Optomechanical assembly, laser radar, and vehicle

Abstract

An optomechanical assembly, a laser radar, and a vehicle. The optomechanical assembly comprises an emission module and a reception module. The emission module has an emission field of view on an object being measured, and the emission module emits a laser beam within the emission field of view. The reception module has a reception field of view on said object, and the reception module receives the laser beam reflected by said object within the reception field of view. The emission field of view covers the reception field of view.

Description

Optomechanical components, lidar, and vehicles

[0001] This application claims priority to Chinese patent application No. 202411555460.0, filed on October 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle technology, and more particularly to an optomechanical component, a lidar, and a vehicle. Background Technology

[0003] In the field of new energy vehicles, lidar includes optomechanical components, which include a transmitting module and a receiving module, used for transmitting and receiving laser beams, respectively. Summary of the Invention

[0004] This disclosure provides an optomechanical component, a lidar, and a vehicle.

[0005] On one hand, an optomechanical assembly is provided. The optomechanical assembly includes a transmitting module and a receiving module. The transmitting module has a transmitting field of view on the object under test and emits a laser beam into the transmitting field of view. The receiving module has a receiving field of view on the object under test and receives the laser beam reflected by the object under test in the receiving field of view, and the transmitting field of view covers the receiving field of view.

[0006] The optomechanical assembly provided in some embodiments of this disclosure, through the above-described configuration, allows the receiving field of view to be completely covered by the transmitting field of view. Furthermore, since the detector of the receiving module receives signals from the aforementioned receiving field of view, the receiving detector can be fully utilized, improving its utilization efficiency and further enhancing the quality of the received signal from the optomechanical assembly.

[0007] In some embodiments, the transmitting module and the receiving module are arranged along a first direction. The transmitting module includes a transmitting lens and a light-emitting part. The transmitting lens has a transmitting optical axis, and the light-emitting part extends along the first direction. The light-emitting part emits a laser beam, and the laser beam is emitted towards the object being measured via the transmitting lens. The light-emitting part has a center point located on the straight line containing the transmitting optical axis.

[0008] The optomechanical components provided in some embodiments of this disclosure, by aligning the straight line of the emitting optical axis with the center point of the emitting point, make the laser beam emitted from the emitting module more controllable and symmetrical, thereby improving the reliability of the laser beam emitted by the emitting module.

[0009] In some embodiments, the maximum distance between the two ends of the light-emitting portion along the first direction is any value between 10 mm and 18 mm.

[0010] The optomechanical components provided in some embodiments of this disclosure, through the above-described configuration, increase the length of the laser beam emitted by the light-emitting part along the first direction, thereby facilitating the expansion of the emission field of view and enabling the receiving field of view to receive more signals.

[0011] In some embodiments, the light-emitting part includes a plurality of light-emitting points.

[0012] The optomechanical components provided in some embodiments of this disclosure, through the above-described configuration, can improve the consistency of the laser beam emitted by the light-emitting part.

[0013] In some embodiments, the light-emitting part includes a plurality of sub-light sources, each of which extends along a first direction.

[0014] The optomechanical components provided in some embodiments of this disclosure, through the above-described configuration, can reduce the phenomenon of heat accumulation that easily occurs when the light-emitting part has only one sub-light source, thereby improving the service life and stability of the light-emitting part.

[0015] In some embodiments, a straight line extending from the center point along a first direction is a first straight line, and the projections of each sub-light source onto the first straight line are continuous with each other.

[0016] The optomechanical components provided in some embodiments of this disclosure, through the above-described configuration, facilitate the formation of a continuous light spot area on the object being measured by the laser beam emitted by the light-emitting part, thereby increasing the detection accuracy of the optomechanical components.

[0017] In some embodiments, each pair of adjacent sub-light sources is located on opposite sides of a first straight line.

[0018] The optomechanical components provided in some embodiments of this disclosure facilitate the installation of each sub-light source by arranging each pair of adjacent sub-light sources on opposite sides of a first straight line, thereby simplifying the installation process of the optomechanical components.

[0019] In some embodiments, the emitting lens includes a beam expander system. The laser beam emitted by the light-emitting part is expanded by the beam expander system and then emitted onto the object under test. The beam expansion angle of the beam expander system is between 18° and 28°.

[0020] The optomechanical components provided in some embodiments of this disclosure enable the transmitting module to emit a wider range of light spots on the object under test by setting the beam expansion angle of the beam expansion system. This is beneficial for the transmitting field of view to cover the receiving field of view. The implementation method is simple and easy to implement.

[0021] In some embodiments, the transmitting lens further includes a collimation system. The collimation system is located between the beam expander and the light-emitting part, and is configured to collimate the laser beam.

[0022] The optomechanical components provided in some embodiments of this disclosure can collimate laser beams by setting a collimation system, thereby reducing the probability of mutual interference between laser beams and improving the accuracy of laser beams.

[0023] In some embodiments, the receiving module includes a receiving lens and a detector. The receiving lens is configured to receive a laser beam reflected from the receiving field of view, and the focal length of the receiving lens is between 5 mm and 40 mm. The detector is located to one side of the receiving lens and is configured to receive the laser beam focused by the receiving lens.

[0024] The optomechanical assembly provided in some embodiments of this disclosure improves the utilization rate of the detector by adjusting the focal length of the receiving lens so that the receiving field of view can be completely covered by the transmitting field of view.

[0025] In some embodiments, the detector includes a single-photon avalanche diode (SPAD) chip, and the SPAD chip includes multiple pixels.

[0026] The optomechanical components provided in some embodiments of this disclosure, by including multiple pixels in the SPAD chip, enable multiple pixels to monitor laser signals simultaneously, thereby improving the detection sensitivity of the detector.

[0027] In some embodiments, the receiving module further includes a filter. The filter is located on the side of the receiving lens away from the detector and is configured to filter stray light entering the receiving lens.

[0028] The optomechanical components provided in some embodiments of this disclosure, by including a filter in the receiving module, can reduce the interference of background light on the receiving module and improve the accuracy of signal transmission.

[0029] In some embodiments, the optomechanical assembly further includes an optomechanical housing. Both the transmitting module and the receiving module are mounted on the optomechanical housing.

[0030] The optomechanical components provided in some embodiments of this disclosure provide a mounting base for the transmitting module and the receiving module through the arrangement of the optomechanical housing.

[0031] In some embodiments, the optical engine housing is a single-piece structure, and the interior of the optical engine housing includes a first mounting cavity and a second mounting cavity. The transmitting module is embedded in the first mounting cavity, and the receiving module is embedded in the second mounting cavity.

[0032] The optomechanical components provided in some embodiments of this disclosure, by setting the optomechanical housing as an integral structure, facilitate the installation and alignment of the optomechanical housing, and only require one alignment and installation of the optomechanical housing, simplifying the alignment steps of the optomechanical housing, and saving space of the optomechanical components, reducing the space occupied by the optomechanical components.

[0033] On the other hand, a lidar is provided. This lidar includes an assembly housing, an optomechanical assembly according to any of the above embodiments, and a scanning mirror assembly. The assembly housing encloses a cavity, in which the optomechanical assembly is mounted. The scanning mirror assembly is mounted in the cavity and is configured to reflect a laser beam emitted by a transmitting module toward a measured object, and to reflect a laser beam reflected by the measured object toward a receiving module.

[0034] The lidar provided in some embodiments of this disclosure, through the above-described configuration of the lidar, allows the receiving field of view to be covered by the transmitting field of view, thereby enabling the detector of the receiving module to be utilized over a wider area, improving the lidar's signal reception capability, and thus improving the lidar's utilization efficiency.

[0035] In some embodiments, the scanning mirror assembly includes a drive unit and a lens structure. The drive unit is rotatably mounted in a cavity of the assembly housing, and the lens structure is connected to the drive unit. The drive unit is capable of rotating the lens structure to reflect the laser beam.

[0036] The lidar provided in some embodiments of this disclosure, through the arrangement of the scanning mirror assembly, enables the lidar to provide higher spatial resolution and measurement accuracy.

[0037] In some embodiments, the outer wall of the lens structure includes four sub-lenses. Each of the four sub-lenses is arranged parallel to the rotation axis of the drive member. Adjacent sub-lenses are perpendicular to each other and connected. The orthographic projection of the four sub-lenses on a plane perpendicular to the rotation axis is square.

[0038] The lidar provided in some embodiments of this disclosure, through the above-described settings, can meet the scanning requirements of lidar and has high efficiency in switching between each sub-lens.

[0039] In some embodiments, the lens structure includes a lens body. The lens body has a connecting surface and a reflecting surface disposed opposite to each other. The connecting surface is connected to a driving member, and the reflecting surface is configured to reflect a laser beam.

[0040] The lidar provided in some embodiments of this disclosure, through the above-described configuration, can simplify the installation and manufacturing of the lens structure, and save the cost of the scanning mirror assembly.

[0041] In some embodiments, the lidar also includes an optical window. The optical window is embedded in the assembly housing, through which the laser beam can pass.

[0042] The lidar provided in some embodiments of this disclosure can protect internal components from harsh environments through the setting of optical windows.

[0043] In some embodiments, the optical window includes a window body, an antireflective film, a temperature-regulating film, and a protective film. The window body is embedded in the assembly housing. The antireflective film is attached to at least one side of the window body opposite to or near the chamber. The temperature-regulating film is attached to at least one side of the window body opposite to or near the chamber. The protective film is attached to at least one side of the window body opposite to the chamber.

[0044] The lidar provided in some embodiments of this disclosure, through the setting of an optical window including a window body, an anti-reflection film, a temperature control film and a protective film, can effectively suppress stray light caused by surface reflection, thereby improving the imaging quality of the optomechanical components. It can also eliminate or reduce factors affecting the clarity of vision, such as fog, frost, snow, and condensation inside the window, and can increase the robustness and stability of the optical window.

[0045] In another aspect, a vehicle is provided. This vehicle includes the lidar of any of the above embodiments.

[0046] The vehicle provided in some embodiments of this disclosure, by setting up a lidar, can improve the efficiency of the user's monitoring of the surrounding environment and improve the vehicle's usability. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. However, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 is a schematic diagram of the vehicle structure in an embodiment of this disclosure;

[0049] Figure 2 is a schematic diagram of the laser assembly in the vehicle shown in Figure 1;

[0050] Figure 3 is a schematic diagram of a portion of the laser assembly shown in Figure 2.

[0051] Figure 4 is a schematic diagram of the optomechanical components of the laser assembly shown in Figure 2;

[0052] Figure 5 is a schematic diagram of the emission field of view and the receiving field of view of the optomechanical components of the laser assembly in the related technology;

[0053] Figure 6 is a schematic diagram of the emission field of view and the receiving field of view of the optomechanical components of the laser assembly shown in Figure 2;

[0054] Figure 7 is a schematic diagram comparing the emission field of view and the receiving field of view of the optomechanical component of the laser assembly in the related art with the emission field of view and the receiving field of view of the optomechanical component of the laser assembly in some embodiments of this disclosure.

[0055] Figure 8 is a planar schematic diagram of the light-emitting part of the optomechanical assembly shown in Figure 4;

[0056] Figure 9 is a schematic diagram of the emission module in the optomechanical assembly shown in Figure 4;

[0057] Figure 10 is a block diagram of the receiving module in the optomechanical assembly shown in Figure 4;

[0058] Figure 11 is a schematic diagram of the scanning mirror assembly and the optomechanical assembly of the laser assembly shown in Figure 2;

[0059] Figure 12 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the laser assembly shown in Figure 2;

[0060] Figure 13 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the laser assembly shown in Figure 2;

[0061] Figure 14 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the laser assembly shown in Figure 2;

[0062] Figure 15 is another schematic diagram of the scanning mirror assembly and optomechanical assembly of the laser assembly shown in Figure 2.

[0063] Reference numerals: 1 Vehicle; 11 Body; 12 Wheel; 1000 LiDAR; 100 Optomechanical assembly; X First direction; Y Second direction; L First straight line; 110 Transmitting module; A1 Transmitting field of view; 111 Light source; 1111 Sub-light source; 112 Transmitting lens; 1121 Beam expander system; 1122 Collimation system; 120 Receiving module; B1 Receiving field of view; 121 Receiving lens; 130 Optomechanical housing; 131 First mounting cavity; 132 Second mounting cavity; 200 Scanning mirror assembly; 210 Driving component; 220 Lens structure; 300 Optical window; 400 Assembly housing. Detailed Implementation

[0064] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0065] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0066] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0067] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0068] In this disclosure, the terms "exemplarily" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplarily" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the terms "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0069] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0070] This disclosure provides a vehicle through several embodiments. The vehicle can be a pure electric vehicle, a hybrid electric vehicle, a plug-in hybrid electric vehicle, a range-extended electric vehicle, a gasoline-powered vehicle, etc. The vehicle can also be a sedan, truck, bus, lorry, trailer, etc.

[0071] As shown in Figure 1, which is a schematic diagram of the structure of a vehicle 1 in some embodiments of this disclosure, the vehicle 1 includes a body 11 and wheels 12. The body 11 is used for passengers and for carrying goods, and the wheels 12 are installed under the body 11 to support the body 11 and to roll on the road surface so that the vehicle 1 can move.

[0072] Referring to Figures 2 to 4, some embodiments of this disclosure also provide a lidar 1000. The lidar 1000 is used in the aforementioned vehicle 1. The lidar's functions include, but are not limited to, sensing the environment around the vehicle 1, measuring the distance between the vehicle 1 and surrounding objects in real time, and accurately acquiring the position and attitude information of the vehicle 1 and performing precise positioning in conjunction with a positioning system. The lidar includes an optomechanical assembly 100, a scanning mirror assembly 200, and an assembly housing 400. The optomechanical assembly 100 is used to emit a laser beam, and the scanning mirror assembly 200 is used to control the scanning direction and angle of the laser beam to achieve omnidirectional coverage of the object being measured. The object being measured then reflects the laser beam towards the scanning mirror assembly 200, which in turn reflects the laser beam back towards the optomechanical assembly 100. The optomechanical assembly 100 converts the optical signal into an electrical signal.

[0073] Referring to Figure 5, in the related art, the optomechanical assembly 100 includes a transmitting module 110 and a receiving module 120. The transmitting module 110 is used for emitting a laser beam, and the receiving module 120 is used for receiving a laser beam. The transmitting module 110 and the receiving module 120 are separately arranged, so the optical axes of the transmitting module 110 and the receiving module 120 have a certain distance. Therefore, the transmitting field of view A1 of the transmitting module 110 and the receiving field of view B1 of the receiving module 120 will be misaligned. When the lidar detects at a long distance, the above deviation can be ignored. However, when the lidar measures at a short distance, the above deviation cannot be ignored. Therefore, the receiving field of view B1 cannot be completely covered (as shown in (a) and (b) of Figure 7). The receiving field of view B1 of the receiving module 120 cannot be fully utilized, which reduces the receiving signal efficiency of the receiving module 120.

[0074] To address the aforementioned issues, please refer to Figures 6 and 7. This disclosure provides an optomechanical assembly 100, which includes a transmitting module 110 and a receiving module 120. The transmitting module 110 has a transmitting field of view A1 on the object under test and emits a laser beam within the transmitting field of view A1. The receiving module 120 has a receiving field of view B1 on the object under test and receives the laser beam reflected from the object under test within the receiving field of view B1. The transmitting field of view A1 covers the receiving field of view B1 (as shown in (c) and (d) of Figure 7).

[0075] In the optomechanical assembly 100 provided in some embodiments of this disclosure, through the above-described arrangement, the receiving field of view B1 can be completely covered by the transmitting field of view A1. Since the detector of the receiving module 120 receives the signal of the receiving field of view B1, the receiving detector can be fully utilized, thereby improving the utilization efficiency of the receiving detector. This further improves the quality of the received signal of the optomechanical assembly 100 and enhances the sensing capability of the receiving module 120 for the laser beam, thereby improving the detection performance of the lidar.

[0076] In some embodiments, as shown in Figures 4 and 8, the transmitting module 110 and the receiving module 120 are arranged along a first direction X. The transmitting module 110 includes a transmitting lens 112 and a light-emitting part 111. The transmitting lens 112 has a transmitting optical axis, and the light-emitting part 111 extends along the first direction X. The light-emitting part 111 emits a laser beam, and the laser beam is emitted towards the object being measured via the transmitting lens 112. The light-emitting part 111 has a center point, which is located on the straight line of the transmitting optical axis.

[0077] The optomechanical assembly 100 provided in some embodiments of this disclosure, by aligning the straight line of the emitted optical axis with the center point of the emitted point, makes the laser beam emitted from the emitting module 110 more controllable and symmetrical, thereby improving the reliability of the laser beam emitted by the emitting module 110.

[0078] In some embodiments, the maximum distance H between the two ends of the light-emitting portion 111 along the first direction X is any value between 10 mm and 18 mm. For example, the maximum distance between the two ends of the light-emitting portion 111 is 10 mm, 12 mm, 14 mm, 16 mm, or 18 mm, etc.

[0079] The optomechanical assembly 100 provided in some embodiments of this disclosure, through the above-described configuration, increases the length dimension of the laser beam emitted by the light-emitting part 111 along the first direction X, thereby facilitating the expansion of the emission field of view A1, and enabling the receiving field of view B1 to receive more signals.

[0080] In some embodiments, the light-emitting part 111 includes a plurality of light-emitting points.

[0081] The optomechanical assembly 100 provided in some embodiments of this disclosure, through the above-described configuration, can improve the consistency of the laser beam emitted by the light-emitting unit 111.

[0082] Referring to Figure 8, in some embodiments, the light-emitting part 111 includes a plurality of sub-light sources 1111, each of which extends along a first direction X.

[0083] The optomechanical assembly 100 provided in some embodiments of this disclosure, through the above-described configuration, can reduce the phenomenon that heat accumulation is prone to occur in the light-emitting part 111 with only one sub-light source 1111, thereby improving the service life and stability of the light-emitting part 111.

[0084] In some embodiments, a straight line extending from the center point along the first direction X is a first straight line L, and the projections of adjacent sub-light sources 1111 onto the first straight line are continuous. This can be understood as the orthographic projections of adjacent sub-light sources 1111 in FIG8 onto a plane perpendicular to the emission optical axis (such as the second direction Y) at least partially overlapping. The second direction Y may be perpendicular to the first direction X.

[0085] The optomechanical assembly 100 provided in some embodiments of this disclosure, through the above-described configuration, facilitates the formation of a continuous light spot area on the object being measured by the laser beam emitted by the light-emitting part 111, thereby increasing the detection accuracy of the optomechanical assembly 100.

[0086] In some embodiments, every two adjacent sub-light sources 1111 are located on opposite sides of the first straight line L. This can be understood as any two adjacent sub-light sources 1111 in the first direction X being located on different sides of the first straight line L.

[0087] The optomechanical assembly 100 provided in some embodiments of this disclosure facilitates the installation of each sub-light source 1111 by arranging each pair of adjacent sub-light sources 1111 on opposite sides of a first straight line L, thereby simplifying the installation process of the optomechanical assembly 100.

[0088] Referring to Figure 9, in some embodiments, the emitting lens 112 includes a beam expander system 1121. The laser beam emitted by the light-emitting part 111 is expanded by the beam expander system 1121 and then emitted onto the object under test. The beam expansion angle of the beam expander system 1121 is between 18° and 28°.

[0089] For example, the beam expansion angle of the beam expansion system 1121 includes 18°, 20°, 22°, 24°, 26°, or 28°.

[0090] The optomechanical assembly 100 provided in some embodiments of this disclosure enables the transmitting module 110 to emit a wider range of light spots on the object under test by setting the beam expansion angle of the beam expansion system 1121, which is beneficial for the transmitting field of view A1 to cover the receiving field of view B1. The implementation method is simple and easy to implement.

[0091] In some embodiments, as shown in FIG9, the transmitting lens 112 further includes a collimation system 1122, which is located between the beam expanding system 1121 and the light emitting part 111, and is used for collimating the laser beam.

[0092] The optomechanical assembly 100 provided in some embodiments of this disclosure can collimate the laser beam by setting the collimation system 1122, thereby reducing the probability of mutual interference between laser beams and improving the accuracy of the laser beam.

[0093] In some embodiments, the optomechanical assembly 100 further includes a processing module for controlling the emission parameters of the light-emitting unit 111, the emission parameters including at least one of emission switch parameters, emission power parameters, emission pulse / continuous light parameters, and repetition rate parameters.

[0094] Each sub-light source 1111 in the emission component can be adjusted in real time by the processing module. The processing module determines the individual sub-light source 1111 corresponding to the energy returned in a certain frame, and reduces the laser power emitted in the next frame, thereby achieving dynamic adjustment to meet the overexposure problem caused by close-range or highly reflective objects.

[0095] In some embodiments, as shown in Figures 4 and 10, the receiving module 120 includes a receiving lens 121 and a detector 122. The receiving lens 121 is configured to receive a laser beam reflected from a receiving field of view B1, and the focal length of the receiving lens 121 is between 5 mm and 40 mm. The detector 122 is located on one side of the receiving lens 121 and is configured to receive the laser beam focused by the receiving lens 121.

[0096] For example, the focal length of the receiving lens 121 includes 5mm, 10mm, 20mm, 30mm, or 40mm, etc.

[0097] The optomechanical assembly 100 provided in some embodiments of this disclosure improves the utilization rate of the detector 122 of the optomechanical assembly 100 by adjusting the focal length of the receiving lens 121 so that the receiving field of view B1 can be completely covered by the transmitting field of view A1.

[0098] In some embodiments, detector 122 includes a single-photon avalanche diode (SPAD) chip, and the SPAD chip includes multiple pixels.

[0099] For example, the effective pixel area of ​​detector 122 is continuous in the first direction X, continuous in a direction perpendicular to the first direction X, or offset.

[0100] The optomechanical component 100 provided in some embodiments of this disclosure, by including multiple pixels in the SPAD chip, can use multiple pixels to monitor the laser signal simultaneously, thereby improving the sensitivity of the detector detection process. Compared with single-point pixel reception, the efficiency of the lidar detection range can be improved by increasing the pulse width of the laser emission, increasing the energy of a single emission, and ensuring a certain repetition rate of the light-emitting part 111.

[0101] In some embodiments, the receiving module 120 further includes a filter 123 located on the side of the receiving lens 121 away from the detector 122, and the filter 123 is configured to filter stray light entering the receiving lens 121.

[0102] The optomechanical assembly 100 provided in some embodiments of this disclosure, by including a filter 123 in the receiving module 120, can reduce the interference of background light on the receiving module 120 and improve the accuracy of signal transmission.

[0103] In some embodiments, as shown in FIG4, the optomechanical assembly 100 further includes an optomechanical housing 130, and the transmitting module 110 and the receiving module 120 are both mounted on the optomechanical housing 130.

[0104] The optomechanical assembly 100 provided in some embodiments of this disclosure provides a mounting base for the transmitting module 110 and the receiving module 120 through the setting of the optomechanical housing 130.

[0105] Referring to Figures 11 to 15, for example, the optomechanical assembly 100 may include a first housing and a second housing. The first housing is used to mount the transmitting module 110, and the second housing is used to mount the receiving module 120. The first housing and the second housing may be separately arranged or integrated. The receiving module 120 and the transmitting module 110 may be mounted on the same side of the scanning mirror assembly 200, or they may be mounted on opposite sides of the scanning mirror assembly 200. When the receiving module 120 and the transmitting module 110 are mounted on opposite sides of the scanning mirror assembly 200, their arrangement direction may be consistent with the axial extension direction Q of the driving member 210 of the scanning mirror assembly 200 (as shown in Figure 3), or their arrangement direction may intersect with the axial extension direction Q of the driving member 210 of the scanning mirror assembly 200.

[0106] In some embodiments, as shown in FIG4, the optical engine housing 130 is an integral structure, and the interior of the optical engine housing 130 includes a first mounting cavity 131 and a second mounting cavity 132. The transmitting module 110 is embedded in the first mounting cavity 131, and the receiving module 120 is embedded in the second mounting cavity 132.

[0107] The optomechanical assembly 100 provided in some embodiments of this disclosure, by setting the optomechanical housing 130 as an integral structure, facilitates the installation and alignment of the optomechanical housing 130, and only requires one alignment and installation of the optomechanical housing 130, which simplifies the alignment steps of the optomechanical housing 130 and can save space of the optomechanical assembly 100 and reduce the space occupation of the optomechanical assembly 100.

[0108] This disclosure provides a lidar 1000 according to several embodiments. The lidar 1000 includes an assembly housing 400, an optomechanical assembly 100 according to any of the above embodiments, and a scanning mirror assembly 200. The assembly housing 400 encloses a cavity, in which the optomechanical assembly 100 and the scanning mirror assembly 200 are mounted. The scanning mirror assembly 200 is configured to reflect a laser beam emitted by a transmitting module 110 toward a measured object, and to reflect a laser beam reflected from the measured object toward a receiving module 120.

[0109] The lidar provided in some embodiments of this disclosure, through the above-described configuration of the lidar, allows the receiving field of view B1 to be covered by the transmitting field of view A1, thereby enabling the detector of the receiving module 120 to be utilized over a wider area, improving the lidar's signal reception capability, and thus improving the lidar's utilization efficiency.

[0110] In some embodiments, as shown in FIG3, the scanning mirror assembly 200 includes a drive member 210 and a lens structure 220. The drive member 210 is rotatably mounted in the cavity of the assembly housing 400, and the lens structure 220 is connected to the drive member 210. The drive member 210 can drive the lens structure 220 to rotate to reflect the laser beam.

[0111] The lidar provided in some embodiments of this disclosure, through the arrangement of the scanning mirror assembly 200, enables the lidar to provide higher spatial resolution and measurement accuracy.

[0112] For example, the outer wall of the lens structure 220 may be made of at least one of glass or plastic.

[0113] In some embodiments, as shown in FIG3, the outer wall of the lens structure 220 includes four sub-lenses 2201. Each sub-lens 2201 is arranged parallel to the rotation axis of the drive member 210. Adjacent sub-lenses 2201 are perpendicular to each other and connected. On a plane perpendicular to the rotation axis of the drive member 210, the orthographic projection of the four sub-lenses 2201 is square.

[0114] The reflective surfaces of each sub-lens can be designed in other shapes, including concave or convex surfaces, or different reflective surfaces can have different tilt angles along the rotation axis, in order to increase the vertical field of view of the detection field.

[0115] The lidar provided in some embodiments of this disclosure, through the above-described settings, can meet the scanning requirements of lidar and has high efficiency in switching between each sub-lens.

[0116] In some embodiments, the lens structure 220 includes a lens body, which has a connecting surface and a reflecting surface disposed opposite to each other. The connecting surface is connected to the driving member 210, and the reflecting surface is used to reflect the laser beam.

[0117] The lidar provided in some embodiments of this disclosure, through the above-described configuration, can simplify the installation and manufacturing of the lens structure 220, and save the cost of the scanning mirror assembly 200.

[0118] In some embodiments, as shown in FIG2, the lidar further includes an optical window 300, which is embedded in the assembly housing 400, and the laser beam can pass through the optical window 300.

[0119] The lidar provided in some embodiments of this disclosure can protect its internal components from harsh environments by setting up an optical window 300.

[0120] In some embodiments, the optical window 300 includes a window body and an anti-reflective film. The window body is embedded in the assembly housing 400, and the anti-reflective film is connected to at least one side of the window body that is away from or close to the chamber.

[0121] The lidar provided in some embodiments of this disclosure, through the setting of the optical window 300 including the window body and the anti-reflection film, can effectively suppress stray light caused by surface reflection, thereby improving the imaging quality of the optomechanical assembly 100.

[0122] In some embodiments, the optical window 300 further includes a temperature control film connected to at least one side of the window body that is away from or close to the chamber.

[0123] The lidar provided in some embodiments of this disclosure includes a temperature control film in the optical window 300, which can eliminate or reduce factors that affect the clarity of vision, such as fog, frost, snow, and condensation inside the window.

[0124] In some embodiments, the optical window 300 further includes a protective film, which is at least attached to the side of the window body away from the cavity.

[0125] The lidar provided in some embodiments of this disclosure can increase the robustness and stability of the optical window 300 by setting a protective film.

[0126] This disclosure provides a vehicle 1, including a lidar 1000 of any of the above embodiments, through some embodiments.

[0127] The vehicle 1 provided in some embodiments of this disclosure can improve the efficiency of the user's monitoring of the surrounding environment by setting up a lidar, thereby improving the vehicle's usability.

[0128] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An optomechanical assembly (100), comprising: The transmitting module (110) has a transmitting field of view (A1) on the object under test, and the transmitting module (110) emits a laser beam in the transmitting field of view (A1); as well as A receiving module (120) has a receiving field of view (B1) on the object under test. The receiving module (120) receives the laser beam reflected by the object under test in the receiving field of view (B1). The transmitting field of view (A1) covers the receiving field of view (B1).

2. The optomechanical assembly (100) according to claim 1, wherein, The transmitting module (110) and the receiving module (120) are arranged along a first direction (X), and the transmitting module (110) includes: The transmitting lens (112) has a transmitting optical axis; and A light-emitting part (111) is provided extending along the first direction (X). The light-emitting part (111) emits the laser beam and the laser beam is emitted toward the object under test via the emitting lens (112). The light-emitting part (111) has a center point located on the straight line of the emitting optical axis.

3. The optomechanical assembly (100) according to claim 2, wherein, Along the first direction (X), the maximum distance between the two ends of the light-emitting part (111) is any value between 10mm and 18mm.

4. The optomechanical assembly (100) according to claim 2 or 3, wherein, The light-emitting part (111) includes multiple light-emitting points.

5. The optomechanical assembly (100) according to any one of claims 2 to 4, wherein, The light-emitting part (111) includes a plurality of sub-light sources (1111), each of the plurality of sub-light sources (1111) extending along the first direction (X).

6. The optomechanical assembly (100) according to claim 5, wherein, The straight line extending from the center point along the first direction (X) is the first straight line (L), and the projections of each sub-light source (1111) onto the first straight line (L) are continuous with each other.

7. The optomechanical assembly (100) according to claim 6, wherein, Each pair of adjacent sub-light sources (1111) is located on opposite sides of the first straight line (L).

8. The optomechanical assembly (100) according to any one of claims 2 to 7, wherein, The transmitting lens (112) includes a beam expander system (1121). The laser beam emitted by the light-emitting part (111) is expanded by the beam expander system (1121) and then emitted onto the object under test. The beam expansion angle of the beam expander system (1121) is between 18° and 28°.

9. The optomechanical assembly (100) according to claim 8, wherein, The transmitting lens (112) also includes a collimation system (1122) located between the beam expanding system (1121) and the light emitting part (111), and the collimation system (1122) is configured to collimate the laser beam.

10. The optomechanical assembly (100) according to any one of claims 1 to 9, wherein, The receiving module (120) includes: A receiving lens (121) is configured to receive the laser beam reflected from the receiving field of view (B1), and the focal length of the receiving lens (121) is between 5 mm and 40 mm. as well as A detector (122) is located on one side of the receiving lens (121) and is configured to receive the laser beam focused by the receiving lens (121).

11. The optomechanical assembly (100) according to claim 10, wherein, The detector (122) includes a single photon avalanche diode (SPAD) chip, and the SPAD chip includes multiple pixels.

12. The optomechanical assembly (100) according to claim 10 or 11, wherein, The receiving module (120) further includes a filter (123) located on the side of the receiving lens (121) away from the detector (122), and the filter (123) is configured to filter stray light entering the receiving lens (121).

13. The optomechanical assembly (100) according to any one of claims 1 to 12 further includes an optomechanical housing (130), wherein the transmitting module (110) and the receiving module (120) are both mounted on the optomechanical housing (130).

14. The optomechanical assembly (100) according to claim 13, wherein, The optical engine housing (130) is an integral structure. The optical engine housing (130) includes a first mounting cavity (131) and a second mounting cavity (132). The transmitting module (110) is embedded in the first mounting cavity (131), and the receiving module (120) is embedded in the second mounting cavity (132).

15. A lidar (1000), comprising: The assembly housing (400) encloses and forms a cavity; The optomechanical assembly (100) according to any one of claims 1 to 14 is mounted in the cavity; as well as A scanning mirror assembly (200) is installed in the chamber and is configured to reflect the laser beam emitted by the transmitting module (110) toward the object under test and to reflect the laser beam reflected by the object under test toward the receiving module (120).

16. The lidar (1000) according to claim 15, wherein, The scanning mirror assembly (200) includes: A drive element (210) rotatably mounted in the cavity of the assembly housing (400); and A lens structure (220) is connected to the drive member (210), which can drive the lens structure (220) to rotate to reflect the laser beam.

17. The lidar (1000) according to claim 16, wherein, The outer wall of the lens structure (220) includes four sub-lenses (2201). Each of the four sub-lenses (2201) is arranged parallel to the rotation axis of the drive member (210). Adjacent sub-lenses (2201) are perpendicular to each other and connected. On a plane perpendicular to the rotation axis, the orthographic projection of the four sub-lenses (2201) is square.

18. The lidar (1000) according to claim 16 or 17, wherein, The lens structure (220) includes a lens body, which has a connecting surface and a reflecting surface disposed opposite to each other. The connecting surface is connected to the driving member (210), and the reflecting surface is configured to reflect the laser beam.

19. The lidar (1000) according to any one of claims 15 to 18 further includes an optical window (300) embedded in the assembly housing (400), the laser beam being able to pass through the optical window (300).

20. The lidar (1000) according to claim 19, wherein, The optical window (300) includes: The window body is embedded in the assembly housing (400); An antireflective film is attached to at least one side of the window body that is opposite to or close to the cavity; A temperature-controlled film is attached to at least one side of the viewing window body that is opposite to or near the chamber; and A protective film is attached at least to the side of the window body facing away from the cavity.

21. A vehicle (1) comprising a lidar (1000) according to any one of claims 15 to 20.

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