CN219085133U - Laser radar optical system, transmitting system, laser radar and vehicle - Google Patents

Abstract

The utility model is suitable for the technical field of laser radars and provides a laser radar optical system, a transmitting system, a laser radar and a vehicle. The laser radar optical system comprises a first fixed component, a correction component, a switching component and a second fixed component which are sequentially arranged along a first direction, the switching component can reciprocate along the first direction to change the focal length of the laser radar optical system, and the correction component can also reciprocate along the first direction to compensate focal plane movement caused by the movement of the switching component. The laser radar optical system, the transmitting system, the laser radar and the vehicle provided by the utility model can change the focal length, can perform short-distance and large-range scene recognition under the state of short focal length and large view field, and can recognize objects farther in a small range under the state of long focal length and small view field.

Description

Laser radar optical system, transmitting system, laser radar and vehicle

Technical Field

The utility model belongs to the technical field of laser radars, and particularly relates to a laser radar optical system, a transmitting system, a laser radar and a vehicle.

Background

The existing laser radar optical system basically adopts a fixed focus system, so that the field of view and scanning resolution of a laser radar identification target are always constant, and therefore, the laser radar can only identify a small part of scenes in a near-end field of view, and the scene target outside the near-end field of view cannot be identified. If a scene target outside the near-end view field is to be identified, the laser radar with the near-end large view field needs to be additionally added to carry out blind area deficiency. For far-end scenes, because the number of effective points of the laser radar for identifying targets is limited by the resolution of the wire harness, the targets of the scenes cannot be effectively identified, useful target information is provided for an automatic driving system, the laser radar ranging capability is weak under the long-distance condition, the target identification degree is low, the detection distance is limited, and the ranging capability is difficult to improve, particularly in the target identification of certain specific scenes, more information is expected to be acquired at a longer distance, so that the laser radar with a local narrow view field is required to be added for effectively identifying the targets at the far end.

For the above reasons, in order to realize automatic driving, a certain number of lidars with different scan fields of view are often required to be loaded on an automobile, so that the use cost and arrangement space of the lidars are increased.

Disclosure of Invention

The utility model aims to provide a laser radar optical system, a transmitting system, a laser radar and a vehicle, and aims to solve the technical problem that the laser radar optical system in the prior art has defects when a fixed focus system is adopted to detect a near-end scene and a far-end scene.

The present utility model is achieved in a first aspect by providing a lidar optical system comprising a first fixed assembly, a correction assembly, a switching assembly and a second fixed assembly arranged in sequence along a first direction, the switching assembly being capable of being moved back and forth along the first direction to change the focal length of the lidar optical system, the correction assembly also being capable of being moved back and forth along the first direction to compensate for focal plane movement caused by movement of the switching assembly.

In an alternative embodiment, the first fixing component comprises a first biconvex lens, the correction component comprises a first meniscus lens and a second biconvex lens which are sequentially arranged along the first direction, the switching component comprises a biconcave lens, and the second fixing component comprises a third biconvex lens and a second meniscus lens which are sequentially arranged along the first direction.

In an alternative embodiment, the lidar optical system further comprises a support frame, and the first fixing component, the correction component, the switching component, and the second fixing component are sequentially mounted on the support frame.

In an alternative embodiment, the lidar optical system further comprises a drive mechanism for driving the switching assembly and the correction assembly to move.

In an alternative embodiment, the supporting frame is of a cylindrical structure, and the side wall is provided with a first strip hole structure extending along a first direction;

the driving mechanism comprises a first sliding part, a second sliding part and a driving assembly, the first sliding part and the second sliding part are respectively arranged in the supporting frame in a sliding mode along the first direction, a deflector rod penetrating out of the supporting frame through a first strip hole structure is arranged on the outer wall of the first sliding part and the second sliding part, the correcting assembly is fixedly arranged on the first sliding part, the switching assembly is fixedly arranged on the second sliding part, and the driving assembly is arranged outside the supporting frame and respectively moves along the first direction through driving the deflector rod to drive the switching assembly and the correcting assembly to move.

In an alternative embodiment, the driving assembly includes a sleeve, the sleeve is sleeved outside the supporting frame and can rotate relative to the supporting frame, a second long-strip hole structure is formed on a side wall of the sleeve, and the second long-strip hole structure is used for inserting the deflector rod on the first sliding piece and the deflector rod on the second sliding piece, and is matched with the first long-strip hole structure to limit the moving direction of each deflector rod.

In an alternative embodiment, the drive assembly further comprises a rotary drive for driving the sleeve in rotation relative to the support frame.

In a second aspect, a transmitting system is provided, including a laser light source and a laser radar optical system located at a light emitting side of the laser light source, where the laser radar optical system is the laser radar optical system provided in the foregoing embodiments, and the first fixing component is located at a light incident end of the laser radar optical system.

In a third aspect, a laser radar is provided, including a transmitting system and a receiving system, where the transmitting system is provided by the foregoing embodiments, and is configured to transmit a probe beam to a target, and the receiving system is configured to receive an echo optical signal formed by reflecting the probe beam by the target, and analyze the echo optical signal to obtain corresponding data.

In a fourth aspect, a vehicle is provided, including a vehicle body and a lidar mounted on the vehicle body, where the lidar is the lidar provided in each of the above embodiments.

The technical effects of the first aspect of the present utility model compared with the prior art are: the laser radar optical system provided by the embodiment of the utility model comprises the first fixed component, the switching component, the correcting component and the second fixed component, wherein the switching component and the correcting component can respectively move along the optical axis relative to the first fixed component and the second fixed component, namely, the distance between different components in the laser radar optical system provided by the embodiment can be adjusted, so that the focal length and focal plane of the laser radar optical system can be adjusted by moving the positions of the switching component and the correcting component during working, the focal length can be continuously changed, the image surface can be kept stable, the real-time scene requirement can be realized, and good spot shape and quality can be kept in the field switching process. By adopting the laser radar of the laser radar optical system provided by the embodiment, the proper working view angle can be selected according to the detection range and the target range, and the searching and identifying observation capability of the laser radar on the high-speed moving target is effectively improved.

In addition, as the positions of the switching component and the correcting component can be continuously changed, the laser radar optical system provided by the embodiment of the utility model still keeps continuity of detection scenes in the field of view conversion process, and can not lose observation of targets in the change multiplying power process, namely any focal length in a zoom range can identify targets in the field of view, thus providing a basis for realizing diversification and flexibility of laser radar application, and compared with a fixed-focus emission system, the zoom emission system formed by adopting the laser radar optical system provided by the embodiment in various scene applications is more convenient and flexible. And compare with adopting fixed focus laser radar system, the zoom laser radar system that adopts the laser radar optical system that this embodiment provided forms is when long focus, and although the visual field scope is less, far-end facula is less, and the energy density is comparatively concentrated, produces the scene recognition effect that the fixed focus laser radar system of same visual field can not reach, just so can be through changing the scanning visual field size, according to actual use scene needs, automatic switch near-end and far-end scene discernment, reduce laser radar quantity of application, reinforcing autopilot use experience.

It will be appreciated that the advantages of the second to fourth aspects may be found in the relevant description of the first aspect and are not repeated here.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description will briefly explain the embodiments of the present utility model or the drawings used in the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present utility model, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a lidar optical system according to an embodiment of the present utility model, where a switching component and a correction component are located at an initial position, and an emission field angle is an initial field angle θ;

FIG. 2 is a schematic view of the laser radar optical system of FIG. 1 in a switching assembly and a correction assembly when the emission angle of view is a small angle of view θ1;

FIG. 3 is a schematic view of the laser radar optical system of FIG. 1 in a switching assembly and a correction assembly when the emission angle of view is a large angle of view θ2;

fig. 4 is a schematic structural diagram of a lidar according to an embodiment of the present utility model;

FIG. 5 is a schematic side view of the transmitting system of the lidar of FIG. 4;

FIG. 6 is a schematic cross-sectional view taken along line A-A of FIG. 5;

FIG. 7 is a schematic perspective view of the sleeve of FIG. 6;

fig. 8 is a schematic perspective view of the support frame in fig. 6.

Reference numerals illustrate:

100. a transmitting system; 110. a laser light source; 120. a lidar optical system; 121. a first fixing assembly; 122. a correction component; 1221. a first meniscus lens; 1222. a second biconvex lens; 123. a switching assembly; 124. a second fixing assembly; 1241. a third biconvex lens; 1242. a second meniscus lens; 125. a support frame; 1251. a first elongated aperture; 1252. a second elongated aperture; 126. a driving mechanism; 1261. a first slider; 1262. a second slider; 1263. a deflector rod; 1264. a sleeve; 1265. a third elongated aperture; 1267. a rotary driving member; 200. a receiving system; 210. a detector; 220. a receiving optical system; x, a first direction; α1, a first included angle; α2, a second angle; θ3, receiving the angle of view.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

In the description of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent.

The lidar is a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The working principle is that a laser beam is emitted to a target, then a received echo light signal reflected from the target is compared with the emitted signal, and after proper processing, related information of the target, such as parameters of target distance, azimuth, altitude, speed, gesture, shape and the like, can be obtained, so that the target such as a measured target and the like is detected and identified, and therefore, the laser radar has the advantages of high resolution, high precision, small volume, light weight and the like, and has the prospect of building a peripheral 3D model.

Lidar generally includes an emission system including a laser light source for providing a laser beam and an emission optical system for receiving and adjusting the laser beam to emit a detection laser beam toward a target object. The existing emission optical system adopts a fixed focus system, namely, the positions of all optical elements in the fixed focus system are fixed, and the focal length is not adjustable, so that the field of view and the scanning resolution of a laser radar identification target are fixed, and finally, the problems of a large number of laser radars required by a vehicle automatic driving system, high use cost, large arrangement space and the like are caused.

In order to solve the above-mentioned problems, referring to fig. 1 to 3, a laser radar optical system 120 is provided in an embodiment of the utility model. The focal length value of the lidar optical system 120 may be varied so that lidar employing the lidar optical system 120 may obtain different sized angles of view and scenes.

The laser radar optical system 120 provided in this embodiment includes a first fixing component 121, a correction component 122, a switching component 123, and a second fixing component 124 that are sequentially disposed along a first direction X. In this embodiment, one or more lenses are respectively disposed in the first fixing component 121, the correcting component 122, the switching component 123, and the second fixing component 124. The optical axes of the lenses are positioned on the same straight line, and the first direction X is the extending direction of the optical axis or any direction parallel to the optical axis and faces the light emitting direction.

Wherein the switching assembly 123 is capable of reciprocating in the first direction X to change the focal length of the lidar optical system 120. The correction assembly 122 is also capable of reciprocating in the first direction X to compensate for focal plane movement caused by movement of the switching assembly 123. It should be noted that, in the present embodiment, the distance between the correction component 122 and the switching component 123 is variable, and not the same distance, the movement of the correction component 122 and the switching component may be controlled separately, or may be adjusted synchronously by the same driving mechanism 126, and may be specifically set flexibly according to the use requirement, which is not limited herein.

The laser radar optical system 120 provided in this embodiment may be used not only for the transmitting system 100 but also for the receiving system, and may also be used as an optical system shared by the transmitting system 100 and the receiving system. For convenience of description, a method of using the laser radar optical system 120, effects, and the like will be described below by taking the laser radar optical system 120 as an example of the transmitting optical system in the transmitting system 100.

The working principle of the laser radar optical system 120 provided in this embodiment is as follows:

as shown in fig. 1 and 4, the laser radar optical system 120 provided in the present embodiment is first installed in a laser radar, and is used as the laser radar optical system 120 in the transmitting system 100, and the first fixing component 121 is disposed close to the laser light source 110.

Then, the laser radar is started, the laser source 110 generates a laser beam, the laser beam is sequentially adjusted by the first fixing component 121, the switching component 123, the correcting component 122 and the second fixing component 124, then the laser beam emits a detection laser beam to irradiate on a target object, the detection laser beam is reflected by the target object to form an echo optical signal, and the echo optical signal is received and analyzed by the receiving system 200 to obtain corresponding data.

In the above operation, if various objects at a long distance need to be observed, as shown in fig. 2, the correction component 122 and the switching component 123 may be moved in a direction approaching the laser light source 110 (i.e., in a direction approaching the first fixing component 121), so that the focal length of the laser radar optical system 120 is lengthened, and the diameter of the far-end light spot may be minimized under the compensation adjustment of the correction component 122. At the moment, the laser radar is in a long-focal-length state, the vertical field angle is smaller and can be 10 degrees, 15 degrees or other angles, the depth of field range is smaller, the diameter of a far-end light spot is reduced relative to that of a short-focal laser radar, on one hand, the light spot energy is concentrated, the amplitude of an echo light signal is larger, and the ranging capability of the laser radar can be greatly enhanced; on the other hand, the scanning resolution is small, the number of effective points of the detection target in the scanning view field range is increased, and the information of the remote detection target can be effectively identified.

If various targets are to be observed at a short distance, as shown in fig. 3, the switching component 123 and the correcting component 122 can be moved toward a direction away from the laser light source 110 (i.e., a direction away from the first fixing component 121) respectively, so that the focal length of the laser radar optical system 120 is shortened, and the diameter of the near-end light spot is minimized under the compensation adjustment of the correcting component 122, at this time, the laser radar is in a short focal length state, the vertical view angle is larger, and can be 50 °, 60 ° or other angles, the depth of field range is larger, and more objects are seen in the view. On one hand, the number of detection targets in a near-end scene is increased, so that the near-end detection recognition capability is greatly enhanced; on the other hand, the blind area at the near end can be effectively reduced, and more data information support is provided for realizing automatic driving, so that the large field of view is mainly suitable for identifying and collecting information of a target object at a middle and near distance.

Through testing, by adopting the laser radar optical system 120 provided in this embodiment, according to different scene needs, the focal length of the transmitting system 100 can be changed by adjusting the positions of the correcting component 122 and the switching component 123, so that the range of the angle of view is changed between 10 ° and 60 °, and the detection of the target object in different scenes is realized.

In summary, the laser radar optical system 120 provided in the embodiment of the utility model includes the first fixing component 121, the correcting component 122, the switching component 123 and the second fixing component 124, and the correcting component 122 and the switching component 123 can move along the optical axis relative to the first fixing component 121 and the second fixing component 124, that is, the distance between different components in the laser radar optical system 120 provided in the embodiment is adjustable, so that the focal length and focal plane of the laser radar optical system 120 can be adjusted by moving the positions of the correcting component 122 and the switching component 123 during operation, and the focal length can be continuously changed, meanwhile, the image surface can be kept stable, the real-time scene requirement is realized, and good spot shape quality can be kept during the switching process of the field of view.

Thus, by adopting the laser radar of the laser radar optical system 120 provided in this embodiment, a suitable working field angle can be selected according to the detection range and the target range, so that the searching and identifying and observing capabilities of the laser radar on the high-speed moving target are effectively improved. The method is characterized in that during use, the purpose of changing the focal length of the transmitting system 100 can be achieved by moving the positions of the correcting component 122 and the switching component 123 according to scene recognition requirements, so that the laser radar can expand the searching target range at a middle and near distance or detect targets in a long-distance small range according to the requirements of actual target scenes, free switching of the large and small view fields is realized, the number of compensating laser radars required by observing scenes by using the laser radars with different view fields is effectively reduced, the cost of the laser radars applied to a vehicle automatic driving system is greatly reduced, and the arrangement space is reduced.

In addition, since the positions of the correction component 122 and the switching component 123 can be continuously changed, the laser radar optical system 120 provided by the embodiment of the utility model still maintains continuity of detection scenes in the field of view conversion process, and can not lose observation of targets in the variable magnification process, namely, any focal length in the zoom range can identify targets in the field of view, which provides a basis for realizing diversification and flexibility of laser radar application, so that the zoom transmitting system 100 formed by adopting the laser radar optical system 120 provided by the embodiment is more convenient and flexible in various scene applications relative to the fixed focus transmitting system 100. And compare with adopting fixed focus laser radar system, the zoom laser radar system that laser radar optical system 120 provided by this embodiment formed is when long focus, and although the visual field scope is less, far-end facula is less, and the energy density is comparatively concentrated, produces the scene recognition effect that same visual field fixed focus laser radar system can't reach, just so can be through changing scan visual field size, according to actual use scene needs, automatic switch near-end and far-end scene discernment, reduce laser radar quantity of application, reinforcing autopilot use experience.

As shown in fig. 1 to 3, in an alternative embodiment, the first fixing member 121 includes a first lenticular lens. The correction assembly 122 includes a first meniscus lens 1221 and a second biconvex lens 1222 arranged in sequence along the first direction X. The switching assembly 123 includes a second biconcave lens. The second fixing member 124 includes a third lenticular lens 1241 and a second meniscus lens 1242 sequentially disposed along the first direction X.

Specifically, in this embodiment, the first fixing component 121 is used to collimate the focal length value and the aperture stop size of the transmitting system 100, so as to ensure that the rear working distance of the laser radar optical system 120 is unchanged. The switching component 123 is configured to change the focal length of the lidar optical system 120 to obtain a field angle suitable for different scenes, and the range of movement is approximately 0-10mm. The correction component 122 is used for correcting the focal plane offset generated during the movement of the switching component 123, and correcting the size of the collimated outgoing light spot, and the movement range is about 0-4mm. The aperture of the second fixing element 124 is determined by the maximum angle of view, and is used to determine the scan target within the vertical angle of view. Each subassembly adopts the structure that this embodiment provided, simple structure, and can satisfy the operation requirement.

As shown in fig. 1 to 3, in a specific embodiment, the first fixing member 121 is composed of one biconvex lens, the correction member 122 is composed of one meniscus lens and one biconvex lens, the switching member 123 is composed of one biconcave lens, and the second fixing member 124 is composed of one meniscus lens and one biconvex lens. The laser radar optical system 120 adopts the structure provided by the embodiment, has a simple structure, and is convenient to install and debug.

As shown in fig. 4 to 6, in an alternative embodiment, the laser radar optical system 120 further includes a support frame 125, and the first fixing component 121, the correction component 122, the switching component 123, and the second fixing component 124 are sequentially mounted on the support frame 125.

The support 125 in this embodiment may be a base, a lens barrel, etc., and the specific shape and structure may be flexibly selected according to the use requirement, which is not limited only herein. The first fixing component 121 and the second fixing component 124 may be fixedly mounted on the support 125 by bolts, glue, inserting, etc., and the correction component 122 and the switching component 123 may be movably mounted on the support 125 by sliding, etc. The support frame 125 integrates the components into a whole, facilitating the overall movement and installation.

In an alternative embodiment, lidar optical system 120 also includes a drive mechanism 126 for driving movement of correction assembly 122 and switching assembly 123.

The driving mechanism 126 in the present embodiment may be two linear driving mechanisms 126, a robot, or the like, or may be other structures as long as the movement of the correction unit 122 and the switching unit 123 can be achieved. The laser radar optical system 120 adopts the structure provided by the embodiment, so that the intelligent degree of the laser radar optical system can be effectively improved, and the zooming operation rate can be improved.

In an alternative embodiment, the support 125 is a cylindrical structure, and the sidewall is provided with a first elongated hole structure. At this time, the first fixing component 121, the correcting component 122, the switching component 123 and the second fixing component 124 are all installed in the supporting frame 125. In this embodiment, the first elongated hole structure may be one elongated hole or two elongated holes, which may be specifically set according to the use requirement.

The driving mechanism 126 includes a first sliding member 1261, a second sliding member 1262 and a driving assembly, the first sliding member 1261 and the second sliding member 1262 are respectively disposed in the supporting frame 125 in a sliding manner along the first direction X, the outer walls of the first sliding member 1261 and the second sliding member are respectively provided with a deflector rod 1263 penetrating out of the supporting frame 125 through a first elongated hole structure, the correcting assembly 122 is fixedly mounted on the first sliding member 1261, the switching assembly 123 is fixedly mounted on the second sliding member 1262, and the driving assembly is mounted outside the supporting frame 125 and respectively moves along the first direction X by driving the two deflector rods 1263 to drive the correcting assembly 122 and the switching assembly 123 to move.

The shift lever 1263 in this embodiment may be integrally formed on the first sliding member 1261 or the second sliding member 1262, or may be detachably mounted on the first sliding member 1261 or the second sliding member 1262 in a direction of threaded connection, insertion connection, or the like, or may be fixed on the first sliding member 1261 or the second sliding member 1262 by welding, adhesive bonding, or the like, and may be specifically selected flexibly according to use requirements.

The driving mechanism 126 adopts the structure provided in this embodiment, which can effectively reduce the risk of tilting the correction assembly 122 and the switching assembly 123 during moving the correction assembly 122 and the switching assembly 123, ensure that the optical axes of the correction assembly 122 and the switching assembly 123 are always positioned on the same straight line with the optical axes of the first fixing assembly 121 and the second fixing assembly 124, further ensure the light emitting effect of the laser radar optical system 120, and make the adjustment operation of the correction assembly 122 and the switching assembly 123 more convenient.

The driving assembly may have various forms, for example, the driving assembly includes two linear driving devices (such as an air cylinder, an electric cylinder, etc.) located outside the supporting frame 125, and the two driving levers 1263 are respectively driven to move so as to realize the position movement of the first sliding member 1261 and the second sliding member 1262; two manipulators for driving the two levers 1263 to move respectively; other configurations may also be employed.

In an alternative embodiment, as shown in fig. 6, the driving assembly includes a sleeve 1264, and the sleeve 1264 is sleeved outside the supporting frame 125 and can rotate relative to the supporting frame 125. As shown in fig. 7 and 8, a second elongated hole structure is formed on a side wall of the sleeve 1264, and the second elongated hole structure is used for inserting a shift lever on the first sliding member and a shift lever on the second sliding member, and cooperates with the first elongated hole structure to define a moving direction of each shift lever.

Specifically, the second elongated hole structure may be provided with one elongated hole or two elongated holes, which may be specifically determined according to the structure of the first elongated hole structure. In an alternative embodiment, as shown in fig. 7 and 8, the first elongated hole structure includes a first elongated hole 1251 and a second elongated hole 1252 that are obliquely disposed, the extending direction of the first elongated hole 1251 is disposed at a first included angle α1 with respect to the first direction, the extending direction of the second elongated hole 1252 is disposed at a second included angle α2 with respect to the first direction, the second included angle α2 is smaller than the first included angle α1, the second elongated hole structure includes a third elongated hole 1265 that extends along the first direction, a shift lever 1263 on the first slider 1261 extends into the third elongated hole 1265 through the first elongated hole 1251, or sequentially extends out of the sleeve through the first elongated hole 1251 and the third elongated hole 1265, and a shift lever 1263 on the second slider 1262 extends into the third elongated hole 1265 through the second elongated hole 1252, or sequentially extends out of the sleeve through the second elongated hole 1252 and the third elongated hole 1265.

When the driving assembly provided in this embodiment is adopted, the control sleeve 1264 can rotate relative to the support frame 125, so as to realize different speeds of movement of the two shift levers 1263, namely, realize simultaneous movement of the first sliding member 1261 and the second sliding member 1262, and compared with the case that the two shift levers 1263 are driven by driving members respectively, the operation is more convenient, and the movement speeds of the first sliding member 1261 and the second sliding member 1262, namely, the adjustment speeds of the correction assembly 122 and the switching assembly 123, can be improved.

The shift lever 1263 in the above embodiment may be shifted manually or electrically, so that the corresponding shift lever 1263 controls the first sliding member 1261 or the second sliding member 1262 to move relative to the supporting frame 125, thereby achieving the purpose that the correction component 122 or the switching component 123 moves relative to the first fixing component 121 and the second fixing component 124, and further achieving the adjustment of the focal length of the laser radar optical system 120.

To improve the ease and accuracy of the zoom operation of the lidar optical system, in an alternative embodiment, as shown in fig. 6, the drive assembly further comprises a rotational drive 1267 for driving the sleeve 1264 in rotation relative to the support frame 125. The rotary driving member 1267 in this embodiment may be a motor, a manipulator, or the like, which is connected to the sleeve 1264 and can drive the sleeve 1264 to rotate around its central axis, or may be an assembly of the motor and a conductive member such as a gear, a roller, or a belt, and may be specifically selected flexibly according to the use requirement.

In an alternative embodiment, the rotary driving member includes a motor, a driving gear and a passive tooth form structure, wherein the motor is located at one side of the sleeve, and an axial direction of a driving shaft of the motor is parallel to an axial direction of the sleeve, the driving gear is mounted on the driving shaft of the motor, the passive tooth form structure is formed on an outer wall of the sleeve and engaged with the driving gear, and the motor is connected with the sleeve through the driving gear and the passive tooth form structure engaged with each other and drives the sleeve to axially rotate around itself.

In order to ensure the stability of the stress of the sleeve 1264, the passive tooth-shaped structures are provided with two driving gears which are respectively formed at two ends of the sleeve 1264 and are meshed with the two passive tooth-shaped structures in a one-to-one correspondence manner.

In another alternative embodiment, as shown in fig. 4 to 8, the rotation driving part 1267 includes a motor, a worm, and a tooth structure, wherein the motor is located at one side of the sleeve 1264, and an axial direction of a driving shaft of the motor is parallel to an axial direction of the sleeve 1264, the worm is located on an extension line of the driving shaft of the motor and connected with the driving shaft of the motor, and the tooth structure is formed on an outer wall of the sleeve 1264 and engaged with the worm to form a worm gear structure, and the motor drives the sleeve 1264 to axially rotate around itself through the worm gear structure.

In order to ensure the stability of the stress of the sleeve 1264, the tooth-shaped structures are provided with two tooth-shaped parts which are respectively formed at two ends of the sleeve 1264, and the worm is provided with two tooth-shaped parts which are meshed with the two passive tooth-shaped structures in a one-to-one correspondence manner.

In a specific embodiment, as shown in fig. 4 to 8, the rotary driving member 1267 includes a motor and a worm, the supporting frame 125 is a lens barrel, the sleeve 1264 is a gear sleeve, the first sliding member 1261 and the second sliding member 1262 are both mounting plates, the correction assembly 122 and the switching assembly 123 are fixedly mounted on the mounting plates, the mounting plates and the shift lever 1263 are fixed by screws, and the shift lever 1263 is fixed in the elongated holes of the lens barrel and the gear sleeve. When the gear sleeve is in circumferential movement, the deflector rod 1263 is driven to move along the corresponding strip hole, so that the correction assembly 122 and the switching assembly 123 are axially and linearly moved. When the laser radar optical system 120 provided in this embodiment is applied to a vehicle, the motor can be controlled to work through the logic setting of the autopilot control system, so as to realize the free switching of the recognition scene, perform the short-distance and large-range scene recognition under the short-focus and large-field state, and recognize the target farther in the small range under the long-focus and small-field state.

Of course, in other embodiments, the rotary drive member may take other configurations, and is not limited only herein.

As shown in fig. 1 to 3, in another embodiment of the present utility model, a transmitting system 100 is provided, which includes a laser light source 110 and a transmitting optical system located at a light emitting side of the laser light source 110, where the transmitting optical system is a laser radar optical system 120 provided in each of the foregoing embodiments.

The transmitting system 100 provided by the embodiment of the utility model adopts the transmitting system 100 provided by the embodiments, so that the zoom setting can be realized, and when the transmitting system is used, the purpose of changing the focal length of the transmitting system 100 can be achieved by moving the positions of the correction component 122 and the switching component 123 according to scene recognition requirements, so that the laser radar applying the transmitting system 100 provided by the embodiment can expand the searching target range in a middle-near range or detect targets in a long-distance small range according to the requirements of actual target scenes, the free switching of the size view field is realized, the number of compensating laser radars required when the laser radars with different view fields are used for observing the scenes is further effectively reduced, the cost of the laser radars applied to an automatic driving system of a vehicle is greatly reduced, and the arrangement space is reduced.

As shown in fig. 4, in another embodiment of the present utility model, a laser radar is provided, which includes a transmitting system 100 and a receiving system 200, where the transmitting system 100 is a transmitting system provided in each of the foregoing embodiments, and is configured to transmit a probe beam to a target, and the receiving system 200 is configured to receive an echo optical signal formed by reflecting the probe beam by the target, and analyze the echo optical signal to obtain corresponding data. The receiving system 200 in the present embodiment includes a detector 210 and a receiving optical system 220. The receiving optical system 220 is configured to receive the echo optical signal reflected by the target, and the detector 210 is configured to receive and process the echo optical signal transmitted by the receiving optical system 220, and analyze the echo optical signal to obtain corresponding data.

In actual scene recognition, the adjustment of the size of the emission field angle can be realized by adjusting the moving positions of the switching component and the correcting component according to the distance between the target and the laser radar. During detection, each path of light emitted by the laser light source 110 can irradiate the target after passing through the emission optical system, then is reflected by the target to form an echo optical signal, the echo optical signal is received by the receiving system 200, enters the receiving system 200, is subjected to beam adjustment by the receiving optical system 220, and is received and processed by the detector 210 to obtain corresponding data.

The laser radar provided by the embodiment of the utility model adopts the transmitting system 100 provided by the embodiments, realizes the free switching of the identification scene, can perform short-distance and large-range scene identification in a short-focus and large-view-field state, and can identify targets farther in a small range in a long-focus and small-view-field state.

In another embodiment of the present utility model, a vehicle is provided, including a vehicle body and a lidar mounted on the vehicle body, where the lidar is the lidar provided in each of the above embodiments.

The vehicle provided by the embodiment of the utility model adopts the laser radar provided by the embodiments, realizes the free switching of the identification scene, can perform short-distance and large-range scene identification in a short-focus and large-view-field state, and can identify targets farther in a small range in a long-focus and small-view-field state.

The foregoing description of the preferred embodiments of the utility model has been presented only to illustrate the principles of the utility model and not to limit its scope in any way. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model, and other embodiments of the present utility model as will occur to those skilled in the art without the exercise of inventive faculty, are intended to be included within the scope of the present utility model.

Claims (10)

1. The laser radar optical system is characterized by comprising a first fixed component, a correction component, a switching component and a second fixed component which are sequentially arranged along a first direction, wherein the switching component can reciprocate along the first direction to change the focal length of the laser radar optical system, and the correction component can also reciprocate along the first direction to compensate focal plane movement caused by movement of the switching component.

2. The lidar optical system of claim 1, wherein the first fixation assembly comprises a first biconvex lens, the correction assembly comprises a first meniscus lens and a second biconvex lens that are sequentially disposed along the first direction, the switching assembly comprises a biconcave lens, and the second fixation assembly comprises a third biconvex lens and a second meniscus lens that are sequentially disposed along the first direction.

3. The lidar optical system of claim 1 or 2, further comprising a support frame, wherein the first fixation assembly, the correction assembly, the switching assembly, and the second fixation assembly are sequentially mounted on the support frame.

4. The lidar optical system of claim 3, further comprising a drive mechanism for driving movement of the switching assembly and the correction assembly.

5. The lidar optical system of claim 4, wherein the support frame has a cylindrical structure, and the side wall of the support frame is provided with a first elongated hole structure;

the driving mechanism comprises a first sliding part, a second sliding part and a driving assembly, the first sliding part and the second sliding part are respectively arranged in the supporting frame in a sliding mode along the first direction, a deflector rod penetrating out of the supporting frame through a first strip hole structure is arranged on the outer wall of the first sliding part and the second sliding part, the correcting assembly is fixedly arranged on the first sliding part, the switching assembly is fixedly arranged on the second sliding part, and the driving assembly is arranged outside the supporting frame and respectively moves along the first direction through driving the deflector rod to drive the switching assembly and the correcting assembly to move.

6. The lidar optical system of claim 5, wherein the driving component comprises a sleeve, the sleeve is sleeved outside the supporting frame and can rotate relative to the supporting frame, a second strip hole structure is formed in a side wall of the sleeve, and the second strip hole structure is used for inserting the deflector rod on the first sliding piece and the deflector rod on the second sliding piece and is matched with the first strip hole structure to limit the moving direction of each deflector rod.

7. The lidar optical system of claim 6, wherein the drive assembly further comprises a rotational drive for driving the sleeve in rotation relative to the support frame.

8. A transmitting system, comprising a laser light source and a laser radar optical system positioned at the light emitting side of the laser light source, wherein the laser radar optical system is the laser radar optical system according to any one of claims 1-7, and the first fixing component is positioned at the light entering end of the laser radar optical system.

9. A lidar comprising a transmitting system and a receiving system, wherein the transmitting system is the transmitting system of claim 8, and is used for transmitting a probe beam to a target, and the receiving system is used for receiving an echo optical signal formed by the probe beam after being reflected by the target, and analyzing the echo optical signal to obtain corresponding data.

10. A vehicle comprising a vehicle body and a lidar mounted to the vehicle body, the lidar being the lidar of claim 9.

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