Lidar

Patent metadata

Field	Value
Publication number	US-2025199131-A1
Application number	US-202519066755-A
Country	US
Kind code	A1
Filing date	Feb 28, 2025
Priority date	Aug 30, 2022
Publication date	Jun 19, 2025
Grant date	—

Abstract

This disclosure provides a LiDAR, including: an emitter module configured to emit a detection laser beam; a receiver module configured to receive an echo laser beam of the detection laser beam reflected by a target object; a scanner module configured to scan the detection laser beam and the echo laser beam; and an optomechanics module having a preset height and configured to mount an optics device of the LiDAR. The emitter module and the receiver module are arranged on two sides of the optomechanics module, respectively. The emitter module, the receiver module, and the scanner module are arranged within the preset height of the optomechanics module. For the LiDAR provided in this disclosure, the height of the LiDAR can be reduced, so that the LiDAR is miniaturized in structure, the assembly and production of the LiDAR are facilitated, the requirements for a mounting environment in a vehicle body can be met, and easy compatibility and integration with the vehicle body are achieved.

First claim

1 . A LiDAR, comprising:
an emitter configured to emit a detection laser beam; a receiver configured to receive an echo laser beam of the detection laser beam reflected by an object; a scanner configured to scan the detection laser beam and the echo laser beam; and an optomechanics structure having a preset height and configured to mount an optics device of the LiDAR, wherein the emitter and the receiver are arranged on two sides of the optomechanics structure, respectively; and the emitter, the receiver, and the scanner are configured to be arranged within the preset height.

2 . The LiDAR of claim 1 , wherein the scanner comprises:
a first scanner configured to scan a laser beam in a first direction; and a second scanner configured to scan the laser beam in a second direction perpendicular to the first direction.

3 . The LiDAR of claim 1 , wherein in a height direction of the LiDAR, a ratio of a height of the scanner to a height of the LiDAR is greater than or equal to 0.72.

4 . The LiDAR of claim 2 , wherein a ratio of a height of the first scanner to a height of the LiDAR is greater than or equal to 0.72.

5 . (canceled)

6 . The LiDAR claim 2 ,
wherein the first scanner includes a first driver and a first scanning mirror; wherein the first driver comprises:
a magnetic component; and
a fixing component that comprises a torsion beam configured to fix the first scanning mirror;
wherein the torsion beam has an extension direction parallel to the second direction and is configured to drive the first scanning mirror to reciprocate with the torsion beam as an axis; and wherein the magnetic component and the first scanning mirror are arranged on two sides of the fixing component, respectively.

7 . (canceled)

8 . The LiDAR of claim 2 , wherein a ratio of a height of the second scanner to a height of the LiDAR is greater than or equal to 0.8.

9 . The LiDAR of claim 2 , wherein the second scanner comprises:
a second scanning mirror; and a second driver, wherein a ratio of a height of the second scanning mirror to a height of the second driver is greater than 1.

10 . The LiDAR of claim 2 , wherein an angle between an optical axis of the laser beam directed onto a first scanning mirror of the first scanner module and the first scanning mirror at an initial position ranges from 50° to 60°.

11 . The LiDAR of claim 2 , wherein an angle between an optical axis of the laser beam directed by the first scanner at an initial position and a second scanning mirror of the second scanner at an initial position ranges from 30° to 40°, and an optical axis of the laser beam directed by the second scanning mirror at the initial position is perpendicular to a window of the LiDAR.

12 . The LiDAR of claim 2 , wherein with an initial position of a first scanning mirror of the first scanner as a center, the first scanning mirror is configured to reciprocate at an angle ranging from 4° to 8° in the second direction, and is configured to scan the laser beam directed onto the first scanning mirror in the first direction.

13 . The LiDAR of claim 2 , wherein with an initial position of a second scanning mirror of the second scanner as a center, the second scanning mirror is configured to reciprocate at an angle ranging from 15° to 30° in the first direction, and is configured to scan the laser beam directed onto the second scanning mirror in the second direction.

14 . (canceled)

15 . The LiDAR of claim 1 , wherein the emitter and the receiver are mounted on the optomechanics structure, and extension directions of the emitter and the receiver are perpendicular to a height direction of the LiDAR.

16 . The LiDAR of claim 1 , wherein in a height direction of the LiDAR, the emitter and the receiver are arranged on two sides of the optomechanics structure, respectively.

17 . (canceled)

18 . The LiDAR of claim 1 , wherein the optics device comprises
a receiving deflecting mirror configured to reflect the echo laser beam through the optomechanics structure and vertically direct the echo laser beam onto the receiver.

19 . The LiDAR of claim 1 , wherein the optics device comprises
a light homogenizer arranged adjacent to one end of the emitter and configured to change a shape of a light spot of the detection laser beam.

20 . The LiDAR of claim 1 , wherein the optics device comprises
an emitting deflecting mirror arranged adjacent to the emitter along a height direction of the LiDAR and configured to reflect the detection laser beam through the optomechanics structure and vertically direct the detection laser beam onto the optics device of the optomechanics structure.

21 . The LiDAR of claim 1 , wherein the optics device comprises a collimator unit, comprising:
a fast-axis collimating lens arranged at an upstream part of a light homogenizer along a transmission direction of the detection laser beam and configured to change a shape of a light spot of the detection laser beam in a fast-axis direction; and a slow-axis collimating lens arranged at a downstream part of the light homogenizer along the transmission direction of the detection laser beam and configured to change a shape of a light spot of the detection laser beam in a slow-axis direction.

22 . The LiDAR of claim 19 , wherein the light homogenizer comprises a cylindrical lens array.

23 . The LiDAR of claim 21 , wherein the light homogenizer comprises a cylindrical lens array.

24 . The LiDAR of claim 1 , wherein the optomechanics structure comprises a lens barrel and a support, and the optics device comprises:
a positive lens, a wave plate, and a first negative lens configured to be mounted in the lens barrel; and a second negative lens, a beam splitter unit, a collimator unit, a receiving deflecting mirror, and a light homogenizer configured to be mounted in the support, the support communicating with the lens barrel.

25 . The LiDAR of claim 24 , wherein the support and the lens barrel are arranged in the optomechanics structure or a lens barrel structure of optical components, and the lens barrel structure of optical components is detachably mounted on the optomechanics structure.

26 - 29 . (canceled)

Assignees

• Hesai Technology Co Ltd

Inventors

• Xu Qingyu
• Wu Shixiang
• Ye Liangchen
• Gao Yongfeng
• Xiang Shaoqing

Classifications

• G01S7/4817

  relating to scanning · CPC title

• G01S7/4813

  Housing arrangements · CPC title

• G01S7/481 Primary

  Constructional features, e.g. arrangements of optical elements · CPC title

• G01S17/931 Primary

  of land vehicles · CPC title

• G01S7/4816 Primary

  of receivers alone · CPC title