WO2020098771A1 - 一种激光雷达系统 - Google Patents

一种激光雷达系统 Download PDF

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Publication number
WO2020098771A1
WO2020098771A1 PCT/CN2019/118700 CN2019118700W WO2020098771A1 WO 2020098771 A1 WO2020098771 A1 WO 2020098771A1 CN 2019118700 W CN2019118700 W CN 2019118700W WO 2020098771 A1 WO2020098771 A1 WO 2020098771A1
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WIPO (PCT)
Prior art keywords
module
scanning
lidar system
optical
unit
Prior art date
Application number
PCT/CN2019/118700
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English (en)
French (fr)
Inventor
申士林
向少卿
Original Assignee
上海禾赛光电科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201811366243.1A external-priority patent/CN109613515B/zh
Priority claimed from CN201811372172.6A external-priority patent/CN109597050B/zh
Application filed by 上海禾赛光电科技有限公司 filed Critical 上海禾赛光电科技有限公司
Publication of WO2020098771A1 publication Critical patent/WO2020098771A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the invention relates to the technical field of environmental perception, and in particular to a laser radar system.
  • the environment awareness system is the basic and crucial part, which is the guarantee of the safety and intelligence of the self-driving car.
  • the lidar in the environment awareness sensor has the aspects of reliability, detection range, ranging accuracy, etc. Incomparable advantages.
  • Vehicle-mounted lidar is an important sensor for sensing surrounding information, and its field of view and scanning accuracy are its important parameters.
  • the greater the density of the scanning trajectory in the vertical direction the higher the scanning resolution, the richer the information, and the more favorable it is for autonomous driving decisions.
  • the density of the scanning trajectory in the vertical direction is limited by the vibration frequency of the scanning device.
  • the scanning resolution can be improved by reducing the vibration frequency of the slow axis
  • the vibration frequency of the slow axis is related to the frame frequency. There is a minimum requirement for the frame frequency of the lidar system, so there is also a lower limit for the vibration frequency of the slow axis.
  • the prior art usually enlarges the angle of view by setting an optical lens in front of the scanning device, or sets up multiple lidar systems to stitch the collected fields of view.
  • the method of expanding the field of view of the front lens group requires a more complicated lens group, and when the field of view angle is enlarged, the effective aperture will be reduced in proportion, thereby reducing the distance measurement capability of the lidar system.
  • the multi-lidar stitching scheme will significantly increase the total cost.
  • lidar needs to meet the performance of small size, high reliability, high imaging frame rate, high resolution, and long range.
  • Many components included in the lidar such as light sources, detectors, integrated circuit boards, leads, etc., need to be rationally designed to meet the need to reduce the volume without affecting other indicators.
  • the existing lidar system is difficult to achieve a balance between small size and multiple performance parameters. How to rationally arrange the internal space of the lidar system to improve space utilization and make its structure under the premise of meeting the specific optical path design More compact and improved heat dissipation performance is still an area in need of improvement.
  • a lidar system including:
  • transceiver modules used to emit pulsed laser beams and receive echo signals after the pulsed laser beams are reflected by the target to be measured;
  • At least one scanning module for reflecting the pulsed laser beams emitted by a plurality of the transceiver modules into a three-dimensional space, and for reflecting the echo signal to the corresponding transceiver module;
  • a plurality of the transceiving modules are arranged side by side, adjacent to the transceiving modules are spaced apart by a first preset distance, the scanning module is located on a side of the plurality of transceiving modules, and the pulse lasers of the plurality of transceiving modules are all directed toward the at least A scanning module, each of the transceiving modules has at least one first light source for emitting a pulsed laser beam, each of the transceiving modules correspondingly detects a sub-scanning field of view, and a plurality of the sub-scanning fields of view are spliced by the field of view Constitute the total field of view of the lidar system.
  • the transceiver module includes a transmitting module, an optical transmission module and a detection module,
  • the transmitting module and the optical transmission module are sequentially arranged along the first optical path, and the optical transmission module and the detection module are sequentially disposed along the second optical path.
  • one of the scanning modules corresponds to at least one of the transceiver modules, and a plurality of the first optical paths and a plurality of the second optical paths are correspondingly formed between the plurality of transceiver modules and the scanning modules.
  • the emitting module, the optical transmission module, and the scanning module are sequentially arranged along the first optical path, and the emitting module is used to emit the pulsed laser beam.
  • the optical transmission module is used to transmit the pulsed laser beam emitted by the transmitting module to the scanning module, and the scanning module is used to reflect the pulsed laser beam transmitted by the optical transmission module to a three-dimensional space;
  • the scanning module, the optical transmission module, and the detection module are sequentially arranged along the second optical path, and the scanning module is used to reflect the echo signal to the light A transmission module, the optical transmission module is used to transmit the echo signal to the detection module, and the detection module is used to receive and process the echo signal transmitted by the optical transmission module.
  • a part of the first optical path is parallel or coaxial with a part of the second optical path.
  • each of the emitting modules has a plurality of the first light sources for emitting pulsed laser beams, and the plurality of first light sources emit the pulsed laser beams in sequence according to a time sequence.
  • optical transmission module includes a supporting unit and a plurality of transmission sub-modules
  • the support unit is used to support the transmission sub-module, and the support unit is provided with a plurality of light channels suitable for the passage of light;
  • a plurality of the transmission sub-modules are sequentially arranged along the optical channel, and are used to transmit the light beam according to a preset optical path.
  • the multiple optical channels include a first optical channel, a second optical channel, and a third optical channel
  • the first optical channel and the second optical channel are spaced apart and arranged in parallel, the first optical channel and the second optical channel communicate with the third optical channel respectively, the first optical channel and the The second light channel and the third light channel respectively form a first preset angle.
  • the support monomer has a first surface and a second surface, and the first light channel and the second light channel respectively penetrate the first surface and the second surface of the support monomer , A groove is formed on the second surface to form the third light channel, and one end of the third light channel penetrates to the first surface.
  • the supporting monomer has a first surface, and the first optical channel, the second optical channel, and the third optical channel are all open-end structures, and the first optical channel, The opening ends of the second light channel and the third light channel are both located on the first surface.
  • the transmission sub-module includes a collimating unit, a reflecting unit and a beam splitting unit;
  • the collimating unit is disposed in the first optical channel, and is used to adjust the pulsed laser beam to a parallel beam;
  • the reflecting unit is disposed at the connection between the first optical channel and the third optical channel, and is used to reflect the parallel light beam adjusted by the collimating unit;
  • the light splitting unit is disposed at the connection between the second light channel and the third light channel, and is used to transmit the parallel light beam reflected by the reflecting unit and reflect the echo signal.
  • the transmission sub-module further includes a deflection unit and a convergence unit, and the reflection unit, the beam splitting unit, and the deflection unit are located on the same axis;
  • the deflection unit is disposed at an end of the third light channel away from the reflection unit, for deflecting the parallel light beam transmitted through the splitting unit, and for receiving and deflecting the echo signal ;
  • the converging unit is disposed in the second optical channel, and is used to converge the echo signal reflected by the spectroscopic unit for the detection module to receive.
  • the collimating unit, the reflecting unit, the beam splitting unit, the converging unit and the deflecting unit are respectively disposed at a predetermined angle with respect to their corresponding optical channels.
  • the lidar system further includes an optical cover plate, the optical cover plate is mounted on the second surfaces of the plurality of supporting monomers, and the optical cover plate partially or completely covers the third optical channel.
  • the converging unit includes a filtering subunit and a converging subunit, and the filtering subunit is disposed in front of the converging subunit along the second optical path;
  • the filtering subunit is used to transmit the echo signal reflected by the spectroscopic unit and filter out the optical signal outside the preset wavelength range;
  • the converging subunit is used to converge the echo signal transmitted by the filtering submodule.
  • the condensing unit further includes a first extinction component, and the first extinction component is disposed between the condensing subunit and the detection module.
  • the supporting monomers of the plurality of transceiver modules are connected to each other to form a supporting body.
  • the emitting module includes a laser emitting board and a fixing member, the laser emitting board is connected to the fixing member through a connecting member, the first light source is disposed on the laser emitting board, and the fixing member and the fixing member The support is connected.
  • the detection module includes a receiving and mounting bracket and a receiving circuit board, the receiving and mounting bracket is disposed on the fixing member, and the receiving and mounting bracket is provided with a A mounting part, the receiving circuit board is connected to the first mounting part;
  • At least one detector is provided on the receiving circuit board, and the detector is provided on a side of the receiving circuit board facing the convergence unit of the laser radar system.
  • the lidar system further includes a control module, the control module is respectively connected to the transmitting module, the scanning module and the detecting module, and is configured to respectively control the transmitting module to emit the pulsed laser beam, Control the scanning module to rotate or swing, and control the detection module to receive and process the echo signal of the laser beam.
  • the lidar system further includes a housing for accommodating the scanning module, the transceiver module, and the control module.
  • the housing includes a first housing and a second housing, the first housing and the second housing are hermetically connected to form a first accommodating cavity, and the scanning module is located at the first The upper part of the accommodating cavity, the transceiver module is located at the lower part of the first accommodating cavity.
  • the lidar system further includes an encapsulation bracket, the encapsulation bracket is installed on the upper portion of the first housing, the encapsulation bracket is located in the first accommodating cavity, and the scanning module is installed on the Encapsulate the bracket.
  • the scanning module includes a scanning unit and an angle measuring unit, and the scanning unit and the angle measuring unit are separated by a second preset distance;
  • the scanning unit includes a scanning substrate, the angle measuring unit is located on one side of the scanning substrate, the scanning substrate includes a movable portion, and the movable portion has a third surface for reflecting the angle measuring beam ,
  • the angle measuring unit includes a second light source and a receiving component, the second light source and the receiving component are separated by a third preset distance, the light exit direction of the second light source faces the third surface, and the receiving component The receiving side of is facing the third surface, and the third surface is used to reflect the light beam emitted by the second light source to the receiving component.
  • the lidar system further includes a front window for transmitting the pulsed laser beam reflected by the scanning module and transmitting the echo signal;
  • the first housing includes a first side plate and a first bottom plate, the first side plate and the first bottom plate form a fourth preset angle, and the front window is installed on the first side plate,
  • the first side panel is provided with a hollow area, and the front window covers the hollow area.
  • control module includes a control circuit board, and the control circuit board is connected to the support body through a connector;
  • the lidar system further includes a heat dissipating member, the heat dissipating member is located between the second housing and the control circuit board, the heat dissipating member is respectively connected to the inner surface of the second housing and the control circuit Board contact.
  • the present invention also discloses a lidar system, including:
  • At least one transceiver module configured to transmit a pulsed laser beam and receive an echo signal after the pulsed laser beam is reflected by the target to be measured;
  • At least one scanning module for reflecting the pulsed laser beam emitted by the at least one transceiver module into a three-dimensional space, and for reflecting the echo signal to the corresponding transceiver module;
  • Each of the transceiving modules includes a transmitting module, and the transmitting module has a plurality of first light sources arranged at intervals.
  • the lidar system has m of the transceiver modules, where m ⁇ 2 and m is a positive integer, m of the transceiver modules have m corresponding transmission modules, and each of the transmission modules has n Of the first light sources, where n ⁇ 2 and n is a positive integer, and the n first light sources of each of the transmitting modules sequentially emit pulsed laser beams according to a preset timing.
  • the m light sources corresponding to each other of the first light sources form n light source emission groups
  • each of the light source emission groups contains m of the first light sources
  • the n light source emission groups also follow the The pulse laser beam is emitted at the preset timing.
  • the scanning module reflects the pulsed laser beam emitted by the first light source into a three-dimensional space by swinging, so as to realize raster scanning, and obtain a two-dimensional scanning trajectory line of each first light source. Further, the two-dimensional scanning trajectory is a periodic curve.
  • any one of the two-dimensional scanning trajectory lines there is a first offset between the starting points of the two-dimensional trajectory lines corresponding to adjacent periods.
  • a plurality of the first light sources are distributed at equal intervals in the first direction,
  • a second offset is spaced between the starting positions of the two-dimensional scanning trajectory lines adjacent to the first light source.
  • the second offset is greater than zero, and the second offset is not equal to the first offset.
  • one scanning module corresponds to at least one transceiver module, and a plurality of first optical paths and a plurality of second optical paths are correspondingly formed between the plurality of transceiver modules and the scanning module.
  • the transceiver module further includes an optical transmission module and a detection module.
  • the transmission module and the optical transmission module are sequentially arranged along the first optical path
  • the optical transmission module and the The detection modules are sequentially arranged along the second optical path;
  • the transmitting module, the optical transmission module, and the scanning module are sequentially arranged along the first optical path, the transmitting module is used to emit a pulsed laser beam, and the optical transmission module is used Transmitting the pulsed laser beam emitted by the transmitting module to the scanning module, the scanning module is configured to reflect the pulsed laser beam transmitted by the optical transmission module to a three-dimensional space;
  • the scanning module, the optical transmission module, and the detection module are sequentially arranged along the second optical path, and the scanning module is used to reflect the echo signal to the light A transmission module, the optical transmission module is used to transmit the echo signal to the detection module, and the detection module is used to receive and process the echo signal transmitted by the optical transmission module.
  • optical transmission module includes a supporting unit and a plurality of transmission sub-modules
  • the support unit is used to support the transmission submodule, and the support unit is provided with multiple light channels;
  • a plurality of the transmission sub-modules are sequentially arranged along the optical channel, and are used to transmit the light beam according to a preset optical path.
  • the supporting monomers of the plurality of transceiver modules are connected to each other to form a supporting body.
  • the emitting module includes a laser emitting board and a fixing member, the laser emitting board is connected to the fixing member through a connecting member, the plurality of first light sources are provided on the laser emitting board, and the fixing The piece is connected to the support body.
  • the detection module includes a receiving and adjusting bracket and a receiving circuit board, the receiving and adjusting bracket is disposed on the fixing member, and the receiving and adjusting bracket is provided with an installation for adjusting and fixing the receiving circuit board Part, the receiving circuit board is connected to the mounting part;
  • the receiving circuit board is provided with a plurality of detectors equal in number to the plurality of first light sources provided on the laser emitting board, and the plurality of detectors are distributed at equal intervals in the first direction.
  • the lidar system of the present invention has the following beneficial effects:
  • a plurality of the transceiver modules of the present invention are arranged side by side horizontally, adjacent to the transceiver modules are separated by a first preset distance, each transceiver module has at least one first light source for emitting a pulsed laser beam, and each transceiver The module correspondingly detects one sub-scanning field of view. Multiple of the sub-scanning fields of view form the total field of view of the lidar system through the field of view stitching.
  • the horizontal arrangement of multiple sub-scanning fields of view is used to achieve large field of view stitching, which increases the entire laser
  • the scanning field of view of the radar system, and the method of expanding the field of view of the present invention can maximize the effective use of the receiving aperture of the scanning module to ensure the distance measurement capability of the lidar system;
  • Each of the transmitting modules includes a plurality of light sources arranged at intervals in the vertical direction, which effectively improves the line density of the scanning trajectory of the vertical field of view, and the multiple light sources of the present invention adopt time-division interval transmission, which effectively reduces the receiving optical path Interference
  • the optical transmission module of the present invention is conducive to the integration of the lidar system.
  • Reasonably setting a plurality of optical channels in one supporting unit is beneficial to improving the internal space utilization of the supporting unit and reducing the volume of the lidar system;
  • Part of the optical path of the lidar system is coaxial, which can effectively reduce the volume of the supporting unit, which is convenient for the miniaturization and integration of the lidar system;
  • the present invention measures the rotation angle of the movable part of the scanning unit through the angle measuring unit.
  • the psd position sensor can be used to obtain the spatial coordinates of the movable part by measuring the displacement, thereby reducing the amount of calculation of the chip;
  • the lidar system of the present invention encapsulates the angle measuring unit and the scanning unit into an independently integrated scanning module, and can be pre-installed and adjusted to facilitate installation and use in the lidar system.
  • FIG. 1 is a structural block diagram of a laser radar system according to an embodiment of the present invention.
  • FIG. 2 is a structural block diagram of a laser radar system according to an embodiment of the present invention.
  • FIG. 3 is a system schematic diagram of an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a transmitting module of a laser radar system according to an embodiment of the present invention (the number of transmitting modules m is 4, and the number of first light sources on the transmitting module n is 3);
  • FIG. 5 is a schematic diagram of the optical path layout of a single transceiver module and a scanning module according to an embodiment of the invention
  • FIG. 6 is a schematic diagram of scanning trajectories of a single light source and multiple light sources according to an embodiment of the present invention
  • FIG. 7 is a cross-sectional view of an optical transmission module according to an embodiment of the present invention.
  • FIG. 8 is a cross-sectional view of an optical transmission module according to another embodiment of the invention.
  • FIG. 9 is a schematic diagram of a supporting monomer according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a supporting monomer according to another embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a support body according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a support body according to another embodiment of the invention.
  • FIG. 13 is an overall schematic diagram of a lidar system according to an embodiment of the present invention.
  • FIG. 14 is a perspective schematic view of a laser radar system (without housing) according to an embodiment of the present invention.
  • FIG. 15 is a schematic perspective view of a transceiver module according to an embodiment of the present invention.
  • 16 is a cross-sectional view of a transceiver module according to an embodiment of the present invention.
  • FIG. 17 is a schematic diagram of a receiving and mounting tone bracket according to an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of a detection module according to an embodiment of the present invention.
  • FIG. 19 is a schematic diagram of a receiving and adjusting bracket according to an embodiment of the present invention.
  • FIG. 20 is a perspective view of a scanning module according to an embodiment of the invention.
  • FIG. 21 is a front view of FIG. 20;
  • FIG. 22 is a cross-sectional view in the direction A-A in FIG. 21;
  • FIG. 23 is a schematic diagram of a scanning substrate according to an embodiment of the present invention.
  • 24 is a schematic diagram of an angle measuring unit according to an embodiment of the invention.
  • 25 is a schematic diagram of an angle measuring unit according to another embodiment of the present invention.
  • 26 is a schematic diagram of the assembly relationship of a heat sink, a control circuit board, and a transceiver module according to an embodiment of the present invention
  • 1-transceiver module 11-transmission module; 111-first light source; 112-light source emission group; 113-laser emission board, 114-fixture;
  • 12-optical transmission module 120-supporting monomer; 1201-first surface; 1202-second surface; 120a-first sub-monomer; 120b-second sub-monomer; 121-first optical channel; 122-th Two optical channels; 123-third optical channel; 124-collimating unit; 125-reflecting unit; 126-splitting unit; 127-deflection unit; 128-converging unit; 1281-filtering subunit; 1282-converging subunit; 1283-first extinction component; 129-support body; 129a-first optical support; 129b-second optical support;
  • 13-detection module 131-receiving adjustment bracket; 1311-first mounting part; 132-receiving circuit board; 133-detector; 134-receiving adjustment bracket; 1341-support arm; 135-shading plate;
  • 2-scanning module 21-scanning unit; 210-scanning substrate; 211-movable part; 211a-third surface; 211b-fourth surface; 212-drive module; 22-angle measuring unit; 220-second light source 221-receiving assembly; 2211-filter; 2212-adapter; 2213-position sensor; 222-light source fixture; 223-receiving fixture; 224-angle measuring bracket; 2241-second mounting part; 225- The second matting component; 23-encapsulation shell; 24-sealing plate;
  • 6-encapsulation bracket 7-front window; 8-heat dissipation part; 9-adapter; 10-waterproof bottom plate.
  • the "one embodiment” or “embodiments” referred to herein refer to specific features, structures, or characteristics that can be included in at least one implementation of the present invention.
  • the terms “upper”, “lower”, “top”, “bottom”, etc. indicate the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, just for It is convenient to describe the present invention and simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be construed as limiting the present invention.
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may include one or more of the features explicitly or implicitly. Moreover, the terms “first”, “second”, etc. are used to distinguish similar objects, and need not be used to describe a particular order or sequence. It should be understood that the data used in this way are interchangeable under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.
  • An embodiment of the present invention provides a lidar system including a plurality of transceiver modules 1 for emitting a pulsed laser beam and receiving an echo signal after the pulsed laser beam is reflected by a target to be measured;
  • a plurality of the transceiver modules 1 are arranged side by side horizontally, and adjacent transceiver modules 1 are spaced apart by a first preset distance, and each transceiver module 1 has at least one first light source 111 for emitting a pulsed laser beam.
  • the transceiver module 1 correspondingly detects a sub-scanning field of view, and a plurality of the sub-scanning fields of view are stitched together to form a total field of view of the lidar system.
  • the transceiver module 1 includes a transmitting module 11, an optical transmission module 12, and a detection module 13.
  • the transmitting module 11 and the optical transmission are sequentially arranged along the first optical path
  • the optical transmission module 12 and the detection module 13 are sequentially arranged along the second optical path.
  • each of the emitting modules 11 has at least one first light source 111 for emitting a pulsed laser beam.
  • the first light source 111 may be a laser, and different types of lasers are suitable for generating laser beams of different wavelengths.
  • the lidar system has m transceiving modules 1 arranged side by side, where m ⁇ 2 and m is a positive integer, and m transceiving modules 1 have m corresponding transmitting modules 11.
  • Each of the emitting modules 11 has n first light sources 111 arranged longitudinally, where n ⁇ 2 and n is a positive integer, and the n first light sources 111 of each emitting module 11 follow a predetermined Set the timing to emit pulsed laser beams in sequence;
  • the first light source 111 sequentially emits pulsed laser beams at intervals according to a preset timing.
  • m of the first light sources 111 in the same horizontal position corresponding to each other of the emission modules 11 form a light source emission group 112, because each emission module 11 has n longitudinally arranged first light sources 111, therefore, the m first light sources 111 corresponding to each other of the emitting modules 11 may form n longitudinal light source emitting groups 112 arranged side by side, and the n light source emitting groups 112 sequentially emit pulsed laser beams according to the preset timing It can be understood that, since the lidar system includes a total of m transmitting modules arranged side by side, each of the light source transmitting groups 112 includes m of the first light sources 111;
  • n first light sources 111 of each emitting module 11 sequentially emit pulsed laser beams according to a preset timing, which may refer to each first light source 111 (1,2, ..., n) sequentially emits pulsed laser beams That is, only one first light source 111 emits light at a time. It can also mean that n first light sources 111 are divided into two groups at intervals, such as the first, third, fifth, ... first light sources 111 are the first group, and the second, fourth, sixth, ... first light sources 111 is a second group, and each group of first light sources 111 sequentially emits pulsed laser beams according to a preset timing. By analogy, n first light sources 111 may also be divided into more groups at intervals.
  • the n first light sources 111 of each transmitting module 11 sequentially emit pulsed laser beams according to a preset timing to prevent mutual interference between echo signals of different first light sources 111.
  • the present invention is not limited to the above emission forms, and the n first light sources 111 of each emission module 11 may also emit pulsed laser beams at the same time.
  • the lidar system further includes at least one scanning module 2 for reflecting the pulsed laser beams emitted by the plurality of transceiver modules 1 into three-dimensional space , And for reflecting the echo signal to the corresponding transceiver module 1;
  • the scanning module 2 is located on the side of the plurality of transceiver modules 1, the exit surfaces of the plurality of transceiver modules 1 are all facing the at least one scanning module 2, and one scanning module 2 corresponds to at least one transceiver module 1 , A plurality of the first optical paths and a plurality of the second optical paths are correspondingly formed between the plurality of transceiver modules 1 and the scanning module 2.
  • the lidar system may include four transceiver modules 1 and one scanning module 2, and the scanning module 2 is located in four transceiver modules In the upper space of 1, the outgoing surfaces of the four transceiver modules 1 all face the same scanning module 2, and each transceiver module 1 detects a sub-scanning field of view correspondingly, and the four sub-scanning fields of view are arranged in parallel horizontally. Field stitching expands the horizontal field of view while achieving a more compact optical structure.
  • each transceiver module 1 guarantees a horizontal scanning angle of 30 degrees, and the horizontal total field of view of the lidar system after splicing can reach 120 degrees.
  • each transceiver module 1 guarantees a horizontal scan angle of 15 degrees, the total horizontal field of view of the lidar system after splicing can reach 60 degrees.
  • the lidar system may also include eight of the transceiver modules 1 and two of the scanning modules 2, and the scanning module 2 is located above the transceiver module 1 Space, where the exit surfaces of four adjacent transceiver modules 1 all face the same scanning module 2, and the exit surfaces of four adjacent transceiver modules 1 all face the other scanning module 2,
  • Each transceiver module 1 corresponds to detecting one sub-scanning field of view, and the eight sub-scanning fields of view are arranged in parallel to achieve a larger total field of view of the lidar system.
  • the number of the transceiver modules 1 is not limited to four or eight, but may also be two, three, five, or six.
  • the number of the scanning modules 2 is not Limited to one or two, it can be more.
  • the first optical path may be an emitting optical path
  • the second optical path may be a receiving optical path.
  • the transmitting module 11, the optical transmission module 12 and the scanning module 2 are arranged in sequence along the first optical path.
  • the transmitting module 11 is used to emit a pulsed laser beam
  • the optical transmission module 12 is used to The pulsed laser beam emitted by the transmitting module 11 is transmitted to the scanning module 2, and the scanning module 2 is used to reflect the pulsed laser beam transmitted by the optical transmission module 12 to a three-dimensional space;
  • the scanning module 2, the optical transmission module 12, and the detection module 13 are sequentially arranged along the second optical path, and the scanning module 2 is used to reflect the echo signal To the optical transmission module 12, the optical transmission module 12 is used to transmit the echo signal to the detection module 13, and the detection module 13 is used to receive and process the echo transmitted by the optical transmission module 12 signal.
  • the scanning module 2 may be an electrostatic galvanometer, an electromagnetic galvanometer, a piezoelectric galvanometer, or an electrothermal galvanometer.
  • the scanning module 2 can also change the direction of the pulsed laser beam reflected in the three-dimensional space by rotating or swinging, so as to scan the target in the three-dimensional space.
  • the scanning module 2 may include a movable portion 211 and a driving module 212, and the driving module 212 is used to drive the movable portion 211 to periodically rotate or swing.
  • the movable part 211 realizes raster scanning by superimposing fast axis and slow axis vibrations.
  • the two-dimensional scanning trajectory is a periodic curve.
  • a plurality of the first light sources 111 are distributed at intervals in the direction of the vertical field of view of the lidar system.
  • the two adjacent light sources 111 There is a second offset between the starting position of the dimensional scanning trajectory.
  • the second offset is greater than zero, and the second offset is not equal to the first offset. It should be noted that, when the number of the first light sources 111 of the transmitting module 11 is ⁇ 3, the multiple second offsets formed by the adjacent first light sources may be equal or different.
  • each of the emitting modules 11 includes two first light sources 111 that are spaced apart in the vertical direction, that is, a first light source A and a first light source B.
  • the scanning start position in the y direction also corresponds to the second offset amount, which is recorded as h
  • the scanning trajectory lines of the first light source A and the first light source B are respectively denoted as T A and T B
  • the first offsets of the first light source A and the first light source B are respectively y A and y B.
  • the number of the first light sources 111 of the transmitting module 11 is not limited to one or two, and the number of the first light sources 111 of the transmitting module 11 may be more.
  • the spacing between the first light sources 111 By properly setting the spacing between the first light sources 111, the number of scanning lines in the y direction can be encrypted, the scanning angle interval can be reduced, and the scanning resolution can be improved.
  • the lidar system has multiple transmitting modules 11 (1, 2, 3 ... N), and the multiple transmitting modules 11 have two corresponding sets of light source transmitting groups 112, which are referred to as light source transmitting groups A (A 1 , A 2 , A 3 ... A N ) and light source emission group B (B 1 , B 2 , B 3 ... B N ), after the first light source 111 of the light source emission group A emits laser light at the same time At a preset interval, the first light sources 111 of the light source emission group B simultaneously emit laser light.
  • light source transmitting groups A A 1 , A 2 , A 3 ... A N
  • light source emission group B B 1 , B 2 , B 3 ... B N
  • the light source emission group A simultaneously emits laser pulses, and the laser beam is transmitted to the scanning module 2 through the light transmission module 12 and reflected by the movable portion 211 to a target object (or obstacle).
  • the echo signal after the pulsed laser beam is reflected by the target object (or obstacle) is incident by the movable portion 211 and enters the corresponding detection module 13 through the optical transmission module 12;
  • the light source emission group B emits laser pulses at the same time, and the beam emission and reception paths are the same as the light source emission group A.
  • the light source emission group B and the light emission group A emit at a preset time interval to avoid multiple first light sources The emitted light interferes with each other when reflected and received.
  • the detection module 13 calculates the flight time of the laser by recording the time difference between the laser emission and the received echo signal, thereby obtaining the distance information of the object to be measured at this point;
  • the movable part 211 reflects the laser light to the next point in space, and the detection module 13 will obtain the distance information at this point.
  • the measurement process is repeated, thereby completing the scanning of the space and obtaining point cloud information in the entire detection range.
  • the directions of the first optical path and the second optical path in FIG. 3 and FIG. 5 are only to schematically illustrate the relative positions of the modules in the optical path and the functions implemented by the modules, and cannot be used to limit In the actual implementation process, the actual positions of the modules, the directions of the first optical path and the second optical path may be appropriately changed according to specific embodiments.
  • the optical transmission module 12 includes a support unit 120 and a plurality of transmission sub-modules.
  • the support unit 120 is used to support the transmission sub-module.
  • a plurality of light channels through which light passes; a plurality of the transmission sub-modules are sequentially arranged along the light channels, and are used to transmit light beams according to a preset light path.
  • the light channel includes a first light channel 121, a second light channel 122 and a third light channel 123, the first light channel 121 and the second
  • the optical channels 122 are spaced apart and arranged in parallel.
  • the first optical channel 121 and the second optical channel 122 communicate with the third optical channel 123 respectively.
  • the first optical channel 121 and the second optical channel 122 are respectively It forms a first predetermined angle with the third light channel 123.
  • An end of the first optical channel 121 and the third optical channel 123 communicating with each other corresponds to an end of the second optical channel 122 and the third optical channel 123 communicating.
  • the first light channel 121 and the second light channel 122 communicate with the third light channel 123 respectively, which is beneficial to improve the internal space utilization rate of the supporting unit 120.
  • the support cell 120 has a first surface 1201 and a second surface 1202, and the first light channel 121 and the second light channel 122 respectively penetrate the support cell 120 The first surface 1201 and the second surface 1202.
  • a groove is formed on the second surface 1202 to form the third light channel 123, and one end of the third light channel 123 passes through the first surface 1201.
  • the supporting unit 120 has a first surface 1201, and the first light channel 121, the second light channel 122 and the third light channel 123 are all With an open structure at one end, the open ends of the first light channel 121, the second light channel 122, and the third light channel 123 are all located on the first surface 1201.
  • the transmission sub-module includes a collimating unit 124, a reflecting unit 125 and a beam splitting unit 126;
  • the collimating unit 124 is disposed in the first optical channel 121 For adjusting the light beam to be a parallel light beam;
  • the reflecting unit 125 is disposed at the connection between the first light channel 121 and the third light channel 123, and is used to reflect the adjusted light of the collimating unit 124 Parallel beam;
  • the beam splitting unit 126 is disposed at the connection between the second optical channel 122 and the third optical channel 123, and is used to transmit the parallel beam reflected by the reflecting unit 125 and reflect the echo signal.
  • the transmission sub-module further includes a deflection unit 127 and a convergence unit 128, the reflection unit 125, the beam splitting unit 126, and the deflection unit 127 are located The same axis; the deflecting unit 127 is disposed at the end of the third light channel 123 away from the reflecting unit 125, for deflecting the parallel beam transmitted through the beam splitting unit 126, and for receiving and deflecting The echo signal of the parallel light beam; the converging unit 128 is disposed in the second optical channel 122 for condensing the echo signal reflected by the beam splitting unit 126 for the detection module 13 to receive.
  • the lidar system can generally be divided into a non-coaxial system and a coaxial system.
  • a part of the first optical path is parallel or coaxial with a part of the second optical path.
  • a portion of the first optical path between the collimating unit 124 and the reflecting unit 125 is parallel to a portion of the second optical path between the converging unit 128 and the beam splitting unit 126
  • the portion of the first optical path between the reflective unit 125 and the target to be measured is coaxial with the portion of the second optical path between the target to be measured and the spectroscopic unit 126.
  • the collimating unit 124, the reflecting unit 125, the beam splitting unit 126, the converging unit 128 and the deflecting unit 127 are respectively relative to The corresponding optical channels are set at a predetermined angle.
  • the collimating unit 124 is disposed perpendicular to the first optical channel 121, and the reflecting unit 125 and the first optical channel 121 are disposed at an angle of 60 degrees;
  • the second light channel 122 is arranged at an angle of 60 degrees, the converging unit 128 is arranged perpendicular to the second light channel 122;
  • the deflection unit 127 is arranged perpendicular to the third light channel 123.
  • the collimating unit 124 may be a collimating lens, and the collimating lens may be composed of one or a group (ie, multiple) lenses.
  • the reflecting unit 125 may be a reflecting mirror with a high reflectance. For example, the surface of the reflecting mirror is coated with a reflecting film to improve its reflectivity.
  • the beam splitting unit 126 may be an aperture mirror, a half mirror, a polarizing beam splitter, or a beam splitter using a coating method.
  • the beam splitting unit 126 is an aperture mirror.
  • the parallel light beam is transmitted to the deflection unit 127 through the aperture of the aperture mirror.
  • the The echo signal is transmitted to the mirror surface beside the aperture of the aperture mirror through the deflection unit 127, and then reflected by the mirror surface around the aperture to the detection module 13.
  • the deflection unit 127 may be a prism or a mirror with a high reflectance.
  • the deflection unit 127 is a wedge prism.
  • the wedge-shaped prism has an incident side surface, an exit side surface, and a bottom surface.
  • the angle between the incident side surface and the exit side surface is defined as a wedge angle, and the plane opposite to the wedge angle is the bottom surface.
  • the laser beam enters from the incident side of the wedge prism and exits from the exit side.
  • the exit beam will deflect toward the bottom surface.
  • the size of the deflection angle is related to the refractive index of the wedge prism and the vertex angle of the prism It depends on the angle of incidence.
  • the main cross-section of the wedge-shaped prism is a right-angled triangle or a right-angled trapezoid, and the incident side, the outgoing side, and the bottom are respectively perpendicular to the main cross-section of the wedge-shaped prism.
  • the wedge angle is related to the material of the wedge prism, and the angle corresponding to different materials will change.
  • the degree of the wedge angle is 20-60 degrees.
  • the supporting unit 120 may further include a plurality of mounting holes for fixing the multiple light transmission sub-modules on the supporting unit 120 by other means.
  • the support monomer 120 may be an integrally formed structure, as shown in FIG. 9, or, the support monomer 120 may further include a first sub-unit 120a and a second sub-unit 120b.
  • the first sub-cell 120a and the second sub-cell 120b are sequentially arranged along the first optical path, and the first sub-cell 120a and the second sub-cell 120b are connected, as shown in FIG. 10.
  • the support units 120 adjacent to the transceiver module 1 may be connected to each other to form a support body 129, as shown in FIG. In other embodiments, as shown in FIGS.
  • the supporting monomer 120 may further include a first sub-monomer 120a and a second sub-monomer 120b, the first sub-monomer 120a and the first
  • the two sub-units 120b are sequentially arranged along the first optical path, and the adjacent first sub-units 120a are connected to each other to form a first optical support 129a.
  • the adjacent second sub-units 120b are connected to each other A second optical support 129b is formed.
  • the first optical support 129a and the second optical support 129b are connected to each other to form a support 129.
  • the lidar system further includes an optical cover plate 4, the optical cover plate 4 is mounted on the second surfaces 1202 of the plurality of support cells 120, and the third
  • the side wall of the optical channel 123 has an open structure for mounting the optical transmission sub-module, and the optical cover 4 partially or completely covers the open structure of the third optical channel.
  • the optical cover 4 is an opaque material.
  • the opening structure of the side wall of the third optical channel 123 corresponds to the groove formed by the third optical channel.
  • the convergence unit 128 includes a filtering subunit 1281 and a convergence subunit 1282, and the filtering subunit 1281 is disposed on the convergence subunit 1282 along the second optical path Before; the filtering sub-unit 1281 is used to transmit the echo signal of the pulsed laser beam reflected by the beam splitting unit 126, and to filter out the optical signal outside the preset wavelength range; the converging sub-unit 1282 is used to converge the filtering sub-module The echo signal of the transmitted pulsed laser beam.
  • the condensing unit 128 further includes a first extinction component 1283, and the first extinction component 1283 is disposed between the condensing subunit 1282 and the detection module 13 .
  • the first extinction component 1283 may be a first extinction tube.
  • the first extinction tube has a tapered structure, that is, the cross-sectional area of the end of the first extinction tube near the converging subunit 1282 is greater than the cross-sectional area of the end of the first extinction tube away from the concentrating subunit 1282.
  • the tapered structure may be a square bucket structure, a cone structure or a funnel structure.
  • the condensing subunit 1282 may be a condensing lens, and the condensing lens may be composed of one or a group (ie, multiple) lenses. As shown in Fig. 16, the convergent lens is composed of two lenses.
  • the emitting module includes a laser emitting plate 113 and a fixing piece 114, the laser emitting plate 113 is connected to the fixing piece 114 through a connecting piece, and the plurality of first light sources 111 are in a first direction
  • the laser emitting plate 113 is arranged at equal intervals, and the fixing member 114 is connected to the supporting body 129.
  • the first direction may be the vertical direction of the lidar or the direction of the vertical field of view. More specifically, the equidistant arrangement in the first direction may refer to the equidistant arrangement in a straight line in the first direction.
  • the fixing member 114 may also be integrally formed with the support body 129, or the fixing member 114 may also be directly fixed on the inner bottom surface of the lidar system. Specifically, as shown in FIG. 15, the fixing member 114 has a rectangular parallelepiped structure.
  • the detection module 13 includes a receiving and adjusting bracket 131 and a receiving circuit board 132, the receiving and mounting bracket 131 is disposed on the fixing member 114
  • the receiving mounting bracket 131 is provided with a first mounting portion 1311 for mounting and fixing the receiving circuit board 132, and the receiving circuit board 132 is connected to the first mounting portion 1311.
  • At least one detector 133 is provided on the receiving circuit board 132.
  • the detector 133 is disposed on a side of the receiving circuit board 132 facing the converging unit 128 of the lidar system.
  • each receiving circuit board 132 is provided with a plurality of detectors 133 equal to the number of the plurality of first light sources arranged on the laser emitting board, and corresponding to the arrangement of the plurality of first light sources, the plurality of detectors They are distributed at equal intervals in the first direction.
  • the detector 133 may be a PIN photoelectric sensor, an avalanche photodiode, or a Geiger-mode avalanche photodiode.
  • the plurality of receiving adjustment brackets 131 of the plurality of detection modules 13 may also be connected to each other to form a receiving adjustment bracket 134.
  • the detection module 13 further includes a light shielding plate 135, which is installed on a side of the receiving and adjusting bracket 134 away from the support body 129 through a connecting member, for preventing stray light Interfering with the detector 133 receiving the echo signal of the pulsed laser beam.
  • the lidar system further includes a control module 3, as shown in FIG. 3, the control module 3 is respectively connected to the transmitting module 11, the scanning module 2 and the detecting module 13 to In order to control the transmitting module 11 to generate and emit a pulsed laser beam, control the scanning module 2 to rotate or swing, and control the detection module 13 to receive and process the echo signal of the pulsed laser beam.
  • the control module 3 is respectively connected to the transmitting module 11, the scanning module 2 and the detecting module 13 to In order to control the transmitting module 11 to generate and emit a pulsed laser beam, control the scanning module 2 to rotate or swing, and control the detection module 13 to receive and process the echo signal of the pulsed laser beam.
  • the lidar system further includes a housing 5 for accommodating the scanning module 2, the transceiver module 1 and the control module 3.
  • the housing 5 includes a first housing 51 and a second housing 52, and the first housing 51 and the second housing 52 are sealedly connected A first accommodating cavity 53 is formed, the scanning module 2 is located at the upper part of the first accommodating cavity 53, and the transceiver module 1 is located at the lower part of the first accommodating cavity 53.
  • the lidar system further includes an encapsulation bracket 6, the encapsulation bracket 6 is installed on the upper portion of the first housing 51, and the encapsulation bracket 6 is located in the first container In the cavity 53, the scanning module 2 is installed on the packaging bracket 6.
  • the scanning module 2 includes a scanning unit 21 and an angle measuring unit 22.
  • the scanning unit 21 and the angle measuring unit 22 are separated by a second preset distance.
  • the scanning unit 21 includes a scanning substrate 210, the angle measuring unit 22 is located on one side of the scanning substrate 210, the scanning substrate 210 includes a movable portion 211, and the movable portion 211 has The third surface 211a of the angular beam;
  • the angle measuring unit 22 includes a second light source 220 and a receiving component 221, the second light source 220 and the receiving component 221 are separated by a third preset distance, and the light exit direction of the second light source 220 faces the third In the surface 211a, the receiving side of the receiving component 221 faces the third surface 211a, and the third surface 211a is used to reflect the light beam emitted by the second light source 220 to the receiving component 221.
  • the movable portion 211 further has a fourth surface 211b for reflecting the scanning beam, and the fourth surface 211b is located on the movable portion 211 away from the One side of the angle measuring unit 22.
  • the angle measuring unit 22 further includes a light source fixture 222, the second light source 220 is a laser, the laser is fixed on the light source fixture 222, the laser The exit surface of the camera is at a second preset angle with the plane where the scanning substrate 210 is located; the angle measuring unit 22 further includes a receiving fixture 223, the receiving fixture 223 has a first mounting surface, and the receiving assembly 221 Installed on the first mounting surface, the first mounting surface and the plane where the scanning substrate 210 is located form a third preset angle.
  • the angle measuring unit 22 may not include the light source fixing member and the receiving fixing frame, and the angle measuring unit 22 only includes an angle measuring bracket 224, as shown in FIG.
  • the angle measuring The bracket 224 has a second mounting portion 2241 and a third mounting portion, the light source is a laser, the laser is fixed to the second mounting portion 2241, the exit surface of the laser and the plane where the scanning substrate 210 is located Two preset angles; the third mounting portion has a second mounting surface, the receiving component 221 is mounted on the second mounting surface, the second mounting surface and the scanning substrate 210 are located on the third plane Preset angle.
  • the receiving component 221 includes a filter 2211, an adapter plate 2212, and a position sensor 2213.
  • the adapter plate 2212, the position sensor 2213, and the filter 2211 are away from the first The direction of a mounting surface is sequentially set, and the adapter plate 2212 is connected to the first mounting surface.
  • the filter 2211 is used to filter out optical signals outside the preset wavelength range.
  • the position sensor 2213 is a psd position sensor 2213 and is used to measure the position coordinates of the movable part 211.
  • the adapter plate 2212, the position sensor 2213, and the filter 2211 are sequentially disposed in a direction away from the second mounting surface, and the adapter plate 2212 is connected to all The second mounting surface is connected.
  • the psd position sensor 2213 the spatial coordinates of the movable part 211 can be obtained by measuring the displacement, thereby reducing the calculation amount of the chip.
  • the receiving assembly 221 further includes a second extinction component 225, the second extinction component 225 is located at a position of the position sensor 2213 toward the scanning substrate 210 side.
  • the second extinction member 225 may be a second extinction tube.
  • the second extinction tube may be a straight tube with parallel walls.
  • the second extinction tube may also have a tapered structure. That is, the tube whose wall gradually gathers from the bottom to the top, that is, the cross-sectional area of the end of the second extinction tube near the scanning substrate 210 is smaller than the cross-sectional area of the end of the second extinction tube away from the scanning substrate 210 Cross-sectional area.
  • the tapered structure may be a square bucket structure, a cone structure or a funnel structure.
  • the scanning module 2 further includes an encapsulating shell 23, and the encapsulating shell 23 is a box-shaped structure with one end open.
  • the encapsulating shell 23 has a second accommodating cavity.
  • the scanning unit 21 is disposed in the second accommodating cavity, and the angle measuring unit 22 is partially located in the second accommodating cavity. In a possible embodiment, all the angle measuring units 22 are located in the second accommodating cavity.
  • the scanning module 2 further includes a sealing plate 24, the sealing plate 24 is installed at an open end of the packaging case 23, and the scanning unit 21 is installed on the The sealing plate 24 faces one side in the second accommodating cavity.
  • the angle measuring unit 22 and the scanning unit 21 can be packaged as a highly integrated scanning module 2 and can be pre-installed and adjusted for easy installation and use.
  • the lidar system further includes a front window 7 for transmitting the pulsed laser beam reflected by the scanning module 2 and transmitting the echo signal;
  • the first housing 51 includes a first side plate 511 and a first bottom plate 512, the first side plate 511 and the first bottom plate 512 form a fourth preset angle, and the front window 7 is installed on the On the first side plate 511, a hollow area is provided on the first side plate 511, and the front window 7 covers the hollow area.
  • the front window 7 and the first bottom plate 512 also form a fourth preset angle to prevent the stray light reflected by the front window 7 from returning to the interior of the housing 5 through the original path, thereby improving the The signal-to-noise ratio of the lidar system.
  • the front window 7 may be a laser window mirror. Setting the laser window mirror can protect the scanning module 2 from splashes and other hazards in the workplace.
  • the laser window mirror usually uses a laser with a specific wavelength. Transparent materials, and coated with anti-reflection coating to reduce the loss caused by reflection.
  • the control module 3 includes a control circuit board 3131, and the control circuit board 31 is connected to the support body 129 through a connecting member.
  • the control circuit board 31 is located on a side of the receiving and adjusting bracket 134 away from the supporting body 129, and the control circuit board 31 may also be connected to the receiving and adjusting bracket 134 through a connecting member.
  • the lidar system includes an adapter block 9, an upper portion of the control circuit board 31 is connected to the support body 129 through the adapter block 9 through a connecting member, and a bottom of the receiving and adjusting bracket 134
  • At least one support arm 1341 is provided.
  • the support arm 1341 extends away from a side of the support body.
  • the lower portion of the control circuit board 31 is connected to the support arm 1341 through a connecting member.
  • the lidar system further includes a heat dissipation member 8, the heat dissipation member 8 is located between the second housing 52 and the control circuit board 31, the heat dissipation member 8 is in contact with the inner surface of the second housing 52 and the control circuit board 31, respectively.
  • the heat dissipation member 8 is installed on the inner surface of the second housing 52 through a connecting member.
  • the heat dissipating member 8 may be any one or a combination of L-shaped, N-shaped, U-shaped, H-shaped, Z-shaped, zigzag, serpentine, or zigzag.
  • the lidar system may further include a waterproof bottom plate 10, which is disposed at the outer bottom of the housing 5 to prevent the lidar system from being used during Medium water vapor enters the lidar system from the bottom of the housing 5, which affects the operation of the lidar system and reduces the service life of the lidar system.
  • a waterproof bottom plate 10 which is disposed at the outer bottom of the housing 5 to prevent the lidar system from being used during Medium water vapor enters the lidar system from the bottom of the housing 5, which affects the operation of the lidar system and reduces the service life of the lidar system.
  • the lidar system has multiple transceiver modules and at least one scanning module.
  • the multiple transceiver modules are arranged side by side horizontally, and the adjacent transceiver modules are spaced apart by a preset distance.
  • the scanning modules Located on one side of the multiple transceiver modules, the exit surfaces of the multiple transceiver modules are all facing the scanning module, each transceiver module detects a sub-scanning field of view correspondingly, and the multiple sub-scanning fields of view are spliced by the field
  • the total field of view of the lidar system is composed of multiple sub-scanning fields arranged horizontally to achieve large field of view stitching, which increases the scanning field of view of the entire lidar system.
  • the method of expanding the field of view of the present invention can maximize the effective use of the receiving aperture of the scanning module to ensure the remote measurement capability of the lidar system.
  • each of the transmitting modules has a plurality of light sources for emitting pulsed laser beams
  • a plurality of transceiving modules has a plurality of corresponding transmitting modules
  • each of the transmitting modules includes a plurality of light sources arranged at intervals in the vertical direction,
  • Each of the light sources sequentially emits pulsed laser beams according to the time sequence, which effectively improves the scanning trajectory line density of the vertical field of view, and the multiple light sources of the present invention use time-division interval emission, which effectively reduces the interference of the receiving optical path.
  • the scanning module may include a two-dimensional galvanometer and a driving module, and the driving module is used to drive the two-dimensional galvanometer to rotate or swing.
  • the transceiving module includes a transmitting module, an optical transmission module, and a detection module.
  • the transmitting module, the optical transmission module, and the scanning module are sequentially arranged along the first optical path.
  • the scanning module, the optical transmission module and the detection module are sequentially arranged along the second optical path.
  • the optical transmission module includes a support unit and a plurality of transmission sub-modules.
  • the support unit is used to support the transmission sub-module.
  • the support unit is provided with a plurality of optical channels; It is sequentially arranged along the optical channel and is used to transmit the light beam according to a preset optical path.
  • the optical transmission module of the present invention is conducive to the integration of the laser radar system. Reasonably arranging multiple optical channels in one support unit is beneficial to improve the internal space utilization rate of the support unit and reduce the volume of the laser radar system.
  • a portion of the first optical path between the collimating unit and the reflecting unit is parallel to a portion of the second optical path between the converging unit and the beam splitting unit, the first A portion of the optical path between the reflective unit and the target to be measured is coaxial with a portion of the second optical path between the target to be measured and the spectroscopic unit.
  • the rotation angle of the movable part of the scanning unit is measured by the angle measuring unit.
  • the psd position sensor can be used to obtain the spatial coordinates of the movable part by measuring the displacement, thereby reducing the amount of calculation of the chip.
  • the angle measuring unit and the scanning unit can be packaged as an independent scanning module with high integration, and can be pre-installed and adjusted, which is convenient Installed and used in lidar system.

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Abstract

本发明提供一种激光雷达系统，包括多个收发模块，用于发射脉冲激光束以及接收脉冲激光束被待测目标反射后的回波信号；至少一个扫描模块，用于将多个收发模块发射的脉冲激光束反射至三维空间，及用于将回波信号反射至对应的收发模块；多个收发模块并排设置，扫描模块位于多个收发模块一侧，多个收发模块的脉冲激光均朝向至少一个扫描模块，每个收发模块对应探测一个子扫描视场，多个子扫描视场通过视场拼接构成激光雷达系统的总视场。本发明利用多个子扫描视场拼接，增大了整个激光雷达系统的扫描视场；每个发射模块包括多个垂直方向上间隔设置的光源，有效提高了垂直视场的扫描轨迹线密度，并且多光源采用分时间隔发射，降低了接收光路的干扰。

Description

一种激光雷达系统 技术领域
本发明涉及环境感知技术领域，特别涉及一种激光雷达系统。
背景技术
在自动驾驶技术中，环境感知系统是基础且至关重要的一环，是自动驾驶汽车安全性和智能性的保障，环境感知传感器中激光雷达在可靠度、探测范围、测距精度等方面具有不可比拟的优势。
车载激光雷达作为感知周围信息的重要传感器，视场和扫描精度是其重要的参数。对于垂直视场，垂直方向扫描轨迹线的密度越大，扫描分辨率越高，信息越丰富，越有利于自动驾驶决策。采用振镜等扫描方式的激光雷达，其垂直方向扫描轨迹线的密度受限于扫描器件的震动频率。虽然可以通过减小慢轴震动频率来实现提高扫描分辨率，然而慢轴的震动频率与帧频相关，激光雷达系统帧频存在最小值要求，因此慢轴震动频率也存在下限值。对于水平视场，现有技术通常会通过在扫描器件前设置光学镜头来放大视场角，或者设置多个激光雷达系统对其采集的视场进行拼接。前置镜头组扩大视场角的方式需要较复杂的镜头组，且视场角放大的同时会等比例缩小有效孔径，从而降低激光雷达系统测远能力。多激光雷达拼接的方案会显著增加总成本。
此外，激光雷达需要满足体积小、可靠性高、高成像帧频、高分辨率、远测距等性能。激光雷达中包含的诸多元器件，例如光源、探测器、集成电路板、引线等均需要进行合理的结构设计，以满足减小体积的同时又不影响其它指标。然而，现有的激光雷达系统难以在小体积和多项性能参数之间达到平衡，如何合理地安排激光雷达系统的内部空间，在满足特定光路设计的前提下，提高空间利用率、使其结构更加紧凑化、改善散热性能，仍是目前亟需改进的方面。
发明内容
为解决上述至少一个技术问题，本发明公开了一种激光雷达系统，包括：
多个收发模块，用于发射脉冲激光束以及接收所述脉冲激光束被待测目标反射后的回波信号；
至少一个扫描模块，用于将多个所述收发模块发射的脉冲激光束反射至三维空间，及用于将所述回波信号反射至对应的所述收发模块；
多个所述收发模块并排设置，相邻所述收发模块间隔第一预设距离，所述扫描模块位于多个所述收发模块一侧，多个所述收发模块的脉冲激光均朝向所述至少一个扫描模块，每个所述收发模块具有至少一个用于发射脉冲激光束的第一光源，每个所述收发模块对应探测一个子扫描视场，多个所述子扫描视场通过视场拼接构成所述激光雷达系统的总视场。
进一步地，所述收发模块包括发射模块、光传输模块及探测模块，
对于任意一个所述收发模块，所述发射模块和所述光传输模块沿第一光路依次设置，所述光传输模块和所述探测模块沿第二光路依次设置。
进一步地，一个所述扫描模块对应至少一个所述收发模块，多个所述收发模块与所述扫描模块之间对应形成多个所述第一光路和多个所述第二光路。
进一步地，对于任意一个所述第一光路，所述发射模块、所述光传输模块和所述扫描模块沿所述第一光路依次设置，所述发射模块用于发射所述脉冲激光束，所述光传输模块用于将所述发射模块发射的脉冲激光束传输至所述扫描模块，所述扫描模块用于将所述光传输模块传输的脉冲激光束反射至三维空间；
对于任意一个所述第二光路，所述扫描模块、所述光传输模块和所述探测模块沿所述第二光路依次设置，所述扫描模块用于将所述回波信号反射至所述光传输模块，所述光传输模块用于将所述回波信号传输至所述探测模块，所述探测模块用于接收并处理所述光传输模块传输的回波信号。
进一步地，所述第一光路的一部分与所述第二光路的一部分平行或共轴。
进一步地，每个所述发射模块具有多个用于发射脉冲激光束的所述第 一光源，多个所述第一光源按照时序依次发射所述脉冲激光束。
进一步地，所述光传输模块包括支撑单体和多个传输子模块，
所述支撑单体用于支撑所述传输子模块，所述支撑单体内设有适于光线通过的多个光通道；
多个所述传输子模块沿所述光通道依次设置，用于按照预设光路传输光束。
进一步地，所述多个光通道包括第一光通道、第二光通道和第三光通道，
所述第一光通道与所述第二光通道间隔且平行设置，所述第一光通道和所述第二光通道分别与所述第三光通道连通，所述第一光通道和所述第二光通道分别与所述第三光通道呈第一预设夹角。
作为一种实施方式，所述支撑单体具有第一表面和第二表面，所述第一光通道和第二光通道分别贯通所述支撑单体的所述第一表面和所述第二表面，所述第二表面上开设有凹槽形成所述第三光通道，所述第三光通道的一端贯通至所述第一表面。
作为一种实施方式，所述支撑单体具有第一表面，所述第一光通道、所述第二光通道和所述第三光通道均为一端开口结构，所述第一光通道、所述第二光通道和所述第三光通道的开口端均位于所述第一表面。
进一步地，所述传输子模块包括准直单元、反射单元和分光单元；
所述准直单元设置于所述第一光通道内，用于将所述脉冲激光束调整为平行光束；
所述反射单元设置于所述第一光通道与所述第三光通道的连通处，用于反射所述准直单元调整后的所述平行光束；
所述分光单元设置于所述第二光通道与所述第三光通道的连通处，用于透射所述反射单元反射的所述平行光束，及反射所述回波信号。
进一步地，所述传输子模块还包括偏折单元和会聚单元，所述反射单元、所述分光单元和所述偏折单元位于同一轴线；
所述偏折单元设置于所述第三光通道内远离所述反射单元的一端，用于偏折透射过所述分光单元的所述平行光束，及用于接收并偏折所述回波 信号；
所述会聚单元设置于所述第二光通道内，用于会聚所述分光单元反射的所述回波信号，以供所述探测模块接收。
进一步地，所述准直单元、所述反射单元、所述分光单元、所述会聚单元和所述偏折单元分别相对于其对应的光通道呈预定角度设置。
进一步地，所述激光雷达系统还包括光学盖板，所述光学盖板安装于多个所述支撑单体的第二表面，所述光学盖板部分或全部覆盖所述第三光学通道。
进一步地，所述会聚单元包括过滤子单元和会聚子单元，所述过滤子单元沿所述第二光路设置于所述会聚子单元之前；
所述过滤子单元用于透射所述分光单元反射的所述回波信号、及过滤掉预设波长范围以外的光信号；
所述会聚子单元用于会聚所述过滤子模块透射的所述回波信号。
进一步地，所述会聚单元还包括第一消光部件，所述第一消部件设置于所述会聚子单元与所述探测模块之间。
进一步地，多个所述收发模块的所述支撑单体彼此相连形成支撑体。
进一步地，所述发射模块包括激光发射板和固定件，所述激光发射板通过连接件与所述固定件连接，所述第一光源设置于所述激光发射板上，所述固定件与所述支撑体相连。
进一步地，所述探测模块包括接收装调子支架和接收电路板，所述接收装调子支架设置于所述固定件上，所述接收装调子支架设有用于装调固定所述接收电路板的第一安装部，所述接收电路板与所述第一安装部连接；
所述接收电路板上设有至少一个探测器，所述探测器设置于所述接收电路板朝向激光雷达系统会聚单元的一侧面。
进一步地，所述激光雷达系统还包括控制模块，所述控制模块分别与所述发射模块、所述扫描模块和所述探测模块连接，用于分别控制所述发射模块发射所述脉冲激光束、控制所述扫描模块旋转或摆动、及控制所述探测模块接收并处理所述激光束的回波信号。
进一步地，所述激光雷达系统还包括壳体，用于容纳所述扫描模块、 所述收发模块和所述控制模块。
进一步地，所述壳体包括第一壳体和第二壳体，所述第一壳体和所述第二壳体密封连接形成第一容置空腔，所述扫描模块位于所述第一容置空腔的上部，所述收发模块位于所述第一容置空腔的下部。
进一步地，所述激光雷达系统还包括封装支架，所述封装支架安装于所述第一壳体上部，所述封装支架位于所述第一容置空腔内，所述扫描模块安装于所述封装支架上。
进一步地，所述扫描模块包括扫描单元和测角单元，所述扫描单元和所述测角单元间隔第二预设距离；
所述扫描单元包括扫描基片，所述测角单元位于所述扫描基片的一侧，所述扫描基片包括可动部，所述可动部具有用于反射测角光束的第三面，
所述测角单元包括第二光源和接收组件，所述第二光源和所述接收组件间隔第三预设距离，所述第二光源的光出射方向朝向所述第三面，所述接收组件的接收侧朝向所述第三面，所述第三面用于将所述第二光源发出的光束反射至所述接收组件。
进一步地，所述激光雷达系统还包括前窗，用于透射所述扫描模块反射的脉冲激光束及透射所述回波信号；
所述第一壳体包括第一侧板和第一底板，所述第一侧板与所述第一底板呈第四预设夹角，所述前窗安装于所述第一侧板上，所述第一侧板上设有镂空区域，所述前窗覆盖所述镂空区域。
进一步地，所述控制模块包括控制电路板，所述控制电路板通过连接件与所述支撑体连接；
所述激光雷达系统还包括散热件，所述散热件位于所述第二壳体与所述控制电路板之间，所述散热件分别与所述第二壳体的内表面和所述控制电路板接触。
为解决上述技术问题，本发明还公开了一种激光雷达系统，包括：
至少一个收发模块，用于发射脉冲激光束以及接收所述脉冲激光束被待测目标反射后的回波信号；
至少一个扫描模块，用于将所述至少一个收发模块发射的脉冲激光束 反射至三维空间，及用于将所述回波信号反射至对应的所述收发模块；
每个所述收发模块包括发射模块，所述发射模块具有多个间隔设置的第一光源。
进一步地，所述激光雷达系统具有m个所述收发模块，其中m≥2且m为正整数，m个所述收发模块具有m个对应的所述发射模块，每个所述发射模块具有n个所述第一光源，其中n≥2且n为正整数，每个所述发射模块的n个所述第一光源按照预设时序依次发射脉冲激光束。
进一步地，m个所述发射模块彼此对应的所述第一光源形成n个光源发射组，每个所述光源发射组内包含有m个所述第一光源，n个光源发射组也按照所述预设时序发射脉冲激光束。
进一步地，所述扫描模块通过摆动将所述第一光源发出的脉冲激光束反射至三维空间，从而实现光栅式扫描，并得到每个所述第一光源的二维扫描轨迹线。进一步地，所述二维扫描轨迹线为周期性曲线。
进一步地，对于任意一条所述二维扫描轨迹线，相邻周期对应的所述二维轨迹线的起点间隔有第一偏移量。
进一步地，多个所述第一光源在第一方向上等间距间隔分布，
对于任意一个所述发射模块，相邻所述第一光源的所述二维扫描轨迹线的起始位置之间间隔第二偏移量。
进一步地，所述第二偏移量大于零，且所述第二偏移量不等于所述第一偏移量。
进一步地，一个所述扫描模块对应至少一个所述收发模块，多个所述收发模块与所述扫描模块之间对应形成多个第一光路和多个第二光路。
进一步地，所述收发模块还包括光传输模块和探测模块，对于任意一个所述收发模块，所述发射模块和所述光传输模块沿所述第一光路依次设置，所述光传输模块和所述探测模块沿所述第二光路依次设置；
对于任意一个所述第一光路，所述发射模块、所述光传输模块和所述扫描模块沿所述第一光路依次设置，所述发射模块用于发射脉冲激光束，所述光传输模块用于将所述发射模块发射的脉冲激光束传输至所述扫描模块，所述扫描模块用于将所述光传输模块传输的脉冲激光束反射至三维空 间；
对于任意一个所述第二光路，所述扫描模块、所述光传输模块和所述探测模块沿所述第二光路依次设置，所述扫描模块用于将所述回波信号反射至所述光传输模块，所述光传输模块用于将所述回波信号传输至所述探测模块，所述探测模块用于接收并处理所述光传输模块传输的回波信号。
进一步地，所述光传输模块包括支撑单体和多个传输子模块，
所述支撑单体用于支撑所述传输子模块，所述支撑单体内设有多个光通道；
多个所述传输子模块沿所述光通道依次设置，用于按照预设光路传输光束。
进一步地，多个所述收发模块的所述支撑单体彼此相连形成支撑体。
进一步地，所述发射模块包括激光发射板和固定件，所述激光发射板通过连接件与所述固定件连接，所述多个第一光源在设置于所述激光发射板上，所述固定件与所述支撑体相连。
进一步地，所述探测模块包括接收装调支架和接收电路板，所述接收装调支架设置于所述固定件上，所述接收装调支架设有用于装调固定所述接收电路板的安装部，所述接收电路板与所述安装部连接；
所述接收电路板上设有与所述激光发射板上设置的所述多个第一光源数目相等的多个探测器，所述多个探测器在第一方向上等间距分布。
采用上述技术方案，本发明所述激光雷达系统具有如下有益效果：
1)本发明多个所述收发模块水平并排设置，相邻所述收发模块间隔第一预设距离，每个所述收发模块具有至少一个用于发射脉冲激光束的第一光源，每个收发模块对应探测一个子扫描视场，多个所述子扫描视场通过视场拼接构成激光雷达系统的总视场，利用多个子扫描视场水平排布实现大视场拼接，增大了整个激光雷达系统的扫描视场，且本发明的扩大视场方法可最大限度的有效利用扫描模块的接收口径，保证激光雷达系统测远能力；
2)每个所述发射模块包括多个垂直方向上间隔设置的光源，有效的提高了垂直视场的扫描轨迹线密度，并且本发明的多光源采用分时间隔发射， 有效的降低了接收光路的干扰；
3)本发明的光传输模块有利于激光雷达系统的集成化，一个支撑单体内合理设置多个光通道有以利于提高所述支撑单体的内部空间利用率，减小激光雷达系统的体积；
4)激光雷达系统部分光路收发同轴，可以有效减小支撑单体的体积，便于激光雷达系统的小型化和集成化；
5)本发明通过测角单元测量扫描单元的可动部旋转角度，具体采用psd位置传感器可以通过测量位移得到可动部的空间坐标，从而减小芯片的运算量；
6)本发明激光雷达系统将测角单元和扫描单元封装为一个独立集成的扫描模块，且能够预先装调，便于在激光雷达系统中安装和使用。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一个实施例的激光雷达系统结构框图；
图2为本发明一个实施例的激光雷达系统结构框图；
图3为本发明一个实施例的系统原理图；
图4为本发明一个实施例的激光雷达系统发射模块(发射模块个数m为4，发射模块上第一光源个数n为3)的示意图；
图5为本发明一个实施例单个收发模块与扫描模块的光路布局示意图；
图6为本发明一个实施例单光源和多光源的扫描轨迹示意图；
图7为本发明一个实施例的光传输模块剖面图；
图8为本发明另一个实施例的光学传输模块剖面图；
图9为本发明一个实施例的支撑单体示意图；
图10为本发明另一个实施例的支撑单体示意图；
图11为本发明一个实施例的支撑体示意图；
图12为本发明另一个实施例的支撑体示意图；
图13为本发明一个实施例激光雷达系统整体示意图；
图14为本发明一个实施例激光雷达系统(不带外壳)的立体示意图；
图15为本发明一个实施例收发模块立体示意图；
图16为本发明一个实施例收发模块的剖面图。
图17为本发明一个实施例接收装调子支架示意图；
图18为本发明一个实施例探测模块示意图；
图19为本发明一个实施例接收装调支架示意图；
图20为本发明一个实施例扫描模块立体图；
图21为图20的主视图；
图22为图21中A-A方向的剖面图；
图23为本发明一个实施例的扫描基片示意图；
图24为本发明一个实施例的测角单元示意图；
图25为本发明另一个实施例的测角单元示意图；
图26为本发明一个实施例散热件、控制电路板和收发模块的装配关系示意图；
以下对附图作补充说明：
1-收发模块；11-发射模块；111-第一光源；112-光源发射组；113-激光发射板，114-固定件；
12-光传输模块；120-支撑单体；1201-第一表面；1202-第二表面；120a-第一子单体；120b-第二子单体；121-第一光通道；122-第二光通道；123-第三光通道；124-准直单元；125-反射单元；126-分光单元；127-偏折单元；128-会聚单元；1281-过滤子单元；1282-会聚子单元；1283-第一消光部件；129-支撑体；129a-第一光学支架；129b-第二光学支架；
13-探测模块；131-接收装调子支架；1311-第一安装部；132-接收电路板；133-探测器；134-接收装调支架；1341-支撑臂；135-遮光板；
2-扫描模块；21-扫描单元；210-扫描基片；211-可动部；211a-第三面；211b-第四面；212-驱动模块；22-测角单元；220-第二光源；221-接收组件；2211-滤光片；2212-转接板；2213-位置传感器；222-光源固定件；223-接收固定架；224-测角支架；2241-第二安装部；225-第二消光部件；23-封装壳； 24-封板；
3-控制模块；31-控制电路板；
4-光学盖板；
5-壳体；51-第一壳体；511-第一侧板；512-第一底板；52-第二壳体；53-第一容置空腔；
6-封装支架；7-前窗；8-散热件；9-转接块；10-防水底板。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
此处所称的“一个实施例”或“实施例”是指可包含于本发明至少一个实现方式中的特定特征、结构或特性。在本发明的描述中，需要理解的是，术语“上”、“下”、“顶”、“底”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含的包括一个或者更多个该特征。而且，术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。
本发明实施例提供一种激光雷达系统，包括多个收发模块1，用于发射脉冲激光束以及接收所述脉冲激光束被待测目标反射后的回波信号；
多个所述收发模块1水平并排设置，相邻所述收发模块1间隔第一预设距离，每个所述收发模块1具有至少一个用于发射脉冲激光束的第一光源111，每个所述收发模块1对应探测一个子扫描视场，多个所述子扫描视 场通过视场拼接构成所述激光雷达系统的总视场。
在一些实施例中，如图3所示，所述收发模块1包括发射模块11、光传输模块12及探测模块13，对于任意一个所述收发模块1，所述发射模块11和所述光传输模块12沿第一光路依次设置，所述光传输模块12和所述探测模块13沿第二光路依次设置。
在一些实施例中，每个所述发射模块11具有至少一个用于发射脉冲激光束的所述第一光源111。所述第一光源111可以是激光器，不同类型的激光器适于产生不同波长的激光束。
在一些实施例中，所述激光雷达系统具有m个横向并排设置的所述收发模块1，其中m≥2且m为正整数，m个所述收发模块1具有m个对应的所述发射模块11，每个所述发射模块11具有n个纵向设置的所述第一光源111，其中n≥2且n为正整数，每个所述发射模块11的n个所述第一光源111按照预设时序依次发射脉冲激光束；
例如：当m取值为4，n取值为3时，所述激光雷达系统具有四个(m＝4)横向并排设置的收发模块1，四个所述收发模块1具有四个(m＝4)对应的所述发射模块11，如图4所示，每个发射模块11具有三个(n＝3)纵向并排设置的所述第一光源111，每个发射模块11的三个所述第一光源111按照预设时序依次间隔发脉冲激光束。
在一些实施例中，m个所述发射模块11彼此对应的位于同一水平位置的所述第一光源111形成一个光源发射组112，由于每个发射模块11均具有n个纵向设置的第一光源111，因此，m个所述发射模块11彼此对应的所述第一光源111可以形成n个纵向并排设置的光源发射组112，n个光源发射组112按照所述预设时序依次发射脉冲激光束，可以理解的是，由于所述激光雷达系统共包括m个横向并排设置的所述发射模块，因此每个所述光源发射组112内包含有m个所述第一光源111；
例如：当m取值为4，n取值为3时，如图4所示，四个(m＝4)发射模块11横向并排设置，四个所述发射模块11的彼此对应的位于同一水平位置的所述第一光源111形成一个光源发射组112，由于每个发射模块11均具有三个(n＝3)纵向设置的第一光源111，因此，四个所述发射模块11 彼此对应的所述第一光源111可以形成三个(n＝3)纵向并排设置的光源发射组112，三个所述光源发射组112也满足按照所述预设时序依次间隔发射脉冲激光束，可以理解的是，由于所述激光雷达系统共包括四个横向并排设置的所述发射模块，因此，每个光源发射组112内包含四个所述第一光源111。
更为具体地，每个发射模块11的n个第一光源111按照预设时序依次发射脉冲激光束，可以是指每个第一光源111(1，2，…，n)依次发射脉冲激光束，即每次仅有一个第一光源111发光。也可以指，将n个第一光源111间隔地分为两组，如第1，3，5，….个第一光源111为第一组，第2，4，6，…个第一光源111为第二组，每组第一光源111按照预设时序依次发射脉冲激光束。依此类推，也可以将n个第一光源111间隔地分为更多的组。
每个发射模块11的n个第一光源111按照预设时序依次发射脉冲激光束可以防止不同第一光源111的回波信号之间的相互干扰。但本发明并不限于以上发射形式，每个发射模块11的n个第一光源111也可以同时发射脉冲激光束。
在一些实施例中，结合图1、图2和图3所示，所述激光雷达系统还包括至少一个扫描模块2，用于将多个所述收发模块1发出的脉冲激光束反射至三维空间，及用于将所述回波信号反射至对应的所述收发模块1；
所述扫描模块2位于多个所述收发模块1一侧，多个所述收发模块1的出射面均朝向所述至少一个扫描模块2，一个所述扫描模块2对应至少一个所述收发模块1，多个所述收发模块1与所述扫描模块2之间对应形成多个所述第一光路和多个所述第二光路。
在可能的实施方式中，如图1和图14所示，所述激光雷达系统可以包括四个所述收发模块1和一个所述扫描模块2，所述扫描模块2位于四个所述收发模块1的上部空间，四个所述收发模块1的出射面均朝向同一个所述扫描模块2，每个收发模块1对应探测一个子扫描视场，横向四个子扫描视场平行排布，通过视场拼接扩大水平视场的同时实现了较紧凑的光学结构。例如，每个收发模块1保证水平30度的扫描角，拼接后激光雷达系统 的水平总视场能够达到120度。同理，若每个收发模块1保证水平15度的扫描角，拼接后激光雷达系统的水平总视场能够达到60度。
在可能的实施方式中，如图2所示，所述激光雷达系统也可以包括八个所述收发模块1和两个所述扫描模块2，所述扫描模块2位于所述收发模块1的上部空间，其中四个相邻的所述收发模块1的出射面均朝向同一个所述扫描模块2，另外四个相邻的所述收发模块1的出射面均朝向另一个所述扫描模块2，每个收发模块1对应探测一个子扫描视场，横向八个子扫描视场平行排布，可以实现更大的激光雷达系统总视场。需要说明的是，在其他实施例中，所述收发模块1的数目不限于四个或八个，亦可以为两个、三个、五个或六个等，所述扫描模块2的数目不限于一个或两个，还可以为更多。
在一些实施例中，所述第一光路可以为发射光路，所述第二光路可以为接收光路，结合图3和图5所示，在所述第一光路中，对于任意一个所述第一光路，所述发射模块11、所述光传输模块12和所述扫描模块2沿所述第一光路依次设置，所述发射模块11用于发射脉冲激光束，所述光传输模块12用于将所述发射模块11发射的脉冲激光束传输至所述扫描模块2，所述扫描模块2用于将所述光传输模块12传输的脉冲激光束反射至三维空间；
对于任意一个所述第二光路，所述扫描模块2、所述光传输模块12和所述探测模块13沿所述第二光路依次设置，所述扫描模块2用于将所述回波信号反射至所述光传输模块12，所述光传输模块12用于将所述回波信号传输至所述探测模块13，所述探测模块13用于接收并处理所述光传输模块12传输的回波信号。
在一些实施例中，所述扫描模块2可以为静电式振镜、电磁式振镜、压电式振镜、或电热式振镜等。所述扫描模块2还能够通过旋转或摆动改变其反射至三维空间的脉冲激光束的方向，从而对三维空间中的目标进行扫描。具体的，所述扫描模块2可以包括可动部211和驱动模块212，所述驱动模块212用于驱动所述可动部211周期性旋转或摆动。所述可动部211通过快轴和慢轴振动的叠加实现光栅扫描。对于单个所述第一光源111，如 图6(a)所示，所述可动部211在快轴方向上振动时，能够实现光斑在x方向上的扫描，所述可动部211在慢轴方向上的振动能够实现光斑在y方向上的扫描，快慢轴周期性运动的叠加从而得到光斑的二维扫描轨迹线。即所述二维扫描轨迹线为周期性曲线。所述可动部211在x方向上完成一个快轴扫描周期后，下一个快轴扫描周期的起始点相对于上一个快轴扫描周期的起始点在y轴上会发生偏移，记为第一偏移量y N。对于任意一条所述二维扫描轨迹线，相邻周期对应的所述二维轨迹线的起点间隔有所述第一偏移量。
在一些实施例中，多个所述第一光源111在所述激光雷达系统的垂直视场方向上间隔分布，对于任意一个所述发射模块11，相邻所述第一光源111的所述二维扫描轨迹线的起始位置间隔有第二偏移量。优选地，所述第二偏移量大于零，且所述第二偏移量不等于所述第一偏移量。需要说明的是，当所述发射模块11的第一光源111的数量≥3时，相邻所述第一光源形成的多个第二偏移量可以相等也可以不等。
在可能的实施方式中，如图5和图6所示，每个所述发射模块11包括两个垂直方向上间隔设置的第一光源111，即第一光源A与第一光源B。如图6(b)所示，由于第一光源A与第一光源B在垂直方向上有间隔，其在y方向上的扫描起始位置也对应有间隔所述第二偏移量，记为h，第一光源A和第一光源B的扫描轨迹线分别记作T A和T B，第一光源A和第一光源B各自的第一偏移量分别为y A和y B。作为优选的实施方式，y A＝y B，h＝y A/2。需要说明的是，在其他实施例中，所述发射模块11的第一光源111数目不限于一个或二个，所述发射模块11的第一光源111数目还可以更多。通过合理设置所述第一光源111之间的间距，能够实现y方向上扫描线数的加密，减小扫描角度间隔，提高扫描分辨率。
在可能的实施方式中，激光雷达系统具有多个发射模块11(1，2，3…N)，多个所述发射模块11具有两组对应的所述光源发射组112，记为光源发射组A(A 1，A 2，A 3…A N)和光源发射组B(B 1，B 2，B 3…B N)，所述光源发射组A的所述第一光源111同时发射激光后，间隔预设时间所述光源发射组B的所述第一光源111再同时发射激光。例如：
第一时刻，光源发射组A同时发射激光脉冲，激光光束经所述光传输模块12传输至所述扫描模块2，由所述可动部211反射至目标物体(或障碍物)。脉冲激光束被目标物体(或障碍物)反射后的回波信号由所述可动部211入射通过所述光传输模块12入射至对应的探测模块13；
第二时刻，光源发射组B同时发射激光脉冲，其光束发射和接收路径分别与光源发射组A的路径相同，光源发射组B和光源发射组A通过间隔预设时间发射，避免多第一光源发出的光在反射接收时的相互干扰。所述探测模块13通过记录激光发射到接收到回波信号的时间差计算激光的飞行时间，从而得到该点待测物体的距离信息；
下一时刻，所述可动部211将激光反射至空间中下一点，探测模块13将得到此点的距离信息。配合所述可动部211的转动，重复该测量过程，从而完成对空间的扫描，得到整个探测范围内的点云信息。
需要说明的是，图3和图5中所述第一光路和第二光路的方向仅是为了示意性的说明各模块在光路中的相对位置及各模块所实现的功能，并不能用来限制在具体实施过程中各模块的实际位置，所述第一光路和所述第二光路的方向可以根据具体实施例作出适当的改变。
在一些实施例中，所述光传输模块12包括支撑单体120和多个传输子模块，所述支撑单体120用于支撑所述传输子模块，所述支撑单体120内设有适于光线通过的多个光通道；多个所述传输子模块沿所述光通道依次设置，用于按照预设光路传输光束。
在一些实施例中，如图7和图8所示，所述光通道包括第一光通道121、第二光通道122和第三光通道123，所述第一光通道121与所述第二光通道122间隔且平行设置，所述第一光通道121和所述第二光通道122分别与所述第三光通道123连通，所述第一光通道121和所述第二光通道122分别与所述第三光通道123呈第一预设夹角。所述第一光通道121和所述第三光通道123连通的一端与所述第二光通道122和所述第三光通道123连通的一端相对应。本实施例中，所述第一光通道121和所述第二光通道122分别与所述第三光通道123连通，有利于提高所述支撑单体120的内部空间利用率。
在一些实施例中，如图7所示，所述支撑单体120具有第一表面1201和第二表面1202，所述第一光通道121和第二光通道122分别贯通所述支撑单体120的所述第一表面1201和所述第二表面1202。所述第二表面1202上开设有凹槽形成所述第三光通道123，所述第三光通道123的一端贯通至所述第一表面1201。
在可能的实施方式中，如图8所示，所述支撑单体120具有第一表面1201，所述第一光通道121、所述第二光通道122和所述第三光通道123均为一端开口结构，所述第一光通道121、所述第二光通道122和所述第三光通道123的开口端均位于所述第一表面1201。
在一些实施例中，如图7和图8所示，所述传输子模块包括准直单元124、反射单元125和分光单元126；所述准直单元124设置于所述第一光通道121内，用于将光束调整为平行光束；所述反射单元125设置于所述第一光通道121与所述第三光通道123的连通处，用于反射所述准直单元124调整后的所述平行光束；所述分光单元126设置于所述第二光通道122与所述第三光通道123的连通处，用于透射所述反射单元125反射的平行光束，及反射所述回波信号。
在一些实施例中，如图7和图8所示，所述传输子模块还包括偏折单元127和会聚单元128，所述反射单元125、所述分光单元126和所述偏折单元127位于同一轴线；所述偏折单元127设置于所述第三光通道123内远离所述反射单元125的一端，用于偏折透射过所述分光单元126的平行光束，及用于接收并偏折所述平行光束的回波信号；所述会聚单元128设置于所述第二光通道122内，用于会聚所述分光单元126反射的回波信号，以供探测模块13接收。
根据发射光路与接收光路的光轴是否平行或重合，激光雷达系统通常可以分为非同轴系统和同轴系统。在一些实施例中，结合图3、图5、图7和图8所示，所述第一光路的一部分与所述第二光路的一部分平行或共轴。具体的，所述第一光路中介于所述准直单元124和所述反射单元125之间的部分与所述第二光路介于所述会聚单元128和所述分光单元126之间的部分平行，所述第一光路介于所述反射单元125和所述待测目标之间的部 分与所述第二光路介于所述待测目标和所述分光单元126的部分共轴。
在一些实施例中，如图7和图8所示，所述准直单元124、所述反射单元125、所述分光单元126、所述会聚单元128和所述偏折单元127分别相对于其对应的光通道呈预定角度设置。在可能的实施方式中，所述准直单元124垂直于所述第一光通道121设置，所述反射单元125与所述第一光通道121呈60度夹角设置；所述分光单元126与所述第二光通道122呈60度夹角设置，所述会聚单元128垂直于所述第二光通道122设置；所述偏折单元127垂直于所述第三光通道123设置。
在一些实施例中，所述准直单元124可以为准直透镜，所述准直透镜可以由一个或一组(即多个)透镜组成。所述反射单元125可以为具有高反射比的反射镜，例如所述反射镜表面镀有反射膜以提高其反射率。
在一些实施例中，所述分光单元126可以为开孔反射镜、半透半反镜、偏振分光镜或采用镀膜方式的分光镜等。具体的，所述分光单元126为开孔反射镜，在第一光路中，所述平行光束经过所述开孔反射镜的小孔透射至所述偏折单元127，在第二光路中，所述回波信号经所述偏折单元127传输至所述开孔反射镜的小孔旁边的反射镜面，再由所述小孔周边的反射镜面反射至所述探测模块13。
在可能的实施方式中，所述偏折单元127可以为棱镜或具有高反射比的反射镜等。具体的，所述偏折单元127为楔形棱镜。所述楔形棱镜具有入射侧面、出射侧面和底面，所述入射侧面和所述出射侧面之间的夹角定义为楔角，所述楔角所对的平面为所述底面。激光光束从所述楔形棱镜的所述入射侧面射入，从所述出射侧面射出，出射光束将向所述底面进行偏折，偏折角的大小与所述楔形棱镜的折射率，棱镜的顶角和入射角有关。所述楔形棱镜的主截面为直角三角形或直角梯形，所述入射侧面、出射侧面和底面分别与所述楔形棱镜的主截面垂直。所述楔角跟所述楔形棱镜的材质有关，选不同的材质对应的角度会发生变化。优选的，所述楔角的度数为20度-60度。
在一些实施例中，所述支撑单体120内还可以设有多个安装孔，用于通过其他装置将多个所述光传输子模块固定于所述支撑单体120上。
在一些实施例中，所述支撑单体120可以为一体成型结构，如图9所示，或者，所述支撑单体120还可以包括第一子单体120a和第二子单体120b，所述第一子单体120a和所述第二子单体120b沿所述第一光路依次设置，所述第一子单体120a和所述第二子单体120b相连，如图10所示。相邻所述收发模块1的支撑单体120可以彼此相连成支撑体129，如图12所示。在其他实施例中，结合图10和图11所示，所述支撑单体120还可以包括第一子单体120a和第二子单体120b，所述第一子单体120a和所述第二子单体120b沿所述第一光路依次设置，相邻的所述第一子单体120a彼此相连成第一光学支架129a，同理，相邻的所述第二子单体120b彼此相连成第二光学支架129b，所述第一光学支架129a和所述第二光学支架129b彼此相连成支撑体129。
在一些实施例中，如图14所示，所述激光雷达系统还包括光学盖板4，所述光学盖板4安装于多个所述支撑单体120的第二表面1202，所述第三光通道123的侧壁具有用于安装所述光学传输子模块的敞口结构，所述光学盖板4部分或全部覆盖所述第三光学通道的敞口结构。所述光学盖板4为不透光材料。所述第三光通道123侧壁的敞口结构对应所述第三光学通道形成的凹槽。
在一些实施例中，如图15和16所示，所述会聚单元128包括过滤子单元1281和会聚子单元1282，所述过滤子单元1281沿所述第二光路设置于所述会聚子单元1282之前；所述过滤子单元1281用于透射分光单元126反射的脉冲激光束的回波信号、及过滤掉预设波长范围以外的光信号；所述会聚子单元1282用于会聚所述过滤子模块透射的脉冲激光束的回波信号。
在一些实施例中，如图15和16所示，所述会聚单元128还包括第一消光部件1283，所述第一消光部件1283设置于所述会聚子单元1282与所述探测模块13之间。具体的，所述第一消光部件1283可以为第一消光筒。所述第一消光筒呈渐缩结构，即所述第一消光筒靠近所述会聚子单元1282一端的横截面积大于所述第一消光筒远离所述会聚子单元1282一端的横截面积。具体的，所述渐缩结构可以为方斗状结构、锥状结构或漏斗状结构等。
在一些实施例中，所述会聚子单元1282可以为会聚透镜，所述会聚透镜可以由一个或一组(即多个)透镜组成。如图16所示，会聚透镜有两个透镜组成。
在一些实施例中，所述发射模块包括激光发射板113和固定件114，所述激光发射板113通过连接件与所述固定件114连接，所述多个第一光源111在第一方向上等间距设置于所述激光发射板113上，所述固定件114与所述支撑体129相连。其中，所述第一方向可以为激光雷达的竖直方向或垂直视场方向。更为具体地，在第一方向上等间距设置，可以是指在第一方向上成一条直线地等间距设置。也可以是指在与第一方向垂直的第二方向，即水平方向上相互错开，但相互之间的间距在第一方向上的投影距离相等。另外，多个第一光源111即可以排列成与第一方向平行的一条直线，也可以排列成与第一方向不平行的一条直线，还可以排列成二维阵列分布。在可能的实施方式中，所述固定件114还可以与所述支撑体129一体成型，或者所述固定件114还可以直接固定在激光雷达系统的壳体内侧底面。具体的，如图15所示，所述固定件114为长方体结构。
在一些实施例中，如图15、图17和图18所示，所述探测模块13包括接收装调子支架131和接收电路板132，所述接收装调子支架131设置于所述固定件114上，所述接收装调子支架131设有用于装调固定所述接收电路板132的第一安装部1311，所述接收电路板132与所述第一安装部1311连接。
所述接收电路板132上设有至少一个探测器133，所述探测器133设置于所述接收电路板132朝向激光雷达系统会聚单元128的一侧面。优选地，每个接收电路板132上设有与激光发射板上设置的多个第一光源数目相等的多个探测器133，且与多个第一光源的设置方式相对应，多个探测器在第一方向上等间距分布。具体地，所述探测器133可以为PIN光电传感器、雪崩光电二极管或者盖革模式雪崩光电二极管。在可能的实施方式中，如图19所示，多个所述探测模块13的多个所述接收装调子支架131还可以彼此相连为一个接收装调支架134。
在一些实施例中，所述探测模块13还包括遮光板135，所述遮光板135 通过连接件安装于所述接收装调支架134远离所述支撑体129的一侧，用于防止系统杂散光干扰所述探测器133接收脉冲激光束的回波信号。
在一些实施例中，所述激光雷达系统还包括控制模块3，如图3所示，所述控制模块3分别与所述发射模块11、所述扫描模块2和所述探测模块13连接，用于分别控制所述发射模块11产生并发射脉冲激光束、控制所述扫描模块2旋转或摆动、及控制所述探测模块13接收并处理所述脉冲激光束的回波信号。
在一些实施例中，如图13所示，所述激光雷达系统还包括壳体5，用于容纳所述扫描模块2、所述收发模块1和所述控制模块3。
在一些实施例中，结合图13和图14所示，所述壳体5包括第一壳体51和第二壳体52，所述第一壳体51和所述第二壳体52密封连接形成第一容置空腔53，所述扫描模块2位于所述第一容置空腔53的上部，所述收发模块1位于所述第一容置空腔53的下部。
在一些实施例中，如图14所示，所述激光雷达系统还包括封装支架6，所述封装支架6安装于所述第一壳体51上部，所述封装支架6位于所述第一容置空腔53内，所述扫描模块2安装于所述封装支架6上。
在一些实施例中，结合图20-图25所示，所述扫描模块2包括扫描单元21和测角单元22，所述扫描单元21和所述测角单元22间隔第二预设距离，所述扫描单元21包括扫描基片210，所述测角单元22位于所述扫描基片210的一侧，所述扫描基片210包括可动部211，所述可动部211具有用于反射测角光束的第三面211a；
所述测角单元22包括第二光源220和接收组件221，所述第二光源220和所述接收组件221间隔第三预设距离，所述第二光源220的光出射方向朝向所述第三面211a，所述接收组件221的接收侧朝向所述第三面211a，所述第三面211a用于将所述第二光源220发出的光束反射至所述接收组件221。
在一些实施例中，如图23和图24所示，所述可动部211还具有用于反射扫描光束的第四面211b，所述第四面211b位于所述可动部211远离所述测角单元22的一侧。
在一些实施例中，如图24所示，所述测角单元22还包括光源固定件222，所述第二光源220为激光器，所述激光器固定于所述光源固定件222上，所述激光器的出射面与所述扫描基片210所在平面呈第二预设夹角；所述测角单元22还包括接收固定架223，所述接收固定架223具有第一安装面，所述接收组件221安装于所述第一安装面上，所述第一安装面与所述扫描基片210所在平面呈第三预设夹角。在其他实施例中，所述测角单元22可以不包括所述光源固定件和所述接收固定架，所述测角单元22仅包括测角支架224，如图25所示，所述测角支架224具有第二安装部2241和第三安装部，所述光源为激光器，所述激光器固定于所述第二安装部2241，所述激光器的出射面与所述扫描基片210所在平面呈第二预设夹角；所述第三安装部具有第二安装面，所述接收组件221安装于所述第二安装面，所述第二安装面与所述扫描基片210所在平面呈第三预设夹角。
在一些实施例中，所述接收组件221包括滤光片2211、转接板2212和位置传感器2213，所述转接板2212、所述位置传感器2213和所述滤光片2211沿远离所述第一安装面的方向依次设置，所述转接板2212与所述第一安装面连接。所述滤光片2211用于过滤掉预设波长范围以外的光信号。所述位置传感器2213为psd位置传感器2213，用于测定所述可动部211的位置坐标。同理，在可能的实施方式中，所述转接板2212、所述位置传感器2213和所述滤光片2211沿远离所述第二安装面的方向依次设置，所述转接板2212与所述第二安装面连接。采用psd位置传感器2213可以通过测量位移得到可动部211的空间坐标，从而减小芯片的运算量。
在一些实施例中，如图22和图25所示，所述接收组件221还包括第二消光部件225，所述第二消光部件225位于所述位置传感器2213朝向所述扫描基片210的一侧。具体的，所述第二消光部件225可以为第二消光筒，所述第二消光筒可以是筒壁相互平行的直筒，此外，优选地，所述第二消光筒也可以呈渐缩结构，即筒壁由底部向顶部逐渐收拢的筒，也就是说所述第二消光筒靠近所述扫描基片210一端的横截面积小于所述第二消光筒远离所述扫描基片210一端的横截面积。具体的，所述渐缩结构可以为方斗状结构、锥状结构或漏斗状结构等。
在一些实施例中，如图20所示，所述扫描模块2还包括封装壳23，所述封装壳23为一端开口的盒状结构，所述封装壳23具有第二容置空腔，所述扫描单元21设置于所述第二容置空腔内，所述测角单元22部分位于所述第二容置空腔内。在可能的实施方式中，所述测角单元22全部位于所述第二容置空腔内。
在一些实施例中，如图20所示，所述扫描模块2还包括封板24，所述封板24安装于所述封装壳23的开口一端，所述扫描单元21通过连接件安装于所述封板24朝向所述第二容置空腔内的一侧。通过所述封装壳23与所述封板24的配合，所述测角单元22和所述扫描单元21可以封装为一个集成度高的扫描模块2，且能够预先装调，便于安装和使用。
在一些实施例中，如图13所示，所述激光雷达系统还包括前窗7，用于透射所述扫描模块2反射的脉冲激光束及透射所述回波信号；
所述第一壳体51包括第一侧板511和第一底板512，所述第一侧板511与所述第一底板512呈第四预设夹角，所述前窗7安装于所述第一侧板511上，所述第一侧板511上设有镂空区域，所述前窗7覆盖所述镂空区域。所述前窗7与所述第一底板512也呈第四预设夹角，以防止所述出射光经前窗7反射的杂散光原路返回至所述壳体5内部，从而提高所述激光雷达系统的信噪比。在一些实施例中，所述前窗7可以为激光窗口镜，设置激光窗口镜可以保护扫描模块2免遭飞溅物和工作场所内其他危害的影响，激光窗口镜通常采用针对特定波长的激光高透的材料，并镀上增透膜以减少因反射而造成的损耗。
在一些实施例中，如图26所示，所述控制模块3包括控制电路板3131，所述控制电路板31通过连接件与所述支撑体129连接。所述控制电路板31位于所述接收装调支架134远离所述支撑体129的一侧，所述控制电路板31还可以通过连接件与所述接收装调支架134连接。具体的，所述激光雷达系统包括转接块9，所述控制电路板31的上部通过连接件穿过所述转接块9与所述支撑体129连接，所述接收装调支架134的底部设有至少一个支撑臂1341，所述支撑臂1341远离所述支撑体的一侧延伸，所述控制电路板31的下部通过连接件与所述支撑臂1341连接。
在一些实施例中，如图26所示，所述激光雷达系统还包括散热件8，所述散热件8位于所述第二壳体52与所述控制电路板31之间，所述散热件8分别与所述第二壳体52的内表面和所述控制电路板31接触。具体的，所述散热件8通过连接件安装于所述第二壳体52的内表面。在可能的实施方式中，所述散热件8可以为L形、N形、U形、H形、Z字形、回字形、蛇形或几字形中的任意一种或几种的组合。
在一些实施例中，结合图13和图14所示，所述激光雷达系统还可以包括防水底板10，所述防水底板10设置于所述壳体5的外侧底部，防止激光雷达系统在使用过程中水气从所述壳体5底部进入激光雷达系统内部，影响激光雷达系统的工作及降低激光雷达系统的使用寿命。
综上所述，本发明实施例的激光雷达系统，具有多个收发模块和至少一个扫描模块，多个所述收发模块水平并排设置，相邻所述收发模块间隔预设距离，所述扫描模块位于多个所述收发模块一侧，多个所述收发模块的出射面均朝向所述扫描模块，每个收发模块对应探测一个子扫描视场，多个所述子扫描视场通过视场拼接构成激光雷达系统的总视场，利用多个子扫描视场水平排布实现大视场拼接，增大了整个激光雷达系统的扫描视场。且本发明的扩大视场方法可最大限度的有效利用扫描模块的接收口径，保证激光雷达系统测远能力。
进一步地，每个所述发射模块具有多个用于发射脉冲激光束的光源，多个收发模块具有多个对应发射模块，每个所述发射模块包括多个垂直方向上间隔设置的光源，多个所述光源按照时序依次发射脉冲激光束，有效的提高了垂直视场的扫描轨迹线密度，并且本发明多光源采用分时间隔发射，有效的降低了接收光路的干扰。
进一步地，所述扫描模块可以包括二维振镜和驱动模块，所述驱动模块用于驱动所述二维振镜旋转或摆动。
进一步地，所述收发模块包括发射模块、光传输模块及探测模块，对于任意一个所述收发模块，所述发射模块、所述光传输模块和所述扫描模块沿第一光路依次设置，所述扫描模块、所述光传输模块和所述探测模块沿第二光路依次设置。所述光传输模块包括支撑单体和多个传输子模块， 所述支撑单体用于支撑所述传输子模块，所述支撑单体内设有多个光通道；多个所述传输子模块沿所述光通道依次设置，用于按照预设光路传输光束。本发明的光传输模块有利于激光雷达系统的集成化，一个支撑单体内合理设置多个光通道有以利于提高所述支撑单体的内部空间利用率，减小激光雷达系统的体积。
进一步地，所述第一光路中介于所述准直单元和所述反射单元之间的部分与所述第二光路介于所述会聚单元和所述分光单元之间的部分平行，所述第一光路介于所述反射单元和所述待测目标之间的部分与所述第二光路介于所述待测目标和所述分光单元的部分共轴。利用激光雷达系统部分光路收发同轴，可以有效减小支撑单体的体积，便于激光雷达系统的小型化和集成化。
进一步地，本发明通过测角单元测量扫描单元的可动部旋转角度，具体采用psd位置传感器可以通过测量位移得到可动部的空间坐标，从而减小芯片的运算量。
进一步地，本发明激光雷达系统通过所述外壳与所述封板的配合，所述测角单元和所述扫描单元可以封装为一个独立式集成度高的扫描模块，且能够预先装调，便于在激光雷达系统中安装和使用。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (38)

  1. 一种激光雷达系统，其特征在于，包括：
    多个收发模块，用于发射脉冲激光束以及接收所述脉冲激光束被待测目标反射后的回波信号；
    至少一个扫描模块，用于将多个所述收发模块发射的脉冲激光束反射至三维空间，及用于将所述回波信号反射至对应的所述收发模块；
    多个所述收发模块并排设置，相邻所述收发模块间隔第一预设距离，所述扫描模块位于多个所述收发模块一侧，多个所述收发模块的脉冲激光均朝向所述至少一个扫描模块，每个所述收发模块具有至少一个用于发射激光束的第一光源，每个所述收发模块对应探测一个子扫描视场，多个所述子扫描视场通过视场拼接构成所述激光雷达系统的总视场。
  2. 根据权利要求1所述的激光雷达系统，其特征在于，所述收发模块包括发射模块、光传输模块及探测模块，
    对于任意一个所述收发模块，所述发射模块和所述光传输模块沿第一光路依次设置，所述光传输模块和所述探测模块沿第二光路依次设置。
  3. 根据权利要求2所述的激光雷达系统，其特征在于，一个所述扫描模块对应至少一个所述收发模块，多个所述收发模块与所述扫描模块之间对应形成多个所述第一光路和多个所述第二光路。
  4. 根据权利要求3所述的激光雷达系统，其特征在于，对于任意一个所述第一光路，所述发射模块、所述光传输模块和所述扫描模块沿所述第一光路依次设置，所述发射模块用于发射所述脉冲激光束，所述光传输模块用于将所述发射模块发射的脉冲激光束传输至所述扫描模块，所述扫描模块用于将所述光传输模块传输的脉冲激光束反射至三维空间；
    对于任意一个所述第二光路，所述扫描模块、所述光传输模块和所述探测模块沿所述第二光路依次设置，所述扫描模块用于将所述回波信号反射至所述光传输模块，所述光传输模块用于将所述回波信号传输至所述探测模块，所述探测模块用于接收并处理所述光传输模块传输的回波信号。
  5. 根据权利要求2-4任意一项所述的激光雷达系统，其特征在于，所 述第一光路的一部分与所述第二光路的一部分平行或共轴。
  6. 根据权利要求2-4任意一项所述的激光雷达系统，其特征在于，每个所述发射模块具有多个用于发射脉冲激光束的所述第一光源，多个所述第一光源按照时序依次发射所述脉冲激光束。
  7. 根据权利要求2-4任意一项所述的激光雷达系统，其特征在于，所述光传输模块包括支撑单体和多个传输子模块，
    所述支撑单体用于支撑所述传输子模块，所述支撑单体内设有适于光线通过的多个光通道；
    多个所述传输子模块沿所述光通道依次设置，用于按照预设光路传输光束。
  8. 根据权利要求7所述的激光雷达系统，其特征在于，所述多个光通道包括第一光通道、第二光通道和第三光通道，
    所述第一光通道与所述第二光通道间隔且平行设置，所述第一光通道和所述第二光通道分别与所述第三光通道连通，所述第一光通道和所述第二光通道分别与所述第三光通道呈第一预设夹角。
  9. 根据权利要求8所述的激光雷达系统，其特征在于，
    所述支撑单体具有第一表面和第二表面，所述第一光通道和第二光通道分别贯通所述支撑单体的所述第一表面和所述第二表面，所述第二表面上开设有凹槽形成所述第三光通道，所述第三光通道的一端贯通至所述第一表面；
    或，
    所述支撑单体具有第一表面，所述第一光通道、所述第二光通道和所述第三光通道均为一端开口结构，所述第一光通道、所述第二光通道和所述第三光通道的开口端均位于所述第一表面。
  10. 根据权利要求8或9所述的激光雷达系统，其特征在于，所述传输子模块包括准直单元、反射单元和分光单元；
    所述准直单元设置于所述第一光通道内，用于将所述脉冲激光束调整为平行光束；
    所述反射单元设置于所述第一光通道与所述第三光通道的连通处，用 于反射所述准直单元调整后的所述平行光束；
    所述分光单元设置于所述第二光通道与所述第三光通道的连通处，用于透射所述反射单元反射的所述平行光束，及反射所述回波信号。
  11. 根据权利要求10所述的激光雷达系统，其特征在于，所述传输子模块还包括偏折单元和会聚单元，所述反射单元、所述分光单元和所述偏折单元位于同一轴线；
    所述偏折单元设置于所述第三光通道内远离所述反射单元的一端，用于偏折透射过所述分光单元的所述平行光束，及用于接收并偏折所述回波信号；
    所述会聚单元设置于所述第二光通道内，用于会聚所述分光单元反射的所述回波信号，以供所述探测模块接收。
  12. 根据权利要求11所述的激光雷达系统，其特征在于，所述准直单元、所述反射单元、所述分光单元、所述会聚单元和所述偏折单元分别相对于其对应的光通道呈预定角度设置。
  13. 根据权利要求10所述的激光雷达系统，其特征在于，所述激光雷达还包括光学盖板，所述光学盖板安装于多个所述支撑单体的第二表面，所述光学盖板部分或全部覆盖所述第三光学通道。
  14. 根据权利要求11或12所述的激光雷达系统，其特征在于，所述会聚单元包括过滤子单元和会聚子单元，所述过滤子单元沿所述第二光路设置于所述会聚子单元之前；
    所述过滤子单元用于透射所述分光单元反射的所述回波信号、及过滤掉预设波长范围以外的光信号；
    所述会聚子单元用于会聚所述过滤子模块透射的所述回波信号。
  15. 根据权利要求14所述的激光雷达系统，其特征在于，所述会聚单元还包括第一消光部件，所述第一消部件设置于所述会聚子单元与所述探测模块之间。
  16. 根据权利要求7所述的激光雷达系统，其特征在于，多个所述收发模块的所述支撑单体彼此相连形成支撑体。
  17. 根据权利要求16所述的激光雷达系统，其特征在于，所述发射模 块包括激光发射板和固定件，所述激光发射板通过连接件与所述固定件连接，所述第一光源设置于所述激光发射板上，所述固定件与所述支撑体相连。
  18. 根据权利要求17所述的激光雷达系统，其特征在于，所述探测模块包括接收装调子支架和接收电路板，所述接收装调子支架设置于所述固定件上，所述接收装调子支架设有用于装调固定所述接收电路板的第一安装部，所述接收电路板与所述第一安装部连接；
    所述接收电路板上设有至少一个探测器，所述探测器设置于所述接收电路板朝向激光雷达会聚单元的一侧面。
  19. 根据权利要求16所述的激光雷达系统，其特征在于，所述激光雷达系统还包括控制模块，所述控制模块分别与所述发射模块、所述扫描模块和所述探测模块连接，用于分别控制所述发射模块发射所述脉冲激光束、控制所述扫描模块旋转或摆动、及控制所述探测模块接收并处理所述回波信号。
  20. 根据权利要求19所述的激光雷达系统，其特征在于，所述激光雷达系统还包括壳体，用于容纳所述扫描模块、所述收发模块和所述控制模块。
  21. 根据权利要求20所述的激光雷达系统，其特征在于，所述壳体包括第一壳体和第二壳体，所述第一壳体和所述第二壳体密封连接形成第一容置空腔，所述扫描模块位于所述第一容置空腔的上部，所述收发模块位于所述第一容置空腔的下部。
  22. 根据权利要求21所述的激光雷达系统，其特征在于，所述激光雷达系统还包括封装支架，所述封装支架安装于所述第一壳体上部，所述封装支架位于所述第一容置空腔内，所述扫描模块安装于所述封装支架上。
  23. 根据权利要求3或4或20或21或22所述的激光雷达系统，其特征在于，所述扫描模块包括扫描单元和测角单元，所述扫描单元和所述测角单元间隔第二预设距离；
    所述扫描单元包括扫描基片，所述测角单元位于所述扫描基片的一侧，所述扫描基片包括可动部，所述可动部具有用于反射测角光束的第三面，
    所述测角单元包括第二光源和接收组件，所述第二光源和所述接收组件间隔第三预设距离，所述第二光源的光出射方向朝向所述第三面，所述接收组件的接收侧朝向所述第三面，所述第三面用于将所述第二光源发出的测角光束反射至所述接收组件。
  24. 根据权利要求21所述的激光雷达系统，其特征在于，所述激光雷达系统还包括前窗，用于透射所述扫描模块反射的脉冲激光束及透射所述回波信号；
    所述第一壳体包括第一侧板和第一底板，所述第一侧板与所述第一底板呈第四预设夹角，所述前窗安装于所述第一侧板上，所述第一侧板上设有镂空区域，所述前窗覆盖所述镂空区域。
  25. 根据权利要求21所述的激光雷达系统，其特征在于，所述控制模块包括控制电路板，所述控制电路板通过连接件与所述支撑体连接；
    所述激光雷达系统还包括散热件，所述散热件位于所述第二壳体与所述控制电路板之间，所述散热件分别与所述第二壳体的内表面和所述控制电路板接触。
  26. 一种激光雷达系统，其特征在于，包括：
    至少一个收发模块，用于发射脉冲激光束以及接收所述脉冲激光束被待测目标反射后的回波信号；
    至少一个扫描模块，用于将所述至少一个收发模块发射的脉冲激光束反射至三维空间，及用于将所述回波信号反射至对应的所述收发模块；
    每个所述收发模块包括发射模块，所述发射模块具有多个间隔设置的第一光源。
  27. 根据权利要求26所述的激光雷达系统，其特征在于，所述激光雷达系统具有m个所述收发模块，其中m≥2且m为正整数，m个所述收发模块具有m个对应的所述发射模块，每个所述发射模块具有n个所述第一光源，其中n≥2且n为正整数，每个所述发射模块的n个所述第一光源按照预设时序依次发射脉冲激光束。
  28. 根据权利要求27所述的激光雷达系统，其特征在于，
    所述扫描模块通过摆动将所述第一光源发射的脉冲激光束反射至三维 空间，从而实现光栅式扫描，并得到每个所述第一光源的二维扫描轨迹线。
  29. 根据权利要求28所述的激光雷达系统，其特征在于，所述二维扫描轨迹线为周期性曲线。
  30. 根据权利要求29所述的激光雷达系统，其特征在于，对于任意一条所述二维扫描轨迹线，相邻周期对应的所述二维轨迹线的起点之间间隔第一偏移量。
  31. 根据权利要求30所述的激光雷达系统，其特征在于，多个所述第一光源在第一方向上等间距间隔分布，
    对于任意一个所述发射模块，相邻所述第一光源的所述二维扫描轨迹线的起始位置之间间隔第二偏移量。
  32. 根据权利要求31所述的激光雷达系统，其特征在于，所述第二偏移量大于零，且所述第二偏移量不等于所述第一偏移量。
  33. 根据权利要求27-32任意一项所述的激光雷达系统，其特征在于，一个所述扫描模块对应至少一个所述收发模块，多个所述收发模块与所述扫描模块之间对应形成多个第一光路和多个第二光路。
  34. 根据权利要求33所述的激光雷达系统，其特征在于，所述收发模块还包括光传输模块和探测模块，对于任意一个所述收发模块，所述发射模块和所述光传输模块沿所述第一光路依次设置，所述光传输模块和所述探测模块沿所述第二光路依次设置；
    对于任意一个所述第一光路，所述发射模块、所述光传输模块和所述扫描模块沿所述第一光路依次设置，所述发射模块用于发射脉冲激光束，所述光传输模块用于将所述发射模块发射的脉冲激光束传输至所述扫描模块，所述扫描模块用于将所述光传输模块传输的脉冲激光束反射至三维空间；
    对于任意一个所述第二光路，所述扫描模块、所述光传输模块和所述探测模块沿所述第二光路依次设置，所述扫描模块用于将所述回波信号反射至所述光传输模块，所述光传输模块用于将所述回波信号传输至所述探测模块，所述探测模块用于接收并处理所述光传输模块传输的回波信号。
  35. 根据权利要求34任意一项所述的激光雷达系统，其特征在于，所 述光传输模块包括支撑单体和多个传输子模块，
    所述支撑单体用于支撑所述传输子模块，所述支撑单体内设有多个光通道；
    多个所述传输子模块沿所述光通道依次设置，用于按照预设光路传输光束。
  36. 根据权利要求35所述的激光雷达系统，其特征在于，多个所述收发模块的所述支撑单体彼此相连形成支撑体。
  37. 根据权利要求36所述的激光雷达系统，其特征在于，所述发射模块包括激光发射板和固定件，所述激光发射板通过连接件与所述固定件连接，所述多个第一光源设置于所述激光发射板上，所述固定件与所述支撑体相连。
  38. 根据权利要求37所述的激光雷达系统，其特征在于：所述探测模块包括接收装调支架和接收电路板，所述接收装调支架设置于所述固定件上，所述接收装调支架设有用于装调固定所述接收电路板的安装部，所述接收电路板与所述安装部连接；
    所述接收电路板上设有与所述激光发射板上设置的所述多个第一光源数目相等的多个探测器，所述多个探测器在第一方向上等间距分布。
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