Laser radar and method for performing detection by using the same
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.
1 . 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 d 1 is a width of the diaphragm.
2 . The lidar according to claim 1 , wherein the diaphragm region is located on a side of the emitting lens close to the laser emitter, or a side of the emitting lens far from the laser emitter, or in the middle of the emitting lens.
3 . The lidar according to claim 1 , wherein the compensation lens is fixed in the diaphragm region by using a binder or a bracket.
4 . The lidar according to claim 1 , wherein the compensation lens is located at a position of the diaphragm region close to the receiving lens.
5 . The lidar according to claim 4 , wherein the emitting lens and the receiving lens are disposed in parallel in a horizontal direction, and a position of the compensation lens satisfies first relations:
d
+
D
/
2
L
=
tan
θ
1
wherein θ 1 is a redirection angle of a light beam, which is an angle between a light beam redirected via the compensation lens and a light beam received by the receiving lens,
d is a distance between a mounting position of the compensation lens and a center of the receiving lens,
D is the diameter of the receiving lens, and
a difference between L and L′ represents a short-distance region with enhanced signals, marked by the distance between the outmost point of the receiving lens and an intersection point that is formed by the redirected light beam via the compensation lens and the reflected light beam, and L represents the farthest range while L′ represents the nearest range.
6 . The lidar according to claim 1 , wherein the diaphragm is strip-shaped or circular-shaped, and the diaphragm is made of one of metal, glass that is capable of absorbing or reflecting light, or ceramic.
7 . The lidar according to claim 1 , wherein the module for reducing ghost lines further comprises a light isolation sheet.
8 . The lidar according to claim 1 , wherein the module for reducing ghost lines is configured to prevent a light beam not reflected once by the reflecting mirror structure.
9 . The lidar according to claim 1 , wherein the reflecting mirror structure comprises a first reflecting mirror and a second reflecting mirror disposed opposite to each other, the detector comprises a photodiode, and the module for reducing ghost lines is configured to block light beams other than light beams respectively reflected once by the first reflecting mirror and the second reflecting mirror.
10 . 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 d 1 is a width of the diaphragm.