CN116990828A - Lidar and mobile device - Google Patents

Abstract

The application discloses a laser radar and movable equipment, wherein the laser radar comprises a first optical transceiver module, a second optical transceiver module and a wave dividing element, the first optical transceiver module comprises a first laser and a first detector, and the first laser is used for generating first detection light; the second optical transceiver module comprises a second laser and a second detector, the second laser is used for generating second detection light, one of the first detection light and the second detection light is a pulse wave signal, the other is a continuous wave signal, and the second detection light and the first detection light are used for detecting a target object and have different wavelengths; the first and second detectors are arranged on the front side of the first and second beam splitter, and the first and second beam splitters are arranged on the rear side of the first and second beam splitter. The technical scheme of the application improves the current situation of insufficient timeliness of the acquisition speed of the current ToF laser radar.

Description

Lidar and mobile device

Technical Field

The application relates to the technical field of electronic equipment, in particular to a laser radar and movable equipment applying the laser radar.

Background

In the fields of intelligent traffic/unmanned driving and the like, the surrounding environment of a road/unmanned driving vehicle is a key point, and road signal control is coordinated according to the obtained road, vehicle position and obstacle information sensed by sensor equipment, so that the road management quality and efficiency can be improved.

The lidar in the related art is mostly a ToF (Time-of-Flight) lidar, which can measure a distance by transmitting a pulse signal according to a Time interval of transmitting and receiving the pulse signal. However, the ToF lidar is only suitable for directly measuring distance, and if a speed is required to be measured, the speed between two adjacent frames is required to be calculated according to the distance measurement result of multiple frames; this way of obtaining the speed takes a long time, typically over 300ms, which is not sufficient for the automatic driving perception.

Disclosure of Invention

The embodiment of the application provides a laser radar and movable equipment, which are used for improving the current situation that the time efficiency of the current ToF laser radar is insufficient.

In a first aspect, an embodiment of the present application provides a lidar, the lidar comprising:

the first optical transceiver module comprises a first laser and a first detector, wherein the first laser is used for generating first detection light;

the second optical transceiver module comprises a second laser and a second detector, wherein the second laser is used for generating second detection light, one of the first detection light and the second detection light is a pulse wave signal, the other is a continuous wave signal, and the second detection light and the first detection light are used for detecting a target object and have different wavelengths; and

the first and second detection light is reflected by the target object, and the second detection light is reflected by the target object;

the first detector is used for receiving the first echo light, and the second detector is used for receiving the second echo light.

In some embodiments, the continuous wave is a constant frequency continuous wave.

In some embodiments, the dichroic element is a dichroic mirror.

In some embodiments, the demultiplexer is further configured to receive the first detection light and the second detection light, so as to combine the first detection light and the second detection light and output the combined first detection light and second detection light.

In some embodiments, the lidar further comprises a first mirror;

the first reflecting mirror is located between the first laser and the branching element along the transmission direction of the first detection light, and is used for reflecting the first detection light to the branching element.

In some embodiments, the lidar further comprises a first lens module;

the first lens module is located upstream of the branching element along the transmission direction of the first detection light, and comprises at least one lens for collimating the first detection light.

In some embodiments, the lidar further comprises a second lens module;

the second lens module is located between the beam splitter and the first detector along the transmission direction of the first echo light, and comprises at least one lens for receiving and focusing the first echo light;

the second lens module is arranged on one side of the first reflecting mirror, which is away from the beam splitting element, along a first direction, and the first direction is the opposite direction of the first detecting light reflected by the first reflecting mirror.

In some embodiments, the lidar further comprises a third lens module;

the third lens module is located upstream of the beam splitting element along the transmission direction of the second detection light, and comprises at least one lens for collimating the second detection light.

In some embodiments, the lidar further comprises a wave combining element;

the wave combining element is used for receiving the first detection light and the second detection light and combining the first detection light and the second detection light into the same beam of light so as to detect a target object.

In some embodiments, the lidar further comprises a second mirror;

the second reflecting mirror is positioned at the downstream of the wave combining element along the transmission direction of the first detection light, and the reflecting mirror is used for reflecting the combined first detection light and second detection light.

In some embodiments, the lidar further comprises a fourth lens module;

the fourth lens module is located at the downstream of the wave combining element along the transmission direction of the first detection light, and comprises at least one lens, and the fourth lens module is used for collimating the first detection light and the second detection light after being combined.

In some embodiments, the lidar further comprises a fifth lens module;

the fifth lens module is located upstream of the beam splitter along the transmission direction of the first echo light, and comprises at least one lens, and the fifth lens module is used for receiving the first echo light and the second echo light and focusing the first echo light and the second echo light.

In some embodiments, the fifth lens module is disposed between the second mirror and the branching element along a first direction, the first direction being a direction opposite to the direction in which the second mirror reflects the first detection light and the second detection light;

the cross-sectional profile of the fifth lens module, viewed in the first direction, covers the second mirror.

In some embodiments, the lidar further comprises a beam splitter;

the beam splitter is positioned at the downstream of the wave combining element along the transmission direction of the first detection light, and is positioned at the upstream of the wave dividing element along the transmission direction of the first return light;

the spectroscope comprises a reflection area and a transmission area, the reflection area is used for reflecting the first detection light and the second detection light after combination, and the transmission area is used for transmitting the first return light and the second return light;

the transmissive region is disposed around the reflective region.

A second aspect the application provides a mobile device comprising a mobile body and a lidar as described above.

According to the embodiment of the application, two optical transceiver modules are arranged in the laser radar, wherein the first optical transceiver module generates first detection light, the second optical transceiver module generates second detection light, the first detection light and the second detection light are emitted out of the laser radar in a beam mode, one of the two detection light and the second detection light is a pulse wave signal, and the other detection light is a continuous wave signal; the two wavelengths are different, the first and second return lights are received by the branching element, and the branching is the first return light propagating to the first detector and the second return light propagating to the second detector. Therefore, the laser radar can perform distance detection through pulse wave signals, and speed detection is realized through continuous wave signals; compared with a ToF laser radar, the laser radar has the capability of detecting the distance and the speed in single frame data, thereby having higher timeliness. In addition, compared with the scheme that the frequency of a beat signal detected by adopting a frequency modulation continuous wave in the traditional FMCW laser radar is higher and a high-speed analog-to-digital converter is required to be adopted for sampling, the laser radar can realize sampling through the analog-to-digital converter with a lower sampling rate, so that the cost of the whole device is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of an optical path of a lidar according to a first embodiment of the present application;

fig. 2 is a schematic view of an optical path of a lidar according to a second embodiment of the present application;

fig. 3 is a schematic view of an optical path of a lidar according to a third embodiment of the present application;

fig. 4 is a schematic structural diagram of an embodiment of a mobile device according to the present application.

Reference numerals illustrate:

100. a laser radar; 110. a first optical transceiver module; 111. a first laser; 112. a first detector; 120. a second optical transceiver module; 121. a second laser; 122. a second detector; 130. a wave dividing element; 131. a first surface; 132. a second surface; 140. a wave combining element; 151. a first mirror; 152. a second mirror; 161. a first lens module; 162. a second lens module; 163. a third lens module; 164. a fourth lens module; 165. a fifth lens module; 170. a beam splitter; 171. a reflection region; 172. a transmissive region; 200. a movable body; 300. a mobile device.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of the embodiments of the present application will be given with reference to the accompanying drawings.

When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the application as detailed in the accompanying claims.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, the present application provides a lidar 100, and in an embodiment of the present application, the lidar 100 includes a first optical transceiver module 110, a second optical transceiver module 120, and a beam splitter 130. The first optical transceiver module 110 includes a first laser 111 and a first detector 112, where the first laser 111 is configured to generate a first detection light. The second optical transceiver 120 includes a second laser 121 and a second detector 122, where the second laser 121 is configured to generate a second detection light, one of the first detection light and the second detection light is a pulse wave signal, the other is a continuous wave signal, and the second detection light is different from the first detection light in wavelength and is used for detecting the target object. The first detector 112 is configured to receive the first echo light formed by the object reflecting the first detection light, and the second detector 122 is configured to receive the second echo light formed by the object reflecting the second detection light.

In the embodiment of the present application, the first laser 111 and the second laser 121 may be lasers in related technologies, the mechanism of pulse wave signals in the first probe light and the second probe light may refer to the form of TOF lidar, and the mechanism of generating continuous wave signals may refer to the form of FMCW or CW lidar. For example, in some embodiments, the first laser 111 employs a conventional edge-emitting laser to generate the first probe light as a pulsed wave signal, which may have a wavelength of 905nm. The second laser 121 employs a distributed feedback laser to generate a second probe light that is a continuous wave signal, which may have a wavelength of 1550nm. It is understood that the wavelength of the first detection light and the wavelength of the second detection light can be adaptively adjusted, and the wavelength of the first detection light can be larger than the wavelength of the second detection light, or the wavelength of the first detection light can be smaller than the wavelength of the second detection light. In addition, the first probe light may be a continuous wave signal, and the second probe light may be a pulse wave signal, that is, the arrangement forms of the first optical transceiver module 110 and the second optical transceiver module 120 may be interchanged, which is not limited in the present application. In the following, the description will be given of the present application taking the first probe light as a pulse wave signal and the second probe light as a continuous wave signal as an example.

The first detection light and the second detection light are emitted and then emitted to the target object, the first detection light is reflected by the target object to form first return light, and the second detection light is reflected by the target object to form second return light. The branching element 130 is located upstream of the first detector 112 and the second detector 122 along the transmission direction of the first and second return light. The demultiplexing device 130 is configured to receive the first echo light and the second echo light, and demultiplex the first echo light and the second echo light to output the first echo light and the second echo light. The wavelength division element 130 of the present application may adopt a wavelength multiplexer, a dichroic mirror, etc. to combine light rays with different wavelengths and output the combined light rays.

In the illustration of fig. 1, the dichroic element 130 is a dichroic mirror that can split the light beam according to wavelength. The two surfaces of the dichroic mirror are respectively plated with a filter film and an antireflection film, and the dichroic mirror has high-transmittance or high-reflection property for light beams with different wavelengths, so that the dichroic mirror can be used for splitting/combining first and second echo lights with different wavelengths. In the case of using the dichroic mirror, when the wavelengths of the first probe light and the second probe light are adaptively adjusted, one of the first echo light and the second echo light can be almost completely transmitted and the other can be almost completely reflected. Therefore, the method has the advantages of high transmissivity, accurate wavelength positioning, small light energy loss and the like.

The first echo light is transmitted through the demultiplexer 130 to be received by the first detector 112, and the second echo light is reflected by the demultiplexer 130 to be received by the second detector 122. The first detector 112 is configured to receive the first echo light, so that a subsequent signal processing circuit can determine a distance between the target object and the lidar 100 based on a time difference between the first detection light and the first echo light. The first detector 122 may be an APD (Avalanche Photo Diode, which is a semiconductor photodetector, in the nature of an avalanche photodiode), SPAD (single photon avalanche diode, which is a solid state photodetector with a reverse biased p-n junction), or SiPM (Silicon photomultiplier, which is a silicon photomultiplier, solid state silicon detector with single photon sensitivity, or the like, high sensitivity detector). The second detector 122 is configured to receive the second echo light and the corresponding local oscillation light, so as to perform coherent detection to obtain a beat signal, so that a subsequent signal processing circuit can obtain the speed of the target object relative to the laser radar 100 based on the beat signal. The second detector 112 is a coherent light detector; for example, the second detector 112 may be a Ge-Si photodetector, or an InGaAs photodetector, or a balanced photodetector that is a combination thereof.

In this embodiment, the continuous wave signal is a constant frequency continuous wave signal. Thus, the frequency of the beat signal acquired by the first detector 112 is the doppler beat frequency, which is also called the velocity beat frequency, and the signal processing circuit can directly obtain the velocity of the target object relative to the laser radar 100 based on the doppler beat frequency. Of course, in other embodiments of the present application, the continuous wave signal may be a frequency modulated continuous wave signal. However, the latter way of obtaining the frequency of the beat signal is not a direct characterization of the velocity, but rather a result of coupling the range beat frequency to the doppler beat frequency, such as the sum of the range beat frequency and the doppler beat frequency, or the absolute value of the difference between the range beat frequency and the doppler beat frequency. For example, when the fm continuous wave signal is a triangular sweep signal, the doppler beat frequency needs to be calculated based on the frequency values of the beat signals corresponding to the upper and lower sweep portions of the local oscillation signal, so as to obtain the speed of the target object relative to the lidar 100. When acquiring the velocity of a target object at a near high speed, the process of acquiring the doppler beat frequency is more complicated because the magnitude relation between the range beat frequency and the doppler beat frequency cannot be clarified. Compared with the method, the continuous wave signal is a constant frequency continuous wave signal, so that the frequency of the beat frequency signal only represents the Doppler beat frequency, and the defect can be overcome, and the method and the device for obtaining the target object meet the speed of the target object and simplify the complexity of the system. The term "constant frequency" as used in the present document means a frequency constant.

In this embodiment, the lidar 100 further includes an analog-to-digital converter coupled to the second detector 122, and the sampling rate of the analog-to-digital converter is not higher than 200Msps. Because the continuous wave adopts a constant frequency continuous wave, the beat frequency signal output by the second detector 122 has a doppler beat frequency, and no distance beat frequency, compared with the scheme that the beat frequency signal detected by adopting the frequency modulation continuous wave in the traditional FMCW laser radar 100 has a higher frequency and needs to be sampled by adopting a high-speed analog-to-digital converter, the embodiment can realize sampling by adopting the analog-to-digital converter with a low sampling rate. Typically, the Doppler beat frequency corresponding to the second echo light is lower than 100MHz, so that an analog-to-digital converter with a sampling rate of less than or equal to 200Msps can be used for sampling.

It should be noted that, in the present embodiment, the first detection light and the second detection light are emitted out of the laser radar 100 in a beam form, so as to detect the target object, so as to ensure that the speed obtained based on the first detection light and the distance obtained based on the second detection light are the same corresponding speed and distance of the target object. Specifically, the branching element 130 is further disposed on the optical paths of the first detection light and the second detection light, and is configured to receive the first detection light and the second detection light, to combine the waves and output the combined first detection light and second detection light. Referring to fig. 1, in the present embodiment, a dichroic mirror is used as the dichroic element 130, which includes two opposite surfaces, namely a first surface 131 and a second surface 132; the first detection light emitted by the first laser 111 in the first transceiver module is emitted to the first surface 131 and transmitted by the first surface 131 to emit to the target object, and the second detection light emitted by the second laser 121 in the second transceiver module is emitted to the second surface 132 and reflected by the second surface 132 to form a coaxial optical path with the first detection light to emit to the target object. The first echo light and the second echo light formed by reflection via the target object return along paths of the first probe light and the second probe light, respectively.

The lidar 100 further comprises a first mirror 151, a first lens module 161 and a second lens module 162. With continued reference to fig. 1, along the transmission direction of the first detection light, the first reflecting mirror 151 is located between the first laser 111 and the demultiplexer 130, and the first reflecting mirror 151 is configured to reflect the first detection light to the demultiplexer 130, so that the first detection light and the second detection light are combined by the demultiplexer 130. The first reflecting mirror 151 may be a reflecting surface formed by a plating method or may be an optical total reflection medium, and the structure thereof is not particularly limited as long as it can realize the above-described functions. The first lens module 161 is located upstream of the branching element 130 in the transmission direction of the first probe light, for example, as shown in fig. 1, the first lens module 161 is located between the first laser 111 and the first reflecting mirror 151; the first lens module 161 includes at least one lens, and the first lens module 161 is configured to collimate the first probe light. The divergence angle of the first probe light can be reduced by the collimation of the first lens module 161, so that the first probe light exits in an approximately parallel light manner.

In some embodiments, the first lens module 161 may include a fast axis collimation module and a slow axis collimation module; for example, the fast axis collimating module comprises a fast axis collimating lens, the slow axis collimating module comprises a slow axis collimating lens, and the fast collimating lens and the slow collimating lens are in a form of a single lens, so that the structure can be simplified, the difficulty of light modulation is reduced, and the mass production and the assembly are convenient. Along the transmission direction of the first echo light, the second lens module 162 is located between the branching element 130 and the first detector 112, the second lens module 162 includes at least one lens, and the second lens module 162 is configured to receive the first echo light and focus the first echo light. In the present embodiment, the second lens module 162 is disposed on a side of the first reflecting mirror 151 facing away from the dichroic element 130 along a first direction shown in the drawing, where the first direction is an opposite direction of the first reflecting mirror 151 reflecting the first detection light; the cross-sectional profile of the second lens module 162 covers the first mirror 151 as viewed in the first direction. In general, the spot of the first detection light emitted by the first laser 111 is small, and the volume of the first mirror 151 for reflecting the first detection light may be small; the spot of the first return light entering the lidar 100 is larger, and after being split by the splitting element 130, a part of the light falls on the first mirror 151 and is reflected, and a part of the light falls outside the first mirror 151 and further falls on the second lens module 162 to be focused on the photosensitive surface of the second detector 122 via the second lens module 162. In this embodiment, the first reflecting mirror 151 is configured to enable the optical paths of the first detection light and the first return light to be split, so that the leading light interference caused by the pulse wave signal with high energy to the first detector 112 due to the too close proximity of the first laser 111 and the first detector 112 can be avoided. It should be noted that, the "front light" in the present document refers to a light beam that does not emit the first detection light/the second detection light out of the laser radar 100, but falls on the first detector 112 in a reflection or scattering manner within the laser radar 100.

Similarly, the lidar 100 also includes a third lens module 163. The third lens module 163 is located upstream of the demultiplexing element 130 in the transmission direction of the second probe light, the third lens module 163 comprising at least one lens, the third lens module 163 being for collimating the second probe light. The divergence angle of the second probe light can be reduced by the collimation of the third lens module 163, so that the second probe light is emitted in an approximately parallel light manner. The third lens module 163 may be the same as or similar to the first lens module 161, and will not be described herein. In addition, in the present embodiment, the third lens module 163 is further configured to focus the second echo light output through the demultiplexing device 130, so that the focused second echo light enters the second detector 122.

In summary, in the present application, two optical transceiver modules are disposed in the laser radar 100, wherein the first optical transceiver module 110 generates a first detection light, the second optical transceiver module 120 generates a second detection light, and one of the first detection light and the second detection light is a pulse wave signal, and the other is a continuous wave signal, which are emitted out of the laser radar 100 in a beam manner; and the first and second return light is received by the branching element 130, and the first return light propagating toward the first detector 112 and the second return light propagating toward the second detector 122 are branched. Thus, the inventive lidar 100 may perform distance detection by pulse wave signals, while speed detection is achieved by continuous wave signals; compared with the ToF laser radar 100, the laser radar 100 has the capability of detecting the distance and the speed in a single frame of data, so that the laser radar has higher timeliness. In addition, compared with the scheme that the frequency of a beat signal detected by adopting a frequency modulation continuous wave in the traditional FMCW laser radar 100 is higher and a high-speed analog-to-digital converter is required to sample, the laser radar 100 can realize sampling through the analog-to-digital converter with a lower sampling rate, so that the overall device cost is reduced.

It should be understood that, although the above embodiment is described by taking the light paths of the first detection light and the second detection light as an example, the present application is not limited thereto, and in other embodiments of the present application, the light paths of the first detection light and the second detection light may not be located by the light paths of the first detection light and the second detection light, and accordingly, the first detection light and the second detection light may be combined into one light beam in other manners for emission.

For example, referring to fig. 2, a schematic diagram of a lidar 100 according to another embodiment of the present application is shown, and the main difference between the embodiment and the previous embodiment is that: in the embodiment shown in fig. 2, the beam splitter 130 is no longer used for combining the first detection light and the second detection light, but a beam combining element 140 is used to combine the first detection light and the second detection light.

Specifically, the lidar 100 includes the first optical transceiver module 110, the second optical transceiver module 120, the branching element 130 and the combining element 140. The first optical transceiver module 110 and the second optical transceiver module 120 are the same as the first optical transceiver module 110 and the second optical transceiver module 120 in the embodiment shown in fig. 1, and are not described herein. The wave combining element 140 is disposed downstream of the first laser 111 and the second laser 121 along the transmission direction of the first detection light and the second detection light, and is configured to receive the first detection light and the second detection light, and combine the first detection light and the second detection light into the same beam, so that the combined beam is then directed to the target object for detection. The wave combining element 140 may be a diffraction grating type wave combining element, a prism type wave combining element, a waveguide type wave combining element, or the like, and the present application is not limited thereto.

In this embodiment, the lidar 100 may further include a second mirror 152. The second mirror 152 is located downstream of the wave combining element 140 along the transmission direction of the first detection light, and the second mirror 152 is configured to reflect the combined first detection light and the second detection light, so that the combined optical signal is directed to the target object. The first and second return light propagates to the branching element with the light spot falling outside the second reflecting mirror 152, so as to receive the first and second return light. The specific structure of the second reflecting mirror 152 may refer to the first reflecting mirror 151 described above, and will not be described herein.

In addition, the laser radar 100 further includes a fourth lens module 164 and a fifth lens module 165. Specifically, the fourth lens module 164 is located downstream of the wave combining element 140 along the transmission direction of the first detection light, and the fourth lens module 164 includes at least one lens for collimating the combined first detection light and second detection light. The divergence angle of the first probe light and the second probe light can be reduced by the collimation of the first lens module 161, so that the first probe light and the second probe light are emitted in a mode of approximately parallel light. In some implementations, the fourth lens module 164 can include a fast axis collimation module and a slow axis collimation module; for example, the fast axis collimating module comprises a fast axis collimating lens, the slow axis collimating module comprises a slow axis collimating lens, and the fast collimating lens and the slow collimating lens are in a form of a single lens, so that the structure can be simplified, the difficulty of light modulation is reduced, and the mass production and the assembly are convenient. The fifth lens module 165 is located upstream of the branching element 130 in the transmission direction of the first return light, and includes at least one lens; the fifth lens module 165 is configured to receive the first echo light and the second echo light, and focus the first echo light and the second echo light. In the present embodiment, the fifth lens module 165 is disposed between the second mirror 152 and the beam splitter 130 along a first direction shown in the drawing, and the first direction is a direction opposite to the direction in which the second mirror 152 reflects the first detection light; the cross-sectional profile of the fifth lens module 165 covers the second mirror 152, seen in the first direction. In general, the spot of the first detection light emitted by the first laser 111 is smaller, and the volume of the second mirror 152 for reflecting the first detection light is also smaller; the spot of the first return light entering the lidar 100 is larger, and after being split by the splitting element 130, a part of the light falls on the second mirror 152 and is reflected, and a part of the light falls outside the second mirror 152 and further falls on the fifth lens module 165 to be focused via the fifth lens module 165 onto the photosensitive surface of the second detector 122.

In the embodiment shown in fig. 2, the structure of the branching element 130, the first detector 112 in the first optical transceiver module 110, and the second detector 122 in the second optical transceiver module 120 may be the same as that in the embodiment shown in fig. 1, and are not described herein.

Similar to the embodiment corresponding to fig. 1, the laser radar 100 provided in this embodiment also satisfies the capability of detecting the distance and the speed of a single frame of data, and has higher timeliness.

For another example, please refer to fig. 3, which shows a schematic diagram of a lidar 100 according to another embodiment of the present application, which is mainly different from the embodiment shown in fig. 2 described above: in the embodiment shown in fig. 3, a beam splitter 170 is used in place of the second mirror 152. Specifically, along the transmission direction of the first probe light, the beam splitter 170 is located downstream of the combining element 140, and along the transmission direction of the first return light, the beam splitter 170 is located upstream of the splitting element 130; the beam splitter 170 includes a reflection area 172 and a transmission area 171, the reflection area 172 is used for reflecting the first detection light and the second detection light after the combination, and the transmission area 171 is used for transmitting the first return light and the second return light. Alternatively, the reflective region 172 is circular when viewed in the first direction, and the transmissive region 171 is disposed around the reflective region 172.

Similar to the embodiment corresponding to fig. 1, the laser radar 100 provided in this embodiment also satisfies the capability of detecting the distance and the speed of a single frame of data, and has higher timeliness.

It should be noted that, the laser radar 100 provided in the above embodiments adopts a coaxial light path architecture, that is, the detection light path is the same as the echo light path, and the detection light path and the echo light path are separated by a special structure inside the laser radar 100; it should be appreciated that in other embodiments of the application, the lidar 100 may also employ an off-axis optical path architecture, i.e., the optical path downstream of the mirror on the probe optical path does not coincide with the optical path upstream of the splitting element on the echo optical path. For example, taking the embodiment shown in fig. 1 as an example, in other embodiments, a combining element 140 may be further disposed on the transmitting optical path, and a branching element 130 may be disposed on the echo optical path, where the combining element 140 and the branching element 130 are independent, the first laser 111 and the second laser 121 correspond to the combining element 140, and the first detector 112 and the second detector 122 correspond to the branching element 130; in this way, the above scheme can be implemented. As another example, taking the embodiment shown in fig. 2 as an example, in other embodiments, the branching element 130 may be disposed not in a position collinear with the second reflecting mirror 152 in the first direction, but in another position; in this way, the above scheme can be implemented.

It should be noted that, based on any of the above embodiments, the number of the first optical transceiver modules 110 and the second optical transceiver modules 120 may be plural and correspond to each other one by one, and each pair of the corresponding first optical transceiver modules 110 and second optical transceiver modules 120 cooperate together to complete the detection of the distance and the speed.

In addition, based on any of the above embodiments, the lidar 100 of the present application may further be provided with a third optical transceiver module. Specifically, the third optical transceiver module includes a third laser and a third detector, where the third laser is configured to generate a third detection light as a pulse wave signal for detecting the target object, and the third detector is configured to receive a third echo light formed by reflecting the third detection light by the target object. The third optical transceiver module is used for measuring the distance, when the first optical transceiver module 110 and the second optical transceiver module 120 are combined for application, the first optical transceiver module 110 and the second optical transceiver module 120 are in one-to-one correspondence to realize the detection of the distance and the speed of the target object in the same detection area, and the third optical transceiver module is used for realizing the measurement of the distance and the speed of the target object in another detection area. For example, in some embodiments, the lidar 100 includes a plurality of pairs of first and second light receiving and transmitting modules 110 and 120, and at least one third light receiving and transmitting module, where a detection field of view corresponding to the third light receiving and transmitting module is an edge field of view of the lidar 100, and a detection field of view corresponding to each pair of first and second light receiving and transmitting modules 110 and 120 is a detection field of view closer to a field center than a detection field of view of the third light receiving and transmitting module. The target object of the central detection view field is often a target object needing to be focused, the distance and the speed of the target object in the area have strong influence on the movable equipment 300 carrying the laser radar 100, and the timeliness requirement of the motion state planning of the movable equipment 300 on the information in the area is high; in contrast, the distance and the speed of the target object in the edge detection field of view have less influence on the mobile device 300 on which the laser radar 100 is mounted, so that the distance detection can be performed through the third optical transceiver module, which is beneficial to simplifying the overall architecture of the laser radar 100 to a certain extent.

Referring to fig. 1 to 4 in combination, the present application further provides a mobile device 300, where the mobile device 300 includes a mobile main body 200 and a lidar 100 mounted on the mobile main body 200, and the specific structure of the lidar 100 refers to the above embodiment, and since the mobile device 300 adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are not described herein. Among them, the movable apparatus 300 may be an automobile, a ship, an aircraft, or the like, without limitation.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present application and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limiting the present application, and specific meanings of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (15)

1. A lidar, comprising:

the first optical transceiver module comprises a first laser and a first detector, wherein the first laser is used for generating first detection light;

the second optical transceiver module comprises a second laser and a second detector, wherein the second laser is used for generating second detection light, one of the first detection light and the second detection light is a pulse wave signal, the other is a continuous wave signal, and the second detection light and the first detection light are used for detecting a target object and have different wavelengths; and

the first and second detection light is reflected by the target object, and the second detection light is reflected by the target object;

the first detector is used for receiving the first echo light, and the second detector is used for receiving the second echo light.

2. The lidar of claim 1, wherein the continuous wave is a constant frequency continuous wave.

3. The lidar of claim 1, wherein the dichroic element is a dichroic mirror.

4. The lidar of claim 1, wherein the demultiplexing element is further configured to receive the first probe light and the second probe light, and to combine the first probe light and the second probe light and output a combined first probe light and a combined second probe light.

5. The lidar of claim 4, further comprising a first mirror;

the first reflecting mirror is located between the first laser and the branching element along the transmission direction of the first detection light, and is used for reflecting the first detection light to the branching element.

6. The lidar of claim 5, further comprising a first lens module;

the first lens module is located upstream of the branching element along the transmission direction of the first detection light, and comprises at least one lens for collimating the first detection light.

7. The lidar of claim 5, further comprising a second lens module;

the second lens module is located between the beam splitter and the first detector along the transmission direction of the first echo light, and comprises at least one lens for receiving and focusing the first echo light;

the second lens module is arranged on one side of the first reflecting mirror, which is away from the beam splitting element, along a first direction, and the first direction is the opposite direction of the first detecting light reflected by the first reflecting mirror.

8. The lidar of claim 4, further comprising a third lens module;

the third lens module is located upstream of the beam splitting element along the transmission direction of the second detection light, and comprises at least one lens for collimating the second detection light.

9. The lidar of claim 1, further comprising a wave synthesizing element;

the wave combining element is used for receiving the first detection light and the second detection light and combining the first detection light and the second detection light into the same beam of light so as to detect a target object.

10. The lidar of claim 9, further comprising a second mirror;

the second reflecting mirror is located at the downstream of the wave combining element along the transmission direction of the first detection light, and is used for reflecting the combined first detection light and second detection light.

11. The lidar of claim 10, further comprising a fourth lens module;

the fourth lens module is located at the downstream of the wave combining element along the transmission direction of the first detection light, and comprises at least one lens, and the fourth lens module is used for collimating the first detection light and the second detection light after being combined.

12. The lidar of claim 10, further comprising a fifth lens module;

the fifth lens module is located upstream of the beam splitter along the transmission direction of the first echo light, and comprises at least one lens, and the fifth lens module is used for receiving the first echo light and the second echo light and focusing the first echo light and the second echo light.

13. The lidar of claim 12, wherein the fifth lens module is disposed between the second mirror and the beam splitter element in a first direction that is opposite to the direction in which the second mirror reflects the first probe light and the second probe light;

the cross-sectional profile of the fifth lens module, viewed in the first direction, covers the second mirror.

14. The lidar of claim 9, further comprising a beam splitter;

the beam splitter is positioned at the downstream of the wave combining element along the transmission direction of the first detection light, and is positioned at the upstream of the wave dividing element along the transmission direction of the first return light;

the spectroscope comprises a reflection area and a transmission area, the reflection area is used for reflecting the first detection light and the second detection light after combination, and the transmission area is used for transmitting the first return light and the second return light;

the transmissive region is disposed around the reflective region.

15. A removable device, comprising:

a movable body; and

the lidar according to any of claims 1 to 14.