclosure, as shown in FIG. 18, the transmitting barrel 630 and the receiving barrel 660 are integrally disposed, which can reduce assembly procedures and improve manufacturing efficiency. Optionally, the second barrel segment 632 of the transmitting barrel 630 is substantially parallel to the fourth barrel segment 662 of the receiving barrel 660. The exit end of the transmitting barrel 630 is adjacent to the incident end of the receiving barrel 660. In some embodiments, the transmitting barrel 630 and the receiving barrel 660 can also be separately disposed to facilitate independent optimization and adjustment.

[0259] According to embodiments of the present disclosure, as shown in FIGS. 16-18, the receiving barrel 660 includes a third abutting surface 667 disposed at the incident end. The third abutting surface 667 can be a high-precision machined surface with good surface flatness and accuracy. As shown in FIG. 16, the laser radar optical machine 600 further includes a beam splitter 690. The beam splitter 690 is located on the light path of the probe light. The beam splitter 690 is located on the light path of the echo. The beam splitter 690 can achieve separation of the probe light and the echo. The beam splitter 690 abuts against the third abutting surface 667 and is aligned with the exit end of the transmitting barrel 630.

[0260] The present disclosure also provides a laser radar including the laser radar optical machine 600 as described above. The laser radar can further include a circuit board, a housing, and a window. The housing and the window can form a containing space. The laser radar optical machine 600 is disposed in the containing space. The transmitter and the receiver of the laser radar can be electrically connected to the circuit board.

[0261] Embodiments of the present disclosure provide a laser radar light machine 600. A first light leakage hole 670 is arranged on the barrel wall of the transmitting barrel 630, and / or a second light leakage hole 680 is arranged on the barrel wall of the receiving barrel 660. Stray light can be emitted from the first light leakage hole 670 and / or the second light leakage hole 680, which can reduce the interference of stray light on the laser radar.

Claims

1. A lidar, comprising: The application relates to a light machine, comprising: a transmitter configured to emit probe light; a receiver configured to receive echo generated after the probe light is reflected by an object and convert the echo into an electric signal; a first circuit board, wherein the transmitter and the receiver are arranged on the first circuit board; a light machine frame fixedly connected with the first circuit board; and optics arranged in the light path of at least one of the probe light and the echo, wherein the optics are fixedly arranged in the light machine frame, and the optics comprise: a transmitting lens, wherein the transmitting lens comprises at least one piece of transmitting lens, and the transmitting lens is configured to collimate the probe light emitted by the transmitter and then emit the probe light; and a receiving lens, wherein the receiving lens comprises at least one piece of receiving lens, and the receiving lens is configured to receive the echo and converge the echo to the receiver, wherein at least one of the transmitting lens and the receiving lens comprises a packaging piece, and at least one of the transmitting lens in the transmitting lens and the receiving lens in the receiving lens is fixed in the packaging piece. The light machine frame is provided with a positioning part, the first circuit board is provided with a matching part, and the position of the positioning part corresponds to the position of the matching part. The first circuit board and the light machine frame are fixedly connected through a connecting piece, and the positioning part and the matching part have an adjusting range.

2. The lidar of claim 1, wherein, The optics further comprise:

3. The lidar of claim 2, wherein, a first reflecting mirror arranged in the light path of the probe light or the echo; and 4. The lidar of claim 1, wherein, a first beam splitter arranged in the light path of the probe light or the echo, wherein the light machine frame comprises a transceiving port configured to allow the probe light and the echo to pass through. The first beam splitter is configured to reflect the probe light and transmit the echo; or The first beam splitter is configured to reflect the echo and transmit the probe light.

5. The lidar of claim 4, wherein, The probe light is linearly polarized light, the optics further comprise a quarter-wave plate, and the first beam splitter comprises a polarization beam splitter. Further comprising a light shield arranged on the light machine frame to limit the light entering the receiving lens.

6. The lidar of claim 5, wherein, The surface of the light shield towards the inner side of the light machine frame is adapted to reduce the reflection of light.

7. The lidar of any one of claim 1, wherein, Further comprising:

8. The lidar of claim 7, wherein, a second circuit board fixedly arranged between the first circuit board and the light machine frame and electrically connected with the first circuit board.

9. The lidar of claim 1, wherein, Further comprising: a scanner fixedly arranged opposite to the light machine frame and configured to deflect the probe light emitted by the transmitter and the echo generated after the probe light is reflected by an object.

10. The lidar of claim 1, wherein, ​ ​

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