CN117930184A - Laser radar with laser collimation lens - Google Patents
Laser radar with laser collimation lens Download PDFInfo
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- CN117930184A CN117930184A CN202211309284.3A CN202211309284A CN117930184A CN 117930184 A CN117930184 A CN 117930184A CN 202211309284 A CN202211309284 A CN 202211309284A CN 117930184 A CN117930184 A CN 117930184A
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- 230000003287 optical effect Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 24
- 230000005499 meniscus Effects 0.000 claims description 10
- 239000005304 optical glass Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000004075 alteration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
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Abstract
The invention discloses a laser collimating lens, which comprises a first cylindrical lens group and a second cylindrical lens group which are sequentially arranged along the light emergent direction; the first cylindrical lens group comprises a first cylindrical lens, a second cylindrical lens and a third cylindrical lens which are sequentially arranged, the first cylindrical lens group is used for collimating incident light of a Y plane, and the Y plane is a plane perpendicular to the first cylindrical lens group and parallel to a refractive power meridian; the second cylindrical lens group comprises a fourth cylindrical lens, a fifth cylindrical lens and a sixth cylindrical lens which are sequentially arranged, and is used for collimating incident light of an X plane, wherein the X plane is a plane which is perpendicular to the Y plane and passes through the optical axis; the laser collimating lens adopts a brand new lens combination and reasonably distributes focal length, so that the divergent light source can be projected into a parallel light source, the light divergence condition is well reduced, the working distance of the laser radar is greatly enhanced, and the laser radar can still effectively work at a distance of more than hundred meters.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted laser radars, in particular to a laser collimating lens and a laser radar.
Background
With the development of the automobile industry and the popularization of intelligent equipment, the automatic driving technology gradually becomes a hot spot field. The automatic driving automobile needs the sensing capability to surrounding obstacles and environments, and various sensing devices such as cameras, millimeter wave radars, laser radars and the like exist at present. Among them, lidar is favored by virtue of its long-distance recognition, and is widely used in the automatic driving technology.
At present, the technology of the vehicle-mounted laser radar is arranged in a hundred ways, and multiple technical routes coexist. Lidars can be classified into single-line lidars and multi-line lidars according to the number of laser beams emitted. Currently, the mainstream technology is to seek higher detection efficiency and use multi-line laser radar. For the multi-line laser radar, if a rotationally symmetrical optical system is used for collimating the light beams, the imaging effects of the light sources with different fields of view are different due to the fact that the existing laser collimating lens is rare in product types and poor in collimating effect and the interference of aberration is added, and due to the fact that the use environment of the vehicle-mounted device is complex, special designs with higher collimating effects are needed to meet the use requirements of various scenes, and the performances of the vehicle-mounted device in various scenes are kept consistent as much as possible.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the laser collimating lens which can solve the problems of rare product types, poor collimating effect and the like of the traditional laser collimating lens; the invention also provides a laser radar based on the laser collimating lens.
According to an embodiment of the first aspect of the present invention, a laser collimator lens includes a first cylindrical lens group and a second cylindrical lens group sequentially arranged along a light-emitting direction;
The first cylindrical lens group comprises a first cylindrical lens, a second cylindrical lens and a third cylindrical lens which are sequentially arranged, refractive power meridians of the first cylindrical lens, the second cylindrical lens and the third cylindrical lens are parallel, the first cylindrical lens group is used for collimating incident light of a Y plane, and the Y plane is a plane perpendicular to the first cylindrical lens group and parallel to the refractive power meridians;
the second cylindrical lens group comprises a fourth cylindrical lens, a fifth cylindrical lens and a sixth cylindrical lens which are sequentially arranged, refractive power meridians of the fourth cylindrical lens, the fifth cylindrical lens and the sixth cylindrical lens are parallel, the second cylindrical lens group is used for collimating incident light of an X plane, and the X plane is a plane which is perpendicular to the Y plane and passes through an optical axis;
The lens focal length constituting the first cylindrical lens group and the lens focal length constituting the second cylindrical lens group satisfy the following relationship:
0.6<f1/F1<1；
2.2<f2/F1<2.6；
-3<f3/F1<-2.6；
1.5<f4/F2<1.9；
0.8<f5/F2<1.2；
-1.7<f6/F2<-1.3；
0<F1/F2<0.2；
the F 1、f2、f3、f4、f5、f6 is the focal lengths of the first cylindrical lens, the second cylindrical lens, the third cylindrical lens, the fourth cylindrical lens, the fifth cylindrical lens and the sixth cylindrical lens, the F1 represents the integrated optical focal lengths of the first cylindrical lens, the second cylindrical lens and the third cylindrical lens, and the F2 represents the integrated optical focal lengths of the fourth cylindrical lens, the fifth cylindrical lens and the sixth cylindrical lens.
The laser collimation lens provided by the embodiment of the first aspect of the invention has at least the following beneficial effects: the first cylindrical lens group and the second cylindrical lens group of the laser collimating lens are sequentially collimated from a Y plane perpendicular to the first cylindrical lens group and parallel to the optical power meridian and an X plane perpendicular to the Y plane and passing through the optical axis respectively by adopting brand new lens combination and reasonably distributing focal lengths, so that a divergent light source can be projected as a parallel light source, the light divergence condition is well reduced, the working distance of the laser radar is greatly enhanced, and the laser radar can still effectively work at a distance of more than hundred meters.
According to some embodiments of the invention, the first, second and third cylindrical mirrors are a biconvex cylindrical mirror, a meniscus cylindrical mirror, respectively.
According to some embodiments of the invention, the second cylindrical mirror and the third cylindrical mirror form a cemented cylindrical mirror.
According to some embodiments of the invention, the fourth cylindrical mirror, the fifth cylindrical mirror, and the sixth cylindrical mirror are all meniscus cylindrical mirrors.
According to some embodiments of the invention, the material of the first cylindrical mirror satisfies: nd is more than or equal to 1.7, vd is less than or equal to 40; the material of the second cylindrical lens satisfies: nd is more than or equal to 1.7, vd is less than or equal to 40; the material of the third cylindrical mirror satisfies: nd is larger than or equal to 1.7, and Vd is smaller than or equal to 40; the material of the fourth cylindrical mirror satisfies: nd is less than or equal to 1.7, vd is less than or equal to 40; the fifth cylindrical mirror is made of the following materials: nd is less than or equal to 1.7, vd is less than or equal to 40; the sixth cylindrical mirror is made of the following materials: nd is less than or equal to 1.7, vd is less than or equal to 40; where Nd is the refractive index of the material, and Vd is the Abbe constant.
According to some embodiments of the invention, the laser collimating lens is adapted for laser light with a wavelength of 905 nm.
According to some embodiments of the invention, the first cylindrical mirror, the second cylindrical mirror, the third cylindrical mirror, the fourth cylindrical mirror, the fifth cylindrical mirror, and the sixth cylindrical mirror are all made of optical glass.
According to a second aspect of the present invention, a laser radar includes a laser radar body and the laser collimating lens disposed on the laser radar body.
The laser radar according to the embodiment of the second aspect of the present invention has at least the following advantages: by utilizing the laser radar of the laser collimating lens of the embodiment of the first aspect of the scheme, the processing difficulty and the adjustment difficulty of the collimating lens can be reduced while the collimation of the emitted light of the laser is realized, so that the overall cost of the laser radar is reduced.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
Fig. 1 is a schematic perspective view of a laser collimator lens according to a first embodiment of the present invention;
FIG. 2 is a front view (in the direction of the X-plane) of a laser collimator lens according to a first embodiment of the present invention;
FIG. 3 is a top view (Y-plane direction) of a laser collimator lens according to a first embodiment of the present invention;
FIG. 4 is a schematic view of a laser collimator lens according to a first embodiment of the present invention (X-plane direction);
FIG. 5 is a schematic view of a laser collimator lens according to a first embodiment of the present invention (Y-plane direction);
FIG. 6 is a diagram showing the effect of the laser collimator lens before collimation according to the first embodiment of the present invention;
fig. 7 is a diagram showing the effect of the laser collimator according to the first embodiment of the present invention after collimation.
Reference numerals:
A first cylindrical lens group 100, a first cylindrical lens 110, a second cylindrical lens 120, a third cylindrical lens 130,
A second cylindrical lens group 200, a fourth cylindrical lens 210, a fifth cylindrical lens 220, and a sixth cylindrical lens 230.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Aiming at the problems that the existing laser collimating lens has rare product types, poor collimating effect and different imaging effects of light sources with different view fields caused by the interference of aberration, and because the use environment of the vehicle-mounted equipment is complex, the special design with higher collimating effect is required to meet the use requirements of various scenes, so that the performance of the laser collimating lens is kept as consistent as possible under various scenes. In view of this, the following technical solutions are proposed:
referring to fig. 1 to 5, a laser collimator according to a first embodiment of the present invention includes a first cylindrical lens group 100 and a second cylindrical lens group 200 sequentially arranged along a light-emitting direction, and a certain distance is maintained between the first cylindrical lens group 100 and the second cylindrical lens group 200, so as to collimate light emitted from a laser in two directions.
Specifically, the first cylindrical lens group 100 includes a first cylindrical lens 110, a second cylindrical lens 120, and a third cylindrical lens 130, which are sequentially disposed, the refractive power meridians of the first cylindrical lens 110, the second cylindrical lens 120, and the third cylindrical lens 130 are parallel, the first cylindrical lens group 100 is used for collimating the incident light in the Y plane, and the Y plane is a plane perpendicular to the first cylindrical lens group 100 and parallel to the refractive power meridian;
the second cylindrical lens group 200 includes a fourth cylindrical lens 210, a fifth cylindrical lens 220, and a sixth cylindrical lens 230, which are sequentially arranged, the refractive power meridians of the fourth cylindrical lens 210, the fifth cylindrical lens 220, and the sixth cylindrical lens 230 are parallel, the second cylindrical lens group 200 is used for collimating incident light in an X plane, and the X plane is a plane perpendicular to the Y plane and passing through the optical axis;
The lens focal lengths constituting the first cylindrical lens group 100 and the lens focal lengths constituting the second cylindrical lens group 200 satisfy the following relationship:
0.6<f1/F1<1；
2.2<f2/F1<2.6；
-3<f3/F1<-2.6；
1.5<f4/F2<1.9；
0.8<f5/F2<1.2；
-1.7<f6/F2<-1.3；
0<F1/F2<0.2；
Wherein F 1、f2、f3、f4、f5、f6 is the focal lengths of the first cylindrical lens 110, the second cylindrical lens 120, the third cylindrical lens 130, the fourth cylindrical lens 210, the fifth cylindrical lens 220, and the sixth cylindrical lens 230, respectively, F1 is the combined optical focal length of the first cylindrical lens 110, the second cylindrical lens 120, and the third cylindrical lens 130, and F2 is the combined optical focal length of the fourth cylindrical lens 210, the fifth cylindrical lens 220, and the sixth cylindrical lens 230.
The first cylindrical lens group 100 and the second cylindrical lens group 200 of the laser collimating lens of this embodiment perform successive collimation from the Y plane perpendicular to the first cylindrical lens group 100 and parallel to the optical power meridian, and the X plane perpendicular to the Y plane and passing through the optical axis, respectively, by adopting a brand new lens combination and reasonably distributing focal lengths, as shown in fig. 6 and 7, the effect before and after collimation is compared, and it can be seen that the laser collimating lens of this embodiment projects the divergent light source as a parallel light source, so as to well reduce the light divergence, avoid that the laser power reflected by distant objects is too low to be submerged in noise, greatly enhance the working distance of the laser radar, and make the laser radar still effectively work at a distance of more than hundred meters.
In some embodiments of the present invention, the first cylindrical mirror 110, the second cylindrical mirror 120, and the third cylindrical mirror 130 are respectively a biconvex cylindrical mirror, a meniscus cylindrical mirror, and a meniscus cylindrical mirror, as shown in fig. 5, the biconvex cylindrical mirror performs collimation adjustment with the maximum amplitude on the divergent light source in the Y plane direction, and then the latter two meniscus cylindrical mirrors are successively fine-tuned to ensure that the divergence angle in the Y plane direction is extremely small.
Further, in some embodiments of the present application, the second cylindrical mirror 120 and the third cylindrical mirror 130 constitute a cemented cylindrical mirror, which is bonded in a bonding manner. As an alternative embodiment, in order to distinguish from the present application, it is also possible to change the above-mentioned coupling method, such as bonding, integral molding, etc., and then adaptively change the shape of the coupled lens, and it is also possible to incorporate the present application into the scope of protection.
In some embodiments of the present invention, the fourth cylindrical mirror 210, the fifth cylindrical mirror 220, and the sixth cylindrical mirror 230 are all meniscus cylindrical mirrors, and the three meniscus cylindrical mirrors respectively collimate and adjust the divergent light source in the X-plane direction, so as to ensure that the divergence angle in the X-plane direction is extremely small.
In some embodiments of the present invention, the material of the first cylindrical mirror 110 satisfies: nd is more than or equal to 1.7, vd is less than or equal to 40; the material of the second cylindrical mirror 120 satisfies: nd is more than or equal to 1.7, vd is less than or equal to 40; the material of the third cylindrical mirror 130 satisfies: nd is larger than or equal to 1.7, and Vd is smaller than or equal to 40; the material of the fourth cylindrical mirror 210 satisfies: nd is less than or equal to 1.7, vd is less than or equal to 40; the material of the fifth cylindrical mirror 220 satisfies: nd is less than or equal to 1.7, vd is less than or equal to 40; the material of the sixth cylindrical mirror 230 satisfies: nd is less than or equal to 1.7, vd is less than or equal to 40; where Nd is the refractive index of the material, and Vd is the Abbe constant.
Specifically, in some embodiments of the present invention, the parameters of the first cylindrical mirror 110, the second cylindrical mirror 120, the third cylindrical mirror 130, the fourth cylindrical mirror 210, the fifth cylindrical mirror 220, and the sixth cylindrical mirror 230 are as follows:
TABLE 1
In table 1, L2, L3, L4, L5, and L6 represent the first cylindrical mirror 110, the second cylindrical mirror 120, the third cylindrical mirror 130, the fourth cylindrical mirror 210, the fifth cylindrical mirror 220, and the sixth cylindrical mirror 230, respectively, and the surface numbers 1 to 12 represent the surface numbers of the respective cylindrical mirrors from the object side to the image side, respectively.
In this embodiment, the following combinations of focal length parameters are selected:
f1/F1＝0.828；
f2/F1＝2.443；
F3/F1＝-2.855；
f4/F2＝1.703；
f5/F2＝1.008；
f6/F2＝-1.555；
F1/F2＝0.0967；
the laser collimation lens of the embodiment is matched with laser with the wavelength of 905nm, and collimation data of the laser collimation lens are obtained as follows:
| In the X direction | α | β |
| Rmssize(mr) | 69.2057671 | 0.00423178685 |
| Y direction | α | β |
| Rmssize(mr) | 8.33077149 | 0.00274658338 |
TABLE 2
Where α represents the pre-collimation divergence angle and β represents the post-collimation divergence angle.
The practical effect of the laser collimator lens of this embodiment is shown in fig. 6, in which OBJ and IMA represent the object-side field angle and the image-side field angle, representing the normal incidence of light, and are viewed in the vertical direction.
As can be seen from the data in table 2 and the effect graphs of fig. 6 and 7: the light beam passing through the laser collimating lens has a very small divergence angle, the collimating effect of the lens is good, the phenomenon that the laser power reflected by an object at a far irradiation position is too low to be submerged in noise is avoided, and the application range of the laser radar is greatly increased.
In some embodiments of the present invention, the materials of the first cylindrical lens 110, the second cylindrical lens 120, the third cylindrical lens 130, the fourth cylindrical lens 210, the fifth cylindrical lens 220 and the sixth cylindrical lens 230 are all optical glass, and compared with plastic lenses, the optical glass lenses have wide temperature application range and simple structural form, greatly reduce the processing difficulty, are easy to store and reduce the production cost of the lenses.
In addition, the invention also comprises a laser radar of the second aspect, which comprises a laser radar body and the laser collimating lens arranged on the laser radar body. By utilizing the laser radar of the laser collimating lens of the first aspect of the embodiment of the present invention, when the emitted light of the laser is collimated, the processing technology of the cylindrical lens can be further based on the first cylindrical lens group 100 and the second cylindrical lens group 200, compared with the processing technology of the spherical lens, the graded-index optical fiber and the like, the processing difficulty and the adjustment difficulty of the collimating lens can be reduced, thereby reducing the overall cost of the laser radar.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. The utility model provides a laser collimation camera lens which characterized in that: comprises a first cylindrical lens group (100) and a second cylindrical lens group (200) which are sequentially arranged along the light-emitting direction;
The first cylindrical lens group (100) comprises a first cylindrical lens (110), a second cylindrical lens (120) and a third cylindrical lens (130) which are sequentially arranged, refractive power meridians of the first cylindrical lens (110), the second cylindrical lens (120) and the third cylindrical lens (130) are parallel, the first cylindrical lens group (100) is used for collimating incident light of a Y plane, and the Y plane is a plane which is perpendicular to the first cylindrical lens group (100) and is parallel to the refractive power meridians;
The second cylindrical lens group (200) comprises a fourth cylindrical lens (210), a fifth cylindrical lens (220) and a sixth cylindrical lens (230) which are sequentially arranged, the refractive power meridians of the fourth cylindrical lens (210), the fifth cylindrical lens (220) and the sixth cylindrical lens (230) are parallel, the second cylindrical lens group (200) is used for collimating incident light of an X plane, and the X plane is a plane which is perpendicular to the Y plane and passes through an optical axis;
the lens focal length constituting the first cylindrical lens group (100) and the lens focal length constituting the second cylindrical lens group (200) satisfy the following relationship:
0.6<f1/F1<1；
2.2<f2/F1<2.6；
-3<f3/F1<-2.6；
1.5<f4/F2<1.9；
0.8<f5/F2<1.2；
-1.7<f6/F2<-1.3；
0<F1/F2<0.2；
The F 1、f2、f3、f4、f5、f6 is the focal lengths of the first cylindrical mirror (110), the second cylindrical mirror (120), the third cylindrical mirror (130), the fourth cylindrical mirror (210), the fifth cylindrical mirror (220) and the sixth cylindrical mirror (230), the F1 represents the integrated optical focal lengths of the first cylindrical mirror (110), the second cylindrical mirror (120) and the third cylindrical mirror (130), and the F2 represents the integrated optical focal lengths of the fourth cylindrical mirror (210), the fifth cylindrical mirror (220) and the sixth cylindrical mirror (230).
2. The laser alignment lens of claim 1, wherein: the first cylindrical mirror (110), the second cylindrical mirror (120) and the third cylindrical mirror (130) are respectively a biconvex cylindrical mirror, a meniscus cylindrical mirror and a meniscus cylindrical mirror.
3. The laser alignment lens of claim 2, wherein: the second cylindrical mirror (120) and the third cylindrical mirror (130) form a cemented cylindrical mirror.
4. A laser collimator lens according to claim 1 or 2 or 3, characterized in that: the fourth cylindrical mirror (210), the fifth cylindrical mirror (220) and the sixth cylindrical mirror (230) are all meniscus cylindrical mirrors.
5. The laser collimating lens of claim 4, wherein:
the material of the first cylindrical mirror (110) satisfies: nd is more than or equal to 1.7, vd is less than or equal to 40;
The material of the second cylindrical mirror (120) satisfies: nd is more than or equal to 1.7, vd is less than or equal to 40;
The material of the third cylindrical mirror (130) satisfies: nd is larger than or equal to 1.7, and Vd is smaller than or equal to 40;
The material of the fourth cylindrical mirror (210) satisfies: nd is less than or equal to 1.7, vd is less than or equal to 40;
the material of the fifth cylindrical mirror (220) satisfies: nd is less than or equal to 1.7, vd is less than or equal to 40;
The sixth cylindrical mirror (230) is of a material that: nd is less than or equal to 1.7, vd is less than or equal to 40;
where Nd is the refractive index of the material, and Vd is the Abbe constant.
6. The laser alignment lens of claim 1, wherein: the laser collimating lens is suitable for laser with the wavelength of 905 nm.
7. The laser alignment lens of claim 1, wherein: the first cylindrical mirror (110), the second cylindrical mirror (120), the third cylindrical mirror (130), the fourth cylindrical mirror (210), the fifth cylindrical mirror (220) and the sixth cylindrical mirror (230) are all made of optical glass.
8. A lidar, characterized in that: comprising a lidar body and a laser collimator lens according to any of claims 1 to 7 arranged on the lidar body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211309284.3A CN117930184A (en) | 2022-10-25 | 2022-10-25 | Laser radar with laser collimation lens |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211309284.3A CN117930184A (en) | 2022-10-25 | 2022-10-25 | Laser radar with laser collimation lens |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117930184A true CN117930184A (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211309284.3A Pending CN117930184A (en) | 2022-10-25 | 2022-10-25 | Laser radar with laser collimation lens |
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| Country | Link |
|---|---|
| CN (1) | CN117930184A (en) |
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2022
- 2022-10-25 CN CN202211309284.3A patent/CN117930184A/en active Pending
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