CN216956370U - Laser radar and vehicle - Google Patents

Abstract

The application relates to a laser radar and vehicle, laser radar includes: the device comprises a shell, a near-distance assembly and a far-distance assembly, wherein the shell comprises a light-transmitting plate, the light-transmitting plate is used for laser to penetrate through, the near-distance assembly is arranged on the shell and comprises a near-distance transmitting module, a near-distance receiving module and a near-distance reflecting module, and the far-distance assembly is arranged on the shell and comprises a far-distance transmitting module, a far-distance receiving module and a far-distance reflecting module; the near and far components are integrated into the internal cavity of the housing. The near-distance emitting module and the far-distance emitting module are used for emitting laser, the near-distance reflecting module and the far-distance reflecting module are used for reflecting the laser, and the near-distance receiving module and the far-distance receiving module are used for receiving the laser; an included angle alpha between the first optical axis of the short-distance emission module and the second optical axis of the long-distance emission module is more than or equal to 10 degrees and less than or equal to 40 degrees. The laser radar has a short-distance detection function and a long-distance detection function, and simultaneously realizes volume miniaturization.

Description

Laser radar and vehicle

Technical Field

The application relates to the technical field of radars, in particular to a laser radar and a vehicle.

Background

The laser radar installed on the vehicle can detect the environment around the vehicle, wherein the laser radar comprising the remote detection module has a remote detection function and can detect the size, the advancing direction and the speed of a target in a smaller field of view in front of the vehicle, and the laser radar is required to have high resolution; laser radar including short-range detection module has short-range detection function, can survey the target that great field range appears suddenly, requires laser radar to carry out wide-angle detection this moment in the short time, and no matter long-distance detection module or short-range detection module all can't have high resolution and wide-angle's performance simultaneously, and current laser radar can not guarantee to have short-range detection function and long-range detection function simultaneously promptly.

SUMMERY OF THE UTILITY MODEL

The application provides a laser radar and vehicle, this laser radar can have near-range detection function and long-range detection function simultaneously.

The embodiment of the application provides a laser radar, laser radar includes: the laser device comprises a shell, a light source and a light guide plate, wherein the shell comprises a light transmission plate used for transmitting laser; the near-distance assembly is arranged on the shell and comprises a near-distance emission module, a near-distance receiving module and a near-distance reflection module; a remote assembly mounted to the housing and including a remote transmit module, a remote receive module, and a remote reflect module; the near assembly and the far assembly are integrated into the inner cavity of the housing; the near-distance emitting module and the far-distance emitting module are used for emitting laser, the near-distance reflecting module and the far-distance reflecting module are used for reflecting the laser, and the near-distance receiving module and the far-distance receiving module are used for receiving the laser; an included angle alpha between a first optical axis of the short-distance emission module and a second optical axis of the long-distance emission module is more than or equal to 10 degrees and less than or equal to 40 degrees.

In this embodiment, laser radar is integrated with near-range subassembly and long distance subassembly, and the near-range subassembly can carry out the wide-angle detection in the short time, consequently can survey the target that appears suddenly in the great field of view scope, is applicable to near-range detection, and the long distance subassembly has the performance of high resolution, consequently can survey the target size, the direction of advance and the speed in the less field of view scope in laser radar the place ahead, is applicable to long distance detection to make this laser radar can have near-range detection function and long distance detection function simultaneously. The first optical axis of near distance emission module with contained angle alpha between the second optical axis of long distance emission module satisfies 10 and is not more than alpha and not more than 40 when being more than alpha, can make near distance subassembly and the laser of long distance subassembly reflection can not blockked each other to when realizing that laser radar is miniaturized, guarantee and improved distance detection's accuracy and validity.

In one possible design, the near-distance reflection module is located between the far-distance reflection module and the light-transmitting plate, and the laser light passing through the near-distance reflection module can penetrate through the light-transmitting plate; the near field receiving module with have the clearance between the near field reflection module, along the perpendicular to the direction of light-passing board, the long distance reflection module is located keeping away from of clearance one side of light-passing board, process the laser that the long distance reflection module reflects can pass through the clearance the light-passing board.

The position relation of each part in this application embodiment makes each module of low coverage subassembly and long distance subassembly can not shelter from each other to under the prerequisite that low coverage subassembly and long distance subassembly homoenergetic normally worked, can reduce the distance between low coverage subassembly and the long distance subassembly, and then make laser radar's whole volume less, be convenient for install.

In a possible design, along the perpendicular to the direction of light-passing board, near-range receiving module with far distance emission module butt has reduced near-range subassembly and far distance subassembly at the perpendicular to light-passing board and the length that is on a parallel with the light-passing board direction, and then reduces laser radar's volume, and simultaneously, near-range receiving module and the far distance emission module of mutual butt can be spacing each other to improve the stability of the two in the shell.

In a possible design, the remote assembly is further provided with a catadioptric module for reflecting the laser light reflected by the remote reflective module to the remote receiving module, so that the second optical axis of the remote transmitting module is not parallel to the third optical axis of the remote receiving module.

Through setting up the reflection of refraction module for laser through long distance reflection module reflection just reentrant long distance receiving module after the reflection of refraction module earlier, thereby make the great long distance receiving module of length not set up along first direction (the second optical axis of long distance emission module is along first direction), thereby reduce the size of long distance subassembly along first direction.

In a possible design, an included angle beta between the third optical axis and the light-transmitting plate is more than or equal to 20 degrees and less than or equal to 90 degrees, so that the space occupied by the long-distance receiving module along the direction perpendicular to the light-transmitting plate and the direction parallel to the light-transmitting plate is smaller, and the size of the laser radar is reduced.

In one possible design, the near reflection module, the far reflection module and the turning reflection module are provided with extinction portions. The extinction portion can avoid light except for laser radar's detection laser to get into near distance receiving module, far distance receiving module and the detection result that the reflection module disturbed laser radar to improve laser radar's accuracy of surveying.

In one possible design, the first optical axis of the short-distance transmitting module is parallel to the fourth optical axis of the short-distance receiving module. The diffuse reflection can take place when meetting the barrier by the laser that near field subassembly jetted out, the laser after taking place the diffuse reflection can directive to each direction, because first optical axis is parallel with the fourth optical axis, consequently take place in the laser after the diffuse reflection with the parallel laser meeting directive near field reflection module of the laser of directive barrier, the reflection of near field reflection module again gets into near field receiving module, thereby guarantee that near field receiving module can receive the laser that laser radar place ahead barrier reflects back certainly, thereby survey the condition in front of laser radar.

In one possible design, the near receive module has a first field angle FOV1, the far receive module has a second field angle FOV2, FOV2/FOV1 ≦ 1/5.

In this embodiment, if the FOV2/FOV1 is too large, the FOV1 is relatively too small, and the FOV2 is relatively too large, the viewing range of the near component is too small, the detection range is small, the resolution of the far component is too small, the detection accuracy is low, and the detection effects of the near component and the far component are poor. Therefore, when the FOV2/FOV1 is not more than 1/5, the laser radar has better detection effect on both long distance and short distance.

In one possible design, the FOV1 is 140 ≦ 180 ≦ providing higher resolution while ensuring a sufficiently large field of view for the near assembly.

In one possible design, the 30 FOV2 35 is capable of high resolution while ensuring a sufficiently large field of view for the remote assembly.

In one possible design, the near receive module has a first clear aperture D1, and the far receive module has a second clear aperture D2, D2/D1 ≧ 5. If D2/D1 is too small, the second clear aperture D2 is too small compared to the first clear aperture D1, which may result in too low resolution of the long-range receive module, and may affect the detection of the lidar at a longer distance. Therefore, when D2/D1 ≧ 5, both the near-distance receiving module and the far-distance receiving module can be guaranteed to have higher resolution.

In one possible design, the near-emission module and the far-emission module each include an emission-end optical system; the near receiving module and the far receiving module both comprise receiving end optical systems.

In this embodiment, transmitting end optical system is used for adjusting laser collimation, can make the laser that short-distance emission module and long-distance emission module transmitted be parallel to make laser radar's detection laser not diverge, thereby can accurately shine on the barrier and reflect back and make laser radar's detection result accurate. Near-distance receiving module and far-distance receiving module all contain the receiving end optical system who is used for collecting reflection laser, can make near-distance receiving module and far-distance receiving module receive more by near-distance emission module and far-distance emission module send run into the barrier and reflect the laser of returning to improve laser radar detection's accuracy and reliability.

In one possible design, the housing includes a first housing and a second housing that are removably connected, the first housing having a first outer edge and the second housing having a second outer edge, the first outer edge abutting the second outer edge; the first outer edge and the second outer edge are in the shape of complementary arcs, and the light transmission plate is installed on the first shell or the second shell.

In this embodiment, the first housing and the second housing, which are detachably connected, are provided to facilitate the installation and removal of the short-distance component and the short-distance component inside the laser radar. First outward flange and second outer edge can make first outer and second shell laminating inseparable for the complementary arc of shape, prevent that the dust from getting into and influencing laser radar work in the shell, reduce the processing degree of difficulty of first shell and second shell simultaneously.

In one possible design, the near reflecting module and the far reflecting module are rotatably connected to the housing. The rotation of near-range reflection module and far-range reflection module reflects away towards the equidirectional not laser of near-range emission module and far-range emission module transmission respectively, and then realizes laser radar to the detection of the barrier in different positions, makes laser radar's detection scope wider.

In one possible design, the near reflecting module and the far reflecting module are polygonal mirrors, oscillating mirrors or micro-electromechanical systems; the near distance emitting module, the near distance receiving module, the far distance emitting module and the far distance receiving module are one of a spherical lens, an aspherical lens, a cylindrical lens, a spherical lens group, an aspherical lens group or a cylindrical lens group.

Alternatively, the short-distance reflection module adopts a polygon mirror scheme, and the long-distance reflection module adopts a swing mirror or a micro-electro-mechanical system scheme. The polygon mirror can obtain images with higher resolution by less laser, so that the polygon mirror is suitable for a short-distance reflection module, and a short-distance assembly can detect a large angle in a short time. The swing mirror or the micro-electro-mechanical system is smaller in size and higher in reliability, but the size of the field angle is limited to a certain extent, so that the swing mirror or the micro-electro-mechanical system is more suitable for a long-distance reflection module with a smaller second field angle FOV2 of the long-distance receiving module, and the size of the laser radar is reduced. The near emission module, the near receiving module, the far emission module and the far receiving module can select different lenses or lens groups according to actual use requirements.

The embodiment of the application provides a vehicle, including the body, the body is provided with roof, front windshield and/or preceding protection thick stick, the vehicle still includes foretell lidar, lidar installs the roof front windshield and/or preceding protection thick stick.

Laser radar can install the roof of vehicle, front windshield or preceding bumper etc. position to make laser radar's light-passing board orientation automobile body direction that gos forward, thereby make the laser that the short distance subassembly is used for surveying, the laser that the long distance subassembly is used for surveying can pass the condition of light-passing board in order to survey the vehicle place ahead barrier, thereby the driving of supplementary vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

FIG. 1 is a schematic diagram of a lidar configured in an embodiment of the present disclosure;

FIG. 2 is a schematic structural view of the transparent plate, the distance module and the near module in FIG. 1, wherein gray arrows indicate laser paths of the near module, and black arrows indicate laser paths of the distance module;

FIG. 3 is a schematic diagram of an angle α between the first optical axis and the second optical axis in FIG. 2;

fig. 4 is a schematic diagram illustrating an included angle β between the third optical axis and the transparent plate in fig. 2;

FIG. 5 is a schematic view of the structure of the distance and near elements of FIG. 1;

fig. 6 is an exploded view of the housing of fig. 1.

Reference numerals are as follows:

1-a housing;

11-a light-transmitting plate;

12-a first housing;

13-a second housing;

14-a first outer edge;

15-a second outer edge;

2-a close-in component;

21-a short-range emission module;

211-first optical axis;

22-a close-range reflective module;

23-a close-range receiving module;

231-fourth optical axis;

3-a remote assembly;

31-a long-distance transmission module;

311-second optical axis;

32-a long-distance reflection module;

33-a remote receiving module;

331-third optical axis;

34-turning reflecting module.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Detailed Description

The embodiment of the application provides a laser radar which can meet the requirements of near-distance detection and long-distance detection at the same time.

The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is to emit detection signals (laser beams) to the target, then compare the received signals (target echoes) reflected from the target with the emitted signals, and after proper processing, obtain the relevant information of the target, such as the parameters of the target distance, direction, height, speed, attitude, even shape and the like, thereby detecting, tracking and identifying the target.

When current laser radar uses on the vehicle, can not guarantee to have near-range detection function and long-range detection function simultaneously, survey and far-range in order to realize near-range simultaneously, can only install two laser radar on the vehicle, this has led to the fact huge difficulty to limited automobile body space arrangement.

In order to solve the problem, the laser radar provided by the embodiment of the application integrates the short-distance component and the long-distance component into one radar, so that the miniaturization of the laser radar is realized, and the arrangement of the laser radar on a vehicle can be facilitated. However, when the structure of the laser radar becomes compact, mutual blocking of the detection beams may be caused, thereby causing a problem of inaccurate range detection or even detection failure. The laser radar provided by the embodiment of the application can effectively solve the technical problem.

Fig. 1 is the structural schematic diagram of laser radar in a specific embodiment that this application provided, as shown in fig. 1, laser radar has shell 1, and shell 1 includes light-passing board 11, and light-passing board 11 can make the laser of laser radar transmission see through to make laser radar pass through the function that laser realized surveying, tracking and discernment.

Fig. 2 is a schematic structural view of the transparent plate, the distance component and the close component in fig. 1, wherein gray arrows indicate laser paths of the close component, and black arrows indicate laser paths of the distance component. As shown in fig. 2, the lidar includes a near assembly 2 and a far assembly 3. The close-up component 2 is arranged on the shell 1 and comprises a close-up emission module 21, a close-up receiving module 23 and a close-up reflection module 22; the remote assembly 3 is mounted to the housing 1 and includes a remote transmitting module 31, a remote receiving module 33 and a remote reflecting module 32; the near assembly 2 and the far assembly 3 are integrated into the inner cavity of the housing 1. The short distance emitting module 21 and the long distance emitting module 31 are used for emitting laser, the short distance reflecting module 22 and the long distance reflecting module 32 are used for reflecting laser, and the short distance receiving module 23 and the long distance receiving module 33 are used for receiving laser.

As shown in fig. 2, in the working process of the laser radar, the short-distance emitting module 21 emits laser (a gray arrow in fig. 2), the laser is reflected by the short-distance reflecting module 22, the laser reflected by the short-distance reflecting module 22 is emitted through the light-transmitting plate 11, the laser is reflected when the emitted laser encounters an obstacle, the laser is emitted to the short-distance receiving module 23 through the light-transmitting plate 11 and the short-distance reflecting module 22, and the short-distance receiving module 23 receives the laser and then analyzes the laser, so that the obstacle condition in the short-distance range in front of the radar is obtained. Similarly, the long-distance emitting module 31 emits laser (black arrow in fig. 2), the laser is reflected by the long-distance reflecting module 32, the laser reflected by the long-distance reflecting module 32 is emitted through the transparent plate 11, when the emitted laser encounters an obstacle, the laser is reflected back and emitted to the long-distance receiving module 33 through the transparent plate 11, the long-distance reflecting module 32 and the turning reflecting module 34, and the short-distance receiving module 23 receives the laser and analyzes the laser, so as to obtain the obstacle condition in the far range in front of the radar.

In the embodiment, the laser radar comprises a short-distance component 2 and a long-distance component 3, and the long-distance component 3 has high-resolution performance, so that the size, the traveling direction and the speed of a target in a smaller field of view in front of the laser radar can be detected, and the laser radar is suitable for long-distance detection of 150-300 meters, for example; the close-up assembly 2 can perform large-angle detection in a short time, so that the target which suddenly appears in a large field range can be detected, and the close-up assembly is suitable for close-up detection within 150 meters for example. The near distance is defined as the range within 150 m in front of the laser radar, and the far distance is defined as the range from 150 m to 300 m in front of the laser radar. Of course, in a specific implementation, the detection ranges of the two may slightly overlap. Since the longer the wavelength of the light beam, the better the penetration performance, the wavelength of the emitted light beam can be chosen to be 905nm by the short-distance emission module 21, and 1550nm by the long-distance emission module 31. When the laser radar in the embodiment of the application is integrated with the near assembly 2 and the far assembly 3, the laser radar can have a near detection function and a far detection function at the same time, so that the use requirements of users are met. In addition, the installation of the near assembly 2 and the far assembly 3 on the casing 1 can fix the positions of the near assembly 2 and the far assembly 3 relative to the casing 1, thereby ensuring the stability of the laser radar during operation.

The resolution is the number of pixels in each direction of the image obtained by the near component 2 or the far component 3, and is also called resolution. Therefore, the higher the resolution of the image, the more pixels are included and the sharper the image.

In a specific embodiment, as shown in fig. 2, the short distance reflection module 22 is located between the long distance reflection module 32 and the transparent plate 11, and the laser passing through the short distance reflection module 22 can pass through the transparent plate 11; the short-distance receiving module 23 and the short-distance reflecting module 22 have a gap therebetween, and along a direction perpendicular to the light-transmitting plate 11, the long-distance reflecting module 32 is located on a side of the gap away from the light-transmitting plate 11, and the laser light reflected by the long-distance reflecting module 32 can penetrate through the light-transmitting plate 11 through the gap.

In the embodiment, there is no other module between the short distance reflection module 22 and the transparent plate 11, so the laser light emitted from the short distance emission module 21 and reflected by the short distance reflection module 22 can directly pass through the transparent plate 11 to be emitted. The far-distance reflection module 32 is located at a side of the gap between the near-distance receiving module 23 and the near-distance reflection module 22 away from the light-transmitting plate 11, so that the laser light emitted from the far-distance transmission module 31 and reflected by the far-distance reflection module 32 can be emitted to the light-transmitting plate 11 through the gap, and further emitted through the light-transmitting plate 11, and at this time, the near-distance receiving module 23 and the near-distance reflection module 22 of the near component 2 do not block the far-distance transmission module 31. When short distance subassembly 2 and long distance subassembly 3 are integrated in shell 1 promptly, the positional relationship of each part in the embodiment of this application makes short distance subassembly 2 and each module of long distance subassembly 3 can not shelter from each other to under the prerequisite of short distance subassembly 2 and long distance subassembly 3 homoenergetic normal work, can reduce the distance between short distance subassembly 2 and the long distance subassembly 3, and then make laser radar's whole volume less, be convenient for install.

Specifically, along the direction of perpendicular to light-passing board 11, near-range receiving module 23 is located between light-passing board 11 and the long distance emission module 31, and near-range receiving module 23 and the butt of long distance emission module 31, reduced near-range subassembly 2 and long distance subassembly 3 at perpendicular to light-passing board 11 and the length that is on a parallel with light-passing board 11 direction, and then reduced lidar's volume, simultaneously, near-range receiving module 23 and the long distance emission module 31 of mutual butt can be spacing each other, thereby improve the stability of the two in shell 1. The short-distance receiving module 23 does not block the laser emitted from the long-distance emitting module 31, and the long-distance emitting module 31 does not block the laser received by the short-distance receiving module 23.

Fig. 3 is a schematic diagram of an included angle α between the first optical axis 211 of the short-distance emission module 21 and the second optical axis 311 of the long-distance emission module 31 in fig. 2, and as shown in fig. 3, the included angle α between the first optical axis 211 of the short-distance emission module 21 and the second optical axis 311 of the long-distance emission module 31 satisfies an angle α of 10 ° ≦ α ≦ 40 °. For example, the included angle α may be specifically 10 °, 20 °, 30 °, 40 °, or the like. Wherein the optical axis refers to the center line of the light beam (light pillar) or the symmetry axis of the optical system. For example, in the present embodiment, a center line of the laser emitted from the short-distance emitting module 21 to the short-distance reflecting module 22 may be a first optical axis 211 of the short-distance emitting module 21, and a center line of the laser emitted from the long-distance emitting module 31 to the long-distance reflecting module 32 may be a second optical axis 311 of the long-distance emitting module 31.

In the laser radar provided by the embodiment of the application, when the included angle between the first optical axis 211 of the short-distance emission module 21 and the second optical axis 311 of the long-distance emission module 31 satisfies that alpha is more than or equal to 10 degrees and less than or equal to 40 degrees, the laser radar can be miniaturized, and meanwhile, the laser reflected by the short-distance assembly 2 and the long-distance assembly 3 can not be blocked mutually, so that the accuracy and effectiveness of distance detection are improved.

In the present embodiment, the included angle α between the first optical axis 211 and the second optical axis 311 should not be too large or too small. If α is too small (e.g., less than 10 °), the laser emitted from the long-distance emitting module 31 will partially emit to the short-distance reflecting module 22 after being reflected by the long-distance reflecting module 32, i.e., the short-distance reflecting module 22 blocks the laser of the long-distance module 3 from emitting to the transparent plate 11, so that the range that the laser of the long-distance module 3 can detect is reduced, and the normal operation of the long-distance module 3 is affected; if α is too large (e.g. greater than 40 °), the distance between the close-distance assembly 2 and the long-distance assembly 3 in a direction perpendicular to the light-transmitting panel 11 will result in a large space occupied by the lidar.

In one embodiment, the remote module 3 is further provided with a turning and reflecting module 34, and the turning and reflecting module 34 is used for reflecting the laser light reflected by the remote reflecting module 32 to the remote receiving module 33, so that the second optical axis 311 of the remote transmitting module 31 is not parallel to the third optical axis 331 of the remote receiving module 33. The central line of the laser emitted from the remote emission module 31 to the remote reflection module 32 may be the second optical axis 311 of the remote emission module 31, and the central line of the laser emitted from the catadioptric module 34 to the remote reception module 33 may be the third optical axis 331 of the remote reception module 33. If the turning reflection module 34 is not provided, the second optical axis 311 of the remote transmitting module 31 and the third optical axis 331 of the remote receiving module 33 should be parallel, that is, the arrangement directions of the remote transmitting module 31 and the remote receiving module 33 are the same, and if the remote transmitting module 31 and the remote receiving module 33 are arranged along the first direction (the second optical axis 311 and the third optical axis 331 are arranged along the first direction), the length of the remote receiving module 33 is generally longer, which results in a larger space occupied by the remote assembly 3 along the first direction, and is not favorable for the installation of the lidar.

In this embodiment, by providing the turning and reflecting module 34, the laser light reflected by the long-distance reflecting module 32 is reflected by the turning and reflecting module 34 before entering the long-distance receiving module 33, that is, the laser light reflected by the turning and reflecting module 34 is not parallel to the laser light emitted by the long-distance emitting module 31, and the long-distance emitting module 31 can emit the laser light along the first direction (the second optical axis 311 of the long-distance emitting module 31 is along the first direction), and the long-distance receiving module 33 cannot receive the laser light along the first direction (the third optical axis 331 of the long-distance receiving module 33 is not parallel to the first direction), so that the long-distance receiving module 33 with a larger length is not disposed along the first direction, and the size of the long-distance assembly 3 along the first direction is reduced.

Specifically, the short-distance reflection module 22, the long-distance reflection module 32, and the turning reflection module 34 are all provided with extinction portions, and the extinction portions can prevent light rays except detection laser of the laser radar from entering the short-distance receiving module 23, the long-distance receiving module 33, and the turning reflection module 34 to interfere with detection results of the laser radar, so that detection accuracy of the laser radar is improved.

Fig. 4 is a schematic diagram of an included angle β between the third optical axis 331 of the remote receiving module 33 and the transparent plate in fig. 2, and as shown in fig. 4, an acute angle β between the third optical axis 331 and the transparent plate 11 satisfies a relationship of 20 ° β ≦ 90 °. For example, the included angle β between the third optical axis 331 and the transparent plate 11 may be 20 °, 40 °, 60 °, 80 °, 90 °, and the like.

In this embodiment, as shown in fig. 4, an acute angle β between the third optical axis 331 and the transparent plate 11 may be an included angle between the third optical axis 331 and the upper surface or the lower surface of the transparent plate 11. The acute angle β between the third optical axis 331 and the light-transmitting plate 11 should not be too large or too small. If the acute angle β is too small (for example, less than 20 °), the space occupied by the remote receiving module 33 along the direction parallel to the transparent plate 11 is large, so that the volume of the laser radar along the direction parallel to the transparent plate 11 is large; if the acute angle β is too large (for example, greater than 90 °), the space occupied by the remote receiving module 33 in the direction perpendicular to the light-transmitting plate 11 is large, so that the volume of the laser radar in the direction perpendicular to the light-transmitting plate 11 is large. Therefore, when 20 ° ≦ β ≦ 90 °, the space occupied by the remote receiving module 33 in both the direction perpendicular to the light-transmitting plate 11 and the direction parallel to the light-transmitting plate 11 can be made small, thereby reducing the volume of the laser radar.

In a specific embodiment, as shown in fig. 2, the first optical axis 211 of the close-range emission module 21 is parallel to the fourth optical axis 231 of the close-range reception module 23. The central line of the laser beam emitted from the short distance emitting module 21 to the short distance reflecting module 22 is the first optical axis 211 of the short distance emitting module 21, and the laser beam emitted from the short distance reflecting module 22 to the short distance receiving module 23 is the fourth optical axis 231 of the short distance receiving module 23.

In this embodiment, the laser that is jetted out by short distance subassembly 2 can take place diffuse reflection when meetting the barrier, the laser after taking place diffuse reflection can directive each direction, because first optical axis 211 is parallel with fourth optical axis 231, consequently take place in the laser after the diffuse reflection with the parallel laser of directive barrier can directive near distance reflection module 22, reflect through near distance reflection module 22 again and get into near distance receiving module 23, thereby guarantee that near distance receiving module 23 can certainly receive the laser that the barrier in the front of the laser radar reflects back, thereby detect the condition in front of the laser radar.

Fig. 5 is a schematic structural diagram of the long-distance module and the short-distance module in fig. 1, as shown in fig. 5, the short-distance reflection module 22 and the long-distance reflection module 32 are rotatably connected to the housing 1, and the short-distance reflection module 22 and the long-distance reflection module 32 rotate to respectively reflect the laser emitted by the short-distance emission module 21 and the long-distance emission module 31 in different directions, so that the detection of the lidar on obstacles in different directions is realized, and the detection range of the lidar is wider.

Fig. 6 is an exploded view of the housing of fig. 1, and as shown in fig. 6, the housing 1 includes a first housing 12 and a second housing 13 detachably connected, the first housing 12 having a first outer edge 14, the second housing 13 having a second outer edge 15, the first outer edge 14 abutting the second outer edge 15; the first outer edge 14 and the second outer edge 15 are of complementary arcuate shape, and the light-transmitting plate 11 is mounted to the first housing 12 or the second housing 13.

In the present embodiment, the first housing 12 and the second housing 13, which are detachably connected to the housing 1, are provided to facilitate the installation and removal of the short-distance module 2 and the long-distance module 3 inside the lidar. The first outer edge 14 and the second outer edge 15 are in the shape of the arc with complementary shapes, so that the first shell 12 and the second shell 13 can be tightly attached, dust is prevented from entering the shell 1 to influence the operation of the laser radar, and meanwhile, the processing difficulty of the first shell 12 and the second shell 13 is reduced.

In one particular embodiment, the near receive module 23 has a first field angle FOV1, the far receive module 33 has a second field angle FOV2, and FOV2/FOV1 ≦ 1/5. For example, FOV2/FOV1 may be 1/5, 1/6, 1/8, and the like. The field angle is also called field angle in optical engineering, and the size of the field angle determines the field range of the optical instrument. In an optical instrument, an angle formed by two edges of a lens, which is the maximum range in which an object image of a target to be measured can pass through, is called a field angle. The size of the field angle determines the field of view of the optical instrument, with a larger field angle providing a larger field of view and a smaller optical magnification. The image of the target object is not presented to the lens when the target object is outside the field angle.

In the present embodiment, the ratio of the first field angle FOV1 to the second field angle FOV2 should not be excessively large. If the FOV2/FOV1 is too large (e.g., greater than 1/5), the FOV1 is relatively too small, and the FOV2 is relatively too large, the field of view of the near module 2 is too small, the detection range is small, the resolution of the far module 3 is too small, the detection accuracy is low, and the detection effects of the near module 2 and the far module 3 are poor. Therefore, when the FOV2/FOV1 is less than or equal to 1/5, the laser radar has a good detection effect on both long distance and short distance.

Specifically, the FOV1 is 140 DEG or more and 180 DEG or less. For example, the FOV1 may specifically be 140 °, 150 °, 160 °, 170 °, 180 °, etc.

In the present embodiment, the size of the first field angle FOV1 should not be too large nor too small. If the first field angle FOV1 is too small (e.g., less than 140 °), the field of view of the close-proximity module 2 is too small to fully detect the region in front of the lidar; if the first field angle FOV1 is too large (e.g., greater than 180 °), the resolution of the close-proximity module 2 is too small, the resolution indicates the number of pixels in each direction, and too small resolution means that the close-proximity module 2 forms fewer pixels of the detected image, and the detection range corresponding to each pixel is large, so that there is a possibility that a small obstacle cannot be detected, thereby affecting the detection accuracy. Thus, when the FOV1 is 140 ≦ 180, a high resolution is possible while ensuring a sufficiently large field of view for the near assembly 2.

More specifically, 30 DEG-FOV 2-35 deg. For example, the FOV2 may specifically be 30 °, 32 °, 34 °, 35 °, etc.

In the present embodiment, the second field angle FOV2 should not be too large or too small. If the second field angle FOV2 is too small (e.g., less than 30 °), the field of view of the remote assembly 3 is too small to fully detect the region in front of the lidar; if the second field of view is too large (e.g., greater than 35), the resolution of the remote assembly 3 is too small, affecting the accuracy of the detection, and thus, when the FOV2 is 30 ≦ 35, a higher resolution can be achieved while ensuring a sufficiently large field of view for the remote assembly 3.

In one specific embodiment, the near receiving module 23 has a first clear aperture D1, and the far receiving module 33 has a second clear aperture D2, D2/D1 ≧ 5. For example, D2/D1 may be 5, 6, 7, or the like. The first clear aperture D1 is defined as the maximum edge diameter of the lens of the close-distance receiving module 23, and the second clear aperture D2 is defined as the maximum edge diameter of the lens of the far-distance receiving module 33. The larger the clear aperture, the higher the resolution.

In the present embodiment, the ratio of the first clear aperture D1 to the second clear aperture D2 should not be too small. If D2/D1 is too small (e.g., less than 5), then the second clear aperture D2 is too small compared to the first clear aperture D1, which may result in too low resolution of the long-range receive module 33 and affect the lidar's detection at longer distances. Therefore, when D2/D1 ≧ 5, both the near reception block 23 and the far reception block 33 can be guaranteed to have higher resolutions.

In one embodiment, the near emission module 21 and the far emission module 31 each include an emission-side optical system for laser collimation; the near reception module 23 and the far reception module 33 each include a receiving-end optical system for collecting the reflected laser light.

Usually, the laser beams are divergent, that is, two adjacent laser beams are further away after propagating for a certain distance. In this embodiment, the transmitting end optical system is used for adjusting laser collimation, and can make the laser emitted by the short distance emitting module 21 and the long distance emitting module 31 be parallel, so that the detection laser of the laser radar does not diverge, and can accurately irradiate on the barrier and reflect back, so that the detection result of the laser radar is accurate. The short-distance receiving module 23 and the long-distance receiving module 33 both comprise receiving end optical systems for collecting reflected laser, so that the short-distance receiving module 23 and the long-distance receiving module 33 can receive more laser reflected by obstacles encountered by the short-distance transmitting module 21 and the long-distance transmitting module 31, and the accuracy and reliability of laser radar detection are improved.

In one specific embodiment, the short range reflective module 22 and the long range reflective module 32 are polygonal mirrors (Polygon), oscillating mirrors, or Micro Electro Mechanical Systems (MEMS).

Alternatively, the short-distance reflection module 22 adopts a polygon mirror scheme, and the long-distance reflection module 32 adopts a swing mirror or a micro electro mechanical system scheme. Among them, the polygon mirror can obtain an image with a high resolution with a small amount of laser light, and thus is suitable for the short-distance reflection module 22, so that the short-distance module 2 can detect a large angle in a short time. The swing mirror or the mems has a smaller size and higher reliability, but has a certain limitation on the size of the field angle, so the swing mirror or the mems is more suitable for the long-distance reflection module 32 with a smaller second field angle FOV2 of the long-distance reception module 33, and the size of the lidar is also reduced.

In a specific embodiment, the near emitting module 21, the near receiving module 23, the far emitting module 31 and the far receiving module 33 are one of a spherical lens, an aspherical lens, a cylindrical lens, a spherical lens, an aspherical lens or a cylindrical lens.

In this embodiment, the near emitting module 21, the near receiving module 23, the far emitting module 31 and the far receiving module 33 can select different lenses or lens groups according to the actual use requirement.

Laser radar in this application embodiment can be used for the vehicle or adopt the range finding and the object detection scene of products such as machine-carried, fixed control, when this laser radar is used for the vehicle, this laser radar installs in the automobile body, and light-passing board 11 orientation automobile body's direction of advance.

The embodiment of the application provides a vehicle, including the body, the body includes roof, front windshield and/or front protection thick stick, and this vehicle still includes above-mentioned lidar, and lidar installs at roof, front windshield and/or front protection thick stick.

In the embodiment, the laser radar can be installed at the roof, the front windshield and/or the front bumper of the vehicle, and the light-transmitting plate 11 of the laser radar faces the advancing direction of the vehicle body, so that the laser used for detection by the short-distance component 2 and the laser used for detection by the long-distance component 3 can penetrate through the light-transmitting plate 11 to detect the obstacle in front of the vehicle, and the driving of the vehicle is assisted.

It is noted that a portion of this patent application contains material which is subject to copyright protection. The copyright owner reserves the copyright rights whatsoever, except for making copies of the patent files or recorded patent document contents of the patent office.

Claims (16)

1. A lidar characterized by comprising:

the laser device comprises a shell, a laser module and a laser module, wherein the shell comprises a light-transmitting plate which is used for transmitting laser;

the near-distance assembly is arranged on the shell and comprises a near-distance emission module, a near-distance receiving module and a near-distance reflection module;

a remote assembly mounted to the housing and including a remote transmit module, a remote receive module, and a remote reflect module;

the near assembly and the far assembly are integrated into the inner cavity of the housing;

the near-distance emitting module and the far-distance emitting module are used for emitting laser, the near-distance reflecting module and the far-distance reflecting module are used for reflecting the laser, and the near-distance receiving module and the far-distance receiving module are used for receiving the laser;

an included angle alpha between a first optical axis of the short-distance emission module and a second optical axis of the long-distance emission module is more than or equal to 10 degrees and less than or equal to 40 degrees.

2. The lidar of claim 1, wherein the near reflecting module is located between the far reflecting module and the transparent plate, and the laser light passing through the near reflecting module is capable of passing through the transparent plate;

the near field receiving module with have the clearance between the near field reflection module, along the perpendicular to the direction of light-passing board, the long distance reflection module is located keeping away from of clearance one side of light-passing board, process the laser that the long distance reflection module reflects can pass through the clearance the light-passing board.

3. The lidar of claim 2, wherein the close-range receiving module abuts the long-range transmitting module in a direction perpendicular to the optically transparent plate.

4. The lidar of claim 1, wherein the remote assembly is further provided with a catadioptric module for reflecting laser light reflected by the remote reflective module to the remote receive module such that the second optical axis of the remote transmit module is not parallel to the third optical axis of the remote receive module.

5. The lidar of claim 4, wherein an angle β between the third optical axis and the transparent plate satisfies 20 ° ≦ β ≦ 90 °.

6. The lidar of claim 4, wherein the near-reflection module, the far-reflection module, and the catadioptric module are each provided with a extinction portion.

7. The lidar of claim 1, wherein the first optical axis of the close-range transmitting module is parallel to the fourth optical axis of the close-range receiving module.

8. Lidar according to any of claims 1 to 7, wherein the close-range receiving module has a first field angle FOV1, the far-range receiving module has a second field angle FOV2, FOV2/FOV1 ≦ 1/5.

9. Lidar according to claim 8, wherein the FOV1 is 140 ° or more and 180 ° or less.

10. Lidar according to claim 8, wherein the FOV2 is 30 ° ≦ 35 °.

11. The lidar of any of claims 1 to 7, wherein the near receive module has a first clear aperture D1, and the far receive module has a second clear aperture D2, D2/D1 ≧ 5.

12. The lidar of any of claims 1 to 7, wherein the near-transmitting module and the far-transmitting module each comprise a transmitting-end optical system; the near receiving module and the far receiving module both comprise receiving end optical systems.

13. The lidar of any of claims 1 to 7, wherein the housing comprises a first housing and a second housing removably connected, the first housing having a first outer edge and the second housing having a second outer edge, the first outer edge abutting the second outer edge;

the first outer edge and the second outer edge are in the shape of complementary arcs, and the light transmission plate is installed on the first shell or the second shell.

14. Lidar according to any of claims 1 to 7, wherein the near reflection module and the far reflection module are rotatably connected to the housing.

15. The lidar according to any of claims 1 to 7, wherein the close-in reflecting module and the far-out reflecting module are polygon mirrors, oscillating mirrors, or micro-electromechanical systems;

the near distance emitting module, the near distance receiving module, the far distance emitting module and the far distance receiving module are one of a spherical lens, an aspherical lens, a cylindrical lens, a spherical lens group, an aspherical lens group or a cylindrical lens group.

16. A vehicle comprising a body provided with a roof, a front windscreen and/or a front protective bar, characterized in that it further comprises a lidar according to any of claims 1 to 15, mounted on the roof, the front windscreen and/or the front protective bar.

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