WO2023045457A1 - 一种用于激光雷达的窗罩及激光雷达 - Google Patents

一种用于激光雷达的窗罩及激光雷达 Download PDF

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Publication number
WO2023045457A1
WO2023045457A1 PCT/CN2022/101153 CN2022101153W WO2023045457A1 WO 2023045457 A1 WO2023045457 A1 WO 2023045457A1 CN 2022101153 W CN2022101153 W CN 2022101153W WO 2023045457 A1 WO2023045457 A1 WO 2023045457A1
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Prior art keywords
laser
partition
receiving unit
emitting unit
window cover
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PCT/CN2022/101153
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English (en)
French (fr)
Inventor
张瓯
丁鼎
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杭州欧镭激光技术有限公司
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Priority claimed from CN202111126690.1A external-priority patent/CN113671463A/zh
Priority claimed from CN202122360234.5U external-priority patent/CN215953843U/zh
Application filed by 杭州欧镭激光技术有限公司 filed Critical 杭州欧镭激光技术有限公司
Publication of WO2023045457A1 publication Critical patent/WO2023045457A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

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  • the invention relates to the technical field of laser radar, in particular to a window cover for laser radar and the laser radar.
  • FIGS. 1 and 2 are schematic diagrams of laser radar and its optical path in the prior art.
  • the laser radar of the prior art no matter whether the laser emitting unit and the laser receiving unit are coaxial or off-axis, they are usually arranged adjacent to each other in a window shade. In this way, it is difficult for the lidar to work normally in the outdoor rain, because the raindrops 400 are attached to the window cover 100 at this time, and the laser light emitted from the laser emitting unit 300 will hit the raindrops 400 when passing through the window cover 100, and the raindrops 400 will be part of the laser light. Scattering will cause part of the scattered laser light to return to the laser receiving unit 400 through the window cover 100, so that the radar cannot measure the distance to the target object, but can only measure the distance to the window cover 100, so that the radar cannot work normally.
  • the purpose of the present invention is to provide a window cover for the laser radar and a laser radar with the window cover, which can make the laser radar work normally in the rain and prevent the emitted light from crosstalking to the laser receiving unit.
  • the invention discloses a window cover for laser radar, and the window cover comprises:
  • the first accommodating portion fixedly connected to the first side of the partition, the first accommodating portion and the partition jointly form a first accommodating space, and the first accommodating space is used to accommodate the laser light of the lidar In the emitting unit, in the direction of laser emission, the outer edge of the partition exceeds the outer edge of the first receiving part on the first side;
  • the second accommodating portion fixedly connected to the second side of the partition, the second accommodating portion and the partition jointly form a second accommodating space, and the second accommodating space is used to accommodate the laser light of the lidar In the receiving unit, in the direction of receiving the laser light, the outer edge of the partition exceeds the outer edge of the second receiving part on the second side.
  • the present invention also discloses a laser radar, which includes: the above-mentioned window cover;
  • a laser emitting unit arranged in the first accommodation space of the window cover
  • the laser receiving unit is arranged in the second accommodation space of the window cover.
  • the laser emitting unit includes a laser light source and a collimating lens
  • the laser receiving unit includes an avalanche photodiode and a converging lens.
  • the laser radar further includes a rotating unit, and the rotating unit is used to simultaneously drive the laser emitting unit and the laser connecting unit to rotate relative to the window cover.
  • the optical axis of the laser emitting unit is parallel to the partition
  • the optical axis of the laser receiving unit is parallel to the partition.
  • the rotation axes of the laser emitting unit and the laser receiving unit are perpendicular to the partition.
  • the beneficial effect is that the laser emitting unit and the laser receiving unit are separated by an opaque partition, and in the direction of laser emission and reception, the edge of the partition Beyond the edges of the first and second accommodating parts, it can effectively prevent the laser emitted by the laser emitting unit from being scattered by raindrops and directly enter the laser receiving unit, thereby ensuring the normal operation of the radar in outdoor rain and ensuring the stability of the radar performance.
  • Fig. 1 is the schematic diagram of laser radar and its optical path in the rain with the different axis of laser transmitting unit and laser receiving unit in the prior art;
  • Fig. 2 is the schematic diagram of laser radar and its optical path in the rain that laser transmitting unit and laser receiving unit are coaxial in the prior art;
  • Fig. 3 is a schematic diagram of a laser radar and its optical path in rain according to an embodiment of the present invention.
  • 100-window cover 110-partition, 120-first accommodation part, 130-second accommodation part, 200-laser emitting unit, 210-laser light source, 220-collimating lens, 300-laser receiving unit, 310-avalanche Photodiode, 320-converging lens, 400-raindrop.
  • first, second, third, etc. may be used in the present disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present disclosure, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word “if” as used herein may be interpreted as “at” or “when” or “in response to a determination.”
  • connection should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or two
  • connection should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or two
  • connection should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or two
  • the internal communication of each element may be directly connected or indirectly connected through an intermediary.
  • intermediary Those skilled in the art can understand the specific meanings of the above terms according to specific situations.
  • FIG. 3 it is a schematic structural diagram of a lidar in an embodiment of the present invention, and the lidar includes:
  • the window cover 100 includes a light-tight partition 110 , a first receiving portion 120 and a second receiving portion 130 .
  • the first accommodating portion 120 is fixedly connected to the first side of the partition 110, and the first accommodating portion 120 and the partition 110 jointly form a first accommodating space, and the first accommodating space is used for accommodating all
  • the laser emitting unit 200 of the lidar is described above.
  • the first accommodating part 120 is in the shape of an inverted cup, its top and sides are closed, and its bottom has an opening. A closed first accommodation space is formed between it and the partition plate 110 .
  • the outer edge of the partition 110 exceeds the outer edge of the first receiving portion 120 on the first side, that is, the outer edge of the partition 110 and the first receiving portion 120 are on the partition There is a certain distance between the bottom edges on 110, and the distance can be flexibly set according to the overall size of the lidar.
  • the second accommodating portion 130 is fixedly connected to the second side of the partition 110 and located below the partition 110, the second accommodating portion 130 and the partition 110 jointly form a second accommodating space, so The second accommodating space is used for accommodating the laser receiving unit 300 of the lidar, and in the direction of receiving the laser, the outer edge of the partition 110 exceeds the outer edge of the second accommodating portion 130 on the second side.
  • the first accommodating part 120 and the second accommodating part 130 may be made of plastic material, and a light-transmitting part for the laser light to pass through is provided on the side thereof.
  • the window cover 100 of the present application separates the laser emitting unit 200 from the laser receiving unit 300 by an opaque partition 110, and the outer edge of the partition 110 exceeds the outer edge of the accommodation portion in the laser emitting and receiving direction, so that the laser emitting unit Even if the light emitted by 200 is scattered by raindrops 400, it is difficult to directly enter the laser receiving unit 300 through the second receiving part 130, so that the laser receiving unit 300 can only receive the laser light returned from the target object, which ensures that the laser radar can work normally in the rain.
  • the laser emitting unit 200 is disposed in the first accommodating space for emitting laser light, and the emitted laser light passes through the first accommodating portion 120 to reach the target object.
  • the laser emitting unit 200 includes a laser light source 210 and a collimator lens 220 .
  • the laser emitting unit 200 may further include a bracket or other optical components for fixing the laser light source 210 and the collimating lens 220 .
  • the laser emitting unit 200 is located on the partition 110 above a certain distance, which can be flexibly set by those skilled in the art according to the size of the lidar.
  • the laser receiving unit 300 is disposed in the second accommodation space of the window cover 100 for receiving laser light, and the laser light returned from the target object passes through the second accommodation portion 130 and is received by the laser receiving unit 300 .
  • the laser receiving unit 300 includes an avalanche photodiode 310 and a converging lens 320 .
  • the laser receiving unit 300 may further include a bracket or other optical components for fixing the laser light source 210 and the collimator lens 220 .
  • the laser emitting unit 200 can be arranged in the second accommodation space of the window cover 100, and the laser receiving unit 300 can be arranged in the first accommodation part 120, that is, the laser reflection unit can be arranged on the partition Below the partition 110 , the laser receiving unit 300 is disposed above the partition 110 .
  • Such setting can also achieve the technical effect of preventing the light emitted by the laser emitting unit 200 from directly entering the laser receiving unit 300 after being scattered by the raindrops 400, so that the radar can also work normally in the rain.
  • the lidar also includes:
  • the rotating unit is used to simultaneously drive the laser emitting unit 200 and the laser receiving unit 300 to rotate relative to the window cover 100 to realize target detection in the circumferential direction. That is, when the lidar is working normally, the window cover 100 does not move, and the laser emitting unit 200 and the laser receiving unit 300 rotate circumferentially inside the window cover.
  • the rotating unit includes a motor and a transmission structure, and the motor can be set in the first accommodation space or the second accommodation space or in the first and second accommodation spaces (realized by opening holes on the partition 110), and the motor passes through
  • the transmission structure drives the laser emitting unit 200 and the laser receiving unit 300 to rotate synchronously.
  • the optical axes of the laser emitting unit 200 and the laser receiving unit 300 are parallel to the partition 110, and the rotation axes of the laser emitting unit 200 and the laser receiving unit 300 are perpendicular to the The partition 110, that is, the laser emitting unit 200 and the laser receiving unit 300 rotates after being rotated perpendicular to the partition 110, so as to realize target detection in a 360° direction.
  • the partition 110 is circular, and the rotation axes of the laser emitting unit 200 and the laser receiving unit 300 are perpendicular to the partition 110 and pass through the center of the circle;
  • the bottom edge of the side joint is also circular, and its center of circle coincides with the center of circle of the partition 110; coincide.
  • the distance from the bottom edge of the first receiving part 120 to the edge of the partition 110 and the distance from the top edge of the second receiving part 130 to the edge of the partition 110 may be equal or unequal. The situation is flexible.
  • the laser radar includes a rotating unit, which drives the laser emitting unit 200 and the laser receiving unit 300 to rotate in a circumferential direction relative to the window cover 100. Therefore, the outer edge of the partition 110 needs to exceed the second in the circumferential direction. The outer edge of the first receiving portion 120 on one side and the outer edge of the second receiving portion 130 on the second side. For some other embodiments, if the laser emitting unit 200 and the laser receiving unit 300 do not rotate relative to the window cover 100 and are only used to realize target detection in a fixed direction, then the outer edge of the partition 110 only needs to be between the laser emitting and the laser receiving unit 300.
  • the receiving direction only needs to exceed the outer edge of the first receiving portion 120 on the first side and the outer edge of the second receiving portion 130 on the second side.
  • FIG. 3 Taking FIG. 3 as an example, if the laser emitting unit 200 and the laser beam in FIG. 3
  • the receiving unit 300 does not rotate relative to the window cover 100, and the outer edge of the partition 110 only needs to exceed the outer edge of the first receiving portion 120 on the first side and the second receiving portion 130 on the second side in the right direction.
  • the outer edge is sufficient, and there is no need to exceed the outer edge of the accommodating part in other directions.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种用于激光雷达的窗罩（100）及激光雷达，窗罩（100）包括：不透光的隔板（110）；固定连接于隔板第一侧面的第一容纳部（120），第一容纳部（120）与隔板（110）共同形成一第一容纳空间，第一容纳空间用于容纳激光雷达的激光发射单元（200），在激光发射的方向上，隔板（110）的外边缘超出第一侧面上第一容纳部（120）的外边缘；固定连接于隔板（110）第二侧面的第二容纳部（130），第二容纳部（130）与隔板（110）共同形成一第二容纳空间，第二容纳空间用于容纳激光雷达的激光接收单元（300），在激光接收的方向上，隔板的外边缘超出第二侧面上第二容纳部（130）的外边缘。该方案可避免发射的激光经雨滴散射后直接进入激光接收单元。

Description

一种用于激光雷达的窗罩及激光雷达 技术领域
本发明涉及激光雷达技术领域，尤其涉及一种用于激光雷达的窗罩及激光雷达。
背景技术
参见附图1、2，为现有技术中激光雷达及其光路的示意图，对于现有技术的激光雷达，无论是激光发射单元和激光接收单元是共轴还是异轴，其通常彼此临近地设置在一个窗罩中。这样就导致激光雷达在户外雨中难以正常工作，因为此时雨滴400附着在窗罩100上，自激光发射单元300出射的激光经过窗罩100时会打在雨滴400上，雨滴400会对部分激光进行散射，导致部分散射的激光会重新经过窗罩100返回到激光接收单元400中，导致雷达无法测量到目标物体的距离，只能测量到窗罩100的距离，致使雷达无法正常工作。
发明内容
为了克服上述技术缺陷，本发明的目的在于提供能够使激光雷达在雨中正常工作，防止发射光线串扰到激光接收单元的用于激光雷达的窗罩及具有该窗罩的激光雷达。
本发明公开了一种用于激光雷达的窗罩，所述窗罩包括：
不透光的隔板；
固定连接于所述隔板第一侧面的第一容纳部，所述第一容纳部与所述隔板共同形成一第一容纳空间，所述第一容纳空间用于容纳所述激光雷达的激光发射单元，在激光发射的方向上，所述隔板的外边缘超出第一侧面上第一容纳部的外边缘；
固定连接于所述隔板第二侧面的第二容纳部，所述第二容纳部与所述隔板共同形成一第二容纳空间，所述第二容纳空间用于容纳所述激光雷达的激光接收单元，在激光接收的方向上，所述隔板的外边缘超出第二侧面上第二容纳部的外边缘。
本发明还公开了一种激光雷达，其包括：如上所述的窗罩；
激光发射单元，设置于所述窗罩的第一容纳空间中；
激光接收单元，设置于所述窗罩的第二容纳空间中。
优选地，所述激光发射单元包括激光光源和准直透镜；
所述激光接收单元包括雪崩光电二极管和汇聚透镜。
优选地，所述激光发射单元与所述隔板之间存在第一距离；
所述激光接收单元与所述隔板之间存在第二距离。
优选地，所述激光雷达还包括旋转单元，所述旋转单元用于同时带动所述激光发射单元和所述激光接单元相对于所述窗罩旋转。
优选地，所述激光发射单元的光轴平行于所述隔板；
所述激光接收单元的光轴平行于所述隔板。
优选地，所述激光发射单元和所述激光接收单元的旋转轴垂直与所述隔板。
采用了上述技术方案后，与现有技术相比，其有益效果在于，通过不透光的隔板将激光发射单元和激光接收单元隔开，且在激光发射与接收的方向上，隔板边缘超出第一、第二容纳部的边缘，从而可以有效避免激光发射单元发射的激光经雨滴散射后直接进入激光接收单元，进而可以保证雷达在户外雨中能够正常工作，保证了雷达性能的稳定。
附图说明
图1为现有技术中激光发射单元和激光接收单元异轴的激光雷达及其在雨中的光路的示意图；
图2为现有技术中激光发射单元和激光接收单元共轴的激光雷达及其在雨中的光路的示意图；
图3为本发明一实施例中的激光雷达及其在雨中的光路的示意图。
附图标记：
100-窗罩，110-隔板，120-第一容纳部，130-第二容纳部，200-激光发射单元，210-激光光源，220-准直透镜，300-激光接收单元，310-雪崩光电二极管，320-汇聚透镜，400-雨滴。
具体实施方式
以下结合附图与具体实施例进一步阐述本发明的优点。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附 图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本公开可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
在本发明的描述中，需要理解的是，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，除非另有规定和限定，需要说明的是，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是机械连接或电连接，也可以是两个元件内部的连通，可以是直接相连，也可以通过中间媒介间接相连，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。
在后续的描述中，使用用于表示元件的诸如“模块”、“部件”或“单元”的后缀仅为了有利于本发明的说明，其本身并没有特定的意义。因此，“模块”与“部件”可以混合地使用。
参见附图3，为本发明一实施例中激光雷达的结构示意图，所述激光雷达包括：
-窗罩100
所述窗罩100包括不透光的隔板110、第一容纳部120和第二容纳部130。所述第一容纳部120固定连接于所述隔板110第一侧面，所述第一容纳部120与所述隔板110共同形成一第一容纳空间，所述第一容纳空间用于容纳所述激光雷达的激光发射单元200。在本实施例中，第一容纳部120呈倒扣的杯状，其顶部及侧面封闭，底部具有开口，其 位于隔板110上方，底部与隔板110固定连接，例如通过螺栓连接等，以在其和隔板110之间形成封闭的第一容纳空间。进一步地，在激光发射的方向上，所述隔板110的外边缘超出第一侧面上第一容纳部120的外边缘，即所述隔板110的外边缘与第一容纳部120在隔板110上的底部边缘之间存在一定距离，所述距离可以根据激光雷达整体的大小灵活设置。类似地，所述第二容纳部130固定连接于所述隔板110第二侧面，位于隔板110下方，所述第二容纳部130与所述隔板110共同形成一第二容纳空间，所述第二容纳空间用于容纳所述激光雷达的激光接收单元300，在激光接收的方向上，所述隔板110的外边缘超出第二侧面上第二容纳部130的外边缘。所述第一容纳部120和第二容纳部130可以为塑料材质，其侧面设置有供激光光线穿过的透光部。本申请的窗罩100通过不透光的隔板110将激光发射单元200与激光接收单元300隔开，隔板110外边缘超出激光发射及接收方向上的容纳部的外边缘，使激光发射单元200发出的光线即使经雨滴400散射也难以通过第二容纳部130直接进入激光接收单元300，从而激光接收单元300只能收到自目标物体返回的激光，保证了激光雷达可以在雨中正常工作。同理，第一容纳部120外表面存在污渍(例如颗粒状灰尘、手印、油污等)时，这些污渍也会对激光发射单元300发射出的激光进行散射，但是对于本申请窗罩100，污渍散射的激光也难以直接通过第二容纳部130进入激光接收单元300，激光雷达在此情况下也能正常工作。
-激光发射单元200
所述激光发射单元200设置于所述第一容纳空间中，用于发出激光光线，其发出的激光光线穿过第一容纳部120到达目标物体。在本实施例中，所述激光发射单元200包括激光光源210和准直透镜220。优选地，所述激光发射单元200还可以包括用于固定激光光源210和准直透镜220的支架或其它光学部件。优选地，为了防止停留在隔板110上的雨滴400影响激光发射单元200发出的激光光线，所述激光发射单元200与所述隔板110之间存在一定距离，即激光发射单元200位于隔板110上方一定距离，该距离可以由本领域技术人员根据激光雷达的大小等灵活设置。
-激光接收单元300
所述激光接收单元300设置于所述窗罩100的第二容纳空间中，用于接收激光光线，自目标物体返回的激光光线穿过第二容纳部130被所述激光接收单元300接收。在本实施例中，所述激光接收单元300包括雪崩光电二极管310和汇聚透镜320。优选地，所述激光接收单元300还可以包括用于固定激光光源210和准直透镜220的支架或其它光学部件。优选地，为了更好接收自目标物体返回的激光光线，所述激光接收单元300与隔 板110之间也存在一定距离，即激光发射单元200位于隔板110下方一定距离，该距离可以由本领域技术人员根据激光雷达的大小等灵活设置。
在其它的一些实施例中，可以将激光发射单元200设置于窗罩100的第二容纳空间中，将激光接收单元300设置到第一容纳部120中，即，将激光反射单元设置到隔板110的下方，将激光接收单元300设置到隔板110上方。这样的设置同样可以实现防止激光发射单元200发出的光线经雨滴400散射后直接进入激光接收单元300的技术效果，从而使雷达在雨中同样可以正常工作。
优选地，在本实施例中，所述激光雷达还包括：
-旋转单元(图3中未示出)
所述旋转单元用于同时带动所述激光发射单元200和所述激光接收单元300相对于所述窗罩100旋转，以实现圆周方向上的目标探测。即，在激光雷达正常工作的状态下，窗罩100不动，激光发射单元200和激光接收单元300在窗罩内部周向旋转。所述旋转单元包括电机和传动结构，所述电机可以设置第一容纳空间中或第二容纳空间中或第一、第二容纳空间之中(通过在隔板110上开孔实现)，电机通过传动结构带动激光发射单元200和激光接收单元300同步旋转。在本实施例中，所述激光发射单元200和所述激光接收单元300的光轴均平行于所述隔板110，所述激光发射单元200和所述激光接收单元300的旋转轴垂直与所述隔板110，即激光发射单元200和激光接收单元300绕垂直于隔板110的旋转之后旋转，以实现360°方向的目标探测。本实施例中，所述隔板110呈圆形，激光发射单元200和所述激光接收单元300的旋转轴垂直与所述隔板110并穿过圆心；第一容纳部120与隔板110上侧接合的底部边缘也呈圆形，且其圆心与隔板110的圆心重合；第二容纳部130与隔板110下侧接合的顶部边缘也呈圆形，且其圆心与隔板110的圆心重合。第一容纳部120底部边缘到隔板110边缘的距离与第二容纳部130顶部边缘到隔板110边缘的距离可以相等也可以不相等，具体地，本领域技术人员可以根据激光雷达整体的设计情况灵活设置。
在本实施例中，激光雷达包括旋转单元，其带动激光发射单元200和激光接收单元300相对于窗罩100周向旋转，因此，所述隔板110的外边缘需要在圆周方向上均超出第一侧面上第一容纳部120的外边缘和第二侧面上的第二容纳部130的外边缘。而对于其它的一些实施例，如果激光发射单元200和激光接收单元300不相对于窗罩100旋转，仅用于实现固定方向的目标探测，则隔板110的外边缘需只需要在激光发射与接收的方向超出第一侧面上第一容纳部120的外边缘和第二侧面上的第二容纳部130的外边缘即 可，以图3为例，如果图3中的激光发射单元200和激光接收单元300不相对于窗罩100旋转，则隔板110的外边缘需只需要在右侧方向超出第一侧面上第一容纳部120的外边缘和第二侧面上的第二容纳部130的外边缘即可，其它方向上无需超出容纳部的外边缘。
应当注意的是，本发明的实施例有较佳的实施性，且并非对本发明作任何形式的限制，任何熟悉该领域的技术人员可能利用上述揭示的技术内容变更或修饰为等同的有效实施例，但凡未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何修改或等同变化及修饰，均仍属于本发明技术方案的范围内。

Claims (7)

  1. 一种用于激光雷达的窗罩，其特征在于，所述窗罩包括：
    不透光的隔板；
    固定连接于所述隔板第一侧面的第一容纳部，所述第一容纳部与所述隔板共同形成一第一容纳空间，所述第一容纳空间用于容纳所述激光雷达的激光发射单元，在激光发射的方向上，所述隔板的外边缘超出第一侧面上第一容纳部的外边缘；
    固定连接于所述隔板第二侧面的第二容纳部，所述第二容纳部与所述隔板共同形成一第二容纳空间，所述第二容纳空间用于容纳所述激光雷达的激光接收单元，在激光接收的方向上，所述隔板的外边缘超出第二侧面上第二容纳部的外边缘。
  2. 一种激光雷达，其特征在于，包括：
    如权利要求1所述的窗罩；
    激光发射单元，设置于所述窗罩的第一容纳空间中；
    激光接收单元，设置于所述窗罩的第二容纳空间中。
  3. 如权利要求2所述的激光雷达，其特征在于，
    所述激光发射单元包括激光光源和准直透镜；
    所述激光接收单元包括雪崩光电二极管和汇聚透镜。
  4. 如权利要求2所述的激光雷达，其特征在于，
    所述激光发射单元与所述隔板之间存在第一距离；
    所述激光接收单元与所述隔板之间存在第二距离。
  5. 如权利要求2所述的激光雷达，其特征在于，
    所述激光雷达还包括旋转单元，所述旋转单元用于同时带动所述激光发射单元和所述激光接单元相对于所述窗罩旋转。
  6. 如权利要求5所述的激光雷达，其特征在于，
    所述激光发射单元的光轴平行于所述隔板；
    所述激光接收单元的光轴平行于所述隔板。
  7. 如权利要求5所述的激光雷达，其特征在于，
    所述激光发射单元和所述激光接收单元的旋转轴垂直与所述隔板。
PCT/CN2022/101153 2021-09-26 2022-06-24 一种用于激光雷达的窗罩及激光雷达 WO2023045457A1 (zh)

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CN111670377A (zh) * 2018-01-31 2020-09-15 株式会社电装 激光雷达装置
CN113671463A (zh) * 2021-09-26 2021-11-19 杭州欧镭激光技术有限公司 一种用于激光雷达的窗罩及激光雷达
CN215953843U (zh) * 2021-09-26 2022-03-04 杭州欧镭激光技术有限公司 一种用于激光雷达的窗罩及激光雷达

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JP2016184857A (ja) * 2015-03-26 2016-10-20 三菱電機株式会社 アンテナ装置
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