CN218788091U

CN218788091U - Laser radar and electronic device

Info

Publication number: CN218788091U
Application number: CN202222421553.7U
Authority: CN
Inventors: 冯坤亮; 关赛新; 钟飞
Original assignee: Jiangxi OMS Microelectronics Co Ltd
Current assignee: Jiangxi OMS Microelectronics Co Ltd
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2023-04-04
Anticipated expiration: 2032-09-13

Abstract

The utility model discloses a laser radar and electronic equipment, this laser radar include hoop transmission module and hoop receiving module. The hoop emission module includes laser emission module and first panoramic lens, laser emission module is used for to first panoramic lens transmission laser, first panoramic lens is used for receiving laser, and make laser jet out along the direction that deviates from the first optical axis of first panoramic lens, in order to form the hoop radiation laser that uses first optical axis as the center, and throw to the periphery environment, the hoop receiving module sets up with the hoop emission module relatively, the light receiving terminal of hoop receiving module is located one side on the first optical axis direction of edge of first panoramic lens, the hoop receiving module is used for receiving the laser and the formation of image of periphery environment reflection. The laser radar can independently realize the 360-degree annular distance detection function, is simple in structure, does not comprise a rotatable optical device, can simultaneously detect the annular depth information of 360 degrees, and is high in detection precision and high in detection speed.

Description

Laser radar and electronic device

Technical Field

The utility model relates to a laser rangefinder technical field especially relates to a laser radar and electronic equipment.

Background

In the related art, in order to realize the function of detecting the distance at 360 ° circumferential viewing angle, the distances within a certain viewing angle are often detected by setting a plurality of laser radars, so as to obtain 360 ° circumferential depth by splicing. However, the scheme has a complex structure, needs to be matched with a complex algorithm program, and has high manufacturing cost and maintenance cost.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model discloses laser radar and electronic equipment, this laser radar can independently realize the distance detection function at 360 hoop visual angles, and this laser radar's simple structure, and manufacturing cost, maintenance cost are all lower.

In order to achieve the above object, in a first aspect, the present invention discloses a laser radar, including:

the annular transmitting module comprises a laser transmitting module and a first panoramic lens, the laser transmitting module is used for transmitting laser to the first panoramic lens, the first panoramic lens is used for receiving the laser, and the laser is emitted in the direction departing from the first optical axis of the first panoramic lens, so that annular radiation laser taking the first optical axis as the center is formed, and the annular radiation laser is projected to the peripheral environment of the laser radar; and the number of the first and second groups,

the annular receiving module is arranged opposite to the annular transmitting module, a light receiving end of the annular receiving module is located on one side, in the direction of the first optical axis, of the first panoramic lens, and the annular receiving module is used for receiving the peripheral environment reflected laser and imaging.

Through making hoop receiving module and hoop transmission module set up relatively on the direction of first optical axis, can avoid hoop transmission module and hoop receiving module's self structure to interfere in the direction of the first optical axis of perpendicular to and produce and survey the dead angle to laser radar can independently realize 360 annular degree of depth detection functions, need not to set up extra laser radar and cooperate complicated concatenation algorithm.

As an optional implementation manner, in an embodiment of the present invention, the first panoramic lens includes a first receiving portion, a first turning portion, and a first emitting portion, the first turning portion is disposed on a side of the first receiving portion facing away from the laser emitting module along the first optical axis direction, and the first emitting portion is disposed around the first optical axis at an outer periphery of the first turning portion;

the first receiving part is used for receiving the laser and enabling the laser to shoot to the first turning part along a direction parallel to the first optical axis, the first turning part is used for deflecting the laser to shoot to the first emitting part along a direction deviating from the first optical axis, and the first emitting part is used for enabling the deflected laser to shoot to the peripheral environment of the laser radar, so that the effect of turning the laser to the circumferential radiation of 360 degrees towards the periphery of the first optical axis by taking the first optical axis as the center can be achieved through the first turning part, and the circumferential emitting module can obtain a circumferential laser emitting view angle of 360 degrees along the direction of the first optical axis.

As an optional implementation manner, in an embodiment of the present invention, the first receiving portion has a collimating surface protruding toward the laser emitting module, and the collimating surface is configured to collimate the laser light, so that the laser light is emitted to the first turning portion along a direction parallel to the first optical axis, thereby improving uniformity of incident angles when the laser light is emitted to the first turning portion, and improving accuracy of an emitting direction of the laser light after being turned by the first turning portion; and/or the presence of a gas in the gas,

the side, departing from the laser emitting module, of the first turning part is recessed along the direction from the first turning part to the first receiving part to form a first conical surface, the first conical surface is used for turning the laser to emit to the first emitting part along the direction departing from the first optical axis, and the light rays transmitted along the direction parallel to the first optical axis are turned to the light rays divergently radiated along the direction back to the first optical axis by 360 degrees through a simple structure without rotation; and/or the presence of a gas in the gas,

the first emitting part is provided with a diverging surface positioned on the periphery, and the diverging surface is used for diverging and emitting the laser so as to enlarge an emitting visual field angle of the annular emitting module in the direction of the first optical axis.

As an optional implementation manner, in the embodiment of the utility model, the hoop receiving module still includes second panoramic camera and laser receiving module, the second panoramic camera has the light receiving terminal, just the second optical axis of second panoramic camera with first optical axis coincides mutually, laser receiving module is located deviating from of second panoramic camera one side of first panoramic camera, the second panoramic camera is used for receiving from laser radar's periphery environment orientation the second optical axis is jeted into laser, and will laser converts the orientation laser receiving module jets out, laser receiving module is used for receiving laser to can realize simultaneously receiving 360 ring laser's function through the second panoramic camera, and need not to use rotatable optical device, so that the hoop receiving module's simple structure, and the speed that obtains the laser that jets into in the 360 environment in periphery of laser radar is fast, the precision is high.

As an optional implementation manner, in an embodiment of the present invention, the second panoramic lens includes a second receiving portion, a second turning portion, and a second emitting portion, the second receiving portion and the second turning portion are both located at the light receiving end, and along a direction of a second optical axis, the second turning portion is located at a side of the second emitting portion away from the laser receiving module, and the second receiving portion is located around the second optical axis at an outer periphery of the second turning portion;

the second receiving part is used for receiving the laser and enabling the laser to irradiate the second turning part along the direction towards the second optical axis, the second turning part is used for deflecting the laser to irradiate the second emitting part along the direction parallel to the second optical axis, and the second emitting part is used for enabling the deflected laser to irradiate the laser receiving module, so that the laser which is converged and irradiated in the 360-degree annular direction can be turned to be transmitted along the direction parallel to the second optical axis through the second turning part, and the annular transmitting module can obtain an annular laser receiving visual field angle of 360 degrees in the direction perpendicular to the second optical axis.

As an optional implementation manner, in an embodiment of the present invention, the second receiving portion has a first light-condensing surface located at an outer periphery, and the first light-condensing surface is configured to condense the laser light to irradiate the second turning portion, so as to enlarge a receiving angle of view of the ring to the receiving module in a direction of the second optical axis; and/or the presence of a gas in the gas,

one side of the second turning part, which is far away from the laser emitting module, is recessed along the direction from the second turning part to the second emitting part to form a second conical surface, and the second conical surface is used for turning the laser to emit to the second emitting part along the direction parallel to the second optical axis, so that the laser which is converged and emitted in a 360-degree annular mode is turned to be transmitted along the direction parallel to the second optical axis through a simple structure without a rotating structure; and/or the presence of a gas in the atmosphere,

the second emergent part is provided with a second light condensing surface protruding towards the laser receiving module, the second light condensing surface is used for condensing the laser to irradiate the laser receiving module, and is used for condensing light rays to the laser receiving module with limited irradiating photosensitive area, so that the receiving utilization rate of the laser is improved.

As an optional implementation manner, in the embodiment of the present invention, along the first optical axis direction, the first panoramic lens has a field angle θ 1, and along the second optical axis direction, the second panoramic lens has a field angle θ 2, θ 1 is not more than θ 2, so as to improve the recovery rate of laser light, thereby improving the utilization rate of laser light.

As an optional implementation manner, in an embodiment of the present invention, along the first optical axis direction, the first panoramic lens is disposed opposite to the light receiving end; and/or

And in the direction of the first optical axis, the distance between the first panoramic lens and the light ray receiving end is a, and a is more than or equal to 1mm and less than or equal to 5mm. Therefore, the distance a is as small as possible, the distance detection blind area of the laser radar is reduced as much as possible, and meanwhile the collision risk in application and assembly is reduced.

As an optional implementation manner, in an embodiment of the present invention, the laser radar further includes a lens barrel, the lens barrel includes a first end and a second end opposite to each other, the laser emitting module and the first panoramic lens are disposed at the first end, and the laser emitting module and the first panoramic lens are sequentially disposed along a direction from the first end to the second end, and the annular receiving module is disposed at the second end;

and the part of the lens barrel, which at least corresponds to the periphery of the first panoramic lens and the periphery of the light receiving end, is transparent so as to allow the laser to pass through. Install hoop transmission module and hoop receiving module through same lens cone, can promote the assembly precision between hoop transmission module and the hoop receiving module, can also simplify the packaging structure of hoop transmission module and hoop receiving module simultaneously.

As an optional implementation way, in the embodiment of the utility model, still be equipped with the light vane in the lens cone, the light vane is located first panoramic lens with between the light receiving terminal, in order to block light and be in first end with direct propagation between the second end to avoid laser direct propagation between first panoramic lens and light receiving terminal, and do not reflect through the object to be measured in the external environment of lens cone, in order to propagate between first panoramic lens and light receiving terminal, lead to influencing laser radar's distance detection precision.

In a second aspect, the present invention discloses an electronic device comprising a lidar as described above in the first aspect. Because this laser radar can independently realize fast and 360 degrees hoop distance detection functions of high accuracy, this laser radar self simple structure, it is low to make the maintenance cost, therefore electronic equipment can realize high-speed and 360 degrees hoop distance detection functions of high accuracy, and the holistic structure of electronic equipment is simpler, and it is lower to make the maintenance cost.

Compared with the prior art, the beneficial effects of the utility model reside in that:

the embodiment of the utility model provides a laser radar and electronic equipment, set up with hoop emission module relatively through making the hoop reception module, and the light receiving terminal that makes the hoop reception module is located one side of first panoramic lens along the first optical axis side, thereby avoid hoop emission module and hoop reception module's self structure to interfere and produce the detection dead angle in the direction along the first optical axis of perpendicular to, so that laser radar can independently realize 360 annular degree of depth detection functions, thereby need not to set up extra laser radar and cooperate the detection, and need not to cooperate complicated concatenation algorithm, this laser radar's manufacturing cost, the maintenance cost is all lower.

In addition, change the propagation direction of the laser that laser emission module sent through first panoramic lens, can independently realize the function to the outside of 360 ring radiation of direction along the direction that deviates from first optical axis with laser, and the simple structure of ring emission module can make laser radar's simple structure to reduce laser radar's manufacturing cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic block diagram illustrating the structure of a lidar disclosed in a first aspect of an embodiment of the present application;

fig. 2 is a schematic structural diagram of a laser radar (showing a specific structure of a first panoramic lens and a second panoramic lens) disclosed in the first aspect of the embodiment of the present application;

fig. 3 is a schematic structural diagram of an annular transmitting module (showing another specific structure of the first panoramic lens) disclosed in the first aspect of the embodiment of the present application;

fig. 4 is a schematic structural diagram of a laser radar (including a lens barrel) disclosed in the first aspect of the embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device disclosed in the second aspect of the embodiment of the present application.

Description of the main reference numerals

A laser radar 1; a circumferential transmitting module 10; a laser emission module 100; a laser emitting element 100a; a first circuit board 100b; a first connecting structure 100c; a first panoramic lens 101; a first receiving section 1010; a collimating surface 1010a; a first turning part 1011; the first tapered surface 1011a; a first emission portion 1012; cylindrical surfaces 1012a; diverging surface 1012b; a first recess 1013; a circumferential receiving module 11; a light receiving end 110; a second panoramic lens 111; a second receiving section 1110; a first light-condensing surface 1110a; a second diverter 1111; a second taper surface 1111a; a second emission portion 1112; a second condenser surface 1112a; a laser receiving module 112; a photosensitive chip 112a; a second circuit board 112b; a lens barrel 12; a first end 120; the first positioning portions 120a; a second end 121; the light-blocking sheet 122; a blind area 1a; an electronic device 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the present invention, the terms "upper", "lower", "inner", "outer", "middle", "vertical", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in the present invention can be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Moreover, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific type and configuration may or may not be the same), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.

The technical solution of the present invention will be further described with reference to the following examples and drawings.

In the correlation technique, in order to realize the distance detection function at 360 annular visual angles, often survey the distance in certain visual angles respectively through setting up a plurality of laser radar to the concatenation obtains 360 annular degree of depth, perhaps, realizes penetrating laser 360 towards laser radar's periphery through rotatable optical device, and receives from laser radar's periphery towards the function of the laser of laser radar reflection, thereby the scanning obtains 360 annular degree of depth.

However, the splicing mode needs to set a plurality of laser radars to be matched, the structure is complex, complex algorithm programs need to be matched, and the manufacturing cost and the maintenance cost are high. Although the detection function of the circumferential depth information can be independently realized by using the rotating optical device, the acquisition speed of the circumferential depth information is limited by the rotating speed of the optical device, and the reliability of the depth information acquired by detection is limited by the accuracy of the rotating motion track and the motion speed of the optical device. Especially, when the usage state of the laser radar is unstable, for example, when the laser radar moves at a non-uniform speed with a sweeping robot or an automobile, it is difficult to ensure the rotation accuracy of the optical device, so that the depth information detection accuracy of the laser radar is low.

The embodiment of the utility model discloses laser radar and electronic equipment, this laser radar can independently realize 360 hoop distance detection functions, this laser radar's simple structure, and do not include rotatable optical device, can survey simultaneously and obtain 360 hoop degree of depth information, and it is fast to survey the precision height and survey speed.

Referring to fig. 1, fig. 1 is a schematic diagram of a structure of a lidar disclosed in the first aspect of the embodiment of the present application. The embodiment of the first aspect discloses a laser radar 1, this laser radar 1 can realize 360 hoop distance detection functions, this laser radar 1 can be applied to but not limited to the robot of sweeping the floor, the car, electronic equipment such as arm, in order to be used for realizing 360 hoop distance detection functions of electronic equipment, for example, when laser radar 1 is applied to the robot of sweeping the floor, laser radar 1 can be used to realize 360 hoop obstacle detection functions of the periphery of the robot of sweeping the floor, in order to help the robot of sweeping the floor to realize the automatic function of keeping away the barrier, when laser radar 1 is applied to the car, laser radar 1 can be used to realize 360 hoop obstacle detection functions of the periphery of car, in order to help the car to realize the functions such as barrier warning, autopilot, when laser radar 1 is applied to the arm, laser radar 1 can be used to realize the detection function of the arm along 360 hoop depth information of arm, in order to help realizing automatic snatching, place the target object, or keep away the function such as the barrier automatically.

Specifically, the laser radar 1 includes a circumferential transmitting module 10 and a circumferential receiving module 11. The hoop emission module 10 includes laser emission module 100 and first panoramic lens 101, laser emission module 100 is used for transmitting laser to first panoramic lens 101, first panoramic lens 101 is used for receiving laser, and make laser jet out along the direction of the first optical axis O1 who deviates from first panoramic lens 101, thereby form the hoop radiation laser that uses first optical axis O1 as the center, and throw to laser radar 1's periphery environment, hoop receiving module 11 sets up with hoop emission module 10 relatively, the light receiving end 110 of hoop receiving module 11 is located one side along first optical axis O1 side of first panoramic lens 101, hoop receiving module 11 is used for receiving the laser of periphery environment reflection and forms images, thereby make laser radar 1 realize 360 annular distance detection functions.

For convenience of description, it is defined below that the direction of the first optical axis O1 (i.e., the extending direction of the first optical axis O1) is a vertical direction T, and the direction perpendicular to the first optical axis O1 is a horizontal direction P, and the laser radar 1 provided in this embodiment is used for implementing a circumferential distance detection function along 360 ° in the horizontal direction P, as shown in fig. 1, coordinates in fig. 1 show the vertical direction T and the horizontal direction P, a laser emission range of the circumferential emission module 10 along the vertical direction T is exemplarily shown by an arrow and a thick dotted line in fig. 1, and a laser reception range of the circumferential reception module 11 along the vertical direction T is exemplarily shown by an arrow and a thick dotted line.

Through making hoop receiving module 11 and hoop transmission module 10 follow vertical direction T and go up relative setting, can avoid hoop transmission module 10 and hoop receiving module 11's self structure to interfere on horizontal direction P and produce the detection dead angle to laser radar 1 can independently realize the degree of depth detection function of 360 hoops (promptly, obtains 360 angle of vision on the horizontal direction P), need not to set up extra laser radar 1 and cooperate complicated concatenation algorithm.

In addition, come independent realization to radiate the function to the outside with laser along the 360 rings of direction that deviate from first optical axis O1 through setting up first panoramic lens 101, can make the simple structure of hoop emission module 10, and need not to set up rotatable optical device, this lidar 1's manufacturing cost, maintenance cost are all lower, and can survey 360 annular degree of depth information fast, with high accuracy.

It is understood that the first panoramic lens 101 may be used to implement the function of receiving the laser emitted from the laser emitting module 100 and deflecting the laser to radiate outward in a direction of 360 ° in a direction away from the first optical axis O1, and the first panoramic lens 101 may specifically include, but is not limited to, a lens of a conventional structure or a special-shaped lens of an unconventional structure, and the first panoramic lens 101 may include one lens or may be an optical lens group formed by combining a plurality of lenses, and the specific structure of the first panoramic lens 101 is not limited in this embodiment.

Referring to fig. 2 and 3, in some embodiments, the first panoramic lens 101 may include a special-shaped lens, so that the first panoramic lens 101 is easy to assemble.

Alternatively, the first panoramic lens 101 may include a first receiving portion 1010, a first turning portion 1011 and a first emitting portion 1012, in the direction of the first optical axis O1, the first turning portion 1011 is disposed on a side of the first receiving portion 1010 away from the laser emitting module 100, the first emitting portion 1012 is disposed around the first optical axis O1 at the periphery of the first turning portion 1011, the first receiving portion 1010 is configured to receive the laser and direct the laser to the first turning portion 1011 along a direction parallel to the first optical axis O1 (i.e., a vertical direction T), the first turning portion 1011 is configured to deflect the laser to direct the laser to the first emitting portion 1012 along the direction away from the first optical axis O1, and the first emitting portion 1012 is configured to direct the deflected laser to the peripheral environment of the laser radar 1, so that the first turning portion 1011 can achieve an effect of turning the laser to be centered on the first optical axis O1 and radiating circumferentially 360 ° towards the periphery of the first optical axis O1, so that the laser emitting module 10 can obtain a circumferentially-oriented field angle of 360 ° laser emission in the horizontal direction P.

Alternatively, the first receiving portion 1010 may have a collimating surface 1010a protruding toward the laser emitting module 100, and the collimating surface 1010a is used for collimating the laser light so that the laser light is emitted to the first turning portion 1011 along the vertical direction T, thereby improving the uniformity of the incident angle when the laser light is emitted to the first turning portion 1011, and improving the accuracy of the emitting direction after the laser light is turned by the first turning portion 1011.

Further, the first emitting portion 1012 may protrude from the outer periphery of the first receiving portion 1010 to form a first recessed portion 1013 between the first emitting portion 1012 and the first receiving portion 1010, in other words, a portion through which the light path of the light does not pass is set as the first recessed portion 1013, so that the volume of the first panoramic lens 101 is reduced while the light is not affected to propagate in the first panoramic lens 101, and the overall structure compactness of the laser radar 1 can be improved.

Alternatively, the side of the first turning portion 1011 facing away from the laser emitting module 100 may be recessed along the direction from the first turning portion 1011 to the first receiving portion 1010 to form a first tapered surface 1011a, the first tapered surface 1011a is used for turning the laser to emit the laser to the first emitting portion 1012 along the direction facing away from the first optical axis O1, and the light transmitted along the vertical direction T is turned to the light divergently emitted along the direction facing away from the first optical axis O1 by 360 degrees by a simple structure without rotation.

In order to improve the light beam steering efficiency of the first steering portion 1011, and thus improve the utilization rate of the laser, further, the surface of the first steering portion 1011 may be further plated with a reflective material, such as a metal material, a light-colored ink material, and the like.

In other embodiments, the first turning portion 1011 may further include a microstructure for implementing a light turning function. It is understood that the present embodiment is not particularly limited to the actual structure of the first turning part 1011 as long as the first turning part 1011 can achieve the function of turning the laser light to be directed to the first emission part 1012 in the direction away from the first optical axis O1.

Alternatively, the first emitting portion 1012 may have a cylindrical surface 1012a around the circumference and with the first optical axis O1 as the central axis, so that the light emitted in different directions away from the first optical axis O1 has a high uniformity of the optical path in the first emitting portion 1012, or the first emitting portion 1012 may have a diverging surface 1012b around the circumference and with the first optical axis O1 as the central axis, where the diverging surface 1012b is at least partially convex toward the circumference, and the diverging surface 1012b can, on one hand, make the light emitted in different directions away from the first optical axis O1 have a high uniformity of the optical path in the first emitting portion 1012, and, on the other hand, can be used to diverge the laser light, so as to enlarge the emission field angle of the annular emitting module 10 in the vertical direction T.

It should be noted that the collimating surface 1010a, the first conical surface 1011a, and the diverging surface 1012b can respectively and independently realize their functions, and therefore, the first panoramic lens 101 may include any one or two of the collimating surface 1010a, the first conical surface 1011a, and the diverging surface 1012b, or the first panoramic lens 101 may include the collimating surface 1010a, the first conical surface 1011a, and the diverging surface 1012b at the same time, so that the overall structure of the first panoramic lens 101 is simpler, the turning emission precision of the laser is higher, and the angle of view of the annular emission module 10 for emitting the laser in the vertical direction T is larger.

Optionally, the surface profile z of the collimating surface 1010a, the first conical surface 1011a and the diverging surface 1012b can be defined by, but is not limited to, the following aspheric surface formula:

wherein z is the rise of the distance from the vertex of the aspheric surface when the aspheric surface is at the position with the height r along the first optical axis O1; c is the curvature of the aspheric surface at the first optical axis O1, c =1/R (i.e., paraxial curvature c is the inverse of the radius of curvature R in table 1); k is the cone coefficient; alpha is alpha ₁ Is the correction factor for the aspheric surface.

Taking the curvature radius of the cylindrical surface 1012a being approximately 2.5mm as an example, the curvature radius R of the collimating surface 1010a may be 5.370561894mm, and the conical surface coefficient k may be-2.36251727, so as to effectively realize the collimating function of the laser light emitted from the laser emitting module 100, the curvature radius R of the first conical surface 1011a may be ∞, the conical surface coefficient k may be 0, and the aspheric correction coefficient α may be ₁ Can satisfy the following conditions: alpha is more than or equal to 0.95 ₁ 1.05, e.g. aspherical correction factor alpha ₁ Can be as follows: 0.95, 0.97, 0.99, 1, 1.01, 1.03 or 1.05, etc. to can effectively realize turning to the light that will propagate along vertical direction T to the direction 360 divergence radiation along the first optical axis O1 of dorsad, and see through this first conical surface 1011a light less, can promote the emission efficiency of laser.

It is understood that, in other embodiments, the collimating surface 1010a may not only be a convex structure, but may also include at least one of other curved surface structures or microstructures, micro lenses, for example, a fresnel structure or a fresnel micro lens, etc., as long as the collimating surface 1010a can realize the function of collimating the laser light to direct the laser light to the first turning portion 1011 along the vertical direction T, and the actual structure of the collimating surface 1010a is not particularly limited in this embodiment.

It is understood that the above embodiments are only examples of specific structures of the first panoramic lens 101 when the first panoramic lens 101 includes one lens, and in other embodiments, the first panoramic lens 101 may also have other structures as long as the first panoramic lens 101 can be used to implement the functions of receiving the laser emitted from the laser emitting module 100 and deflecting the laser to radiate the laser outwards in an annular direction of 360 ° away from the first optical axis O1, and the embodiment is not particularly limited to the specific structure when the first panoramic lens 101 includes one lens.

Referring to fig. 1 and fig. 2, in some embodiments, the laser emitting module 100 may include a laser emitting element 100a and a first circuit board 100b, wherein the laser emitting element 100a is disposed on the first circuit board 100b and electrically connected to a circuit carried by the first circuit board 100b, so that the laser emitting element 100a can be controlled to emit laser light or not to emit laser light through the circuit on the first circuit board 100 b.

In some embodiments, the annular receiving module 11 may further include a second panoramic lens 111 and a laser receiving module 112, the second panoramic lens 111 has a light receiving end 110, a second optical axis O2 of the second panoramic lens 111 coincides with the first optical axis O1, the laser receiving module 112 is located on a side of the second panoramic lens 111 away from the first panoramic lens 101, the second panoramic lens 111 is configured to receive laser incident from a peripheral environment of the laser radar 1 toward the second optical axis O2 and convert the laser into laser incident toward the laser receiving module 112, and the laser receiving module 112 is configured to receive the laser, so that a function of simultaneously receiving 360 ° annular laser through the second panoramic lens 111 can be implemented, without using a rotatable optical device, so that the structure of the annular receiving module 11 is simple, and the speed and the accuracy of obtaining laser incident from the peripheral 360 ° environment of the laser radar 1 are high.

It can be understood that, since the second optical axis O2 coincides with the first optical axis O1, the second optical axis O2 is also a vertical direction T, and a direction perpendicular to the second optical axis O2 is also a horizontal direction P.

It is understood that the second panoramic lens 111 may be used to implement the function of receiving the laser beam incident from the 360 ° ring environment toward the second optical axis O2 and deflecting the laser beam to emit the laser beam to the laser receiving module 112, and the second panoramic lens 111 may specifically include, but is not limited to, a lens of a conventional structure or a special-shaped lens of a non-conventional structure, and the second panoramic lens 111 may include a lens or may be a lens group formed by combining a plurality of lenses, and the specific structure of the second panoramic lens 111 is not specifically limited in this embodiment.

In some embodiments, the second panoramic lens 111 may include a piece of profiled lens, thereby allowing the second panoramic lens 111 to be easily assembled.

Alternatively, the second panoramic lens 111 may include a second receiving portion 1110, a second turning portion 1111 and a second emitting portion 1112, the second receiving portion 1110 and the second turning portion 1111 are both located at the light receiving end 110, and along the second optical axis O2 direction, the second turning portion 1111 is located at a side of the second emitting portion 1112 facing away from the laser receiving module 112, the second receiving portion 1110 is located at an outer periphery of the second turning portion 1111 around the second optical axis O2, the second receiving portion 1110 is configured to receive the laser light and emit the laser light to the second turning portion 1111 in a direction toward the second optical axis O2, the second turning portion 1111 is configured to deflect the laser light to emit the laser light to the second emitting portion 1112 in a direction parallel to the second optical axis O2 (i.e., the vertical direction T), and the second emitting portion 1112 is configured to emit the laser light after deflection to the laser receiving module 112, so that the emitted laser light converged in a 360 ° ring direction can be turned to propagate in the vertical direction T through the second turning portion 1111, so that the ring-direction emitting module 10 can obtain an angle of view of receiving the laser light in a 360 ° in the ring direction P.

Further, the second receiving portion 1110 may protrude from the outer periphery of the second emitting portion 1112 to form a second recess (not shown) between the second receiving portion 1110 and the second emitting portion 1112, in other words, a portion of the light path that does not pass through is set as the second recess, so that the volume of the second panoramic lens 111 is reduced while the light is not affected to propagate in the second panoramic lens 111, and the overall structure compactness of the laser radar 1 can be improved.

It can be understood that, when performing retroreflection, the laser beams emitted at different angles within the emission field angle in the vertical direction T also differ from each other in the incident angle in the vertical direction T, and therefore, the retroreflected laser beams have a problem that the propagation direction is relatively stray, and further, because the controllability of the propagation direction of the laser beams in the external environment of the laser radar 1 is poor, the propagation direction of the laser beams returning to the second receiving portion 1110 is also relatively stray, so that a part of the laser beams returning to the second receiving portion 1110 cannot be directed to the second turning portion 1111.

Alternatively, a side of the second diverting portion 1111 facing away from the laser emitting module 100 may be recessed in a direction from the second diverting portion 1111 to the second emitting portion 1112 to form a second taper surface 1111a, and the second taper surface 1111a is used for diverting the laser to emit to the second emitting portion 1112 in the vertical direction T, so as to divert the laser which is emitted in a 360 ° circular convergence to propagate in the vertical direction T by a simple structure without a rotation structure.

In order to improve the light turning efficiency of the second turning portion 1111 and thus improve the utilization rate of the laser, further, the surface of the second turning portion 1111 may be plated with a reflective material, such as a metal material, a light-colored ink material, and the like.

In other embodiments, the second turning part 1111 may further include a microstructure for implementing a light turning function. It is understood that, as long as the second diverting part 1111 can realize the function of diverting the laser light to be emitted to the second emission part 1112 in the vertical direction T, the present embodiment is not particularly limited as to the actual structure of the second diverting part 1111.

Alternatively, the second emitting portion 1112 may have a second light condensing surface 1112a protruding toward the laser receiving module 112, and the second light condensing surface 1112a is configured to condense the laser light to emit the laser light to the laser receiving module 112, and is configured to condense the light to emit the laser light to the laser receiving module 112 with a limited photosensitive area, so as to improve the receiving utilization rate of the laser light.

It is understood that, in other embodiments, the second condensing surface 1112a may also include at least one of other curved structures or microstructures, micro-lenses, and the like, as well as other convex structures, for example, a fresnel structure or a fresnel micro-lens, and the like, as long as the second condensing surface 1112a can realize the function of condensing the laser light to be emitted to the laser receiving module 112, and the actual structure of the second condensing surface 1112a is not particularly limited.

It should be noted that, the first light-gathering surface 1110a, the second light-gathering surface 1111a and the second light-gathering surface 1112a can respectively and independently realize their respective functions, and therefore, the second panoramic lens 111 may include any one or two of the first light-gathering surface 1110a, the second light-gathering surface 1111a and the second light-gathering surface 1112a, or the second panoramic lens 111 may include the first light-gathering surface 1110a, the second light-gathering surface 1111a and the second light-gathering surface 1112a at the same time, so that the overall structure of the second panoramic lens 111 is simpler, the receiving and steering accuracy of the laser light is higher, and the angle of view of the annular receiving module 11 for receiving the laser light in the vertical direction T is larger.

It is understood that the above embodiments are only examples of specific structures of the second panoramic lens 111 when the second panoramic lens 111 includes one lens, and in other embodiments, the second panoramic lens 111 may also have other structures as long as the second panoramic lens 111 can be used to implement the functions of receiving the laser emitted from the laser emitting module 100 and deflecting the laser to radiate the laser outwards along the 360 ° ring direction away from the first optical axis O1, and the embodiment is not particularly limited to the specific structure when the second panoramic lens 111 includes one lens.

In addition to the laser radar 1 having a 360 ° field angle in the horizontal direction P, the laser radar 1 may also have a certain field angle in the vertical direction T, for example, a field angle of about 20 ° to 40 ° may be provided in the vertical direction T, so that the laser radar 1 can be used to detect depth information in a circumferential band-shaped area to obtain richer environmental depth information. Further, the electronic equipment which is stereoscopic in the vertical direction T is facilitated, and the overall structure of the electronic equipment can achieve the function of obstacle avoidance.

Referring to fig. 1 and fig. 2 together, specifically, in the vertical direction T, the first panoramic lens 101 may have a field angle θ 1, where the field angle θ 1 is the laser emission field angle of the annular emission module 10 in the vertical direction T, and in the vertical direction T, the second panoramic lens 111 may have a field angle θ 2, where the field angle θ 2 is the laser receiving field angle of the annular reception module 11 in the vertical direction T, and the field angle range of the laser radar 1 in the vertical direction T is the overlapping range of the field angle θ 1 and the field angle θ 2.

As described above, the retro-reflection has a problem that the propagation direction is relatively stray, and the incident angle range of the retro-reflected laser light may be larger than the emission angle range of the laser light. Based on this, in order to improve the recovery rate of the laser beam and thus improve the utilization rate of the laser beam, in some embodiments, the viewing angle θ 1 and the viewing angle θ 2 may satisfy: θ 1 ≦ θ 2, for example, the angle of view θ 1 may be set to 20 ° and the angle of view θ 2 may be set to 25 ° so that the laser radar 1 obtains a substantially 20 ° angle of view in the vertical direction T, the angle of view θ 1 may be set to 30 ° and the angle of view θ 2 may be set to 32 ° so that the laser radar 1 obtains a substantially 30 ° angle of view in the vertical direction T, or the angle of view θ 1 may be set to 40 ° and the angle of view θ 2 may be set to 50 ° so that the laser radar 1 obtains a substantially 40 ° angle of view in the vertical direction T.

Further, in the vertical direction T, the distance between the first panoramic lens 101 and the light receiving end 110 is a, if the distance a is too small, there is a certain collision risk in the application assembly, and if the distance a is too large, the blind area 1a of the detection distance becomes large, resulting in an increase in the minimum depth detection distance s of the laser radar 1. Based on this, in some embodiments, the distance a may satisfy: 1mm ≦ a ≦ 5mm, for example, the distance a may be: 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 4.5mm, or 5mm, etc.

In order to minimize the distance a as much as possible, so as to minimize the distance detection blind area 1a of the laser radar 1 and reduce the collision risk in application assembly, optionally, the first panoramic lens 101 and the light receiving end 110 may be arranged opposite to each other, so as to prevent the laser emitting module 100 and the laser receiving module 112 from occupying the space between the first panoramic lens 101 and the light receiving end 110.

It can be seen that, while the first panoramic lens 101 and the light receiving end 110 are arranged oppositely, the distance a between the first panoramic lens 101 and the light receiving end 110 satisfies that a is greater than or equal to 1mm and less than or equal to 5mm, so as to reduce the risk of collision during application and assembly, and satisfy the more preferable range of the distance a between the first panoramic lens 101 and the light receiving end 110.

It can be understood that, in other embodiments, the first panoramic lens 101 and the laser receiving module 112 may be arranged oppositely or the laser emitting module 100 and the laser receiving module 112 may be arranged oppositely according to specific use and design requirements, as long as it is satisfied that the annular emitting module 10 and the annular receiving module 11 are arranged oppositely in the vertical direction T, and the specific relative posture of the annular emitting module 10 and the annular receiving module 11 is not specifically limited in this embodiment.

In some embodiments, the laser receiving module 112 may include a photosensitive chip 112a and a second circuit board 112b, wherein the photosensitive chip 112a is disposed on the second circuit board 112b and electrically connected to a circuit carried by the second circuit board 112b, so that the photosensitive chip 112a can receive the laser emitted from the second emitting portion 1112 and convert the laser signal into an electrical signal for transmission through the circuit on the second circuit board 112 b.

Referring to fig. 2 and 4 together, in some embodiments, the laser radar 1 may further include a lens barrel 12, the lens barrel 12 includes a first end 120 and a second end 121 opposite to each other, the laser emitting module 100 and the first panoramic lens 101 are disposed at the first end 120, the laser emitting module 100 and the first panoramic lens 101 are sequentially disposed along a direction from the first end 120 to the second end 121, the annular receiving module 11 is disposed at the second end 121, at least a portion of the lens barrel 12 corresponding to the periphery of the first panoramic lens 101 and the periphery of the light receiving end 110 is transparent for laser to pass through, the annular emitting module 10 and the annular receiving module 11 are disposed through the same lens barrel 12, so as to improve assembly accuracy between the annular emitting module 10 and the annular receiving module 11, and simplify an encapsulation structure of the annular emitting module 10 and the annular receiving module 11, where the first panoramic lens 101 and the second panoramic lens 111 in fig. 2 and 4 have the same structure, and for facilitating observation, reference numerals of partial structures of the first panoramic lens 101 and the second panoramic lens 111 in fig. 4 are omitted.

It should be noted that "transparent" in the foregoing description means transparent to at least the laser light emitted by the laser emitting module 100, and transparent or opaque to light other than the laser light.

In an optional embodiment, the lens barrel 12 may be made of a material that allows laser light emitted by the laser emitting module 100 to pass through and blocks at least part of light other than the laser light, so that the function of penetrating the laser light can be achieved, and interference of other light in the environment can be reduced, so that the distance detection accuracy of the laser radar 1 is higher, meanwhile, since the lens barrel 12 is made of the same material, different parts of the lens barrel 12 do not need to be formed in different steps, and the process and the steps of the lens barrel 12 are simple.

The laser may be, for example, a relatively high-transmittance near-infrared laser (a laser in the wavelength range of 700nm to 1400nm, for example, a laser having a wavelength of approximately 700nm, 940nm, 1150nm, 1300nm or 1400 nm), or a relatively high-transmittance mid-and far-infrared laser (a laser in the wavelength range of 1400nm to 10 nm) with a relatively high maximum range-finding limit ⁶ nm, such as laser light having a wavelength of approximately 1450nm, 1550nm, 1700nm, 1950nm or 2300 nm), and accordingly, the lens barrel 12 may be made of an infrared-transparent polymer material, such as PC (Polycarbonate), PMMA (polymethyl methacrylate) or ABS (Acrylonitrile Butadiene Styrene).

In another alternative embodiment, the portions of the lens barrel 12 corresponding to the outer periphery of the first panoramic lens 101 and the outer periphery of the light receiving end 110 may be used for laser to pass through, so that a better function of blocking stray light can be achieved through other portions of the lens barrel 12, and the distance detection accuracy of the laser radar 1 is further improved.

Alternatively, the first panoramic lens 101 may be disposed at the first end 120 and located in the lens barrel 12, the laser emitting element 100a may be disposed in the lens barrel 12, and the edge of the first circuit board 100b may be connected to the end of the first end 120 of the lens barrel 12, and the opening of the first end 120 of the lens barrel 12 is covered by the first circuit board 100b, so that the laser emitting module 100 is integrally assembled on the lens barrel 12, meanwhile, impurities such as water, dust, and the like are blocked from entering the inside of the lens barrel 12 by the first circuit board 100b, the second panoramic lens 111 may be disposed at the second end 121 and located in the lens barrel 12, the light receiving end 110 of the second panoramic lens 111 is disposed opposite to the first panoramic lens 101, the light sensing chip 112a may be disposed in the lens barrel 12 and located at the side of the second panoramic lens 111 facing away from the first end 120, and the edge of the second circuit board 112b may be connected to the end of the second end 121 of the lens barrel 12, the opening of the second end 121 of the lens barrel 12 is sealed by the second circuit board 112b, so that the laser receiving module 112 is integrally assembled on the lens barrel 12, and meanwhile, impurities such as water and dust are prevented from entering the inside of the lens barrel 12 by the second circuit board 112b, so that, on one hand, the first panoramic lens 101, the laser emitting module 100, the second panoramic lens 111 and the laser receiving module 112 are packaged by the same lens barrel 12, so as to improve the relative position accuracy between the first panoramic lens 101, the laser emitting module 100, the second panoramic lens 111 and the laser receiving module 112, and on the other hand, the light receiving end 110 of the second panoramic lens 111 is arranged opposite to the first panoramic lens 101, so as to reduce the distance between the light receiving end 110 and the first panoramic lens 101 in the vertical direction T, thereby reducing the distance detection blind area 1a of the laser radar 1.

As described above, the first recess 1013 may be formed between the first receiving portion 1010 and the first emitting portion 1012, and the first positioning portion 120a may be formed inside the first end 120 of the lens barrel 12 corresponding to the first recess 1013, so that the first positioning portion 120a abuts against the first recess 1013, thereby positioning the mounting position of the first panoramic lens 101 at the first end 120, and improving the mounting accuracy of the first panoramic lens 101.

As described above, a second recessed portion may be formed between the second receiving portion 1110 and the second emitting portion 1112, and a second positioning portion may be formed in the second end 121 of the lens barrel 12 corresponding to the second recessed portion, so as to abut against the second recessed portion by the second positioning portion, thereby positioning the mounting position of the second panoramic lens 111 at the second end 121, and improving the mounting accuracy of the second panoramic lens 111.

It should be noted that, since the first positioning portion 120a positions the first panoramic lens 101 in the direction from the first end 120 to the second end 121, when the first positioning portion 120a is formed in the lens barrel 12, the first and second

panoramic lenses

101 and 111 are sequentially set in the lens barrel 12 from the second end 121, and the second positioning portion positions the second panoramic lens 111 in the direction from the second end 121 to the first end 120, therefore, when the second positioning portion is formed in the lens barrel 12, the first and second

panoramic lenses

101 and 111 are sequentially set in the lens barrel 12 from the second end 121, and based on this, if the first and

second positioning portions

120a and 111 are formed in the lens barrel 12 at the same time, the first and second

panoramic lenses

101 and 111 cannot be set in the lens barrel 12. Therefore, it is preferable that only the first positioning portion 120a and a separate positioning structure (not shown) corresponding to the second recess portion are provided in the lens barrel 12, or only the second positioning portion and a separate positioning structure (not shown) corresponding to the first recess portion 1013 are provided in the lens barrel 12, so that the first and second

panoramic lenses

101 and 111 can be installed in the lens barrel 12 and the installation accuracy of the first and second

panoramic lenses

101 and 111 in the lens barrel 12 can be improved.

In some embodiments, a light blocking sheet 122 may be further disposed in the lens barrel 12, and the light blocking sheet 122 is located between the first panoramic lens 101 and the light receiving end 110 to block light from directly propagating between the first end 120 and the second end 121, so as to prevent laser light from directly propagating between the first panoramic lens 101 and the light receiving end 110, and not reflected by an object to be measured in an external environment of the lens barrel 12 to propagate between the first panoramic lens 101 and the light receiving end 110, so as to affect the distance detection accuracy of the laser radar 1.

In some embodiments, the first circuit board 100b may further include a first connection structure 100c, and the first connection structure 100c may be an annular protrusion annularly disposed on the periphery of the laser emitting component 100a and is sleeved with the lens barrel 12, so that the effective connection area between the laser emitting module 100 and the lens barrel 12 can be increased by the first connection structure 100c, the connection stability between the laser emitting module 100 and the lens barrel 12 is enhanced, and meanwhile, the first connection structure 100c is sleeved with the lens barrel 12 to achieve a positioning function, so as to improve the relative position accuracy between the laser emitting component 100a and the lens barrel 12, and thus improve the assembly accuracy between the laser emitting component 100a and the first panoramic lens 101.

Alternatively, the first connecting structure 100c may be sleeved on the outer periphery of the lens barrel 12, so that the first connecting structure 100c can be prevented from affecting the propagation of the laser light in the lens barrel 12.

It is understood that, in other embodiments, the first connecting structure 100c may be disposed inside the lens barrel 12, and the lens barrel 12 may be sleeved on the outer periphery of the first connecting structure 100 c. At this time, optionally, an end of the first connection structure 100c away from the first circuit board 100b may also abut against the first recessed portion 1013, so that the first connection structure 100c is used as a positioning structure separate from the lens barrel 12, thereby enabling structural multiplexing of the first connection structure 100 c.

In some embodiments, the second circuit board 112b may further have a second connecting structure (not shown), which may be an annular protrusion disposed around the periphery of the photosensitive chip 112a and sleeved with the lens barrel 12. It is understood that the specific structure and the obtained effect of the second connection structure can be referred to the specific structure and the obtained effect of the first connection structure 100c, and are not described herein again.

The disclosed laser radar 1 of the first aspect of this embodiment, through making hoop receiving module 11 and hoop transmission module 10 along vertical direction T go up relative setting, can avoid hoop transmission module 10 and hoop receiving module 11's self structure to interfere and produce the detection dead angle on horizontal direction P to make laser radar 1 can independently realize 360 annular degree of depth detection functions, and need not to set up extra laser radar 1 and cooperate complicated concatenation algorithm.

In addition, come to independently realize the function outside the radiation of 360 ring of direction along deviating from first optical axis O1 with laser through setting up first panoramic lens 101, come to independently realize the laser that jets into from the periphery environment towards second optical axis O2 through setting up second panoramic lens 111, and turn to this laser with directive laser receiving module 112, can make the simple structure of ring transmission module 10 and ring receiving module 11, and need not to set up rotatable optical device, this laser radar 1's manufacturing cost, maintenance cost is all lower, and can be fast, detect 360 ring to the degree of depth information with high accuracy.

Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device disclosed in the second aspect of the embodiment of the present application. The embodiment second aspect discloses an electronic equipment 2, can include but not limited to can realize 360 annular distance detection function sweep electronic equipment 2 such as robot, car, arm, this electronic equipment 2 includes like above-mentioned first aspect laser radar 1 to utilize laser radar 1 to realize 360 annular distance detection function, thereby realize keeping away the barrier automatically, snatch and place the function such as, wherein, use electronic equipment 2 as sweeping the robot in figure 5 as the example, exemplarily show an electronic equipment 2's structure. Because this laser radar 1 can independently realize fast and 360 degrees hoop distance detection functions of high accuracy, this laser radar 1 self simple structure, it is low to make the maintenance cost, therefore electronic equipment 2 can realize high-speed and 360 degrees hoop distance detection functions of high accuracy, and the holistic structure of electronic equipment 2 is simpler, and it is lower to make the maintenance cost.

The laser radar and the electronic device disclosed in the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the laser radar and the electronic device and their core ideas of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, and in summary, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. A lidar, comprising:

the annular transmitting module comprises a laser transmitting module and a first panoramic lens, the laser transmitting module is used for transmitting laser to the first panoramic lens, the first panoramic lens is used for receiving the laser, and the laser is emitted along the direction departing from the first optical axis of the first panoramic lens, so that annular radiation laser with the first optical axis as the center is formed and is projected to the peripheral environment of the laser radar; and (c) a second step of,

2. The lidar of claim 1, wherein the first panoramic lens includes a first receiving portion, a first turning portion, and a first emitting portion, the first turning portion is disposed on a side of the first receiving portion facing away from the laser emitting module along the first optical axis, and the first emitting portion is disposed around the first optical axis and on an outer periphery of the first turning portion;

the first receiving part is used for receiving the laser and enabling the laser to emit to the first turning part along the direction parallel to the first optical axis, the first turning part is used for deflecting the laser to emit to the first emitting part along the direction deviating from the first optical axis, and the first emitting part is used for enabling the deflected laser to emit to the peripheral environment of the laser radar.

3. The lidar of claim 2, wherein the first receiving portion has a collimating surface projecting toward the laser emitting module, the collimating surface being configured to collimate the laser light such that the laser light is directed toward the first deflecting portion in a direction parallel to the first optical axis; and/or the presence of a gas in the atmosphere,

the side, away from the laser emitting module, of the first turning part is recessed along the direction from the first turning part to the first receiving part to form a first conical surface, and the first conical surface is used for turning the laser to emit to the first emitting part along the direction away from the first optical axis; and/or the presence of a gas in the gas,

the first emission part has a divergence surface located on an outer periphery, and the divergence surface is used for diverging and emitting the laser.

4. The lidar of claim 1, wherein the annular receiving module further comprises a second panoramic lens and a laser receiving module, the second panoramic lens has the light receiving end, a second optical axis of the second panoramic lens coincides with the first optical axis, the laser receiving module is located on a side of the second panoramic lens away from the first panoramic lens, the second panoramic lens is configured to receive the laser beam incident from the peripheral environment of the lidar toward the second optical axis and convert the laser beam to be emitted toward the laser receiving module, and the laser receiving module is configured to receive the laser beam.

5. The lidar of claim 4, wherein the second panoramic lens comprises a second receiving portion, a second turning portion and a second emitting portion, the second receiving portion and the second turning portion are both located at the light receiving end, and the second turning portion is located at a side of the second emitting portion facing away from the laser receiving module along a second optical axis direction, and the second receiving portion is located at an outer periphery of the second turning portion around the second optical axis;

the second receiving part is used for receiving the laser and enabling the laser to emit to the second steering part along the direction towards the second optical axis, the second steering part is used for deflecting the laser to emit to the second emitting part along the direction parallel to the second optical axis, and the second emitting part is used for enabling the deflected laser to emit to the laser receiving module;

the second receiving part is provided with a first light-gathering surface positioned on the periphery, and the first light-gathering surface is used for gathering the laser to emit the laser to the second steering part; and/or the presence of a gas in the gas,

the side, away from the laser emission module, of the second turning part is recessed along the direction from the second turning part to the second emitting part to form a second tapered surface, and the second tapered surface is used for turning the laser to emit the laser to the second emitting part along the direction parallel to the second optical axis; and/or the presence of a gas in the gas,

the second emitting portion has a second light condensing surface protruding toward the laser receiving module, and the second light condensing surface is configured to condense the laser light to be emitted to the laser receiving module.

6. The lidar of claim 4, wherein the first panoramic lens has a field angle θ 1 along a first optical axis direction, and the second panoramic lens has a field angle θ 2 along a second optical axis direction, θ 1 ≦ θ 2.

7. The lidar of any of claims 1 to 6, wherein said first panoramic lens is disposed opposite said light receiving end along said first optical axis; and/or

And in the direction of the first optical axis, the distance between the first panoramic lens and the light ray receiving end is a, and a is more than or equal to 1mm and less than or equal to 5mm.

8. The lidar of any one of claims 1 to 6, further comprising a lens barrel, wherein the lens barrel comprises a first end and a second end opposite to each other, the laser emission module and the first panoramic lens are disposed at the first end, the laser emission module and the first panoramic lens are sequentially disposed in a direction from the first end to the second end, and the annular receiving module is disposed at the second end;

and the part of the lens barrel, which at least corresponds to the periphery of the first panoramic lens and the periphery of the light receiving end, is transparent so as to allow the laser to pass through.

9. The lidar of claim 8, wherein a light barrier is further disposed within the lens barrel, the light barrier being positioned between the first panoramic lens and the light receiving end to block light from directly propagating between the first end and the second end.

10. An electronic device, characterized in that it comprises a lidar according to any of claims 1-9.