CN213750313U - Optical window and laser radar - Google Patents
Optical window and laser radar Download PDFInfo
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- CN213750313U CN213750313U CN202022811205.1U CN202022811205U CN213750313U CN 213750313 U CN213750313 U CN 213750313U CN 202022811205 U CN202022811205 U CN 202022811205U CN 213750313 U CN213750313 U CN 213750313U
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Abstract
The embodiment of the utility model provides an optics window and laser radar, the optics window includes: a first portion for transmitting the emission beam; and a second part for transmitting the echo light beam. The emission light beam is reflected by the target object to form an echo light beam, and most of the echo light beam is reflected by the reflection unit through the second part and then is received by the receiving unit; part echo light beam reflects to the optical window through the reflection unit after passing through the second part, and form the reflected light beam by the reflection of optical window once more, because first part and second part have the contained angle in the first direction, consequently the contained angle of reflected light beam and second part is different with the contained angle of most echo light beam and second part, thereby the reflected light beam is the light path of receiving element after the reflection of reflection unit reflection, the light path that reflects back with most echo light beam after the reflection of reflection unit is not coincide, the reflected light beam can not be received by the receiving element, reduce the noise point that forms on the point cloud, laser radar's detection effect can be improved.
Description
Technical Field
The utility model relates to a laser radar field especially relates to an optical window and laser radar.
Background
Laser radar (LIDAR), a radar system that detects characteristic quantities such as a position and a speed of a target by emitting a laser beam, has important tasks such as road edge detection, obstacle recognition, and real-time positioning and mapping (SLAM) in autonomous driving.
The working principle is that a detection signal (laser beam) is transmitted to a target, then a received echo signal reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, so that the targets such as automobiles, pedestrians and the like are detected, tracked and identified. The laser device converts electric pulse into optical pulse and emits it, and the optical receiver restores the reflected optical pulse from target into electric pulse.
The light beam emitted by the laser can generate transmission and reflection effects through the surface of the optical device, and at the moment, if the reflectivity of the window is higher, multiple reflections can be generated in the radar system, noise points are formed on the point cloud, and the detection effect of the laser radar is poor.
Disclosure of Invention
The utility model provides a problem provide an optical window and laser radar, reduce the noise point that forms on the point cloud, improve laser radar's detection effect.
The utility model provides a optics window for laser radar, laser radar includes: a transmitting unit for providing a transmission light beam; the reflecting unit is used for reflecting the emitted light beam to the optical window, the emitted light beam is reflected by a target object to form an echo light beam, the reflecting unit is also used for reflecting the echo light beam from the optical window, and part of the echo light beam is reflected to the optical window through the reflecting unit and is reflected again by the optical window to form a reflected light beam; a receiving unit for detecting the echo light beam; the optical window includes: a first portion for transmitting the emission beam; the second part is used for transmitting the echo light beam, the second part is connected with the first part, the arrangement direction from the transmitting unit to the receiving unit is a first direction, and an included angle is formed between the first part and the second part in the first direction, so that the reflected light beam is separated from the echo light beam.
Optionally, the surface of the first portion is one or more flat surfaces, and the surface of the second portion is one or more flat surfaces.
Optionally, the first portion is a curved surface, the second portion is a curved surface, the curved surface of the first portion protrudes to the outside of the laser radar, and the curved surface of the second portion protrudes to the inside of the laser radar.
Optionally, the surface of the first portion is a curved surface, the surface of the second portion is a curved surface, and the radii of curvature of the first portion and the second portion are different.
Optionally, the first portion is a plane, the second portion is a curved surface, and the curved surface of the second portion protrudes into the laser radar; or, the second part is a plane, the first part is a curved surface, and the curved surface of the first part protrudes to the outside of the laser radar.
Optionally, the first portion is a plane; or, the first part wholly is the form of buckling to the lidar outside, includes: a plurality of first sub-planes connected in series.
Optionally, the second portion is planar; or, the second part wholly is the form of buckling to laser radar inside, includes: a plurality of second sub-planes connected in series.
Optionally, a projection size of the second portion on a vertical plane is larger than a projection size of the first portion on the vertical plane, and the vertical plane is perpendicular to the direction of the emitted light beam.
Optionally, the material of the optical window comprises glass or polycarbonate.
Optionally, the included angle between the first portion and the second portion is in the range of 0.1 ° to 10 °.
Optionally, the optical window includes: and the blind complementing structure is used for enabling the emitted light beam to shift in the vertical direction, is positioned at one end of the first part far away from the second part, and is arranged on the surface of the optical window far away from the interior of the laser radar.
Optionally, the blind-fill structure is a protrusion formed on the surface of the optical window or a depression formed in the optical window.
Optionally, the second portion is biased towards the reflecting unit with respect to the first portion.
Correspondingly, the utility model discloses technical scheme still provides a laser radar, include: a transmitting unit for providing a transmission light beam; the optical window described above; the reflecting unit is used for reflecting the emitted light beam to the optical window, the emitted light beam is reflected by a target object to form an echo light beam, the reflecting unit is also used for reflecting the echo light beam from the optical window, and part of the echo light beam is reflected to the optical window through the reflecting unit and is reflected again by the optical window to form a reflected light beam; a receiving unit for detecting the echo light beam.
Optionally, the transmitting unit includes a plurality of lasers, the receiving unit includes a plurality of detectors, the detector with the laser one-to-one when the laser adopts the round mode of patrolling to open in proper order, correspond the detector also adopts the round mode of patrolling to open in proper order, only has the echo light beam opened the detector detects.
Compared with the prior art, the technical scheme of the utility model have following advantage:
the embodiment of the utility model provides an optical window, when laser radar during operation, the transmission beam sees through first part directive object, the transmission beam is reflected by the object and forms echo beam, and most echo beam is received by the receiving element after passing through the second part via the reflection unit reflection; and part of the echo light beams are reflected to the optical window through the reflection unit after passing through the second part and are reflected again by the optical window to form reflected light beams, and because the first part and the second part have included angles in the first direction, the included angles of the reflected light beams and the second part are different from the included angles of most of the echo light beams and the second part, so that the reflected light beams are reflected by the reflection unit and then emit to the light path of the receiving unit, and are not superposed with the light path of most of the echo light beams after being reflected by the reflection unit, further, the propagation directions of the reflected light beams and the echo light beams are different, the echo light beams are received by the receiving unit, the reflected light beams cannot be received by the receiving unit, noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
Drawings
FIG. 1 is a schematic diagram of a laser radar emission beam path;
FIG. 2 is a schematic diagram of a laser radar receive path;
FIG. 3 is a schematic diagram illustrating only the propagation paths of stray light and stray echo beams;
fig. 4 is a schematic structural view of an optical window according to a first embodiment of the present invention;
fig. 5 is a schematic view of the optical path of the echo beam passing through the second portion of the optical window according to the first embodiment of the present invention;
FIG. 6 is a schematic diagram of the optical path of the emitted light beam of the blind compensating structure in the optical window according to the first embodiment of the present invention;
fig. 7 is a schematic structural view of a blind repair structure in an optical window according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram showing an optical window and a laser emission radar transmitting unit and a receiving unit according to an embodiment of the present invention;
fig. 9 is a schematic structural view of an optical window according to a second embodiment of the present invention;
fig. 10 and 11 are schematic structural views of an optical window according to a third embodiment of the present invention;
fig. 12 is a schematic structural view of an optical window according to a fourth embodiment of the present invention;
fig. 13 is a schematic structural view of an optical window according to a fifth embodiment of the present invention;
fig. 14 is a schematic structural view of an optical window according to a sixth embodiment of the present invention.
Detailed Description
As described in the background, the high reflectivity of the window causes multiple reflections within the lidar system, which creates noise in the point cloud. Referring now to fig. 1-3, the cause of noise formation on the point cloud is analyzed.
Fig. 1 is a schematic diagram showing a laser radar emission beam path.
The laser radar includes: an emission unit a for emitting a light beam (shown by a thin solid line) for transmission toward the target object E. Specifically, when the emission beam is reflected by the reflector C and transmitted to the window D, the reflected light is divided into a main beam (shown by a thin solid line) and stray light (shown by a dotted line), the main beam is transmitted through the window D and emitted to the target object E, and the stray light is reflected to the reflector C, and then is reflected by the reflector C and emitted to the interfering object F through the window D.
As shown in fig. 2, it is a schematic diagram of the receiving light path of the laser radar.
The laser radar includes: and the receiving unit B is used for receiving the main echo beam formed by reflecting the emission beam by the target object E. Specifically, a main echo beam formed after the main beam is emitted to the target object E passes through the window D, is reflected by the mirror C, and is received by the receiving unit B.
It should be noted that stray echo light beams are formed after the stray light is emitted to the interfering object F, and the stray echo light beams penetrate through the window D, are reflected by the reflector C, the window D and the reflector C, and then are consistent with the path of the main echo light beam and are also received by the receiving unit B.
Referring to fig. 3 in conjunction with fig. 1 and fig. 2, only schematic diagrams of propagation paths of stray light and stray echo light beams are shown, specifically, in fig. 3, a light path 1 is a propagation path of stray light, and a light path 2 is a propagation path of stray echo light.
Window D among the laser radar is the plane window, and the emission beam passes during window D, can produce main beam and stray light, and the main beam forms main echo light beam after target object E reflects, and stray light forms stray echo light beam after disturbing thing F, and stray echo light beam in the specific angle passes behind window D, and the route after the reflection of speculum C, window D and speculum C is the same with the route after the reflection of speculum C after main echo light beam passes window D, and then stray echo light beam can together be received by receiving element B with main echo light beam, leads to forming the noise point on the point cloud.
In order to solve the technical problem, an embodiment of the utility model provides an optics window for laser radar, laser radar includes: a transmitting unit for providing a transmission light beam; the reflecting unit is used for reflecting the emitted light beam to the optical window, the emitted light beam is reflected by a target object to form an echo light beam, the reflecting unit is also used for reflecting the echo light beam from the optical window, and part of the echo light beam is reflected to the optical window through the reflecting unit and is reflected again by the optical window to form a reflected light beam; a receiving unit for detecting the echo light beam; characterized in that the optical window comprises: a first portion for transmitting the emission beam; the second part is used for transmitting the echo light beam, the second part is connected with the first part, the arrangement direction from the transmitting unit to the receiving unit is a first direction, and an included angle is formed between the first part and the second part in the first direction, so that the reflected light beam is separated from the echo light beam.
The embodiment of the utility model provides an optical window, when laser radar during operation, the transmission beam sees through first part directive object, the transmission beam is reflected by the object and forms echo beam, and most echo beam is received by the receiving element after passing through the second part via the reflection unit reflection; and part of the echo light beams are reflected to the optical window through the reflection unit after passing through the second part and are reflected again by the optical window to form reflected light beams, and because the first part and the second part have included angles in the first direction, the included angles of the reflected light beams and the second part are different from the included angles of most of the echo light beams and the second part, so that the reflected light beams are reflected by the reflection unit and then emit to the light path of the receiving unit, and are not superposed with the light path of most of the echo light beams after being reflected by the reflection unit, further, the propagation directions of the reflected light beams and the echo light beams are different, the echo light beams are received by the receiving unit, the reflected light beams cannot be received by the receiving unit, noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
The embodiment of the utility model provides an optics window for laser radar, refer to fig. 4 and fig. 5, fig. 4 shows the utility model discloses the structural schematic diagram of first embodiment optics window, fig. 5 shows the utility model discloses the echo light beam passes the light path schematic diagram of first embodiment optics window second part.
The laser radar includes: a transmitting unit 100 (shown in fig. 8) for providing a transmission light beam; the reflection unit 200 is configured to reflect the emission beam to the optical window 500, where the emission beam is reflected by a target object to form an echo beam, the reflection unit 200 is further configured to reflect the echo beam from the optical window 500, and a part of the echo beam is reflected to the optical window 500 through the reflection unit 200 and is reflected again by the optical window 500 to form a reflection beam; a receiving unit 300 for detecting the echo light beam; and an optical window for transmitting the emission beam provided by the emission unit 100 and for transmitting the echo beam formed by reflection of the target object.
The optical window 500 includes: a first portion I for transmitting the emission beam; the second part II is used for transmitting the echo light beam, the second part II is connected with the first part I, the arrangement direction from the transmitting unit 100 to the receiving unit 300 is a first direction, and an included angle is formed between the first part I and the second part II in the first direction, so that the reflected light beam is separated from the echo light beam.
In this embodiment, the first direction is the direction of an arrow Y in fig. 5, the arrangement direction from the transmitting unit 100 to the receiving unit 300 is the first direction, and the first portion I and the second portion II have an included angle in the first direction. Specifically, a first portion I for transmitting the emission beam, and correspondingly, the first portion I corresponds to the emission unit 100; a second portion II for transmitting the echo light beam, and accordingly, the second portion II corresponds to the receiving unit 300.
When the laser radar works, the emission beam penetrates through the first part I and is emitted to a target object, the emission beam is reflected by the target object to form an echo beam, and most of the echo beam penetrates through the second part II and is reflected by the reflecting unit 200 and then is received by the receiving unit 300; part of the echo light beam is reflected to the optical window 500 through the reflection unit 200 after passing through the second part II, and is reflected again by the optical window 500 to form a reflected light beam, since the first portion I and the second portion II have an angle in the first direction, the angle between the reflected beam and the second portion II is different from the angle between the majority of the echo beam and the second portion II, so that the reflected beam is reflected by the reflecting unit 200 and directed to the optical path of the receiving unit 300 (as shown by the dotted line in fig. 5), not coinciding with the optical path (shown by the solid line in figure 5) of most of the echo beam after reflection by the reflecting unit 200, and thus the reflected beam and the echo beam, have different propagation directions, the echo beam is received by the receiving unit 300, the reflected light beam is not received by the receiving unit 300, noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
In this embodiment, the surfaces of the first portion I and the second portion II of the optical window 500 are both planar. The surfaces of the first part I and the second part II are both flat, so that the first part I and the second part II have the advantages of simple process and manufacture, easy molding and wide universal applicability.
Specifically, after the echo light beam passes through the second portion II, most of the echo light beam reaches the receiving unit 300 after being reflected by the reflecting unit 200, and part of the echo light beam is reflected to the second portion II by the reflecting unit 200 and is reflected again by the second portion II to form a reflected light beam, because the first portion I and the second portion II have an included angle in the first direction, the reflected light beam is separated from the echo light beam.
Specifically, in this embodiment, the surfaces of the first portion I and the second portion II are both a plane. In other embodiments, the surfaces of the first part I and the second part II may also be multiple planes.
In this embodiment, the projection size of the second portion II on a vertical plane is larger than the projection size of the first portion I on the vertical plane, and the vertical plane is perpendicular to the direction of the emitted light beam.
In this embodiment, the first portion I of the optical window 500 is used for transmitting the emitted light beam. The emitted light beam is a collimated light beam, so the emitted light is more convergent at the first portion I, and therefore the projection size of the first portion I on the vertical plane is preferably small as long as the emitted light can pass through. The second part II is used for transmitting the echo light beam to be received by the receiving unit 300, because the echo light beam comes from each direction, the light beam diverges, and in order to ensure a higher energy utilization rate, the receiving unit 300 can detect more information, so that it is preferable that the projection size of the second part II on the vertical plane needs to be larger, so that the echo light beam has a larger light transmission aperture, and more echo light beams can pass through the second part II to be received by the receiving unit 300.
In this embodiment, the material of the optical window 500 includes Polycarbonate (Polycarbonate). The polycarbonate material has the characteristics of good mechanical property, strong plasticity, strong impact resistance, low density, low cost and the like. In other embodiments, the material of the optical window is glass, and the glass has wider application in industrial products, better reliability and lower reflectivity.
In this embodiment, the optical window 500 is made of polycarbonate and is integrally formed by injection molding, which is the most common manufacturing process for manufacturing plastic parts, and can form complex shapes and details, so as to precisely enable an included angle between the first portion I and the second portion II to meet design requirements, and the surface of the injection molded optical window 500 has excellent smoothness, so as to reduce diffuse reflection between the emission beam and the first portion I and between the echo beam and the second portion II, so that more emission beams are transmitted to a target object through the first portion I, and more echo beams are detected by the receiving unit 300 through the second portion II. In addition, the injection molding has high production efficiency, low cost and more economical efficiency.
It should be noted that, if the included angle α (shown in fig. 5) between the first portion I and the second portion II in the optical window 500 is too large, the assembling space of the transmitting unit may be affected, which is not favorable for installing the optical window 500 into the laser radar. If the included angle α between the first part I and the second part II is too small, the difference between the included angle between the reflected beam and the second part II and the included angle between most of the echo beams and the second part II is small, even if the reflected beam is reflected by the reflection unit 200 and then emitted to the light path of the receiving unit, and the light path of most of the echo beams reflected by the reflection unit 200 are not overlapped, the distance between the positions of the reflected beam and the position of the echo beams on the receiving unit 300 is small, and the reflected beam is received by the receiving unit 300, so that the reflected beam forms noise points on the point cloud, and the detection effect of the laser radar is poor. In this embodiment, the angle α (shown in fig. 5) between the first portion I and the second portion II is in the range of 0.1 ° to 10 °.
Specifically, the first part I is arranged in parallel with a vertical plane, and the second part II forms an included angle with the vertical plane.
As an example, the angle of the second part II to the vertical plane comprises 1 °, 5 °.
Referring to fig. 6 in conjunction with fig. 4 and fig. 5, there is shown a schematic diagram of the optical path of the emitted light beam offset by the blind filling structure 400 in the optical window 500 according to the first embodiment. The optical window 500 includes: a blind-fill structure 400 (shown in fig. 4 or fig. 5) for vertically offsetting the emitted light beam is located at an end of the first portion I away from the second portion II and is disposed on a surface of the optical window 500 away from the interior of the lidar.
The blind compensating structure 400 is used to shift the part of the emitted beam passing through the first section I in the vertical direction so that the part of the emitted beam detects objects in the blind zone region in the paraxial optical path, and the range of the emitted beam passing through the first section I is increased, thereby reducing the short-range blind zone.
Compared with the blind complementing structure located at the end of the first portion I close to the second portion II, in this embodiment, the blind complementing structure 400 (as shown in fig. 4) is located at the end of the first portion I far from the second portion II, so that the emitted light beam can reach a wider short-distance region after being deflected by the blind complementing structure 400, and the short-distance blind region is further reduced.
Specifically, the farthest point n that can be reached after the emission light beam passes through the first portion I without the blind-fill structure can be reached to the first closest point m, and the range between the farthest point n and the first closest point m is L1. The farthest point which can be reached by the emission beam after passing through the first portion I containing the blind complementing structure 400 is n, the second closest point p can be reached, the range between the farthest point n and the second closest point p is L2, the farthest points of L2 and L1 are both n, the range L2 increases the area between the first closest point m and the second closest point p compared with the range L1, namely, the blind complementing range X, and the blind complementing range X is the area formed by the deflection of the partial emission beam passing through the first portion I to the second portion II through the blind complementing structure 400, and the blind area at a short distance is reduced.
Compared with the situation that the blind complementing structure is located on the surface of the optical window close to the interior of the laser radar, in the embodiment, the blind complementing structure 400 is arranged on the surface of the optical window 500 far away from the interior of the laser radar, the proportion of stray light of the emitted light beam reflected into the interior of the laser radar by the blind complementing structure 400 can be reduced, and more emitted light beams can directly reach a short distance area in a wider range through the blind complementing structure 400 after passing through the first part I.
It should be noted that the blind compensating structure 400 may be set according to the energy ratio of the deflected beam to the emitted beam, for example, set to make the energy of the deflected beam less than 5% of the energy of the emitted beam.
As an example, as shown in fig. 6, the blind filling structure 400 is a protrusion formed on the surface of the optical window 500.
As another example, fig. 7 is a schematic structural diagram of a blind-fill structure 400 in an optical window according to a second embodiment of the present invention, where the blind-fill structure 400 may also be a recess formed in the optical window 500.
Referring to fig. 8, a schematic structural diagram of an optical window 500, a laser radar transmitting unit 100 and a receiving unit 300 according to an embodiment of the present invention is shown.
In this embodiment, the transmitting unit 100 includes: the laser device comprises a plurality of lasers 10, wherein the lasers 10 are arranged in two rows in a staggered mode in the vertical direction.
The transmitting unit 100 is applied to a laser radar, and is configured to provide a transmission beam that is transmitted to a target object to achieve target object detection, where the transmission beam passes through the target object to form an echo beam.
The reflection unit 200 is used for reflecting the emission beam provided by the emission unit 100 to transmit the first portion I and project the emission beam to the target object, and is also used for reflecting the echo beam transmitted by the second portion II to facilitate detection by the receiving unit 300.
In this embodiment, the reflection unit 200 includes a mirror.
In this embodiment, an included angle exists between the surface of the reflector and the emitted light beam, the included angle is satisfied when the emitted light beam passes through the first portion I of the optical window 500, and the specific included angle may be set according to the actual application requirement, which is not limited in this embodiment. Correspondingly, an included angle exists between the surface of the reflector 200 and the echo light beam, the included angle satisfies that the echo light beam is detected by the receiving unit 300 after passing through the second part II of the optical window 500 and being reflected by the reflector 200, and the specific included angle can be set according to the actual application requirement, which is not limited in this embodiment.
With reference to fig. 8, in this embodiment, the receiving unit 300 includes a plurality of detectors 30, the detectors 30 are arranged in two rows in a staggered manner in the vertical direction, and the detectors 30 in the receiving unit 300 correspond to the lasers 10 in the transmitting unit 100 one by one.
When the laser radar works, the laser 10 in the transmitting unit 100 is sequentially turned on in a polling manner, and the detector 30 in the receiving unit 300 is sequentially turned on in a polling manner.
Specifically, two rows of lasers 10 in the transmitting unit 100 are sequentially sorted from top to bottom according to the first laser, the second laser and the third laser, and two rows of detectors 30 in the receiving unit 300 are sequentially sorted from top to bottom according to the first detector, the second detector and the third detector. The first detector corresponds to the first laser, the second detector corresponds to the second laser, and the third detector corresponds to the third laser, and when the laser radar works, the detector 30 in the receiving unit 300 and the laser 10 in the transmitting unit 100 work in a round-robin coordination manner, specifically, when the first laser and the first detector are turned on, the second laser and the third laser in the transmitting unit 100 are turned off, and the second detector and the third detector in the detecting unit are turned off. When the first laser in the transmitting unit 100 provides the transmission beam, which is reflected by the reflecting mirror 200, and projected toward the target object through the first portion I, the transmission beam projected toward the target object generates the echo beam, since the second part II forms an angle with the first part I, when receiving, most of the echo beam passes through the second part II, and is reflected by the mirror, and received by the first detector in the receiving unit 300, the reflected beam formed after the second part II reflects the second part II does not coincide with the light path of most echo light beams reflected by the reflector, further, the propagation directions of the reflected light beam and the echo light beam are different, the echo light beam is received by the receiving unit 300, and the reflected light beam is not received by the receiving unit 300, that is, only the echo light beam is detected by the first detector which is turned on, so that noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
Referring to fig. 9, a schematic structural diagram of an optical window according to a second embodiment of the present invention is shown.
The same parts of this embodiment as those of the first embodiment are not described herein again, and the differences between this embodiment and the first embodiment are: the first part I is wholly bent towards the outside of the laser radar and comprises: a plurality of first sub-planes a connected in series.
The embodiment of the utility model provides an in, a plurality of first sub-plane a that connect in order make first part I wholly be the form of buckling to the laser radar outside for the emitted beam that emission unit 100 provided is after the reflection of speculum 200, passing during first part I, compare for a planar condition with first part I, reduce the noise point that forms on the point cloud, can promote the ability of surveying far away.
Specifically, in this embodiment, the first portion I includes three first sub-planes a connected in sequence. In other embodiments, the number of the first sub-planes a connected in sequence may also be two or more than 3.
Referring to fig. 10 and 11, a schematic structural diagram of an optical window according to a third embodiment of the present invention is shown.
The same parts of this embodiment as those of the first embodiment are not described herein again, and the differences between this embodiment and the first embodiment are: the second part II is wholly to the inside form of buckling of laser radar, includes: a plurality of second sub-planes b connected in series.
The embodiment of the utility model provides an in, a plurality of second sub-plane b that connect in order make the second part II whole to laser radar inside be the form of buckling, and the echo light beam is passing during second part II, compare for a planar condition with second part II, reduce the noise point that forms on the point cloud, be surveyed by receiving element 300 after the reflection of speculum 200, can promote and survey far-finding ability.
Specifically, as an example, as shown in fig. 11, the second portion II includes two second sub-planes b connected in series.
As another example, as shown in fig. 12, the second portion II includes three second sub-planes b connected in series.
In other embodiments, the number of the second sub-planes b connected in sequence may be more than 3.
Referring to fig. 12, a schematic structural diagram of an optical window according to a fourth embodiment of the present invention is shown.
The same parts of this embodiment as those of the first embodiment are not described herein again, and the differences between this embodiment and the first embodiment are: the laser radar device comprises a first part I, a second part II and a laser radar, wherein the first part I is a curved surface, the second part II is a curved surface, the curved surface of the first part I protrudes towards the outside of the laser radar, and the curved surface of the second part II protrudes towards the inside of the laser radar.
The curved surface of the first portion I protrudes to the outside of the laser radar, so that the emission beam provided by the emission unit 100 is reflected by the reflector 200 and then has a convergence effect on the emission beam when passing through the first portion I, so that more emission beams converge on a target object, and the target object can generate a stronger echo beam according to the converged emission beam, thereby improving the distance measurement capability.
The curved surface of the second part II protrudes towards the inside of the laser radar, and the echo light beams have a convergence effect when passing through the second part II, so that more echo light beams are reflected by the reflector 200 and then detected by the receiving unit 300, and the distance measuring capability can be improved.
In this embodiment, the first portion I and the second portion II have different radii of curvature.
Most of the echo light beams are reflected by the reflecting mirror through the second part II and then are received by the receiving unit; part of the echo light beams are reflected to the optical window through the second part II and then reflected to the optical window through the reflector, and are reflected again through the optical window 500 to form a reflected light beam, because the curvature radiuses of the first part I and the second part II are different, the light path of the reflected light beam converged through the second part II is different from the light path of most of the echo light beams converged through the second part II, so that the reflected light beam is reflected by the reflector and then emitted to the light path of the receiving unit 300, and is not overlapped with the light path of most of the echo light beams reflected through the reflector, further, the propagation directions of the reflected light beam and the echo light beam are different, the echo light beam is received by the receiving unit 300, the reflected light beam is not received by the receiving unit 300, noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
Referring to fig. 13, a schematic structural diagram of an optical window according to a fifth embodiment of the present invention is shown.
The same parts of this embodiment as those of the first embodiment are not described herein again, and the differences between this embodiment and the first embodiment are: the laser radar comprises a first part I, a second part II and a laser radar, wherein the first part I is a plane, the second part II is a curved surface, and the curved surface of the second part II protrudes towards the inside of the laser radar.
The curved surface of the second part II protrudes towards the inside of the laser radar, and the echo light beams have a convergence effect when passing through the second part II, so that more echo light beams are reflected by the reflector 200 and then detected by the receiving unit 300, and the distance measuring capability can be improved.
Referring to fig. 14, a schematic structural diagram of an optical window according to a sixth embodiment of the present invention is shown.
The same parts of this embodiment as those of the first embodiment are not described herein again, and the differences between this embodiment and the first embodiment are: the second part II is a plane, the first part I is a curved surface, and the curved surface of the first part I protrudes towards the outside of the laser radar.
The curved surface of the first portion I protrudes to the outside of the laser radar, so that the emission beam provided by the emission unit 100 is reflected by the reflector 200 and then has a convergence effect on the emission beam when passing through the first portion I, so that more emission beams converge on a target object, and the target object can generate a stronger echo beam according to the converged emission beam, thereby improving the distance measurement capability.
To solve the problem of noise formation on the point cloud. Correspondingly, the embodiment of the utility model provides a still provide a laser radar, include:
an emission unit 100 for providing an emission beam; the aforementioned optical window 500, and the related description of the optical window 500 refers to the aforementioned embodiments, and is not repeated herein; the reflecting mirror 200 is configured to reflect the emission beam to the optical window 500, the emission beam is reflected by the target to form an echo beam, the reflecting mirror 200 is further configured to reflect the echo beam from the optical window 500, a part of the echo beam is reflected to the optical window 500 by the reflecting mirror 200, and is reflected again by the optical window 500 to form a reflected beam; a receiving unit 300 for detecting the echo light beam.
When the laser radar works, the emission beam penetrates through the first part I and is emitted to a target object, the emission beam is reflected by the target object to form an echo beam, and most of the echo beam penetrates through the second part II and is reflected by the reflecting mirror 200 and then is received by the receiving unit 300; part of the echo light beam is reflected to the optical window 500 through the reflector 200 after passing through the second part II, and is reflected again by the optical window 500 to form a reflected light beam, because the first part I and the second part II have an included angle in the first direction, the included angle between the reflected light beam and the second part II is different from the included angle between most of the echo light beam and the second part II, so that the reflected light beam is reflected by the reflector 200 and then is emitted to a light path of the receiving unit 300 (as shown by a dotted line in fig. 5), and is not superposed with the light path of the echo light beam reflected by the reflector 200 (as shown by a solid line in fig. 5), and further the propagation directions of the reflected light beam and the echo light beam are different, the echo light beam is received by the receiving unit 300, the reflected light beam is not received by the receiving unit 300, noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
The transmitting unit 100 is applied to a laser radar, and is configured to provide a transmission beam that is transmitted to a target object to achieve target object detection, where the transmission beam passes through the target object to form an echo beam.
In this embodiment, the transmitting unit 100 includes: a plurality of lasers 10 (as shown in fig. 8), a plurality of the lasers 10 are arranged in two rows in a staggered manner in the vertical direction. In other embodiments, the lasers in the emitting unit can be arranged in a matrix form, so that the uniformity of the emitted light beam can be ensured. The lasers in the emitting unit can be arranged in a row and a plurality of columns or a plurality of rows and a plurality of columns according to the actual functional requirements.
In this embodiment, the laser 10 is a semiconductor laser, and includes a Vertical Cavity Surface Emitting Laser (VCSEL) or an Edge Emitting Laser (EEL).
The laser 10 can emit laser light having a wavelength of 850nm, 905nm, 940nm, or the like. The above wavelength is outside the visible wavelength range, so that the mirror 200 can prevent the visible light from affecting the detection of the target object, and is used for reflecting the emitted light beam provided by the emission unit 100 to transmit the first portion I and project the emitted light beam toward the target object, and also used for reflecting the echo light beam transmitted by the second portion II, so as to facilitate the detection by the receiving unit 300.
In this embodiment, the receiving unit 300 includes a plurality of detectors 30, the detectors 30 are arranged in two rows in a staggered manner in the vertical direction, and the detectors 30 in the receiving unit 300 correspond to the lasers 10 in the transmitting unit 100 one by one. In other embodiments, the detectors in the receiving unit may be arranged in a matrix, and the detectors in the receiving unit may be arranged in one row and multiple columns or multiple rows and multiple columns according to actual functional requirements.
In this embodiment, the detector 30 includes an apd (avalanche Photo diode), a silicon photomultiplier (SiPM), or a Single Photon Avalanche Diode (SPAD).
It should be noted that, when the laser 10 is turned on sequentially in a round-robin manner, the corresponding detectors 30 are also turned on sequentially in a round-robin manner, only the echo beam is detected by the turned-on detector 30, and the reflected beam does not fall on the detection or the detector 30 that is not turned on, so that the reflected beam is not detected.
In addition, in this embodiment, the lasers 10 in the transmitting unit 100 are two rows and are arranged in a staggered manner in the vertical direction, the detectors 30 in the receiving unit 300 are two rows and are arranged in a staggered manner in the vertical direction, when the laser radar works, one laser in each row of the lasers 10 emits a light beam, and the light paths of the emitted light beams emitted by the two lasers 10 are different, so that the angles of the two emitted light beams transmitted to the target object are different, and compared with the case where the lasers in the transmitting unit are one row and the detectors in the receiving unit are one row, the information provided by the two echo light beams formed by reflection of the target object is more than the information provided by one echo light beam, which is beneficial to improving the point cloud density and improving the detection effect; while the resolution in the vertical direction can be improved.
When the laser radar works, the reflected light beam is reflected by the reflection unit 200 and then emitted to the light path (as shown by the dotted line in fig. 5) of the receiving unit 300, and does not coincide with the light path (as shown by the solid line in fig. 5) of the echo light beam reflected by the reflection unit 200, and further the propagation directions of the reflected light beam and the echo light beam are different, because the laser 10 and the detector 30 are sequentially turned on in a round-robin manner, and only the echo light beam is detected by the turned-on detector 30, but the reflected light beam does not fall on the detector 30 or on the detector 30 which is not turned on, so that the reflected light beam is not detected, that is, the reflected light beam is not received by the detector 30, thereby reducing noise points formed on the point cloud and improving the detection effect of the laser radar.
Specifically, two rows of lasers 10 in the transmitting unit 100 are sequentially sorted from top to bottom according to the first laser, the second laser and the third laser, and two rows of detectors 30 in the receiving unit 300 are sequentially sorted from top to bottom according to the first detector, the second detector and the third detector. The first detector corresponds to the first laser, the second detector corresponds to the second laser, and the third detector corresponds to the third laser, and when the laser radar works, the detector 30 in the receiving unit 300 and the laser 10 in the transmitting unit 100 work in a polling matching manner. When the first laser in the transmitting unit 100 provides the transmission beam, which is reflected by the reflecting mirror 200, and projected toward the target object through the first portion I, the transmission beam projected toward the target object generates the echo beam, since the second part II forms an angle with the first part I, when receiving, most of the echo beam passes through the second part II, and is reflected by the mirror, and received by the first detector in the receiving unit 300, the reflected beam formed after the second part II reflects the second part II does not coincide with the light path of most echo light beams reflected by the reflector, further, the propagation directions of the reflected light beam and the echo light beam are different, the echo light beam is received by the receiving unit 300, and the reflected light beam is not received by the receiving unit 300, that is, only the echo light beam is detected by the first detector which is turned on, so that noise points formed on the point cloud are reduced, and the detection effect of the laser radar can be improved.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims. Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (15)
1. An optical window for a lidar comprising:
a transmitting unit for providing a transmission light beam;
the reflecting unit is used for reflecting the emitted light beam to the optical window, the emitted light beam is reflected by a target object to form an echo light beam, the reflecting unit is also used for reflecting the echo light beam from the optical window, and part of the echo light beam is reflected to the optical window through the reflecting unit and is reflected again by the optical window to form a reflected light beam;
a receiving unit for detecting the echo light beam;
characterized in that the optical window comprises:
a first portion for transmitting the emission beam;
the second part is used for transmitting the echo light beam, the second part is connected with the first part, the arrangement direction from the transmitting unit to the receiving unit is a first direction, and an included angle is formed between the first part and the second part in the first direction, so that the reflected light beam is separated from the echo light beam.
2. The optical window of claim 1, wherein the surface of the first portion is one or more flat surfaces and the surface of the second portion is one or more flat surfaces.
3. The optical window of claim 1, wherein the first portion is curved and the second portion is curved, the curved surface of the first portion projecting outwardly of the lidar and the curved surface of the second portion projecting inwardly of the lidar.
4. The optical window of claim 1, wherein the surface of the first portion is curved and the surface of the second portion is curved, and wherein the radii of curvature of the first portion and the second portion are different.
5. The optical window of claim 1, wherein the first portion is planar, the second portion is curved, and the curved surface of the second portion protrudes into the lidar;
or, the second part is a plane, the first part is a curved surface, and the curved surface of the first part protrudes to the outside of the laser radar.
6. The optical window of claim 1, wherein the first portion is planar;
alternatively, the first and second electrodes may be,
the first portion is wholly to laser radar outside and is the form of buckling, includes: a plurality of first sub-planes connected in series.
7. The optical window of claim 1, wherein the second portion is planar;
alternatively, the first and second electrodes may be,
the second portion is wholly to inside being the form of buckling of laser radar, includes: a plurality of second sub-planes connected in series.
8. The optical window of claim 1, wherein a projected dimension of the second portion in a vertical plane that is perpendicular to a direction of the emitted beam is larger than a projected dimension of the first portion in the vertical plane.
9. The optical window of claim 1, wherein the material of the optical window comprises glass or polycarbonate.
10. The optical window of claim 1, wherein the first portion and the second portion are angled within a range of 0.1 ° -10 °.
11. The optical window of claim 1, wherein the optical window comprises: and the blind complementing structure is used for enabling the emitted light beam to shift in the vertical direction, is positioned at one end of the first part far away from the second part, and is arranged on the surface of the optical window far away from the interior of the laser radar.
12. The optical window of claim 11, wherein the blind repair structure is a protrusion formed on a surface of the optical window or a depression formed in the optical window.
13. The optical window of claim 11, wherein the second portion is biased toward the reflective element relative to the first portion.
14. A lidar, comprising:
a transmitting unit for providing a transmission light beam;
an optical window according to any one of claims 1 to 13;
the reflecting unit is used for reflecting the emitted light beam to the optical window, the emitted light beam is reflected by a target object to form an echo light beam, the reflecting unit is also used for reflecting the echo light beam from the optical window, and part of the echo light beam is reflected to the optical window through the reflecting unit and is reflected again by the optical window to form a reflected light beam;
a receiving unit for detecting the echo light beam.
15. The lidar of claim 14, wherein the transmitting unit comprises a plurality of lasers, wherein the receiving unit comprises a plurality of detectors, wherein the detectors correspond to the lasers one to one, and when the lasers are sequentially turned on in a round-robin manner, the corresponding detectors are also sequentially turned on in a round-robin manner, and only the detector on which the echo beam is turned on detects the echo beam.
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| CN202022811205.1U CN213750313U (en) | 2020-11-27 | 2020-11-27 | Optical window and laser radar |
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| CN202022811205.1U CN213750313U (en) | 2020-11-27 | 2020-11-27 | Optical window and laser radar |
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