CN116482655A

CN116482655A - Laser transmitting device, laser receiving device and laser radar

Info

Publication number: CN116482655A
Application number: CN202310600874.XA
Authority: CN
Inventors: 冯亮; 种洪涛; 王刚; 付团伟
Original assignee: Focuslight Technologies Inc
Current assignee: Focuslight Technologies Inc
Priority date: 2023-05-25
Filing date: 2023-05-25
Publication date: 2023-07-25

Abstract

The embodiment of the application relates to the technical field of radars and discloses a laser emission device, a laser receiving device and a laser radar, wherein the laser emission device comprises: a light source carrier; a first base positioned at one side of the light source carrier; the light source is arranged on the other side of the light source carrier relative to the first base and is used for emitting laser to the detection area; the first lens is arranged on the light emitting side of the light source and is used for receiving laser and reducing the beam divergence angle of the laser; the second lens is arranged on the first base and is used for receiving the laser output by the first lens, collimating and outputting the laser; the ratio of the focal power of the first lens to the total focal power of the laser emitting device is a first ratio and a second ratio, and the first ratio and the second ratio are both larger than 0, and the sum of the first ratio and the second ratio is 1. By means of the mode, the influence on the laser beam pointing angle when the bearing part of the optical element in the laser radar is deformed is reduced.

Description

Laser transmitting device, laser receiving device and laser radar

Technical Field

The embodiment of the application relates to the technical field of radars, in particular to a laser transmitting device, a laser receiving device and a laser radar.

Background

With the development of technology, the laser radar technology has gradually developed laser tracking, laser speed measurement, laser scanning imaging, laser doppler imaging and other technologies from the original laser ranging technology, so that various different types of laser radars are developed and are widely applied to various fields. For example, in the field of robots, laser radars are used to help robots achieve autonomous positioning navigation; in the unmanned vehicle field, a laser radar is utilized to autonomously sense the road environment and plan a route; in the field of unmanned aerial vehicles, obstacle avoidance is performed by using a laser radar; in the field of augmented Reality (Augmented Reality, AR)/Virtual Reality (VR), a three-dimensional spatial position is precisely located by using a lidar, and the like.

The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target object by emitting laser beams, and the working principle of the laser radar is that a laser emitting device firstly emits outgoing light signals for detection to the target, then a laser receiving device receives reflected light signals reflected from the target object, the reflected light signals are compared with the outgoing light signals, and related information of the target object such as parameters of distance, azimuth, height, speed, gesture, even shape and the like can be obtained after processing. The laser radar at least comprises a laser emitting device and a laser receiving device.

Based on the working principle of the laser radar, the laser receiving device can accurately receive the laser reflected by the target object only when the laser emitted by the laser emitting device for detection can accurately reach the target object. Typically the positions of the laser emitting and receiving means in the lidar are fixed. However, the components in the laser emitting device are usually made of different materials, and the different materials have different coefficients of thermal expansion (Coefficient of thermal expansion, CTE), so that the components made of the different CTE materials are prone to different deformation under high and low temperature environments or under the condition of performing reliability tests on the laser radar. If the bearing parts of the optical element are deformed, the parts are offset, so that the laser beams emitted by the laser emitting device are offset, that is, the emitted laser beams cannot accurately reach the target object, that is, the detection cannot be completed. Therefore, how to ensure that the lidar can effectively detect the target object is a problem to be solved under the conditions of high and low temperature environments or after the reliability test of the lidar.

Disclosure of Invention

In view of the above-mentioned problems, embodiments of the present application provide a laser transmitting device, a laser receiving device, and a laser radar, which are used for solving the problem that after a bearing component of an optical element in the laser radar is deformed, the pointing angle of a laser beam emitted by the laser transmitting device is changed in the prior art.

According to an aspect of the embodiments of the present application, there is provided a laser emitting apparatus, the laser emitting including: a light source carrier; the first base is arranged on one side of the light source carrier; the light source is arranged on the other side of the light source carrier relative to the first base and is used for emitting laser to the detection area; the first lens is arranged on the light emitting side of the light source and is used for receiving the laser and reducing the beam divergence angle of the laser; the second lens is arranged on the first base and is used for receiving the laser output by the first lens and outputting the received laser after collimation; the ratio of the focal power of the first lens to the total focal power of the laser emitting device is a first ratio, the ratio of the focal power of the second lens to the total focal power of the laser emitting device is a second ratio, the first ratio and the second ratio are both larger than 0, and the sum of the first ratio and the second ratio is 1.

In an alternative, the first ratio is greater than the second ratio.

In an alternative, the first lens is fixed to the light source carrier by a first fixing member or directly to the light source carrier, or

The first lens is fixed on the first base through a first fixing piece or directly fixed on the first base.

In an alternative manner, the first fixing member is a first cantilever structure, and the first lens is fixed to a free end of the first cantilever structure.

In an alternative way, the fixed end of the first cantilever structure is made of the same or different material as the light source carrier, or the fixed end of the first cantilever structure is made of the same or different material as the first base, and/or

The free end of the first cantilever structure is made of the same or different materials as the light source carrier, or the free end of the first cantilever structure is made of the same or different materials as the first base.

In an alternative manner, the first fixing member includes a first fixing block and a second fixing block, the first fixing block and the second fixing block are disposed in a direction intersecting with an optical axis of the first lens without blocking an optical path of the laser, the first lens is located between the first fixing block and the second fixing block, and the first fixing block and the second fixing block are both abutted with the first lens to clamp and fix the first lens.

According to another aspect of the embodiments of the present application, there is provided a laser light receiving apparatus including: a detector carrier; the second base is arranged on one side of the detector carrier; the third lens is arranged on the two bases and is used for receiving and converging reflected laser from the detection area; a fourth lens for receiving and converging the laser light output by the third lens; the detector is arranged on the other side of the detector carrier relative to the second base and is used for receiving the laser converged by the fourth lens; the ratio of the focal power of the third lens to the total focal power of the laser receiving device is a third ratio, the ratio of the focal power of the fourth lens to the total focal power of the laser receiving device is a fourth ratio, the third ratio and the fourth ratio are both larger than 0, and the sum of the third ratio and the fourth ratio is 1.

In an alternative, the third ratio is less than the fourth ratio.

In an alternative, the fourth lens is fixed to the detector carrier by a second fixing member or directly to the detector carrier, or

The fourth lens is fixed on the second base through a second fixing piece or directly fixed on the second base.

In an alternative manner, the second fixing member is a second cantilever structure, and the fourth lens is fixed to a free end of the second cantilever structure.

In an alternative, the fixed end of the second cantilever structure is of the same or different material as the detector carrier, or the fixed end of the second cantilever structure is of the same or different material as the second base, and/or

The free end of the second cantilever structure is made of the same or different material with the detector carrier, or the free end of the second cantilever structure is made of the same or different material with the second base.

In an alternative manner, the second fixing member includes a third fixing block and a fourth fixing block, the third fixing block and the fourth fixing block are disposed in a direction intersecting with an optical axis of the fourth lens and do not block an optical path of laser light output by the third lens, the fourth lens is located between the third fixing block and the fourth fixing block, and the third fixing block and the fourth fixing block are abutted with the fourth lens to clamp and fix the fourth lens.

According to a further aspect of embodiments of the present application, there is provided a laser radar comprising a laser emitting device as described above and/or comprising a laser receiving device as described above, wherein the laser emitting device is configured to emit laser light to a detection area and the laser receiving device is configured to receive reflected laser light from the detection area.

Under the condition that the total focal power of the laser emitting device is not changed, compared with a laser emitting device comprising only one lens, the laser emitting device provided by the embodiment of the application comprises the first lens and the second lens, wherein the focal power and the focal length of the first lens and the focal length of the second lens are smaller than those of the lens in the laser emitting device for comparison, and the distance between the first lens and the light source is smaller than that of the lens in the laser emitting device for comparison due to the fact that the total focal power of the two laser emitting devices is the same, when the bearing parts of the optical elements in the two laser emitting devices deform to the same extent, namely when the same extent of smiling face deformation or crying face deformation occurs, the first lens is closer to the light source, so that the deformation degree of the first lens is smaller than that of the lens in the laser generating device for comparison, namely, the displacement of the first lens is smaller, and even the focal length of the first lens is smaller than that of the lens in the laser generating device for comparison, and the focal length of the laser beam is offset of the laser beam is smaller than that of the lens in the laser generating device for comparison. However, as described above, since the optical power of the first lens is smaller than that of the lens in the comparative laser light emitting device as well as the total optical power of the two laser light emitting devices, the degree of deviation of the laser light beam output by the first lens is further made smaller than that of the laser light beam output by the lens in the comparative laser light emitting device.

And the second lens is farther from the light source than the first lens, even if the second lens is displaced to the same extent as the lens in the comparative laser emitting device, the degree of deviation of the laser beam output by the second lens is smaller than that of the lens in the comparative laser emitting device because the optical power of the second lens is smaller than that of the lens in the comparative laser emitting device.

In summary, under the condition that the total focal length of the laser emission device is not changed, the laser emission device provided by the embodiment of the application is designed to include the first lens and the second lens, compared with a laser emission device including only one lens, the offset degree of the laser beam emitted by the laser emission device caused by deformation of the bearing component of the optical element in the laser emission device is effectively reduced, and therefore detection can be completed better.

The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following detailed description of the present application will be presented in order to make the foregoing and other objects, features and advantages of the embodiments of the present application more understandable.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 shows a schematic diagram of a laser transmitter and a laser receiver in a laser radar when aligned;

FIG. 2 is a schematic diagram showing the structure of a laser beam emitted from a laser emitting device in a laser radar when the laser beam is shifted;

fig. 3 shows a schematic structural view of a laser emitting device in a normal state and a deformed state;

FIG. 4 is a schematic view showing the structure of the prior art in which the pointing angle of the laser beam emitted from the laser emitting apparatus is changed in a normal state and after deformation;

FIG. 5 is a schematic diagram of a laser emitting device according to some embodiments of the present application;

FIG. 6 is a schematic diagram of a laser emitting device according to other embodiments of the present application;

FIG. 7 is a schematic diagram of a laser emitting device according to other embodiments of the present application;

FIG. 8 is a schematic view of a laser emitting device according to other embodiments of the present application;

FIG. 9 is a schematic diagram of a laser emitting device according to other embodiments of the present application;

FIG. 10 is a schematic view of a laser emitting device according to other embodiments of the present application;

FIG. 11 is a schematic top view of the light source, the first lens and the first cantilever structure of FIGS. 7 (a), 8 (a) and 9 (a) according to an embodiment of the present disclosure;

FIG. 12 is a schematic top view of the light source, first lens and first cantilever structure of FIGS. 7 (b), 8 (b) and 9 (b) provided in an embodiment of the present application;

fig. 13 is a schematic view showing a structure of fixing a first lens by a first fixing block and a second fixing block in the embodiment of the present application;

fig. 14 is a schematic structural diagram of a laser receiving device according to some embodiments of the present application;

fig. 15 is a schematic structural view of a laser receiving device according to other embodiments of the present application;

fig. 16 is a schematic structural view of a laser receiving device according to other embodiments of the present application;

fig. 17 is a schematic structural view of a laser receiving device according to other embodiments of the present application;

fig. 18 is a schematic structural view of a laser receiving device according to other embodiments of the present application;

fig. 19 is a schematic structural view of a laser receiving device according to other embodiments of the present application;

FIG. 20 illustrates a schematic top view of the detector, fourth lens and second cantilever structures of FIGS. 16 (a), 17 (a) and 18 (a) provided in an embodiment of the present application;

FIG. 21 shows a schematic top view of the detector, fourth lens and second cantilever structures of FIGS. 16 (b), 17 (b) and 18 (b) provided in an embodiment of the present application;

fig. 22 is a schematic view showing a structure of fixing a fourth lens by a third fixing block and a fourth fixing block in the embodiment of the present application;

fig. 23 shows a schematic structural diagram of a lidar provided in an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein.

At present, the laser radar has the advantages of long detection distance, high detection precision, high response speed, small influence of environmental interference, almost all-weather operation and the like, so that the laser radar becomes an indispensable technology in the military and civil fields. Generally, a laser radar includes a laser emitting device and a laser receiving device (which may also be collectively referred to as a laser transceiver), and the laser beam form emitted by the laser emitting device is generally divided into three types, i.e., a surface light source, a line light source, and a point light source, which cover a full field of view.

The laser transceiver is required to be aligned at normal temperature, and the laser transceiver is required to be kept aligned at a high-low temperature and other extreme temperatures and after a reliability test (usually, the reliability test is required to be performed on the laser radar to test whether the performance of the laser radar meets the requirement). This therefore places a high demand on the pointing angle of the laser beam emitted by the laser emitting device, which for some high resolution sensing systems even requires a change of the pointing angle of the laser beam emitted by the laser emitting device of less than 0.02 deg..

The alignment of the laser transceiver means that the laser beam emitted by the laser emitting device reaches a certain position, and the laser beam reflected by the position can be received by the laser receiving device, for example, after the laser emitting device emits the detection laser beam to the target object, the laser receiving device can receive the laser beam reflected by the target object, thereby completing effective detection. Here, in order to better explain the alignment state of the laser transmitter-receiver device, fig. 1 shows a schematic view of the structure when the laser transmitter device and the laser receiver device in the laser radar are aligned. Referring to fig. 1, when the laser emitting device and the laser receiving device are aligned, the laser emitting device emits a laser beam for detection to the target object, and after the laser beam reaches the target object and is reflected back by the target object, the laser receiving device can just receive the laser beam reflected back by the target object, thereby completing effective detection of the target object.

If the carrying component of the optical element in the laser emission device is deformed, the carrying component of the optical element in the laser emission device is shifted, so that the laser beam emitted by the laser emission device is shifted, that is, the pointing angle of the laser beam emitted by the laser emission device is greatly changed, the emitted laser beam cannot reach the target object, and effective detection cannot be completed. Here, in order to better explain the situation that the emitted laser beam cannot reach the target object due to the offset of the laser beam emitted by the laser emitting device, the detection cannot be completed, and fig. 2 is a schematic diagram illustrating the structure when the laser beam emitted by the laser emitting device is offset in the laser radar. Referring to fig. 2, under normal conditions, the laser transceiver is aligned, that is, when the laser transmitter is not offset, the laser beam emitted by the laser transmitter can reach the target object a, and the laser receiver can receive the laser beam reflected by the target object a, thereby completing the detection of the target object a. However, when the laser emitting device is shifted, the pointing angle of the laser beam emitted by the laser emitting device is greatly changed, so that the laser beam emitted by the laser emitting device actually reaches the target object B, and the laser receiving device can only receive the laser beam reflected by the target object a, which is equivalent to the fact that the laser emitting device and the laser receiving device are not aligned to the same target object, thereby causing that the laser radar cannot complete effective detection.

Lidar includes different materials, and typically the CTE of the different materials is different. For example, in some practical optomechanical products, the light source carrier in the laser emitting device is a circuit board (Printed Circuit Board, PCB), which typically requires a ceramic circuit board with a CTE of about 5ppm/°c, and the lens typically employs a glass lens with a CTE of about 7ppm/°c to enable the laser emitting device to emit a laser beam in a spot form that meets the performance requirements. However, for cost and weight considerations, the base of a typical lidar uses aluminum materials with CTE of about 23ppm/°c. It will be appreciated that materials are typically subject to deformation, for example, in high and low temperature environments or when subjected to reliability tests to generate thermal stresses. However, under the same circumstances, the deformations that occur for different CTE materials are often not the same.

Because the laser radar uses the CTE materials with different sizes and larger difference, under the conditions of high and low temperature environment, reliability test and the like, different CTE materials in the laser emission device are easy to deform, namely the laser emission device is offset, so that the laser beam emitted by the laser emission device is offset. Here, in order to better explain the state of the laser emitting device in the normal state and the deformed state, fig. 3 shows a schematic view of the structure of the laser emitting device in the normal state and the deformed state. Referring to fig. 3, in a normal state, the light source carrier and the base of the laser emitting device are not deformed. In the case of a high-low temperature environment, after a reliability test, or the like, one of the two deformation states shown in fig. 3, that is, the first deformation shown in fig. 3 (also called smiling deformation, i.e., the middle portion of the light source carrier and the base is depressed downward, both ends are warped upward), or the second deformation (also called crying deformation, i.e., the middle portion of the light source carrier and the base is arched upward, both ends are bent downward) is generally generated.

In general, a light source of a laser emitting device is disposed on a light source carrier, if the light source carrier is deformed, the light source is shifted, so that a pointing angle of a laser beam emitted by the laser emitting device is changed, that is, the laser beam is shifted, and a target object cannot be detected, that is, a phenomenon shown in fig. 2 is generated.

It is easy to understand that, in order to better complete the detection of the target object, the laser beam emitted by the light source in the laser emitting device is generally collimated by the lens and then emitted to the detection area. In the prior art, for a laser emitting device, a light source is usually disposed on a light source carrier, the light source carrier is disposed in a base (for example, a frame) of the laser radar, and a lens (for short, a collimating lens) for collimating a laser beam is usually disposed on the base due to a large volume, so as to meet a requirement of structural stability. The CTE of the light source carrier and the CTE of the base are relatively large, so that under the conditions of high and low temperature environments, reliability test and the like, smiling face deformation or crying face deformation of the light source carrier and the base as shown in fig. 3 is easily caused, and the pointing angle of the laser beam emitted by the light source of the laser emitting device is greatly changed, so that the target object cannot be detected.

Here, in order to better explain the problems of the prior art, fig. 4 is a schematic view showing the structure of the change of the pointing angle of the laser beam emitted from the laser emitting apparatus in the prior art in a normal state and after deformation. As shown in fig. 4, in a normal state, that is, in a normal temperature, a normal working environment, and other normal conditions, the laser beam emitted from the center of the light source is horizontally directed to the main point of the collimator lens, and at this time, the pointing angle of the laser beam is normal, that is, the laser beam can normally reach the target object, and if the light source carrier and the base undergo the first deformation, that is, smiling face deformation, the laser beam is deflected upwards, that is, the pointing angle of the laser beam changes, so that the laser beam cannot reach the target object; if the light source carrier and the base are deformed in the second type, namely crying face deformation, the laser beam is deflected downwards, namely the pointing angle of the laser beam is changed, the laser beam cannot reach the target object, and therefore detection cannot be completed.

Based on the above consideration, in order to avoid that the bearing component of the optical element in the laser radar deforms to cause the change of the pointing angle of the laser beam emitted by the laser emitting device, so that the detection cannot be completed, that is, in order to reduce the influence of the deformation of the bearing component of the optical element in the laser radar on the pointing angle of the laser beam, the inventor of the application has conducted intensive study and proposed a laser emitting device. The laser emitting device comprises a light source, a first lens and a second lens, wherein the sum of the focal power of the first lens and the focal power of the second lens is equal to the total focal power of the laser emitting device. The first lens is used for receiving the laser beam emitted by the light source, reducing the divergence angle of the laser beam and then outputting the laser beam, and the second lens is used for receiving the laser beam output by the first lens and collimating the laser beam so that the laser beam output by the second lens meets the application requirement, thereby realizing effective detection of a target object. Under the condition that the total focal length of the laser emitting device is not changed, the total focal power of the laser emitting device is distributed to the first lens and the second lens instead of being concentrated on a certain lens, so when the laser emitting device provided by the embodiment of the application and the bearing part of the optical element in the laser emitting device only comprising one lens deform to the same extent, the displacement degree of the first lens is smaller due to the fact that the distance between the first lens and the light source is smaller, and the offset degree of the laser beam output by the first lens is smaller due to the fact that the focal power of the first lens is smaller than the total focal power of the laser emitting device, the offset degree of the laser beam output by the first lens is reduced, and therefore the offset degree of the laser beam finally output by the laser emitting device is reduced, and effective detection of an object is achieved.

Fig. 5 is a schematic structural diagram of a laser emitting device according to some embodiments of the present application. As shown in fig. 5 (a), the laser emitting device includes a light source carrier 110, a first base 120, a light source 130, a first lens 140, and a second lens 150, wherein the ratio of the optical power of the first lens 140 to the total optical power of the laser emitting device is a first ratio, the ratio of the optical power of the second lens 150 to the total optical power of the laser emitting device is a second ratio, and the first ratio and the second ratio are both greater than 0, and the sum of the first ratio and the second ratio is 1. Wherein the first base 120 is disposed at one side of the light source carrier 110; the light source 130 is disposed at the other side of the light source carrier 110 with respect to the first base 120, for emitting a laser beam to the detection area; the first lens 140 is disposed on the light emitting side of the light source 130, and disposed on the first base 120, and is configured to receive the laser beam emitted by the light source 130, reduce the beam divergence angle of the laser, and output the laser beam; the second lens 150 is disposed on the first base 120, and is configured to receive the laser beam with the divergence angle thereof reduced by the first lens 140, and output the collimated laser beam, so that the laser beam output by the laser emitting device meets the application requirement. It will be appreciated that the power of a lens is generally proportional to the amount of change in the divergence angle of the laser beam input by the lens and the divergence angle of the laser beam output. By designing the output laser beam divergence angle of the first lens 140 to be smaller than the input laser beam divergence angle, the optical power of the second lens 150 and the input laser beam divergence angle generally have an inverse relationship, so that the optical power of the second lens 150 can be reduced.

Specifically, the light source carrier 110 may be a circuit board, and the light source 130 is disposed on the circuit board so that the light source 130 may emit a laser beam; the first base 120 may be a frame (i.e., housing) of a lidar; the first lens 140 may be a plano-convex lens, a biconvex lens, a meniscus lens, or the like; the second lens 150 may be a plano-convex lens, a biconvex lens, a meniscus lens, or the like. The first ratio and the second ratio may be set as required, as long as both the first ratio and the second ratio are greater than 0, and the sum of the first ratio and the second ratio is equal to 1, which is not limited herein. The specific materials, shapes, sizes, etc. of the light source carrier 110, the first base 120, the light source 130, the first lens 140, and the second lens 150 are not limited herein, as long as the above-mentioned arrangement requirements can be satisfied.

Typically, the focal power of a lens is equal to the inverse of its focal length, and a lens with a higher focal power is more sensitive, and the sensitivity of the lens indicates the degree to which the pointing angle of the laser beam output by the lens changes when the lens is shifted. The higher the sensitivity of the lens, the greater the degree of change in the pointing angle of the laser beam output by the lens, i.e., the greater the degree of deflection of the laser beam, under the same displacement of the lens.

The total focal length of the laser emitting device is the focal length of the laser radar optical system applied by the laser emitting device, and the laser emitting device can emit laser beams meeting application requirements by setting the focal length of the laser emitting device, and the total focal length of the laser emitting device is usually fixed. Therefore, in an optical system (e.g., a laser emitting device) having a constant total focal length, the focal length thereof is constant, i.e., the sensitivity thereof is constant, that is, the focal length thereof is not changed by the number of lenses in the optical system, i.e., the sensitivity thereof is constant.

For a laser emitting device comprising only one lens and using the lens for collimating the laser beam, the total optical power of the laser emitting device is concentrated on the lens, i.e. the total sensitivity of the laser emitting device is concentrated on the lens, since only one lens is comprised. And since the volume of a lens is generally proportional to its focal length, i.e., the larger the focal length, the larger its volume. For the laser light emitting device comprising only one lens, the total focal length of the laser light emitting device is concentrated on the lens, which results in a larger volume of the lens, so that the lens is usually arranged on the base of the laser light emitting device and the light source is arranged on the light source carrier in order to satisfy the structural stability of the laser light emitting device. At this time, if the bearing member of the optical element in the laser radar is deformed, and the lens is displaced relative to the light source, the pointing angle of the laser beam output by the lens is greatly changed, so that the laser beam output by the lens cannot reach the target object, that is, in the case shown in fig. 2, the detection cannot be completed.

In the present embodiment, the laser emitting device is designed to include the first lens 140 and the second lens 150 without changing the total focal length of the laser emitting device, that is, without changing the total optical power of the laser emitting device, and the sum of the optical power of the first lens 140 and the optical power of the second lens 150 is equal to the total optical power of the laser emitting device, that is, the optical powers of the first lens 140 and the second lens 150 are both smaller than the total optical power of the laser emitting device.

Therefore, compared with the laser emitting device including only one lens as described above, the laser emitting device provided in this embodiment of the present application includes the first lens 140 and the second lens 150, because the total focal power of the two laser emitting devices is the same, and the focal length of the first lens 140 and the focal length of the second lens 150 are smaller than the focal power and focal length of the lens in the laser emitting device to be compared, and because the total focal length of the two laser emitting devices is the same, the distance between the first lens 140 and the light source 130 is smaller than the distance between the lens and the light source in the laser emitting device to be compared, and then when the carrying members of the optical elements in the two laser emitting devices deform to the same extent, that is, when the same extent of smiling face deformation or crying face deformation occurs, the first lens 140 is closer to the light source 130, so that the deformation extent of the first lens 140 at the position is smaller than the deformation extent of the lens in the laser emitting device to be compared, that the displacement of the first lens 140 is smaller, that is the displacement of the first lens 140 occurs, and even if the focal length of the lens in the laser emitting device to be compared is smaller than the focal length of the lens in the laser emitting device to be compared. However, as described above, since the optical power of the first lens 140 is smaller than that of the lens in the comparative laser light emitting device as well as the total optical power of the two laser light emitting devices, the degree of deviation of the laser light beam output by the first lens 140 is further made smaller than that of the laser light beam output by the lens in the comparative laser light emitting device.

And the second lens 150 is farther from the light source 130 than the first lens 140, even if the second lens 150 is displaced to the same extent as the lenses in the comparative laser emitting apparatus, since the optical power of the second lens 150 is smaller than that of the lenses in the comparative laser emitting apparatus, the degree of deviation of the laser beam outputted from the second lens 150 is smaller than that of the lenses in the comparative laser emitting apparatus.

Further, since the second lens 150 has a large volume, the structural stability of the laser emitting apparatus can be improved by disposing the second lens 150 on the first base 120.

In summary, under the condition that the total focal length of the laser emitting device is not changed, the laser emitting device provided in the embodiment of the present application is designed to include the first lens 140 and the second lens 150, and compared with a laser emitting device including only one lens, the offset degree of the laser beam emitted by the laser emitting device caused when the bearing component of the optical element in the laser emitting device is deformed is effectively reduced, so that the detection can be better completed.

The embodiment of the present application further provides another position setting manner of the first lens 140, as shown in fig. 5 (b), where the first lens 140 is disposed on the light source carrier 110, and is configured to receive the laser beam emitted by the light source 130, reduce the beam divergence angle of the received laser beam, and output the laser beam. In fig. 5, (a) and (b) are mainly different in the position setting of the first lens 140, so the specific implementation and working principle of (b) may refer to (a), and will not be described herein.

It should be noted that, in some embodiments, in order to enable the light source of the laser emitting device to emit the laser beam, the laser emitting device typically further includes a circuit board. Fig. 6 shows a schematic structural diagram of a laser emitting device according to other embodiments of the present application. Fig. 6 is a schematic illustration of the addition of a circuit board a and electrical leads B to the embodiment of the laser emitting device provided in fig. 5. As shown in fig. 6 (a), a circuit board a is disposed on the first base 120, and the circuit board a is connected to the light source 130 through an electrical lead B so that the light source 130 can emit a laser beam. Because the laser emitting device provided in the embodiment of the present application is different from the laser emitting device provided in fig. 5 (a), mainly in that the laser emitting device provided in the embodiment of the present application has the circuit board a and the electrical lead B added, the specific implementation manner and the working principle of the embodiment of the present application can refer to the laser emitting device provided in fig. 5 (a), and will not be described herein.

The embodiment of the present application further provides another positioning manner of the first lens 140, as shown in fig. 6 (b), where the first lens 140 is disposed on the light source carrier 110 and is configured to receive the laser beam emitted by the light source 130. In fig. 6, (a) and (b) are mainly different in the position setting of the first lens 140, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein.

In some embodiments, the first lens 140 is a first lens unit, and includes at least two lenses, and the first lens unit is configured to receive the laser beam emitted by the light source 130 and reduce the beam divergence angle of the laser beam for output. Wherein the ratio of the total optical power of the first lens unit to the total optical power of the laser emitting device is a first ratio, and the first ratio is greater than 0. The optical power of each lens may be set as required, as long as the above requirements are satisfied, and is not limited herein.

In some embodiments, the second lens 150 is a second lens unit, and includes at least two lenses, and the second lens unit is configured to receive the laser beam output by the first lens 140, and output the collimated received laser beam. Wherein the ratio of the total optical power of the second lens unit to the total optical power of the laser emitting device is a second ratio, and the second ratio is greater than 0. The optical power of each lens may be set as required, as long as the above requirements are satisfied, and is not limited herein.

In order to further reduce the degree of deflection of the laser beam output by the laser emitting device due to deformation of the bearing member of the optical element in the laser emitting device, in the embodiment of the present application, the optical power of the first lens 140 is larger than that of the second lens 150, that is, the first ratio is larger than the second ratio. The first ratio and the second ratio may be set as required, as long as the first ratio is greater than the second ratio, and are not limited herein, and preferably the first ratio is 80% and the second ratio is 20%.

In this embodiment, when the bearing member of the optical element in the laser emitting device is deformed to cause the displacement of the lens, the first lens 140 is closer to the light source 130, so that the deformation degree of the position where the first lens 140 is warped upward or bent downward is smaller, that is, the displacement of the first lens 140 is smaller. Therefore, in the embodiment of the present application, the first ratio is set to be larger than the second ratio, that is, the focal power of the first lens 140 is larger than the focal power of the second lens 150, that is, the total focal power of the laser emitting device is mainly concentrated on the first lens 140, and the displacement of the first lens 140 is smaller, so that the offset degree of the laser beam output by the laser emitting device is further reduced.

In some embodiments, to save costs, the first lens 140 is directly fixed to the light source carrier 110, or the first lens 140 is directly fixed to the first base 120.

In order to reduce the relative displacement between the first lens 140 and the light source 130, thereby reducing the degree of change in the pointing angle of the laser beam output by the first lens 140, that is, reducing the degree of deviation of the laser beam output by the laser emitting device, fig. 7 shows a schematic structural diagram of the laser emitting device according to other embodiments of the present application. In the embodiment of the present application, a first fixing member is added on the basis of the embodiment provided in fig. 5, and the first fixing member is a first cantilever structure 160. As shown in fig. 7 (a), the laser emitting device further includes a first cantilever structure 160, a fixed end of the first cantilever structure 160 is fixed on the light source carrier 110, and extends from the fixed end in a horizontal direction toward an outer side of the light source carrier 110 to form a free end of the first cantilever structure 160, the free end is used for fixing the first lens 140, and the first lens 140 is located at the outer side of the light source carrier 110 in the horizontal direction. Preferably, the center of the light source 130 is aligned with the principal point of the first lens 140, and the distance between the light emitting surface of the first lens 140 and the center of the light source 130 is 1 to 1.5 times the focal length of the first lens 140, so that the first lens 140 can better receive the laser beam emitted by the light source 130 and reduce the beam divergence angle of the received laser beam.

The material, shape, size, etc. of the first cantilever structure 160 may be set as required, so long as the free end of the first cantilever structure 160 can fix the first lens 140 and does not block the optical path of the laser light, which is not limited herein. The fixed end of the first cantilever structure 160 may be made of the same or different material as the light source carrier 110, or may be made of the same or different material as the first base 120; the free end of the first cantilever structure 160 may be made of the same or different material as the light source carrier 110, or may be made of the same or different material as the first base 120; the fixed end of the first cantilever structure 160 may be of the same or different material than the free end.

In this embodiment of the present application, the first lens 140 and the light source carrier 110 are fixed by setting the first cantilever structure 160, so that the degree of relative displacement between the light source 130 and the first lens 140, which are also fixed on the light source carrier 110, can be effectively reduced, the proportion of the focal power of the first lens 140 to the total focal power of the laser emitting device is a first proportion, and the first proportion is greater than 0, so that compared with the laser emitting device provided with only one lens in the foregoing description, the degree of offset of the laser beam output by the laser emitting device provided by this embodiment of the present application can be reduced by the first proportion, because the first lens 140 having the first proportion focal power of the total focal power of the laser emitting device is not displaced, and thus the laser beam output by the first lens 140 is not offset. For example, if the first ratio is 40% and the second ratio is 60%, and the total optical power of the laser emitting device is not changed, compared with the laser emitting device provided with only one lens as described above, in the case that the bearing members of the optical elements in the two laser emitting devices are deformed to the same extent, if the laser beam output by the laser emitting device provided with only one lens is offset by 1 °, the laser beam output by the laser emitting device provided with the embodiment of the present application is offset by only 0.6 °. In this embodiment, the first ratio is preferably greater than the second ratio, for example, the first ratio is 80% and the second ratio is 20%, so as to further reduce the offset degree of the laser beam output by the laser emitting device. By setting the first ratio to be larger than the second ratio, that is, the ratio of the focal power of the second lens 150 to the total focal power of the laser emitting device is smaller, and setting the second lens 150 on the first base 120, even if the second lens 150 is displaced relative to the first lens 140, the degree of deviation of the laser beam output by the second lens is smaller, that is, the degree of influence of the deviation of the laser beam output by the laser emitting device is smaller due to the smaller focal power. Therefore, the second lens 150 is disposed on the first base, so that the structural stability of the laser emitting device can be improved, and the degree of influence on the deviation of the laser beam output by the laser emitting device is small.

Further, for the laser emitting device including only one lens for collimating laser, as described above, the volume of the lens is larger, so if the cantilever structure is used to fix the light source carrier to the lens, the length of the cantilever structure is longer, and the requirement of mechanical reliability such as impact vibration cannot be met.

However, in the embodiment of the present application, the laser emitting device is designed to include the first lens 140 and the second lens 150 without changing the total focal length of the laser emitting device, as described above, the first lens 140 is smaller, so the light source carrier 110 and the first lens 140 can be fixed by using the shorter first cantilever structure 160, so that the mechanical reliability requirement can be better satisfied.

In fig. 7 (a), the side surface of the first lens 140 is fixed to the side surface of the first cantilever structure 160, and another fixing manner of the first lens 140 is provided in this embodiment, as shown in fig. 7 (b), the bottom end of the first lens 140 is fixed to the upper edge of the free end of the first cantilever structure 160. The difference between (a) and (b) in fig. 7 is mainly that the fixed position of the first lens 140 is different, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be disposed, and the size of the first lens 140 can affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130, so (a) and (b) different fixing positions are to consider that the first lens 140 can effectively receive the laser beam emitted by the light source 130, and a corresponding fixing manner can be selected according to practical situations, so that the first lens 140 can effectively receive the laser beam emitted by the light source 130.

In order to improve the structural stability of the laser emitting device, fig. 8 shows a schematic structural diagram of the laser emitting device according to other embodiments of the present application. Wherein, the embodiment of the present application is to add the first cantilever structure 160 on the basis of the embodiment provided in fig. 5. As shown in fig. 8 (a), the fixed end of the first cantilever structure 160 is fixed to the first base 120, and extends from the fixed end in a vertical direction toward above the first base 120 to form a free end of the first cantilever structure 160, which is used to fix the first lens 140. Preferably, the center of the light source 130 is aligned with the principal point of the first lens 140, and the distance between the light emitting surface of the first lens 140 and the center of the light source 130 is 1 to 1.5 times the focal length of the first lens 140.

In this embodiment, if the volume of the first lens 140 is smaller, the laser beam emitted by the light source 130 cannot be received effectively, and the first lens 140 is fixed by the upwardly extending first cantilever structure 160 to raise the height of the first lens 140, so that the first lens 140 can receive the laser beam emitted by the light source 130 normally. And, the fixed end of the first cantilever structure 160 is fixed on the first base 120, which can enhance the structural stability of the laser emitting apparatus. Preferably, by setting the distance between the light emitting surface of the first lens 140 and the center of the light source 130 to be 1-1.5 times the focal length of the first lens 140, the first lens 140 can receive all the laser beams emitted by the light source 130. The material, shape, size, etc. of the first cantilever structure 160 may be set as needed, and are not limited herein.

The impact vibration in the application scene of the laser emitting device mostly comes from the vertical direction, and the impact of the impact vibration in the vertical direction on the horizontally extending cantilever structure is relatively larger than the impact of the impact on the vertically extending cantilever structure. For a laser emitting device with high requirements for mechanical reliability such as impact vibration, if the fixing manner of the first lens 140 in the laser emitting device provided in fig. 7 is used to fix the first lens 140, the fixing manner of the first lens 140 in the laser emitting device provided in fig. 8 may be used to fix the first lens 140.

In fig. 8 (a), the side surface of the first lens 140 is fixed to the side surface of the first cantilever structure 160, and another fixing manner of the first lens 140 is provided in this embodiment, as shown in fig. 8 (b), the bottom end of the first lens 140 is fixed to the upper edge of the free end of the first cantilever structure 160. The difference between (a) and (b) in fig. 8 is mainly that the fixing manner of the first lens 140 is different, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be disposed, and the size of the first lens 140 can affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130, so (a) and (b) different fixing positions are to consider the problem that whether the first lens 140 can normally receive the laser beam emitted by the light source 130, and a corresponding fixing manner can be selected according to the actual situation, so that the first lens 140 can normally receive the laser beam emitted by the light source 130.

It should be noted that, in the embodiment of the present application, the first cantilever structure 160 may be two different structures from the first base 120; however, to save costs, the first cantilever structure 160 may also be a structure belonging to the first base 120, i.e. integral with the first base 120.

In order to reduce the relative displacement between the first lens 140 and the light source 130, and thus reduce the degree of change in the pointing angle of the laser beam output by the first lens 140, fig. 9 shows a schematic structural diagram of a laser emitting device according to other embodiments of the present application. Wherein, the embodiment of the present application is to add the first cantilever structure 160 on the basis of the embodiment provided in fig. 5. As shown in fig. 9 (a), the fixed end of the first cantilever structure 160 is fixed between the light source carrier 110 and the first base 120, and extends from the fixed end in a horizontal direction until passing over the outer edge of the light source carrier 110, and then extends upward in a vertical direction to form a free end of the first cantilever structure 160, where the free end is used to fix the first lens 140. Preferably, the center of the light source 130 is aligned with the principal point of the first lens 140, and the distance between the light emitting surface of the first lens 140 and the center of the light source 130 is 1 to 1.5 times the focal length of the first lens 140. The material, shape, size, etc. of the first cantilever structure 160 may be set as required, as long as the free end of the first cantilever structure 160 can fix the first lens 140 and does not block the optical path of the laser, which is not limited herein. The fixed end of the first cantilever structure 160 may be made of the same or different material as the light source carrier 110, or may be made of the same or different material as the first base 120; the free end of the first cantilever structure 160 may be made of the same or different material as the light source carrier 110, or may be made of the same or different material as the first base 120; the fixed end of the first cantilever structure 160 may be of the same or different material than the free end. Preferably, the fixed end of the first cantilever structure 160 is made of a material having a CTE between that of the light source carrier 110 and the first base 120; the free end is made of a material with a lower CTE.

In this embodiment, if the volume of the first lens 140 is smaller, directly fixing the first lens 140 to the first base 120 will cause the first lens 140 to fail to normally receive the laser beam emitted by the light source 130, and by fixing the first lens 140 by the first cantilever structure 160 that extends horizontally and then upwards to increase the height of the first lens 140, the first lens 140 can normally receive the laser beam emitted by the light source 130. Preferably, the fixed end of the first cantilever structure 160 is made of a material having a CTE between that of the light source carrier 110 and the first base 120, so as to act as a buffer stress to the light source carrier 110 and the first base 120, and reduce the deformation degree of the light source carrier 110; the free end is made of a material with a lower CTE, so that the distance change between the first lens 140 and the light source carrier 110 in a high-low temperature environment is reduced, and the effect of collimating the laser beam by the first lens 140 in the high-low temperature environment is ensured.

In fig. 9 (a), the side surface of the first lens 140 is fixed to the side surface of the first cantilever structure 160, and another fixing manner of the first lens 140 is provided in this embodiment, as shown in fig. 9 (b), the bottom end of the first lens 140 is fixed to the upper edge of the free end of the first cantilever structure 160. The difference between (a) and (b) in fig. 9 is mainly that the fixing manner of the first lens 140 is different, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be disposed, and the size of the first lens 140 can affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130, so (a) and (b) different fixing positions are to consider the problem that the first lens 140 can normally receive the laser beam emitted by the light source 130, and a corresponding fixing manner can be selected according to practical situations.

In order to reduce the relative displacement between the first lens 140 and the light source 130, and thus reduce the degree of change in the pointing angle of the laser beam output by the first lens 140, fig. 10 is a schematic structural diagram of a laser emitting device according to other embodiments of the present application. Wherein, the embodiment of the present application is to add the first cantilever structure 160 on the basis of the embodiment provided in fig. 5. As shown in fig. 10 (a), the fixed end of the first cantilever structure 160 is fixed on the light source carrier 110, and extends from the fixed end in a horizontal direction until passing over the outer edge of the light source carrier 110, and then extends downward in a vertical direction to form a free end of the first cantilever structure 160, where the free end is used to fix the first lens 140. The material, shape, size, etc. of the first cantilever structure 160 may be set as required, as long as the free end of the first cantilever structure 160 can fix the first lens 140 and does not block the optical path of the laser, which is not limited herein. The fixed end of the first cantilever structure 160 may be made of the same or different material as the light source carrier 110, or may be made of the same or different material as the first base 120; the free end of the first cantilever structure 160 may be made of the same or different material as the light source carrier 110, or may be made of the same or different material as the first base 120; the fixed end of the first cantilever structure 160 may be of the same or different material than the free end.

In this embodiment, if the volume of the first lens 140 is smaller, directly fixing the first lens 140 to the first base 120 will cause the first lens 140 to fail to normally receive the laser beam emitted by the light source 130, and by fixing the first lens 140 by the first cantilever structure 160 that extends horizontally and then downwardly, the height of the first lens 140 is increased, so that the first lens 140 can normally receive the laser beam emitted by the light source 130. Since the thickness of the light source carrier 110 is generally smaller than that of the first base 120, so that deformation is easy to occur, in the embodiment of the present application, preferably, the thickness of the fixed end of the first cantilever structure 160 is greater than that of the light source carrier 110, and by pressing with a structure having a thickness greater than that of the light source carrier 110, deformation of the light source carrier 110 and the first base 120 can be effectively reduced. Because two materials with different CTEs may generate thermal stress due to CTE mismatch, and thus a thermal strain condition is caused, in this embodiment of the present application, the fixed end of the first cantilever structure 160 may be made of a material with CTE the same as or close to that of the light source carrier 110, so that the fixed end of the first cantilever structure 160 and the light source carrier 110 are similar to one structure, i.e. are similar to one whole, and the thickness of the two materials is increased, so that stability of the structure is improved, and the degree of deformation is reduced.

It should be noted that, in the embodiment of the present application, the fixed end of the first cantilever structure 160 may also be made of a material having the same or close CTE to that of the first base 120, and the fixed end of the first cantilever structure 160, the light source carrier 110 and the first base 120 form a three-layer structure (i.e. a "sandwich" structure). At this time, since the thickness of the light source carrier 110 at the intermediate layer is small, compared to the thickness of the fixed end of the first cantilever structure 160 and the first base 120, the deformation of the bearing member of the optical element in the laser emitting device is mainly affected by the difference between the CTE of the fixed end material of the first cantilever structure 160 and the CTE of the material of the first base 120, but since the fixed end of the first cantilever structure 160 is made of the same or close material as the first base 120, the deformation degree of the bearing member of the optical element in the laser emitting device can be effectively reduced, thereby reducing the degree of the relative displacement between the first lens 140 and the light source 130.

It should be noted that in the embodiment of the present application, the fixed end of the first cantilever structure 160 may also be made of a material having a CTE between that of the light source carrier 110 and the first base 120. At this time, the deformation degree of the bearing member of the optical element in the laser emitting device can be reduced, so that the degree of the relative displacement between the first lens 140 and the light source 130 is reduced, and the principle is the same as that described above, and will not be repeated here.

It should be noted that in the embodiment of the present application, preferably, the free end of the first cantilever structure 160 is made of a material with a lower CTE, so that the variation of the space between the first lens 140 and the light source carrier 110 in the high-low temperature environment can be effectively reduced, and it is ensured that the first lens 140 can normally receive and collimate the laser beam emitted by the light source 130.

In fig. 10 (a), the side surface of the first lens 140 is fixed to the side surface of the first cantilever structure 160, and another fixing manner of the first lens 140 is provided in this embodiment, as shown in fig. 10 (b), where the top end of the first lens 140 is fixed to the lower edge of the free end of the first cantilever structure 160. The difference between (a) and (b) in fig. 10 is mainly that the fixing manner of the first lens 140 is different, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein. In some cases, the height of the light source 130, the distance between the light source 130 and the position where the first lens 140 can be disposed, and the size of the first lens 140 can affect whether the first lens 140 can normally receive the laser beam emitted by the light source 130, so (a) and (b) different fixing positions are to consider the problem that the first lens 140 can normally receive the laser beam emitted by the light source 130, and a corresponding fixing manner can be selected according to practical situations.

Fig. 11 is a schematic top view of the light source, the first lens and the first cantilever structure of fig. 7 (a), fig. 8 (a) and fig. 9 (a) according to an embodiment of the present application. As shown in fig. 11, when the first lens 140 is fixed to the side surface of the first cantilever structure 160, the first cantilever structure 160 needs to be disposed opposite to the offset light source 130 without blocking the optical path of the laser beam emitted by the light source 130, that is, in the horizontal plane.

It should be noted that, in the laser emitting device of fig. 10 (a), the arrangement of the light source 130, the first lens 140 and the first cantilever structure 160 should be compatible with the arrangement of fig. 11, that is, the first cantilever structure 160 should not block the optical path of the laser beam emitted by the light source 130.

Fig. 12 is a schematic top view of the light source, the first lens and the first cantilever structure of fig. 7 (b), fig. 8 (b) and fig. 9 (b) according to an embodiment of the present application. As shown in fig. 12, when the first lens 140 is fixed on the upper edge of the first cantilever structure 160, the first cantilever structure 160 needs to be disposed in alignment with the light source 130 so as not to block the optical path of the laser beam emitted by the light source 130, i.e., in the horizontal plane.

It should be noted that, in the laser emitting device of fig. 10 (b), the arrangement of the light source 130, the first lens 140 and the first cantilever structure 160 should be compatible with the arrangement of fig. 12, that is, the first cantilever structure 160 should not block the optical path of the laser beam emitted by the light source 130.

In order to better reduce the degree of relative displacement between the light source 130 and the first lens 140, and thus reduce the degree of variation of the pointing angle of the laser beam output by the first lens 140, that is, reduce the degree of deviation of the laser beam output by the laser emitting device, fig. 13 shows a schematic structural diagram of fixing the first lens 140 by using the first fixing block and the second fixing block in the embodiment of the present application. The embodiment of the present application is to add the first fixing block 170, the second fixing block 180 and the first groove 190 on the basis of the embodiment provided in fig. 5. As shown in fig. 13, the laser emitting device further includes a first fixing block 170 and a second fixing block 180, the outer edge of the light source carrier 110 is provided with a first groove 190, the first fixing block 170 and the second fixing block 180 are respectively disposed on two sides of the first groove 190 and do not block the optical path of the laser, the first lens 140 is disposed in the first groove 190, and the first fixing block 170 and the second fixing block 180 are both abutted with the first lens 140 to clamp and fix the first lens 140.

The directions of the first and second fixing blocks 170 and 180 are not limited, as long as the directions of the first and second fixing blocks 170 and 180 do not block the optical path of the laser light and can abut against the first lens 140 to clamp and fix the first lens 140, and the directions of the first and second fixing blocks 170 and 180 are preferably perpendicular to the optical axis of the first lens 140. The materials, sizes, shapes, etc. of the first and second fixing blocks 170 and 180 are not limited herein.

In this embodiment, if the volume of the first lens 140 is smaller, directly fixing the first lens 140 to the first base 120 will result in that the first lens 140 cannot normally receive the laser beam emitted by the light source 130, by forming the first groove 190 in the light source carrier 110, the first fixing block 170 and the second fixing block 180 are respectively disposed on two sides of the first groove 190, so that the first lens 140 can be stably fixed in the first groove 190 to increase the height of the first lens 140, and thus the first lens 140 can normally receive the laser beam emitted by the light source 130.

Further, as described above, if the bearing component of the optical element in the lidar is deformed to cause the first lens 140 to deviate relative to the light source 130, the pointing angle of the laser beam output by the first lens 140 is changed, that is, the laser beam deviates, which causes the phenomenon shown in fig. 2. Therefore, in the embodiment of the present application, the first lens 140 and the light source carrier 110 are fixed by the first fixing block 170 and the second fixing block 180, so that the degree of relative displacement between the light source 130 and the first lens 140, which are also fixed to the light source carrier 110, can be effectively reduced, that is, the degree of change of the pointing angle of the laser beam output by the first lens 140 caused by the relative displacement between the first lens 140 and the light source 130 is reduced.

It should be noted that, when the first lens 140 is disposed on the first base 120, if the first lens 140 can normally receive the laser beam emitted by the light source 130, the first lens 140 can be still fixed by fixing the first lens 140 in the manner provided in the embodiment of the present application, that is, the first lens 140 is fixed by disposing the first fixing block and the second fixing block, so as to reduce the degree of relative offset between the light source 130 and the first lens 140.

In some embodiments, the outer edge of the light source carrier 110 is not provided with a groove, so as to reduce the size of the light source carrier 110 and reduce the processing procedure, and the first fixing block 170 and the second fixing block 180 are arranged on the outer edge of the light source carrier 110 and are located in a direction intersecting with the optical axis of the first lens 140 and not blocking the laser light path; the first lens 140 is disposed between the first and second fixing blocks 170 and 180 and is located outside the light source carrier 110; the first fixing block 170 and the second fixing block 180 are abutted against the first lens 140 to clamp and fix the first lens 140.

It should be noted that, if the bearing component of the optical element in the laser radar is deformed, the laser receiving device is offset, so that the laser beam reflected by the detection area cannot be received, and effective detection cannot be completed. The principle of the laser emitting device is similar to that of the laser emitting device, and the related description of the laser emitting device can be referred to specifically, and the description is omitted here. Therefore, the above improvements made to the laser transmitter are equally applicable to the laser receiver, and based on this, the present application also provides a laser receiver.

Fig. 14 is a schematic structural diagram of a laser receiving device according to some embodiments of the present application. As shown in fig. 14 (a), the laser light receiving device includes a detector carrier 210, a second base 220, a detector 230, a third lens 240, and a fourth lens 250, the ratio of the optical power of the third lens 240 to the total optical power of the laser light receiving device is a third ratio, the ratio of the optical power of the fourth lens 250 to the total optical power of the laser light receiving device is a fourth ratio, and both the third ratio and the fourth ratio are greater than 0, and the sum of the third ratio and the fourth ratio is 1. The second base 220 is disposed on one side of the detector carrier 210, and the third lens 240 is disposed on the second base 220, and is configured to receive and collect the reflected laser light from the detection area; the fourth lens 250 is configured to receive the laser light converged by the third lens 240 and converge the received converged laser light; the detector 230 is disposed at the other side of the detector carrier 210 with respect to the second base 220, and is configured to receive the laser light converged by the fourth lens 250.

Specifically, the probe carrier 210 may be a circuit board, and the probe 230 is disposed on the circuit board, so that the probe 230 can normally receive the laser beam; the second base 220 may be a frame (i.e., housing) of the lidar; the third lens 240 may be a plano-convex lens, a biconvex lens, a meniscus lens, or the like; the fourth lens 250 may be a plano-convex lens, a biconvex lens, a meniscus lens, or the like. The third ratio and the fourth ratio may be set as needed, as long as the third ratio and the fourth ratio are both greater than 0, and the sum of the third ratio and the fourth ratio is equal to 1, and the present invention is not limited thereto. The specific materials, shapes, sizes, etc. of the detector carrier 210, the second base 220, the detector 230, the third lens 240, and the fourth lens 250 are not limited herein, as long as the above-mentioned arrangement requirements can be satisfied.

The total focal length of the laser receiving device is the focal length of the laser radar optical system to which the laser receiving device is applied, and by setting the total focal length of the laser receiving device, the detector 230 of the laser receiving device can receive the laser reflected by the detection area, and generally the focal length of the laser receiving device is fixed. The third lens 240 and the fourth lens 250 converge the laser beams, specifically, can change the diameter and the divergence angle of the laser beams, i.e., reduce the divergence angle of the reflected laser beam received into the detection area to a smaller laser beam and output the laser beam. The detector 230 is configured to receive the laser beam converged by the fourth lens 250, that is, the converged laser beam reflected by the detection area, so that effective detection can be completed.

For a laser receiving device comprising only one lens and using the lens for converging a laser beam, the total optical power of the laser receiving device is concentrated on the lens, i.e. the total sensitivity of the laser receiving device is concentrated on the lens, since only one lens is included. And since the volume of a lens is generally proportional to its focal length, i.e., the larger the focal length, the larger its volume. For the laser light receiving device comprising only one lens, the total focal length of the laser light receiving device is concentrated on the lens, which results in a larger volume of the lens, so that in order to meet the structural stability of the laser light receiving device, the lens is usually arranged on the base of the laser light receiving device and the detector is arranged on the detector carrier. At this time, if the bearing component of the optical element in the laser radar is deformed, the lens is displaced, so that the pointing angle of the laser beam output by the lens is greatly changed, and the laser beam output by the lens cannot reach the detector, so that the detection cannot be completed.

In the case of not changing the total focal length of the laser light receiving device, that is, the total optical power of the laser light receiving device, the laser light receiving device is designed to include the third lens 240 and the fourth lens 250 in the embodiment of the present application, and the sum of the optical power of the third lens 240 and the optical power of the fourth lens 250 is equal to the total optical power of the laser light receiving device, that is, the optical powers of the third lens 240 and the fourth lens 250 are both smaller than the total optical power of the laser light receiving device.

Therefore, compared with the laser receiving device including only one lens described above, the laser receiving device provided in this embodiment of the present application includes the third lens 240 and the fourth lens 250, in which the total focal length and the focal length of the third lens 240 and the fourth lens 250 are smaller than those of the lenses in the laser receiving device to be compared, and in which the total focal length of the two laser receiving devices is the same, the distance between the fourth lens 250 and the detector 230 is smaller than that of the lenses in the laser receiving device to be compared, so that when the carrying members of the optical elements in the two laser emitting devices deform to the same extent, that is, when the same extent of smiling face deformation or crying face deformation occurs, the fourth lens 250 is closer to the detector 230, so that the position of the fourth lens 250 is warped upwards or bent downwards than that of the lenses in the laser generating device to be compared, that is, that the fourth lens 250 is displaced, even if the optical beam 250 is displaced from the lenses in the laser generating device to be compared with the focal length of the lenses to be compared is smaller than that of the lenses in the laser generating device to be compared. However, as described above, since the optical power of the fourth lens 250 is smaller than that of the lens in the comparative laser light receiving device as the total optical power of the two laser light receiving devices, the degree of shift of the laser light beam output by the fourth lens 250 is further made smaller than that of the lens in the comparative laser light receiving device.

And the third lens 240 is farther from the detector 230 than the fourth lens 250, even if the third lens 240 is displaced to the same extent as the lenses in the comparative laser light receiving device, since the optical power of the third lens 240 is smaller than that of the lenses in the comparative laser light receiving device, the degree of deviation of the laser light beam output by the third lens 240 is smaller than that of the lenses in the comparative laser light receiving device.

Further, since the third lens 240 has a large volume, the structural stability of the laser light receiving device can be improved by disposing the third lens 240 on the second base 220.

In summary, under the condition that the total focal length of the laser receiving device is not changed, the laser receiving device provided in the embodiment of the present application is designed to include the third lens 240 and the fourth lens 250, compared with a laser receiving device including only one lens, the offset degree of the laser beam received by the laser receiving device caused when the bearing component of the optical element in the laser receiving device is deformed is effectively reduced, so that the detection can be better completed.

The embodiment of the present application also provides another positioning manner of the fourth lens 250, as shown in fig. 14 (b), where the fourth lens 250 is disposed on the detector carrier 210. In fig. 14, (a) and (b) are mainly different in the position setting of the fourth lens 250, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein.

It should be noted that, the laser receiving device provided in fig. 14 of the present application corresponds to the laser emitting device provided in fig. 5, and the difference is that the laser emitting device includes the light source 130, the first lens 140 and the second lens 150, and the laser receiving device includes the detector 230, the third lens 240 and the fourth lens 250, and the directions of the light paths of the lasers in the laser emitting device and the laser receiving device are opposite, so the specific implementation manner and the working principle of the laser receiving device provided in the present application may refer to the corresponding embodiment of the laser emitting device, and will not be repeated herein. It should be noted that the first base 120 and the second base 220 may be the same base, or two different bases, and may be set as needed, which is not limited herein.

It should be noted that, in some embodiments, in order to enable the detector of the laser receiving device to normally receive the laser beam, the laser receiving device generally further includes a circuit board. Fig. 15 is a schematic structural view of a laser receiving device according to other embodiments of the present application. Fig. 15 is a schematic view of the laser receiver device embodiment of fig. 14 with the addition of a circuit board C and electrical leads D. As shown in fig. 15 (a), a circuit board C is disposed on the second base 220, and the circuit board C is connected to the probe 230 through an electrical lead D so that the probe 230 can normally receive the laser beam. Since the laser receiving device provided in the embodiment of the present application is different from the laser receiving device provided in fig. 14 (a) mainly in that the laser receiving device provided in the embodiment of the present application has the circuit board C and the electrical lead D added, the specific implementation manner and the working principle of the embodiment of the present application can refer to the laser receiving device provided in fig. 14 (a), and will not be described herein.

In the laser radar, the circuit board C and the circuit board D may be the same circuit board, or may be two different circuit boards, and may be set as required, which is not limited herein.

The embodiment of the present application also provides another positioning manner of the fourth lens 250, as shown in fig. 15 (b), where the fourth lens 250 is disposed on the detector carrier 210, so that the detector 230 can receive the laser beam output by the detector carrier. In fig. 15, (a) and (b) are mainly different in the position setting of the fourth lens 250, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein.

In this embodiment of the present application, the laser receiving device provided in fig. 15 corresponds to the laser transmitting device provided in fig. 6, so the specific implementation manner, the working principle and the generated beneficial effects of the laser receiving device provided in this embodiment of the present application can refer to the laser transmitting device provided in fig. 6, and are not described herein again.

In some embodiments, the third lens 240 is a third lens unit comprising at least two lenses for receiving and converging reflected laser light from the detection zone. Wherein the ratio of the total optical power of the third lens unit to the total optical power of the laser receiving device is a third ratio, and the third ratio is greater than 0. The optical power of each lens may be set as required, as long as the above requirements are satisfied, and is not limited herein.

In some embodiments, the fourth lens 250 is a fourth lens unit, and includes at least two lenses, and the fourth lens unit is configured to receive the laser beam output by the third lens 240, and to converge the received laser beam and output the converged laser beam. Wherein the ratio of the total optical power of the fourth lens unit to the total optical power of the laser receiving device is a fourth ratio, and the fourth ratio is greater than 0. The optical power of each lens may be set as required, as long as the above requirements are satisfied, and is not limited herein.

In some embodiments, to reduce the relative displacement between the fourth lens 250 and the detector 230, and thus reduce the degree of change in the pointing angle of the laser beam output by the fourth lens 250, the fourth lens 250 is fixed to the detector carrier 210 with a second fixing member or the fourth lens 250 is fixed to the second base 220 with a second fixing member.

In some embodiments, to save costs, the fourth lens 250 is directly fixed to the detector carrier 210, or the fourth lens 250 is directly fixed to the second base 220.

In order to reduce the relative displacement between the fourth lens 250 and the detector 230, and thus reduce the degree of change in the pointing angle of the laser beam output by the fourth lens 250, so that the detector 230 can normally receive the converged laser beam output by the fourth lens 250, fig. 16 shows a schematic structural diagram of the laser receiving apparatus according to other embodiments of the present application. Wherein, the embodiment of the present application is to add the second cantilever structure 260 on the basis of the embodiment provided in fig. 14. As shown in fig. 16 (a), the laser receiving device further includes a second cantilever structure 260, a fixed end of the second cantilever structure 260 is fixed on the detector carrier 210, and extends from the fixed end in a horizontal direction toward an outer side of the detector carrier 210 to form a free end of the second cantilever structure 260, the free end is used for fixing the fourth lens 250, and the fourth lens 250 is located at the outer side of the detector carrier 210 in the horizontal direction. Preferably, the center of the detector 230 is aligned with the principal point of the fourth lens 250, and the distance between the light-emitting surface of the fourth lens 250 and the center of the detector 230 is 1 to 1.5 times the focal length of the fourth lens 250, so that the fourth lens 250 can better receive and collect the laser beam output by the third lens 240.

In fig. 16 (a), the side surface of the fourth lens 250 is fixed to the side surface of the second cantilever structure 260, and another fixing manner of the fourth lens 250 is provided in this embodiment, as shown in fig. 16 (b), where the bottom end of the fourth lens 250 is fixed to the upper edge of the free end of the second cantilever structure 260. The difference between (a) and (b) in fig. 16 is mainly that the fixing manner of the fourth lens 250 is different, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be disposed, and the size of the fourth lens 250 can affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250, so (a) and (b) different fixing positions are to consider the problem that the detector 230 can normally receive the laser beam output by the fourth lens 250, and a corresponding fixing manner can be selected according to the actual situation, so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

In this embodiment of the present application, the laser receiving device provided in fig. 16 corresponds to the laser transmitting device provided in fig. 7, so the specific implementation manner, the working principle and the generated beneficial effects of the laser receiving device provided in this embodiment of the present application can refer to the laser transmitting device provided in fig. 7, and are not described herein again.

In order to improve the structural stability of the laser receiving device, fig. 17 shows a schematic structural diagram of the laser receiving device provided in other embodiments of the present application. Wherein, the embodiment of the present application is to add the second cantilever structure 260 on the basis of the embodiment provided in fig. 14. As shown in fig. 17 (a), the fixed end of the second cantilever structure 260 is fixed to the second base 220, and extends from the fixed end in the vertical direction toward above the second base 220 to form a free end of the second cantilever structure 260, which is used to fix the fourth lens 250. Preferably, the center of the detector 230 is aligned with the principal point of the fourth lens 250, and the distance between the light exit surface of the fourth lens 250 and the center of the detector 230 is 1 to 1.5 times the focal length of the fourth lens 250.

In fig. 17 (a), the side surface of the fourth lens 250 is fixed to the side surface of the second cantilever structure 260, and another fixing manner of the fourth lens 250 is provided in this embodiment, as shown in fig. 17 (b), where the bottom end of the fourth lens 250 is fixed to the upper edge of the free end of the second cantilever structure 260. The difference between (a) and (b) in fig. 17 is mainly that the fixing manner of the fourth lens 250 is different, so the specific implementation and working principle of (b) can be referred to (a), and will not be described herein. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be disposed, and the size of the fourth lens 250 can affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250, so (a) and (b) different fixing positions are to consider the problem that the detector 230 can normally receive the laser beam output by the fourth lens 250, and a corresponding fixing manner can be selected according to the actual situation, so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

In this embodiment of the present application, the laser receiving device provided in fig. 17 corresponds to the laser transmitting device provided in fig. 8, so the specific implementation manner, the working principle and the generated beneficial effects of the laser receiving device provided in this embodiment of the present application can refer to the laser transmitting device provided in fig. 8, and are not described herein again.

It should be noted that, in the embodiment of the present application, the second cantilever structure 260 may be two different structures from the second base 220; however, for cost saving, the second cantilever structure 260 may also be a structure belonging to the second base 220, i.e. integral with the second base 220.

In order to reduce the relative displacement between the fourth lens 250 and the detector 230, the degree of change of the pointing angle of the laser beam output by the fourth lens 250 is reduced, so that the detector 230 can normally receive the laser beam output by the fourth lens 250, and fig. 18 is a schematic structural diagram of a laser receiving device according to other embodiments of the present application. Wherein, the embodiment of the present application is to add the second cantilever structure 260 on the basis of the embodiment provided in fig. 14. As shown in fig. 18 (a), the fixed end of the second cantilever structure 260 is fixed between the probe carrier 210 and the second base 220, and extends from the fixed end in a horizontal direction until passing over the outer edge of the probe carrier 210, and then extends upward in a vertical direction to form a free end of the second cantilever structure 260, which is used to fix the fourth lens 250. Preferably, the center of the detector 230 is aligned with the principal point of the fourth lens 250, and the distance between the light-emitting surface of the fourth lens 250 and the center of the detector 230 is 1 to 1.5 times the focal length of the fourth lens 250. The material, shape, size, etc. of the second cantilever structure 260 may be set as required, as long as the free end of the second cantilever structure 260 can fix the fourth lens 250 and does not block the optical path of the laser, which is not limited herein. The fixed end of the second cantilever structure 260 may be made of the same or different material as the detector carrier 210, or may be made of the same or different material as the second base 220; the free end of the second cantilever structure 260 may be of the same or different material as the detector carrier 210 or of the second base 220; the fixed end of the second cantilever structure 260 may be of the same or different material than the free end. Preferably, the fixed end of the second cantilever structure 260 is made of a material having a CTE between that of the probe carrier 210 and the second base 220; the free end is made of a material with a lower CTE.

In fig. 18 (a), the side surface of the fourth lens 250 is fixed to the side surface of the second cantilever structure 260, and another fixing manner of the fourth lens 250 is provided in this embodiment, as shown in fig. 18 (b), where the bottom end of the fourth lens 250 is fixed to the upper edge of the free end of the second cantilever structure 260. The difference between (a) and (b) in fig. 18 is mainly that the fixing manner of the fourth lens 250 is different, so the specific implementation of (b) can refer to (a), and will not be described herein. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be disposed, and the size of the fourth lens 250 can affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250, so (a) and (b) different fixing positions are to consider the problem that the detector 230 can normally receive the laser beam output by the fourth lens 250, and a corresponding fixing manner can be selected according to the actual situation, so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

In this embodiment of the present application, the laser receiving device provided in fig. 18 corresponds to the laser transmitting device provided in fig. 9, so the specific implementation manner, the working principle and the generated beneficial effects of the laser receiving device provided in the embodiment of the present application can refer to the laser transmitting device provided in fig. 9, and are not repeated herein.

In order to reduce the relative displacement between the fourth lens 250 and the detector 230, and thus reduce the degree of change in the pointing angle of the laser beam output by the fourth lens 250, fig. 19 shows a schematic diagram of the laser receiving device according to other embodiments of the present application. Wherein, the embodiment of the present application is to add the second cantilever structure 260 on the basis of the embodiment provided in fig. 14. As shown in fig. 19 (a), the fixed end of the second cantilever structure 260 is fixed on the probe carrier 210, and extends from the fixed end in the horizontal direction until passing over the outer edge of the probe carrier 210, and then extends downward in the vertical direction to form a free end of the second cantilever structure 260, where the free end is used to fix the fourth lens 250. The material, shape, size, etc. of the second cantilever structure 260 may be set as required, as long as the free end of the second cantilever structure 260 can fix the fourth lens 250 and does not block the optical path of the laser, which is not limited herein. The fixed end of the second cantilever structure 260 may be made of the same or different material as the detector carrier 210, or may be made of the same or different material as the second base 220; the free end of the second cantilever structure 260 may be of the same or different material as the detector carrier 210 or of the second base 220; the fixed end of the second cantilever structure 260 may be of the same or different material than the free end.

In fig. 19 (a), the side surface of the fourth lens 250 is fixed to the side surface of the second cantilever structure 260, and another fixing manner of the fourth lens 250 is provided in this embodiment, as shown in fig. 19 (b), where the bottom end of the fourth lens 250 is fixed to the lower edge of the free end of the second cantilever structure 260. The difference between (a) and (b) in fig. 19 is mainly that the fixing manner of the fourth lens 250 is different, so the specific implementation of (b) can refer to (a), and will not be described herein. In some cases, the height of the fourth lens 250, the distance between the detector 230 and the position where the fourth lens 250 can be disposed, and the size of the fourth lens 250 can affect whether the detector 230 can normally receive the laser beam output by the fourth lens 250, so (a) and (b) different fixing positions are to consider the problem that the detector 230 can normally receive the laser beam output by the fourth lens 250, and a corresponding fixing manner can be selected according to the actual situation, so that the detector 230 can normally receive the laser beam output by the fourth lens 250.

In this embodiment of the present application, the laser receiving device provided in fig. 19 corresponds to the laser transmitting device provided in fig. 10, so the specific implementation manner, the working principle and the generated beneficial effects of the laser receiving device provided in this embodiment of the present application can refer to the laser transmitting device provided in fig. 10, and are not repeated herein.

Fig. 20 shows a schematic top view of the detector, the fourth lens and the second cantilever structure of fig. 16 (a), 17 (a) and 18 (a) according to an embodiment of the present application. As shown in fig. 20, when the fourth lens 250 is fixed to the side of the second cantilever structure 260, the second cantilever structure 260 needs to be disposed opposite to the offset detector 230 so as not to block the optical path of the light beam, that is, in the horizontal plane.

It should be noted that, in the laser receiving device in fig. 19 (a), the arrangement of the detector 230, the fourth lens 250 and the second cantilever structure 260 should be compatible with the arrangement of fig. 20, that is, the second cantilever structure 260 should not block the optical path of the laser beam.

Fig. 21 shows a schematic top view of the detector, the fourth lens and the second cantilever structure of fig. 16 (b), 17 (b) and 18 (b) according to an embodiment of the present application. As shown in fig. 21, when the fourth lens 250 is fixed on the upper edge of the second cantilever structure 260, the second cantilever structure 260 needs to be disposed in alignment with the detector 230 so as not to block the optical path of the light beam, i.e., in the horizontal plane.

It should be noted that, in the laser receiving device of fig. 19 (b), the arrangement of the detector 230, the fourth lens 250 and the second cantilever structure 260 should be compatible with the arrangement of fig. 21, that is, the second cantilever structure 260 should not block the optical path of the laser beam.

In order to better reduce the degree of relative displacement between the detector 230 and the fourth lens 250, and reduce the degree of variation of the pointing angle of the laser beam output by the fourth lens 250, so that the detector 230 can normally receive the laser beam output by the fourth lens 250, fig. 22 is a schematic structural diagram of fixing the fourth lens 250 by using the third fixing block and the fourth fixing block in the embodiment of the present application. The embodiment of the present application is to add the third fixing block 270, the fourth fixing block 280 and the second groove 290 on the basis of the embodiment provided in fig. 14. As shown in fig. 22, the laser receiving device further includes a third fixing block 270 and a fourth fixing block 280, the outer edge of the detector carrier 210 is provided with a second groove 290, the third fixing block 270 and the fourth fixing block 280 are respectively disposed on two sides of the second groove 290 and do not block the optical path of the laser, the fourth lens 250 is disposed in the second groove 290, and the third fixing block 270 and the fourth fixing block 280 are both abutted with the fourth lens 250 to clamp and fix the fourth lens 250.

In this embodiment of the present application, the laser receiving device provided in fig. 22 corresponds to the laser transmitting device provided in fig. 13, so the specific implementation manner, the working principle and the generated beneficial effects of the laser receiving device provided in this embodiment of the present application can refer to the laser transmitting device provided in fig. 13, and are not described herein again.

It should be noted that, when the fourth lens 250 is disposed on the second base 220, if the detector 230 can normally receive the laser beam output by the fourth lens 250, the fourth lens 250 can be fixed by fixing the fourth lens 250 according to the embodiment of the present application, that is, by disposing the third fixing block and the fourth fixing block to fix the fourth lens 250, the degree of relative offset between the fourth lens 250 and the detector 230 is reduced.

In some embodiments, the outer edge of the detector carrier 210 is not provided with a groove to reduce the size of the detector carrier 210 and reduce the processing procedure, and the third fixing block 270 and the fourth fixing block 280 are disposed on the outer edge of the detector carrier 210 and located in a direction intersecting the optical axis of the fourth lens 250 and not blocking the laser light path; the fourth lens 250 is disposed between the third and fourth fixed blocks 270 and 280 and is located outside the detector carrier 210; the third fixing block 270 and the fourth fixing block 280 each abut against the fourth lens 250 to clamp and fix the fourth lens 250.

The embodiment of the application also provides a laser radar, which comprises any one of the laser transmitting devices provided by the embodiment and/or any one of the laser receiving devices provided by the embodiment. The laser transmitting device is used for transmitting laser to the detection area, and the laser receiving device is used for receiving reflected laser from the detection area. Here, taking fig. 23 as an example for explanation, fig. 23 shows a schematic structural diagram of a lidar according to an embodiment of the present application. As shown in fig. 23, the laser radar 300 includes a laser emitting device 301 and a laser receiving device 302, wherein the laser emitting device 301 can emit a laser beam to a detection area, and the laser receiving device 302 can receive reflected laser light from the detection area, so that the laser radar 300 can perform effective detection on the detection area.

As described above, if the laser emitting device of the laser radar and/or the carrier of the optical element in the laser receiving device are deformed, the laser emitted by the laser emitting device is deflected and cannot reach the detection area, and/or the laser receiving device cannot normally receive the reflected laser from the detection area, so that the detection cannot be completed. In the embodiment of the application, by using the laser emitting device provided by the embodiment, the degree of change of the pointing angle of the laser beam emitted by the laser emitting device can be reduced; by using the laser receiving device provided by the embodiment, the change degree of the pointing angle of the reflected laser beam received by the laser receiving device can be reduced, so that the laser radar can complete effective detection.

Claims

1. A laser emitting apparatus, wherein the laser emission comprises:

a light source carrier;

the first base is arranged on one side of the light source carrier;

the light source is arranged on the other side of the light source carrier relative to the first base and is used for emitting laser to the detection area;

the first lens is arranged on the light emitting side of the light source and is used for receiving the laser and reducing the beam divergence angle of the laser;

The second lens is arranged on the first base and is used for receiving the laser output by the first lens and outputting the received laser after collimation;

the ratio of the focal power of the first lens to the total focal power of the laser emitting device is a first ratio, the ratio of the focal power of the second lens to the total focal power of the laser emitting device is a second ratio, the first ratio and the second ratio are both larger than 0, and the sum of the first ratio and the second ratio is 1.

2. The laser emitting device of claim 1, wherein the first ratio is greater than the second ratio.

3. The laser light emitting device according to claim 1, wherein the first lens is fixed to the light source carrier by a first fixing member or directly fixed to the light source carrier, or

4. A laser emitting device as claimed in claim 3, wherein the first fixing member is a first cantilever structure, and the first lens is fixed to a free end of the first cantilever structure.

5. The laser emitting device as claimed in claim 4, wherein the fixed end of the first cantilever structure is made of the same or different material as the light source carrier, or the fixed end of the first cantilever structure is made of the same or different material as the first base, and/or

6. A laser light emitting device according to claim 3, wherein the first fixing member includes a first fixing block and a second fixing block which are provided in a direction intersecting an optical axis of the first lens without blocking an optical path of the laser light, the first lens is located between the first fixing block and the second fixing block, and both of the first fixing block and the second fixing block abut against the first lens to clamp and fix the first lens.

7. A laser light receiving device, characterized in that the laser light receiving device comprises:

a detector carrier;

the second base is arranged on one side of the detector carrier;

The third lens is arranged on the two bases and is used for receiving and converging reflected laser from the detection area;

a fourth lens for receiving and converging the laser light output by the third lens;

the detector is arranged on the other side of the detector carrier relative to the second base and is used for receiving the laser converged by the fourth lens;

the ratio of the focal power of the third lens to the total focal power of the laser receiving device is a third ratio, the ratio of the focal power of the fourth lens to the total focal power of the laser receiving device is a fourth ratio, the third ratio and the fourth ratio are both larger than 0, and the sum of the third ratio and the fourth ratio is 1.

8. The laser light receiving device according to claim 7, wherein the third ratio is smaller than the fourth ratio.

9. The laser light receiving device according to claim 7, wherein the fourth lens is fixed to the detector carrier by a second fixing member or directly fixed to the detector carrier, or

10. The laser light receiving device as claimed in claim 9, wherein the second fixing member is a second cantilever structure, and the fourth lens is fixed to a free end of the second cantilever structure.

11. The laser light receiving device according to claim 10, wherein the fixed end of the second cantilever structure is made of the same or different material as the detector carrier, or the fixed end of the second cantilever structure is made of the same or different material as the second base, and/or

12. The laser light receiving device according to claim 9, wherein the second fixing member includes a third fixing block and a fourth fixing block which are provided in a direction intersecting an optical axis of the fourth lens without blocking an optical path of laser light output by the third lens, the fourth lens is located between the third fixing block and the fourth fixing block, and both of the third fixing block and the fourth fixing block abut against the fourth lens to clamp and fix the fourth lens.

13. A lidar comprising a laser emitting device according to any of claims 1-6 and/or comprising a laser receiving device according to any of claims 7-12, wherein the laser emitting device is arranged to emit laser light into a detection area and the laser receiving device is arranged to receive reflected laser light from the detection area.