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CN-120428202-B - Laser radar

CN120428202BCN 120428202 BCN120428202 BCN 120428202BCN-120428202-B

Abstract

The application provides a laser radar, which comprises a laser receiving and transmitting module, a correcting mirror and a window, wherein the laser receiving and transmitting module is used for transmitting laser and receiving reflected laser, the laser sequentially passes through the correcting mirror and the window and then is transmitted to an object to be detected, the reflected laser formed by reflection of the object to be detected sequentially passes through the window and the correcting mirror and then is incident to the laser receiving and transmitting module, the correcting mirror and the window form a 4f system, and the 4f system is used for reducing the divergence angle and the light spot size of the laser and reducing the signal amplitude attenuation of the reflected laser. According to the laser radar provided by the application, the correction mirror and the window form a 4f system, so that the divergence angle and the spot size of laser are reduced, the signal amplitude attenuation of reflected laser is reduced, and the accuracy of the detection result of the laser radar is improved.

Inventors

  • ZHU YONGXIANG

Assignees

  • 深圳市闪妙科技有限公司

Dates

Publication Date
20260508
Application Date
20250530

Claims (9)

  1. 1. The laser radar is characterized by comprising a laser receiving and transmitting module, a correcting mirror and a window, wherein the laser receiving and transmitting module is used for transmitting laser and receiving reflected laser, the laser sequentially passes through the correcting mirror and the window and then is transmitted to an object to be detected, and reflected laser formed by reflection of the object to be detected sequentially passes through the window and the correcting mirror and then is incident to the laser receiving and transmitting module; The correcting mirror and the window form a 4f system, and the 4f system is used for reducing the divergence angle and the light spot size of the laser and reducing the signal amplitude attenuation of the reflected laser; The window is provided with a first surface and a second surface which are opposite, the first surface faces the object to be detected, the first surface is a cylindrical surface or a spherical surface, and the second surface is a spherical surface.
  2. 2. The lidar of claim 1, wherein a distance between the first surface and the second surface is greater than or equal to 1mm and less than or equal to 3mm.
  3. 3. The lidar of claim 2, wherein the window has a focal length greater than or equal to 1000mm and less than or equal to 1200mm.
  4. 4. A lidar according to claim 3, wherein the focal length of the correction mirror is greater than or equal to 1100mm and less than or equal to 1300mm.
  5. 5. The lidar of claim 1, further comprising an anti-reflection film, a hydrophobic film, and an anti-fog film, wherein the anti-reflection film is laminated on the first surface, the hydrophobic film is laminated on the anti-reflection film, and the anti-fog film is laminated on the second surface.
  6. 6. The lidar of claim 1, further comprising a wedge mirror disposed in the optical path between the correction mirror and the window.
  7. 7. The lidar of claim 6, further comprising a mirror for reflecting laser light transmitted through the wedge mirror to the window, and wherein the mirror is further for reflecting reflected laser light transmitted through the window to the wedge mirror.
  8. 8. The laser radar of claim 1, wherein the laser transceiver module comprises a laser transmitting plate, a collimation module, a transmitting reflector and a laser receiving plate, wherein the laser transmitting plate is used for transmitting laser, the laser sequentially passes through the collimation module and the transmitting reflector and then is emitted to the correction mirror, and the laser receiving plate is used for receiving reflected laser, and the reflected laser transmitted through the correction mirror is emitted to the laser receiving plate after passing through the transmitting reflector.
  9. 9. The lidar of claim 8, wherein the collimation module comprises a first diaphragm, a fast axis collimator, a slow axis collimator, and a second diaphragm, and the laser beam is sequentially directed to the emission mirror after passing through the first diaphragm, the fast axis collimator, the slow axis collimator, and the second diaphragm.

Description

Laser radar Technical Field The application relates to the technical field of laser radars, in particular to a laser radar. 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 intelligent robots, unmanned aerial vehicles and the like. In the related art, the window of the laser radar is usually a cylindrical window, and when the emitted laser penetrates through the cylindrical window, the divergence angle and the spot size of the emitted laser become large, so that the detection result of the laser radar is inaccurate. Disclosure of Invention The application provides a laser radar, which aims to solve the technical problem that the detection result of the laser radar is inaccurate because the divergence angle and the spot size of the emitted laser become large when the laser emitted by the existing laser radar passes through a cylindrical window. In order to solve the technical problems, the application provides a laser radar, which comprises a laser receiving and transmitting module, a correcting mirror and a window, wherein the laser receiving and transmitting module is used for transmitting laser and receiving reflected laser, the laser sequentially passes through the correcting mirror and the window and then is transmitted to an object to be detected, the reflected laser formed by reflection of the object to be detected sequentially passes through the window and the correcting mirror and then is incident to the laser receiving and transmitting module, the correcting mirror and the window form a 4f system, and the 4f system is used for reducing the divergence angle and the spot size of the laser and reducing the signal amplitude attenuation of the reflected laser. In one embodiment, the window has a first surface and a second surface opposite to each other, the first surface faces the object to be measured, the first surface is a cylindrical surface or a spherical surface, and the second surface is a spherical surface. In one embodiment, the distance between the first surface and the second surface is greater than or equal to 1mm and less than or equal to 3mm. In one embodiment, the focal length of the window is greater than or equal to 1000mm and less than or equal to 1200mm. In one embodiment, the focal length of the correction mirror is greater than or equal to 1100mm and less than or equal to 1300mm. In one embodiment, the laser radar further comprises an antireflection film, a hydrophobic film and an antifogging film, wherein the antireflection film is stacked on the first surface, the hydrophobic film is stacked on the antireflection film, and the antifogging film is stacked on the second surface. In one embodiment, the lidar further comprises a wedge mirror disposed in the optical path between the correction mirror and the window. In one embodiment, the lidar further comprises a mirror for reflecting the laser light transmitted through the wedge mirror to the window, and the mirror is further for reflecting the reflected laser light transmitted through the window to the wedge mirror. In one embodiment, the laser transceiver module comprises a laser transmitting plate, a collimation module, a transmitting reflector and a laser receiving plate, wherein the laser transmitting plate is used for transmitting laser, the laser sequentially passes through the collimation module and the transmitting reflector and then is emitted to the correction mirror, and the laser receiving plate is used for receiving reflected laser, and the reflected laser passing through the correction mirror is emitted to the laser receiving plate after passing through the transmitting reflector. In one embodiment, the collimating module comprises a first diaphragm, a fast axis collimating mirror, a slow axis collimating mirror and a second diaphragm, and the laser sequentially passes through the first diaphragm, the fast axis collimating mirror, the slow axis collimating mirror and the second diaphragm and then is emitted to the emission reflecting mirror. The laser radar provided by the application has the beneficial effects that the correction mirror and the window form a 4f system, so that the divergence angle and the spot size of laser are reduced, the signal amplitude attenuation of reflected laser is reduced, and the accuracy of the detection result of the laser radar is improved. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained by those skilled in the art without the inventive effort. FIG. 1 is a view of the effect of beam spots emitted by a lidar with a window;