Laser radar and method for performing detection by using the same
AssigneeHesai Technology Co., Ltd.
InventorsJintao Yang, Shaoqing Xiang
Life of this patent
Estimating the term…
Abstract
The present invention relates to a lidar, including: a laser emitter, configured to emit a laser beam; an emitting lens, disposed downstream of an optical path of the laser emitter, configured to emit a detection light beam after shaping the laser beam, and the emitting lens including an diaphragm region; a receiving lens, configured to receive a reflected light beam of the detection light beam after being reflected outside the lidar; and a compensation lens, disposed in a diaphragm region of the emitting lens, configured to receive at least a part of the laser beam and/or the detection light beam and redirect the received part of the laser beam and/or the detection light beam toward the receiving lens.
Claims10
A lidar, comprising:
- a laser emitter, configured to emit a laser beam;
- an emitting lens, disposed downstream of an optical path of the laser emitter, configured to provide a detection light beam after shaping the laser beam, and the emitting lens comprising a diaphragm region;
- a receiving lens, configured to receive a reflected light beam of the detection light beam after being reflected outside the lidar;
- and
- a compensation lens, disposed in the diaphragm region of the emitting lens, and configured to receive at least a part of the laser beam and/or the detection light beam and redirect the received part of the laser beam and/or the detection light beam toward the receiving lens, wherein the compensation lens comprises one or more of a wedge prism, a micro prism, and a diffractive optical element, or a combination of the wedge prism, the micro prism, and the diffractive optical element with a spherical lens or a cylindrical lens,
- wherein an angle between a light beam redirected by the compensation lens and a main field of view of the lidar is less than an angle between a ghost line field of view and the main field of view, and
- the lidar further comprises a reflecting mirror structure and a detector at a receiving end sequentially disposed downstream of an optical path of the receiving lens, and further comprises a module for reducing ghost lines located between the reflecting mirror structure and the detector to prevent a light beam that causes ghost lines in a point cloud of the lidar from being incident on the detector,
- wherein the module for reducing ghost lines comprises a diaphragm, the diaphragm and the detector satisfying a second relation:
- arctan
-
- (
- d
-
- 1
- 2
-
- h
- )
- ≤
- arctan
-
- (
- D
- 2
-
- f
- )
- wherein D is a diameter of the receiving lens, f is a focal length of the receiving lens, h is a distance between the diaphragm and the detector, and d1 is a width of the diaphragm.
A method for performing detection by using a lidar that comprises a laser emitter, an emitting lens, a receiving lens, and a compensation lens, the method comprising:
- emitting, by the laser emitter, a laser beam;
- shaping, by the emitting lens, the laser beam and emitting a detection light beam, wherein the emitting lens is disposed downstream of an optical path of the laser emitter and comprises a diaphragm region;
- receiving, by the receiving lens, a reflected light beam of the detection light beam after being reflected by an object external to the lidar;
- and
- receiving, by the compensation lens, at least a part of the laser beam and/or the detection light beam, and redirecting the received part of the laser beam and/or the detection light beam towards the receiving lens, wherein the compensation lens is disposed in the diaphragm region of the emitting lens,
- wherein the compensation lens comprises one or more of a wedge prism, a micro prism, and a diffractive optical element, or a combination of the wedge prism, the micro prism, and the diffractive optical element with a spherical lens or a cylindrical lens,
- wherein an angle between a light beam redirected by the compensation lens and a main field of view of the lidar is less than an angle between a ghost line field of view and the main field of view, and
- the lidar further comprises a reflecting mirror structure and a detector at a receiving end sequentially disposed downstream of an optical path of the receiving lens, and further comprises a module for reducing ghost lines located between the reflecting mirror structure and the detector to prevent a light beam that causes ghost lines in a point cloud of the lidar from being incident on the detector,
- wherein the module for reducing ghost lines comprises a diaphragm, the diaphragm and the detector satisfying a second relation:
- arctan
-
- (
- d
-
- 1
- 2
-
- h
- )
- ≤
- arctan
-
- (
- D
- 2
-
- f
- )
- wherein D is a diameter of the receiving lens, f is a focal length of the receiving lens, h is a distance between the diaphragm and the detector, and d1 is a width of the diaphragm.
Dependencies are inferred from the claim text.