WO2020073934A1

WO2020073934A1 - Laser radar

Info

Publication number: WO2020073934A1
Application number: PCT/CN2019/110254
Authority: WO
Inventors: 卢炎聪; 向少卿
Original assignee: 上海禾赛光电科技有限公司
Priority date: 2018-10-11
Filing date: 2019-10-10
Publication date: 2020-04-16
Also published as: CN109188400A

Abstract

A laser radar, comprising: at least one laser transmitting unit (110). The laser transmitting unit (110) comprises a plurality of transmitting devices, each transmitting device generating a path of detection light (112) and a plurality paths of detection light (112) generated by the plurality of transmitting devices being emitted in parallel to form an emergent light beam. The plurality of transmitting devices comprises: a distance transmitting device (111i) suitable for generating distance detection light (112i); and color transmitting devices (111r, 111g, 111b) suitable for generating color detection light (112r, 112g, 112b). The laser radar is a color laser radar capable of simultaneously obtaining distance information and color information. Because the generated plurality paths of detection light (112) is emitted in parallel, the laser radar does not need to calibrate the positions of different transmitting devices, such that the difficulty in back end data processing is reduced, and the assembling complexity is reduced. In addition, the laser radar can implement the use of a common path by light beams, without additional optical element devices and can meet the development requirements on low costs, miniaturization, and solidification.

Description

Lidar

This application requires the priority of a Chinese patent application filed on October 11, 2018 with the Chinese Patent Office, application number 201811188796.2, and the invention titled "Lidar", the entire contents of which are incorporated by reference in this application.

Technical field

The invention relates to the field of laser detection, in particular to a laser radar.

Background technique

Lidar is a commonly used distance measuring sensor. It has the characteristics of long detection distance, high resolution, and little interference from the environment. It is widely used in intelligent robots, drones, and unmanned driving. In recent years, autonomous driving technology has developed rapidly, and lidar has become an indispensable core sensor for distance sensing.

In the current on-vehicle lidar, whether it is a lidar with coherent transceiver technology or a lidar based on time-of-flight technology, the feedback signal contains only distance information. If each point can contain color information, it will be more conducive to the identification of objects.

One of the current solutions is to add camera and other image sensors on the basis of lidar. The problem is that the camera and lidar need to be calibrated. If the calibration is inaccurate, or the position between the lidar and the camera deviates during use, there will be a problem of point cloud and image mismatch. And because two sensors are used, they need to be triggered synchronously. If there is an uncertain delay on either side, it will affect the result.

Summary of the invention

The problem solved by the present invention is to provide a laser radar to detect distance information and color information simultaneously.

To solve the above problem, the present invention provides a laser radar, including: at least one laser emitting unit; the laser emitting unit includes: a plurality of emitting devices, each emitting device generates a path of detection light, the multiple emitting devices generate The multi-channel detection light is emitted in parallel to form an outgoing beam; the plurality of emission devices include: a distance emission device, the distance emission device is suitable for generating distance detection light; a color emission device, the color emission device is suitable for generating color detection Light.

Optionally, the detection light is emitted from the light outlet of the emitting device, and the light outlets of multiple emitting devices in the same laser emitting unit are closely arranged; in the laser emitting unit, the multiple light emitting ports are centered Symmetrically distributed.

Optionally, the laser emitting unit includes: 4 emitting devices; and the light exits of the 4 emitting devices are arranged in a 2 × 2 array.

Optionally, the distance emitting device includes: an infrared laser; the color emitting device includes: a visible light laser.

Optionally, the laser emission unit includes: a plurality of color emission devices, and the frequency of the color detection light generated by the plurality of color emission devices is different.

Optionally, the laser emitting unit includes: a first color emitting device, the first color emitting device includes: a red laser; a second color emitting device, the second color emitting device includes: a green laser; A three-color emitting device. The third color emitting device includes: a blue laser.

Optionally, the lidar further includes: at least one galvanometer, the galvanometer includes a reflection surface, and the reflection surface is suitable for reflecting the outgoing light beam.

Optionally, the galvanometer includes at least one of a one-dimensional galvanometer and a two-dimensional galvanometer.

Optionally, the multiple detection lights generated by the multiple emitting devices in the same laser emitting unit are reflected by the reflecting surface of the same galvanometer.

Optionally, the outgoing beam is reflected by the target to be detected to form an echo beam; the lidar further includes: a collection unit that collects the echo beam to form a signal beam; and a detection unit that the detection unit detects The signal beam; the reflection unit, the reflection unit reflects the signal beam to the detection unit.

Optionally, the reflecting unit is located on the optical path between the laser emitting unit and the galvanometer; the reflecting unit has a through hole area, and the position of the through hole area corresponds to the position of the laser emitting unit, The through-hole area has a plurality of through-holes penetrating the reflection unit in the direction of the optical path, and the positions of the through-holes correspond to the positions of the light outlets of the emitting device.

Optionally, it further includes: a beam splitting unit, the beam splitting device receives the signal beam formed by the collection unit, the beam splitting device further divides the signal beam into multiple signal lights, the multiple signal lights and the multiple channels The detection light corresponds to each other.

Optionally, the detection unit includes a plurality of detection devices, and the plurality of detection devices correspond one-to-one to the multiple signal lights.

Optionally, the spectroscopic unit includes at least one of a grating and a prism.

Optionally, it further includes: a filtering unit, which is located on the optical path in front of the detecting unit.

Compared with the prior art, the technical solution of the present invention has the following advantages:

In the technical solution of the present invention, the detection light generated by the distance emitting device can obtain the distance information of the target to be detected, and the color detection light generated by the color emitting device can obtain the color information of the target to be detected, whereby the laser The radar is a color lidar, which can obtain distance information and color information at the same time; and the detection light generated by multiple emission devices in the laser emission unit is emitted in parallel, and the multi-path detection light is transmitted to the position of the target to be detected Approaching, the formed echo beam is the backscattered light of the multi-path detection light, and the propagation directions of the multiple backscattered light are also parallel, and the lidar does not need to calibrate the positions of different transmitting devices It can effectively reduce the difficulty of back-end data processing and reduce the complexity of assembly. In addition, the lidar can realize the beam common path without additional optical components, which can meet the development requirements of low cost, miniaturization and solidification.

In an optional solution of the present invention, the light exits of the multiple emitting devices are closely arranged, which can make the position of the multi-path detection light transmitted to the target to be detected closer, and can effectively reduce the distance information and the The deviation between the color information is conducive to improving the matching degree between the distance information and the color information, and is conducive to ensuring the detection accuracy; and the light exits of the multiple emitting devices are distributed symmetrically in the center, which can effectively balance the different detection lights The difference in deviation is conducive to the control of detection errors.

In an optional solution of the present invention, the laser emitting unit includes: 4 emitting devices; and the light emitting ports of the 4 emitting devices are arranged in a 2 × 2 array. The 4 transmitters arranged in a 2 × 2 array can not only meet the technical needs of distance information and color information, but also effectively reduce the distance between adjacent transmitters, which is beneficial to the improvement of integration and the reduction of process difficulty; Moreover, the 4 transmitters arranged in a 2 × 2 array can also stagger the transmitters in the direction of the vertical horizontal plane. In the case where the color transmitters can provide not only color information but also distance information, the verticality of the lidar can also be improved. Angular resolution.

In an optional solution of the present invention, the lidar further includes: at least one galvanometer, the galvanometer has a reflective surface, the reflective surface is suitable for reflecting the outgoing light beam; the exit angle of the outgoing light beam is changed by the galvanometer, which can effectively improve The resolution of the lidar is beneficial to improve the recognition accuracy.

In an optional solution of the present invention, the galvanometer in the lidar may be a two-dimensional galvanometer or a one-dimensional galvanometer; the one-dimensional galvanometer changes the exit angle of the exit beam in the direction perpendicular to the horizontal plane, and can be 360 ° Rotate and rotate the axis perpendicular to the horizontal plane; or two-dimensional galvanometer, or two one-dimensional galvanometers, through different galvanometers and their combinations, the detection of targets in different ranges can be achieved, and the complexity of the control optical system Under the premise of, expand the detection range and improve the recognition accuracy.

In an optional solution of the present invention, the lidar further includes: a reflecting unit located on the optical path between the transmitting device and the galvanometer; the reflecting unit has a through hole area, the through hole The position of the area corresponds to the position of the laser emitting unit, and the through-hole area has a plurality of through holes penetrating the reflecting unit in the direction of the optical path, and the positions of the through holes correspond to the positions of the light outlets of the emitting device. The arrangement of the reflecting unit can make the outgoing light beam and the signal light beam realize the common path, thereby realizing the common path of sending and receiving, which is beneficial to the improvement of integration and the realization of miniaturization.

In an optional solution of the present invention, the lidar further includes: a filtering unit capable of filtering out ambient light, thereby suppressing interference signals, improving the signal-to-noise ratio, helping to improve color reproduction, and improving detection accuracy.

BRIEF DESCRIPTION

1 is a schematic diagram of a part of the optical path of a laser radar at time t1 in the prior art;

2 is a schematic diagram of a part of the optical path of the lidar shown in FIG. 1 at time t2 after time t1;

3 is a schematic diagram of the optical path structure of an embodiment of the laser radar of the present invention;

FIG. 4 is a schematic structural plan view of part of the reflecting unit 140 in the embodiment of the lidar shown in FIG. 3.

detailed description

In order to solve the problem of image matching and synchronous triggering, the prior art proposes to obtain distance information and color information by means of four lasers and corresponding detectors, including infrared lasers responsible for obtaining distance information, and red lasers responsible for obtaining color information. Light, green, and blue lasers.

The lidar includes a plurality of lasers, and the detection light of the plurality of lasers exits at a certain divergence angle, so the detection light generated by each laser corresponds to information at different angles. The position of the detection light generated by the laser at different positions transmitted to the target to be detected will change as the laser rotates.

Referring to FIG. 1, FIG. 1 shows a partial optical path diagram of the lidar at time t1.

As shown in FIG. 1, the lidar includes: a first laser r that generates first probe light; and a second laser g that generates second probe light. There is an angle α between the first detection light and the second detection light. At time t1, the first detection light 11r is projected to the position b on the target to be detected; the second detection light 11g is projected to the position a on the target to be detected.

With reference to FIG. 2, FIG. 2 shows a partial light path diagram of the lidar at time t2 after time t1.

As the lidar rotates, at time t2, the first detection light 12r generated by the first laser r is projected to the position c on the target to be detected, and the second detection light 12g generated by the second laser g is projected To position b on the target to be detected.

It can be seen that the information obtained at the position b of the first detection light 11r and the second detection light 12g corresponds to two times t1 and t2, respectively. Therefore, the positions of the multiple lasers in the lidar need to be calibrated and calibrated.

The calibration of the laser position will bring great difficulties to the installation and back-end data processing of the lidar, which will increase the difficulty of manufacturing and controlling the lidar, and may also affect the detection accuracy and recognition of the lidar Success rate.

To solve the technical problem, the present invention provides a laser radar, including: at least one laser emitting unit; the laser emitting unit includes: a plurality of emitting devices, each emitting device generates a path of detection light, and the multiple emitting devices The generated multiple detection lights are emitted in parallel to form an outgoing beam; the plurality of emission devices include: a distance emission device, the distance emission device is suitable for generating distance detection light; a color emission device, the color emission device is suitable for generating Color detection light. The lidar is a color lidar, which can obtain distance information and color information at the same time; the generated multi-channel detection light is emitted in parallel, so the lidar does not need to calibrate the positions of different launching devices, which can effectively reduce the back end The difficulty of data processing reduces the complexity of assembly; in addition, the lidar can realize the beam common path without additional optical components, which can meet the development requirements of low cost, miniaturization and solidification.

In order to make the above objects, features and advantages of the present invention more obvious and understandable, specific embodiments of the present invention will be described in detail below with reference to the drawings.

Referring to FIG. 3, a schematic diagram of the optical path structure of an embodiment of the lidar of the present invention is shown.

As shown in FIG. 3, the lidar includes: at least one laser emitting unit 110;

The laser emitting unit 110 includes: a plurality of emitting devices, each emitting device generates a path of detection light, and the multiple paths of detecting light generated by the multiple emitting devices are emitted in parallel to form an exit beam.

As shown in FIG. 3, in this embodiment, the laser emitting unit 110 includes a distance emitting device 111i, and the distance emitting device 111i is adapted to generate the distance detection light 112i. The distance emitting device 111i includes an infrared laser, that is, the distance detection light 112i is infrared light. Specifically, the infrared laser may be an infrared laser with a wavelength of 905 nm or 1550 nm; the infrared laser may be one of a pulse laser or a continuous laser. Therefore, the distance detection light 112i may be a pulse laser or a continuous laser with a wavelength of 905 nm or 1550 nm.

The laser emitting unit 110 further includes: a plurality of color emitting devices, and the frequencies of the color detection lights generated by the plurality of color emitting devices are different. Specifically, the laser emitting unit 110 includes: a first color emitting device 111r, the first color emitting device 111r includes a red laser; a second color emitting device 111g, the second color emitting device 111g includes a green laser ; The third color emitting device 111b, the third color emitting device 111b includes a blue laser.

Therefore, the first color detection light 112r generated by the first color emission device 111r is a red laser; the second color detection light 112g generated by the second color emission device 111g is a green laser; the third color emission The third color detection light 112b generated by the device 111b is a blue laser. The first color detection light 112r, the second color detection light 112g, and the third color detection light 112b are used to obtain the reflectance of the target to be detected for the red laser, the green laser, and the blue laser, respectively, to Inversion obtains the color information of the target to be detected.

The detection light 112i generated by the distance emitting device 111i can obtain the distance information of the target to be detected, and the

color detection light

112r, 112g and 112b generated by the color emitting device can obtain the color information of the target to be detected. The lidar is a color lidar, which can obtain distance information and color information at the same time; and the multi-channel detection light 112 is emitted in parallel with each other, so the lidar does not need to calibrate the positions of different launching devices, which can effectively reduce the rear end The difficulty of data processing reduces the complexity of assembly; in addition, the lidar can realize the beam common path without additional optical components, which can meet the development requirements of low cost, miniaturization and solidification.

The detection light 112 is emitted from the light exit of the emitting device. As shown in FIG. 3, the light exits of multiple emitting devices in the same laser emitting unit 110 are closely arranged. By arranging the light outlets closely, the multi-path detection light 112 with a smaller separation distance can be generated, so that the position of the multi-path detection light 112 transmitted to the target to be detected is closer, which can effectively reduce the distance information and the location. The deviation between the color information is helpful to improve the matching degree between the distance information and the color information, and to ensure the detection accuracy.

Specifically, in the laser emitting unit 110, the plurality of light exit ports are symmetrically distributed in the center. The light outlets of the plurality of emitting devices are distributed symmetrically in the center, which can effectively balance the deviation of different detection lights and is beneficial to the control of detection errors.

In this embodiment, one of the laser emitting units 110 includes: four emitting devices; and the light outlets of the four emitting devices are arranged in a 2 × 2 array. The 4 transmitters closely arranged in a 2 × 2 array can not only meet the technical requirements of acquiring distance information and color information at the same time, but also effectively reduce the distance between adjacent transmitters, which is conducive to the improvement of integration and the process The difficulty is reduced. In addition, the 4 transmitters arranged in a 2 × 2 array can also stagger the transmitters in the direction of the vertical horizontal plane. In the case where the color transmitters can provide not only color information but also distance information, the vertical angle of the lidar can also be increased. Resolution. It should be noted that in other embodiments of the present invention, the four transmitting devices may also be arranged in an array of 1 × 4 or 4 × 1.

It should be noted that, in this embodiment, the lidar obtains color information of the target to be detected based on the principles of red, blue, and green primary colors. In other embodiments of the present invention, colors can be obtained by combining lasers of other colors.

It should also be noted that, in this embodiment, the light exit of the emitting device is the light exit of the laser, so the multiple lasers in the laser emitting unit are closely arranged to achieve a tight exit of the multiple light emitting devices The purpose of the arrangement. In other embodiments of the present invention, the transmitting device may further include multiple optical fibers corresponding to the number of multiple lasers, and one end of the multiple optical fibers is optically coupled in one-to-one correspondence with the light outlets of the multiple lasers. The other end of the multiple optical fibers serves as the light outlet of the transmitting device. Because the diameter of the optical fiber is thin, the arrangement of the optical fibers can achieve the purpose of arranging the light outlets of multiple transmitting devices more closely. The multiple lasers can be distributed and arranged to facilitate heat dissipation.

As shown in FIG. 3, in this embodiment, the lidar further includes: at least one galvanometer 120. The galvanometer 120 includes a reflective surface, and the reflective surface is suitable for reflecting the outgoing light beam. The distance detection light 112i, the first color detection light 112r, the second color detection light 112g, and the third color detection light 112b are reflected by the reflection surface of the galvanometer 120 to form an outgoing light beam. As the rotation angle of the galvanometer 120 changes, the propagation direction of the detection light reflected by the reflecting surface changes, so the galvanometer 120 is suitable for changing the propagation direction of the multi-path detection light, thereby changing the exit beam The direction of the exit is to achieve the detection of the target to be detected in different directions.

Since multiple emitting devices in the same laser emitting unit are closely arranged, the multiple detection lights generated by the multiple emitting devices in the same laser emitting unit 110 are reflected by the reflective surface of the same galvanometer 120. Since the reflecting surface area of the galvanometer 120 is limited, the method of making the multiple detection lights generated by the multiple emitting devices in the same laser emitting unit 110 reflected by the reflecting surface of the same galvanometer 120 can ensure the same laser emission The plurality of transmitting devices in the unit 110 are arranged close enough to ensure the common propagation of the multiple detection lights and the entire optical path of the lidar, which enables the lidar to obtain the distance at the same time Information and color information, and there is no need to calibrate the positions of different launching devices, which can effectively reduce the difficulty of back-end data processing and reduce the complexity of assembly; in addition, the lidar can achieve beam sharing without additional optical components It can meet the development requirements of low cost, miniaturization and solidification.

In this embodiment, the galvanometer 120 is a two-dimensional galvanometer or two one-dimensional galvanometers whose rotation axes are perpendicular to each other. The method of setting the galvanometer 120 as a two-dimensional galvanometer or two one-dimensional galvanometers can improve the angular resolution in the horizontal direction and the vertical direction without increasing the number of lasers. In other embodiments of the present invention, the galvanometer may also be a one-dimensional galvanometer, and the one-dimensional galvanometer is matched with a rotation axis capable of rotating 360 ° and being perpendicular to a horizontal plane. Through different galvanometers and their combinations, the detection of targets in different ranges can be achieved. Under the premise of controlling the complexity of the optical system, the detection range can be expanded and the recognition accuracy can be improved.

As shown in FIG. 3, the distance detection light 112i, the first color detection light 112r, the second color detection light 112g, and the third color detection light 112b are reflected by the galvanometer 120 to form the Exit beam. The outgoing beam is reflected by the target to be detected (not shown in the figure) to form an echo beam; in this embodiment, the lidar further includes: a collection unit 130, which collects the echo beam to form a signal beam 130r.

The outgoing light beam is scattered on the surface of the target to be measured to form scattered light, and the collection unit 130 collects the backward scattered light in the scattered light to form the signal light beam 130r. Since the signal beam 130r is the backscattered light in the echo beam, the propagation directions of the signal beam 130r are also parallel to each other and parallel to the distance detection light 112i and the first color detection light 112r, the propagation directions of the second color detection light 112g and the third color detection light 112b, that is, the entire optical path of the lidar is a common path.

Moreover, since the distance detection light 112i, the first color detection light 112r, the second color detection light 112g, and the third color detection light 112b are separated by a small distance, the distance detection light 112i, the The first color detection light 112r, the second color detection light 112g, and the third color detection light 112b are projected at four positions very close to the target to be detected, so the signal beam includes the same on the target to be detected The color information and distance information of the location to obtain the distance information and color information at the same time.

In addition, the lidar further includes a reflection unit 140 that reflects the signal beam 130r to the detection unit 160. The reflection unit 140 is suitable for adjusting the optical path of the signal beam 130r to realize detection of signal light. Specifically, the reflecting unit 140 includes a reflecting mirror.

As shown in FIG. 3, in this embodiment, the entire optical path of the lidar is a common path. Therefore, the reflecting unit 140 is located on the optical path between the laser emitting unit 110 and the galvanometer 120; therefore With reference to FIG. 4, FIG. 4 shows a schematic top view of a part of the reflection unit 140 in FIG. 3.

The reflective unit 140 has a through-hole region 141, and the position of the through-hole region 141 corresponds to the position of the laser emitting unit 110. The through-hole region 141 has a plurality of through-holes penetrating the reflective unit 140 in the optical path direction The position of the through hole 142 corresponds to the position of the light exit of the emitting device.

The arrangement of the reflecting unit 140 can make the outgoing light beam and the signal light beam 130r realize the common path, thereby realizing the common path of receiving and sending, which is beneficial to the improvement of integration and the realization of miniaturization.

With continued reference to FIG. 3, the lidar further includes: a beam splitting unit 150 that receives the signal beam 130r formed by the collecting unit 130, and the beam splitting unit 150 further divides the signal beam 130r into multiple signals Light, the multi-channel signal light and the multi-channel detection light are in one-to-one correspondence. In this embodiment, the spectroscopic unit 150 includes: a grating. In other embodiments of the present invention, the beam splitting unit may also include other beam splitting elements such as prisms.

The spectroscopic unit 150 is suitable for spatially separating the laser beams of different frequencies in the signal beam. In this embodiment, the spectroscopic unit 150 includes: a grating. According to the grating equation: d · [sin (β) -sin (α)] = n · λ, where d is the grating period, α is the incident angle, β is the exit angle, ie the diffraction angle, n is the diffraction order, λ It is the laser wavelength. Lasers of different wavelengths have different diffraction angles after the transmission grating. Therefore, after the transmission grating, the light of different wavelengths in the signal beam 130r will be spatially separated to form multiple signal lights with different propagation directions; Since the signal beam 130r is formed by the multi-path detection light through reflection or transmission, etc., the multi-path signal light corresponds to the multi-path detection light one-to-one.

In addition, the lidar further includes a detection unit 160 that receives and detects the multi-channel signal light. The detection unit 160 includes a plurality of detection devices 161, and the plurality of detection devices 161 correspond one-to-one to the multiple signal lights.

In this embodiment, the detection device 161 in the detection unit 160 may adopt a time-of-flight detection method or a coherent detection method to detect the multi-channel signal light. The detection device 161 may be an avalanche photodiode (Avalanche Photo Diode, APD) or other photodetectors such as a photomultiplier tube.

The lidar further includes a filtering unit (not shown in the figure), and the filtering unit is located on the optical path in front of the detecting unit 160. Specifically, the filtering unit includes: a plurality of narrow-band filters, the number of the plurality of narrow-band filters corresponds to the amount of the multi-channel signal light, and the transmission wavelength of each narrow-band filter is multi-channel Corresponding to the wavelength of the signal light, the multiple narrow-band filters are located between the spectroscopic unit 150 and the detection unit 160. The setting of the plurality of narrow-band filters can filter out ambient light, thereby suppressing interference signals to improve the signal-to-noise ratio, help to improve the color reproduction degree, and help to improve the detection accuracy.

Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

A laser radar, characterized by comprising: at least one laser emitting unit;

The laser emitting unit includes: a plurality of emitting devices, each emitting device generates a path of detection light, and the multiple paths of detecting light generated by the multiple emitting devices are emitted in parallel to form an exit beam;

The plurality of emission devices include: a distance emission device that is suitable for generating distance detection light; and a color emission device that is suitable for generating color detection light.
The lidar according to claim 1, wherein the detection light is emitted from the light outlet of the emitting device, and the light outlets of multiple emitting devices in the same laser emitting unit are closely arranged;

In the laser emitting unit, the plurality of light exits are symmetrically distributed in the center.
The laser radar according to claim 1 or 2, wherein the laser emitting unit comprises: four emitting devices; and the light exits of the four emitting devices are arranged in a 2 × 2 array.
The lidar according to claim 1, wherein the distance emitting device includes: an infrared laser; and the color emitting device includes: a visible light laser.
The laser radar according to claim 1, wherein the laser emitting unit comprises: a plurality of color emitting devices, and the frequencies of the color detection light generated by the plurality of color emitting devices are all different.
The lidar according to claim 1 or 5, wherein the laser emitting unit includes: a first color emitting device, the first color emitting device includes: a red laser; a second color emitting device, the The second color emitting device includes: a green laser; the third color emitting device, the third color emitting device includes: a blue laser.
The laser radar according to claim 1, wherein the laser radar further comprises: at least one galvanometer, the galvanometer includes a reflecting surface, and the reflecting surface is adapted to reflect the outgoing light beam.
The laser radar according to claim 7, wherein the galvanometer includes at least one of a one-dimensional galvanometer and a two-dimensional galvanometer.
The laser radar according to claim 7 or 8, wherein the multi-path detection light generated by the plurality of emitting devices in the same laser emitting unit is reflected by the reflecting surface of the same galvanometer.
The lidar according to claim 1, wherein the outgoing beam is reflected by the target to be detected to form an echo beam;

The lidar also includes:

A collecting unit, the collecting unit collects the echo beam to form a signal beam;

A detection unit, the detection unit detects the signal beam;

A reflection unit, which reflects the signal beam to the detection unit.
The lidar of claim 10, wherein the reflecting unit is located on the optical path between the laser emitting unit and the galvanometer;

The reflecting unit has a through hole area, and the position of the through hole area corresponds to the position of the laser emitting unit, and the through hole area has a plurality of through holes penetrating the reflecting unit in the optical path direction, the through holes The position of corresponds to the position of the light exit of the emitting device.
The lidar of claim 10, further comprising:

A beam splitting unit, the beam splitting device receives the signal beam formed by the collecting unit, and the beam splitting device further divides the signal beam into multiple signal lights, and the multiple signal lights correspond to the multiple detection lights in one-to-one correspondence.
The laser radar according to claim 12, wherein the detection unit includes a plurality of detection devices, and the plurality of detection devices correspond to the multi-channel signal lights in a one-to-one correspondence.
The lidar according to claim 12, wherein the spectroscopic unit comprises:

At least one of grating and prism.
The lidar according to claim 12, further comprising: a filtering unit, the filtering unit being located on the optical path in front of the detecting unit.