CN221056653U - Window of laser radar and laser radar - Google Patents

Abstract

The present disclosure provides a window of a laser radar and a laser radar, the window including: the transmitting and light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting and light-transmitting area; the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light-transmitting area; and a suppression zone located at least between said transmitting light passing zone and said receiving light passing zone, said suppression zone being adapted to suppress light beams conducted through said window. The suppression area is arranged in the window, so that detection light emitted by the emission module can be effectively reduced or even prevented from being transmitted by the window to generate stray light to be received by the receiving module, noise generated in laser radar point cloud is effectively reduced, and the accuracy of laser radar detection is guaranteed.

Description

Window of laser radar and laser radar

Technical Field

The present disclosure relates to the field of lidar, and in particular, to a window of a lidar and a lidar.

Background

The laser radar is a commonly used ranging sensor, has the characteristics of long detection distance, high resolution, small environmental interference and the like, and is widely applied to the fields of unmanned, intelligent robots, unmanned aerial vehicles and the like. In recent years, the development of automatic driving technology is rapid, and a laser radar is indispensable as a core sensor for distance perception.

Fig. 1 shows a schematic diagram of a lidar employing a paraxial transceiver system. The detection light generated by the emission unit is transmitted through the emission lens, and the transmission window is emitted to the outside of the laser radar; the emergent detection light is reflected by the target to form echo light; the echo light is transmitted through the window and is received by the receiving unit after being transmitted through the receiving lens.

The existing laser radar adopting the paraxial receiving and transmitting system often has excessive stray light, and a receiving unit in the laser radar receives excessive stray light, so that a large number of noise points can appear on the point cloud of the laser radar, and the phenomena of ghost images, detected target widening and the like appear in the point cloud, thereby influencing the performance of the laser radar.

How to reduce stray light in the laser radar adopting a paraxial receiving and transmitting system becomes a problem which needs to be solved in the field of the laser radar.

Disclosure of utility model

The problem solved by the present disclosure is to reduce stray light in a lidar employing a paraxial transceiver system and improve the accuracy of lidar detection.

In order to solve the above problems, the present disclosure provides a window of a laser radar, where the laser radar includes a transmitting module and a receiving module, and probe light generated by the transmitting module is reflected by a target to form echo light received by the receiving module; the window includes: the transmitting and light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting and light-transmitting area; the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light-transmitting area; and a suppression zone located at least between said transmitting light passing zone and said receiving light passing zone, said suppression zone being adapted to suppress light beams conducted through said window.

Optionally, the window has an inner surface and an outer surface, the outer surface faces the external space of the lidar, and the inner surface is opposite to the outer surface; at least 1 of the inner surface of the suppression zone and the outer surface of the suppression zone cause an incident light beam to be scattered or transmitted.

Optionally, the window has an inner surface and an outer surface, the outer surface faces the external space of the lidar, and the inner surface is opposite to the outer surface; at least 1 of the inner surface of the suppression zone and the outer surface of the suppression zone is provided with a light absorbing layer.

Optionally, a direction of a connecting line between the geometric center of the transmitting light-passing area and the geometric center of the receiving light-passing area is a first direction, and a direction perpendicular to the first direction and located in the surface of the window is a second direction; the suppression area extends from one side of the receiving light passing area to the other side along the second direction.

Optionally, the transmitting light-passing area and the receiving light-passing area have a first thickness; at least a portion of the inhibit zone has a thickness different from the first thickness.

Optionally, the suppression area has a light attenuating portion protruding or recessed from the inner surface of the window.

Optionally, the light attenuating portion extends from one side of the suppression area to the other side along a second direction.

Optionally, the thickness of the inhibition zone is smaller than the first thickness; the window further comprises: and the embedded part is positioned in the inhibition zone.

Optionally, the insert extends in a second direction from one side of the zone of inhibition to the other.

Optionally, the material of the insert has a preset absorption coefficient for the probe light.

Optionally, the insert extends through the window at least partially in thickness in a direction perpendicular to the inner and/or outer surfaces of the window.

Optionally, the suppression area, the emission light-passing area and the receiving light-passing area are integrally formed.

Optionally, the insert has a first face facing the interior of the lidar and a side face connected to the first face and diagonal to the first face.

Optionally, the insert has a second face facing the exterior of the lidar, the second face being configured with a light attenuation.

Optionally, the window has an inner surface and an outer surface, the outer surface faces the exterior of the lidar, and the inner surface is opposite to the outer surface;

the window further comprises: a functional layer located on at least 1 of the inner surface and the outer surface.

Optionally, the functional layer includes: at least 1 of an anti-reflection layer, a heating layer and a conductive layer.

Optionally, the transmitting module is provided with a transmitting lens; the receiving module is provided with a receiving lens; the emission light passing area corresponds to the emission lens; the receiving light passing area corresponds to the receiving lens.

Optionally, a light-isolating part is arranged between the transmitting lens and the receiving lens, and the projection of the light-isolating part on the surface of the window is positioned in the inhibition area.

Optionally, the light blocking part extends from one side of the receiving lens to the other side along a direction perpendicular to the inner surface and/or the outer surface of the window, and exceeds the end surface of the receiving lens, which is close to the window.

Optionally, the suppression area has a light attenuation portion embedded in the inner surface, and a side of the light isolation portion, which is close to the window, extends into the light attenuation portion; or the inhibition zone is provided with a light attenuation part protruding out of the inner surface, and one side of the light isolation part, which is close to the window, extends to the light attenuation part.

Optionally, a side of the light-blocking portion, which is close to the window, is connected to the suppression area.

Optionally, a side of the light-blocking portion, which is close to the window, is connected to a surface of the insert facing the laser radar.

Optionally, a coverage area of the detection light generated by the emission module on the window corresponds to the emission light-transmitting area; and the coverage area of the echo light received by the receiving module on the window corresponds to the receiving light-transmitting area.

Correspondingly, the disclosure also provides a laser radar, comprising: an emission module adapted to generate probe light; the receiving module is suitable for receiving echo light formed by the reflection of the detection light by a target; a window, the window comprising: the transmitting and light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting and light-transmitting area; the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light-transmitting area; and a suppression zone located at least between said transmitting light passing zone and said receiving light passing zone, said suppression zone being adapted to suppress light beams conducted through said window.

Optionally, the transmitting module has a plurality of transmitting units arranged in a specific direction, and the receiving module includes a single photon receiving unit array; the activation region in the single photon receiving unit array is configured to receive echo light formed by detection light generated by 1 emission unit or at least two adjacent emission units.

Compared with the prior art, the technical scheme of the present disclosure has the following advantages:

In the technical scheme of the disclosure, in the window, a suppression area is arranged between the transmitting light transmission area and the receiving light transmission area so as to suppress the light beam conducted through the window. The suppression area is arranged in the window, so that detection light emitted by the emission module can be effectively reduced or even prevented from being transmitted by the window to generate stray light to be received by the receiving module, noise generated in laser radar point cloud is effectively reduced, and the accuracy of laser radar detection is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present disclosure, and other drawings may be obtained according to the provided drawings without inventive effort to those of ordinary skill in the art. The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, without limitation to the disclosure. In the drawings:

FIG. 1 is a schematic diagram of a lidar employing a paraxial transceiver system;

FIG. 2 is a schematic cross-sectional view of a first embodiment of a window of the lidar of the present disclosure;

FIG. 3 is a schematic view of the optical paths of the probe light and the return light in the first embodiment of the window of the lidar of the present disclosure shown in FIG. 2;

FIG. 4 is a schematic top view of the interior surface of the window of the first embodiment of the window of the lidar of the present disclosure shown in FIG. 2;

FIG. 5 is an enlarged schematic view of the suppressed area of the window of the first embodiment of the window of the lidar of the present disclosure shown in FIG. 2;

FIG. 6 is a schematic view of the light path structure of the light absorbing layer of the window of the first embodiment of the window of the lidar of the present disclosure shown in FIG. 2;

FIG. 7 is a schematic cross-sectional view of a second embodiment of a window of a lidar of the present disclosure;

FIG. 8 is a schematic top view of the interior surface of the window of the second embodiment of the window of the lidar of the present disclosure shown in FIG. 7;

FIG. 9 is a schematic cross-sectional view of a third embodiment of a window of a lidar of the present disclosure;

FIG. 10 is a schematic cross-sectional view of a fourth embodiment of a window of a lidar of the present disclosure;

FIG. 11 is a schematic top view of the interior surface of the window of the fourth embodiment of the window of the lidar of the present disclosure shown in FIG. 10;

FIG. 12 is a schematic cross-sectional view of a fifth embodiment of a window of the lidar of the present disclosure;

Fig. 13 is a schematic cross-sectional view of a sixth embodiment of a window of a lidar of the present disclosure.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present disclosure and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present disclosure. 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 1 or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, or communicable with each other; 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 terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the disclosure. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

As known from the background art, the laser radar adopting the paraxial transceiver system in the prior art has the problem that stray light affects detection accuracy. As shown in fig. 1, in the lidar adopting the paraxial transceiver system, the window is of an integral structure, that is, along the direction in which the transmitting lens points to the receiving lens, the window extends from the position corresponding to the transmitting lens to the position corresponding to the receiving lens; therefore, when the detection light emitted by the emission lens passes through the window, most of the detection light is transmitted from the window and emitted to the outside of the laser radar, and the other part of the detection light enters the window to be reflected for multiple times, namely, the detection light is conducted in the window, conducted from the position corresponding to the emission lens to the position corresponding to the receiving lens, emitted from the window to the inside of the laser radar to become stray light, and the stray light is received by the receiving module through the receiving lens.

In order to solve the technical problems, the disclosure provides a window of a laser radar, the laser radar is provided with a transmitting module and a receiving module, and detection light generated by the transmitting module is reflected by a target to form return light received by the receiving module; the window includes: the transmitting and light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting and light-transmitting area; the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light-transmitting area; and a suppression zone located at least between said transmitting light passing zone and said receiving light passing zone, said suppression zone being adapted to suppress light beams conducted through said window.

According to the technical scheme, in the window, a suppression area is arranged between the transmitting light transmission area and the receiving light transmission area so as to suppress light beams conducted through the window. The suppression area is arranged in the window, so that detection light emitted by the emission module can be effectively reduced or even prevented from being transmitted by the window to generate stray light to be received by the receiving module, noise generated in laser radar point cloud is effectively reduced, and the accuracy of laser radar detection is guaranteed.

In order that the above-recited objects, features and advantages of the present disclosure will become more readily apparent, a more particular description of embodiments of the disclosure will be rendered by reference to the appended drawings.

Referring to fig. 2, a schematic cross-sectional view of one embodiment of a window of a lidar of the present disclosure is shown.

The lidar includes a transmitting module 101 and a receiving module 102, where the probe light generated by the transmitting module 101 is reflected by a target to form a echo light received by the receiving module 102, as shown in fig. 2, and the window 100 includes: an emission light-passing area 111, where the emission light-passing area 111 is disposed corresponding to the emission module 101, and the detection light (indicated by a solid arrow in fig. 3) is emitted to the outside of the lidar (as shown in fig. 3) through the emission light-passing area 111; a receiving light-transmitting area 112, where the receiving light-transmitting area 112 is disposed corresponding to the receiving module 102, and the return light (indicated by a dashed arrow in fig. 3) enters the laser radar (as shown in fig. 3) through the receiving light-transmitting area 112; a suppression zone 120, said suppression zone 120 being located between said transmitting light-passing zone 111 and said receiving light-passing zone 112, said suppression zone 120 being adapted to suppress light beams conducted through said window 100.

The suppression area 120 is disposed in the window 100, so that the detection light emitted by the emission module 101 can be effectively reduced or even prevented from being transmitted by the window 100 to generate stray light and being received by the receiving module 102, thereby effectively reducing noise generated in the laser radar point cloud and being beneficial to ensuring the accuracy of laser radar detection.

The technical scheme of the window embodiment of the laser radar of the present disclosure is described in detail below with reference to the accompanying drawings.

The transmitting light transmissive region 111 and the receiving light transmissive region 112 are adapted for light transmission through the window 100.

Specifically, the position of the emission light-passing area 111 corresponds to the position of the emission module 101, and the emission light-passing area 111 is located downstream of the emission module 101 in the optical path of the probe light. In some embodiments, the coverage area of the detection light generated by the emission module 101 on the window 100 corresponds to the emission light passing area 111, and in particular, the coverage area of the light spot formed by the detection light generated by the emission module 101 on the window 100 corresponds to the emission light passing area 111.

Specifically, the position of the receiving light-transmitting area 112 corresponds to the position of the receiving module 102, and the receiving light-transmitting area 111 is located upstream of the receiving module 102 in the optical path of the return light. In some embodiments, the coverage area of the echo light received by the receiving module 102 on the window 100 corresponds to the receiving light-transmitting area 112, and in particular, the coverage area of the light spot formed by the echo light received by the receiving module 102 on the window 100 corresponds to the receiving light-transmitting area 112.

It should be noted that, in some embodiments, the light spot formed by the echo light on the window 100 is located in the receiving light-transmitting area 112. The receiving light passing area is matched with the detection view field of the receiving unit, and the receiving light passing area is configured to serve as a diaphragm to limit light beams outside the detection view field to enter the receiving lens and be received by the receiving unit. In other embodiments of the present disclosure, the light spot formed by the echo light on the window may also cover the receiving light-transmitting area, that is, the receiving light-transmitting area is located in the range of the light spot formed by the echo light on the window.

In some embodiments of the present disclosure, the transmitting module 101 of the lidar has a transmitting lens 105; the receiving module 102 of the laser radar is provided with a receiving lens 106; the emission light passing area 111 corresponds to the emission lens 105; the receiving light passing area 112 corresponds to the receiving lens 106.

In some embodiments, as shown in fig. 2, the emission light-passing area 111 is directly opposite to the emission lens 105, that is, the emission light-passing area 111 is opposite to the emission lens 105, and the projection of the emission lens 105 on the window 100 is located in the emission light-passing area 111; the receiving light-passing area 112 is directly opposite to the receiving lens 106, i.e. the receiving light-passing area 112 is opposite to the receiving lens 106, and the projection of the receiving lens 106 on the window 100 is located in the receiving light-passing area 112.

In other embodiments of the present disclosure, the emission light-passing area may not be directly opposite to the emission lens, and a reflecting mirror for light path refraction is disposed between the emission light-passing area and the emission lens, where the reflecting mirror deflects the detection light transmitted by the emission lens to the emission light-passing area; similarly, the receiving light-transmitting area may not be directly opposite to the receiving lens, and a reflecting mirror for light path deflection is provided between the receiving light-transmitting area and the receiving lens, and deflects the detection light transmitted by the receiving lens to the receiving light-transmitting area.

The suppression area 120 suppresses light beams conducted through the window 100.

Specifically, the suppressing area 120 is adapted to suppress the light beam incident into the window 100, transmitted to the receiving light-transmitting area 112 through the window 100, and incident into the receiving lens 106 as stray light.

In some embodiments of the present disclosure, a direction of a line between the geometric center of the transmitting light-passing area 111 and the geometric center of the receiving light-passing area 112 is a first direction X, and a direction perpendicular to the first direction and located in the surface of the window 100 is a second direction Y; the suppression zone 120 extends from one side of the receiving light passing region 112 to the other side along the second direction Y.

In some embodiments, as shown in fig. 4, the suppression area 120 is located in an area of the window 100 other than the transmitting light-passing area 111 and the receiving light-passing area 112, the suppression area 120 is located not only between the transmitting light-passing area 111 and the receiving light-passing area 112, but also in other areas around the transmitting light-passing area 111, and the suppression area 120 is also located in other areas around the receiving light-passing area 112. As shown in fig. 4, the suppression zone 120 surrounds the transmit light-passing zone 111 and the receive light-passing zone 112.

With continued reference to fig. 2, the window 100 has an inner surface 103 and an outer surface 104, the outer surface 104 facing the exterior space of the lidar, the inner surface 103 being disposed opposite the outer surface 104.

The suppressing area 120 suppresses the light beam incident into the window 100 from being incident between the inner surface 103 and the outer surface 104 of the window 100, and propagating (propagating toward the receiving light passing area 112) between the inner surface 103 and the outer surface 104 of the window 100.

In some embodiments, the window 100 has a window body 100a, where a material of the window body 100a has a preset transmittance for the probe light, for example, the material of the window body 100a may be glass, and the transmittance of the window body 100a made of glass for the probe light is more than 80%. The window body 100a transmits the probe light and the return light. The inner surface 103 and the outer surface 104 are a surface of the window body 100a facing the inside of the lidar and a surface facing the outside of the lidar, respectively.

The transmitting module 101 and the receiving module 102 are both arranged inside the laser radar, the outer surface 104 faces the outside of the laser radar, and the outer surface 104 faces away from the inside of the laser radar; the inner surface 103 faces the laser radar interior, i.e. the inner surface 103 faces the transmitting module 101 and the receiving module 102.

In some embodiments of the present disclosure, at least 1 of the inner surface 103 of the suppression zone 120 and the outer surface 104 of the suppression zone 120 cause an incident light beam to be scattered or transmitted.

At least 1 of the inner surface 103 of the suppression area 120 and the outer surface 104 of the suppression area 120 is configured to scatter or transmit an incident light beam, so as to destroy a reflective interface in the window 100, as shown by solid arrows in fig. 5, so that a light beam conducted in the window 100 is scattered or transmitted, and a propagation path of the scattered or transmitted light beam is changed, so that the scattered or transmitted light beam is reduced or even prevented from entering the receiving lens 106 and being received by the receiving module 102, thereby achieving the purpose of reducing stray light.

In some embodiments, at least 1 of the inner surface 103 of the suppression zone 120 and the outer surface 104 of the suppression zone 120 is a frosted surface. Specifically, at least 1 of the inner surface 103 of the inhibition zone 120 and the outer surface 104 of the inhibition zone 120 is frosted to form a frosted surface. During the frosting process of the surface of the suppression area 120, the emission light-passing area 111 and the receiving light-passing area 112 are avoided, only the surface of the suppression area 120 is in a frosted glass shape, and the propagation path of the light beam conducted in the suppression area 120 is changed and is not received by the receiving module 102 through the receiving lens 106 at the original angle.

In some embodiments of the present disclosure, a light absorbing layer 121 (as shown in fig. 6) is disposed on at least 1 of the inner surface 103 of the suppression area 120 and the outer surface 104 of the suppression area 120, wherein the light absorbing layer 121 has a preset absorption coefficient for the probe light.

Providing the light absorbing layer 121 on at least 1 of the inner surface 103 of the suppression zone 120 and the outer surface 104 of the suppression zone 120; in some embodiments, the transmitting module of the lidar includes a laser, the detection light is laser light with a specific wavelength generated by the laser, for example, the wavelength of the detection light may be 905nm, 940nm, 1550nm, etc., the light absorbing layer 121 has a relatively high absorption coefficient for electromagnetic waves in a wavelength band where the detection light is located, and the light beam incident to the light absorbing layer 121 is absorbed by the light absorbing layer 121 to block the conducting path thereof, as shown by a dashed arrow in fig. 6, so that the light beam conducted in the window 100 is reduced or even avoided from being received by the receiving module 102 through the receiving lens 106, thereby achieving the purpose of reducing stray light.

In some embodiments, the inking process is performed on at least 1 of the inner surface 103 of the viewing window 100 of the zone of inhibition 120 and the outer surface 104 of the viewing window 100 of the zone of inhibition 120. The surface of the suppression area 120 is subjected to the inking treatment, so that the possibility that the light beam conducted in the window 100 is absorbed in the suppression area 120 can be increased, the propagation path of the light beam can be effectively blocked, and stray light is reduced.

In some embodiments of the present disclosure, the inner surface 103 of the suppression zone 120 is capable of scattering or transmitting an incident light beam, and the light absorbing layer 121 is disposed on the inner surface 103 of the suppression zone 120. In other embodiments of the present disclosure, the outer surface of the suppression area may also scatter or transmit the incident light beam, and the light absorbing layer may also be disposed on the outer surface of the suppression area. In other embodiments of the present disclosure, the inner surface of the suppression zone and the outer surface of the suppression zone may also both be configured to scatter or transmit an incident light beam; the light absorbing layer may also be disposed on both the inner surface of the suppression zone and the outer surface of the suppression zone.

As shown in fig. 2, in some embodiments of the present disclosure, the window 100 further includes: a functional layer 130, said functional layer 130 being located on at least 1 of said inner surface 103 and said outer surface 104. The window 100 is an integral structure, and the functional layer 130 can be formed on the surface of the window 100 at one time, so that not only the process steps can be simplified, but also the uniformity of the functional layer 130 can be effectively ensured. Specifically, the functional layer 130 includes: the functional layer 130 includes: at least 1 of an anti-reflection layer, a heating layer and a conductive layer.

The anti-reflection layer is used for increasing the transmittance of the detection light and the echo light passing through the window so as to obviously reduce the light beam conducted in the window and be beneficial to reducing stray light; the heating layer is used for heating the window and preventing rain, snow, fog and the like from remaining on the surface of the window to influence the normal detection of the laser radar; the conducting layer is used for realizing electromagnetic shielding, namely the conducting layer is a conductor and is connected with the shell of the laser radar so that the window and the shell of the laser radar form an equipotential body which is conducted, and the laser radar can shield electromagnetic interference (Electromagnetic Compatibility, EMC). Specifically, the conductive layer is a transparent conductive layer (TRANSPARENT CONDUCTING OXIDES, TCO), and the material of the conductive layer is a transparent Oxide (ITO).

In specific embodiments, the inner surface 103 and the outer surface 104 are 2 surfaces of the window body 100a, respectively, and the functional layer 130 is located on at least 1 of the surface of the window body 100a facing the inside of the lidar and the surface facing the outside of the lidar.

In some embodiments, particularly as shown in fig. 2, the functional layer 130 is located on the outer surface 104, and the functional layer 130 is located on a surface of the window body 100a facing the exterior of the lidar. In other embodiments of the disclosure, the functional layer may also be located on the inner surface, and the functional layer is located on a surface of the window body facing the laser radar.

In some embodiments of the present disclosure, at least 1 of the inner surface of the suppression area and the outer surface of the suppression area scatter or transmit an incident light beam, and the functional layer is located on the surface that scatters or transmits the incident light beam. In some embodiments, at least 1 of the inner surface of the inhibition zone and the outer surface of the inhibition zone is a frosted surface, and the functional layer is located on the frosted surface. For example, the inner surface of the inhibition zone is a frosted surface, and the functional layer is located on the frosted surface.

In other embodiments of the present disclosure, a light absorbing layer is disposed on at least 1 of the inner surface of the suppression zone and the outer surface of the suppression zone; the functional layer is located on the light absorbing layer, for example, the inner surface of the inhibition zone has a light absorbing layer, and the functional layer is located on the light absorbing layer.

With continued reference to fig. 2, in some embodiments of the disclosure, a light-blocking portion 107 is disposed between the transmitting lens 105 and the receiving lens 106 in the lidar, and a projection area of the light-blocking portion 107 on the surface of the window 100 is located in the suppression area 120.

It should be noted that, in some embodiments shown in fig. 2, the projection of the light blocking portion 107 on the surface of the window 100 is located in the suppression area 120. But such a light blocking portion 107 is only an example. In other embodiments of the present disclosure, the projection of the light blocking portion on the surface of the window may also coincide with the suppression area; in other embodiments, the projection of the light blocking portion on the window surface covers the suppression area, and the suppression area is located within the projection range of the light blocking portion on the window surface.

The light blocking portion 107 is configured to perform optical isolation between the transmitting module 101 and the receiving module 102, so as to separate the laser radar internal space where the transmitting lens 105 is located from the laser radar internal space where the receiving lens 106 is located as much as possible, thereby reducing the incidence of the light beam reflected by the window surface to the receiving lens 106 and receiving the light beam by the receiving module 102, and reducing the formation of stray light.

In some embodiments of the present disclosure, the light blocking portion 107 extends from one side of the receiving lens 106 to the other side in a direction perpendicular to the inner surface 103 and the outer surface 104 of the window 100, and extends beyond an end surface of the receiving lens 106 near one end of the window 100.

It should be noted that, in some embodiments as shown in fig. 2, the light blocking portion 107 also extends from one side of the emission lens 105 to the other side in a direction perpendicular to the inner surface 103 and the outer surface 104 of the window 100, and extends beyond an end surface of the emission lens 105 near one end of the window 100.

The light isolation effect of the light isolation part 107 is related to the distance of the light isolation part 107 near the inner surface of the window 100 and/or the distance beyond the end of the receiving lens 106, the greater the distance of the light isolation part 107 near the inner surface of the window 100 and/or the greater the distance beyond the end of the receiving lens 106, the more stray light can be isolated by the light isolation part 107, and the better the light isolation effect of the light isolation part 107.

Specifically, the light blocking portion 107 extends from one side of the receiving lens 106 to the other side in a direction perpendicular to the inner surface 103 and the outer surface 104 of the window 100, that is, in a direction perpendicular to the window 100, and extends beyond an end surface of the receiving lens 106 near one end of the window 100. In some embodiments, as shown in fig. 2, the light blocking portion 107 is connected to the window 100 of the suppression area 120 near a side of the window 100.

The too large width of the light blocking portion 107 affects the angle of the emission lens 105 emitting the probe light and the angle of the echo light received by the receiving lens 106, and therefore, the width of the light blocking portion 107 is determined based on the emission field of the probe light and the reception field of the echo light, so as to avoid interference with the emission of the probe light and the reception of the echo light. The width K of the light blocking portion 107 is the dimension of the light blocking portion 107 in the direction of the line between the transmitting lens 105 and the receiving lens 106.

It should be noted that, in the foregoing embodiment, the surface of the suppression area 120 is treated to suppress the light beam conducted through the window 100. However, this is merely an example, and in other embodiments of the present disclosure, a special structure may be formed in the window of the suppression area 120 for suppressing the propagation of the light beam within the window.

Referring to fig. 7, a schematic cross-sectional structure of a window second embodiment of the lidar of the present disclosure is shown.

As with the previous embodiments, the present disclosure is not repeated here. The difference from the previous embodiments is that in some embodiments, the thickness of the suppression area 220 is different from the thickness of other areas in the window 200.

In some embodiments of the present disclosure, the transmitting light passing region 211 and the receiving light passing region 212 have a first thickness D1; at least a portion of the containment zone 220 has a thickness D2 that is different from the first thickness D1.

By changing the thickness of the suppression region 220 and forming a light attenuating structure within the suppression region 220, the path of the light beam conducted in the suppression region 220 can be changed to achieve the effect of suppressing light beam conduction.

In some embodiments of the present disclosure, the thickness D2 of the containment zone 220 is greater than the first thickness D1. In the window 200, the suppressing area 220 protrudes from the surface of the transmitting light-passing area 211, and the suppressing area 220 also protrudes from the surface of the receiving light-passing area 212. In some embodiments, the suppression zone 220 has a light attenuating portion 222 protruding from the surface of the window 200.

The light attenuation portion 222 protrudes from the surface of the window 200 to form a similar light trap structure, so that the light beam conducted in the window 200 is reflected in the light attenuation portion 222 for multiple times to achieve the effects of blocking the conduction and attenuating the light intensity.

In some embodiments, as shown in fig. 7, the light attenuation portion 222 protrudes from the inner surface 203 of the window 200, so that the outer surface 204 of the window 200 maintains a complete surface, and the outer surface 204 has no splice gap, which not only can ensure the appearance of the lidar, but also can reduce the difficulty of further processing and integrating functional layers of the window 200.

In specific embodiments, the lidar further has a light barrier 207 between the transmitting lens 205 of the transmitting module 201 and the receiving lens 206 of the receiving module 202; and the suppression zone 220 has a light attenuating portion 222 protruding from the inner surface 203; the light blocking portion 207 extends to the light attenuating portion 222 near the side of the window 200, and as shown in fig. 7, the light blocking portion 307 is connected to the light attenuating portion 222 near the side of the window 400.

In some embodiments of the present disclosure, the suppressing area 220 extends from one side of the receiving light-transmitting area 212 to the other side along the second direction Y, wherein a direction of a line between a geometric center of the transmitting light-transmitting area 211 and a geometric center of the receiving light-transmitting area 212 is a first direction X, and a direction perpendicular to the first direction X and located in a surface of the window 200 is a second direction Y.

As shown in fig. 8, the transmitting light-passing area 211 and the receiving light-passing area 212 are equal in size along the second direction Y and are arranged in parallel along the first direction X, wherein the suppressing area 220 extends from one side edge to the other side edge of the receiving light-passing area 212 along the second direction Y. In particular embodiments, the light attenuating portion 222 extends from one side of the suppression zone 220 to the other side along the second direction Y.

It should be noted that, in some embodiments as shown in fig. 7, a surface of the light attenuation portion 222 facing the laser radar may also be a frosted surface, and a light absorption layer may also be disposed on a surface of the light attenuation portion 222 facing the laser radar, so as to enhance the effect of blocking the conduction and attenuating the light intensity.

Referring to fig. 9, a schematic cross-sectional structure of a third embodiment of a window of the lidar of the present disclosure is shown.

As with the previous embodiments, the present disclosure is not repeated here. Unlike the previous embodiments, in some embodiments, the thickness D3 of the suppression zone 320 is less than the first thickness D1.

Specifically, in the window 300, the suppression area 320 is trapped on the surface where the transmitting light-passing area 311 and the receiving light-passing area 312 are located. In some embodiments, the suppression area 320 has a light attenuating portion 323, specifically a groove structure, that is recessed into the surface of the window 300.

The light attenuation portion 323 is trapped on the surface of the window 300, and the thickness of the suppressing area 320 is smaller, that is, the distance between the inner surface 303 and the outer surface 304 of the window 300 is smaller, so that the number of reflection and scattering times of the light beam in the suppressing area 320 is increased, and each reflection and scattering will attenuate the intensity of the light beam, so that the suppressing area 320 is provided with the light attenuation portion 323, and the light beam can be effectively attenuated or even blocked from being transmitted from the transmitting light passing area 311 to the receiving light passing area 312, thereby achieving the effects of blocking the transmission and attenuating the light intensity.

In some embodiments, as shown in fig. 9, the light attenuation portion 323 is embedded in the inner surface 303 of the window 300, so that the outer surface 304 of the window 300 maintains a complete plane, and no splice gap exists on the outer surface 304, which not only can ensure the appearance of the laser radar, but also can reduce the difficulty of further processing and integrating functional layers of the window 300.

In specific embodiments, the lidar further has a light barrier 307 between the transmitting lens 305 of the transmitting module 301 and the receiving lens 306 of the receiving module 302; and the suppression zone 320 has a light attenuating portion 323 trapped within the inner surface 303; as shown in fig. 9, the light blocking portion 307 extends into the light attenuating portion 323 near a side of the window 300.

In some embodiments, along the second direction Y, the suppression zone 320 extends from one side edge of the receiving light passing zone 312 to the other side edge. In some embodiments, the light attenuation portion 323 extends from one side of the suppressing area 320 to the other side along the second direction Y, where a direction of a line connecting the geometric center of the transmitting light passing area 311 and the geometric center of the receiving light passing area 312 is a first direction X, and a direction perpendicular to the first direction X and located in the surface of the window 300 is a second direction Y.

It should be further noted that, in some embodiments as shown in fig. 9, the inner surface of the light attenuation portion 323 may also be a frosted surface, and a light absorbing layer may also be disposed on the inner surface of the light attenuation portion 323 to enhance the effect of blocking the conduction and attenuating the light intensity.

Referring to fig. 10, a schematic cross-sectional structure of a fourth embodiment of a window of the lidar of the present disclosure is shown.

As with the previous embodiments, the present disclosure is not repeated here. Unlike the previous embodiments, in some embodiments, the window 400 also has an insert 424.

In some embodiments, as shown in fig. 10, the window 400 further includes: an insert 424, the insert 424 being located in the containment zone 420. The insert 424 is embedded in the surface of the window 400. In some embodiments, the insert 424 extends through the window 400 at least partially through the thickness thereof in a direction perpendicular to the inner 403 and outer 404 surfaces of the window 400.

The insert 424 is positioned in a recessed structure formed in the containment zone 420. As mentioned above, the groove structure can effectively attenuate or even block the light beam from transmitting light-passing area 411 to receiving light-passing area 412, thereby achieving the effects of blocking the transmission and attenuating the light intensity. Furthermore, the provision of the insert 424 is effective to increase the strength of the zone of inhibition 420, thereby increasing the protective capabilities and the service life of the window 200.

The effect of blocking the light intensity by the groove structure is related to the thickness of the window 400 where the groove structure is located, so that the greater the thickness of the insert 424, the smaller the thickness of the window 400 where the insert 424 is located, i.e. the smaller the distance between the inner surface 403 and the outer surface 404, so that the number of reflections and scattering of the light beam in the suppressing area 420 increases, and the effect of blocking the light intensity by the groove structure is better.

In some embodiments, the thickness of the insert 424 may be determined based on the requirements for blocking the transmitted and attenuated light intensities, or may be determined based on the intensity of the probe light generated by the transmitting module 401, the intensity of the transmitted light beam within the window 400, and a detection threshold at which the receiving module 402 recognizes the received probe light. Wherein the thickness of the insert 424 refers to the dimension of the insert 424 along the line between the inner surface 403 and the outer surface 404.

In some embodiments of the present disclosure, the insert 424 extends through a portion of the thickness of the window 400, and the suppression zone 420 is integrally formed with the transmitting light passing zone 411 and the receiving light passing zone 412.

In some embodiments, as shown in fig. 10, the insert 424 is embedded in the inner surface 403 of the window 400, so that the outer surface 404 of the window 400 maintains a complete plane, and no splice gap exists on the outer surface 404, which not only ensures the appearance of the lidar, but also reduces the difficulty in further processing and integrating functional layers of the window 400.

In specific embodiments, the lidar further has a light-blocking portion 407 between the transmitting lens 405 of the transmitting module 401 and the receiving lens 406 of the receiving module 402; and the window 400 of the suppression area 420 has an insert 424 that is recessed within the inner surface 403; as shown in fig. 10, the light blocking portion 407 is connected to the surface of the insert 424 facing the inside of the lidar near the side of the window 400.

In some embodiments of the present disclosure, the suppressing area 420 extends from one side of the receiving light-transmitting area 412 to the other side along the second direction Y, wherein a direction of a line between a geometric center of the transmitting light-transmitting area 411 and a geometric center of the receiving light-transmitting area 412 is a first direction X, and a direction perpendicular to the first direction X and located in a surface of the window 400 is a second direction Y.

As shown in fig. 11, the transmitting light-passing area 411 and the receiving light-passing area 412 are equal in size along the second direction Y and are arranged in parallel along the first direction X, and the suppressing area 420 extends from one side edge to the other side edge of the receiving light-passing area 412 along the second direction Y. In particular embodiments, the inserts 424 extend from one side of the containment zone 420 to the other side along the second direction Y.

In some embodiments, the width w1 of the insert 424 is greater than the width w2 of the light blocking portion 407, wherein the width is a dimension parallel to the first direction X. In some embodiments, as shown in fig. 10 and 11, the insert 424 extends from one side of the containment zone 420 to the other side along the first direction X, and the insert 424 covers the entire containment zone 420 along the first direction X.

By providing the insert 424 in the window 400, the insert 424 has a larger width to enhance the effect of blocking the conduction and attenuating the light intensity of the suppression area 420, and the light blocking portion 407 has a smaller width to provide more arrangement space inside the lidar.

It should be noted that, in some embodiments, the material of the insert 424 has a predetermined absorption coefficient for the probe light. The material of the insert 424 is set to have a preset absorption coefficient for the probe light, so that the insert 424 can absorb the light beam of the probe light band, and the effect of blocking the conduction and attenuating the light intensity by the inhibition zone 420 can be effectively improved.

In addition, the choice of material for the insert 424 also has an effect on the scattering of the probe light, so that the effect of material on the scattering of the probe light also needs to be taken into account when providing the material for the insert 424.

It should be further noted that, as described above, the roughness of the inner surface 403 and the outer surface 404 of the suppressing area 420 may also affect the light beam transmission in the window 400, and the higher the roughness of the inner surface 403 and the outer surface 404, the greater the probability that the light beam transmitted in the window 400 is scattered or transmitted, the smaller the probability that the light beam transmitted in the window 400 is received by the receiving module 402, and the better the effect of the suppressing area to block the transmission and attenuate the light intensity.

In some embodiments, the surfaces of the insert 424 and the suppression area 420 have a predetermined roughness, i.e., the surfaces of the insert 424 and the suppression area 420 are roughened to break the reflective interface and increase the effect of blocking the conduction and attenuating the light intensity.

It should be noted that, in some embodiments shown in fig. 10 and 11, the cross section of the insert 400 is rectangular. In other embodiments of the present disclosure, the effect of blocking conduction and attenuating light intensity may be further enhanced by the design of the cross-sectional shape of the insert. Wherein the cross-section of the insert 400 is the cross-section shown in fig. 10, i.e. the plane defined by the connection between the inner surface 403 and the outer surface 404 and the connection between the transmitting light-passing area 411 and the receiving light-passing area 412.

In some embodiments, as shown in fig. 12, the insert 524 has a first side 524a and a side 524b, the first side 524a facing the interior of the lidar, the side 524b being connected to and diagonal from the first side 524 a. The oblique side 524b can effectively adjust the transmission direction of the incident beam in the window 500, and can further enhance the effect of blocking transmission and attenuating the light intensity.

Specifically, an acute angle is formed between the first surface 524a and the side surface 524b of the insert 524, and the thickness of the insert 524 increases along the direction in which the edge of the insert 524 points to the center of the insert 524, so that the light beam conducted in the window 500 exits to the outside of the lidar, and the light beam is blocked and prevented from being conducted to the receiving module 502, where the thickness of the insert 524 refers to the dimension of the insert 524 in the direction perpendicular to the inner surface and/or the outer surface.

In some embodiments of the present disclosure, the insert 524 has at least 1 of the sides 524b. As shown in fig. 12, the insert 524 has 2 side surfaces 524b, and the 2 side surfaces 524b are respectively located at two sides of the first surface 524a and are respectively connected to two side edges of the first surface 524a in a direction of a connection line between the transmitting module 501 and the receiving module 502.

In some embodiments, as shown in fig. 13, the insert 624 has a second face 624c facing the exterior of the lidar, the second face 624c being configured with a light-attenuating portion 622. Specifically, the second surface 624c is a concave-convex surface with a plurality of continuous undulations, and cooperates with the suppression area in the window 600 to form the light attenuation portion 622. Specifically, the second surface 624c may be wavy, square-wave-shaped, or saw-tooth-shaped.

Specifically, the second surface 624c is a concave-convex surface with a plurality of continuous undulations, and the window 600 has a protrusion at a position where the second surface 624c is concave; the concave second face 624c and the convex window 600 cooperate to form the light attenuating portion 622.

As shown in fig. 13, the second surface 624c has a plurality of recesses, the window 600 has a plurality of protrusions, and the second surface 624c and the window 600 cooperate to form a plurality of light attenuating portions 622.

Correspondingly, the disclosure also provides a laser radar.

Referring to fig. 2, the laser radar includes: an emission module 101, said emission module 101 being adapted to generate probe light; a receiving module 102, wherein the receiving module 102 is adapted to receive echo light formed by reflection of the probe light by a target; a window 100, the window 100 comprising: the emission light-passing area 111 is arranged corresponding to the emission module 101, and the detection light is emitted to the outside of the laser radar through the emission light-passing area 111; a receiving light-transmitting area 112, where the receiving light-transmitting area 112 is set corresponding to the receiving module 102, and the echo light enters the laser radar through the receiving light-transmitting area 112; a suppression zone 120, said suppression zone 120 being located at least between said transmitting light-passing zone 111 and said receiving light-passing zone 112, said suppression zone 120 being adapted to suppress light beams conducted through said window 100.

In particular embodiments, the window 100 is a window of the present disclosure. For the specific technical scheme of the window, reference is made to the specific embodiment of the window of the laser radar. The present disclosure is not described in detail herein.

The suppression area 120 suppresses light beams conducted through the window 100. Specifically, the suppressing area 120 is adapted to suppress the light beam incident into the window 100, transmitted to the receiving light-transmitting area 112 through the window 100, and incident into the receiving lens 106 as stray light.

In some embodiments of the present disclosure, the transmitting module 101 has a plurality of transmitting units arranged in a specific direction, and the receiving module includes a single photon receiving unit array; the activation region in the single photon receiving unit array is configured to receive echo light formed by detection light generated by 1 emission unit or at least two adjacent emission units.

In some embodiments, the active area in the single photon receiving unit array receives the echo light formed by the reflection of the probe light emitted by at least two adjacent emitting units at the same time through the target.

In specific embodiments, the specific direction is 1 direction of a vertical direction and a horizontal direction.

In addition, the single photon receiving unit array includes: a plurality of single photon avalanche diodes (Single Photon Avalanche Diode, SAPD) arranged in an array in a vertical direction and a horizontal direction to form a two-dimensional array.

Because the suppression area in the window can effectively reduce or even prevent the detection light emitted by the emission module from being transmitted by the window to generate stray light and being received by the receiving module, even if a single-photon receiving unit array is adopted, and the activation area in the single-photon receiving unit array is configured to receive echo light formed by the detection light generated by a plurality of adjacent emission units, noise points in the laser radar point cloud are relatively fewer, and the detection accuracy of the laser radar is relatively higher.

In some embodiments of the disclosure, the laser radar is a laser radar adopting a paraxial transceiver system, and an optical axis of an optical path of the probe light is not coincident with an optical axis of an optical path of the echo light.

In summary, in the window, a suppressing area is disposed between the transmitting light-transmitting area and the receiving light-transmitting area to suppress the light beam conducted through the window. The suppression area is arranged in the window, so that detection light emitted by the emission module can be effectively reduced or even prevented from being transmitted by the window to generate stray light to be received by the receiving module, noise generated in laser radar point cloud is effectively reduced, and the accuracy of laser radar detection is guaranteed.

Although the present disclosure is described above, the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and the scope of the disclosure should be assessed accordingly to that of the appended claims.

Claims (25)

1. The window of the laser radar is characterized by comprising a transmitting module and a receiving module, wherein detection light generated by the transmitting module is reflected by a target to form return light received by the receiving module; the window includes:

The transmitting and light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting and light-transmitting area;

The receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light-transmitting area;

And a suppression zone located at least between said transmitting light passing zone and said receiving light passing zone, said suppression zone being adapted to suppress light beams conducted through said window.

2. The window of claim 1, wherein the window has an inner surface and an outer surface, the outer surface facing an exterior space of the lidar, the inner surface being disposed opposite the outer surface;

At least 1 of the inner surface of the suppression zone and the outer surface of the suppression zone cause an incident light beam to be scattered or transmitted.

3. The window of claim 1, wherein the window has an inner surface and an outer surface, the outer surface facing an exterior space of the lidar, the inner surface being disposed opposite the outer surface;

At least 1 of the inner surface of the suppression zone and the outer surface of the suppression zone is provided with a light absorbing layer.

4. The window of claim 1, wherein a direction of a line between a geometric center of the transmitting light passing region and a geometric center of the receiving light passing region is a first direction, and a direction perpendicular to the first direction and within a surface of the window is a second direction;

The suppression area extends from one side of the receiving light passing area to the other side along the second direction.

5. The window of any of claims 1-4, wherein the transmitting light-passing region and the receiving light-passing region have a first thickness;

at least a portion of the inhibit zone has a thickness different from the first thickness.

6. The window of claim 5, wherein the suppression area has a light attenuating portion protruding or recessed from an interior surface of the window.

7. The window of claim 6, wherein the light attenuating portion extends in a second direction from one side of the suppressed area to the other side.

8. The window of claim 5, wherein the suppressed region has a thickness less than the first thickness;

The window further comprises: and the embedded part is positioned in the inhibition zone.

9. The window of claim 8, wherein the insert extends in a second direction from one side of the suppression area to the other side.

10. The window of claim 8, wherein the material of the insert has a predetermined absorption coefficient for the probe light.

11. The window of claim 8, wherein the insert extends through the window at least partially in thickness in a direction perpendicular to the inner and/or outer surfaces of the window.

12. The window of claim 8, wherein the suppression zone and the transmitting and receiving light passing zones are integrally formed.

13. The window of claim 8, wherein the insert has a first face and a side, the first face facing the interior of the lidar, the side being connected to and diagonal from the first face.

14. The window of claim 8, wherein the insert has a second face facing an exterior of the lidar, the second face configured to have a light-attenuating portion.

15. The window of claim 1, wherein the window has an inner surface and an outer surface, the outer surface facing the exterior of the lidar, the inner surface being disposed opposite the outer surface;

the window further comprises: a functional layer located on at least 1 of the inner surface and the outer surface.

16. The window of claim 15, wherein the functional layer comprises: at least 1 of an anti-reflection layer, a heating layer and a conductive layer.

17. The window of claim 1, wherein the emissive module has an emissive lens; the receiving module is provided with a receiving lens;

the emission light passing area corresponds to the emission lens;

the receiving light passing area corresponds to the receiving lens.

18. The window of claim 17, wherein a light barrier is provided between the transmitting lens and the receiving lens, a projection of the light barrier onto a surface of the window being located within the suppressed zone.

19. The window of claim 18, wherein the light barrier extends from one side of the receiving lens to the other side in a direction perpendicular to the inner and/or outer surface of the window beyond the end surface of the receiving lens adjacent the window.

20. The window of claim 19, wherein the window is configured to,

The inhibition zone is provided with a light attenuation part which is embedded in the inner surface, and one side of the light isolation part, which is close to the window, extends into the light attenuation part;

Or the inhibition zone is provided with a light attenuation part protruding out of the inner surface, and one side of the light isolation part, which is close to the window, extends to the light attenuation part.

21. The window of claim 19, wherein a side of the light barrier adjacent the window is coupled to the suppression area.

22. The window of claim 21, wherein a side of the light barrier adjacent the window is coupled to a surface of the insert facing the interior of the lidar.

23. The window of claim 1, wherein a coverage area of the probe light generated by the emission module on the window corresponds to the emission light passing area; and the coverage area of the echo light received by the receiving module on the window corresponds to the receiving light-transmitting area.

24. A lidar, comprising:

an emission module adapted to generate probe light;

the receiving module is suitable for receiving echo light formed by the reflection of the detection light by a target;

A window, the window comprising: the transmitting and light-transmitting area is arranged corresponding to the transmitting module, and the detection light is emitted to the outside of the laser radar through the transmitting and light-transmitting area; the receiving light-transmitting area is arranged corresponding to the receiving module, and the echo light enters the laser radar through the receiving light-transmitting area; and a suppression zone located at least between said transmitting light passing zone and said receiving light passing zone, said suppression zone being adapted to suppress light beams conducted through said window.

25. The lidar of claim 24, wherein the transmitting module has a plurality of transmitting units arranged in a specific direction, and the receiving module includes a single photon receiving unit array;

the activation region in the single photon receiving unit array is configured to receive echo light formed by detection light generated by 1 emission unit or at least two adjacent emission units.