CN214795200U - Window for laser radar and laser radar - Google Patents
Window for laser radar and laser radar Download PDFInfo
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- CN214795200U CN214795200U CN202120933435.7U CN202120933435U CN214795200U CN 214795200 U CN214795200 U CN 214795200U CN 202120933435 U CN202120933435 U CN 202120933435U CN 214795200 U CN214795200 U CN 214795200U
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Abstract
A window and lidar for a lidar, the lidar comprising: a transceiver module and a scanning device; wherein, the detection light generated by the transceiver module forms emission light after being deflected by the scanning device; the emitted light is transmitted through the window and exits to a three-dimensional space; the emergent emission light is reflected by a target object to form echo light; after the echo light transmits the window, the echo light is deflected by a scanning device to be collected by the transceiver module; the window includes an attenuation portion that attenuates stray light formed by the reflected emitted light. The attenuation part of the window enables the stray light formed by the reflected emitted light to be in a divergent shape or a convergent divergent shape so as to realize attenuation, the problem of noise can be effectively solved, the crosstalk phenomenon of the laser radar can be effectively inhibited, and the signal to noise ratio is improved.
Description
Technical Field
The utility model relates to a laser detection field, in particular to window and laser radar for laser radar.
Background
Laser radar is a range finding sensor commonly used, has characteristics such as detection range is far away, resolution ratio is high, receive environmental disturbance little, and the wide application is in fields such as intelligent robot, unmanned aerial vehicle, unmanned driving. In recent years, the automatic driving technology has been rapidly developed, and the laser radar has become indispensable as a core sensor for distance sensing.
According to different layout modes of a transmitting light path and a receiving light path, the laser radar can be divided into non-coaxial transmitting and receiving and coaxial transmitting and receiving, the transmitting light path and the receiving light path of the non-coaxial transmitting and receiving are independent of each other and are generally realized by adopting different lens groups to respectively bear the transmitting and receiving functions of laser, the transmitting light path and the receiving light path of the coaxial transmitting and receiving share a common optical axis and often share a transmitting and receiving lens group, and the separation and the combination of the transmitting light beam and the receiving light beam are realized through light splitting elements (such as a spectroscope, a small-hole reflector and the like).
It is well known that a light beam is always reflected and/or transmitted through the surface of an optical device. When the window material of the laser radar reaches a certain reflectivity, the laser beam can emit multiple reflections in the laser radar in the process of transmitting the window, so that a plurality of emergent light spots appear, and then noise points are easily formed on the point cloud.
Specifically, the emission beam generated by the emission device is reflected by the reflector and then projected onto the window. The emission light beam is reflected and transmitted in the window, the transmitted light beam forms an emergent main light beam which is emergent from the window, and the reflected light beam forms a stray light beam which is emergent from another position of the window after being reflected again by the reflecting mirror. The emergent main beam emitted from the window is reflected by a target object to form an echo main beam, and the stray light beam emitted from the other position of the window is reflected by another target object to form a stray echo beam. The echo main beam and the stray beam can be received by a receiving device after being reflected by a reflecting mirror.
When the laser radar adopts a plane window, namely the window is shaped like a flat plate, the reflection angle of the window is fixed, namely the angle between the emitted light beam and the stray light beam is fixed. Therefore, for the outgoing main beam and the stray light beam formed by the same emission beam, the echo main beam and the stray echo light beam have the same path after being reflected by the reflector during receiving, namely the echo main beam and the stray echo light beam are received by the same receiving device, so that noise points appear on the point cloud.
When the laser radar scans by using a non-coaxial light path and a rotating mirror. The transmitting device and the receiving device are vertically separated, so that the transmitting beam generated by the transmitting device and the echo beam received by the receiving device are separated, namely, the transmitting path and the echo beam do not have the same transmission path of partial beams.
However, since the non-coaxial transceiver needs to have independent transmitting and receiving modules, the volume of the laser radar is often larger and the structure is not compact; in addition, the non-coaxial transceiving has the problems of complex assembly and adjustment and higher cost. In order to avoid noise points on the point cloud, another method is to adopt a special-shaped window with an upper part and a lower part in an asymmetric structure. As shown in fig. 1, the upper and lower portions of the window are optimized to form a certain angle, so that the receiving and transmitting paths of the main echo beam and the stray echo beam are not consistent, the stray beam is reflected by the rotating mirror and then cannot be received by the same receiving device, and noise is prevented from being formed on the point cloud.
When the laser radar scans by using the coaxial transceiver and the rotating mirror (a reflecting mirror in the figure), even if the plane window is changed into the special-shaped window (as shown in figure 1), the noise problem formed after stray light is secondarily reflected by the window can not be changed by forming a certain angle at the upper part and the lower part of the window. This is because, when the laser radar adopts the coaxial transmission/reception scheme (as shown in fig. 2), the transmission paths of the emission beam 41a and the echo beam 43a are partially the same. The spots formed on the viewing window by the emission beam 41a and the echo beam 43a partially overlap, and even if the viewing window has only a certain angle above and below, the main beam and the stray beam cannot be changed to have the same path when received.
In the case of a laser radar using a turning mirror 52, as shown in fig. 3, a target 50a located in one direction may form a false point 50c, i.e. noise, in the direction of another target 50b under certain angles, typically due to secondary reflection between the window 53 and the turning mirror 52.
Specifically, the signal detection capability of the transceiving optical path corresponding to the noise point (coaxial transceiving device 51-rotating mirror 52-window 53-target 50a) formed by secondary reflection is approximately rho of the main beam2Where ρ is the window reflectivity, typically 2% -10%. For example, the window reflectivity of PC material is 10%, and the window reflectivity of glass material is 5%.
Therefore, in a non-coaxial scheme, the problem that a window corresponding to each of the transmitting module and the receiving module has an included angle is solved, but in the coaxial scheme, the scheme does not work, that is, the existing laser radar adopting coaxial transceiving has the problems of serious crosstalk phenomenon, poor signal-to-noise ratio and easiness in forming noise points on point clouds.
SUMMERY OF THE UTILITY MODEL
The utility model provides a problem provide a window and laser radar for laser radar to reduce crosstalk, improve the SNR, improve the noise point problem.
In order to solve the above problem, the utility model provides a window for laser radar, include:
the laser radar includes: a transceiver module and a scanning device; wherein, the detection light generated by the transceiver module forms emission light after being deflected by the scanning device; the emitted light is transmitted through the window and exits to a three-dimensional space; the emergent emission light is reflected by a target object to form echo light; after the echo light transmits the window, the echo light is deflected by a scanning device to be collected by the transceiver module; the window includes an attenuation portion that attenuates stray light formed by the reflected emitted light.
Optionally, the attenuating portion is curved.
Optionally, the curved shape is convex toward the outer space of the laser radar, and the stray light formed by the reflection of the emitted light by the attenuation portion is converged and then diverged to realize attenuation.
Optionally, the curved shape is convex away from the inner space of the laser radar, and stray light formed by the attenuation part reflecting the emitted light is diverged to realize attenuation.
Optionally, the stray light is reflected by the scanning device and transmitted through the window to exit to the three-dimensional space; the emergent stray light is reflected by a target object to form stray echo light; after the stray echo light transmits the window, the stray echo light is reflected to the attenuation part through the scanning device so as to realize attenuation.
Optionally, the window further includes: a non-attenuating portion having a shape different from a shape of the attenuating portion.
Optionally, the shape of the non-attenuation portion is a flat plate shape or a curved shape protruding outward of the laser radar.
Optionally, the laser radar further includes: an optical system adapted to collimate the emitted light; the smaller the focal length of the optical system is, the larger the radius of curvature of the attenuation portion is.
Optionally, the radius of curvature of the attenuation portion is in a range of 150mm to 400 mm.
Optionally, a tangential plane at a position of the spot where the emitted light is projected onto the attenuation portion is oblique to a direction vector of the emitted light.
Optionally, the field angle of the laser radar is 2 θ; an included angle between a tangent plane of the position of the light spot projected to the attenuation part by the emitted light and a vertical plane of an optical axis of the laser radar is w; wherein w > θ.
Optionally, the material of the window is a PC material.
Optionally, the window and the shell of the laser radar are fixed through screws; the screws penetrate through the bottom surface of the shell of the laser radar and are fixedly connected with the shell of the laser radar on two sides of the window.
Correspondingly, the utility model also provides a laser radar, include: a transceiver module, the transmitter module adapted to generate probe light and further adapted to collect the echo light; a scanning device adapted to deflect the probe light generated by the transceiver module; a window, the window is the utility model discloses a window.
Optionally, the scanning device includes one of a rotating mirror and a galvanometer.
Optionally, a part of the optical path of the probe light generated by the transceiver module and a part of the optical path of the echo light collected by the transceiver module are on the same optical axis.
Compared with the prior art, the technical scheme of the utility model have following advantage:
the utility model discloses among the technical scheme, the decay portion of window makes the stray light that the launching light formed after its reflection be the form of dispersing or through the form of dispersing after the convergence in order to realize the decay, can effectively overcome the noise problem, and then can effectively restrain laser radar's crosstalk phenomenon, improvement SNR.
In the alternative of the utility model, the stray light is transmitted through the window and is emitted to the three-dimensional space after being reflected by the scanning device; the emergent stray light is reflected by a target object to form stray echo light; after the stray echo light transmits the window, the stray echo light is reflected to the attenuation part through the scanning device so as to realize attenuation. The attenuation part can also effectively improve the secondary reflection of the window to light, further reduce noise points on point clouds and improve the interference problem of laser radar signals.
In the alternative, the window further comprises: a flat plate-shaped or curved non-attenuation portion protruding outward from the laser radar. The size of the inner space of the laser radar can be ensured by arranging the tabular non-attenuation part and the curved non-attenuation part protruding to the outside of the laser radar.
The utility model discloses in the alternative, laser radar still includes: an optical system adapted to collimate the emitted light; the smaller the focal length of the optical system is, the larger the radius of curvature of the attenuation portion is. The curvature radius of the attenuation part is adaptive to the focal length of the optical system, so that the stray light interference problem can be overcome, and the distance measuring capability of the laser radar is ensured.
In the alternative of the utility model, the window and the shell of the laser radar are fixed by screws; the bottom surface that the screw passed laser radar's casing is in the both sides of window with laser radar's casing is fixed continuous, compares in the fixed mode of glue, and is more firm, the reliability is stronger through the fixed window of screw, convenient to detach window moreover.
Drawings
FIG. 1 is a schematic diagram of a light path structure of a laser radar using a special-shaped window;
FIG. 2 is a schematic diagram of an optical path structure of a lidar employing coaxial transceiving;
FIG. 3 is a schematic diagram of a structure of a light path formed by noise in a laser radar using coaxial transceiving;
fig. 4 is a schematic structural diagram of an embodiment of a window for a laser radar according to the present invention;
FIG. 5 is a schematic diagram of the relationship between the field angle and the focal length of the optical system in the lidar employing the embodiment of the viewing window shown in FIG. 4;
FIG. 6 is a schematic diagram of the structure of the tilt angle of the window in the lidar employing the embodiment of the window shown in FIG. 4;
FIG. 7 is a schematic perspective view of a window in the lidar of FIG. 4;
FIG. 8 is a schematic view of the window and the housing of the lidar shown in FIG. 4;
fig. 9 is a schematic structural diagram of another embodiment of a window for a lidar according to the present invention;
fig. 10 is a schematic diagram of an optical path structure of the scanning device in an initial position according to an embodiment of the laser radar of the present invention;
FIG. 11 is a schematic diagram of an optical path configuration of the scanning device in the lidar embodiment shown in FIG. 10 as it rotates counterclockwise from an initial position;
fig. 12 is a schematic diagram of an optical path configuration of the scanning device in the laser radar embodiment shown in fig. 10 when the scanning device rotates clockwise from the initial position.
Detailed Description
It is known from the background art that the laser radar in the prior art has a noise problem.
For solving the technical problem, the utility model provides a window for laser radar, laser radar includes: a transceiver module and a scanning device; wherein, the detection light generated by the transceiver module forms emission light after being deflected by the scanning device; the emitted light is transmitted through the window and exits to a three-dimensional space; the emergent emission light is reflected by a target object to form echo light; after the echo light transmits the window, the echo light is deflected by a scanning device to be collected by the transceiver module; the window includes an attenuation portion that attenuates stray light formed by the reflected emitted light.
The utility model discloses technical scheme, the decay portion of window makes the stray light that the launching light formed after its reflection be the form of dispersing or through the form of dispersing after the convergence in order to realize the decay, can effectively overcome the noise problem, and then can effectively restrain laser radar's crosstalk phenomenon, improvement SNR.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 4, a schematic structural diagram of an embodiment of a window for a laser radar according to the present invention is shown.
It should be noted that fig. 4 shows a schematic optical path structure of a laser radar adopting the window embodiment.
Specifically, the laser radar includes: a transceiver module 110 and a scanning device 120; wherein, the probe light generated by the transceiver module 10 is deflected by the scanning device 120 to form the emitting light 110a (as shown by the thick arrow in fig. 4); the emitted light 110 is transmitted through the window 130 to exit to the three-dimensional space; the emitted light 110a is reflected by the target 100 to form the echo light 110b (as shown by the thin dotted arrow in fig. 4); after the echo light 110b transmits the window 130, it is deflected by the scanning device 120 to be collected by the transceiver module 110; the window includes an attenuation portion 131, and the attenuation portion 131 attenuates stray light 110c formed after the emitted light 110a is reflected by the attenuation portion.
In some embodiments of the present invention, the attenuation portion 131 is curved. Specifically, the curved shape includes at least one of a curved shape protruding toward the laser radar outer space and a curved shape protruding toward the laser radar inner space. As shown in fig. 4, in the present embodiment, the curved shape is a curved shape protruding toward the outer space of the laser radar. The stray light 110c formed by the attenuation part 131 reflecting the emitting light 110a is converged and then diverged to realize attenuation.
The attenuation portion 131 of the window attenuates the stray light 110c formed by the reflection of the emitted light 110a in a divergent shape or a convergent divergent shape, so that the noise problem can be effectively overcome, the crosstalk phenomenon of the laser radar can be effectively inhibited, and the signal-to-noise ratio can be improved.
The noise caused by the secondary reflection is greatly attenuated by the attenuation part of the curved window. The reason is that: since the attenuation portion 131 is curved, the stray light reflected by the attenuation portion 131 is directly diverged or converged and then diverged. When the curved shape of the attenuation portion 131 is convex toward the lidar outer space, both the inner surface of the attenuation portion 131 facing the lidar inner space and the outer surface of the attenuation portion 131 facing the lidar outer space are curved surfaces convex toward the lidar outer space, and the stray light 110c formed by the reflection of the inner surface and the outer surface of the attenuation portion 131 to the emitted light 110a is transmitted in a manner of converging and then diverging.
Fig. 4 shows only stray light 110c formed by reflection of the emitted light 110a by the attenuation portion 131 toward the inner surface of the laser radar internal space. Stray light formed by reflection of the divergent light 110a by the attenuation portion 131 toward the outer surface of the laser radar external space is not shown in fig. 4.
The stray light 110c is reflected by the scanning device 120, then transmitted through the window, and then projected onto the target 101; since the stray light 110c is a light ray converging and diverging first, the intensity of the stray light 110c projected onto the target 101 is smaller (compared with the stray light formed by the planar view window in fig. 6). Accordingly, the intensity of stray echo light (not shown in the figure) formed by the stray light 110c reflected by the target 101 is also small, and the stray echo light returns along the original path; the stray echo light returned from the original path is reflected by the scanning device 120 and then projected onto the attenuation part 131 again, and the stray echo light reflected by the attenuation part 131 still has a propagation mode of converging and then diverging, so that the light intensity of the stray echo light is attenuated again, and the purpose of suppressing the formation of noise points can be achieved. And the effect of the attenuation part on inhibiting the formation of noise is more obvious as the detection distance is increased.
Referring to fig. 5 in combination, in some embodiments of the present invention, the lidar further comprises: an optical system 140, the optical system 140 adapted to collimate the emitted light 110a (shown in FIG. 4); the smaller the focal length f of the optical system 140, the larger the radius of curvature of the attenuation portion 131 (shown in fig. 4) can be set accordingly. The curvature radius of the attenuation portion 131 is adapted to the focal length f of the optical system 140, so that the distance measuring capability of the laser radar can be ensured while the problem of stray light interference is overcome. Specifically, the radius of curvature of the attenuation portion 131 is in the range of 150mm to 400 mm.
The attenuation portion 131 functions to make the stray light 110c reflected by the window converge and then diverge or diverge, so that the signal energy of the stray echo light forming a noise point is smaller than the signal energy of the echo light, and if the signal energy of the stray echo light is larger than the signal energy of the echo light, the stray echo light may cause serious signal interference to the echo light.
As the radius of curvature of the attenuation portion 131 is smaller, the formed stray light is more diffused, and the energy of the formed stray echo light is smaller, and thus, the radius of curvature of the attenuation portion 131 is reduced as much as possible, so that the energy of the stray echo light can be effectively reduced, and the probability of noise generation can be effectively reduced, for example, the radius of curvature of the attenuation portion 131 is set to 400mm or less, so that the energy of the stray echo light is smaller than the energy of the echo light.
On the other hand, the radius of curvature of the attenuation portion 131 is also related to parameters of the optical system 140, including a near-field light spot and a far-field divergence angle, wherein the near field is a detection range within 1m, and the far field is a detection range beyond 100 m; when the far-field divergence angle is a fixed value, the smaller the near-field light spot is, the smaller the curvature radius of the attenuation portion 131 may be; and when the near-field light spot is a fixed value, the smaller the curvature radius is, the larger the far-field divergence angle is. The radius of curvature needs to be above 150mm to prevent the divergence angle from degrading and to avoid affecting the distance measurement capability.
In some embodiments of the present invention, the tangential plane at the position of the spot on the attenuation portion 131 projected by the emitting light 110a is oblique to the direction vector of the emitting light 110a, that is, the tangential plane 131b at the position of the incident point 131a on any one of the inner surface or the outer surface of the attenuation portion 131 is not perpendicular to the direction vector of the emitting light 110a, so as to avoid the stray light formed by the emitting light 110a reflected by the attenuation portion 131 from returning to the original path.
Specifically, as shown in fig. 6, the window has an inclination angle w, so that an included angle between a tangent plane of a position of the spot where the emitted light 110a is projected onto the attenuation portion 131 and a vertical plane of the optical axis of the lidar is the inclination angle w. When the vertical field angle of the laser radar is 2 theta, w is larger than theta. The length of the attenuation portion 131 along the inclination angle w increases with the increase of the inclination angle w, that is, the length of the attenuation portion 131 projected in the tangent plane increases with the increase of the inclination angle w, so the inclination angle w should be as small as possible to reduce the area of the window, and preferably, w is greater than θ by 5% or less.
As shown in fig. 5, the optical path of the laser radar has the following relation: f, tan θ (1+ DiMx) ═ h, where f is the focal length of the optical system 140 of the laser radar, 2 θ is the field angle of the laser radar, DiMx is the error (such as aberration) of the optical system 140 of the laser radar, and h is the maximum distance between the position on the light source in the transceiver module and the optical axis. The above relation can be simplified as follows: f θ ═ h. It can be seen that, in the case of a fixed light source size, the field angle 2 θ is inversely proportional to the focal length f of the optical system 140, and when the focal length f of the optical system 140 is increased, the field angle 2 θ is decreased, and accordingly, the tilt angle w of the window is decreased, so that the tilt angle w of the window can be decreased by increasing the focal length of the optical system 140, thereby decreasing the area of the window.
Referring to fig. 7 in combination, a perspective view of the embodiment of the window shown in fig. 4 is shown.
The window 130 includes, in addition to the attenuation portion 131: a non-attenuating portion 132, the shape of the non-attenuating portion 132 being different from the shape of the attenuating portion, i.e. the window 130 further comprises: a non-attenuating portion 132 having a different shape from the attenuating portion.
In some embodiments of the present invention, as shown in fig. 7, the non-attenuating portion 132 is shaped as a flat plate. In other embodiments of the present invention, the non-attenuation portion may be a curved portion protruding outward from the laser radar. The non-attenuation part is arranged to be flat or curved protruding towards the outside of the laser radar, so that the internal space of the laser radar can be effectively enlarged, and the utilization of space is facilitated.
In some embodiments, the material of the window is PC material, i.e. the material of the attenuation portion 131 and the non-attenuation portion 132 can be PC material. In other embodiments of the present invention, the material of the window may be other materials such as glass.
In some embodiments of the present invention, as shown in fig. 8, the window 130 and the shell 150 of the laser radar are fixed by screws 151. The housing 150 and the window 130 define a cavity for accommodating components. Specifically, screw 151 passes the bottom surface of laser radar's casing 150 and is in the both sides of window 130 with laser radar's casing 150 is fixed continuous, compares in the fixed mode of glue, and it is more firm, the reliability is stronger to fix the window through the screw, convenient to detach window moreover.
Referring to fig. 9, a schematic structural diagram of another embodiment of a window for lidar according to the present invention is shown.
It should be noted that, the present embodiment has the same parts as the previous embodiments, and the present invention is not described herein again. The present embodiment is different from the previous embodiments in that, in the present embodiment, the curved shape is convex toward the inner space of the laser radar, and the stray light 210c formed by the attenuation portion 231 reflecting the emitted light 210a is diverged to realize attenuation.
As shown in fig. 9, when the curved shape of the attenuation portion 231 is convex toward the lidar inner space, the inner surface of the attenuation portion 231 facing the lidar inner space and the outer surface of the attenuation portion 231 facing the lidar outer space are both curved surfaces convex toward the lidar inner space, and the stray light 210c formed by the reflection of the inner surface and the outer surface of the attenuation portion 231 to the emitted light 210a is divergent.
Fig. 9 shows only stray light 210c formed by reflection of the emitted light 210a by the attenuation portion 231 toward the inner surface of the laser radar internal space. Stray light formed by reflection of the divergent light 210a by the attenuation portion 231 toward the outer surface of the laser radar external space is not shown in fig. 9.
The stray light 210c is reflected by the scanning device 220, then transmits through the window again, and then is projected onto the target 201; since the stray light 210c is divergent, the intensity of the stray light 210c projected onto the target 201 is weak (compared to the stray light formed by the planar viewing window in fig. 6). Accordingly, the intensity of stray echo light (not shown in the figure) formed by the target 201 reflecting the stray light 210c is also small, and the stray echo light returns along the original path; stray echo light returned from the original path is reflected by the scanning device 220 and then projected onto the attenuation part 231 again, the stray echo reflected again by the attenuation part 231 still appears radially, and the light intensity of the stray echo light is attenuated again, so that the purpose of suppressing the formation of noise points can be achieved. And the effect of the attenuation part on inhibiting the formation of noise is more obvious as the detection distance is increased.
Correspondingly, the utility model also provides a laser radar.
Referring to fig. 10, a schematic structural diagram of an embodiment of the lidar of the present invention is shown.
The laser radar includes: a transceiver module 310, said transmitter module adapted to generate probe light and further adapted to collect said echo light; a scanning device 320 adapted to deflect the probe light generated by the transceiver module; a window 330, wherein the window 330 is a window of the present invention.
Wherein, the window 330 is the window of the present invention. The specific technical solution of the window 330 refers to the embodiment of the aforementioned window, and the present invention is not repeated herein. Specifically, in some embodiments of the present invention, the window 330 includes an attenuating portion 331 and a non-attenuating portion 332 with different shapes.
In some embodiments, the scanning device 320 includes a rotating mirror. In other embodiments of the present invention, the scanning device may further include a galvanometer. The probe light generated by the transceiver module is reflected by the scanning device 320 to form an emitting light.
Specifically, the laser radar is a laser radar adopting coaxial transceiving. Specifically, a partial optical path of the probe light generated by the transceiver module and a partial optical path of the echo light collected by the transceiver module are on the same optical axis.
In some embodiments, the scanning device 320 is located at a position corresponding to a junction of the attenuating portion 331 and the non-attenuating portion 332 of the window 330. Specifically, when the scanning device 320 is in the initial position, the light spot formed by the projection of the emitted light onto the window 330 is located on the attenuation portion 331. The initial position of the scanning device 320 is the position of the scanning device 320 when the emitted light formed by the reflection of the scanning device 320 is perpendicular to the non-attenuation portion in the horizontal field of view. Preferably, when the detection light is incident on the rotating mirror of the scanning device 320 at 45 °, the emitted light reflected by the rotating mirror is perpendicular to the non-attenuation portion in the horizontal field of view, that is, the position of the rotating mirror where the detection light is incident at 45 ° is an initial position.
As shown in fig. 11, when the rotating mirror rotates counterclockwise, the incident angle of the probe light is greater than 45 °, and the formed emission light is projected to the attenuation portion 331 of the window. After the attenuation part 331 and the rotating mirror are reflected successively, the formed stray light is emitted to the three-dimensional space outside the laser radar through the non-attenuation part 331 of the window. The stray light reflected by the attenuation portion 331 propagates in a state of converging and then diverging. The energy of the stray light projected to the target is low, the stray echo light formed by the reflection of the target returns along the original path and is reflected again by the attenuation part 331, and then the light intensity of the stray echo light is further weakened, so that the possibility of noise point formation can be effectively reduced.
In some embodiments, the attenuating region 331 of the viewing window is proximate to the scanning device 320, and the non-attenuating region is distal to the scanning device 320. Therefore, as shown in fig. 12, when the rotating mirror rotates clockwise, the incident angle of the probe light is less than 45 °, the formed emitted light is directly projected to the non-attenuation region 320 far away from the scanning device 320, and the stray light formed by the reflection of the non-attenuation region 320 propagates toward the direction far away from the scanning device 320 and is not projected onto the scanning device 320 again, which is visible and does not form noise.
In summary, the attenuation portion of the window attenuates the stray light formed by the reflection of the emitted light in a divergent shape or a convergent divergent shape, so that the noise problem can be effectively overcome, the crosstalk phenomenon of the laser radar can be effectively inhibited, and the signal-to-noise ratio can be improved.
Moreover, in an alternative scheme, the stray light is reflected by the scanning device and is transmitted through the window to be emitted to a three-dimensional space; the emergent stray light is reflected by a target object to form stray echo light; after the stray echo light transmits the window, the stray echo light is reflected to the attenuation part through the scanning device so as to realize attenuation. The attenuation part can also effectively improve the secondary reflection of the window to light, further reduce noise points on point clouds and improve the interference problem of laser radar signals.
In addition, in the alternative, the window further includes: a flat plate-shaped or curved non-attenuation portion protruding outward from the laser radar. The size of the inner space of the laser radar can be ensured by arranging the tabular non-attenuation part and the curved non-attenuation part protruding to the outside of the laser radar.
In addition, in the alternative, the lidar further comprises: an optical system adapted to collimate the emitted light; the smaller the focal length of the optical system is, the larger the radius of curvature of the attenuation portion is. The curvature radius of the attenuation part is adaptive to the focal length of the optical system, so that the stray light interference problem can be overcome, and the distance measuring capability of the laser radar is ensured.
Further, in an alternative scheme, the window and the shell of the laser radar are fixed through screws; the bottom surface that the screw passed laser radar's casing is in the both sides of window with laser radar's casing is fixed continuous, compares in the fixed mode of glue, and is more firm, the reliability is stronger through the fixed window of screw, convenient to detach window moreover.
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 (16)
1. A window for a lidar, the lidar comprising: a transceiver module and a scanning device;
wherein, the detection light generated by the transceiver module forms emission light after being deflected by the scanning device;
the emitted light is transmitted through the window and exits to a three-dimensional space;
the emergent emission light is reflected by a target object to form echo light;
after the echo light transmits the window, the echo light is deflected by a scanning device to be collected by the transceiver module;
the window includes an attenuation portion that attenuates stray light formed by reflection of the emitted light.
2. The viewing window of claim 1, wherein the attenuating portion is curved.
3. The window of claim 2, wherein the curvature is convex toward the lidar exterior space, and wherein stray light from the emitted light reflected by the attenuating portion converges and diverges to attenuate the stray light.
4. Viewing window according to claim 2, characterized in that said curvature is convex towards the lidar inner space, and that stray light, which is formed by said emitted light being reflected by said attenuation portion, is divergent for attenuation.
5. The viewing window of any one of claims 1-4, wherein the stray light is transmitted through the viewing window to exit into a three-dimensional space after being reflected by the scanning device; the emergent stray light is reflected by a target object to form stray echo light; after the stray echo light transmits the window, the stray echo light is reflected to the attenuation part through the scanning device so as to realize attenuation.
6. The window of claim 1, further comprising: a non-attenuating portion having a shape different from a shape of the attenuating portion.
7. Window according to claim 6, characterized in that the shape of the non-attenuating portion is flat or curved protruding towards the outside of the lidar.
8. The window of claim 1, wherein the lidar further comprises: an optical system adapted to collimate the emitted light;
the smaller the focal length of the optical system is, the larger the radius of curvature of the attenuation portion is.
9. The viewing window of claim 8, wherein the radius of curvature of the attenuating portion is in the range of 150mm to 400 mm.
10. The window of claim 1, wherein a tangential plane at which the spot of the emitted light impinges on the attenuating portion is oblique to a direction vector of the emitted light.
11. The viewing window of claim 10, wherein the lidar has a field angle of 2 θ;
an included angle between a tangent plane of the position of the light spot projected to the attenuation part by the emitted light and a vertical plane of an optical axis of the laser radar is w;
wherein w > θ.
12. The window of claim 1, wherein the window material is a PC material.
13. The window of claim 1, wherein the window is secured to the lidar housing by screws;
the screws penetrate through the bottom surface of the shell of the laser radar and are fixedly connected with the shell of the laser radar on two sides of the window.
14. A lidar, comprising:
a transceiver module, the transmitter module adapted to generate probe light and further adapted to collect the echo light;
a scanning device adapted to deflect the probe light generated by the transceiver module;
a window according to any one of claims 1 to 13.
15. The lidar of claim 14, wherein the scanning device comprises one of a rotating mirror and a galvanometer.
16. The lidar of claim 14, wherein a portion of an optical path of the transceiver module that generates the probe light is on a same optical axis as a portion of an optical path of the transceiver module that collects the echo light.
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