CN113341424A - Laser radar for preventing light leakage - Google Patents
Laser radar for preventing light leakage Download PDFInfo
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- CN113341424A CN113341424A CN202110897735.9A CN202110897735A CN113341424A CN 113341424 A CN113341424 A CN 113341424A CN 202110897735 A CN202110897735 A CN 202110897735A CN 113341424 A CN113341424 A CN 113341424A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar capable of preventing light leakage. The laser radar according to an embodiment of the present invention includes: a first lens having an optical axis along a first direction; a second lens having an optical axis along a first direction; a first substrate disposed on a first direction side of the first lens; a second substrate disposed on a first direction side of the second lens; an emitter capable of emitting laser light, provided on a surface of the first substrate facing the first lens; and a receiving unit capable of receiving the laser beam, provided on a surface of the second substrate facing the second lens, the first substrate and the second substrate being offset by a predetermined distance in the first direction.
Description
Technical Field
The invention relates to the field of optics, in particular to a laser radar capable of preventing light leakage.
Background
In the field of autonomous driving, autonomous vehicles may detect surrounding objects by means of a device such as a laser radar (LIDAR). The lidar may obtain related information such as a distance, a speed, and the like about the surrounding object by emitting a laser beam to the surrounding three-dimensional space as a detection signal, and causing the laser beam to be reflected as an echo signal and return after being irradiated to the object in the surrounding space, and comparing the received echo signal with the emitted detection signal.
The laser radar comprises a transmitting module and a receiving module. The emitting module generates and emits laser beams, and the laser beams which are irradiated on surrounding objects and reflected back are received by the receiving module. Since the speed of light is known, the distance of surrounding objects relative to the lidar can be measured by the propagation time of the laser.
With respect to the emission of laser light, the existing laser radar has achieved 32-line or 64-line laser output. In such a multiline lidar, a configuration is adopted in which a plurality of edge-emitting lasers (EELs) are provided in a transmitting module. The laser light of the edge-emitting laser is emitted perpendicularly to the top surface, i.e. the laser light is emitted from the side surface of the edge-emitting laser. Therefore, in the related art, as shown in fig. 1, a plurality of edge-emitting lasers 10 are respectively disposed at the edges of a plurality of substrates 20, and then the plurality of substrates are stacked to realize a multi-line lidar.
At this time, since the edge-emitting laser 10 is located at the edge of the substrate 20, a plurality of substrates need to be disposed on the emitting module, and since the edge-emitting laser 10 and the detector of the receiving module cannot be located on the same substrate, a substrate for disposing a detector needs to be additionally disposed.
This results in an increase in the number of substrates and an increase in the overall volume and cost of the lidar.
Disclosure of Invention
The invention provides a laser radar capable of preventing light leakage.
The laser radar according to an embodiment of the present invention includes: a first lens having an optical axis along a first direction; a second lens having an optical axis along a first direction; a first substrate disposed on a first direction side of the first lens; a second substrate disposed on a first direction side of the second lens; an emitter capable of emitting laser light, provided on a surface of the first substrate facing the first lens; and a receiving unit capable of receiving the laser beam, provided on a surface of the second substrate facing the second lens, the first substrate and the second substrate being offset by a predetermined distance in the first direction.
Also, the first substrate and the second substrate may partially overlap in the first direction.
Also, the first and second lenses may be staggered by a predetermined distance in the first direction.
A laser radar according to another embodiment of the present invention includes: a first lens having an optical axis along a first direction; a second lens having an optical axis along a first direction and spaced apart from the first lens along a second direction perpendicular to the first direction; a first substrate disposed on a first direction side of the first lens; a second substrate disposed on a first direction side of the second lens; an emitter capable of emitting laser light, provided on a surface of the first substrate facing the first lens; and a receiving unit capable of receiving the laser beam, the receiving unit being disposed on a surface of the second substrate facing the second lens, the first substrate and the second substrate being spaced apart from each other in the second direction.
Also, the first substrate and the second substrate may be disposed on the same plane.
And, a blocking member blocking light may be disposed between the first substrate and the second substrate.
A laser radar according to another embodiment of the present invention includes: a support part in which a first lens and a second lens are arranged with optical axes parallel to each other; the first substrate and the second substrate are respectively fixed on the supporting parts, the first substrate is positioned on one side of the optical axis direction of the first lens and is provided with a transmitting part for emitting laser, the second substrate is positioned on one side of the optical axis direction of the second lens and is provided with a receiving part for receiving the laser, the laser emitted from the transmitting part is emitted to the outside of the laser radar after passing through the first lens inside the supporting part, the laser reflected outside the laser radar is incident to the receiving part after passing through the second lens inside the supporting part, the part of the supporting part for fixing the first substrate protrudes along the optical axis direction relative to the part for fixing the second substrate, or the part of the supporting part for fixing the second substrate protrudes along the optical axis direction relative to the part for fixing the first substrate, so that the first substrate and the second substrate are staggered by a preset distance in the optical axis direction.
Also, the first substrate and the second substrate may partially overlap in the optical axis direction, and the first lens and the second lens may be shifted by a predetermined distance in the optical axis direction.
A laser radar according to another embodiment of the present invention includes: a support part in which a first lens and a second lens are arranged with optical axes parallel to each other; the first substrate and the second substrate are respectively fixed on the supporting parts, the first substrate is positioned on one side of the optical axis direction of the first lens and is provided with a transmitting part for emitting laser, the second substrate is positioned on one side of the optical axis direction of the second lens and is provided with a receiving part for receiving the laser, the laser emitted from the transmitting part is emitted to the outside of the laser radar after passing through the first lens inside the supporting part, the laser reflected by the outside of the laser radar is incident to the receiving part after passing through the second lens inside the supporting part, the first substrate and the second substrate are separated in the direction perpendicular to the optical axis, and a protruding part for covering the adjacent side surfaces of the first substrate and the second substrate is formed between the position for fixing the first substrate and the position for fixing the second substrate.
Also, the first substrate and the second substrate may be disposed on the same plane.
According to an embodiment of the present invention, the first substrate provided with the transmitting portion and the second substrate provided with the receiving portion of the laser radar are separated, so that the laser light can be prevented from entering the receiving portion through the substrates, that is, the light leakage phenomenon between the transmitting portion and the receiving portion can be further prevented.
The effects of the present invention are not limited to the above-described effects, and those skilled in the art can derive the effects not described above from the following description.
Drawings
Fig. 1 is a perspective view showing a laser emission module according to the related art.
Fig. 2 is a plan view showing a laser radar according to a first embodiment of the present invention.
Fig. 3 is a perspective view showing a laser radar according to a first embodiment of the present invention.
Fig. 4 is a perspective view showing a transmission module according to a first embodiment of the present invention.
Fig. 5 is a plan view showing a laser radar according to a second embodiment of the present invention.
Fig. 6 is a plan view showing a laser radar according to a third embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the following disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or all exemplary embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the following examples, belong to the scope of protection of the present invention.
Also, in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the drawings, and are simply simplified descriptions for convenience of describing the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
< first embodiment >
Fig. 2 is a plan view showing a laser radar according to a first embodiment of the present invention. Fig. 3 is a perspective view showing a laser radar according to a first embodiment of the present invention.
As shown in fig. 2, the laser radar according to the first embodiment of the present invention may include a transmitting part 100, a receiving part 200, a first substrate 300, a second substrate 400, a first lens 500, and a second lens 600. The emitting part 100 may emit laser light based on the driving of a driving circuit located at the first substrate 300. The emitted laser light is generally divergent and thus can be collimated by the first lens 500 and emitted as a detection signal to the outside of the lidar. The laser light reflected by the external object of the laser radar may be incident into the laser radar as an echo signal, and the laser light incident into the laser radar may be focused by the second lens 600 and then incident into the receiving unit 200. The receiving part 200 may be provided on the second substrate 400, and the second substrate 400 may be provided with an electronic device for processing an electric signal output from the receiving part 200. Accordingly, the separation distance of the surrounding object from the laser radar can be measured by a time of flight (TOF) method using the laser radar.
The functions of the respective components of the laser radar are explained above with reference to fig. 2. Next, the laser radar according to the first embodiment of the present invention will be described in more detail with reference to fig. 2 to 4.
The emitting part 100 may include a laser array 110. The laser array 110 may include a plurality of Edge Emitting Lasers (EELs) or a plurality of Vertical Cavity Surface Emitting Lasers (VCSELs). Also, the laser array 110 may be a structure in which a plurality of Edge Emitting Lasers (EELs) or a plurality of Vertical Cavity Surface Emitting Lasers (VCSELs) are integrally combined. Also, the laser array 110 may be a linear array or an area array. In the following description, a case where the laser array 110 is configured as a line array by using a plurality of edge-emitting lasers (EELs) will be described. The invention is not so limited and the laser array 110 may be other types of arrays.
Fig. 4 is a perspective view showing a transmission module according to a first embodiment of the present invention. As shown in fig. 4, the emission module may include a laser array 110, a heat sink 120, and a first substrate 300. Among them, the laser array 110 and the heat sink 120 may constitute the emitting part 100 shown in fig. 2 and 3.
The laser array 110 may include a plurality of edge-emitting lasers, among others. The plurality of edge-emitting lasers included in the laser 110 may have a structure in which the negative electrodes or the positive electrodes are connected to each other while the other of the negative electrodes and the positive electrodes are spaced apart from each other. For example, the cathodes of the plurality of edge-emitting lasers included in the laser array 110 may be connected to each other to form one cathode, and the anodes may be formed separately.
As shown in fig. 4, the laser array 110 may be disposed on a heat sink 120. The heat sink 120 may be formed using, for example, ceramic. A metal pattern, not shown, may be formed on the surface of the heat sink 120. The anode and the cathode of the laser array 110 may be electrically connected to the metal pattern of the heat sink 120 by welding, and the metal pattern of the heat sink 120 may be electrically connected to the first substrate 300 through a surface of the heat sink 120 contacting the first substrate 300, so that the anode and the cathode of the laser array 110 disposed on the heat sink 120 may be electrically connected to the first substrate 300 through the metal pattern. Among other things, the heat sink 120 may better dissipate heat of the laser array 110 and may turn the light emitting direction of the edge-emitting laser to be perpendicular to the first substrate.
In addition, when the laser array 110 is an area array, the laser array 110 may be directly fixed to the first substrate 300 without the heat sink 120 and may be electrically connected to the first substrate 300.
The first substrate 300 may be a Printed Circuit Board (PCB). A circuit may be formed on the first substrate 300. And a driving circuit may be provided on the first substrate 300, and the driving circuit may drive each laser of the emitting part 100 to make the emitting part 100 emit laser. The number of driving circuits may be the same as the number of lasers included in the emitting part 100. Also, the driving circuit may be distributed around the emission part 100 on the substrate 300.
A first lens 500 may be disposed in front of the optical path of the emitting part 100. The laser light emitted from the emitting part 100 may be directly incident to the first lens 500 without passing through a mirror between the emitting part 100 and the first lens 500. The first lens 500 may collimate the light emitted from the emitting part 100 and emit the collimated light to the outside. The first lens 500 may collimate and emit light emitted from the plurality of lasers to the outside. For this reason, the first lens 500 may be constituted by a lens group or an optical system, and the number of lenses included in the lens group or the optical system is not limited, and may be 3 or more, for example.
The laser light emitted from the first lens 500 and reflected outside the laser radar may be incident on the second lens 600. The second lens 600 may be the same lens group as the first lens 500, and an optical axis of the second lens 600 may be parallel to an optical axis of the first lens 500. Accordingly, the second lens 600 may focus the incident laser light on the receiving part 200. The echo signal passing through the second lens 600 may be directly incident on the receiving unit 200 without passing through a mirror between the second lens 600 and the receiving unit 200.
The receiving part 200 may include a plurality of receivers capable of sensing light. The plurality of receivers may be arranged in an array of n rows and m columns, or may be arranged in a 1 × n line array form. The arrangement form of the plurality of receivers may correspond to the laser in the emitting part 100. The receiver may be a photosensor such as an APD and SPAD. The receiver of the receiving unit 200 can receive an echo signal in the form of an optical signal and output the echo signal in the form of an electrical signal.
The receiving part 200 may be disposed on the second substrate 400. The second substrate 400 may be a Printed Circuit Board (PCB), and may be provided with an electronic device for performing a subsequent process on an output signal of the receiving part 200. For example, an amplification circuit such as a transimpedance amplifier (TIA) array or the like for amplifying an output signal of the receiving section 200, or another post-processing circuit may be provided on the second substrate 400.
The electrical signal amplified at the second substrate 400 may be transmitted to a processor of a laser radar, etc. The processor may be located at other positions than the second substrate 400. The processor may calculate the standoff distance of an object outside the lidar based on the received electrical signal and the control signal that emitted the laser.
Next, the positional relationship among the transmitter 100, the receiver 200, the first substrate 300, and the second substrate 400 will be described.
Reducing the interval between the transmitting part 100 and the receiving part 200 may reduce the blind area of the lidar and reduce the size of the lidar. Therefore, the conventional method is to dispose the emitting portion 100 and the receiving portion 200 on the same substrate, and dispose a light-shielding member in front of the substrate to prevent the laser light emitted from the emitting portion 100 from being reflected in front of the substrate and entering the receiving portion 200. However, the applicant found that the following problems occur when the transmitter 100 and the receiver 200 are provided on the same substrate: the material FR4 generally used for the substrate has a certain light transmittance, and laser light emitted from the emitting portion 100 may enter the substrate through the upper surface of the substrate (for example, an area not completely covered by ink around a pad or an area where no copper layer exists) after being reflected by the first mirror or other components in front of the emitting portion 100, and then enter the receiving portion 200 by being transmitted from the upper surface of the substrate around the receiving portion 200 after being transmitted inside the substrate, thereby interfering with the normal operation of the receiving portion 200. The applicant has also found that the above-mentioned light leakage phenomenon exists and seriously affects the detection of the receiving part 200. In particular, when the laser radar detects an object at a long distance (for example, 200 meters), the intensity of the light entering the receiving unit 200 through the substrate is high compared to the returned echo signal, and thus the light cannot be ignored.
Therefore, in the first embodiment of the present invention, by separating the first substrate 300 and the second substrate 400, a light leakage phenomenon of laser light from the emitting part 100 to the receiving part 200 through the first substrate 300 and the second substrate 400 can be prevented.
In the first embodiment of the present invention, it is possible to prevent the laser light from entering the receiving portion 200 from the emitting portion 100 through the first substrate 300 and the second substrate 400 by shifting the first substrate 300 and the second substrate 400 in the front-rear direction (the up-down direction in fig. 2, the y direction in fig. 3). Also, although not shown in the drawings, the laser radar according to the present invention may further include a lens barrel. The lens barrel may be positioned in front of the first and second substrates 300 and 400 to fix the first and second lenses 500 and 600 in front of the first and second substrates 300 and 400 and prevent the laser light emitted from the emitting part 100 from being reflected inside the laser radar and entering the receiving part 200 in front of the first and second substrates 300 and 400.
In the present application, by arranging the first substrate 300 provided with the emitting portion 100 and the second substrate 400 provided with the receiving portion 200 to be shifted in the laser emitting direction or the receiving direction, it is also possible to overlap partial regions of the first substrate 300 and the second substrate 400 to increase the size of the first substrate 300 and the second substrate 400 between the emitting portion 100 and the receiving portion 200. Among them, the first substrate 300 and the second substrate 400 are preferably arranged in parallel so that a light emitting path constituted by the emitting part 100 and the first lens 500 is parallel to a light receiving path constituted by the receiving part 200 and the second lens 600. Therefore, the emission and reception of the laser light are not affected.
Further, it is preferable to reduce the influence of the shift on the emission and reception of the laser light by reducing the shift distance between the front and back (in the y direction of fig. 3) of the first substrate 300 and the second substrate 400. For example, the offset distance should be as small as possible without causing the electronic devices on the first substrate 300 and the second substrate 400 to collide, and it is preferable that there is no overlapping portion of the first substrate 300 and the second substrate 400 themselves in the front-rear direction.
As the first substrate 300 and the second substrate 400 are staggered in the front-rear direction, the transmitting unit 100 and the receiving unit 200 are also staggered in the front-rear direction, and the first lens 500 and the second lens 600 may also be staggered in the front-rear direction.
In fig. 2, the first substrate 300 is shown in front of the second substrate 400, but the present invention is not limited thereto, and the second substrate 400 may be positioned in front of the first substrate 300. The first substrate 300 may extend in the left direction of fig. 2 (the-x direction of fig. 3) to the position of the light sensing surface of the receiving portion 200. When the emitting part 100 is disposed as shown in fig. 4 (the laser 110 is disposed in the Z direction of fig. 2), the receiver of the receiving part 200 may also be disposed in the Z direction as shown in fig. 4. In this case, the width of the receiving unit 200 in the x direction is small, and the substrate area increase due to the overlapping can be made large. The extension length of the second substrate 400 at the rear surface of the first substrate 300 may not be limited. Thus, the area of the substrate between the receiving part 200 and the transmitting part 100 can be greatly increased by the above-described manner.
< second embodiment >
Fig. 5 is a plan view showing a laser radar according to a second embodiment of the present invention.
The lidar according to the second embodiment differs from the lidar according to the first embodiment in that the lidar according to the second embodiment further comprises a support 700. Like the lidar according to the first embodiment, the lidar according to the second embodiment also includes a transmitting portion 100, a receiving portion 200, a first substrate 300, a second substrate 400, a first lens 500, and a second lens 600.
The first lens 500 and the second lens 600 may be fixed inside the support 700. The optical paths of the laser light of the laser radar according to the first embodiment and the laser radar according to the second embodiment may be the same, except that a support part 700 for fixing the transmitting part 100, the receiving part 200, the first substrate 300, the second substrate 400, the first lens 500, and the second lens 600 is additionally provided in the laser radar of fig. 2.
Wherein the support 700 may have a first space communicating the emitting part 100 and the first lens 500 and a second space communicating the receiving part 200 and the second lens 600. And, the support part 700 isolates the first space and the second space.
The first substrate 300 and the second substrate 400 may also be fixed to the support part 700. The first and second substrates 300 and 400 may be fixed to the inside of the support part 700 or the outside of the support part 700. Fig. 5 illustrates a state where the first substrate 300 and the second substrate 400 are fixed to the outside of the supporting part 700. The first substrate 300 and the second substrate 400 may be fixed to the support 700 by, for example, screw coupling. When the first and second substrates 300 and 400 are fixed outside the support part 700, the emitting part 100 positioned at the first substrate 300 and the receiving part 200 positioned at the second substrate 400 may be positioned inside or outside the support part 700. The first substrate 300 and the second substrate 400 may be fixed by inserting the holes on the rear side of the support 700 into the support 700.
The laser radar according to the present embodiment may be characterized in that a portion of the support part 700 fixing the second substrate 400 protrudes in the optical path direction (or the optical axis direction of the first lens and/or the second lens) with respect to a portion fixing the first substrate 300, so that the first substrate 300 and the second substrate 400 may be staggered and not located on the same plane when fixed to the support part 700, and the above-described light leakage phenomenon may be prevented.
< third embodiment >
Fig. 6 is a plan view showing a laser radar according to a third embodiment of the present invention.
The laser radar according to the third embodiment may also include a support part 700. The laser radar according to the third embodiment may be different from the laser radar according to the second embodiment in that the first substrate 300 and the second substrate 400 of the laser radar according to the third embodiment may be located on the same plane. That is, the transmitting unit 100 and the receiving unit 200 may be located on the same plane, and the first lens 500 and the second lens 600 may be located on the same plane.
A protrusion part for separating the first substrate 300 and the second substrate 400 may be formed between the position of the support part 700 where the first substrate 300 is fixed and the position where the second substrate 400 is fixed, so that the light leakage phenomenon as described above may be prevented. The protruding portion of the support 700 may function as a barrier to prevent light leakage through the first and second substrates 300 and 400.
In addition to providing the protruding portion on the support portion 700, in the laser radar according to the first embodiment, the first substrate 300 and the second substrate 400 may be spaced apart in the x direction of fig. 3 without shifting the first substrate 300 and the second substrate 400 in the front-rear direction. This also serves to prevent the laser light from being transmitted through the same substrate and entering the receiving portion. More preferably, a barrier separating the first substrate 300 and the second substrate 400 may be disposed between the first substrate 300 and the second substrate 400. The blocking member may cover opposite sides of the first and second substrates 300 and 400 as shown in fig. 6 to block light between the first and second substrates 300 and 400.
The laser radar for preventing light leakage according to the present invention has been described above. The laser radar according to the present invention may further include a galvanometer or a turning mirror for scanning the emitted laser light in front of the first lens 500 and the second lens 600, in addition to the above-described components. Alternatively, the optical pickup may include a rotating unit that rotates the transmitting unit 100, the receiving unit 200, the first substrate 300, the second substrate 400, the first lens 500, and the second lens 600.
The embodiments described above with respect to the apparatus and method are merely illustrative, where separate units described may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. may be located in one location, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the technical solution of the present invention.
Claims (10)
1. A lidar, comprising:
a first lens having an optical axis along a first direction;
a second lens having an optical axis along a first direction;
a first substrate disposed on a first direction side of the first lens;
a second substrate disposed on a first direction side of the second lens;
an emitter capable of emitting laser light, provided on a surface of the first substrate facing the first lens;
a receiving unit capable of receiving the laser beam and provided on a surface of the second substrate facing the second lens,
the first and second substrates are staggered by a predetermined distance in a first direction.
2. Lidar according to claim 1,
the first substrate and the second substrate partially overlap in the first direction.
3. Lidar according to claim 1,
the first and second lenses are staggered by a predetermined distance in a first direction.
4. A lidar, comprising:
a first lens having an optical axis along a first direction;
a second lens having an optical axis along a first direction and spaced apart from the first lens along a second direction perpendicular to the first direction;
a first substrate disposed on a first direction side of the first lens;
a second substrate disposed on a first direction side of the second lens;
an emitter capable of emitting laser light, provided on a surface of the first substrate facing the first lens;
a receiving unit capable of receiving the laser beam and provided on a surface of the second substrate facing the second lens,
the first substrate and the second substrate are spaced apart along a second direction.
5. Lidar according to claim 4,
the first substrate and the second substrate are disposed on the same plane.
6. Lidar according to claim 4,
a blocking member for blocking light is disposed between the first substrate and the second substrate.
7. A lidar, comprising:
a support part in which a first lens and a second lens are arranged with optical axes parallel to each other;
a first substrate and a second substrate respectively fixed on the supporting parts,
the first substrate is arranged at one side of the first lens in the optical axis direction and is provided with an emitting part for emitting laser,
the second substrate is arranged at one side of the second lens in the optical axis direction and is provided with a receiving part for receiving laser,
the laser emitted from the emitting part is emitted to the outside of the laser radar after passing through the first lens in the supporting part, the laser reflected by the outside of the laser radar enters the receiving part after passing through the second lens in the supporting part,
the portion of the support portion to which the first substrate is fixed protrudes in the optical axis direction relative to the portion to which the second substrate is fixed, or the portion of the support portion to which the second substrate is fixed protrudes in the optical axis direction relative to the portion to which the first substrate is fixed, so that the first substrate and the second substrate are offset by a predetermined distance in the optical axis direction.
8. Lidar according to claim 7,
the first substrate and the second substrate are partially overlapped in the optical axis direction,
the first lens and the second lens are shifted by a predetermined distance in the optical axis direction.
9. A lidar, comprising:
a support part in which a first lens and a second lens are arranged with optical axes parallel to each other;
a first substrate and a second substrate respectively fixed on the supporting parts,
the first substrate is arranged at one side of the first lens in the optical axis direction and is provided with an emitting part for emitting laser,
the second substrate is arranged at one side of the second lens in the optical axis direction and is provided with a receiving part for receiving laser,
the laser emitted from the emitting part is emitted to the outside of the laser radar after passing through the first lens in the supporting part, the laser reflected by the outside of the laser radar enters the receiving part after passing through the second lens in the supporting part,
the first substrate and the second substrate are spaced apart in a direction perpendicular to the optical axis, and the support portion is formed with a protruding portion that covers adjacent side surfaces of the first substrate and the second substrate between a position where the first substrate is fixed and a position where the second substrate is fixed.
10. Lidar according to claim 9,
the first substrate and the second substrate are disposed on the same plane.
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