CN212275967U

CN212275967U - Laser radar

Info

Publication number: CN212275967U
Application number: CN202020551625.8U
Authority: CN
Inventors: 胡小波; 沈俭
Original assignee: LeiShen Intelligent System Co Ltd
Current assignee: LeiShen Intelligent System Co Ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2021-01-01
Anticipated expiration: 2030-04-14

Abstract

The embodiment of the utility model discloses laser radar. The laser radar comprises a transmitting module, a receiving module and a reflecting module; the emission module comprises at least one emission assembly, each emission assembly comprises at least two emission light sources and a first reflector, and the first reflector is provided with through holes which are the same as the emission light sources in the emission assembly in number and correspond to the emission light sources in one to one; the receiving module and each transmitting light source are respectively positioned at two sides of the first reflector; the reflecting module comprises a reflecting unit and a driving unit, and the driving unit is used for driving the reflecting unit to swing back and forth around a first rotating shaft; the detection light beam emitted by the emission light source penetrates through the through hole to enter the reflection unit, and is reflected by the reflection unit and then irradiates the object to be detected, and the light beam returned by the object to be detected is reflected by the reflection unit and the first reflector and then enters the receiving module. The embodiment of the utility model provides a laser radar can realize the at least partial coincidence of light path of emission module and receiving module, is favorable to reducing laser radar's volume.

Description

Laser radar

Technical Field

The embodiment of the utility model provides a relate to the radar technology, especially relate to a laser radar.

Background

The laser radar is a radar system for detecting information such as position, speed and the like of a target by using laser beams, and the basic principle is as follows: the target object measurement can be realized by firstly transmitting a detection signal (laser beam) to the target and then comparing the information of the signal (echo beam) reflected from the target with the information of the detection signal. For example, based on a Time of Flight (TOF), distance detection can be realized according to the Flight Time of a light beam, and target direction detection can be realized based on radar rotation.

At present, an existing laser radar generally includes a transmitting module, a reflecting module and a receiving module, and the reflecting module realizes a scanning function of the radar through rotation. The detection light beam emitted by the emitting module is reflected by the reflecting module and then enters the object to be detected, and the echo light beam returned by the object to be detected is received by the receiving module. In the prior art, the reflection module and the receiving module are generally arranged separately, the distance is long, the light path overlapping part of the detection light beam and the echo light beam is small, the laser radar is large in size, and popularization and application are not facilitated.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a laser radar, this laser radar's emission module includes at least one emission subassembly, every emission subassembly includes two at least transmitting light source and a first speculum, first speculum is provided with the through-hole the same and one-to-one with the transmitting light source quantity in the emission subassembly, the detecting beam of transmitting light source outgoing sees through the through-hole and incides the reflection unit, and transmit the determinand after the reflection of reflection unit, the light beam that determinand returned incides receiving module after reflection unit and first speculum, thereby realize the at least partial coincidence of light path of emission module and receiving module, be favorable to reducing laser radar's volume.

The embodiment of the utility model provides a laser radar, which comprises a transmitting module, a receiving module and a reflecting module;

the transmitting module comprises at least one transmitting component; each emission assembly comprises at least two emission light sources and a first reflector, and each first reflector is provided with through holes which are the same in number as the emission light sources in the emission assembly and correspond to the emission light sources in one to one; the receiving module and each emitting light source are respectively positioned at two sides of the first reflector;

the reflecting module comprises a reflecting unit and a driving unit, and the driving unit is used for driving the reflecting unit to swing back and forth around a first rotating shaft;

the detection light beams emitted by the emission light sources in each emission assembly penetrate through the corresponding through holes in the first reflectors in the same emission assembly to enter the reflection unit, and are reflected by the reflection unit to irradiate the object to be detected, and the light beams returned by the object to be detected enter the receiving module after being reflected by the reflection unit and the first reflectors.

Optionally, at least two of the emission light sources in each emission assembly emit probe beams at least two pulse frequencies; or the pulse frequencies of the detection beams emitted by the emitting light sources in each emitting assembly are the same, and at least two emitting assemblies emit the detection beams by adopting different pulse frequencies.

Optionally, the emitting light sources in each emitting assembly are arranged side by side along a first direction,

the pulse frequencies of the detection light beams emitted by two adjacent emission light sources are different;

the first direction is parallel to a direction of the first rotation axis.

Optionally, each of the emission light sources may emit the probe light beams with the first pulse frequency and the second pulse frequency respectively in different time periods, and the probe light beams emitted by two adjacent emission light sources in the same time period have different pulse frequencies.

Optionally, the emission light sources in each emission assembly are arranged in parallel along a first direction, at least one emission light source located at two sides emits a probe beam with a first pulse frequency, and the other emission light sources emit probe beams with a second pulse frequency;

the first pulse frequency is less than the second pulse frequency, and the first direction is parallel to the direction of the first rotation axis.

Optionally, the second pulse frequency is greater than or equal to 2 times the first pulse frequency.

Optionally, the reflective module is fixed to the rotating module, and the rotating module drives the reflective module to rotate around a second rotating shaft; the second rotation axis intersects the first rotation axis.

Optionally, the rotating module includes a motor, and a central shaft of the motor is a hollow shaft;

the emission light source is positioned on one side of the rotating module, which is far away from the reflecting module;

the detection light beam emitted by the emission light source penetrates through the hollow shaft and the through hole to enter the reflection module.

Optionally, the emission light source is located between the rotation module and the reflection module.

Optionally, the emission assembly includes two emission light sources, and the first reflector is a double-hole reflector; or the emitting component comprises three emitting light sources, and the first reflector is a three-hole reflector.

The embodiment of the utility model provides a laser radar, including transmitting module, receiving module and reflection module; the transmitting module comprises at least one transmitting component; each emission assembly comprises at least two emission light sources and a first reflector, and each first reflector is provided with through holes which are the same as the emission light sources in the emission assembly in number and correspond to the emission light sources in one to one; the receiving module and each transmitting light source are respectively positioned at two sides of the first reflector; the reflecting module comprises a reflecting unit and a driving unit, and the driving unit is used for driving the reflecting unit to swing back and forth around a first rotating shaft; the detection light beam emitted by the emission light source in each emission assembly penetrates through the corresponding through hole in the first reflector in the same emission assembly to be incident to the reflection unit, and is reflected by the reflection unit and then irradiates to the object to be detected, and the light beam returned by the object to be detected is reflected by the reflection unit and the first reflector and then is incident to the receiving module. The transmitting module is provided with at least one transmitting assembly, each transmitting assembly comprises at least two transmitting light sources and a first reflector, the first reflector is provided with through holes with the same number as the transmitting light sources in the transmitting assembly, the detection light beams emitted by the transmitting light sources penetrate through the through holes to enter the reflecting unit and are reflected to the object to be detected through the reflecting unit, and the light beams returned by the object to be detected are reflected by the reflecting unit and the first reflector and then are received by the receiving module, so that the propagation paths of the detection light beams and the echo light beams are partially overlapped, and the size of the laser radar is favorably reduced; linear scanning of the laser radar is realized by reciprocating swing of the reflection unit around the first rotating shaft; and the laser radar has the advantages of simple structure and low cost.

Drawings

Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;

fig. 2 is a schematic partial structural diagram of a laser radar according to an embodiment of the present invention;

FIG. 3 is a schematic side view of FIG. 2;

fig. 4 and fig. 5 are schematic partial structural diagrams of another laser radar according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another laser radar according to an embodiment of the present invention;

fig. 8 and fig. 9 are schematic light spot diagrams of a vertical scanning line according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. It should be noted that the terms "upper", "lower", "left", "right", and the like used in the embodiments of the present invention are described in terms of the drawings, and should not be construed as limiting the embodiments of the present invention. In addition, in this context, it is also to be understood that when an element is referred to as being "on" or "under" another element, it can be directly formed on "or" under "the other element or be indirectly formed on" or "under" the other element through an intermediate element. The terms "first," "second," and the like, are used for descriptive purposes only and not for purposes of limitation, and do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Fig. 1 is a schematic structural diagram of a laser radar according to an embodiment of the present invention. Referring to fig. 1, the laser radar provided in this embodiment includes a transmitting module 10, a receiving module 30, and a reflecting module 40; the transmitting module 10 comprises at least one transmitting assembly 11; each emission assembly 11 comprises at least two emission light sources 111 and a first reflector 112, and each first reflector 112 is provided with through holes 1121 which are the same in number as the emission light sources 111 in the emission group 11 and correspond to each other one by one; (one emission assembly is schematically shown in fig. 1, and the inclusion of four emission light sources in the emission assembly is not a limitation of the present invention); the receiving module 30 and each emitting light source 111 are respectively located at two sides of the first reflector 112; the reflection module 40 includes a reflection unit 41 and a driving unit 42, and the driving unit 42 is configured to drive the reflection unit 41 to swing back and forth around a first rotation axis a. Fig. 2 is a schematic diagram illustrating a partial structure of a laser radar according to an embodiment of the present invention, and fig. 3 is a schematic diagram illustrating a side view of fig. 2. Referring to fig. 2 and 3, the probe beam emitted from the emission light source 111 penetrates through the through hole 1121 and enters the reflection unit 41, and is reflected by the reflection unit 41 and transmitted to an object to be measured (not shown in fig. 2 and 3), and the beam returned by the object to be measured is reflected by the reflection unit 41 and the first reflector 112 and enters the receiving module. In other embodiments, the first reflectors may be disposed on the first reflectors corresponding to the emission light sources one-to-one, and each first reflector is disposed with a through hole.

It can be understood that the laser radar provided by the embodiment can be used in the fields of unmanned vehicles, automatic navigation robots, security monitoring and the like, and can also be independently applied to 3D image building, obstacle avoidance and the like. The emitting light source 111 in the emitting module 10 is used to emit a detection light beam, where the detection light beam may be an infrared laser beam, and optionally, the emitting light source 111 may be a fiber laser, a semiconductor laser (such as a laser diode LD or a vertical cavity surface emitting laser VCSEL), a gas laser, a solid laser, or the like. Wherein, LD or VCSEL all can be for free space output or through fiber coupling output, can select emission light source 111's kind and beam output mode according to actual conditions during the concrete implementation, the embodiment of the utility model provides a do not restrict this. The receiving module 30 is configured to receive an echo light beam returned by an object to be measured, and optionally, the receiving module 30 includes a receiving lens group 31 and a photodetector 32, where the photodetector may be an Avalanche Photodiode (APD) formed by a plurality of arrays, or may be a Single large-area APD, an SPAD (Single Photon Avalanche Diode), a Silicon photomultiplier (SiPM, part of which is also called an MPPC (multi-pixel Photon counter) detector), or another type of detector known to those skilled in the art. Further, referring to fig. 3, the receiving module may further include an optical filter 33 disposed between the receiving lens assembly 31 and the photodetector 32, for filtering ambient light and improving the signal-to-noise ratio of the laser radar. The driving unit 42 in the reflection module 40 drives the reflection unit 41 to swing back and forth around the first rotation axis a, so as to modulate the emitting direction of the detection beam and form the scanning field of view of the laser radar. Alternatively, the reflection module 40 may include a uniaxial galvanometer. To enhance the scanning performance of the lidar, the lidar may further include a scanning module, which may optionally include a mechanically rotating scanning structure, an optical phased array scanning structure, or a hybrid scanning structure combining mechanical rotation and optical phased array. The mechanical rotary scanning structure can realize large-range scanning by rotating the emission light source or arranging the rotating reflector; for example, the scanning module may be a rotating mirror, a rotating prism, a MEMS micro-galvanometer, a MEMS-like galvanometer, or the like, or may be a combination of the foregoing optical devices. Such a scanning module has a mirror that can be deflected in at least one dimension, so that the laser beam emitted by the emission light source 111 can be reflected in different directions, thereby realizing scanning detection within the scanning field of view. The optical phased array scanning structure realizes the control of the output direction of the detection light beam by utilizing the diffraction principle of light, and realizes high-precision space scanning; the hybrid scanning structure of mechanical rotation combined with optical phased array can achieve high precision and wide range scanning. In an embodiment, the lidar may also be a mechanical rotating structure, that is, the scanning structure rotates synchronously with the transmitting module 10 and the receiving module 30 while deflecting itself. Alternatively, in some embodiments, only the scanning structure may be rotated synchronously with one of the receiving module 30 and the transmitting module 10, and the other of the receiving module 30 and the transmitting module 10 is relatively fixed, so that 360 ° scanning is achieved while the weight and volume of the rotating part are reduced as much as possible, the stability of the whole product is improved, and the cost is reduced. In another embodiment, both the transmit module 10 and the receive module 30 of the lidar are fixed and only the scan module is deflected, i.e. a hybrid solid state or solid state lidar is formed.

According to the technical scheme of the embodiment, at least one transmitting assembly is arranged through a transmitting module, each transmitting assembly comprises at least two transmitting light sources and a first reflecting mirror, the number of through holes which is the same as that of the transmitting light sources in the transmitting assembly is arranged in the first reflecting mirror, a detection light beam emitted by the transmitting light sources penetrates through the through holes to enter a reflecting unit and is reflected to an object to be detected through the reflecting unit, and a light beam returned by the object to be detected is reflected by the reflecting unit and the first reflecting mirror and then is received by a receiving module, so that the propagation paths of the detection light beam and an echo light beam are partially overlapped, and the reduction of the volume of; through the reciprocating swing of the reflection unit around the first rotating shaft, the linear scanning of the laser radar is realized, and the laser radar has the advantages of simple structure and low cost.

It should be noted that the number of the through holes 1121 provided in each first reflector 112 shown in fig. 2 and 3 is only schematic, and in other embodiments, optionally, the emission assembly includes two emission light sources, and the first reflector is a double-hole reflector; or the emitting assembly comprises three emitting light sources, and the first reflector is a three-hole reflector. Exemplarily, fig. 4 and fig. 5 are schematic partial structures of another laser radar respectively according to an embodiment of the present invention, in which fig. 4 shows a schematic light path diagram of a probe beam, and fig. 5 shows a schematic light path diagram of an echo beam. Referring to fig. 4 and 5, in the present embodiment, the receiving module includes a receiving lens group 31 and a photodetector 32, each of the emitting assemblies includes two emitting light sources (not shown in fig. 4 and 5) and a first reflector 112, each of the first reflectors 112 is provided with two through holes 1121, and referring to fig. 4, the probe beam is incident on the reflecting unit 41 through the through holes 1121 and is reflected by the reflecting unit 41 to the object to be measured in the environment. Referring to fig. 5, the light beam reflected by the object to be measured in the environment is reflected to the first reflecting mirror 112 via the reflecting unit 41, and is focused by the receiving lens group 31 to the photodetector 32 for receiving through the reflection of the first reflecting mirror 112. In the present embodiment, the respective emission light sources are independent of each other. In fig. 4, the first reflector 112 is a double-hole reflector, that is, two light emitting sources share one double-hole reflector, and focusing is performed by the same receiving lens group, so that the number of the first reflector 112 and the receiving lens group 31 can be saved, and space can be saved. In other embodiments, the emission assembly may include three emission light sources and the first mirror may be a three-aperture mirror.

On the basis of the above technical solution, fig. 6 shows that the embodiment of the present invention provides a schematic structural diagram of another laser radar. Referring to fig. 6, optionally, the laser radar provided in this embodiment further includes a rotating module 20, where the reflecting module 40 is fixed on the rotating module 20, and the rotating module 20 drives the reflecting module 40 to rotate around a second rotating axis b; the second rotation axis b intersects the first rotation axis a.

In one embodiment, the first rotation axis a and the second rotation axis b are perpendicular to each other, i.e. if the first rotation axis a is horizontally arranged, the second rotation axis b is vertically arranged, or vice versa. Schematically, in fig. 6, the first rotation axis a is along the horizontal direction, and the rotating module 20 drives the reflecting module 40 to rotate horizontally, so that when the rotating module 20 rotates one cycle, 360 ° horizontal multi-line scanning can be realized. The reflection module 40 is located above the rotation module 20, and the driving unit 42 in the reflection module 40 drives the reflection unit 41 to swing back and forth around the first rotation axis a, in this embodiment, the rotation module 20 is further configured to drive the receiving module 30 to rotate synchronously with the reflection module 40. Illustratively, the direction of the first rotation axis a in fig. 6 is along the horizontal direction, and fig. 6 also shows a schematic diagram of forming scan lines when the rotation module 20 rotates and the reflection unit 41 swings, and when only the reflection unit 41 swings, the scan trajectory formed by each emission light source 111 is a vertical scan line, that is, there are a plurality of less emission light sources 111, which can correspond to how many vertical scan lines in the vertical direction are formed. When the reflection unit 41 swings while the rotation module 20 rotates, vertical and horizontal scan lines are formed, thereby forming stereoscopic point cloud data. The "vertical + horizontal scan line" refers to the scan trajectory of the laser after superimposing vertical deflection and horizontal rotation. The scanning track is only an illustration and is not limited in particular, and the actual scanning track may also be in different forms, such as wave shape, busy curve, etc., according to the composition of the scanning module 20.

Optionally, with continued reference to fig. 6, the rotating module 20 includes a motor (e.g., a brushless motor), a central shaft 201 of the motor is a hollow shaft; the emission light source 111 is located at a side of the rotation module 20 facing away from the reflection module 40; the probe beam emitted from the emission light source 111 is incident to the reflection module 40 through the hollow shaft and the through hole. Through setting up emission module 10 in one side that rotation module 20 deviates from reflection module 40, emission module 10 fixes on laser radar's base to need not to rotate along with rotation module 20, reduced rotatory weight, be favorable to improving laser radar's stability and reduce the energy consumption, can set up more transmitting light source in other embodiments, improve the quantity of vertical scanning line, thereby promote laser radar's performance.

Fig. 7 is a schematic structural diagram of another laser radar according to an embodiment of the present invention. Referring to fig. 7, optionally, an emission light source 111 is located between the rotation module 20 and the reflection module 40. Through setting up transmitting light source 111 on rotary module, be favorable to promoting lidar's integrated nature, reduce lidar's volume.

Optionally, at least two emission light sources in each emission assembly emit probe light beams with at least two pulse frequencies; or the pulse frequencies of the detection beams emitted by the emitting light sources in each emitting assembly are the same, and at least two emitting assemblies emit the detection beams by adopting different pulse frequencies.

It can be understood that, for the same scanning speed, the lower the pulse frequency emitted by the laser radar, the larger the included angle between two adjacent pulses, and the larger the angle of field formed when multiple pulses are superimposed; the higher the pulse frequency emitted by the laser radar, the higher the angular resolution of the scanning, but the smaller the field angle formed when a plurality of pulses are superimposed. The emission light source may emit detection light beams of at least two pulse frequencies, in this embodiment, two pulse frequencies are taken as an example, for example, four emission light sources 111 in fig. 1, two emission light sources 111 in the middle may be set as high-frequency pulse light sources (for example, may be 1kHz), two emission light sources 111 on two sides may be low-frequency pulse light sources (for example, may be 300Hz, and may be determined according to a required resolution during specific implementation), so that the middle area has a higher resolution, in other embodiments, the high-frequency light sources and the low-frequency light sources may also be set at intervals, or the arrangement of the high-frequency light sources and the low-frequency light sources may be set according to specific application conditions, and emission light sources of more pulse frequencies may also be designed according to needs, which the embodiment of the. Exemplarily, fig. 8 and fig. 9 are schematic diagrams of light spots of a vertical scanning line according to an embodiment of the present invention, where fig. 8 illustrates a case where a high-frequency pulsed light source is located in the middle and low-frequency pulsed light sources are located on both sides, fig. 9 illustrates a case where the high-frequency pulsed light source and the low-frequency pulsed light source are arranged at intervals, and fig. 8 and fig. 9 illustrate a case where there is no horizontal rotation. The pulse frequency is higher, the angular resolution is higher (the included angle between two adjacent light spots and the reflection point is smaller), the pulse frequency is low, the angular resolution is lower, the scanning range can be enlarged, the field angle is improved, scanning is performed by setting at least two pulse frequencies, the problems of large field of view and angular resolution are considered, and the performance of the laser radar is improved.

Optionally, the emission light sources in each emission assembly are arranged in parallel along the first direction, and the pulse frequencies of the detection light beams emitted by two adjacent emission light sources are different; the first direction is parallel to the direction of the first rotation axis.

Illustratively, with continuing reference to fig. 6 and 9, the emission assembly 11 includes four emission light sources 111 arranged in parallel along the first direction x, the detection light beams emitted by the emission light sources 111 maintain a fixed included angle, the four light beams are all incident on the reflection surface of the reflection unit 41, and the pulse frequencies of the detection light beams emitted by two adjacent emission light sources 111 are different. In other embodiments, the emitting assembly 11 may be provided with a greater number of emitting light sources 111, and the high-frequency pulse light source and the low-frequency pulse light source may be arranged in other manners, for example, two emitting light sources are combined to perform high-frequency and low-frequency variation, and the specific implementation may select the arrangement manner of the high-frequency pulse light source and the low-frequency pulse light source according to practical situations.

In another embodiment, optionally, each of the emission light sources may emit the probe light beams with the first pulse frequency and the second pulse frequency respectively at different time periods, and the pulse frequencies of the probe light beams emitted by two adjacent emission light sources in the same time period are different. Exemplarily, the same transmitting light source can be set to alternately emit the probe beams with the first pulse frequency and the second pulse frequency, and the probe beam pulse frequencies emitted by the two adjacent transmitting light sources in the same time period are different, so that the repetition frequency during scanning of the laser radar can be increased, each path can meet the requirements of large range and high precision, and the scanning performance of the laser radar is improved.

Optionally, the emission light sources in each emission assembly are arranged in parallel along a first direction, at least one emission light source located at two sides emits a probe beam with a first pulse frequency, and the other emission light sources emit probe beams with a second pulse frequency; the first pulse frequency is less than the second pulse frequency, and the first direction is parallel to the direction of the first rotation axis.

Illustratively, with continued reference to fig. 6 and 8, the emission assembly 11 includes four emission light sources 111 arranged side by side along a first direction x, the middle two emission light sources 111 being high frequency pulsed light sources (second pulse frequency), the two emission light sources 111 on both sides being low frequency pulsed light sources (first pulse frequency), the first direction x being parallel to the direction of the first rotation axis a. In other embodiments, the emitting assembly 11 may be provided with a larger number of emitting light sources 111, and the number of low-frequency pulse light sources on both sides may also be multiple.

In specific implementation, in order to balance the field angle and the scanning precision of the laser radar, the frequency difference between different detection beams is not too small, and optionally, the second pulse frequency is greater than or equal to 2 times of the first pulse frequency, so that interference between two adjacent laser beams is avoided, and the transmitting light source can be ensured to transmit synchronously.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. The laser radar is characterized by comprising a transmitting module, a receiving module and a reflecting module;

2. The lidar of claim 1, wherein at least two of the transmitting light sources in each of the transmitting assemblies emit probe beams at least two pulse frequencies; or the pulse frequencies of the detection beams emitted by the emitting light sources in each emitting assembly are the same, and at least two emitting assemblies emit the detection beams by adopting different pulse frequencies.

3. The lidar of claim 2, wherein the emitting light sources in each of the emitting assemblies are arranged side by side along a first direction, and pulse frequencies of probe light beams emitted from two adjacent emitting light sources are different;

the first direction is parallel to a direction of the first rotation axis.

4. The lidar of claim 3, wherein each of the emitting light sources emits a probe beam with a first pulse frequency and a second pulse frequency respectively at different time periods, and the pulse frequencies of the probe beams emitted by two adjacent emitting light sources in the same time period are different.

5. The lidar of claim 2, wherein the emitting light sources in each of the emitting assemblies are arranged side by side in a first direction, at least one of the emitting light sources on both sides emits a probe beam of a first pulse frequency, and the other emitting light sources emit a probe beam of a second pulse frequency;

6. Lidar according to claim 4 or 5, wherein the second pulse frequency is greater than or equal to 2 times the first pulse frequency.

7. The lidar of claim 1, further comprising a rotation module, wherein the reflection module is fixed to the rotation module, and the rotation module rotates the reflection module around a second rotation axis; the second rotation axis intersects the first rotation axis.

8. The lidar of claim 7, wherein the rotating module comprises a motor, a central shaft of the motor being a hollow shaft;

9. The lidar of claim 7, wherein the transmitting light source is located between the rotating module and the reflecting module.

10. The lidar of claim 1, wherein the transmitting assembly comprises two transmitting light sources, the first mirror being a double-hole mirror; or the emitting component comprises three emitting light sources, and the first reflector is a three-hole reflector.