CN112285669A - Laser radar and method for manufacturing same - Google Patents

Abstract

The laser radar realizes mixed arrangement of the emitting device and the detecting device, thereby not only reducing the energy density of detection light in a plane vertical to the propagation direction of light, but also improving the AEL of the laser radar_s.p.trainLimiting value to achieve the purposes of prolonging the detection distance of the laser radar and expanding the detection range of the laser radar; and the influence on the light path of the existing laser radar is reduced as much as possible, and the increase of the volume of the laser radar is avoided, so that the aims of controlling the manufacturing cost and the process difficulty of the laser radar are fulfilled. Therefore, the technical scheme of the invention can realize the consideration of high integration level and low process difficulty on the premise of ensuring high safety and large detection distance.

Description

Laser radar and method for manufacturing same

The application is a divisional application of Chinese patent application 201810340386.9 filed on 16/4/2018.

Technical Field

The invention relates to the field of photoelectric detection, in particular to a laser radar and a manufacturing method thereof.

Background

Current LiDAR (Light Detection And Ranging) creates a cloud of points of the laser radar surroundings by emitting laser pulses with a semiconductor laser And then recording the reflected Light.

Laser safety regulations in various countries limit the power of laser pulses. According to the standards of human eye safety, the judgment of the safety level of the laser is carried out by adopting the most strict judgment condition under the condition that the laser works normally. When the laser radar rotates, the horizontal distance between two adjacent pulses is related to the rotation speed. As the rotation speed is larger, the deviation of the horizontal distance by the rotation is larger. In this case, the determination is most strictly made at a specific frequency. There are three limits to be compared in total, namely: AEL_single: the single pulse can reach the emission limit, and the energy of the single pulse laser is mainly limited; AEL_s.p.T: averaging the achievable emission limits of the individual pulses over time T, primarily to limit the energy of the non-uniform pulse group; AEL_s.p.train: the achievable emission limits of the individual pulses are averaged over a period of time, primarily to limit the energy of the individual pulses in the repetitive set of pulses. The maximum power of the lidar within the range safe for human eyes can be obtained by taking the smallest of the three limit values.

Taking the standard IEC60825-1:2014 as an example, in order to meet the requirement of human eye safety, i.e., Class1, the above three parameters need to be compared under two conditions, namely condition 1(2000mm distance, 50mm aperture) and condition 3(100mm distance, 7mm aperture).

However, the limit of laser power causes the problems of shortening of the detection distance and reduction of the detection range of the laser radar, thereby greatly limiting the application of the laser radar.

Disclosure of Invention

The invention aims to provide a laser radar and a manufacturing method thereof, which can improve the laser power and enlarge the detection range of the laser radar on the premise of meeting the human eye safety standard.

To solve the above problems, the present invention provides a laser radar including:

the first emitting device is suitable for generating first detection light, and the first detection light is reflected by a target to be detected to form first echo light; the second emitting device is suitable for generating second detection light, and the second detection light is reflected by a target to be detected to form second echo light; a first detection device adapted to receive the first echo light; a second detection device adapted to receive the second echo light; a first collimating converging structure adapted to transmit the first probe light and to project the first probe light to the object to be detected; the first collimating focus structure is further adapted to transmit the second echo light and to project the second echo light to the second detecting device; a second collimating and converging structure adapted to transmit the second detection light and project the second detection light to the target to be detected; the second collimating and condensing structure is further adapted to transmit the first echo light and to project the first echo light to the first detecting device.

Optionally, the method further includes: a first carrier and a second carrier; the first emitting device and the second detecting device are arranged on the first bearing body; the second emitting device and the first detecting device are arranged on the second bearing body.

Optionally, the method further includes: a first cavity and a second cavity optically isolated from the first cavity; the first emitting device is arranged in the first cavity; the second emitting device is disposed in the second cavity.

Optionally, the first detection device is disposed in the second cavity.

Optionally, the second detection device is disposed in the first cavity.

Optionally, in a plane perpendicular to the propagation direction of the first detection light, the forward projection point of the first emitting device is adjacent to the forward projection point of the second detecting device; and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device is arranged adjacent to the orthographic projection point of the first detecting device.

Optionally, the number of the first transmitting devices is multiple, and the number of the second transmitting devices is multiple; the number of the first detection devices is multiple, and the number of the second detection devices is multiple; in a plane perpendicular to the propagation direction of the first detection light, the orthographic projection point of the first emitting device and the orthographic projection point of the second detecting device are arranged at intervals; and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device and the orthographic projection point of the first detecting device are arranged at intervals.

Optionally, the first collimating and converging structure comprises: a first collimating element adapted to reduce a divergence angle of the first probe light; a first filter element adapted to filter stray light from the second echo light; a first focusing element adapted to focus the second echo light.

Optionally, the second collimating and converging structure comprises: a second collimating element adapted to reduce a divergence angle of the second probe light; a second filter element adapted to filter stray light from the first echo light; a second concentrating element adapted to concentrate the first echo light.

Optionally, the laser radar further includes: a rotor and a stator, the first emitting device, the second emitting device, the first detecting device, the second detecting device, the first collimating converging structure and the second collimating converging structure being disposed within the rotor.

Correspondingly, the invention also provides a manufacturing method of the laser radar, which comprises the following steps:

providing a prefabrication system, the prefabrication system including: the first emitting device is suitable for generating first detection light, and the first detection light is reflected by a target to be detected to form first echo light; the second emitting device is suitable for generating second detection light, and the second detection light is reflected by a target to be detected to form second echo light; a first detection device adapted to receive the first echo light; a second detection device adapted to receive the second echo light; performing device adjustment processing, wherein in the process of performing the device adjustment processing, the second transmitting device is arranged at the position of the corresponding second detecting device, and the second detecting device is arranged at the position of the corresponding second transmitting device; arranging a first collimating and converging structure and a second collimating and converging structure, wherein the first collimating and converging structure is suitable for transmitting the first detection light and projecting the first detection light to the target to be detected; the first collimating focus structure is further adapted to transmit the second echo light and to project the second echo light to the second detecting device; the second collimating and converging structure is suitable for transmitting the second detection light and projecting the second detection light to the target to be detected; the second collimating and condensing structure is further adapted to transmit the first echo light and to project the first echo light to the first detecting device.

Compared with the prior art, the technical scheme of the invention has the following advantages:

in the technical solution of the laser radar of the present invention, the first collimating met-sphere structure is adapted to transmit the first probe light and the second echo light to the second probe device; the second collimating and converging structure is suitable for transmitting the second detection light and the first echo light to the first detection device, so that the transmitting device and the detection device in the laser radar can be arranged in a mixed manner, the distance between the adjacent transmitting devices can be effectively increased, and the energy density of the detection light in a plane perpendicular to the propagation direction can be effectively reduced; detecting a reduction in optical energy density can haveIncreasing the AEL of the lidar_s.p.trainThe limit value is set so as to create conditions for improving the power of the first transmitting device and the second transmitting device on the premise of meeting the eye safety standard, so that the technical scheme of the invention can achieve the purpose of improving the laser power under the condition of meeting the eye safety standard, and is beneficial to prolonging the detection distance of the laser radar and expanding the detection range of the laser radar.

In addition, the technical scheme of reducing the detection light energy density by the mixed arrangement of the transmitting device and the detecting device has less influence on the laser radar light path, so the technical scheme of the invention can be realized without greatly changing the existing laser radar light path, does not need to increase the volume of the laser radar, can effectively reduce the manufacturing cost and the process difficulty of the laser radar, and can realize the consideration of high integration level and low process difficulty on the premise of ensuring high safety and large detection distance.

In an alternative aspect of the present invention, in a plane perpendicular to the propagation direction of the first detection light, the forward projection point of the first emitting device and the forward projection point of the second detecting device are adjacently disposed; and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device and the orthographic projection point of the first detecting device are adjacently arranged. The arrangement mode can effectively increase the distance between the first transmitting device and the second transmitting device, thereby ensuring that the energy of the detected light is uniformly reduced in a plane perpendicular to the propagation direction of the light, being beneficial to improving the laser power under the condition of meeting the human eye safety standard, being beneficial to prolonging the detection distance of the laser radar and expanding the detection range of the laser radar.

In an alternative aspect of the present invention, when the first emitting device is multiple, the second emitting device is multiple, the first detecting device is multiple, and the second detecting device is multiple, an orthographic projection point of the first emitting device and an orthographic projection point of the second detecting device are spaced apart from each other in a plane perpendicular to a propagation direction of the first detecting light; in a plane perpendicular to the propagation direction of the second detection light, the forward projection point of the second emitting device and the forward projection point of the first detecting deviceThe shadow spots are arranged at intervals. The arrangement mode can effectively reduce the distribution density of the detection light in the plane vertical to the propagation direction of the light and reduce the energy density of the detection light; the distribution uniformity of the detection light can be improved, so that the detection light energy density is uniformly reduced, and the AEL of the laser radar can be effectively improved_s.p.trainThe limit value is beneficial to improving the laser power under the condition of meeting the human eye safety standard, and is beneficial to prolonging the detection distance of the laser radar and expanding the detection range of the laser radar.

In the technical scheme of the laser radar manufacturing method, after a prefabricated system comprising the first transmitting device, the second transmitting device, the first detecting device and the second detecting device is provided, the positions of the second transmitting device and the second detecting device are exchanged through the adjustment processing of the devices; the first collimating and converging structure and the second collimating and converging structure are then arranged. The device adjustment treatment has small influence on the optical path of the prefabricated system, and can be realized without greatly changing the optical path of the prefabricated system and increasing the volume of the prefabricated system, so that the manufacturing method can effectively reduce the manufacturing cost and the process difficulty of the laser radar, and can realize the consideration of high integration level and low process difficulty on the premise of ensuring high safety and large detection distance.

Drawings

FIG. 1 is a schematic diagram of a lidar;

FIG. 2 is a schematic flow chart of an embodiment of a lidar fabrication method of the present invention;

FIGS. 3 to 8 are schematic structural diagrams corresponding to steps of the laser radar manufacturing method shown in FIG. 2;

fig. 9 to 12 are schematic structural diagrams corresponding to respective steps of another embodiment of the lidar manufacturing method of the present invention.

Detailed Description

As known from the background art, the laser radar which accords with the human eye safety standard in the prior art has the problems of too short detection distance and too small detection range. The reason for the problem of small detection distance is analyzed by combining the existing laser radar:

referring to fig. 1, a schematic diagram of a lidar is shown.

Most of the existing laser radars adopt a mode of separately arranging a transmitting device and a detecting device. Moreover, in order to guarantee the resolution of the lidar, the transmitting device of the lidar often comprises a plurality of lasers 10, i.e. the lidar is a multiline lidar.

As shown in fig. 1, the multiline lidar includes a plurality of lasers 10 arranged in an array and a plurality of detectors 20 arranged in an array, and the plurality of detectors 20 correspond to the plurality of lasers 10 one to one.

The working process of the multi-line laser radar is as follows:

a plurality of probe lights 11 generated by the plurality of lasers 10; the plurality of detection lights 11 are collimated by the collimating element 12 and then projected onto the object 30 to be detected. Wherein the collimating element 12 may be one or more collimating lenses.

The plurality of detection lights 11 form a plurality of echo lights 21 after being reflected by the object 30 to be detected, and the plurality of echo lights 21 correspond to the plurality of detection lights 11 one by one; the plurality of echo lights 21 are projected to a receiving focusing element 22. Wherein, the receiving and focusing element 22 comprises a filter for removing the ambient light and one or more converging lenses, and the filter and the converging lenses are arranged in sequence along the propagation direction of the echo light 21.

The echo light 21 projected to the receiving focusing element 22 is transmitted through the filter (not shown) and then is condensed by a condensing lens (not shown), and is reflected to a corresponding detector by one or more mirrors (not shown).

AEL limiting the energy of a single laser pulse within the limits of the eye safety standard for multiline lidar_singleLimit and AEL associated with Single pulse energy_s.p.trainThe limits are often relatively easy to achieve.

However, in the above multi-line lidar, the transmitting device and the detecting device are separately arranged, and the plurality of lasers of the transmitting device are concentrated on a part of the position of the multi-line lidar. Specifically, the lidar has a transmitting cavity, and the plurality of lasers 10 are often collectively disposed in one transmitting cavity; therefore, the distribution density of the plurality of lasers is high, and the distance between the adjacent lasers 10 is small; the concentration of the probe lights 11 generated by the plurality of lasers 10 is high and the distance between adjacent probe lights 11 is small.

In evaluating the eye safety standard, the concentrated probe light 11 increases the pulse density of the probe light 11 received by the test aperture, resulting in AEL_s.p.trainThe limit is too small. In extreme cases, all the probe light 11 generated by the laser 10 falls into the test aperture, greatly limiting the AEL of the lidar_s.p.trainAnd (4) limiting values.

AEL_s.p.trainThe laser radar transmitting device is limited in power due to the fact that the limit value is too small, and therefore the problems that the detection distance of the laser radar is too short and the detection range is too small are caused.

At present, the method for increasing the detection distance of the laser radar is mainly to increase the caliber or lengthen the focal length. The methods of increasing the caliber and lengthening the focal length both need to make great changes to the optical system of the existing laser radar, and can increase the volume of the laser radar.

In order to solve the technical problem, the invention provides a laser radar and a manufacturing method thereof, and by realizing mixed arrangement of an emitting device and a detecting device in the laser radar, the energy density of detection light in a plane perpendicular to the propagation direction of light is reduced, and the AEL of the laser radar is improved_s.p.trainLimiting value to achieve the purposes of prolonging the detection distance of the laser radar and expanding the detection range of the laser radar; and the influence on the light path of the existing laser radar is reduced as much as possible, and the increase of the volume of the laser radar is avoided, so that the aims of controlling the manufacturing cost and the process difficulty of the laser radar are fulfilled. Therefore, the technical scheme of the invention can realize the consideration of high integration level and low process difficulty on the premise of ensuring high safety and large detection distance.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

Referring to fig. 2-8, fig. 2 is a schematic flow chart of an embodiment of a lidar fabrication method of the present invention; fig. 3 to 8 are schematic diagrams illustrating steps of the embodiment of the lidar manufacturing method shown in fig. 2.

Referring to fig. 2, with combined reference to fig. 3, step S100 is first performed to provide a prefabrication system, which includes: a first emitting device 110, wherein the first emitting device 110 is adapted to generate a first probe light 111, and the first probe light 111 is reflected by the target 130 to be detected to form a first echo light 141; a second emitting device 120, said second emitting device 120 being adapted to generate a second probe light 121, said second probe light 121 being reflected by the object 130 to be detected to form a second echo light 151; a first detecting device 140, said first detecting device 140 being adapted to receive said first echo light 141; a second detection device 150, said second detection device 150 being adapted to receive said second echo light 151.

The first emitting device 110 is used as a light source and is adapted to generate a first detecting light 111; the first probe light 111 is reflected by the object 130 to be measured to form the first echo light 141.

In this embodiment, the lidar is a multi-line lidar, so that in the prefabricated system, the number of the first emitting devices 110 is multiple, and each first emitting device 110 generates one first probe light 111. Wherein the first emitting device 110 is a laser. Specifically, the emitting device 110 is a solid laser or a fiber laser.

As shown in fig. 3, the prefabricated system further comprises a first carrier 112. The first carrier 112 is adapted to provide mechanical support for the fixed position of the first emitting device 110. The first emitting device 110 is disposed on the first carrier 112.

Referring collectively to fig. 4, a schematic top view of the prefabricated system in the embodiment of the lidar fabrication method of fig. 2 is shown.

In this embodiment, the prefabricated system further comprises a first cavity 181, said first cavity 181 being adapted to provide a receiving space for said first emitting device 110. The first emitting device 110 is disposed in the first cavity 181. Specifically, the first carrier 112 is located in the first cavity 181, and the plurality of first emitting devices 110 are disposed on the first carrier 112.

The second emitting device 120 is used as another light source and is adapted to generate a second probe light 121; the second probe light 121 is reflected by the object 130 to be measured to form the second echo light 151.

In this embodiment, the lidar is a multiline lidar, so that in the prefabricated system, the number of the second emitting devices 120 is multiple, and each of the second emitting devices 120 generates one second probe light 121. Wherein the second emitting device 120 is a laser. Specifically, the emitting device 120 is a solid laser or a fiber laser.

It should be noted that the wavelengths of the first detection light 111 and the second detection light 121 are both in the range from 895nm to 915nm, for example, 905nm, so that the first emitting device 110 and the second emitting device 120 are both infrared emitting devices. 895nm to 915nm, which is an infrared laser with high penetration ability and is invisible light, so that the reasonable setting of the wavelength ranges of the first detection light 111 and the second detection light 121 can effectively reduce the interference of the laser radar to the surrounding environment and can also effectively improve the detection distance of the laser radar.

However, in other embodiments of the present invention, the first emitting device 110 and the second emitting device 120 may include other types of lasers; the first detection light 111 and the second detection light 121 may be laser light in other wavelength ranges.

In this embodiment, the prefabricated system further comprises a first carrier 112. The first carrier 112 is further adapted to provide mechanical support for the second launch device 120. The second emitter 120 is therefore also disposed on the first carrier 112.

In this embodiment, the preparation system further comprises a first cavity 181, and the first cavity 181 is further adapted to provide a receiving space for the second launching device 120. The second emitting device 120 is thus disposed within the first cavity 181. Specifically, the first carrier 112 is located in the first cavity 181, and the plurality of second launching devices 120 are disposed on the first carrier 112.

Since the plurality of first emitting devices 110 are also disposed on the first carrier 112, the plurality of first emitting devices 110 and the plurality of second emitting devices 120 are disposed on the first carrier 112 and located in the first cavity 181.

In this embodiment, the number of the first emitting devices 110 and the number of the second emitting devices 120 are both multiple, and the forward projection points of the first emitting devices 110 and the forward projection points of the second emitting devices 120 are spaced apart from each other in a plane perpendicular to the propagation direction of the first detection light 111 or the second detection light 121.

Specifically, the plurality of first emitting devices 110 and the plurality of second emitting devices 120 are sequentially arranged along a row direction and a column direction perpendicular to each other on the surface of the first carrier 112 to form an emitting array. Along the row direction or the column direction of the transmitting array, two adjacent first transmitting devices 110 have one second transmitting device 120 therebetween, and two adjacent second transmitting devices 120 have one first transmitting device 110 therebetween.

It should be noted that, in this embodiment, the number of the first emitting devices 110 and the second emitting devices 120 is plural, and in a plane perpendicular to the propagation direction of the first detection light 111 or the second detection light 121, the forward projection point of the first emitting device 110 and the forward projection point of the second emitting device 120 are spaced apart, so that along the row direction or the column direction of the emitting array, each first emitting device 110 is adjacent to the second emitting device 120, and each second emitting device 120 is also adjacent to the first emitting device 110.

In another embodiment of the present invention, when the number of the first emitting device and the second emitting device is 1, an orthogonal projection point of the first emitting device and an orthogonal projection point of the second emitting device are also adjacent to each other in a plane perpendicular to the propagation direction of the first detection light.

The first detecting device 140 corresponds to the first emitting device 110 and is adapted to receive the first echo light 141.

In this embodiment, the lidar is a multi-line lidar, and the prefabricated system has a plurality of first emitting devices 110, so the number of the first detecting devices 140 is also a plurality, and the plurality of first detecting devices 140 correspond to the plurality of first emitting devices 110 one to one. Specifically, the first detecting device 140 is a laser detector.

As shown in fig. 3, the prefabricated system further comprises the second carrier 122, wherein the second carrier 122 is adapted to provide mechanical support for fixing the position of the first detecting devices 140, and thus, the plurality of first detecting devices 140 are disposed on the second carrier 122.

As shown in fig. 4, in this embodiment, the prefabricating system further includes: the second cavity 182 is optically isolated from the first cavity 181, that is, light propagating in the first cavity 181 cannot be transmitted into the second cavity 182, and light propagating in the second cavity 182 cannot be transmitted into the first cavity 181.

The second cavity 182 is adapted to provide a receiving space for the first probe device 140. The first detecting device 140 is disposed in the second cavity 182. Specifically, the second carrier 122 is located in the second cavity 182, and the plurality of first detecting devices 140 are disposed on the second carrier 122.

The second detecting device 150 corresponds to the second emitting device 120 and is adapted to receive the second echo light 151.

In this embodiment, the lidar is a multiline lidar, and the prefabricated system has a plurality of second transmitting devices 120, so that the number of the second detecting devices 150 is also multiple, and the plurality of second detecting devices 150 correspond to the plurality of second transmitting devices 120 one to one. Specifically, the second detecting device 150 is a laser detector.

It should be noted that, in this embodiment, the first emitting device 110 and the second emitting device 120 are both infrared emitting devices, and the wavelengths of the first detection light 111 and the second detection light 121 are both in the range from 895nm to 915nm, for example, 905nm, so that the first detection device 140 and the second detection device 150 are both infrared detection devices, for example, infrared detectors, adapted to detect the first detection light 111 and the second detection light 121.

In this embodiment, the prefabricated system further comprises the second carrier 122, and the second carrier 122 is further adapted to provide a mechanical support for fixing the position of the second detecting device 150, so that the plurality of second detecting devices 150 are disposed on the second carrier 122.

In this embodiment, the preparation system further comprises a second cavity 182, wherein the second cavity 182 is further adapted to provide a receiving space for the second probe device 150. The second detecting device 150 is disposed in the second cavity 182. Specifically, the second carrier 122 is located in the second cavity 182, and the plurality of second detecting devices 150 are disposed on the second carrier 122.

Since the plurality of first detecting devices 140 are also disposed on the second carrier 122, the plurality of first detecting devices 140 and the plurality of second detecting devices 150 are disposed on the second carrier 122 and located in the second cavity 182.

In this embodiment, the number of the first detection device 140 and the second detection device 150 is plural, and the forward projection point of the first detection device 140 and the forward projection point of the second detection device 150 are spaced apart from each other in a plane perpendicular to the optical axis of the first detection device 140 or the optical axis of the second detection device 150.

Specifically, the plurality of first detecting devices 140 and the plurality of second detecting devices 150 are sequentially arranged along the mutually perpendicular row direction and column direction on the surface of the first carrier 112 to form a detecting array. Along the row direction or the column direction of the detection array, a second detection device 150 is arranged between two adjacent first detection devices 140, and a first detection device 140 is arranged between two adjacent second detection devices 150.

It should be noted that, in this embodiment, the number of the first detection device 140 and the second detection device 150 is plural, and the forward projection point of the first detection device 140 and the forward projection point of the second detection device 150 are spaced apart from each other in a plane perpendicular to the optical axis of the first detection device 140 or the optical axis of the second detection device 150, so that each of the first detection devices 140 is adjacent to the second detection device 150 and each of the second detection devices 150 is adjacent to the first detection device 140 along the row direction or the column direction of the detection array.

In other embodiments of the present invention, when the number of the first emitting device and the second emitting device is 1, in a plane perpendicular to the optical axis of the first detecting device 140 or the optical axis of the second detecting device 150, the forward projection point of the first emitting device and the forward projection point of the second emitting device are also disposed adjacent to each other.

It should be noted that, as shown in fig. 3 and fig. 4, in this embodiment, the prefabricating system may further include: a collimating structure 101, said collimating structure 101 being located in an optical path of said first detection light 111 and said second detection light 121, said collimating structure 101 being adapted to collimate said first detection light 111 and said second detection light 121 to reduce a divergence angle of said first detection light 111 and said second detection light 121; a converging structure 102, the converging structure 102 being located on the optical path of the first echo light 141 and the second echo light 151, the converging structure 102 being adapted to converge the first echo light 141 and the second echo light 151, so that the first echo light 141 and the second echo light 151 are projected to the corresponding first detecting device 140 and the corresponding second detecting device 150.

It should be further noted that, as shown in fig. 4, in this embodiment, the prefabricating system further includes: a rotor 180 and a stator (not shown), wherein the first emitting device 110, the second emitting device 120, the first detecting device 140, the second detecting device 150, the collimating structure 101 and the converging structure 102 are disposed in the rotor 180.

Specifically, the rotor 180 has a scanning rotation axis 183, and the rotor 180 is adapted to rotate about the scanning rotation axis 183. The first and second chambers 181 and 182 are disposed in the rotor 180. The first carrier (not shown) and the second carrier (not shown) are also disposed in the rotor 180. In this embodiment, the scanning rotation axis 183 is perpendicular to the horizontal plane, but in other embodiments of the present invention, the scanning rotation axis may be oblique to the horizontal plane or parallel to the horizontal plane.

The propagation directions of the first detection light 111 and the second detection light 121 are substantially perpendicular to the straight line of the scanning rotation axis 183. Therefore, as the rotor 180 rotates, the propagation directions of the first detection light 111 and the second detection light 121 change.

Referring to fig. 2, with reference to fig. 3 to 8, step S200 is executed to perform device adjustment processing, and in the process of performing the device adjustment processing, the second transmitting device 120 is disposed at the corresponding position of the second detecting device 150, and the second detecting device 150 is disposed at the corresponding position of the second transmitting device 120.

In this embodiment, since the second emitting device 120 is disposed on the first carrier 112, the second detecting device 150 is disposed on the second carrier 122.

Therefore, before the device adjustment process, the second emitting device 120 is removed from the first carrier 112, and the second detecting device 150 is removed from the second carrier 122, so as to provide a space for the arrangement of the second emitting device 120 and a space for the arrangement of the second detecting device 150.

After the second emitting device 120 and the second detecting device 150 are removed, the device adjustment process is performed to set the second emitting device 120 at the corresponding second detecting device 150 and set the second detecting device 150 at the corresponding second emitting device 120, that is, the device adjustment process exchanges the positions of the second emitting device 120 and the corresponding second detecting device 150.

The device adjustment process is suitable for achieving the purpose of reducing the energy density of the probe light in the plane of the vertical propagation direction by exchanging the positions of the corresponding second emitting device 120 and the second detecting device 150, so that the emitting devices and the detecting devices are arranged in a mixed manner, and the distance between the first emitting device 110 and the second emitting device 120 is increased. Detecting a decrease in optical energy density can effectively improve the AEL of the lidar_s.p.trainThe limit value can create conditions for increasing the power of the first transmitting device 110 and the second transmitting device 120 on the premise of meeting the eye safety standard, so that the aim of increasing the laser power is fulfilled under the condition of meeting the eye safety standard, the detection distance of the laser radar is prolonged, and the detection range of the laser radar is expanded.

Moreover, according to the principle that the optical path is reversible, the optical path from the second emitting device 120 to the second detecting device 150 is less affected corresponding to the exchange of the positions of the second emitting device 120 and the second detecting device 150, and the optical path of the prefabricated system can be realized without greatly changing, increasing the volume of the prefabricated system and excessively changing other structures of the prefabricated system; therefore, the device adjustment process can reduce the energy density of the detection light in the plane of the vertical propagation direction and improve the AEL of the laser radar_s.p.trainThe limit value is realized, the manufacturing cost and the process difficulty are effectively reduced, and the high integration level and the low process difficulty can be realized on the premise of ensuring high safety and large detection distance.

It should be noted that, in some embodiments of the present invention, the prefabricated system may be a laser radar in the prior art, that is, the device adjusts and processes the laser radar in the prior art, while reducing the energy density of the detection light in the plane perpendicular to the propagation direction, the influence on the optical path of the laser radar in the prior art is small, the laser radar can be implemented without greatly changing the optical path of the laser radar, the size of the laser radar in the prior art is not increased, and excessive changes on other structures of the laser radar are not required, so that the manufacturing cost and the process difficulty of the laser radar can be effectively reduced, and the high integration level and the low process difficulty can be achieved on the premise of ensuring high safety and large detection distance.

In this embodiment, as shown in fig. 3, in the prefabricated system, the plurality of first emitting devices 110 and the plurality of second emitting devices 120 are disposed on the first carrier 112, and the plurality of first detecting devices 140 and the plurality of second detecting devices 150 are disposed on the second carrier 122.

Thus, after the device tuning process, as shown in fig. 5, the first emitting device 110 and the second detecting device 150 are disposed on the first carrier 112; the second emitting device 120 and the first detecting device 140 are disposed on the second carrier 122. By arranging the detecting device and the transmitting device on the bearing bodies in a mixed manner, the first bearing body 112 and the second bearing body 122 can be utilized, the internal mechanical parts of the laser radar do not need to be additionally increased, the light path and the internal structure of the laser radar can be realized without greatly changing, the human eye safety standard and the laser power can be considered, the manufacturing difficulty of the laser radar is reduced, and the cost control is facilitated.

As shown in fig. 4, in the prefabricated system, the plurality of second emitting devices 120 are located in the first cavity 181, and the plurality of second detecting devices 150 are located in the second cavity 182. Thus, after the device tuning process, as shown in fig. 6, the second detecting device 150 and the first emitting device 110 are both disposed in the first cavity 181; the second emitting device 120 and the first detecting device 140 are both disposed in the second cavity 182.

The first emitting device 110 and the second emitting device 120 are respectively disposed in the first cavity 181 and the second cavity 182, which are optically isolated from each other, so that the distance between the first emitting device 110 and the second emitting device 120 can be effectively increased, the vertical light propagation direction is ensured, and the distance between the first detecting light 111 and the second detecting light 121 is increased, thereby ensuring the reduction of the detection light energy density in the plane of the vertical propagation direction, creating conditions for the improvement of the power of the first emitting device 110 and the second emitting device 120, and being beneficial to improving the laser power, prolonging the detection distance of the laser radar, and expanding the detection range of the laser radar under the condition of meeting the human eye safety standard.

In addition, as shown in fig. 6, in the present embodiment, the first detecting device 140 is disposed in the second cavity 182; the second detecting device 150 is disposed in the first cavity 181.

With the first detection device 140 and the second detection device 150 are respectively disposed in the first cavity 181 and the second cavity 182, which are optically isolated, not only can the interference between the first echo light 141 and the second echo light 151 be effectively avoided, so as to improve the signal-to-noise ratio of the laser radar, but also the space of the first cavity 181 and the second cavity 182 can be effectively utilized, without additionally increasing the internal structure and the internal cavity of the laser radar, which is beneficial to the improvement of the performance of the laser radar, the simplification of the mechanical structure of the laser radar, and the improvement of the integration level of the laser radar.

In this embodiment, as shown in fig. 3 and 4, in the prefabricated system, the number of the first emitting devices 110 and the number of the second emitting devices 120 are both multiple, and the number of the first detecting devices 140 and the number of the second detecting devices 150 are both multiple; in a plane perpendicular to the propagation direction of the first detection light 111 or the second detection light 121, the forward projection point of the first emitting device 110 and the forward projection point of the second emitting device 120 are arranged at intervals; in a plane perpendicular to the optical axis of the first detection device 140 or the optical axis of the second detection device 150, the forward projection point of the first detection device 140 and the forward projection point of the second detection device 150 are arranged at intervals.

After the device adjustment process, the forward projection point of the first emitting device 110 and the forward projection point of the second detecting device 150 are spaced apart from each other in a plane perpendicular to the propagation direction of the first detecting light 111; in a plane perpendicular to the propagation direction of the second detection light, the forward projection point of the second emitting device 120 and the forward projection point of the first detecting device 140 are spaced apart.

Specifically, as shown in fig. 5, 6 and 7, the plurality of first emitting devices 110 and the plurality of second detecting devices 150 are sequentially arranged along a row direction and a column direction perpendicular to each other on the surface of the first carrier 112 to form a first emitting and detecting array. Along the row direction or the column direction of the first emission detection array, a second detection device 150 is arranged between two adjacent first emission devices 110, and a first emission device 110 is arranged between two adjacent second detection devices 150; as shown in fig. 5, 6 and 8, the plurality of second emitting devices 120 and the plurality of first detecting devices 140 are sequentially arranged along the mutually perpendicular row direction and column direction on the surface of the second carrier 122 to form a second emitting and detecting array. Along the row direction or the column direction of the second emission detection array, a first detection device 140 is arranged between two adjacent second emission devices 120, and a second emission device 120 is arranged between two adjacent first detection devices 140.

It should be noted that in this embodiment, the number of the first transmitting devices 110, the second transmitting devices 120, the first detecting devices 140, and the second detecting devices 150 is multiple, so that along the row direction or the column direction of the first transmitting detecting array or the second transmitting detecting array, each first transmitting device 110 is adjacent to the second detecting device 150, and each second transmitting device 120 is adjacent to the first detecting device 140.

In other embodiments of the present invention, the number of the first emitting device, the second emitting device, the first detecting device, and the second detecting device is 1, and in a plane perpendicular to the propagation direction of the first detected light, the forward projection point of the first emitting device is adjacent to the forward projection point of the second detecting device; and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device is arranged adjacent to the orthographic projection point of the first detecting device.

The first emitting device 110 and the second detecting device 150 are arranged adjacently at intervals, and the second emitting device 120 and the first detecting device 140 are arranged adjacently at intervals, so that the increase of the spacing distance between the adjacent first emitting device 110 and the second emitting device 120 can be ensured, and the increase of the spacing distance between the adjacent first emitting device 110 and the adjacent second emitting device 120 can also be ensured, thereby uniformly reducing the energy of the detection light in the plane of the vertical propagation direction, avoiding the concentration of the detection light in partial space, and improving the laser power to a greater extent under the condition of meeting the safety standard of human eyes, and being beneficial to realizing the compatibility of the safety improvement and the detection range expansion.

With continuing reference to fig. 2 and with combined reference to fig. 5 and fig. 6, after the device adjustment process, step S300 is performed to set a first collimating and converging structure 160 and a second collimating and converging structure 170, where the first collimating and converging structure 160 is adapted to transmit the first probe light 111 and project the first probe light 111 to the target 130 to be detected; the first collimating focus structure 160 is further adapted to transmit the second echo light 151 and to project the second echo light 151 to the second detecting device 150; the second collimating and converging structure 170 is adapted to transmit the second detecting light 121 and to project the second detecting light 121 to the target 130 to be detected; the second collimating and condensing structure 170 is further adapted to transmit the first echo light 141 and to project the first echo light 141 to the first detecting device 140.

It should be noted that, in this embodiment, the prefabricated system further includes the collimating structure 101 and the converging structure 102, the step S200 is executed, after the device adjustment process is performed, the step S300 is executed, and before the first collimating and converging structure 160 and the second collimating and converging structure 170 are set, the collimating structure 101 and the converging structure 102 need to be removed, that is, the collimating structure 110 and the converging structure 102 need not to influence the optical path, and a space is also provided for the setting of the first collimating and converging structure 160 and the second collimating and converging structure 170.

In other embodiments of the present invention, the manufacturing method may also adjust and modify the collimating structure and the converging structure to form the first collimating converging structure and the second collimating converging structure.

The arrangement of the first collimating and converging structure 160 and the second collimating and converging structure 170 is suitable for improving the accuracy of the laser radar optical path and reducing the stray light in the optical signals collected by the first detecting device 140 and the second detecting device 150.

The first collimating and converging structure 160 is located on the optical path of the first detecting light 111, is disposed between the first emitting device 110 and the object 130 to be detected, and is adapted to collimate the first detecting light 111 to reduce the divergence angle of the first detecting light 111; the first collimating and condensing structure 160 is also located on the optical path of the second echo light 151, is disposed between the object 130 to be detected and the second detecting device 150, and is adapted to condense the second echo light 151, so that the second echo light 151 is condensed to the corresponding second detecting device 150; furthermore, the first collimating and condensing structure 160 is further adapted to remove stray light from the second echo light 151, so as to suppress noise signals from the light signals collected by the second detecting device 150 and improve the signal-to-noise ratio of the lidar.

Similarly, the second collimating and converging structure 170 is located in the optical path of the second detecting light 121, disposed between the second emitting device 120 and the object 130 to be detected, and adapted to collimate the second detecting light 121 to reduce the divergence angle of the second detecting light 121; the second collimating and converging structure 170 is also located on the optical path of the first echo light 141, is disposed between the target 130 to be detected and the first detecting device 140, and is adapted to converge the first echo light 141, so that the first echo light 141 converges to the corresponding first detecting device 140; in addition, the second collimating and condensing structure 170 is further adapted to remove stray light from the first echo light 141, so as to suppress noise signals from the light signals collected by the first detecting device 140, and improve the signal-to-noise ratio of the laser radar.

Specifically, the first collimating and converging structure 160 includes: a first collimating element 161, said first collimating element 161 adapted to reduce a divergence angle of said first probe light 111; a first filter element 162, wherein the first filter element 162 is adapted to filter out stray light in the second echo light 151; a first focusing element adapted to focus the second echo light 151.

In this embodiment, the first collimating element 161 is a collimating condenser lens; the first filter element 162 is a filter. The collimating condenser lens also serves as the first condensing element to condense the second echo light 151, that is, the collimating condenser lens serves as both the first collimating element 161 and the first condensing element, and the first collimating element 161 and the first condensing element are the same optical element, so as to simplify the structure. In other embodiments of the present invention, the first collimating element and the first focusing element may be implemented by different optical elements.

It should be noted that, as shown in fig. 6, the first collimating and converging structure 160 may further include one or more reflecting elements, and the reflecting elements are adapted to adjust the optical paths of the first probe light 111 and the second echo light 151, so as to improve the detection accuracy and shorten the optical path length.

Similarly, the second collimating and condensing structure 170 includes: a second collimating element 171, said second collimating element 171 adapted to reduce the divergence angle of said second detection light 121; a second filter element 172, wherein the second filter element 172 is adapted to filter out stray light in the first echo light 141; a second concentrating element (not shown) adapted to concentrate the first echo light 141.

In this embodiment, the second collimating element 171 is a collimating and converging lens; the second filter element 172 is a filter. Similar to the first collimating and converging structure 160, in this embodiment, the collimating and converging lens in the second collimating and converging structure 170 also serves as the second converging element to converge the first echo light 141, that is, the collimating and converging lens serves as both the second collimating element 171 and the second converging element, and the second collimating element 171 and the second converging element are the same optical element, so as to simplify the structure. In other embodiments of the present invention, the second collimating element and the second converging element may also be implemented by different optical elements.

It should be noted that, as shown in fig. 6, the second collimating and converging structure 170 may also include one or more reflecting elements, and the reflecting elements are suitable for adjusting the optical paths of the second probe light 121 and the first echo light 141, so as to improve the detection accuracy and shorten the optical path length.

Therefore, as shown in fig. 5 and 6, due to the larger distance between the first emitting device 110 and the second emitting device 120, the probability of the test aperture receiving the first probe light 111 and the second probe light 121 is lower, i.e. when one or more of the first probe light 111 falls into the test aperture, the probability of the second probe light 121 falling into the same test aperture is lower; when one or more of the second probe lights 121 fall into the test aperture, the probability that the first probe light 111 falls into the same test aperture is low. In extreme cases, the test aperture may only receive at most all of the first probe light 111 or at most only all of the second probe light 121.

In an extreme case, at most, only all the first detection light 111 or at most all the second detection light 121 may be received in the test aperture, and the first detection light 111 and the second detection light 121 may not both fall into the test aperture, so compared with the technical scheme that the emission device and the detection device are separately arranged, the mixed arrangement of the emission device and the detection device can effectively reduce the number of the detection light received by the test aperture, and can effectively reduce the energy density of the detection light in the plane of the vertical light propagation direction, thereby effectively improving the AEL of the lidar_s.p.trainThe limit value, on the premise of satisfying the eye safety standard, creates a condition for increasing the power of the first transmitting device 110 and the second transmitting device 120. Therefore, the technical scheme of mixed arrangement of the emitting device and the detecting device can achieve the purpose of improving the laser power under the condition of meeting the eye safety standard, and is beneficial to prolonging the laserThe radar can detect the distance and enlarge the detection range of the laser radar.

Compared with the technical scheme that the emitting device and the detecting device are separately arranged, in this embodiment, when the power of the first detected light 111 and the power of the second detected light 121 are increased by 1.5-2 times, the laser radar can still meet the standard of human eye safety; meanwhile, the detection distance of the laser radar can be expanded by 1.2-1.4 times. Specifically, for the laser radar with the transmitting device and the detecting device separately arranged, on the premise of meeting the eye safety standard, the laser radar can detect the obstacle about 150m farthest; for the laser radar with the mixed arrangement of the emitting device and the detecting device, the detection distance of the laser radar can be as far as 150 × 1.4m, namely 210m, on the premise of meeting the eye safety standard.

First collimation convergence structure 160 with second collimation convergence structure 170 is the optical structure that can enough carry out the collimation to the detected light, can carry out convergence and filtering to echo light again, this kind of mode of setting can be in laser radar, arrange for emitter and detection device's mixture and provide the condition, thereby reach the distance between the increase adjacent emitter, reduce the energy density of detected light in the vertical propagation direction plane, and then under the prerequisite that satisfies people's eye safety standard, improve emitter's power, be favorable to laser radar detection distance's extension and the expansion of detection range, be favorable to realizing giving consideration to of big detection distance and high security.

It should be noted that, as shown in fig. 4, the prefabrication system further includes: a rotor 180 and a stator (not shown), wherein the first cavity 181 and the second cavity 182 are disposed in the rotor 180, and the first emitting device 110, the second emitting device 120, the first detecting device 140, and the second detecting device 150 are all located in the rotor 180. Therefore, as shown in fig. 6, in this embodiment, the first emitting device 110, the second emitting device 120, the first detecting device 140, the second detecting device 150, the first collimating and converging structure 160, and the second collimating and converging structure 170 are disposed in the rotor 180.

Specifically, the rotor 180 is adapted to rotate about the scanning rotation axis 183. The first and second chambers 181 and 182 are disposed in the rotor 180. The first carrier (not shown) and the second carrier (not shown) are also disposed in the rotor 180. The propagation directions of the first detection light 111 and the second detection light 121 are substantially perpendicular to the straight line of the scanning rotation axis 183. Therefore, as the rotor 180 rotates, the propagation directions of the first detection light 111 and the second detection light 121 change.

The mixed arrangement of the emitting devices and the detecting devices can increase the distance between adjacent emitting devices, reduce the energy density of the detected light in the plane perpendicular to the propagation direction, improve the power of the emitting devices on the premise of meeting the human eye safety standard, and facilitate the extension of the detection distance of the laser radar and the expansion of the detection range; and the mixed arrangement of the emitting device and the detecting device does not increase the volume of the rotor 180, does not need to change the structure of the rotor 180 greatly, and is favorable for improving the integration of the laser radar.

In addition, as shown in fig. 3 and fig. 4, in the prefabricated system, in the embodiment, the number of the first carrier 112 is one, and the plurality of first emitting devices 110 and the plurality of second detecting devices 150 are all disposed on the same first carrier 112; the number of the second carrier 122 is also one, and the plurality of second emitting devices 120 and the plurality of first detecting devices 140 are disposed on the same second carrier 122. This is merely an example.

Referring to fig. 9 to 12, schematic structural diagrams corresponding to steps of another embodiment of the lidar manufacturing method of the present invention are shown.

The present embodiment is the same as the previous embodiments, and the description of the present invention is omitted. The difference between this embodiment and the previous embodiment is that, in this embodiment, the number of the first carrier 212 and the second carrier 222 in the prefabricated system is greater than 1.

In this embodiment, as shown in fig. 9, the prefabricated system includes 2 first carriers 212, namely a first carrier 212a and a first carrier 212 b; the plurality of first emitting devices 210 are disposed on the first carrier 212 a; the second emitting devices 220 are disposed on the first carrier 212b

The prefabricated system further comprises 2 second carriers 222, respectively a second carrier 222a and a second carrier 222 b; the plurality of second detecting devices 250 are disposed on the second carrier 222a, and the plurality of first detecting devices 240 are disposed on the second carrier 222 b.

Therefore, the device adjustment process sets the second emitting device 220 at the corresponding position of the second detecting device 250, and sets the second detecting device 250 at the corresponding position of the second emitting device 220.

After the device tuning process, as shown in fig. 10, the first emitting devices 210 are disposed on the first carrier 212 a; the second detecting devices 250 are disposed on the first carrier 212 b; the plurality of second emitting devices 220 are disposed on the second carrier 222 a; the plurality of first detecting devices 240 are disposed on the second carrier 222 b.

The laser radar is provided with the plurality of first bearing bodies and the plurality of second bearing bodies, so that the difficulty in setting the plurality of transmitting devices can be effectively reduced, the assembly difficulty of mixed arrangement of the transmitting devices and the detecting devices is reduced, the increase of the number of the transmitting devices in the multi-line laser radar is facilitated, the assembly difficulty is reduced, and the integration level is improved; the design difficulty of the optical path can be reduced, the design difficulty of the first collimation convergence structure and the second collimation convergence structure is reduced, the optical path precision is improved, the performance is improved, and the manufacturing cost is reduced.

With reference to fig. 10, 11 and 12, fig. 11 shows a schematic structural diagram of the projection of the first transmitting device 210 and the projection of the second detecting device 250 in a plane perpendicular to the propagation direction of the first detecting light after the adjustment of the device in the embodiment of the lidar manufacturing method shown in fig. 10, and fig. 12 shows a schematic structural diagram of the projection of the second transmitting device 220 and the projection of the first detecting device 240 in a plane perpendicular to the propagation direction of the second detecting light after the adjustment of the device in the embodiment of the lidar manufacturing method shown in fig. 10.

In a plane perpendicular to the propagation direction of the first detection light, the forward projection point of the first emitting device 210 and the forward projection point of the second detecting device 250 are spaced apart. Therefore, as shown in fig. 10 and 11, the orthogonal projection points of the plurality of first emitting devices 210 on the first carrier 212a and the orthogonal projection points of the plurality of second detecting devices 250 on the first carrier 212b are sequentially arranged along the mutually perpendicular row direction and column direction in a plane perpendicular to the first detection light propagation direction to form a first projection array. Along the row direction or the column direction of the first projection array, one forward projection point of the second detection device 250 is located between forward projection points of two adjacent first detection devices 210, and one forward projection point of the first emission device 210 is located between forward projection points of two adjacent second detection devices 250.

In a plane perpendicular to the propagation direction of the second detection light, the forward projection point of the second emitting device 220 is spaced from the forward projection point of the first detecting device 240. Therefore, as shown in fig. 10 and 12, the orthogonal projection points of the plurality of second emitting devices 220 on the second carrier 222a and the orthogonal projection points of the plurality of first detecting devices 240 on the second carrier 222b are sequentially arranged along the mutually perpendicular row direction and column direction in a plane perpendicular to the second detecting light propagation direction to form a second projection array. Along the row direction or the column direction of the second projection array, one forward projection point of the first detection device 240 is located between forward projection points of two adjacent second emission devices 220, and one forward projection point of the second emission device 220 is located between forward projection points of two adjacent first detection devices 240.

It should be noted that, as shown in fig. 9, in the prefabricated system, the first emitting device 210 and the second emitting device 220 are respectively disposed on the first carrier 212a and the first carrier 212b, and the first detecting device 240 and the second detecting device 250 are respectively disposed on the second carrier 222b and the second carrier 222 a; after the device adjustment process, as shown in fig. 10, the first emitting device 210 and the second detecting device 250 are respectively disposed on the first carrier 212a and the first carrier 212b, and the second emitting device 220 and the first detecting device 240 are respectively disposed on the second carrier 222a and the second carrier 222 b. This is merely an example.

In other embodiments of the present invention, in the prefabricated system, the plurality of first emitting devices and the plurality of second emitting devices may also be disposed on the plurality of first carriers in a mixed manner, and the plurality of first detecting devices and the plurality of second detecting devices may also be disposed on the plurality of second carriers in a mixed manner. When the plurality of first emitting devices and the plurality of second emitting devices may also be disposed on the plurality of first carriers in a mixed manner, and the plurality of first detecting devices and the plurality of second detecting devices may also be disposed on the plurality of second carriers in a mixed manner, after the device adjustment process, the plurality of first emitting devices and the plurality of second detecting devices are disposed on the plurality of first carriers in a mixed manner, and the plurality of second emitting devices and the plurality of first detecting devices are disposed on the plurality of second carriers in a mixed manner.

Correspondingly, the invention also provides a laser radar.

Referring to fig. 5 to 8, schematic structural diagrams of an embodiment of the lidar according to the present invention are shown.

The laser radar includes:

a first emitting device 110, wherein the first emitting device 110 is adapted to generate a first probe light 111, and the first probe light 111 is reflected by the target 130 to be detected to form a first echo light 141; a second emitting device 120, said second emitting device 120 being adapted to generate a second probe light 121, said second probe light 121 being reflected by the object 130 to be detected to form a second echo light 151; a first detecting device 140, said first detecting device 140 being adapted to receive said first echo light 141; a second detection device 150, said second detection device 150 adapted to receive said second echo light 151; a first collimating and converging structure 160, wherein the first collimating and converging structure 160 is adapted to transmit the first detection light 111 and to project the first detection light 111 to the object 130 to be detected; the first collimating focus structure 160 is further adapted to transmit the second echo light 151 and to project the second echo light 151 to the second detecting device 150; a second collimating and converging structure 170, wherein the second collimating and converging structure 170 is adapted to transmit the second detecting light 121 and to project the second detecting light 121 to the target 130 to be detected; the second collimating and condensing structure 170 is further adapted to transmit the first echo light 141 and to project the first echo light 141 to the first detecting device 140.

The first collimating focus structure 160 is adapted to transmit not only the first probe light 111 but also the second echo light 151 to the second detecting device 150; the second collimating and converging structure 170 is adapted to transmit the second probe light 121 and the first echo light 141 to the first detecting device 140, so that the emitting devices and the detecting devices can be arranged in a mixed manner in the lidar, the distance between adjacent emitting devices can be effectively increased, and the energy density of the probe light in a plane perpendicular to the propagation direction of the light can be effectively reduced; detecting a decrease in optical energy density can effectively improve the AEL of the lidar_s.p.trainA limit value, thereby creating conditions for increasing the power of the first transmitting device 110 and the second transmitting device 120 on the premise of satisfying the eye safety standard. Therefore, the technical scheme of the invention can achieve the purpose of improving the laser power under the condition of meeting the human eye safety standard, and is beneficial to prolonging the detection distance of the laser radar and expanding the detection range of the laser radar.

Moreover, according to the principle that the light path is reversible, the technical scheme that the detection light energy density is reduced by the mixed arrangement of the emitting device and the detecting device can be realized without greatly changing the light path of the existing laser radar, increasing the volume of the existing laser radar and excessively changing other structures of the existing laser radar; therefore, the laser radar can effectively reduce the manufacturing cost and the process difficulty while reducing the energy density of the detection light in the plane of the vertical propagation direction, and can realize the consideration of high integration level and low process difficulty on the premise of ensuring high safety and large detection distance.

In this embodiment, the laser radar is manufactured by the laser radar manufacturing method of the present invention. Therefore, the specific technical solutions of the first emitting device 110, the second emitting device 120, the first detecting device 140, the second detecting device 150, the first collimating and converging structure 160, and the second collimating and converging structure 170 refer to the foregoing embodiments of the laser radar manufacturing method, and the detailed description of the present invention is omitted here.

As shown in fig. 5, in this embodiment, the laser radar further includes: a first carrier 112 and a second carrier 122; the first emitting device 110 and the second detecting device 150 are disposed on the first carrier 112; the second emitting device 120 and the first detecting device 140 are disposed on the second carrier 122. By arranging the detecting device and the transmitting device on the supporting body in a mixed manner, the first supporting body 112 and the second supporting body 122 can be utilized, the internal mechanical parts of the laser radar do not need to be additionally increased, the light path and the internal structure of the laser radar can be realized without greatly changing, the human eye safety standard and the laser power can be considered, the manufacturing difficulty of the laser radar is reduced, and the cost control is facilitated.

As shown in fig. 6, in this embodiment, the laser radar further includes: a first cavity 181 and a second cavity 182 optically isolated from the first cavity 181; the first emitting device 110 is disposed in the first cavity 181; the second emitting device 120 is disposed in the second cavity 182. The first emitting device 110 and the second emitting device 120 are respectively disposed in the first cavity 181 and the second cavity 182, which are optically isolated from each other, so that the distance between the first emitting device 110 and the second emitting device 120 can be effectively increased, and the decrease of the light energy density in the plane perpendicular to the propagation direction of the light can be ensured, namely the first emitting device 110 and the second emitting device 120The improvement of 120 power of the shooting device creates conditions and is beneficial to improving the AEL of the laser radar_s.p.trainThe limit value is beneficial to improving the laser power, prolonging the detection distance of the laser radar and expanding the detection range of the laser radar under the condition of meeting the human eye safety standard.

In addition, in the present embodiment, the first detecting device 140 is disposed in the second cavity 182; the second detecting device 150 is disposed in the first cavity 181. With the first detection device 140 and the second detection device 150 are respectively disposed in the optically isolated second cavity 182 and the first cavity 181, not only can the interference between the first echo light 141 and the second echo light 151 be effectively avoided, so as to improve the signal-to-noise ratio of the laser radar, but also the space of the first cavity 181 and the second cavity 182 can be effectively utilized, without additionally increasing the internal structure and the internal cavity of the laser radar, which is beneficial to the improvement of the performance of the laser radar, the simplification of the mechanical structure of the laser radar, and the improvement of the integration level of the laser radar.

In this embodiment, the forward projection point of the first emitting device 110 and the forward projection point of the second detecting device 150 are spaced apart from each other in a plane perpendicular to the propagation direction of the first detecting light 111; in a plane perpendicular to the propagation direction of the second detection light 121, the forward projection point of the second emitting device 120 and the forward projection point of the first detecting device 140 are spaced apart.

Specifically, as shown in fig. 5, 6 and 7, the plurality of first emitting devices 110 and the plurality of second detecting devices 150 are sequentially arranged along a row direction and a column direction perpendicular to each other on the surface of the first carrier 112 to form a first emitting and detecting array. Along the row direction or the column direction of the first emission detection array, a second detection device 150 is arranged between two adjacent first emission devices 110, and a first emission device 110 is arranged between two adjacent second detection devices 150; as shown in fig. 5, 6 and 8, the plurality of second emitting devices 120 and the plurality of first detecting devices 140 are sequentially arranged along the mutually perpendicular row direction and column direction on the surface of the second carrier 122 to form a second emitting and detecting array. Along the row direction or the column direction of the second emission detection array, a first detection device 140 is arranged between two adjacent second emission devices 120, and a second emission device 120 is arranged between two adjacent first detection devices 140.

It should be noted that in this embodiment, the number of the first transmitting devices 110, the second transmitting devices 120, the first detecting devices 140, and the second detecting devices 150 is multiple, so that along the row direction or the column direction of the first transmitting detecting array or the second transmitting detecting array, each first transmitting device 110 is adjacent to the second detecting device 150, and each second transmitting device 120 is adjacent to the first detecting device 140.

In other embodiments of the present invention, the number of the first emitting device, the second emitting device, the first detecting device, and the second detecting device is 1, and in a plane perpendicular to the propagation direction of the first detected light, the forward projection point of the first emitting device is adjacent to the forward projection point of the second detecting device; and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device is arranged adjacent to the orthographic projection point of the first detecting device.

The first emitting device 110 and the second detecting device 150 are arranged adjacently at intervals, and the second emitting device 120 and the first detecting device 140 are arranged adjacently at intervals, so that the increase of the spacing distance between the adjacent first emitting device 110 and the second emitting device 120 can be ensured, and the increase of the spacing distance between the adjacent first emitting device 110 and the adjacent second emitting device 120 can also be ensured, thereby uniformly reducing the energy of the detection light in the plane of the vertical propagation direction, avoiding the concentration of the detection light in partial space, and improving the laser power to a greater extent under the condition of meeting the safety standard of human eyes, and being beneficial to realizing the compatibility of the safety improvement and the detection range expansion.

Furthermore, in this embodiment, the first collimating and converging structure 160 includes: a first collimating element 161, said first collimating element 161 adapted to reduce a divergence angle of said first probe light 111; a first filter element 162, wherein the first filter element 162 is adapted to filter out stray light in the second echo light 151; a first focusing element adapted to focus the second echo light 151.

Specifically, the first collimating element 161 is a collimating condenser lens; the first filter element 162 is a filter. In this embodiment, the collimating condenser lens also serves as the first condensing element to condense the second echo light 151, that is, the collimating condenser lens serves as both the first collimating element 161 and the first condensing element, and the first collimating element 161 and the first condensing element are the same optical element, so as to simplify the structure. In other embodiments of the present invention, the first collimating element and the first focusing element may be implemented by different optical elements.

The second collimating and condensing structure 170 comprises: a second collimating element 171, said second collimating element 171 adapted to reduce the divergence angle of said second detection light 121; a second filter element 172, wherein the second filter element 172 is adapted to filter out stray light in the first echo light 141; a second concentrating element adapted to concentrate the first echo light 141.

Specifically, the second collimating element 171 is a collimating converging lens; the second filter element 172 is a filter. Similar to the first collimating and converging structure 160, in this embodiment, the collimating and converging lens in the second collimating and converging structure 170 also serves as the second converging element to converge the first echo light 141, that is, the collimating and converging lens serves as both the second collimating element 171 and the second converging element, and the second collimating element 171 and the second converging element are the same optical element, so as to simplify the structure. In other embodiments of the present invention, the second collimating element and the second converging element may also be implemented by different optical elements.

As shown in fig. 6, in this embodiment, the laser radar further includes: a rotor 180 and a stator (not shown), wherein the first emitting device 110, the second emitting device 120, the first detecting device 140, the second detecting device 150, the first collimating and converging structure 160 and the second collimating and converging structure 170 are disposed in the rotor 180.

Specifically, the rotor 180 has a scanning rotation axis 183, and the rotor 180 is adapted to rotate about the scanning rotation axis 183. The first and second chambers 181 and 182 are disposed in the rotor 180. The first carrier (not shown) and the second carrier (not shown) are also disposed in the rotor 180. In this embodiment, the scanning rotation axis 183 is perpendicular to the horizontal plane, but in other embodiments of the present invention, the scanning rotation axis may be oblique to the horizontal plane or parallel to the horizontal plane.

The propagation directions of the first detection light 111 and the second detection light 121 are substantially perpendicular to the straight line of the scanning rotation axis 183. Therefore, as the rotor 180 rotates, the propagation directions of the first detection light 111 and the second detection light 121 change.

The mixed arrangement of the emitting devices and the detecting devices can increase the distance between adjacent emitting devices, reduce the energy density of the detected light in the plane perpendicular to the propagation direction, improve the power of the emitting devices on the premise of meeting the human eye safety standard, and facilitate the extension of the detection distance of the laser radar and the expansion of the detection range; and the mixed arrangement of the emitting device and the detecting device does not increase the volume of the rotor 180, does not need to change the structure of the rotor 180 greatly, and is favorable for improving the integration of the laser radar.

In addition, as shown in fig. 5, in this embodiment, the number of the first carrier 112 is one, and the plurality of first emitting devices 110 and the plurality of second detecting devices 150 are both fixed on the same first carrier 112; the number of the second carrier 122 is also one, and the plurality of second emitting devices 120 and the plurality of first detecting devices 140 are all fixed on the same second carrier 122. This is merely an example.

Referring to fig. 10 to 12, schematic structural diagrams of another embodiment of the lidar of the present invention are shown.

The present embodiment is the same as the previous embodiments, and the description of the present invention is omitted. The difference between this embodiment and the previous embodiment is that in this embodiment, the number of the first carrier 212 and the number of the second carrier 222 are both greater than 1.

As shown in fig. 10, in the present embodiment, the laser radar includes 2 first carriers 212, which are a first carrier 212a and a first carrier 212 b; the plurality of first emitting devices 210 are disposed on the first carrier 212 a; the second detecting devices 250 are disposed on the first carrier 212 b.

The lidar further comprises 2 second carriers 222, respectively a second carrier 222a and a second carrier 222 b; the plurality of second emitting devices 220 are disposed on the second carrier 222 a; the plurality of first detecting devices 240 are disposed on the second carrier 222 b.

The laser radar is provided with the plurality of first bearing bodies and the plurality of second bearing bodies, so that the difficulty in setting the plurality of transmitting devices can be effectively reduced, the assembly difficulty of mixed arrangement of the transmitting devices and the detecting devices is reduced, the increase of the number of the transmitting devices in the multi-line laser radar is facilitated, the assembly difficulty is reduced, and the integration level is improved; the design difficulty of the optical path can be reduced, the design difficulty of the first collimation convergence structure and the second collimation convergence structure is reduced, the optical path precision is improved, the performance is improved, and the manufacturing cost is reduced.

With combined reference to fig. 10, 11 and 12, fig. 11 shows a schematic structural diagram of the projection of the first transmitting device 210 and the projection of the second detecting device 250 in a plane perpendicular to the propagation direction of the first detecting light in the laser radar embodiment shown in fig. 10, and fig. 12 shows a schematic structural diagram of the projection of the second transmitting device 220 and the projection of the first detecting device 240 in a plane perpendicular to the propagation direction of the second detecting light in the laser radar embodiment shown in fig. 10.

In a plane perpendicular to the propagation direction of the first detection light, the forward projection point of the first emitting device 210 and the forward projection point of the second detecting device 250 are spaced apart. Therefore, as shown in fig. 10 and 11, the orthogonal projection points of the plurality of first emitting devices 210 on the first carrier 212a and the orthogonal projection points of the plurality of second detecting devices 250 on the first carrier 212b are sequentially arranged along the mutually perpendicular row direction and column direction in a plane perpendicular to the first detection light propagation direction to form a first projection array. Along the row direction or the column direction of the first projection array, one forward projection point of the second detection device 250 is located between forward projection points of two adjacent first detection devices 210, and one forward projection point of the first emission device 210 is located between forward projection points of two adjacent second detection devices 250.

In a plane perpendicular to the propagation direction of the second detection light, the forward projection point of the second emitting device 220 is spaced from the forward projection point of the first detecting device 240. Therefore, as shown in fig. 10 and 12, the orthogonal projection points of the plurality of second emitting devices 220 on the second carrier 222a and the orthogonal projection points of the plurality of first detecting devices 240 on the second carrier 222b are sequentially arranged along the mutually perpendicular row direction and column direction in a plane perpendicular to the second detecting light propagation direction to form a second projection array. Along the row direction or the column direction of the second projection array, one forward projection point of the first detection device 240 is located between forward projection points of two adjacent second emission devices 220, and one forward projection point of the second emission device 220 is located between forward projection points of two adjacent first detection devices 240.

It should be noted that, in this embodiment, the first emitting device 210 and the second detecting device 250 are respectively disposed on the first carrier 212a and the first carrier 212b, and the second emitting device 220 and the first detecting device 240 are respectively disposed on the second carrier 222a and the second carrier 222 b. This is merely an example.

In other embodiments of the present invention, the plurality of first emitting devices and the plurality of second detecting devices may also be disposed on the plurality of first carriers in a mixed manner, that is, one first carrier may be disposed with both the first emitting device and the second detecting device; the plurality of second emitting devices and the plurality of first detecting devices may also be disposed on the plurality of second carriers in a mixed manner, that is, one of the second carriers may be disposed with both the second emitting devices and the first detecting devices.

In this embodiment, the laser radar is manufactured by the laser radar manufacturing method of the present invention. The lidar of the present invention may be manufactured by, but is not limited to, the above-described manufacturing method of the lidar.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (11)

1. A lidar, comprising:

the first emitting device is suitable for generating first detection light, and the first detection light is reflected by a target to be detected to form first echo light;

the second emitting device is suitable for generating second detection light, and the second detection light is reflected by a target to be detected to form second echo light;

a first detection device adapted to receive the first echo light;

a second detection device adapted to receive the second echo light;

a first collimating converging structure adapted to transmit the first probe light and to project the first probe light to the object to be detected; the first collimating focus structure is further adapted to transmit the second echo light and to project the second echo light to the second detecting device;

a second collimating and converging structure adapted to transmit the second detection light and project the second detection light to the target to be detected; the second collimating and condensing structure is further adapted to transmit the first echo light and to project the first echo light to the first detecting device.

2. The lidar of claim 1, further comprising: a first carrier and a second carrier;

the first emitting device and the second detecting device are arranged on the first bearing body;

the second emitting device and the first detecting device are arranged on the second bearing body.

3. The lidar of claim 1, further comprising: a first cavity and a second cavity optically isolated from the first cavity;

the first emitting device is arranged in the first cavity;

the second emitting device is disposed in the second cavity.

4. The lidar of claim 3, wherein the first sensing device is disposed within the second cavity.

5. The lidar of claim 3, wherein the second sensing device is disposed within the first cavity.

6. The lidar of claim 1, wherein a forward projection point of the first transmitting means is disposed adjacent to a forward projection point of the second detecting means in a plane perpendicular to a direction of propagation of the first probe light;

and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device is arranged adjacent to the orthographic projection point of the first detecting device.

7. The lidar of claim 1 or 6, wherein the first transmitting means is plural in number, and the second transmitting means is plural in number; the number of the first detection devices is multiple, and the number of the second detection devices is multiple;

in a plane perpendicular to the propagation direction of the first detection light, the orthographic projection point of the first emitting device and the orthographic projection point of the second detecting device are arranged at intervals;

and in a plane perpendicular to the propagation direction of the second detection light, the orthographic projection point of the second emitting device and the orthographic projection point of the first detecting device are arranged at intervals.

8. The lidar of claim 1, wherein the first collimating converging structure comprises:

a first collimating element adapted to reduce a divergence angle of the first probe light;

a first filter element adapted to filter stray light from the second echo light;

a first focusing element adapted to focus the second echo light.

9. The lidar of claim 1, wherein the second collimating and condensing structure comprises:

a second collimating element adapted to reduce a divergence angle of the second probe light;

a second filter element adapted to filter stray light from the first echo light;

a second concentrating element adapted to concentrate the first echo light.

10. The lidar of claim 1, wherein the lidar further comprises: a rotor and a stator, the first emitting device, the second emitting device, the first detecting device, the second detecting device, the first collimating converging structure and the second collimating converging structure being disposed within the rotor.

11. A method of manufacturing a lidar comprising:

providing a prefabrication system, the prefabrication system including: the first emitting device is suitable for generating first detection light, and the first detection light is reflected by a target to be detected to form first echo light; the second emitting device is suitable for generating second detection light, and the second detection light is reflected by a target to be detected to form second echo light; a first detection device adapted to receive the first echo light; a second detection device adapted to receive the second echo light;

performing device adjustment processing, wherein in the process of performing the device adjustment processing, the second transmitting device is arranged at the position of the corresponding second detecting device, and the second detecting device is arranged at the position of the corresponding second transmitting device;

arranging a first collimating and converging structure and a second collimating and converging structure, wherein the first collimating and converging structure is suitable for transmitting the first detection light and projecting the first detection light to the target to be detected; the first collimating focus structure is further adapted to transmit the second echo light and to project the second echo light to the second detecting device; the second collimating and converging structure is suitable for transmitting the second detection light and projecting the second detection light to the target to be detected; the second collimating and condensing structure is further adapted to transmit the first echo light and to project the first echo light to the first detecting device.

Images