CN115524857A - Optical system and laser radar having the same - Google Patents
Optical system and laser radar having the same Download PDFInfo
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- CN115524857A CN115524857A CN202211478779.9A CN202211478779A CN115524857A CN 115524857 A CN115524857 A CN 115524857A CN 202211478779 A CN202211478779 A CN 202211478779A CN 115524857 A CN115524857 A CN 115524857A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/30—Collimators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B1/00—Optical elements characterised by the material of which they are made; Optical coatings for optical elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/001—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
- G02B13/0015—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
- G02B13/005—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having spherical lenses only
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses an optical system and a laser radar with the same. Wherein the first lens has positive refractive power; the second lens has positive refractive power; the third lens has positive refractive power; the fourth lens has negative refractive power; the fifth lens has positive refractive power; the sixth lens has positive refractive power; the seventh lens has a negative refractive power. The optical system can collimate the divergent laser light incident from the first side and then emit the collimated laser light from the second side; or converging the laser light incident in parallel from the second side to a point on the focal plane. The laser radar comprises a lens mounting frame, wherein a transmitting lens barrel and a receiving lens barrel are arranged in the lens mounting frame, and the transmitting lens barrel and the receiving lens barrel can be internally provided with the optical systems. The laser device also comprises a laser transmitting module and a laser receiving module, wherein the laser transmitting module is provided with a laser for emitting laser; the laser receiving module has a sensor that senses the laser light.
Description
Technical Field
The invention relates to the field of optics, in particular to an optical system and a laser radar with the same.
Background
A lidar is a radar system that emits a laser beam to detect the position, velocity, etc. of an object. The lidar may transmit a probe signal (laser beam) to the target and then compare the received echo signal reflected from the target with the probe signal. After proper processing, the information such as distance, direction, speed and the like of the target can be obtained, so that the target can be detected, tracked and identified. The laser radar generally comprises a transmitting module, a receiving module, a scanning module, an optical system, a processor and the like, wherein the transmitting module converts electric pulses into optical pulses to be transmitted out, and the receiving module restores the optical pulses reflected from a target into the electric pulses to be transmitted to the processor.
The optical system is an important component of the lidar, and as described above, the optical system is required to collimate the beam in the transmitting portion of the lidar and to receive the beam energy in the receiving portion. The optical system used by the existing laser radar is composed of a plurality of lenses with refractive power, the parameters of each lens are different, and the more the lens types are, the higher the cost of the lens group occupying the laser radar is.
There is therefore a need for a low cost optical system to reduce lidar manufacturing costs, for example, using multiple lenses of the same specification in the optical system.
Disclosure of Invention
The invention provides an optical system capable of collimating laser light at a transmitting part and a laser radar having the same. And the optical system comprises four lenses with the same specification.
The technical scheme adopted by the invention is specifically as follows: the optical system comprises a lens group consisting of seven lenses with refractive power, and the lens group can collimate divergent laser light incident from a first side and then emit the laser light from a second side; a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens and a seventh lens are arranged in sequence from the first side to the second side; the first lens has positive refractive power, and the first side surface of the first lens is a concave surface and the second side surface of the first lens is a convex surface; the second lens has positive refractive power, and the first side surface of the second lens is a concave surface and the second side surface of the second lens is a convex surface; the third lens has positive refractive power, and the first side surface of the third lens is a convex surface and the second side surface of the third lens is a concave surface; the fourth lens has negative refractive power, the first side surface of the fourth lens is a concave surface, the second side surface of the fourth lens is a concave surface, and the fourth lens is closely attached to the third lens; the fifth lens has positive refractive power, the first side surface of the fifth lens is a plane, and the second side surface of the fifth lens is a convex surface; the sixth lens has positive refractive power, and the first side surface of the sixth lens is a convex surface and the second side surface of the sixth lens is a concave surface; the seventh lens has negative refractive power, and the first side surface of the seventh lens is a concave surface and the second side surface of the seventh lens is a convex surface; the first lens, the second lens, the third lens and the sixth lens are same in specification, the first lens and the second lens are arranged in the same direction, and the third lens and the sixth lens are arranged in the same direction.
As an alternative of the technical scheme of the invention, the focal length of the lens group is 14.3mm.
As an alternative of the technical solution of the present invention, the first lens to the seventh lens are all made of H-ZK3 glass.
As an alternative of the technical solution of the present invention, the field of view of the optical system is not less than ± 15 °.
As an alternative of the technical solution of the present invention, a diaphragm is disposed between the fourth lens and the fifth lens, and the diaphragm coincides with the first side surface of the fifth lens.
As an alternative of the technical solution of the present invention, a laser radar according to another embodiment of the present invention includes a lens mount, a laser emitting module, and a laser receiving module. The lens mounting rack is internally provided with a transmitting lens barrel and a receiving lens barrel, and the optical system is arranged in the transmitting lens barrel and the receiving lens barrel; the laser emission module is arranged on the lens mounting frame, is positioned on the first side of the optical system, is aligned with the emission lens barrel, and is provided with a laser for emitting laser; the laser receiving module is arranged on the lens mounting frame, is positioned on the first side of the optical system and aligned with the receiving lens barrel, and is provided with a sensor for sensing laser.
As an alternative of the technical scheme of the invention, the number of the lasers can be one or more.
As an alternative of the technical solution of the present invention, the transmitting lens barrel and the receiving lens barrel are arranged in parallel, the first lens to the seventh lens are arranged in the same direction, and the first lens is close to the laser transmitting module and the laser receiving module.
As an alternative of the technical solution of the present invention, the laser and the sensor are disposed on the focal plane of the optical system.
As an alternative of the technical solution of the present invention, a laser radar according to another embodiment of the present invention includes a lens mounting frame, a laser emission module, and a laser reception module, wherein two emission lens barrels and one reception lens barrel are disposed in the lens mounting frame, the emission lens barrels are located at two sides of the reception lens barrel, and the optical system is disposed in the emission lens barrels; the laser emission module is arranged on the lens mounting frame, is positioned on the first side of the optical system, is aligned with the emission lens barrel, and is provided with a laser for emitting laser; the laser receiving module is arranged on the lens mounting frame, is positioned on the first side of the optical system, is aligned with the receiving lens barrel, and is provided with a sensor for sensing laser.
As an alternative of the technical scheme of the invention, the number of the lasers can be one or more.
As an alternative of the technical solution of the present invention, the transmitting lens barrel and the receiving lens barrel are arranged in parallel, the first lens to the seventh lens are arranged in the same direction, and the first lens is close to the laser emitting module.
As an alternative of the technical solution of the present invention, the laser is disposed on an optical focal plane of the optical system.
The beneficial effects obtained by the invention are as follows: the optical system can collimate laser light rays diverging from one point of the focal plane to emit substantially parallel light, or can focus parallel light of the object plane to one point of the focal plane. In the optical system, the specifications of the first lens, the second lens, the third lens and the sixth lens are the same, so that the types of required lenses are reduced, and the manufacturing cost of the optical system and the laser radar is reduced.
The effects of the present invention are not limited to the above-described effects, and those skilled in the art can derive the effects not described above from the following description.
Drawings
Fig. 1 is a perspective view showing an optical system lens group according to a first embodiment of the present invention.
Fig. 2 is a diagram showing an optical system configuration according to a first embodiment of the present invention.
Fig. 3 is an optical path diagram showing an optical system according to a first embodiment of the present invention.
Fig. 4 is a perspective view showing a laser radar according to a second embodiment of the present invention.
Fig. 5 is a sectional view showing a laser radar according to a second embodiment of the present invention.
Fig. 6 is a perspective view showing a laser radar according to a third embodiment of the present invention.
Fig. 7 is a sectional view showing a laser radar according to a third embodiment of the present invention.
Fig. 8 is a diagram showing a configuration of a receiving optical system and an optical path according to a third embodiment of the present invention.
Fig. 9 is a schematic view showing a laser emission module according to a fourth embodiment of the present invention.
Wherein, 100-optical focal plane; 110-a first lens; 120-a second lens; 130-a third lens; 140-a fourth lens; 150-diaphragm; 160-fifth lens; 170-sixth lens; 180-seventh lens; 190-object plane; 200-a lens mount; 210-a transmission lens barrel; 220-a receiving barrel; 230-a laser emission module; 231-a laser; 240-laser receiving module; 250-interlayer.
Detailed Description
In order to make the technical problems, technical solutions and advantages solved by the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the following examples, are within the scope of protection of the present invention.
It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the drawings, and are simply for convenience of description of the present invention, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the embodiments, the terms "disposed," "connected," and the like are to be construed broadly unless otherwise explicitly specified or limited. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
It is noted that the values given below for the various embodiments of the optical system are given by way of example and are not intended to be limiting. For example, one or more parameters of one or more surfaces of one or more lens elements in exemplary embodiments, as well as parameters of the materials comprising these elements, may be assigned different values while still providing similar performance to the optical system. It is noted that some of the values in the table may be scaled up or down to facilitate larger or smaller implementations of the optical systems of the present application.
The optical system of the present invention can be used for both the transmit and receive portions of a lidar. For the optical system as shown in fig. 1 to 3, a transmitting module or a receiving module of the lidar may be arranged on the left side of the optical system, and the right side of the optical system may be the outer direction that the lidar needs to detect. Hereinafter, the left side of the optical system shown in fig. 1 to 3 is referred to as a first side, and the right side of the optical system shown in fig. 1 to 3 is referred to as a second side. The above definitions are provided to better illustrate the invention and do not limit the scope of the invention in a limiting manner.
First embodiment
As shown in fig. 1, the optical system lens group perspective view is composed of seven lenses having refractive power, and a first lens 110, a second lens 120, a third lens 130, a fourth lens 140, a fifth lens 160, a sixth lens 170, and a seventh lens 180 are disposed in this order from a first side to a second side.
As shown in the configuration diagram of the optical system shown in fig. 2, in the present embodiment, the first lens 110 is a meniscus lens with positive refractive power, and both surfaces of the first lens 110 are spherical surfaces, and the first side surface thereof is a concave surface close to a plane, and the second side surface thereof is a convex surface.
The second lens 120 is a meniscus lens with positive refractive power, and both surfaces of the second lens 120 are spherical surfaces, and the first side surface thereof is a concave surface close to a plane, and the second side surface thereof is a convex surface.
The third lens 130 is a meniscus lens with positive refractive power, and both surfaces of the third lens 130 are spherical surfaces, a first side of which is a convex surface, and a second side of which is a concave surface close to a plane.
The fourth lens 140 is a biconcave lens having a negative refractive power, and both surfaces of the fourth lens 140 are spherical surfaces, and the first side surface and the second side surface thereof are concave surfaces.
The fifth lens 160 is a plano-convex lens having a positive refractive power, and the first side surface of the fifth lens 160 is a flat surface and the second side surface is a spherical convex surface.
The sixth lens 170 is a meniscus lens with positive refractive power, and both surfaces of the sixth lens 170 are spherical surfaces, and a first side of the sixth lens is a convex surface and a second side of the sixth lens is a concave surface close to a plane.
The seventh lens 180 is a meniscus lens with negative refractive power, and both surfaces of the seventh lens 180 are spherical surfaces, and a first side of the seventh lens 180 is a concave surface and a second side of the seventh lens is a convex surface close to a plane.
Preferably, in the optical system, a diaphragm 150 may be further included, and the diaphragm 150 may be an aperture diaphragm 150 to facilitate achieving a small FNO. Also, more reflected light can be received by the diaphragm 150. Preferably, the aperture 150 is located between the fourth lens 140 and the fifth lens 160, and is overlapped with the first side of the fifth lens 160, so as to facilitate effective beam-closing of light and reduce the aperture of the lens of the optical system. Of course, the diaphragm 150 may be positioned between any other lenses as will be appreciated by those skilled in the art.
Next, with reference to fig. 2 and table 1, a specific embodiment of the optical system of the present invention will be described.
As shown in fig. 2 and table 1, the optical system according to the present embodiment sequentially includes, from the first side to the second side: assume a focal plane 100 having a surface S1; a meniscus-shaped first lens 110 having a positive refractive power, having a first surface S2 concave to a first side and a second surface S3 convex to a second side; a meniscus-shaped second lens 120 having a positive refractive power, having a first surface S4 concave to a first side and a second surface S5 convex to a second side; a meniscus-shaped third lens 130 having a positive refractive power, having a first surface S6 convex to the first side and a second surface S7 concave to the second side; a double concave fourth lens 140 having a negative refractive power, having a first surface S8 concave to a first side and a second surface S9 concave to a second side; the diaphragm 150 is assumed to have a surface S10; a plano-convex fifth lens 160 having positive refractive power, having a flat first surface S11 and a second surface S12 convex to the second side; a meniscus-shaped sixth lens 170 having a positive refractive power, having a first surface S13 convex to the first side and a second surface S14 concave to the second side; a meniscus-shaped seventh lens 180 having a negative refractive power, having a first surface S15 concave to the first side and a second surface S16 convex to the second side; assume an object plane 190 with a surface S17.
For the above-described optical system for the laser radar transmitting portion, the focal plane 100 may correspond to the installation position of the laser transmitting module 240; for the above-described optical system for the laser radar receiving part, the focal plane 100 may correspond to a mounting position of the laser receiving module 250.
Lens data of the above optical system are shown in table 1 below.
[ TABLE 1 ]
In the above table, a positive radius of curvature indicates that the center of curvature is on the right side (second side) of the surface, and a negative radius of curvature indicates that the center of curvature is on the left side (first side) of the surface; thickness or pitch refers to the axial distance from the current surface to the next surface; the diameter is the diameter of the surface with curvature on both sides of each lens; the focal length of the whole lens group is 14.3mm, the Numerical Aperture (NA) is 2, and the material is H-ZK3 type glass.
As can be seen from the above table, the specification parameters of the first lens 110, the second lens 120, the third lens 130 and the sixth lens 170 are the same, the convex sides of the first lens 110 and the second lens 120 are arranged in the same direction, and the convex sides of the third lens 130 and the sixth lens 170 are arranged in the same direction. In addition, with reference to fig. 2 or 3, the second side of the third lens 130 and the first side of the fourth lens 140 have the same surface diameter and can be disposed in a substantially close-fitting arrangement.
As shown in the optical path diagram of the optical system of the embodiment shown in fig. 3, the laser emitted from any point on the focal plane 100 by the laser emitting module 240 (for 905 ± 20nm wavelength) is collimated by the lens group and then emitted from the second side as substantially parallel light to reach the object plane 190. The laser light emitted from different positions on the focal plane 100 corresponds to different emitting positions and angles. Similarly, the parallel light reflected from the object plane 190 enters the lens group from the second side and is finally focused to a point on the focal plane 100. The reflected light rays at different positions and angles are focused at different points on the focal plane 100.
The characteristics and advantages of the optical system according to the present embodiment may include, but are not limited to, one or more of the following.
1) The optical system has seven lenses. In some embodiments, all lens elements have spherical surfaces, which may reduce cost.
2) The optical system has four lenses (the first lens 110, the second lens 120, the third lens 130 and the sixth lens 170) with the same specification parameters, so that the use of the lens types is reduced, and the manufacturing cost is reduced.
3) The third lens 130 and the fourth lens 140 are closely attached and arranged, so that the use of space rings between the lenses is reduced, the manufacturing cost is reduced, and the assembly steps are simplified.
4) The optical system comprises an (aperture) stop 150, for example located between the fourth lens 140 and the fifth lens 160 coinciding with the first side of the fifth lens 160.
5) In some embodiments, the optical system may be integrated with a scanning mirror system (e.g., a MEMS mirror or a rotating mirror) to collect laser radiation from a remote object and to receive signals with sufficient accuracy at a receiving module located at the focal plane 100.
6) The optical system can be optimized for compact transmit/receive modules, scaled up or down.
7) Light rays diverging from any point on the first side focal plane 100 can be collimated to emerge as substantially parallel light on the second side, or parallel light incident on the second side can be focused to a point on the focal plane 100. For example, by emitting laser light in a substantially parallel manner, a long-distance (several hundred meters) object can be detected.
8) The laser light emitted from different positions of the focal plane 100 is emitted in different orientations at the second side of the optical system, so that the effective line count of the lidar can be increased.
9) The optical system may provide a field of view of no less than ± 15 ° (30 ° in sum).
Second embodiment
The structure and performance of the optical system of the first embodiment are explained above with reference to fig. 1 to 3, and next, the lidar having the above optical system is further explained with reference to fig. 4 and 5.
The lidar shown in fig. 4 is a perspective view including a lens mount 200, a laser emitting module 230, and a laser receiving module 240. A transmitting lens barrel 210 and a receiving lens barrel 220 are arranged in parallel in the lens mounting frame 200, and the optical system according to the first embodiment is arranged in the transmitting lens barrel 210 and the receiving lens barrel 220; the laser emission module 230 is disposed on the lens mount 200, aligned with the emission barrel 210 at a first side of the optical system, and the laser emission module 230 is provided with a laser 231 emitting laser light; the laser receiving module 240 is disposed on the lens mounting frame 200, and is aligned with the receiving lens barrel 220 at a first side of the optical system, and a sensor for sensing laser is disposed on the laser receiving module 240. In the present embodiment, the transmitting lens barrel 210 and the receiving lens barrel 220 are vertically arranged, and similarly, when the lens mount 200 is horizontally arranged, the transmitting lens barrel 210 and the receiving lens barrel 220 are horizontally arranged.
As shown in the cross-sectional view of the lidar shown in fig. 5, a transmitting barrel 210 is used to insert the optical system of the transmitting portion and a receiving barrel 220 is used to insert the optical system of the receiving portion. For example, the optical system of the emitting portion may be inserted into the upper through hole, and the optical system of the receiving portion may be inserted into the lower through hole. Here, the optical system of the emitting portion and the optical system of the receiving portion are both the optical systems described in the first embodiment.
The laser emitting module 230 and the laser receiving module 240 of the lidar are located at the rear side of the lens barrel, and the first side of the optical system described in the first embodiment is the side close to the laser emitting module 230 and the laser receiving module 240. The laser emitting divergence point of the laser emitting module 230 is located on the focal plane 100 of the optical system, and the photosensitive surface of the laser receiving module 240 is located on the focal plane 100 of the optical system.
In addition, in order to prevent the emitted laser from affecting the laser receiving module 240 in the lens mount 200, the lens mount 200 is provided with an interlayer 250 between the laser emitting module 230 and the laser receiving module 240, and the laser emitting module 230 and the laser receiving module 240 may be installed in a staggered manner.
Third embodiment
In addition to the laser radar having the optical system described in the first embodiment in the second embodiment, another laser radar having the optical system described above is further described with reference to fig. 6 to 8.
As shown in fig. 6, the lidar perspective view includes a lens mount 200, two transmitting lens barrels 210 and one receiving lens barrel 220 are horizontally disposed in the lens mount 200, the transmitting lens barrels 210 are located at two sides of the receiving lens barrel 220, the aperture of the transmitting lens barrels 210 is smaller than that of the receiving lens barrel 220, and through holes suitable for placing an optical system are disposed in the transmitting lens barrels 210 and the receiving lens barrel 220. A laser emitting module 230 is disposed at a position aligned with the emission barrel 210 on the left side of the lens mount 200, and a laser receiving module 240 is disposed at a position aligned with the reception barrel 220. Compared to the lidar shown in the second embodiment, the present embodiment can achieve double the number of laser lines on the premise of using the same laser emitting module 230.
As shown in the cross-sectional view of the lidar shown in fig. 7, a transmitting barrel 210 is used to insert the optical system of the transmitting portion and a receiving barrel 220 is used to insert the optical system of the receiving portion. Wherein the optical system of the emitting portion is the optical system described in the first embodiment. Fig. 8 is a diagram showing an optical system configuration optical path of the receiving portion.
The receiving section optical system includes, in order from the first side to the second side: assuming that the object plane is located at infinity, the laser reflected by the object plane is a parallel beam; a meniscus-shaped first lens 100' having a negative refractive power, having a first surface S1' convex to a first side and a second surface S2' concave to a second side; a biconvex second lens 110' having a positive refractive power, having a first surface S3' convex to a first side and a second surface S4' convex to a second side; a meniscus-shaped third lens 120' having a positive refractive power, having a first surface S5' convex to the first side and a second surface S6' concave to the second side; assume a diaphragm 130 'with a surface S7'; a double concave fourth lens 140' having a negative refractive power, having a first surface S8' concave to the first side and a second surface S9' concave to the second side; a biconvex fifth lens 150' having a positive refractive power, having a first surface S10' convex to the first side and a second surface S11' convex to the second side; a biconvex sixth lens 160' having a positive refractive power, having a first surface S12' convex to the first side and a second surface S13' convex to the second side; a meniscus-shaped seventh lens 170' having a negative refractive power, having a first surface S14' concave to the first side and a second surface S15' convex to the second side; the eighth lens 180' is a flat lens having a first surface S16' and a second surface S17' which are vertically parallel and flat; assume a focal plane 190 'having a surface S18'.
For the above optical system for the laser radar receiving part, the focal plane 190' may correspond to a mounting position of the laser receiving module 240, in which a sensor for sensing laser light coincides with the focal plane 190', and an incident laser beam is focused on the focal plane 190' through the above optical system to be sensed by the sensor.
Lens data of the receiving part optical system is shown in table 2 below.
[ TABLE 2 ]
In the above table, a positive radius of curvature indicates that the center of curvature is on the right side (second side) of the surface, and a negative radius of curvature indicates that the center of curvature is on the left side (first side) of the surface. Thickness or pitch refers to the axial distance from the current surface to the next surface, and the diameter is the diameter of the surface with curvature on both sides of each lens. The focal length of the whole lens group is 14.3mm, the Numerical Aperture (NA) is 2, the first lens 100' to the seventh lens 170' are made of H-ZK3 type glass, and the eighth lens 180' is made of BK7 type glass.
As shown in fig. 8, the receiving portion optical system of the present embodiment is configured as an optical path diagram, and the parallel laser beam reflected from the object plane enters the lens group from the first side and is finally focused on a point on the focal plane 190'. The reflected light rays at different positions and angles are focused at different points on the focal plane 190'.
Fourth embodiment
According to the second and third embodiments described above, two types of laser radars having the optical system described in the first embodiment are explained with reference to fig. 4 to 8. Next, the laser light emitting module 230 and the laser light receiving module 240 on the first side of the optical system in the second embodiment and the third embodiment will be explained with reference to fig. 9.
As shown in fig. 9, the laser emitting module 230 of the lidar may be a single laser 231 for emitting laser light, or may include a plurality of lasers 231 for emitting laser light, and the lasers 231 may be Edge Emitting Lasers (EELs) or Vertical Cavity Surface Emitting Lasers (VCSELs). The plurality of lasers 231 may be arranged along a line passing through the optical axis of the optical system in the vicinity of the optical focal plane 100 of the emission portion optical system. Further, the plurality of lasers 231 is arranged in a vertical direction. A plurality of lasers 231 may also be integrated to form a line laser, and at this time, a portion of the line laser emitting a laser beam may be regarded as a laser.
The emission divergence point of each laser 231 is located at the focal plane 100 shown in fig. 3, so that the divergent laser light emitted from the plurality of lasers 231 is converted into a plurality of collimated light rays after passing through the emission portion optical system. Although the case of including 16 lasers 231 is illustrated in fig. 9, the present invention is not limited thereto, and the number of lasers 231 may be increased or decreased as appropriate according to the need. And the dual laser emission module 230 is used in the third embodiment, the number of laser emission lines is doubled as compared with the second embodiment.
As shown in fig. 9, the plurality of lasers 231 are arranged in a line pattern along the vertical direction, but the present invention is not limited thereto, and the plurality of lasers 231 may be arranged in two lines perpendicular to the optical axis direction. Alternatively, the plurality of lasers 231 may be arranged dispersedly, and even if the lasers 231 are not arranged in a straight line, the optical system of the emitting portion may collimate the laser light emitted from the plurality of lasers 231, respectively.
In the present embodiment, the sensor of the laser light receiving module 240 may also adopt an arrangement similar to the laser 231 shown in fig. 9. The number of sensors is less than or equal to the number of lasers 231. When the collimated laser beams emitted by the laser emitting module 230 are reflected by the object and enter the laser receiving module 240 from different directions and angles, the receiving part optical system focuses the incident parallel laser beams and then falls on the focal plane 100 or 190', and the laser beams from different directions and angles are focused and then fall on different positions on the focal plane 100 or 190'.
The above-described embodiments of the optical system and the lidar having the same are merely exemplary and preferred embodiments, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization of those skilled in the art; when combinations of technical solutions are mutually inconsistent or cannot be realized, such combinations should not be considered to exist and are not within the scope of the claimed invention.
Claims (13)
1. An optical system comprising a lens group consisting of seven lenses having refractive power, capable of collimating divergent laser light incident from a first side and emitting the collimated laser light from a second side;
a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens and a seventh lens are arranged in sequence from the first side to the second side;
the first lens has positive refractive power, and the first side surface of the first lens is a concave surface and the second side surface of the first lens is a convex surface;
the second lens has positive refractive power, the first side surface of the second lens is a concave surface, and the second side surface of the second lens is a convex surface;
the third lens has positive refractive power, and the first side surface of the third lens is a convex surface and the second side surface of the third lens is a concave surface;
the fourth lens has negative refractive power, the first side surface of the fourth lens is a concave surface, the second side surface of the fourth lens is a concave surface, and the fourth lens is closely attached to the third lens;
the fifth lens has positive refractive power, the first side surface of the fifth lens is a plane, and the second side surface of the fifth lens is a convex surface;
the sixth lens has positive refractive power, and the first side surface of the sixth lens is a convex surface and the second side surface of the sixth lens is a concave surface;
the seventh lens has negative refractive power, and the first side surface of the seventh lens is a concave surface, and the second side surface of the seventh lens is a convex surface;
the first lens, the second lens, the third lens and the sixth lens are same in specification, the first lens and the second lens are arranged in the same direction, and the third lens and the sixth lens are arranged in the same direction.
2. The optical system of claim 1 wherein said lens group focal length is 14.3mm.
3. The optical system of claim 1, wherein the first through seventh lenses are all made of H-ZK3 glass.
4. The optical system of claim 1, wherein the field of view of the optical system is not less than ± 15 °.
5. The optical system of claim 1 wherein an aperture is disposed between the fourth lens and the fifth lens, the aperture being coincident with the fifth lens first side.
6. A lidar, comprising:
the optical system of any one of claims 1 to 5;
the optical system comprises a lens mounting frame, a transmitting lens barrel and a receiving lens barrel are arranged in the lens mounting frame, and the optical system is arranged in the transmitting lens barrel and the receiving lens barrel;
the laser emission module is arranged on the lens mounting frame, is positioned on the first side of the optical system, is aligned with the emission lens barrel, and is provided with a laser for emitting laser;
and the laser receiving module is arranged on the lens mounting frame, is positioned on the first side of the optical system and aligned with the receiving lens barrel, and is provided with a sensor for sensing laser.
7. The lidar of claim 6, wherein the laser is one or more.
8. The lidar of claim 6, wherein the transmitting cylinder and the receiving cylinder are disposed in parallel, the first through seventh lenses are arranged in the same direction, and the first lens is disposed adjacent to the laser transmitting module and the laser receiving module.
9. The lidar of claim 6, wherein the laser and sensor are disposed at the optical system focal plane.
10. A lidar, comprising:
an optical system as claimed in any one of claims 1 to 5;
the optical system comprises a lens mounting frame, a lens driving device and a lens driving device, wherein two transmitting lens barrels and a receiving lens barrel are arranged in the lens mounting frame, the transmitting lens barrels are positioned on two sides of the receiving lens barrel, and the optical system is arranged in the transmitting lens barrels;
the laser emission module is arranged on the lens mounting frame, is positioned on the first side of the optical system, is aligned with the emission lens barrel, and is provided with a laser for emitting laser;
and the laser receiving module is arranged on the lens mounting frame, is positioned on the first side of the optical system and aligned with the receiving lens barrel, and is provided with a sensor for sensing laser.
11. The lidar of claim 10, wherein the laser is one or more.
12. The lidar of claim 10, wherein the transmitting cylinder and the receiving cylinder are disposed parallel to each other, the first through seventh lenses are arranged in the same direction, and the first lens is disposed adjacent to the laser transmitting module.
13. The lidar of claim 10, wherein the laser is disposed in a focal plane of the optical system.
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| CN202211478779.9A CN115524857B (en) | 2022-11-24 | 2022-11-24 | Optical system and laser radar with same |
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| CN202211478779.9A CN115524857B (en) | 2022-11-24 | 2022-11-24 | Optical system and laser radar with same |
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| CN115524857B (en) | 2023-03-31 |
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