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WO2025167845A1 - Lidar - Google Patents

Lidar

Info

Publication number
WO2025167845A1
WO2025167845A1 PCT/CN2025/075526 CN2025075526W WO2025167845A1 WO 2025167845 A1 WO2025167845 A1 WO 2025167845A1 CN 2025075526 W CN2025075526 W CN 2025075526W WO 2025167845 A1 WO2025167845 A1 WO 2025167845A1
Authority
WO
WIPO (PCT)
Prior art keywords
receiving
target
transmitting
laser
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/075526
Other languages
English (en)
Chinese (zh)
Inventor
陈杰
向少卿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hesai Technology Co Ltd
Original Assignee
Hesai Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hesai Technology Co Ltd filed Critical Hesai Technology Co Ltd
Publication of WO2025167845A1 publication Critical patent/WO2025167845A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • 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
    • G01S7/483—Details of pulse systems

Definitions

  • LiDAR light detection and ranging
  • LiDAR is a radar system that detects targets by emitting a laser beam and receiving the return signal when the laser beam is reflected off the target object.
  • LiDAR typically consists of a transmitting module and a receiving module. Its main operating principle is as follows: The transmitting module emits an outgoing laser. The outgoing laser is reflected by the object and returns to the LiDAR. The LiDAR compares the reflected laser with the outgoing laser and, after appropriate processing, obtains information about the object, such as its distance, position, height, speed, attitude, reflectivity, shape, and other parameters. As the LiDAR scans its surroundings, it acquires numerous data points. These data points contain information about the object and are called a point cloud.
  • the present specification provides a laser radar.
  • the laser radar includes a base, a transmitting module, and a receiving module.
  • the base rotates around a rotation axis when the laser radar is in operation.
  • the transmitting module is mounted on the base and transmits an outgoing laser when in operation.
  • the receiving module is mounted on the base and receives reflected laser light formed when the outgoing laser encounters an object when in operation.
  • the transmitting module includes: a transmitting lens unit having an emission optical axis, the projection of the emission optical axis on a reference plane and the emission optical axis defining a first target plane, wherein the reference plane is perpendicular to the rotation axis, and a plurality of transmitting units that transmit the outgoing laser light when in operation.
  • the outgoing laser light is emitted outside the laser radar through the transmitting lens unit.
  • the plurality of transmitting units include a target transmitting unit, and the target outgoing laser light emitted by the target transmitting unit is located on the first target
  • the laser radar also includes a circuit board, the multiple transmitting units are arranged on the circuit board, the projection of the first target plane on the circuit board includes a transmitting central axis; and the multiple transmitting units form a plurality of transmitting arrays, at least one of the multiple transmitting arrays includes the target transmitting unit, and the target transmitting unit is located on the transmitting central axis.
  • the multiple transmitting arrays include multiple first transmitting arrays, multiple second transmitting arrays and at least one third transmitting array, the multiple first transmitting arrays are distributed on the first side of the transmitting axis to form a first queue, the multiple second transmitting arrays are distributed on the second side of the transmitting axis to form a second queue, the first queue and the second queue are arranged equidistant and parallel to the transmitting axis, and the third transmitting array is connected to the first queue and includes the target transmitting unit.
  • the circuit board coincides with a first focal plane, wherein the first focal plane is a plane passing through the focus of the emission lens unit and perpendicular to the emission optical axis.
  • the receiving module includes a receiving lens unit and a plurality of receiving units; the receiving module has a receiving optical axis, the projection of the receiving optical axis on the reference plane and the receiving optical axis form a second target plane, and the reflected laser is incident into the receiving module through the receiving lens unit; and a plurality of receiving units, corresponding to the plurality of transmitting units, are located on the optical path of the reflected laser to receive the reflected laser, wherein the plurality of receiving units include a target receiving unit, the reflected laser includes a target reflected laser, and the target reflected laser propagates along the second target plane and is incident on the target receiving unit.
  • the multiple receiving units are arranged on the circuit board and facing the receiving lens unit, the projection of the second target plane on the circuit board includes a receiving central axis; and the multiple receiving units form a plurality of receiving arrays, at least one of the multiple receiving arrays includes the target receiving unit, and the target receiving unit is located on the receiving central axis.
  • the transmitting module and the receiving module are arranged side by side and face the same direction, the rotation axis is equidistant from the transmitting optical axis and the receiving optical axis, and the multiple receiving units and the multiple transmitting units have the same distribution.
  • the plurality of receiving units include single photon avalanche diodes.
  • the multiple receiving units are arranged on the circuit board and facing the receiving lens unit, the multiple receiving units form a plurality of receiving arrays, at least one of the multiple receiving arrays includes the target receiving unit, and the target receiving unit is arranged on one side of the second target plane; and a receiving light path guiding module guides the target reflected laser propagating along the second target plane out of the second target plane to be incident on the target receiving unit.
  • the circuit board includes a transmitting circuit board and a receiving circuit board, the plurality of transmitting units are arranged on the transmitting circuit board, and the plurality of receiving units are arranged on the receiving circuit board.
  • the vertical field of view of the multiple emission units is greater than or equal to 100 degrees, and the number of the emitted laser beams is greater than or equal to 128 beams.
  • the first preset angle is greater than 10 degrees and less than 80 degrees, so that the emitted laser is close to the zenith area pointed by the rotation axis.
  • the plurality of emitting units include vertical cavity surface emitting lasers.
  • the laser radar also includes a circuit board, the multiple transmitting units are arranged on the circuit board, the multiple transmitting units form multiple transmitting arrays, at least one of the multiple transmitting arrays includes the target transmitting unit, and the target transmitting unit is arranged on one side of the first target plane; and the transmitting module also includes a transmitting light path guiding module, which guides the target emitted laser to the first target plane.
  • the present application provides a laser radar.
  • the laser radar includes a base, a transmitting module, and a receiving module; the base rotates around a rotation axis when the laser radar is in operation; the transmitting module is mounted on the base and emits an outgoing laser when in operation; the receiving module is mounted on the base and receives a reflected laser formed when the outgoing laser encounters an object when in operation, wherein the receiving module includes a receiving lens unit and a plurality of receiving units, the receiving lens unit having a receiving optical axis, the projection of the receiving optical axis on a reference plane and the receiving optical axis forming a second target plane, the reflected laser is incident on the receiving module through the receiving lens unit, wherein the reference plane is perpendicular to the rotation axis, and the plurality of receiving units face the receiving lens unit and are located on the optical path of the reflected laser to receive the reflected laser, wherein the plurality of receiving units include a target receiving unit, the reflected laser includes a target reflected
  • the laser radar also includes a circuit board, the multiple receiving units are arranged on the circuit board and face the receiving lens unit, the projection of the second target plane on the circuit board is the receiving central axis; and the multiple receiving units form a plurality of receiving arrays, at least one of the multiple receiving arrays includes the target receiving unit, and the target receiving unit is located on the receiving central axis.
  • the multiple receiving arrays include multiple first receiving arrays, multiple second receiving arrays and at least one third receiving array, the multiple first receiving arrays are distributed on the first side of the receiving central axis to form a fourth queue, the multiple second receiving arrays are distributed on the second side of the receiving central axis to form a fifth queue, the fourth queue and the fifth queue are arranged equidistant and parallel to the receiving central axis, and the third receiving array is connected to the fourth queue and includes the target receiving unit.
  • the circuit board and a second focal plane coincide with each other, wherein the second focal plane is a plane passing through the focus of the receiving lens unit and perpendicular to the receiving optical axis.
  • the transmitting module includes a transmitting lens unit and multiple transmitting units;
  • the transmitting lens has an transmitting optical axis, and the vertical projection of the transmitting optical axis on the reference plane forms a first target plane with the transmitting optical axis;
  • the multiple transmitting units correspond to the multiple receiving units, and transmit the outgoing laser to the transmitting lens unit during operation, wherein the multiple transmitting units include a target transmitting unit, and the target outgoing laser emitted by the target transmitting unit is located on the first target plane.
  • the transmitting module and the receiving module are arranged side by side and face the same direction, the rotation axis is equidistant from the transmitting optical axis and the receiving optical axis, and the multiple receiving units and the multiple transmitting units have the same distribution.
  • the plurality of emitting units include vertical cavity surface emitting lasers.
  • the multiple emitting units are arranged on the circuit board, and the multiple emitting units form multiple emitting arrays. At least one of the multiple emitting arrays includes the target emitting unit, and the target emitting unit is arranged on one side of the first target plane; and the emitting module emitting light path guiding module, and the emitting light path guiding module guides the laser emitted by the target emitting unit to the first target plane.
  • the vertical field of view of the multiple receiving units is greater than or equal to 100 degrees.
  • the second preset angle is greater than 10 degrees and less than 80 degrees, so that the plurality of receiving units receive the reflected laser light in a zenith area close to the rotation axis.
  • the plurality of receiving units include single photon avalanche diodes.
  • the laser radar also includes a circuit board, the multiple receiving units are arranged on the circuit board and facing the receiving lens unit, the multiple receiving units form a multiple receiving arrays, and at least one of the multiple receiving arrays includes the target receiving unit; the receiving module also includes a receiving light path guiding module, and the receiving light path guiding module guides the target reflected laser propagating along the second target plane out of the second target plane to be incident on the target receiving unit.
  • the present application provides a laser radar.
  • the laser radar includes a base, a transmitting module and a receiving module.
  • the base rotates around the rotation axis when the laser radar is in operation; the transmitting module is installed on the base and transmits an outgoing laser when in operation; the receiving module is installed on the base and receives the reflected laser formed when the outgoing laser encounters an object when in operation, wherein the transmitting module includes a transmitting lens unit and a plurality of transmitting units, the transmitting lens unit has an transmitting optical axis, the projection of the transmitting optical axis on the reference plane forms a first target plane with the transmitting optical axis, wherein the reference plane is perpendicular to the rotation axis, and the plurality of transmitting units transmit the outgoing laser when in operation, and the outgoing laser is emitted outside the laser radar through the transmitting lens unit, wherein the plurality of transmitting units include a target
  • the transmitting unit comprises a target outgoing laser emitted by the target transmitting unit
  • FIG3C shows a schematic diagram of the optical path of an outgoing laser according to some embodiments of this specification.
  • FIG4B shows a schematic diagram of a transmitting module in operation according to some embodiments of this specification
  • FIG5 shows a schematic diagram of target-emitting laser scanning according to some embodiments of this specification
  • FIG6A shows a schematic diagram of a receiving module in operation according to some embodiments of this specification
  • FIG7 shows a schematic diagram of the distribution of transmitting units and receiving units according to some embodiments of this specification.
  • FIG8B shows another installation method of a laser radar according to some embodiments of the present application.
  • X includes at least one of A, B, or C
  • X includes at least A, or X includes at least B, or X includes at least C.
  • X may include only any one of A, B, and C, or any combination of A, B, and C, as well as other possible contents/elements. Any combination of A, B, and C may be A, B, C, AB, AC, BC, or ABC.
  • association relationship between structures can be a direct association relationship or an indirect association relationship.
  • A when describing "A is connected to B", unless it is clearly stated that A is directly connected to B, it should be understood that A can be directly connected to B or indirectly connected to B; for another example, when describing "A is above B", unless it is clearly stated that A is directly above B (AB are adjacent and A is above B), it should be understood that A can be directly above B or indirectly above B (AB is separated by other elements and A is above B). And so on.
  • FIG 1 shows an operating scene 001 of a laser radar 10 provided according to some embodiments of this specification.
  • Scene 001 includes the laser radar 10 and an obstacle (or target object) 20.
  • the laser radar 10 may include a transmitting system and a receiving system.
  • the transmitting system may include a transmitting module 100.
  • the transmitting module 100 may transmit an outgoing laser beam toward the object 20.
  • the receiving system may include a receiving module 200.
  • the receiving module 200 may receive reflected laser beams formed after the outgoing laser beams are reflected by the object 20. Based on the reflected laser beams, the laser radar 10 may obtain detection information of the object 20, such as the distance, position, height, shape, attitude, and speed of the object 20 relative to the laser radar 10.
  • the transmitting module 100 may include multiple transmitting units 110 and a transmitting lens unit 120.
  • the transmitting unit 110 may transmit an outgoing laser beam.
  • the outgoing laser beams are then emitted outside the laser radar after passing through the transmitting lens unit 120.
  • the receiving module 200 may include multiple receiving units 210 (receiving unit group 210) and a receiving lens unit 220.
  • the receiving unit 210 may receive reflected laser light generated when the emitted laser light is reflected by the object 20 .
  • the transmitting module 100 may include a transmitting circuit board. Multiple transmitting units are disposed on the transmitting circuit board.
  • the receiving module includes a receiving circuit board. Multiple receiving units 210 are disposed on the receiving circuit board.
  • the laser radar 10 may include a circuit board. Multiple transmitting units 110 and multiple receiving units 210 may be disposed on the same circuit board. This facilitates alignment of the transmitter and receiver.
  • the transmitting module 100 may also include a driver circuit.
  • the driver circuit may be integrated on a chip.
  • the laser radar 10 includes a driver chip.
  • the receiving module 200 may also include a readout circuit.
  • the readout circuit may be integrated on a chip.
  • the receiving module 200 includes a readout chip.
  • the driver chip and the receiving chip may be soldered to the circuit board.
  • a single circuit board can be used to control the transmitting and receiving modules, reducing signal time difference offset and improving ranging accuracy.
  • the following description uses the example of the transmitting and receiving units being disposed on the same circuit board.
  • the transmitting module 100 and the receiving module 200 can rotate 360° around the rotation axis R along with the base 500. Simultaneously, the transmitting module 100 emits outgoing laser light. The receiving module 200 receives the reflected laser light generated when the outgoing laser light encounters an object, thereby detecting the surrounding environment of the laser radar 10 .
  • the direction of the rotation axis R in Figure 2A is defined as the zenith direction of the laser radar. If the orientation of the plane in which the base 500 is located is horizontal, the rotation axis R in Figure 2A points to the sky. At this time, the zenith direction points to the sky. If the laser radar is rotated 90° clockwise, the rotation axis R points to the right (-X direction of Figure 2A). At this time, the zenith direction of the laser radar 10 points to the right. Continue to rotate the laser radar 90° clockwise, and the rotation axis R points to the ground (the direction opposite to the direction indicated by the R arrow in Figure 2A).
  • the plane where the base 500 is located is horizontal, with the rotation axis R in FIG2A pointing toward the sky.
  • the sky direction is the zenith direction.
  • the field of view of the laser radar 10 perpendicular to the horizontal plane is the vertical field of view. The situation where the plane where the base 500 is located is located in other orientations will be described later.
  • the laser radar 10 can emit outgoing lasers to different azimuths within the vertical field of view angle range, and receive reflected lasers reflected back by objects at corresponding azimuths, thereby obtaining point cloud data within the vertical field of view angle range.
  • the total number of beams emitted by the laser radar 10 is 40 (part of the beams is shown in Figure 2B).
  • the vertical field of view angle of the laser radar 10 is 23°.
  • the scanning angle of the upper edge of the vertical field of view relative to the horizontal direction X is 7°, and the scanning angle of the lower edge relative to the horizontal direction X is -16°.
  • a laser radar is provided that can increase the pitch angle of the transmitting module 100 and the receiving module 200.
  • the emitted laser light can be directed toward the zenith of the laser radar 10 in the vertical field of view.
  • This increases the detection range of the laser radar 10 between the horizontal direction X and the rotation axis R (zenith direction).
  • the area in the zenith direction of the laser radar 10 and the adjacent area can be represented as the zenith area.
  • this application takes the transmitting end as an example to describe the detection blind spot problem of the existing laser radar 10.
  • the blind spot problem of the receiving end is similar.
  • the direction indicated by the rotation axis R of the laser radar 10 is the zenith direction. For example, if the rotation axis R of the laser radar 10 points directly upward, then the direction directly upward is the zenith direction. If the laser radar is rotated 90°, with the rotation axis R pointing to the right, then the right direction is the zenith direction of the laser radar 10. The blind spot that exists during the detection process of the laser radar 10 is the detection blind spot in the zenith area.
  • multiple transmitting units 110 can be distributed on the control circuit board 400.
  • multiple transmitting units 110 can be arranged in an array on the control circuit board 400.
  • multiple transmitting units 110 form several one-dimensional arrays (for example, linear arrays). These linear arrays are symmetrically distributed along the transmitting central axis C1.
  • the control circuit board 400 is located on one side of the rotation axis R, that is, the multiple transmitting units 110 are all located on one side of the rotation axis R.
  • the transmitting lens unit 120 is configured so that its optical axis passes perpendicularly through the transmitting central axis C1.
  • each emitting unit 110 emits an outgoing laser light parallel to the optical axis A1
  • the outgoing laser light will converge at the focus O of the emitting lens unit 120.
  • the outgoing laser light emitted by the emitting unit 110 will be refracted to the right, upper right, or lower right after passing through the emission lens unit 120, or will be refracted to the left, upper left, or lower left.
  • the outgoing laser light emitted by the transmitting unit assembly 110 along the optical axis A1 cannot be parallel to the first target plane after being refracted by the output lens unit 120.
  • the outgoing laser light L1 rotates about the rotation axis R. Since the outgoing laser light L1 always forms a non-zero angle with the rotation axis R, the rotation of L1 about R produces a scanning surface with the outer contour of a single-leaf hyperboloid, as shown in Figure 3B .
  • the characteristic of a single-leaf hyperboloid is that the radius of the opening of the surface decreases and then gradually increases upward along the rotation axis R. The laser radar 10 will not be able to detect objects 20 in the zenith or nearby areas through which the outgoing laser light L1 passes.
  • the laser radar 10 will not be able to obtain information about objects 20 in the zenith area.
  • the detection range of the laser radar 10 is several hundred meters
  • the detection blind spot in the zenith area becomes larger and larger.
  • each outgoing laser beam L1 cannot be parallel to the rotation axis R. Therefore, no matter how the elevation angle of the transmitting module 100 is adjusted, the laser radar 10 will always have a blind spot in its zenith area.
  • the laser radar 10 In order to solve the problem of detection blind spots in the zenith area, the laser radar 10 must first prevent the detection blind spots from becoming larger and larger in the zenith area. In order to prevent the detection blind spots of the laser radar 10 from becoming larger and larger in the zenith area, at least one beam of the outgoing laser light emitted from the laser radar 10 must be parallel to the rotation axis R. This is because the scanning trajectory formed by the outgoing laser light parallel to the rotation axis R after rotating around the rotation axis R is cylindrical.
  • the transmitting module 100 is close to the rotation axis R, and the distance between the multiple transmitting units 110 and the rotation axis R is in the millimeter order, which is less than the detection accuracy of the laser radar point cloud.
  • FIG. 4A shows a schematic diagram of a transmitter module 100 including a target transmitting unit 211, according to some embodiments of this specification, in operation.
  • Figure 4B shows a schematic diagram of a transmitter module 100 in operation, according to some embodiments of this specification.
  • Figure 4C shows a schematic diagram of the arrangement of multiple transmitter units 110, according to some embodiments of this specification.
  • reference plane Rf is perpendicular to the rotation axis R.
  • reference plane Rf can be the plane on which the base 500 is located, or any plane perpendicular to the rotation axis R.
  • the transmitting lens unit 120 has a transmitting optical axis A1.
  • the perpendicular projection of the transmitting optical axis A1 onto the reference plane Rf and the transmitting optical axis A1 form a first target plane D1.
  • the line on the transmitting lens unit 120 that intersects the first target plane D1 is the transmitting lens centerline m1.
  • the first target plane D1 is parallel to the rotation axis R.
  • the transmitting lens centerline m1 passes through the transmitting optical axis A1.
  • the transmitting module 100 includes multiple transmitting units 110 and a transmitting lens unit 120.
  • the transmitting lens unit 120 may include a single lens or a combination of multiple lenses. As shown in FIG4A , the multiple transmitting units 110 can emit outgoing laser light when in operation.
  • the outgoing laser light passes through the transmitting lens unit 120 and exits the laser radar 10.
  • the multiple transmitting units 110 include a target transmitting unit 111.
  • the target outgoing laser light L4 emitted by the target transmitting unit 111 is located on the first target plane D1.
  • the target outgoing laser light L2 is located on the first target plane D1 because the target transmitting unit 111 is located on the first target plane D1. Therefore, the target outgoing laser light L2 emitted by the target transmitting unit 11 is located on the first target plane D1.
  • the target transmitting unit 111 may also be located to one side of the first target plane D1. That is, the target transmitting unit 111 is not located on the first target plane D1.
  • the laser radar 10 also includes a transmission light path guidance module.
  • the transmission light path guidance module guides the outgoing laser light emitted by the at least one target transmitting unit 111 onto the first target plane D1 so that the outgoing laser light is incident on the transmitting lens unit 120 along the first target plane D1.
  • the transmitting module 100 is close to the rotation axis R, and the diameter of the cylinder is in the millimeter level, which is smaller than the detection accuracy of the laser radar point cloud. In this way, the cylindrical scanning blind area will not affect the accuracy of the point cloud image obtained by the laser radar.
  • the laser radar 10 with the above structure is equivalent to having no scanning blind area in its zenith area within the preset distance range.
  • multiple transmitting arrays can be arranged in a row.
  • multiple first transmitting arrays can be arranged on the first side of the transmitting axis C1, forming a first row 10A1.
  • Multiple second transmitting arrays can be arranged on the second side of the transmitting axis C1, forming a second row 10A2.
  • the first and second rows are arranged parallel and equidistant from the transmitting axis C1. Neither the first nor the second row lies on the transmitting axis C1.
  • the first and second rows can also be arranged symmetrically about the transmitting axis C1.
  • the transmitting arrays in the first and second rows can also be staggered about the transmitting axis C1.
  • Figure 6A shows a schematic diagram of the receiving module 200 in operation according to some embodiments of the present specification.
  • Figure 6B shows a schematic diagram of the distribution of the receiving unit 210 according to some embodiments of the present specification.
  • the original laser radar Similar to the principle that the transmitting end has a blind spot, the original laser radar also has a receiving blind spot when receiving.
  • this specification provides a laser radar 10, in which the receiving module 200 is installed on the base 500 and rotates around the rotation axis R together with the base 500 during operation.
  • the receiving module 200 can receive the reflected laser formed after the outgoing laser encounters the object 20.
  • the overall structure of the laser radar 10 can adopt the structure described earlier in this specification.
  • the arrangement of the transmitting unit 110 in the transmitting module 100 can adopt the arrangement of the above embodiment, so that the target outgoing laser L2 is parallel to the rotation axis R and emitted outside the laser radar 10.
  • the receiving light path guidance module includes a reflector.
  • the target reflected laser light L4 propagates along the second target plane D2, is deflected by the receiving lens unit 220, and then reflected by the reflector to the target receiving unit 211. All situations in which the laser light incident on the receiving lens unit 220 is located within the second target plane D2 are within the scope of protection of this specification. The following description will be made by taking the case where the target receiving unit 211 is located on the second target plane D2 as an example.
  • the plurality of receiving units 210 are often arranged on a second focal plane of the receiving lens unit 220.
  • the second focal plane is a plane passing through the focus of the receiving lens unit 220 and perpendicular to the receiving optical axis A2.
  • the receiving arrays can be arranged in a row.
  • multiple first receiving arrays can be arranged on the first side of the receiving axis C2 to form a fourth row 20A1.
  • Multiple second receiving arrays can be arranged on the second side of the receiving axis C2 to form a fifth row 20A2.
  • the fourth row 20A1 and the fifth row 20A2 are arranged parallel and equidistant from the receiving axis C2. Neither the fourth row nor the fifth row lies on the receiving axis C2.
  • Figure 8A illustrates one installation method for a laser radar 10 provided in accordance with some embodiments of the present application.
  • Figure 8B illustrates another installation method for a laser radar 10 provided in accordance with some embodiments of the present application.
  • the laser radar 10 in Figure 8A utilizes an inverted installation method.
  • the base of the laser radar 10 is located above the transmitting and receiving modules.
  • the rotation axis R points directly downward.
  • the laser radar 10 has a vertical field of view of 105 degrees.
  • the laser emitted by the laser radar 10 has an upward scanning range of 15 degrees horizontally and a downward scanning range of 90 degrees horizontally.
  • the inverted laser radar 10 can scan the area directly below and acquire relevant information.
  • the top corner of the light shield 600 is designed to be curved. This allows light to be emitted from both the side and top of the light shield 600. This design reduces the incident angle of the emitted laser on the light shield 600 and reduces internal reflections. This results in a more streamlined appearance and improved mechanical properties.
  • the top of the light shield is less likely to collapse under stress.
  • the corners of the mask are less likely to generate stress.
  • the mask 600 also has the advantages of being easier to process, easier to demould, less consumables, and lower cost.
  • the laser radar 10 in Figure 8B uses a horizontal installation method.
  • the base of the laser radar 10 is on the left side of the transmitting module and the receiving module.
  • the rotation axis R points to the right.
  • the laser radar 10 has a field of view of 103 degrees. When the laser radar 10 rotates, it can form a complete hemisphere, so that the laser radar 10 has almost no scanning blind spots in the vertical direction. And when the laser radar 10 is installed horizontally on the vehicle body, only the head of the light cover 600 needs to be exposed from the side of the vehicle body. The exposed part of the laser radar is very small, such as only 2 cm. It has good concealment and little impact on the appearance of the entire vehicle.
  • the laser radar 10 in this application supports various tilt installation angles of the rotation axis R from vertical to horizontal, balancing the detection area and the protruding volume, so that users can choose the installation method according to the vehicle model.
  • This specification provides a laser radar 10, including a target transmitting unit 111 and a target receiving unit 211.
  • the target transmitting unit 111 is located in a first target plane D1.
  • the target receiving unit 211 is located in a second target plane D2.
  • the target outgoing laser L2 emitted by the target transmitting unit 111 can be parallel to the rotation axis R after passing through the transmitting lens unit 120.
  • the target outgoing laser L2 is emitted to the outside of the laser radar 10, thereby realizing the detection of the zenith area.
  • the target receiving unit 211 can receive the target reflected laser L4 parallel to the rotation axis R.
  • the laser radar 10 can obtain point cloud data of the zenith area, thereby realizing the stitching of point cloud data of the zenith area. Solve the problem of scanning blind spots in the zenith area in the prior art.
  • each module or unit in the embodiments described in this disclosure may include one or more physical components in whole or in part.
  • a module may include an optoelectronic device, an optical device (e.g., one or more lenses, reflectors, scanning mirrors, etc.), or a circuit, etc.
  • a module may also include a mechanical frame for mounting the optoelectronic device, optical device, or circuit, etc.
  • a module or unit may be implemented as a processor, a controller, a computer, or any form of hardware component.
  • a module or unit may include one or more hardware components and one or more software components.
  • Hardware components include, for example, a processor (e.g., a digital signal processor, a microcontroller, a field programmable gate array, a central processing unit, an application-specific integrated circuit, etc.).
  • Software components include, for example, a computer program. When the computer program is executed on the processor, the functionality of the module can be realized.
  • the computer program may be stored in a memory (e.g., a random access memory, a flash memory, a read-only memory, a programmable read-only memory, a register, a hard disk, a removable hard disk, or any other form of storage medium) or a server.
  • each unit in the embodiments described in the present disclosure may include one or more physical components in whole or in part.
  • a unit may be implemented as a transmitter, detector, optical device, processor, circuit, or any form of hardware component.
  • a unit may include one or more hardware components and one or more software components.
  • the transmitting unit may include a light-emitting circuit, a VCSEL, an EEL, a DFB, or a fiber laser, etc.
  • the receiving unit may include a detection circuit, a photoelectric conversion circuit, a SPAD, an APD, or a SiPM, etc.

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

Abstract

La présente divulgation concerne un LiDAR. Le LiDAR comprend une base, un module d'émission et un module de réception, la base tournant autour d'un axe de rotation lorsque le LiDAR fonctionne ; le module d'émission émet une lumière laser émergente pendant le fonctionnement ; et le module de réception reçoit une lumière laser réfléchie formée après que la lumière laser émergente a rencontré un obstacle pendant le fonctionnement. Le module d'émission comprend une unité de lentille d'émission et une pluralité d'unités d'émission, l'unité de lentille d'émission ayant un axe optique d'émission, et la projection de l'axe optique d'émission sur un plan de référence et l'axe optique d'émission formant un premier plan cible, le plan de référence étant perpendiculaire à l'axe de rotation ; et la pluralité d'unités d'émission émet la lumière laser émergente pendant le fonctionnement, la lumière laser émergente est émise vers l'extérieur du LiDAR à travers l'unité de lentille d'émission, la pluralité d'unités d'émission comprend une unité d'émission cible, et la lumière laser émergente cible émise par l'unité d'émission cible est située sur le premier plan cible.
PCT/CN2025/075526 2024-02-08 2025-01-27 Lidar Pending WO2025167845A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011127375A1 (fr) * 2010-04-09 2011-10-13 Pochiraju Kishore V Commande de mécanisme adaptative et positionnement de dispositif de balayage pour balayage par laser en trois dimensions amélioré
CN108802763A (zh) * 2018-06-27 2018-11-13 上海禾赛光电科技有限公司 一种大视场近程激光雷达及车辆
CN113534173A (zh) * 2020-04-14 2021-10-22 上海禾赛科技有限公司 激光雷达、使用其的探测方法以及平动扫描方法
CN116359936A (zh) * 2021-12-28 2023-06-30 成都睿铂科技有限责任公司 激光雷达扫描装置
CN117170363A (zh) * 2023-08-18 2023-12-05 广东美的环境电器制造有限公司 移动设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011127375A1 (fr) * 2010-04-09 2011-10-13 Pochiraju Kishore V Commande de mécanisme adaptative et positionnement de dispositif de balayage pour balayage par laser en trois dimensions amélioré
CN108802763A (zh) * 2018-06-27 2018-11-13 上海禾赛光电科技有限公司 一种大视场近程激光雷达及车辆
CN113534173A (zh) * 2020-04-14 2021-10-22 上海禾赛科技有限公司 激光雷达、使用其的探测方法以及平动扫描方法
CN116359936A (zh) * 2021-12-28 2023-06-30 成都睿铂科技有限责任公司 激光雷达扫描装置
CN117170363A (zh) * 2023-08-18 2023-12-05 广东美的环境电器制造有限公司 移动设备

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