WO2021057809A1 - 激光雷达及其控制方法和具有激光雷达的设备 - Google Patents

激光雷达及其控制方法和具有激光雷达的设备 Download PDF

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Publication number
WO2021057809A1
WO2021057809A1 PCT/CN2020/117217 CN2020117217W WO2021057809A1 WO 2021057809 A1 WO2021057809 A1 WO 2021057809A1 CN 2020117217 W CN2020117217 W CN 2020117217W WO 2021057809 A1 WO2021057809 A1 WO 2021057809A1
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WIPO (PCT)
Prior art keywords
laser
detection
receiving
sub
area
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PCT/CN2020/117217
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English (en)
French (fr)
Inventor
王超
侯松山
Original Assignee
深圳市速腾聚创科技有限公司
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Priority claimed from CN201910917732.XA external-priority patent/CN112558104A/zh
Priority claimed from PCT/CN2020/070547 external-priority patent/WO2021051727A1/zh
Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to CN202080004982.5A priority Critical patent/CN112955786A/zh
Publication of WO2021057809A1 publication Critical patent/WO2021057809A1/zh
Priority to US17/704,088 priority patent/US20220390603A1/en

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • This application relates to the technical field of laser detection, and in particular to a laser radar, a control method thereof, and a device with a laser radar.
  • lidar systems that emit laser beams to detect the position and speed of target objects have emerged, and lidar systems have been widely used in various fields, such as ranging, low Flying target tracking and measurement, weapon guidance, atmospheric monitoring, surveying and mapping, early warning, traffic management and other fields, especially in the field of autonomous driving, lidar systems are often used to achieve field-of-view detection and imaging of the surrounding environment of vehicles to enable autonomous driving The vehicle can plan the correct driving route based on the information detected by the lidar system.
  • the flash lidar system is widely used in autonomous vehicles because of its simple structure, low system load, and long optical and mechanical life, so as to realize the detection of the near field around the vehicle.
  • the basic working principle of the Flash lidar system is that the transmitting end illuminates the entire field of view area to be detected by the "flooding" method at the transmitting end, and the receiving end uses the corresponding detector to receive all the echoes in the field of view area. Laser, so as to obtain the detection information in the field of view area by analyzing the echo laser.
  • the above-mentioned Flash lidar system has a limited field of view angle range of the emitted laser light, which causes the detection blind area of the above-mentioned Flash lidar system to be large, and reduces the obstacle avoidance ability of the vehicle applying the above-mentioned Flash lidar system.
  • the existing Flash lidar system has insufficient detection range. Increasing the detection range requires a significant increase in the transmission power, and the system's power consumption, thermal effects, and device costs will all soar.
  • the embodiments of the present application provide a laser radar, a detection method thereof, and a device having the laser radar, which can reduce detection blind areas and effectively improve the utilization rate of the emitted laser energy.
  • a lidar system comprising: at least two laser transceiver components; detection areas corresponding to at least two laser transceiver components are spliced together; The vertical direction is divided into at least two detection sub-areas, each of the detection sub-areas is aligned with a different angular range of the detection area in the vertical direction; each of the laser transceiver components includes a correspondingly arranged laser emitting device and laser Receiving device
  • the laser emitting device is used for emitting laser light in a preset direction to the corresponding detection area
  • the laser receiving device is used for receiving the reflected laser light returned after the object in the corresponding detection area reflects the emitted laser light.
  • a method for controlling a lidar system which is applied to the lidar system, characterized in that the lidar system includes at least two laser transceiver components, and at least two The detection areas corresponding to the laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas in the vertical direction, and each detection sub-areas is aligned with a different angle range of the detection area in the vertical direction
  • Each of the laser transceiver components includes a corresponding laser emitting device and a laser receiving device, and the method includes:
  • Control the laser receiving device to receive the reflected laser light returned after the object in the corresponding detection area reflects the emitted laser light.
  • a lidar including:
  • the shell defines a transmitting chamber and a receiving chamber
  • the laser emitting device is arranged in the emitting chamber and is used to emit a laser beam to the first target area;
  • a plurality of laser receiving devices are arranged in the receiving chamber, the plurality of laser receiving devices can receive the laser beam reflected in the second target area, the first target area and the second target area at least partially overlap;
  • the second target area is composed of multiple sub-detection areas, each sub-detection area is smaller than the first target area and at least partially overlaps the first target area, and each laser receiving device receives the reflections in each sub-detection area in a one-to-one correspondence. Laser beam.
  • the fourth aspect of the embodiments of the present application also provides a device, including any one of the foregoing lidars.
  • the present application provides a lidar system, which adopts a combination of two or more laser transceiver components to expand the detection area of the lidar system in the horizontal direction, realizes a large-angle detection area, and reduces the lidar
  • the range of the blind areas on both sides of the horizontal side illuminated by the laser from the system can improve the obstacle avoidance ability of the vehicle applying the lidar system; in addition, the different detection sub-areas can be matched with the laser emitting device according to the actual application requirements, which avoids the detection
  • the waste of light energy caused by the mismatch of the energy density of the outgoing laser improves the utilization of light energy in each detection sub-area, which not only meets the application requirements of system detection, but also reduces the overall power consumption of the lidar system, thereby reducing The manufacturing cost of the lidar system is reduced.
  • a laser radar is also provided.
  • the laser radar has the laser emitting device and the laser receiving device independently arranged, and the number of the laser receiving device is at least two. Compared with the structure of the prior art with only one laser receiving device, Adding multiple laser receiving devices can expand the receiving field of view and increase the detection angle of view, thereby reducing the detection blind zone of the lidar.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment
  • Fig. 2 is a schematic diagram of a lidar system provided by an embodiment
  • Fig. 2A is a schematic diagram of a beam emitted by a lidar system provided by an embodiment
  • FIG. 2B is a schematic diagram of a beam emitted by a lidar system according to an embodiment
  • 2C is a schematic diagram of a lidar system provided by an embodiment
  • 2D is a schematic diagram of a laser transceiver assembly provided by an embodiment
  • 2E is a schematic diagram of a laser transceiver assembly provided by an embodiment
  • 2F is a schematic diagram of a laser transceiver assembly provided by an embodiment
  • Fig. 3 is a schematic diagram of the outgoing laser projection of a lidar system according to an embodiment
  • Fig. 4 is a schematic diagram of a lidar system provided by an embodiment
  • 4A is a schematic diagram of a detection field of view of a lidar system provided by an embodiment
  • Fig. 5 is a schematic diagram of a lidar system provided by an embodiment
  • Fig. 5A is a schematic diagram of a detection field of view of a lidar system provided by an embodiment
  • Fig. 6 is a schematic diagram of a lidar system provided by an embodiment
  • Fig. 6A is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 6B is a schematic diagram of a lidar system provided by an embodiment
  • Fig. 7 is a schematic diagram of a lidar system provided by an embodiment
  • Fig. 7A is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 7B is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 8 is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 8A is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 9 is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 9A is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 10 is a schematic diagram of a lidar system provided by an embodiment
  • FIG. 11 is a schematic diagram of a beam emitted by a lidar system according to an embodiment
  • FIG. 12 is a schematic diagram of a vehicle provided by an embodiment
  • FIG. 13 is a flowchart of a method for controlling a lidar system according to an embodiment
  • FIG. 14 is a schematic diagram of the internal structure of a computer device provided by an embodiment.
  • FIG. 15 is a three-dimensional schematic diagram of a lidar in an implementation of this application.
  • FIG. 16 is a three-dimensional schematic diagram of a combination of a lidar housing, a laser emitting device, and a laser receiving device in an embodiment of the application;
  • FIG. 17 is a schematic diagram of the first explosion of the lidar in an embodiment of the application.
  • FIG. 18 is a first full cross-sectional schematic diagram of a lidar in an embodiment of this application.
  • FIG. 19 is a schematic diagram of a second explosion of the lidar in an embodiment of this application.
  • FIG. 20 is an exploded schematic diagram of a lidar housing in an embodiment of the application.
  • FIG. 21 is a three-dimensional schematic diagram of a part of the housing of the lidar and the laser emitting device in an embodiment of the application;
  • FIG. 22 is a second full-sectional schematic diagram of the lidar in an embodiment of the application.
  • FIG. 23 is a third full-sectional schematic diagram of the lidar in an embodiment of the application.
  • 24 is a schematic diagram of a curve of light intensity varying with position in the emission field of view of a laser emitting device in the prior art
  • FIG. 25 is a schematic diagram of a curve of light intensity varying with position in the emission field of view of a laser emitting device in an embodiment of the application;
  • FIG. 26 is a schematic diagram of a curve of the angle of the received light in the receiving field of view of the laser receiving device as a function of uniformity, in which curve 1 is a schematic curve of a laser receiving device in the prior art, and curve 2 is an embodiment of the application Schematic curve in
  • FIG. 27 is a schematic diagram of the range of the receiving field of the laser receiving device, where the field of view E is a schematic view of the field of view in the prior art, and the field of view F is a schematic view of the field of view in an embodiment of the application;
  • FIG. 28 is a schematic diagram of a device in an embodiment of this application.
  • Figure 29 is a schematic diagram of a device in another embodiment of the application.
  • the lidar provided in this application can be applied to any equipment that requires laser detection, such as a car in the application environment shown in FIG. 1.
  • Lidar can detect parameters such as the distance and speed of the car relative to obstacles.
  • Vehicles use the Lidar system to detect nearby moving or approaching obstacles, such as taller vehicles, roadside still life, sudden approaching flying objects, etc. , So that the vehicle can plan a path that can avoid the obstacle based on the detected information, so that the vehicle can avoid collision with the obstacle.
  • the vehicle may be an auto-driving vehicle or a normal vehicle, which is not limited in this application.
  • the method for vehicles to recognize obstacles in the surrounding environment by using the lidar system has been widely used, especially the flash lidar system is widely used in the near-field detection of vehicles.
  • the output power and field of view angle of the light source of the traditional flash lidar system are fixed, which will cause a large blind area in front or on both sides of the vehicle to which the lidar system is applied, thereby reducing the vehicle’s Obstacle avoidance ability. Therefore, in view of the above-mentioned problems, this application proposes a laser radar and a device with the laser radar, which aims to solve the above-mentioned problems.
  • Fig. 2 is a schematic diagram of a lidar system provided by an embodiment.
  • the lidar system includes: at least two laser transceiver components, of which the detection areas corresponding to the at least two laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas in the vertical direction Each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; each laser transceiver component includes a correspondingly arranged laser emitting device and a laser receiving device; the laser emitting device is used to emit a preset direction of outgoing laser To the corresponding detection area; the laser receiving device is used to receive the reflected laser light returned after the object in the corresponding detection area reflects the laser light.
  • the above-mentioned laser emitting device can emit laser light with any emission angle, and the specific emission angle can be set in advance according to actual application requirements, which can be an emission angle of 60°*90°, an emission angle of 90°*90°, and the like.
  • the angle of the emitted laser light is 90°*5°, where 90° is the lateral angle of the laser emitting device, and 5° is the laser The longitudinal exit angle of the radar launch system.
  • the above-mentioned laser emitting device may include at least one laser emitting device.
  • the above-mentioned laser emitting device can also adjust the detection capability of the emitted lasers covering different angular ranges of the detection area by setting different types of laser emitters, different output powers of the laser emitters, and different arrangement densities of the laser emitters. , Such as detection distance and detection accuracy.
  • the above-mentioned laser emitting device can also adjust the emitting direction of the emitted laser by setting the arrangement direction of the laser emitters or arranging optical components in front of the laser emitters, so that the emitted lasers cover different angular ranges of the detection area. For example, as shown in the schematic diagram of the emitted beam of the laser emitting device shown in FIG.
  • the exit angle of #1 outgoing laser is 90°*5°
  • the outgoing direction is in the air direction, covering the angle range of -2.5° to 2.5° detection area (where the horizontal direction is 0°)
  • the emitting angle range of #2 outgoing laser is 90°*12°
  • outgoing The direction is the ground direction, covering the angular range of the detection area from 8° to 20°.
  • the above-mentioned laser emitting device may include at least one laser emitter, and each laser emitter may be arranged in an array, so that the laser emitting device emitted by the laser emitting device has a certain emission angle range.
  • the types of the laser emitter arrays in the laser emitting device can be the same.
  • the types of the laser emitter arrays in the laser emitting device can also be different; the laser emitters can choose continuous light emission.
  • the light source can also be a pulsed light source; the laser transmitter can be an LED (light emitting diode), LD (laser diode), or VCSEL (vertical cavity surface emitting laser), etc., which is not limited in this embodiment.
  • the output power of each laser emitter array in the laser emitting device may be the same.
  • the output power of each laser emitter array in the laser emitting device may also be different.
  • a single LED The peak power of the light source is generally 0.5-4W, and the optional range of the peak power of the VCSEL light source is generally 0.5-6W. This can be designed according to actual application requirements.
  • the above-mentioned laser receiving device can receive the reflected laser light emitted from the laser emitting device in the laser transceiver assembly and projected to the detection area and then returned.
  • the laser receiving device 12 in FIG. 2 receives the laser emitting device 11 in the laser transceiver assembly 1 to project.
  • the laser receiving device 22 receives the reflected laser light that returns after reaching the corresponding detection area, and the laser receiving device 22 receives the reflected laser light that is projected to the corresponding detection area by the laser emitting device 21 in the laser transceiver assembly 2 and returned.
  • the above-mentioned laser receiving device is also used for photoelectric conversion of the received reflected laser light, specifically converting the optical signal of the reflected laser light into an electrical signal, and then further analyzing and analyzing the electrical signal, so as to obtain the information of the object in each detection area.
  • Information for example, imaging or distance information of an object.
  • the laser receiving device includes a receiving lens and a laser receiver.
  • the receiving lens is used to receive the reflected laser light in the corresponding detection area and converge the received reflected laser to the laser receiver; the laser receiver is used to receive the receiving lens
  • the reflected laser light is converted into electrical signals for analysis, and information about objects in the detection area is obtained.
  • the above-mentioned receiving lens may specifically adopt a receiving lens having a sufficient "field of view", a large aperture, and a large field of view, so as to be able to receive as much reflected laser light as possible.
  • the type of the above-mentioned laser receiver can be determined according to actual application requirements according to the type of laser transmitter.
  • the receiver can be SPIM (silicon photomultiplier tube), CCD device, CMOS device, or even integrated TOF. Chips and other devices that can realize optical signal conversion and analysis.
  • the detection area corresponding to each laser transceiver component can be divided into at least two detection sub-areas in the vertical direction, and each detection sub-areas is aligned with a different angular range of the detection area in the vertical direction.
  • the detection area of the lidar system may include multiple detection sub-areas.
  • the detection area can be specifically divided into ground detection sub-areas and center detection sub-areas. Area and sky detection sub-area.
  • the above-mentioned ground detection sub-area is used to detect road obstacles, roadsides, near-field blind areas, etc.;
  • the central detection sub-area is used to detect horizontally moving pedestrians, vehicles, buildings, etc. in the front area;
  • the sky detection sub-area is used to detect Mid-air obstacles, nearby vehicles, road infrastructure, etc., such as height-limiting poles, power distribution boxes, low-altitude flying drones, etc.
  • a laser transceiver component in the lidar system Take a laser transceiver component in the lidar system as an example.
  • the schematic diagram of the laser emitting device of the laser emitting device is shown in Figure 11.
  • the longitudinal angle of the laser emitting device in the figure is 105°, and the sky detection sub-region emits The angle is 12.5°, the corresponding detection area's angular range is -15° to -2.5° (the horizontal direction is 0°); the central detection sub-area has an exit angle of 5°; the central detection sub-area has an angular range of -2.5° to + 2.5°; the emission angle range of the ground detection area is 87.5°, and the angle range of the ground detection sub-area is +2.5° to +90°.
  • the longitudinal angular range of the total detection area of the lidar system is divided into the sky detection sub-area, the central detection sub-area, and the ground detection sub-area.
  • the total detection area of the lidar system is divided into multiple sub-areas in the vertical direction. Therefore, when designing a lidar system, different types of laser transmitters can be set according to the different needs of each sub-area, or laser transmitters of the same type but different emission powers can be set, or the same type can be set But the laser transmitters of different arrangement density.
  • the central detection area often needs to have a long-distance detection capability, so generally a laser transmitter with higher power is required, and the ground detection area is usually close to the ground due to the distance between the lidar system and the ground, so it only needs to have a relatively short distance.
  • the short-distance detection capability is sufficient, so generally a laser transmitter with a lower power is required to not cause energy waste.
  • the division of multiple sub-areas allows the laser emitting device to emit laser light with different powers and different emission angle ranges to different detection sub-areas, so as to detect objects in the detection sub-areas according to the needs of each detection sub-area, avoiding detection
  • the waste of light energy caused by the mismatch between the sub-area and the emission power improves the utilization of the light energy in each detection sub-area, thereby reducing the power consumption of the lidar system, thereby reducing the manufacturing cost of the lidar system.
  • FIG. 2 In combination with the foregoing description of the various components in the lidar system, refer to FIG. 2 and take the application scenario of FIG. 1 as an example to illustrate the working principle of the lidar system described in this embodiment. Its working principle is: when the lidar system on the vehicle needs to detect the surroundings of the vehicle, multiple laser transceiver components in the lidar system can work at the same time.
  • the laser transmitter of each laser transceiver component emits and emits Laser
  • the emitted laser is emitted to the corresponding angle range of the detection area
  • the detection areas corresponding to different laser emitting components are spliced to form a detection area with a larger angle range
  • the emitted laser is emitted to the angle range of the corresponding detection area
  • the reflected laser light is received by the receiving lens in the laser receiving device.
  • the reflected laser light After passing through the receiving lens, the reflected laser light is condensed to the laser receiver, and the optical signal of the reflected laser light is converted into an electrical signal for analysis, and the detection area is obtained.
  • Object information so as to obtain the environment around the vehicle.
  • the laser transceiver component when the laser transceiver component emits laser light to the corresponding detection area, the laser transceiver component can emit multiple laser beams with different energy densities to the corresponding detection area, and each laser beam can be projected to the corresponding detector.
  • the area is equivalent to that each detection area is divided into sub-areas with different angular ranges along the vertical direction.
  • the laser radar system includes: at least two laser transceiver components, each laser transceiver component includes a correspondingly arranged laser emitting device and a laser receiving device; the detection areas corresponding to at least two laser transceiver components are spliced; each A detection area is divided into at least two detection sub-areas along the vertical direction, and each detection sub-area is aligned with a different angular range of the detection area along the vertical direction; the above-mentioned laser emitting device is used to emit the laser beam in the preset direction to the corresponding Detection area; the above-mentioned laser receiving device is used to receive the reflected laser light returned after the object in the corresponding detection area reflects the emitted laser light.
  • the above scheme adopts the combination and splicing of two or more laser transceiver components, which can expand the detection area of the lidar system in the horizontal direction, realize a large-angle detection area, and reduce the horizontal radiation of the laser radiation from the lidar system.
  • the range of the side blind zone can improve the obstacle avoidance ability of the vehicle applying the lidar system.
  • the detection area corresponding to each laser transceiver component includes a plurality of detection sub-areas divided in the vertical direction, and each detection sub-areas can be aligned with different angles of the detection area in the vertical direction.
  • the range is equivalent to that the laser transceiver component emits multiple outgoing laser beams at the same time and faces different outgoing angle ranges.
  • the detection area has different detection distance requirements for different angle ranges along the vertical direction.
  • the detection sub-area with a shorter detection distance corresponds to the low energy density of the emitted laser light of the laser emitting device
  • the detection sub-area with a long detection distance corresponds to the energy density of the emitted laser light emitted by the laser emitting device High
  • the multiple laser transceiver components included in the lidar system can have multiple layouts, which can be arranged side by side in the horizontal direction, as shown in Figure 2; alternatively, they can also be arranged in the vertical direction.
  • the longitudinal arrangement is, for example, as shown in Fig. 2C; alternatively, it can also be arranged in two dimensions in the horizontal direction and the vertical direction.
  • the layout of the laser transceiver component is related to the position and size of the detection area of the laser transceiver component. The detection of the position and size of the different detection area of the laser radar system can be achieved through different layout methods. By arranging multiple laser transceiver components, multiple laser transceiver components can be arranged.
  • the splicing of the detection areas of the two laser transceiver components in the horizontal direction realizes the expansion of the coverage of the detection area on the horizontal plane of the lidar system; the splicing in the vertical direction realizes the coverage of the detection area on the vertical plane of the lidar system At the same time, the splicing in the horizontal and vertical directions realizes that the lidar system not only expands the coverage of the detection area on the horizontal plane, but also expands the coverage of the detection area on the vertical plane.
  • the laser emitting device and the laser receiving device in each laser transceiver assembly can also have multiple layouts.
  • the laser emitting device and the laser receiving device of the laser transceiver assembly can be arranged in a horizontal direction or a vertical direction.
  • the laser emitting device and the laser receiving device can be arranged side by side in the horizontal direction; alternatively, as shown in Figure 2E, the laser emitting device and the laser receiving device are also It can be arranged longitudinally in the vertical direction. Moreover, the laser emitting devices and laser receiving devices in different laser transceiver components can also be arranged in a staggered arrangement, as shown in FIG. 2F.
  • the lidar system includes at least two laser transceiver components
  • the at least two laser transceiver components are arranged side by side in the horizontal direction, and the detection areas corresponding to the at least two laser transceiver components are performed in the horizontal direction. Splicing.
  • the laser radar system includes two laser transceiver components, namely the laser transceiver component 1 and the laser transceiver component 2, and the detection area of the laser transceiver component 1 is 90° ⁇ 90°, the detection area of the laser transceiver module 2 is also 90° ⁇ 90°, the laser transceiver module 1 and the laser transceiver module 2 are arranged side by side in the horizontal direction, so that the laser light emitted by the laser transceiver module 1 and the laser transceiver module 2 The sum of the splicing angle ranges of the beams is 180° ⁇ 90°.
  • the detection area 1 corresponding to the laser transceiver module 1 and the detection area 2 corresponding to the laser transceiver module 2 are spliced in the horizontal direction. After the splicing, the entire lidar system is enlarged. Detection area.
  • the specific splicing method is related to the settings of the laser emitting device and the laser receiving device in each laser transceiver assembly, specifically related to the spatial position and arrangement of the laser emitting device and the laser receiving device, so as to avoid creating new shadow areas or Blind areas, near-field saturation caused by reflected light or multipath effects, etc., also need to be optically isolated between the laser emitting device and the laser receiving device.
  • the present application also provides a lidar system.
  • the lidar system includes two laser transceiver components, a first laser transceiver component and a second laser transceiver component; the first laser transceiver component
  • the corresponding first detection area and the second detection area corresponding to the second laser transceiver component face different directions, and the first detection area and the second detection area are spliced in a horizontal direction.
  • the first transceiver component and the second transceiver component are installed on different side planes of the lidar system (the 01 plane and the 02 plane in Figure 4), so that the first detection area of the first transceiver component faces one direction , The second detection area of the second laser transceiver component faces another direction, the first detection area and the second detection area face different directions, and then the laser emitted from the first laser transceiver component and the laser emitted from the second laser transceiver component have different directions The direction is projected to the detection area in different directions.
  • the first detection area and the second detection area can be spliced to obtain the detection area of the entire lidar system after splicing.
  • first detection area and the second detection area may be joined adjacently.
  • first detection area and the second detection area may also be partially interleaved, as long as the spliced detection area can meet actual application requirements.
  • Figure 4 it can be seen from Figure 4 that when designing the lidar system, there is an angle between the 01 plane and the 02 plane, so that the first detection area of the first laser transceiver component can face one direction, and the second laser The second detection area of the transceiver component can face another direction, and the specific size of the included angle can be determined according to actual application requirements, which is not limited in this embodiment.
  • the splicing method of the first detection area and the second detection area is determined by the layout of the first laser transceiver component and the second transceiver component. Therefore, this application specifically provides two types of first laser transceiver components and the second laser transceiver component. Second, the layout of the laser transceiver components. Next, we will introduce these two layouts.
  • the first layout method is: as shown in the schematic structural diagram of the lidar system as shown in Fig. 4, the first detection area and the second detection area can be set opposite to each other, that is, the first laser transceiver component and the second laser in the lidar system
  • the transceiver components are respectively arranged on different side planes of the lidar system (01 plane and 02 plane in the figure) opposite to each other.
  • the detection area of the lidar system is formed by splicing the first detection area and the second detection area. Detection area.
  • the lidar system shown in Figure 4 when used for detection, as shown in Figure 4A, taking the XY horizontal plane as an example, the horizontal angle range of the first detection area of the first laser transceiver component in the lidar system is 95° , And face the -xy direction; the horizontal angle range of the second detection area of the second laser transceiver component is 95°, and faces the +xy direction.
  • the first detection area and the second detection area are spliced adjacently, and the obtained detection field angle of the lidar system is 180°. It should be noted that the first detection area and the second detection area have overlapping areas (area A in the figure) and blind areas (area B in the figure) during adjacent splicing, and the detection resolution of the overlapping area is higher.
  • the size of the overlap area and the blind area is related to the layout of the first laser transceiver component and the second laser transceiver component, and the size of the first detection area and the second detection area.
  • the above-mentioned structure where the first laser transceiver component and the second laser transceiver component are arranged opposite to each other makes the back-end space of the laser radar system relatively compact, which facilitates the volume optimization design of the laser radar system, and reduces the volume of the laser radar system. Reduce the manufacturing cost of the lidar system.
  • the second layout method is: as shown in the schematic structural diagram of the lidar system as shown in Fig.
  • the first detection area and the second detection area are arranged relative to each other, that is, the first laser transceiver component and the second laser transceiver component in the laser radar system They are respectively set on different side planes of the lidar system (plane 03 and plane 04 in the figure).
  • the detection area of the lidar system is the detection area formed by the splicing of the first detection area and the second detection area .
  • the horizontal angle range of the first detection area of the first laser transceiver component in the lidar system is 95° , And face the +xy direction; the horizontal angle range of the second detection area of the second transceiver component is 95°, and faces the -xy direction.
  • the first detection area and the second detection area are partially interlaced and spliced, and the horizontal angle range of the detection area of the lidar system obtained is 180°.
  • each laser transceiver assembly can have multiple layouts, which can be arranged in a horizontal or vertical direction.
  • the laser radar system includes two laser transceiver components, and the two laser transceiver components are arranged horizontally, and the layout of the laser transmitter and laser receiver device of each laser transceiver component is arranged horizontally.
  • the first laser emitting device and the first laser receiving device in the first laser transceiving assembly in the lidar system are arranged side by side in the horizontal direction, and the second laser emitting device in the second laser transceiving assembly is arranged in parallel with each other in the horizontal direction.
  • the second laser receiving devices are arranged side by side in the horizontal direction.
  • the emitting direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device;
  • the emitting direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.
  • This embodiment relates to the case where only one laser emitting device and one corresponding laser receiving device are included in the first laser transceiving assembly and the second laser transceiving assembly.
  • the emitted laser light of the first laser emitting device is projected to the first detection area, and the first laser receiving device receives the reflected laser light that returns after being reflected by the object in the first detection area.
  • the emitted laser light of the second laser emitting device is projected to the second detection area, and the second laser receiving device receives the reflected laser light that returns after being reflected by the object in the second detection area.
  • the detection area of the lidar system is the detection area after the splicing of the first detection area and the second detection area.
  • the first detection area and the second detection area in FIG. 6 only show a situation of intersecting splicing. In practical applications, it also includes cases such as adjacent splicing, non-adjacent splicing and non-intersecting splicing. .
  • FIG. 6 mainly illustrates the relationship between the emission direction and the optical axis direction of each laser transceiver component, and does not mean that the actual detection area of each laser transceiver component is the size shown in the figure.
  • the first laser transceiving assembly and the second laser transceiving assembly may also include multiple laser emitting devices and a corresponding laser receiving device, as shown in FIG.
  • #1 laser emitting device And #2 laser emitting device corresponds to #1 laser receiving device at the same time, and the emitting direction of #1 laser emitting device and #2 laser emitting device is the same as the optical axis direction of #1 laser receiving device.
  • #1 laser emitting device and #2 laser emitting device emit laser light to each corresponding detection area (#1 detection area and #2 detection area), #1 receiving lens receives from #1 detection area and #2 detection area The reflected laser light that returns after being reflected by the middle object.
  • #3 laser emitting device and #4 laser emitting device correspond to #2 laser receiving device at the same time, and the emitting direction of #3 laser emitting device and #4 laser emitting device is the same as the optical axis direction of #2 laser receiving device.
  • #3 laser emitting device and #4 laser emitting device emit laser light to the corresponding detection area (#3 detection area and #4 detection area), #2 receiving lens receives from #3 detection area and #4 detection area The reflected laser light that returns after the object is reflected.
  • the lidar system 10 includes: a housing 100, a laser emitting device, and a plurality of laser receiving devices; the housing 100 is used to define an internal cavity 200, and the internal cavity 200 can It is divided into a transmitting chamber 210 and a receiving chamber 220.
  • the laser emitting device is arranged in the transmitting chamber 210 and is used to emit a laser beam to the first target area.
  • a plurality of laser receiving devices are arranged in the receiving chamber 220, and a plurality of laser receiving devices are arranged in the receiving chamber 220.
  • each laser receiving device can receive the laser beam reflected in the second target area, the first target area and the second target area at least partially overlap; wherein, the second target area is composed of multiple sub-detection areas, each sub-detection area is smaller than the first target area And at least partially overlap with the first target area, and each laser receiving device receives the reflected laser beams in each sub-detection area in a one-to-one correspondence.
  • the number of laser emitting devices is the same as the number of laser receiving devices, and each laser receiving device receives the laser beams emitted by each laser emitting device to the first target area and reflected back one by one.
  • the number of laser emitting devices may be two.
  • the two laser emitting devices are referred to as the first emitting device 410 and the second emitting device 420.
  • the first emitting device 410 emits a laser beam into the first sub-emitting area
  • the second emitting device 420 emits a laser beam into the second sub-emitting area.
  • the first sub-emission area and the second sub-emission area may partially overlap, completely overlap, or not overlap.
  • the first sub-emission area and the second sub-emission area may partially overlap to achieve full coverage of the overall detection field of view.
  • the number of laser receiving devices can also be two.
  • the two laser receiving devices are called the first receiving device 310 and the second receiving device 320, and the first receiving device 310 and The second receiving device 320 is configured to receive the laser beam reflected back in the first target area.
  • the first receiving device 310 receives the laser beam reflected in the first sub-detection area
  • the second receiving device 320 receives the laser beam reflected in the second sub-detection area.
  • the receiving field angles of the first receiving device 310 and the second receiving device 320 are smaller than the second target area, which can simplify the design difficulty of the receiving lens, reduce the interference of ambient light, and improve the signal-to-noise ratio of the received signal.
  • the first sub-detection area and the second sub-detection area may partially overlap, completely overlap, or not overlap.
  • the first sub-detection area and the second sub-detection area may partially overlap to achieve full coverage of the overall detection field of view.
  • Each laser receiving device corresponds to each laser emitting device one by one, and a corresponding pair of laser emitting device and laser receiving device constitutes a laser transceiver assembly.
  • the lidar system includes two laser transceiver components, a first laser transceiver component and a second laser transceiver component; the first laser transceiver component includes a first transmitting device 410 and a first receiving device 310, and the second laser transceiver component includes a second laser transceiver component.
  • the transmitting device 420 and the second receiving device 320 includes two laser transceiver components, a first laser transceiver component and a second laser transceiver component;
  • the first sub-detection area of the first receiving device 310 is located in the first sub-transmission area of the first transmitter 410, and the overlapping area is the first detection area; in the second laser transceiver component, the first sub-detection area
  • the second sub-detection area of the second receiving device 320 is located in the second sub-transmission area of the second transmitting device 420, and the overlapping area is the second detection area.
  • the first detection area corresponding to the first laser transceiver component and the second detection area corresponding to the second laser transceiver component face different directions, and the first detection area and the second detection area are spliced in a horizontal direction.
  • the emission direction of the first laser emitting device 410 is the same as the optical axis direction of the first laser receiving device 310; the emission direction of the second laser emitting device 420 is the same as the optical axis of the second laser receiving device 320 The same direction.
  • the first laser emitting device 410 and the first laser receiving device 310 of the first laser transceiving assembly are set on the 01 plane; the second laser emitting device 420 and the second laser receiving device 320 of the second laser transceiving assembly are set on the 02 plane.
  • the 01 plane does not specifically refer to a single plane; the installation planes of the first laser emitting device and the first laser receiving device are parallel to each other, and the optical axis directions of both are perpendicular to the installation plane of the first laser emitting device.
  • the direction of the optical axis is the same as that of the first laser receiving device; therefore, the 01 plane can also be composed of at least two parallel 01' planes and 01” planes.
  • the first laser emitting device is set on the 01' plane, and the first laser The receiving device is set on the 01" plane.
  • the first laser emitting device can also be divided into a plurality of emitting blocks and arranged on a plurality of parallel planes such as 01'-1 plane and 01'-2 plane.
  • the 02 plane is similar to the 01 plane and will not be repeated here.
  • the housing 100 includes an outer housing 110 and an inner housing 120; the outer housing 110 is used to define an internal cavity 200, the outer housing 110 includes a first light-transmitting plate 1126 and two second light-transmitting plates 1125; the inner housing 120 is provided In the inner chamber 200, the inner shell 120 is connected to the inner wall surface of the outer shell 110, and the inner shell 120 divides the inner chamber 200 into a transmitting chamber 210 and a receiving chamber 220.
  • the first light-transmitting plate 1126 faces the emission chamber 210, and the laser beams emitted by the first transmitting device 410 and the second transmitting device 420 pass through the first light-transmitting plate 1126 and are emitted to the outside of the lidar system; two second light-transmitting devices
  • the plates 1125 all face the receiving chamber 220, and the first receiving device 310 receives the laser beam passing through one of the second light-transmitting plates 1125, and the second receiving device 320 passes the laser beam of the other second light-transmitting plate 1125.
  • the outer shell 110 also includes two opposite end plates 111 and a peripheral wall plate 112; the peripheral wall plate 112 is located between the two end plates 111, and together with the two end plates 111 defines the internal chamber 200, the peripheral wall plate 112 includes the emission wall 1125, the first receiving wall 1121 and the second receiving wall 1122, along the circumferential direction of the peripheral wall plate 112, the first receiving wall 1121 and the second receiving wall 1122 are respectively located at both ends of the transmitting wall 1123, and the first light-transmitting plate 1126 is arranged on The transmitting wall 1123, two second light-transmitting plates 1125 are arranged on the first receiving wall 1121 and the second receiving wall 1122; the inner shell 120 is connected to the two end plates 111 and the transmitting wall 1123 respectively, and is connected to the transmitting wall 1123, two The end plates 111 collectively define the emission chamber 210.
  • the transmitting wall, the first receiving wall, and the second receiving wall are in the shape of a flat plate.
  • the first receiving wall and the transmitting wall form a first angle
  • the second receiving wall and the transmitting wall form a second angle.
  • the angles are equal to the second included angle and both are obtuse angles less than one hundred and eighty degrees.
  • the inner housing 120 includes a first plate 121 and a second plate 122.
  • the first plate 121 and the second plate 122 are respectively connected to the emission wall 1123 and the two end plates 111, the first plate 121 and the second plate
  • the angle between the bodies 122 facing the emission chamber 210 is an obtuse angle
  • the surface of the first plate 121 facing the emission chamber 210 is provided with the first launching device 410
  • the surface of the second plate 122 facing the launching chamber 210 is provided with the first launching device 410.
  • the second emitting device 420 The installation planes of the first board 121 and the first receiving device 310 constitute the aforementioned 01 plane
  • the installation planes of the second board 122 and the second receiving device 320 constitute the aforementioned 02 plane.
  • the first receiving device 310 has a first optical path axis, the first optical path axis is perpendicular to the first transparent plate 1126 intersecting it, and the second receiving device 320 has a second optical path axis, the second optical path axis being perpendicular to the second transparent plate intersecting it.
  • the angle between the first optical path axis and the second optical path axis is greater than forty-five degrees.
  • the first receiving device 310 has a first cone-shaped detection field
  • the first cone-shaped detection field has a first limit edge line close to the transmitting wall 1123
  • the second receiving device 320 has a second cone-shaped detection field
  • the second cone-shaped detection field There is a second limit edge line close to the emission wall 1123, the first limit edge line and the second limit edge line intersect, and the intersection is located on the side of the emission wall 1123 facing the detection object.
  • the lidar system 10 further includes a control device configured to control the opening and closing of the first transmitting device 410 and the second transmitting device 420, so that the first receiving device 310 receives the first transmitting device 410 to transmit to the first sub-detection area
  • the laser beam and the second receiving device 320 receive the laser beam emitted by the second emitting device 420 into the second sub-detection area, and after adding the control device, whether the sub-emitting areas overlap is not affected.
  • the lidar may further include a homogenizer (ie, a micro-optical system (DIFFUSER or ROE) with a specific structure).
  • the homogenizer is used to adjust the light emitted by the laser emitting device, so that the energy distribution of the light everywhere in the emitting field of view is more uniform.
  • the emitted light emitted by the laser emitting device passes through a specific micro-optical system (DIFFUSER or ROE) to illuminate the field of view in a flooded manner at one time.
  • the light in the emitted field of view will be distributed in the space according to a certain rule.
  • the graph of the intensity of the light in the emitted field of view versus position at this time is shown in Figure 24. It can be seen that the intensity of light everywhere in the launch field of view becomes more uniform.
  • the receiving end optical lens usually has the highest receiving efficiency at the center position, and the receiving efficiency decays faster to the surrounding area, as shown by curve 1 in Figure 25.
  • the receiving end optical lens of the laser receiving device can be improved accordingly.
  • the receiving end optical lens of the laser receiving device can use 6 optical lenses, including 5 glass spherical mirrors and 1 glass aspherical mirror (Compared with the spherical lens, it has increased the degree of freedom and has a high-order dimension, equivalent to 1.5-2 glass spherical mirrors).
  • the multi-lens cooperates to correct and effectively compensate the aberrations of the meridian and sagittal planes, and on the premise of sufficient light transmission Ensure sufficient resolution (requirements of area array radar).
  • the defocus of the meridian plane and the sagittal plane causes imaging distortion.
  • the distortion is compressed by means of high-refractive-index materials, and the field of view angle of the internal transmission of the optical path is optimized.
  • the TV distortion is required to be less than -30%.
  • the present application also provides a lidar system.
  • the lidar system includes a first laser transceiver component and a second laser radar system.
  • Transceiving component the first laser transceiving component includes a plurality of first laser emitting devices and a corresponding first laser receiving device
  • the second laser transceiving component includes a plurality of second laser emitting devices and a corresponding second laser receiving device, wherein A plurality of first laser emitting devices are arranged around the first laser receiving device, and a plurality of second laser emitting devices are arranged around the second laser receiving device.
  • the first laser receiving device is used to receive the reflected laser light projected from the multiple first emitting devices to the objects in each corresponding detection area and then returning, and the optical axis direction of the first laser receiving device is consistent with each other.
  • the emission directions of the first laser emitting devices are the same.
  • the second laser receiving device is used to receive the reflected laser light projected from the multiple second emitting devices to the object in each corresponding detection area and then returning, and the optical axis direction of the second laser receiving device is the same as that of each second laser emitting device.
  • the exit direction is the same.
  • the previous application scenario is based on the setting of the first detection field of view angle and the second detection field of view angle as an example.
  • the relative setting of the first detection field of view angle and the second detection field of view angle is taken as an example. .
  • the first laser emitting device and the first laser receiving device of the first laser transceiving assembly in the laser radar system are arranged side by side in the horizontal direction
  • the second laser emitting device and the second laser of the second laser transceiving assembly are arranged side by side in the horizontal direction.
  • the receiving devices are arranged side by side in the horizontal direction.
  • the emitting direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device
  • the emitting direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.
  • the detection principle of the lidar system involved in this embodiment is the same as the detection principle of the lidar system described in the embodiment of FIG. 6.
  • the first laser transceiving assembly and the second laser transceiving assembly may also include multiple laser emitting devices and a corresponding laser receiving device, as shown in FIG. 7A, which is involved in this embodiment
  • the detection principle of the lidar system is the same as the detection principle of the lidar system described in the embodiment of FIG. 6A.
  • the present application also provides a lidar system.
  • the lidar system is shown in FIG. 7B.
  • This embodiment has the same principle as that involved in the embodiment in FIG. 6B.
  • the laser radar system includes two laser transceiver components, the two laser transceiver components are arranged horizontally, and the laser emitting device and the laser receiving device of each laser transceiver component are arranged vertically.
  • the first laser emitting device and the first laser receiving device of the first laser transceiver component in the laser radar system are arranged in a vertical direction
  • the second laser emitting device and the second laser device of the second laser transceiver component are arranged in a vertical direction.
  • the receiving devices are arranged in a vertical direction.
  • the emitting direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device
  • the emitting direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.
  • This embodiment relates to the case where only one laser emitting device and one corresponding laser receiving device are included in the first laser transceiving assembly and the second laser transceiving assembly.
  • the emitted laser light of the first laser emitting device is projected to the first detection area, and the first laser receiving device receives the reflected laser light that returns after being reflected by the object in the first detection area.
  • the emitted laser light of the second laser emitting device is projected to the second detection area, and the second laser receiving device receives the laser light that returns after being reflected by the object in the second detection area.
  • the detection area of the lidar system is the detection area after the splicing of the first detection area and the second detection area.
  • the first laser transceiving assembly and the second laser transceiving assembly may also include multiple laser emitting devices and a corresponding laser receiving device, as shown in FIG. 8A, where #1 laser emitting device And #2 laser emitting device corresponds to #1 laser receiving device at the same time, and the emitting direction of #1 laser emitting device and #2 laser emitting device is the same as the optical axis direction of #1 laser receiving device.
  • #1 laser emitting device and #2 laser emitting device emit laser light to each corresponding detection area (#1 detection area and #2 detection area), #1 laser receiving device receives from #1 detection area and #2 detection area Reflected laser light returning after objects in the area.
  • #3 laser emitting device and #4 laser emitting device correspond to #2 laser receiving device at the same time, and the emitting direction of #3 laser emitting device and #4 laser emitting device is the same as the optical axis direction of #2 laser receiving device.
  • #3 laser emitting device and #4 laser emitting device emit laser light to the corresponding detection area (#3 detection area and #4 detection area), #2 laser receiving device receives from #3 detection area and #4 detection area The reflected laser light that returns after being reflected by the middle object.
  • the previous application scenario is based on the setting of the first detection field of view angle and the second detection field of view angle as an example.
  • the relative setting of the first detection field of view angle and the second detection field of view angle is taken as an example. .
  • the first laser emitting device and the first laser receiving device of the first laser transceiving assembly in the laser radar system are arranged in the vertical direction, and the second laser emitting device and the second laser of the second laser transceiving assembly are arranged in the vertical direction.
  • the receiving devices are arranged in a vertical direction.
  • the emitting direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device; the emitting direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.
  • the detection principle of the lidar system involved in this embodiment is the same as the detection principle of the lidar system described in the embodiment of FIG. 8.
  • the first laser transceiving assembly and the second laser transceiving assembly may also include multiple laser emitting devices and a corresponding laser receiving device, as shown in FIG. 9A, which is involved in this embodiment
  • the detection principle of the lidar system is the same as the detection principle of the lidar system described in the embodiment of FIG. 8A.
  • each laser transceiver assembly can be arranged in a staggered arrangement, and the first detection area and the second detection area are arranged oppositely. Let's take an example.
  • the first laser emitting device of the first laser transceiving component and the second laser receiving device of the second laser transceiving component are arranged in a vertical direction, and the second laser emitting device of the second laser transceiving component and the first laser receiving device are arranged in a vertical direction.
  • the first laser receiving devices of the laser transceiving assembly are arranged along the vertical direction.
  • the emitting direction of the first laser emitting device is the same as the optical axis direction of the first laser receiving device; the emitting direction of the second laser emitting device is the same as the optical axis direction of the second laser receiving device.
  • This embodiment relates to the case where the first laser transceiver assembly and the second laser transceiver assembly include laser emitting devices and laser receiving devices arranged in a staggered manner.
  • the first laser emitting device and the second laser emitting device are arranged on the 01 plane and the 02 plane, and the emitted laser light of the first laser emitting device is projected to the first detection area, The emitted laser light of the second laser emitting device is projected to the second detection area; the first laser receiving device and the second laser receiving device are arranged oppositely on the 03 plane and the 04 plane; the first laser receiving device receives the reflection from the object in the first detection area The second laser receiving device receives the laser beam returned from the object in the second detection area after reflection.
  • the detection area involved in the above figures 6-10 is shown as an elliptical area in the figure. This is only a schematic illustration, indicating that the detection area has a certain angular range, size, and size.
  • the sum direction is not limited to the shape and size of the ellipse, and can be an area of any shape or size, which is not limited in this embodiment.
  • the reflectivity of objects in the sky detection sub-area is relatively high; the objects in the ground detection sub-area may be more such as sand, bricks, gray speed bumps, and stone road edges. Etc., the reflectivity of these objects is generally low.
  • the central detection sub-area represents the limit performance of the lidar system.
  • the present application also provides a vehicle, and the lidar system according to any of the above embodiments is installed at the front and/or back end of the vehicle, And the distance between the lidar system and the ground reaches a preset height.
  • the lidar system in this embodiment can be installed at any position on the vehicle.
  • the lidar system in order to better detect the road conditions around the vehicle body, the lidar system is usually installed at the front, rear, or side of the vehicle.
  • the corresponding relationship can be based on the experience of the technician The value is obtained. For example, if the height of a car is usually within the range of 1.4-1.6 meters, the installation height of the corresponding lidar system is about 1.5 meters, which can realize the detection of a reasonable field of view around the vehicle.
  • the height of the truck is 1.6- Within the range of 2.7 meters, the corresponding installation height of the lidar system is about 2.1.
  • the above correspondences are only examples and do not represent real design parameters. Therefore, the method of obtaining the installation height of the lidar system according to the vehicle height corresponds to All are within the protection scope of this application.
  • this application also provides a method for controlling a lidar system, which is applied to the lidar system described in any of the foregoing embodiments.
  • the lidar system includes at least two laser transceiver components, at least two detection areas corresponding to the laser transceiver components are spliced; each detection area is divided into at least two detection sub-areas in the vertical direction, each The detection sub-areas are aligned with different angular ranges of the detection area along the vertical direction; each laser transceiver component includes a correspondingly arranged laser emitting device and a laser receiving device, as shown in FIG. 13, the method includes:
  • S101 Control the laser emitting device to emit laser light in a preset direction to a corresponding detection area.
  • steps in the flowchart of FIG. 13 are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in FIG. 13 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution of these sub-steps or stages The order is not necessarily sequential.
  • the method of the lidar system provided in this application can be applied to the computer device as shown in FIG. 14.
  • the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 14.
  • the computer equipment includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system and a computer program.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer program is executed by the processor to realize a control method of the lidar system.
  • the display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen
  • the input device of the computer equipment can be a touch layer covered on the display screen, or it can be a button, a trackball or a touchpad set on the housing of the computer equipment , It can also be an external keyboard, touchpad, or mouse.
  • FIG. 14 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • a computer device including a memory and a processor, and a computer program is stored in the memory, and the processor implements the following steps when the processor executes the computer program:
  • the laser receiving device is controlled to receive the reflected laser light returned after the object in the corresponding detection area reflects the emitted laser light.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are further implemented:
  • the laser receiving device is controlled to receive the reflected laser light returned after the object in the corresponding detection area reflects the emitted laser light.
  • this embodiment provides a laser radar 10, which can increase the detection angle of view, thereby reducing the detection blind area.
  • the laser radar 10 may include a housing 100, a laser emitting device, and multiple (two or more) laser receiving devices.
  • the housing 100 defines an internal chamber 200.
  • the internal chamber 200 can be divided into a transmitting chamber 210 and a receiving chamber 220.
  • the laser emitting device is disposed in the transmitting chamber 210, and each laser receiving device is disposed in the receiving chamber 220.
  • the internal chamber 200 may only consist of the transmitting chamber 210 and the internal chamber 200, and the internal chamber 200 may also include other spaces in addition to the transmitting chamber 210 and the receiving chamber 220. For example, a part of the space in the internal cavity can be separated to place components such as lidar circuit boards.
  • the circuit board has precision components such as control chips, and the temperature of the laser emitting device is generally high, and the above-mentioned precision components have a greater influence on the temperature, in order to protect the above-mentioned precision components, heat insulation materials can be used separately in the internal cavity
  • the adiabatic cavity is isolated, so that the above-mentioned precision devices are arranged in the adiabatic cavity so as to achieve a good protection effect.
  • the internal chamber 200 is composed of a transmitting chamber 210 and a receiving chamber 220.
  • the transmitting chamber 210 and the receiving chamber 220 are divided only by the functions of the two. It should be noted that the transmitting chamber 210 and the receiving chamber 220 can be connected to each other, and only virtual division is performed.
  • the transmitting chamber 210 is in communication with the receiving chamber 220, the laser beam generated by the laser emitting device is easily scattered on the side wall of the internal chamber 200 or reflected on the optical device. When the scattered or reflected laser beam enters the receiving device When inside, it will cause interference and affect the detection accuracy of the lidar 10. Therefore, in a preferred embodiment, the transmitting chamber 210 and the receiving chamber 220 can also be separated by an isolation member, so that the transmitting chamber 210 and the receiving chamber 220 are relatively independent parts.
  • the transmitting chamber 210 and the receiving chamber 220 are two relatively independent parts.
  • the housing 100 of the lidar 10 may include an outer housing 110 and an inner housing 120.
  • the outer housing 110 defines the aforementioned internal cavity 200, and the inner housing 120 separates the aforementioned emission cavity within the internal cavity 200. 210 and the receiving chamber 220.
  • the outer housing 110 may include a first light-transmitting plate 1126 and a second light-transmitting plate 1125.
  • the first light-transmitting plate 1126 faces the emission chamber 210, and is used to transmit the laser beam generated in the emission chamber 210 to the outside of the housing 100.
  • the second light-transmitting plate 1125 faces the receiving cavity 220 and is used to transmit the laser beam reflected from the outside of the casing 100 to the inside of the casing 100.
  • the specific arrangement positions of the first light-transmitting plate 1126 and the second light-transmitting plate 1125 on the outer housing 110 depend on specific conditions.
  • the number of laser emitting devices can be one or more. When the number of laser emitting devices is one, multiple laser receiving devices simultaneously receive the laser beams emitted by the laser emitting devices and emitted via the detected object. When the number of laser emitting devices is multiple, each laser receiving device can also simultaneously receive the laser beams emitted by all laser emitting devices and reflected back by the detected object. In particular, when there are multiple laser emitting devices, the number can be the same as the number of laser receiving devices. At this time, each laser receiving device can only receive the laser beam emitted by one laser emitting device and reflected back by the detected object. .
  • this structure can simplify the system design, reduce the difficulty of solving the back-end of the receiving device, reduce light crosstalk, and is simple and easy to operate when assembling the light adjustment.
  • a laser emitting device fails, there is only one laser. The receiving device is affected, and the detection range of all laser receiving devices will not be affected, so the applicable performance is improved.
  • each laser emitting device is understood as emitting a laser beam to the first target area.
  • the laser beam emitted by one laser emitting device covers the first target area.
  • the sum of the areas covered by the laser beams emitted by each laser emitting device is the first target area. That is, the first target area is composed of a plurality of sub-emission areas, and each laser emitting device emits laser beams into each sub-emission area in a one-to-one correspondence. And each sub-emission area can be partially overlapped, completely overlapped, or not overlapped.
  • the "coincidence" in the above only means the state within the reasonable detection distance of the lidar (for example, the receiving area and the transmitting area are within a distance of the laser The very close part of the radar cannot be overlapped, so the overlap state of this part is not considered).
  • the reasonable detection distance depends on the application scenarios of lidar.
  • each laser receiving device only corresponds to receiving the laser beam emitted by one laser emitting device and reflected back via the detected object, in order to reduce pipeline crosstalk (that is, to prevent the laser beam emitted by the first emitting device from being received by the second receiving device by mistake, The laser beam emitted by the second emitting device is mistakenly received by the first receiving device)
  • each emitting area can be partially overlapped, and each laser receiving device only receives the difference between each sub-emitting area and other emitting areas. The laser beam reflected by the non-overlapping part.
  • each sub-emission area may not overlap.
  • the lidar 10 can also include a regulating device configured to control the opening and closing of the first transmitting device 410 and the second transmitting device 420, so that the first receiving device 310 receives The first emitting device 410 emits the laser beam into the first sub-detection area, and the second receiving device 320 receives the laser beam emitted by the second emitting device 420 into the second sub-detection area. After adding the control device, whether each sub-emitting area is The coincidence is unaffected.
  • the specific adjustment process of the adjustment device may be: within a certain period of time, one of the laser emitting devices is turned on and emits a laser beam, and the other laser emitting devices do not emit a laser beam. At this time, one of the corresponding laser receiving devices is turned on and receives the reflected laser beam emitted by the above-mentioned laser emitting device. In the next time period, the other laser emitting device is turned on to emit the laser beam, and the other laser emitting device does not emit the laser beam. At this time, the laser receiving device corresponding to the laser emitting device is turned on and receives the reflected laser beam emitted by the laser emitting device. In this way, by reducing the interval time period to an appropriate time, a complete detection effect can be achieved.
  • the multiple laser receiving devices in this embodiment are all set in the receiving chamber 220, and the multiple laser receiving devices can receive the laser beam reflected in the second target area, and the first target area and the second target area at least partially overlap.
  • the second target area is composed of multiple sub-detection areas, each sub-detection area is smaller than the first target area and at least partially overlaps the first target area, and each laser receiving device receives each sub-detection area in a one-to-one correspondence. Reflected laser beam inside.
  • the second target area may completely belong to the first target area, or may only partly belong to the first target area. Since the laser receiving device can only receive the laser beam reflected by the first target area, in order to improve the utilization rate of the receiving field of view, preferably, the second target area completely belongs to the first target area.
  • the laser emitting device and the laser receiving device are independently arranged, and the number of laser receiving devices is at least two, which is much more than the structure in the prior art with only one laser receiving device.
  • a laser receiving device can expand the receiving field of view and increase the detection angle of view, thereby reducing the detection blind zone of the lidar 10.
  • the number of laser emitting devices may be two.
  • the two laser emitting devices are referred to as the first emitting device 410 and the second emitting device 420.
  • the first emitting device 410 emits a laser beam toward the first sub-emission area (that is, the corresponding one of the foregoing multiple sub-emission areas), and the second emitting device 420 emits the laser beam toward the second sub-emission area (ie, the corresponding one of the foregoing multiple sub-emission areas).
  • the other one) emits a laser beam, and the first target area is formed by combining the first sub-emission area and the second sub-emission area.
  • the first sub-emission area and the second sub-emission area may partially overlap, completely overlap, or not overlap.
  • the first sub-emission area and the second sub-emission area may partially overlap to achieve full coverage of the overall detection field of view. The specific situation has been explained above, so I won't repeat it here.
  • the number of laser receiving devices can also be two.
  • the two laser receiving devices are called the first receiving device 310 and the second receiving device 320, and the first receiving device 310 and The second receiving device 320 is used for receiving the laser beam reflected from the first target area.
  • the two laser emitting devices may be located between the two laser receiving devices.
  • the first A transmitting device 410 is located between the second transmitting device 420 and the second receiving device 320
  • the second transmitting device 420 is located between the first transmitting device 410 and the first receiving device 310.
  • the laser beam emitted by the first emitting device 410 and the laser beam received by the first receiving device 310 can be directed to the right (refer to the orientation shown in the figure), so that the laser beam emitted by the second emitting device 420 and the second The laser beam received by the receiving device 320 faces to the left (refer to the orientation shown in the figure).
  • the first receiving device 310 is used to receive light in the first sub-detection area, and the first sub-detection area is located in the first sub-emission area.
  • the first sub-detection area may also be The part is located outside the first sub-emission area.
  • the first receiving device can only receive the laser beam reflected by the portion of the first sub-detection area that is located in the first sub-emission area.
  • the second receiving device 320 is configured to receive light in the second sub-detection area, which is located in the second sub-transmission area.
  • the first sub-detection area may be located at the position of the first sub-transmission area excluding the overlapping portion, and the second sub-detection area may be located at the position of the second sub-transmission area excluding the overlapping portion.
  • the lidar 10 in this embodiment may further include a regulating device (not shown in the figure), and the regulating device is configured to control the opening and closing of the first transmitting device 410 and the second transmitting device 420, so that the first receiving device
  • the device 310 receives the laser beam emitted by the first emitting device 410 into the first sub-detection area
  • the second receiving device 320 receives the laser beam emitted by the second emitting device 420 into the second sub-detection area.
  • a specific working principle of the control device has been described above, and will not be repeated here.
  • the regulating device can enable only the first receiving device to receive the light reflected from the detection area when the first transmitting device is turned on; when the second transmitting device is turned on, only the second receiving device to receive the light reflected from the detecting area. Therefore, the problem of light crosstalk is basically solved.
  • the housing 100 may include an outer housing 110 and an inner housing 120.
  • the outer housing 110 defines an internal cavity 200.
  • the outer housing 110 includes a first light-transmitting plate 1126 and two second light-transmitting plates 1126. ⁇ 1125.
  • the inner shell 120 is disposed in the inner chamber 200, the inner shell 120 is connected with the inner wall surface of the outer shell 110, and the inner shell 120 divides the inner chamber 200 into a transmitting chamber 210 and a receiving chamber 220.
  • the inner shell 120 is connected to the two end plates 111 and the emission wall 1123 respectively, and together with the emission wall 1123 and the two end plates 111 to define the emission chamber 210.
  • the first light-transmitting plate 1126 faces the emission chamber 210, and the laser beams emitted by the first emitting device 410 and the second emitting device 420 pass through the first light-transmitting plate 1126 and are emitted to the outside of the lidar 10.
  • the two second light-transmitting plates 1125 both face the receiving cavity 220, and the first receiving device 310 receives the laser beam passing through one of the second light-transmitting plates 1125, and the second receiving device 320 receives the second light-transmitting The laser beam of the plate 1125.
  • the outer shell 110 includes two opposite end plates 111 and a peripheral wall plate 112.
  • the peripheral wall plate 112 is located between the two end plates 111 and defines the internal chamber 200 together with the two end plates 111.
  • the peripheral wall plate 112 includes a transmitting wall 1123, a first receiving wall 1121 and a second receiving wall 1122. Along the circumferential direction of the peripheral wall plate 112, the first receiving wall 1121 and the second receiving wall 1122 are respectively located at two ends of the transmitting wall 1123.
  • the first light-transmitting plate 1126 is disposed on the emission wall 1123, and the first light-transmitting plate 1126 may be a flat plate or a curved plate, depending on the shape of the emission wall 1123. When the first light-transmitting plate 1126 is a flat plate, it can be circular or polygonal. In this embodiment, the first light-transmitting plate 1126 is a rectangular flat plate. The first light-transmitting plate 1126 may completely cover the emission wall 1123 (the first light-transmitting plate 1126 is the emission wall 1123 at this time) or may partially cover the emission wall 1123.
  • Two second light-transmitting plates 1125 are disposed on the first receiving wall 1121 and the second receiving wall 1122 in a one-to-one correspondence.
  • the second light-transmitting plate 1125 may be a flat plate or a curved plate, depending on the shape of the first receiving wall 1121 and the second receiving wall 1122.
  • the second light-transmitting plate 1125 is a flat plate, it can be circular or polygonal.
  • the second light-transmitting plate 1125 is a rectangular flat plate.
  • the first receiving wall 1121, the second receiving wall 1122, and the transmitting wall 1123 may be coplanar.
  • the first receiving wall 1121 and the transmitting wall 1123 form a first included angle c
  • the second receiving wall 1122 and the transmitting wall 1123 form a second included angle d.
  • the first included angle c is equal to the second included angle d and both are It is an obtuse angle less than one hundred and eighty degrees.
  • the first included angle c and the second included angle d may both be 170 degrees, 150 degrees, 135 degrees, 120 degrees, or 100 degrees. It should be noted that, in the above, the first included angle c and the second included angle d are the included angles measured from the inside of the housing 100, that is, the first included angle c is the inner wall surface of the first receiving wall 1121 and the transmitter The included angle of the inner wall surface of the wall 1123, the second included angle d is the included angle between the inner wall surface of the second receiving wall 1122 and the inner wall surface of the transmitting wall 1123.
  • the lidar may further include a homogenizer (ie, a micro-optical system (DIFFUSER or ROE) with a specific structure).
  • a homogenizer ie, a micro-optical system (DIFFUSER or ROE) with a specific structure.
  • the homogenizer is used to adjust the light emitted by the laser emitting device, so that the energy distribution of the light everywhere in the emitting field of view is more uniform.
  • the emitted light emitted by the laser emitting device passes through a specific micro-optical system (DIFFUSER or ROE) to illuminate the field of view in a flooded manner at one time. At this time, the light in the emitted field of view will be distributed in the space according to a certain rule.
  • the graph of the intensity of the light in the emitted field of view versus position at this time is shown in Figure 11. It can be seen that the intensity of light everywhere in the launch field of view becomes more uniform.
  • the light source chip in the laser emitting device in this embodiment may be a vertical cavity surface laser (VCSEL) prepared by a semiconductor process, and the field angle of the emitted light is generally 20-24°.
  • the chip surface is covered with micro-optical devices such as DIFFUSER (diffraction type) or ROE (refraction type) to realize the diffusion of the emitted light and realize the shaping and homogenization of the emitted energy after multiple internal refraction or reflection, and concentrate more energy in the Within the range of the designed exit field of view.
  • DIFFUSER is a diffractive micro-optical structure, which is generally made of polymer organic materials.
  • ROE is a kind of refraction micro-optical element made of glass.
  • the function is similar to that of Diffsuer, but the principle is based on the refraction and reflection of light. It is similar to the micro lens array. It has better high temperature resistance and higher cost. According to the far-field energy distribution curve line type of the light source chip, the corresponding receiving end optical lens parameters are designed to compensate for the uneven energy distribution of the emitting light source.
  • the receiving end optical lens usually has the highest receiving efficiency at the center position, and the receiving efficiency decays faster to the surrounding area, as shown by curve 1 in FIG. 26.
  • the receiving end optical lens with poor uniformity is used for reception, and after the cooperation with the aforementioned laser emitting device with insufficient energy distribution uniformity, the laser radar can detect uneven distance and small detection field of view, that is, the detection field of view in Figure 27 E.
  • the detection distance in the middle is long, and the detection distance on both sides is seriously insufficient.
  • the receiving end optical lens of the laser receiving device can be improved accordingly.
  • the receiving end optical lens of the laser receiving device can use 6 optical lenses, of which 5 glass spherical lenses Compared with a glass aspherical lens (compared to a spherical lens, it has increased the degree of freedom and has a higher-order dimension, equivalent to 1.5-2 glass spherical mirrors).
  • the multi-lens cooperates with each other to correct and effectively compensate the aberrations of the meridian and sagittal surfaces, and Ensuring sufficient resolution (requirements of area array radar) under the premise of large enough light.
  • the defocus of the meridian plane and the sagittal plane causes imaging distortion.
  • the distortion is compressed by means of high-refractive-index materials, and the field of view angle of the internal transmission of the optical path is optimized.
  • the TV distortion is required to be less than -30%.
  • Large-pass light will inevitably lead to a larger angle between the received reflected laser beam and the central optical axis of the receiving end optical lens, and the spherical aberration can be improved by using a lens combination with high and low refractive index changes.
  • High-performance, multi-layer mirror coating and the matching LAS filter passband design ensure that the energy transmission efficiency of the receiving end optical lens is as high as 95%; in order to reduce crosstalk and noise, the lens is coated to ensure the infrared transmission of the single lens The overrate is less than 0.5%.
  • the inner surface of the internal aperture of the optical lens at the receiving end and the inner wall of the structural parts adopt the nano-coating coated with the high and low temperature gradual process, which effectively improves the near-infrared wave band.
  • the light absorption characteristics greatly reduce the influence of stray light on the detection effect.
  • Two negative dispersions and one lens with wavefront shaping are used to eliminate the chromatic aberration of the system, and a symmetrical design lens is used inside the lens to improve the wavefront aberration.
  • the combination of high and low refractive index and different material lenses reduces the dispersion effect.
  • Five groups of spherical mirrors and one aspherical mirror cooperate with the curved surface function of the iterative lens design, and iteratively optimize the optical lens uniformity (RI) curve of the receiving end with large transmission function (MTF) and wide bandwidth.
  • RI optical lens uniformity
  • the laser radar detection field of view formed after it is matched with the laser emitting device, such as the field of view F in Fig. 27, and in Fig. 27, the field of view that the laser radar can detect The field angle is larger, and the detectable distance at different angles is more uniform.
  • the above-mentioned functions can also be realized by combining at least 3 glass aspherical mirrors and by high-order Fresnel parameter matching design.
  • Reasonable optimization of the optical lens at the receiving end is beneficial to solve the effect of saturation expansion and halo phenomenon of high and low objects in actual working conditions on the ranging performance.
  • the design depth of field of the optical lens at the receiving end needs to meet the parameter requirements of the lidar. Generally, the near field can be clearly focused and imaged above 0.5m. This also limits the actual number of lenses of the optical lens at the receiving end to be less than two.
  • the imaging method of lidar is to receive and detect the reflected laser beam in the field of view at one time, and the energy efficiency of the reflected laser beam in each area of the detector of the laser receiving device is the same in space.
  • the first receiving device 310 has a first optical path axis 530, the first optical path axis 530 is perpendicular to the second light-transmitting plate 1125 intersecting it, and the second receiving device 320 has The second optical path axis 540, the second optical path axis 540 are perpendicular to the second light-transmitting plate 1125 intersecting therewith, and the included angle a between the first optical path axis 530 and the second optical path axis 540 is greater than forty-five degrees.
  • Such a structure can have a larger field of view compared to the lidar in the prior art.
  • the first receiving device 310 has a first cone-shaped detection field, and the first cone-shaped detection field has an area close to the transmitting wall 1123.
  • the first limit edge line m the second receiving device 320 has a second cone-shaped detection field, the second cone-shaped detection field has a second limit edge line n close to the transmitting wall 1123, the first limit edge line m and the second limit edge
  • the line n crosses, and the cross point is located on the side of the emission wall 1123 facing the probe.
  • the angle b between the first limit edge line m and the second limit edge line n can be at least 1 degree.
  • the distance between the first receiving device 310 and the second receiving device 320 is small, so even if the angle between the first limit edge line and the second limit edge line is small, the front of the lidar 10
  • the blind spot of the field of view will not be too large.
  • the included angle b between the first limit edge line m and the second limit edge line n is 1 degree
  • the distance between the first receiving device and the second receiving device is usually within one decimeter, here Taking the distance of one decimeter, through calculation, the blind spot of the field of view directly in front of the lidar is 5.7 meters.
  • the detection area of lidar may be greater than 5.7 meters.
  • the blind area has a long and narrow space, which has little effect on detection.
  • the detection object that appears in the blind area generally needs to pass through the detectable area first, so even if it is detected Objects appear in the long and narrow blind zone directly in front of the lidar, and their motion parameters can also be obtained indirectly.
  • the inner housing 120 may include a first plate 121 and a second plate 122, and the first plate 121 and the second plate 122 are respectively connected to the emitting wall 1123 and the two end plates 111 ,
  • the angle between the first plate 121 and the second plate 122 is an obtuse angle (here refers to the angle between the first plate 121 and the second plate 122 facing the emission chamber 210), and the angle of the first plate 121
  • the surface facing the emission cavity 210 is provided with a first emission device 410, and the surface of the second plate 122 facing the emission cavity 210 is provided with a second emission device 420.
  • the center axis 510 of the laser beam emitted by the first emitting device 410 can be perpendicular to the first plate 121, and the center of the laser beam emitted by the second emitting device 420
  • the axis 520 is perpendicular to the second board 122.
  • the inner housing 120 may only include the first plate 121 and the second plate 122, and the first plate 121 and the second plate 122 are integrally formed.
  • the first board 121 and the second board 122 may also be boards of the inner housing 120 that are only used for mounting the first launching device 410 and the second launching device 420, and the inner housing 120 also has other parts.
  • the inner housing 120 and the peripheral wall plate 112 are integrally formed. Further, the inner housing 120, the peripheral wall plate 112 and one of the end plates 111 may also be integrally formed. Such a structure can speed up the heat conduction efficiency of the two transmitting devices, and improve the heat dissipation performance of the lidar 10.
  • a plurality of heat dissipation grooves 1124 may be provided on the outer wall surface of the peripheral wall plate 112; and a plurality of heat dissipation ribs 1128 may also be provided on the inner wall surface of the peripheral wall plate 112.
  • the heat dissipation grooves 1124 may be blind grooves or through grooves, and each heat dissipation groove 1124 may be provided in any part of the peripheral wall plate 112 outside the first light transmission plate 1126 and the second light transmission plate 1125.
  • the surface of the first plate body 121 facing the first launching device 410 is provided with a first installation groove 1211, and the first launching device 410 is embedded in the first installation groove 1211.
  • the surface of the second board 122 facing the second launching device 420 is provided with a second installation groove, and the second launching device 420 is embedded in the second installation groove.
  • a first heat-conducting member may be provided in the first installation groove 1211, and the first heat-conducting member is connected to the first installation groove 1211 and the first emitting device 410.
  • a second heat-conducting element is arranged in the second installation groove, and the second heat-conducting element is connected to the second installation groove and the second emitting device 420.
  • the first heat-conducting element and the second heat-conducting element can be made of any material with excellent thermal conductivity.
  • the first heat-conducting element and the second heat-conducting element can also be made of materials with cushioning properties.
  • the first heat-conducting element and the second heat-conducting element can both be thermally conductive silica gel.
  • the shape of the first heat conducting groove depends on the shape of the first emitting device 410.
  • the surface of the first emitting device 410 facing the first plate 121 is rectangular, so the first heat conducting groove is rectangular in cross section. Trough.
  • the first heat-conducting member may be in the shape of a rectangular sheet, and it may be cushioned on the bottom of the first heat-conducting groove.
  • the first heat-conducting member may also be ring-shaped and located between the outer peripheral edge of the first emitting device 410 and the first heat-conducting groove. Within the gap between the side walls of the groove.
  • the first emitting device 410, the first heat conducting groove, and the first heat conducting member may also have other shapes, which will not be repeated here.
  • the second aspect of the embodiments of the present application also provides a device 1, which includes the lidar 10 in any of the foregoing embodiments.
  • the device 1 may be any device 1 capable of performing laser detection, and specifically, the device may be a car.
  • the car includes a car body 20, and the lidar 10 can be installed outside the car body 20 or embedded in the car body 20. When the lidar 10 is installed outside the car body 20, the lidar 10 is preferably installed on the roof of the car body 20.

Abstract

一种激光雷达及设备，包括：壳体（100），限定出发射腔室（210）以及接收腔室（220）；激光发射装置，设置于发射腔室（210），用于向第一目标区域发射激光束；多个激光接收装置，设置于接收腔室（220），多个激光接收装置可接收第二目标区域内反射的激光束，第一目标区域与第二目标区域至少部分重合；第二目标区域由多个子探测区域组合而成，每个子探测区域均小于第一目标区域且与第一目标区域至少部分重合，各激光接收装置一一对应接收各子探测区域内的反射的激光束。激光雷达将激光发射装置以及激光接收装置独立设置，且激光接收装置的数量为多个，相对于仅有一个激光接收装置的结构而言，增加多个激光接收装置能够增大探测视角，从而减小激光雷达的探测盲区。

Description

激光雷达及其控制方法和具有激光雷达的设备 技术领域
本申请涉及激光探测的技术领域，尤其涉及一种激光雷达及其控制方法和具有激光雷达的设备。
背景技术
随着光学技术的发展和应用，出现了很多以发射激光光束探测目标物体的位置、速度等特征量的激光雷达系统，且激光雷达系统已被广泛应用于各种领域，例如，测距、低飞目标的跟踪测量、武器制导、大气监测、测绘、预警、交通管理等领域，尤其在自动驾驶领域，激光雷达系统经常被用来实现对车辆周围环境的视场探测和成像，以使自动驾驶的车辆可以根据激光雷达系统探测出的信息规划正确的行驶路线。
目前，flash激光雷达系统因其具有结构简单、系统负载低、光机寿命长等优点，被普遍应用于自动驾驶车辆上，以实现对车辆周围近场的探测。Flash激光雷达系统的基本工作原理是发射端通过“泛光”的方式将出射激光一次性地照亮整个被探测的视场区域，接收端采用相应的探测器接收视场区域内的所有回波激光，从而通过分析回波激光得到视场区域内的探测信息。
但是，上述的Flash激光雷达系统存在出射激光的视场角度范围有限，致使上述Flash激光雷达系统的探测盲区较大，降低了应用上述Flash激光雷达系统的车辆的避障能力。而且，现有的Flash激光雷达系统探测距离不足，增加探测距离需要明显提高发射功率，系统的功耗、热效应及器件成本均会飙升。
发明内容
本申请实施例提供了一种激光雷达及其探测方法和具有该激光雷达的设备，能够减少探测盲区、有效提高出射激光能量的利用率。
根据本申请的一个方面，提供了一种激光雷达系统，该激光雷达系统包括：至少两个激光收发组件；至少两个所述激光收发组件对应的探测区域进行拼接；每个所述探测区域沿竖直方向划分为至少两个探测子区域，每个所述探测子区域对准所述探测区域沿竖直方向的不同角度范围；每个所述激光收发组件包括对应设置的激光发射装置和激光接收装置；
所述激光发射装置用于发射预设方向的出射激光至对应的探测区域；
所述激光接收装置用于接收对应的所述探测区域中的物体反射所述出射激光后返回的反射激光。
根据本申请的第二个方面，提供了一种激光雷达系统的控制方法，应用于所述激光雷达系统，其特征在于，所述激光雷达系统包括至少两个激光收发组 件，至少两个所述激光收发组件对应的探测区域进行拼接；每个所述探测区域沿竖直方向划分为至少两个探测子区域，每个所述探测子区域对准所述探测区域沿竖直方向的不同角度范围；每个所述激光收发组件包括对应设置的激光发射装置和激光接收装置，所述方法包括：
控制所述激光发射装置发射预设方向的出射激光至对应的探测区域；
控制所述激光接收装置接收对应的所述探测区域中的物体反射所述出射激光后返回的反射激光。
根据本申请的第三个方面，提供了一种激光雷达，包括：
壳体，限定出发射腔室以及接收腔室；
激光发射装置，设置于发射腔室，用于向第一目标区域发射激光束；
多个激光接收装置，设置于接收腔室，多个激光接收装置可接收第二目标区域内反射的激光束，第一目标区域与第二目标区域至少部分重合；
其中，第二目标区域由多个子探测区域组合而成，每个子探测区域均小于第一目标区域且与第一目标区域至少部分重合，各激光接收装置一一对应接收各子探测区域内的反射的激光束。
本申请实施例的第四方面还提供了一种设备，包括上述任一项的激光雷达。
本申请提供一种激光雷达系统，采用两个或多个激光收发组件组合拼接的方式，可使激光雷达系统的探测区域在水平方向上扩展，实现了大角度的探测区域，进而减少了激光雷达系统出射激光照射的水平两侧盲区的范围，可以提高应用该激光雷达系统的车辆的避障能力；另外，使不同的探测子区域根据实际应用需求匹配激光发射装置，避免了因探测子区域与出射激光的能量密度不匹配造成的光能量浪费，提高了每个探测子区域内的光能量的利用率，既满足了系统探测的应用需求，又降低了激光雷达系统的整体功耗，从而降低了激光雷达系统的制造成本。还提供了一种激光雷达，该激光雷达将激光发射装置以及激光接收装置独立设置，且激光接收装置的数量至少为两个，相对于现有技术中仅有一个激光接收装置的结构而言，增加多个激光接收装置能够扩大接收视场，增大探测视角，从而减小激光雷达的探测盲区。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术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申请的一些实施例，对于本领域技术人员来讲，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为一个实施例提供的一种应用场景示意图；
图2为一个实施例提供的一种激光雷达系统的示意图；
图2A为一个实施例提供的一种激光雷达系统的发射光束示意图；
图2B为一个实施例提供的一种激光雷达系统的发射光束示意图；
图2C为一个实施例提供的一种激光雷达系统的示意图；
图2D为一个实施例提供的一种激光收发组件的示意图；
图2E为一个实施例提供的一种激光收发组件的示意图；
图2F为一个实施例提供的一种激光收发组件的示意图；
图3为一个实施例提供的一种激光雷达系统的出射激光投射示意图；
图4为一个实施例提供的一种激光雷达系统的示意图；
图4A为一个实施例提供的一种激光雷达系统的探测视场角示意图；
图5为一个实施例提供的一种激光雷达系统的示意图；
图5A为一个实施例提供的一种激光雷达系统的探测视场角示意图；
图6为一个实施例提供的一种激光雷达系统的示意图；
图6A为一个实施例提供的一种激光雷达系统的示意图；
图6B为一个实施例提供的一种激光雷达系统的示意图；
图7为一个实施例提供的一种激光雷达系统的示意图；
图7A为一个实施例提供的一种激光雷达系统的示意图；
图7B为一个实施例提供的一种激光雷达系统的示意图；
图8为一个实施例提供的一种激光雷达系统的示意图；
图8A为一个实施例提供的一种激光雷达系统的示意图；
图9为一个实施例提供的一种激光雷达系统的示意图；
图9A为一个实施例提供的一种激光雷达系统的示意图；
图10为一个实施例提供的一种激光雷达系统的示意图；
图11为一个实施例提供的一种激光雷达系统的发射光束示意图；
图12为一个实施例提供的一种车辆的示意图；
图13为一个实施例提供的一种激光雷达系统的控制方法的流程图；
图14为一个实施例提供的一种计算机设备内部结构示意图。
图15为本申请一种实施中的激光雷达的立体示意图；
图16为本申请一种实施例中的激光雷达的壳体、激光发射装置以及激光接收装置组合后的立体示意图；
图17为本申请一种实施例中的激光雷达的第一爆炸示意图；
图18为本申请一种实施例中的激光雷达的第一全剖视示意图；
图19为本申请一种实施例中的激光雷达的第二爆炸示意图；
图20为本申请一种实施例中的激光雷达的壳体的爆炸示意图；
图21为本申请一种实施例中的激光雷达的部分壳体以及激光发射装置的立体示意图；
图22为本申请一种实施例中的激光雷达的第二全剖示意图；
图23为本申请一种实施例中的激光雷达的第三全剖示意图；
图24为现有技术中的激光发射装置的发射视场中光线强度随位置变化的曲线示意图；
图25为本申请一种实施例中的激光发射装置的发射视场中光线强度随位置变化的曲线示意图；
图26为激光接收装置的接收视场中接收光线的角度随均匀程度变化的曲线示意图，其中，曲线1为现有技术中的激光接收装置的示意性曲线，曲线2为本申请一种实施例中的示意性曲线；
图27为激光接收装置的接收场的范围示意图，其中，视场E为现有技术中的视场示意图，视场F为本申请一种实施例中的视场示意图；
图28为本申请一种实施例中的设备的示意图；
图29为本申请另一种实施例中的设备的示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请提供的激光雷达，可以应用于任何需要进行激光探测的设备上，例如图1所示应用环境中的汽车。激光雷达可以探测汽车相对于障碍物之间的距离以及速度等参数，车辆通过激光雷达系统探测附近运动或者靠近的障碍物，如更加高大的车辆、路边的静物、突然靠近的悬空飞行物等，以使车辆能够根据探测到的信息规划能够避开障碍物的路径，以使车辆避免与障碍物发生碰撞。其中的车辆可以是自动驾驶车辆，也可以是普通车辆，对此本申请不做限制。
目前，车辆利用激光雷达系统识别周围环境中的障碍物的方法得到了普及应用，尤其是flash激光雷达系统被广泛应用在车辆的近场探测中。但是，传统的flash激光雷达系统的光源的输出功率、视场角度等都是固定的，这样就会造成应用该激光雷达系统的车辆前方或两侧出现较大面积的盲区，从而降低了车辆的避障能力。因此，针对上述问题，本申请提出了一种激光雷达及具有该激光雷达的设备，旨在解决上述这些问题。
图2为一个实施例提供的激光雷达系统的示意图。如图2所示，该激光雷达系统包括：至少两个激光收发组件，其中的至少两个激光收发组件对应的探测区域进行拼接；每个探测区域沿竖直方向划分为至少两个探测子区域，每个探测子区域对准所述探测区域沿竖直方向的不同角度范围；每个激光收发组件包括对应设置的激光发射装置和激光接收装置；激光发射装置用于发射预设方向的出射激光至对应的探测区域；激光接收装置用于接收对应的探测区域中的物体反射出射激光后返回的反射激光。
上述激光发射装置可以发射任一出射角的出射激光，具体的出射角可以预先根据实际应用需求设置，其可以是60°*90°的出射角、90°*90°的出射角等。例如，如图2A所示的激光发射装置的发射光束示意图，其发射的出射激光的出射角为90°*5°，其中，90°为该激光发射装置的横向出射角，5°为该激光雷达发射系统的纵向出射角。上述激光发射装置中可以包含至少一个激光发射器。可选的，上述激光发射装置还可以通过设置不同类型的激光发射 器、激光发射器的不同出射功率、激光发射器的不同排列密度，来调整覆盖探测区域的不同角度范围的出射激光的探测能力，如探测距离和探测精度。可选的，上述激光发射装置还可以通过设置激光发射器的排列方向或者在激光发射器的前方设置光学组件，来调整出射激光的出射方向，使出射激光覆盖探测区域的不同角度范围。例如，如图2B所示的激光发射装置的发射光束示意图，其可以同时发射两束出射激光，具体为图2B中为#1出射激光和#2出射激光；且#1出射激光的出射角为90°*5°，出射方向为对空方向，覆盖-2.5°至2.5°探测区域的角度范围(其中水平方向为0°)；#2出射激光的出射角度范围为90°*12°，出射方向为对地方向，覆盖8°至20°探测区域的角度范围。
在实际应用中，上述激光发射装置中可以包含至少一个激光发射器，各激光发射器可以以阵列的形式进行排布，使激光发射装置发射的出射激光具有一定出射角度范围。在这种应用条件下，激光发射装置中的各激光发射器阵列的类型可以相同，可选的，激光发射装置中的各激光发射器阵列的类型也可以不相同；激光发射器可以选用连续发光光源，也可以选用脉冲式发光光源；激光发射器可以是LED(发光二极管)、LD(激光二极管)或VCSEL(垂直腔面发射激光器)等，对此本实施例不做限制。相应的，激光发射装置中的各激光发射器阵列的出射功率可以相同，可选的，激光发射装置中的各激光发射器阵列的出射功率也可以不相同，根据实际应用场景的不同，单个LED光源的峰值功率一般为0.5-4W，VCSEL光源的峰值功率可选范围一般为0.5-6W。对此可以根据实际应用需求进行设计。
上述激光接收装置可以接收本激光收发组件中的激光发射装置的出射激光投射至探测区域后返回的反射激光，例如，图2中的激光接收装置12接收激光收发组件1中的激光发射装置11投射至对应的探测区域后返回的反射激光，激光接收装置22接收激光收发组件2中的激光发射装置21投射至对应的探测区域后返回的反射激光。相应的，上述激光接收装置还用于对接收到的反射激光进行光电转换，具体将反射激光的光信号转化成电信号，再进一步的分析和解析该电信号，从而得到各探测区域中物体的信息，例如，物体的成像或距离信息。
在实际应用中，激光接收装置包括接收镜头和激光接收器，接收镜头用于接收对应的探测区域的反射激光，并将接收到的反射激光会聚至激光接收器；激光接收器用于将接收镜头接收到的反射激光转换成电信号进行解析，得到探测区域中的物体的信息。可选的，上述接收镜头可以具体采用具有足够的“视野”、大口径、大视场角的接收镜头，从而能够尽可能多的接收反射激光。
可选的，上述激光接收器的类型可以根据实际应用需求根据激光发射器的类型确定，例如，接收器可以具体为SPIM(硅光电倍增管)、CCD器件、CMOS器件，甚至是集成化的TOF芯片等能够实现光信号转换和解析的器件。
在上述激光雷达系统中，每个激光收发组件对应的探测区域可以沿竖直方向划分为至少两个探测子区域，每个探测子区域对准探测区域沿竖直方向的不 同角度范围。
本实施例涉及激光雷达系统由于不同激光收发组件设计参数的不同，激光雷达系统的探测区域可以包括多个探测子区域的情况，例如，探测区域具体可以划分为对地探测子区域、中心探测子区域以及天空探测子区域。上述对地探测子区域应用于探测路面障碍物、路沿、近场盲区等；中心探测子区域应用于探测前方区域内水平方向移动的行人、车辆、建筑物等；天空探测子区域应用于探测半空障碍物、临近车辆、路面基建等，如限高杆、配电箱、低空飞行无人机等。以激光雷达系统中的一个激光收发组件为例，其中的激光发射装置的出射激光示意图，如图11所示，图中的激光发射装置的纵向的出射角为105°，其中天空探测子区域出射角为12.5°，对应探测区域的角度范围为-15°至-2.5°(水平方向为0°)；中心探测子区域出射角为5°；中心探测子区域的角度范围为-2.5°至+2.5°；对地探测区域出射角范围为87.5°，对地探测子区域的角度范围为+2.5°至+90°。可见，激光雷达系统的总的探测区域的纵向角度范围分为天空探测子区域、中心探测子区域以及对地探测子区域，激光雷达系统的总的探测区域在竖直方向上被划分为多个子区域，因此，在设计激光雷达系统时，可以根据每个子区域的需求不同，分别设置不同类型的激光发射器，也可以设置同种类型但不同发射功率的激光发射器，也可以设置同种类型但不同排列密度的激光发射器。例如，中心探测区域往往需要具备较远距离的探测能力，因此一般需要功率较大的激光发射器，而对地探测区域因激光雷达系统与地面之间的距离通常较近，所以只需要具备较近距离的探测能力即可，因此一般需要功率较小的激光发射器才不会造成能量浪费。多个子区域的划分使激光发射装置可以发射不同功率和不同出射角度范围的出射激光至不同的探测子区域，以针对各探测子区域的需求对探测子区域中的物体进行探测，避免了因探测子区域与发射功率不匹配造成的光能量浪费，提高了每个探测子区域内的光能量的利用率，进而降低了激光雷达系统的功耗，从而降低了激光雷达系统的制造成本。
结合上述对激光雷达系统中各部件的说明，参见图2，以图1应用场景为例，对本实施例所述的激光雷达系统的工作原理进行说明。其工作原理为：当车辆上的激光雷达系统需要对车辆周围进行探测时，激光雷达系统中的多个激光收发组件可以同时工作，在此过程中，每个激光收发组件的激光发射装置发射出射激光，将出射激光发射至对应的探测区域的角度范围内，使不同的激光发射组件对应的探测区域进行拼接，形成较大角度范围的探测区域，出射至对应探测区域的角度范围内的出射激光经过物体反射后返回，反射激光被激光接收装置中的接收镜头接收，反射激光通过接收镜头后会聚至激光接收器，并将反射激光的光信号转换成电信号后进行解析，得到探测区域中的物体信息，从而获得车辆周围的环境情况。需要说明的是，当激光收发组件发射出射激光至对应的探测区域时，激光收发组件可以发射多束不同能量密度的出射激光至对应的探测区域，每束出射激光又可以投射至对应的探测子区域，相当于每个探 测区域沿竖直方向被划分为不同角度范围的子区域。
上述实施例提供的激光雷达系统包括：至少两个激光收发组件，每个激光收发组件包括对应设置的激光发射装置和激光接收装置；其中的至少两个激光收发组件对应的探测区域进行拼接；每个探测区域沿竖直方向划分为至少两个探测子区域，每个探测子区域对准探测区域沿竖直方向的不同角度范围；上述激光发射装置用于发射预设方向的出射激光至对应的探测区域；上述激光接收装置用于接收对应的探测区域中的物体反射出射激光后返回的反射激光。上述方案采用两个或多个激光收发组件组合拼接的方式，可使激光雷达系统的探测区域在水平方向上扩展，实现了大角度的探测区域，进而减少了激光雷达系统出射激光照射的水平两侧盲区的范围，可以提高应用该激光雷达系统的车辆的避障能力。另外，由于上述的激光雷达系统中，每个激光收发组件对应的探测区域包括沿竖直方向划分的多个探测子区域，且每个探测子区域可以对准探测区域沿竖直方向的不同角度范围，相当于激光收发组件同时发射多束出射激光并朝向不同出射角度范围的出射激光，因此，使用上述激光雷达系统进行探测时，探测区域沿竖直方向的不同角度范围有不同的探测距离需求；探测距离较近的探测子区域，该探测子区域对应的激光发射装置的出射激光能量密度低；探测距离较远的探测子区域，该探测子区域对应的激光发射装置发射的出射激光能量密度高；使不同的探测区域根据实际应用需求匹配激光发射装置，避免了因探测区域与出射激光的能量密度不匹配造成的光能量浪费，提高了每个探测区域内的光能量的利用率，既满足了系统探测应用需求，又降低了激光雷达系统的整体功耗，降低了激光雷达系统的制造成本。
在实际应用中，激光雷达系统中包含的多个激光收发组件可以有多种布局方式，具体可以在水平方向上并列排布，例如图2所示；可选的，也可以在竖直方向上纵向排布，例如图2C所示；可选的，也可以在水平方向和竖直方向上二维排布。激光收发组件的布局方式与激光收发组件的探测区域的位置和大小相关，通过不同的布局方式可以实现激光雷达系统不同探测区域位置和大小的探测，通过将多个激光收发组件进行排列，实现多个激光收发组件的探测区域的拼接，在水平方向上的拼接实现了激光雷达系统水平面上探测区域覆盖范围的扩大；在竖直方向上的拼接实现了激光雷达系统竖直面上探测区域覆盖范围的扩大；同时在水平方向上和竖直方向上的拼接实现了激光雷达系统不仅水平面上探测区域覆盖范围的扩大，而且竖直面上探测区域覆盖范围的扩大。
相应的，每个激光收发组件中的激光发射装置和激光接收装置也可以有多种布局方式。激光收发组件的激光发射装置和激光接收装置可以沿水平方向或者竖直方向排布。
例如，以一个激光收发组件为例，如图2D所示，激光发射装置和激光接收装置可以在水平方向上并列排布；可选的，如图2E所示，激光发射装置和激光接收装置也可以在竖直方向上纵向排布。而且，不同的激光收发组件中的激光发射装置和激光接收装置也可以交错排布，如图2F所示。
在一种应用场景中，当激光雷达系统中包括至少两个激光收发组件时，至少两个激光收发组件沿水平方向并列排布，且至少两个激光收发组件对应的探测区域在水平方向上进行拼接。
以图3中所述的激光雷达系统示例性说明：在该图中，假设激光雷达系统包括两个激光收发组件，分别为激光收发组件1和激光收发组件2，激光收发组件1的探测区域为90°×90°，激光收发组件2的探测区域也为90°×90°，激光收发组件1和激光收发组件2沿水平方向并列排布，使得激光收发组件1和激光收发组件2发射的激光光束的出射角度范围拼接起来的总和为180°×90°，激光收发组件1对应的探测区域1和激光收发组件2对应的探测区域2在水平方向上进行拼接，拼接后扩大了整个激光雷达系统的探测区域。需要说明的是，具体的拼接方式与各激光收发组件中激光发射装置和激光接收装置的设置相关，具体涉及激光发射装置和激光接收装置的空间位置、排列方式等，避免产生新的阴影区或盲区、反射光或多径效应造成的近场饱和等，还需要做好激光发射装置和激光接收装置的光学隔离。
可选的，本申请还提供一种激光雷达系统，如图4所示，该激光雷达系统包括两个激光收发组件，分别为第一激光收发组件和第二激光收发组件；第一激光收发组件对应的第一探测区域和第二激光收发组件对应的第二探测区域朝向不同的方向，第一探测区域和第二探测区域在水平方向上进行拼接。
本实施中的第一收发组件和第二收发组件分别安装在激光雷达系统的不同侧平面上(图4中的01平面和02平面)，以使第一收发组件的第一探测区域朝向一个方向，第二激光收发组件的第二探测区域朝向另一个方向，第一探测区域和第二探测区域朝向不同的方向，进而第一激光收发组件的出射激光和第二激光收发组件的出射激光朝向不同的方向投射至不同方向的探测区域。在上述结构中，第一探测区域和第二探测区域可以进行拼接，得到拼接后的整个激光雷达系统的探测区域。具体的，第一探测区域和第二探测区域可以相邻拼接，可选的，第一探测区域和第二探测区域也可以部分交错拼接，只要拼接后的探测区域能够满足实际应用需求即可。另外，从图4中可以看到，在设计该激光雷达系统时，01平面和02平面之间存在一个夹角，以使第一激光收发组件的第一探测区域能够朝向一个方向，第二激光收发组件的第二探测区域能够朝向另一个方向，而具体该夹角的大小可以根据实际应用需求确定，对此本实施例不做限制。
由上述实施例可知，第一探测区域和第二探测区域的拼接方式由第一激光收发组件与第二收发组件的布局方式确定，因此，本申请具体提供了两种第一激光收发组件与第二激光收发组件的布局方式，接下来介绍这两种布局方式。
第一种布局方式为：如图4所示的激光雷达系统的结构示意图，第一探测区域和第二探测区域可以相背设置，即，激光雷达系统中的第一激光收发组件和第二激光收发组件分别相背设置在激光雷达系统的不同侧平面上(图中的01平面和02平面)，此时，该激光雷达系统的探测区域为第一探测区域和第 二探测区域进行拼接后形成的探测区域。例如，应用如图4所示的激光雷达系统进行探测时，如图4A所示，以XY水平面为例，该激光雷达系统中第一激光收发组件的第一探测区域的水平角度范围为95°，且朝向-xy方向；第二激光收发组件的第二探测区域的水平角度范围为95°，且朝向+xy方向。第一探测区域和第二探测区域进行相邻拼接，得到的该激光雷达系统的探测视场角为180°。需要说明的是，第一探测区域和第二探测区域在进行相邻拼接时存在交叠区域(图中为A区域)和盲区(图中为B区域)，其中，重叠区域的探测分辨率较高；关于交叠区域和盲区的大小与第一激光收发组件和第二激光收发组件的布局方式、以及第一探测区域和第二探测区域的大小相关。上述这种第一激光收发组件和第二激光收发组件相背设置的结构，使激光雷达系统的后端空间比较紧凑，便于激光雷达系统的体积优化设计，以减小激光雷达系统的体积，从而降低激光雷达系统的制造成本。第二种布局方式为：如图5所示的激光雷达系统的结构示意图，第一探测区域和第二探测区域相对设置，即，激光雷达系统中的第一激光收发组件和第二激光收发组件分别相对设置在激光雷达系统的不同侧平面上(图中的03平面和04平面)，此时，该激光雷达系统的探测区域为第一探测区域和第二探测区域进行拼接后形成的探测区域。例如，应用如图5所示的激光雷达系统进行探测时，如图5A所示，以XY水平面为例，该激光雷达系统中第一激光收发组件的第一探测区域的水平角度范围为95°，且朝向﹢xy方向；第二收发组件的第二探测区域的水平角度范围为95°，且朝向﹣xy方向。第一探测区域和第二探测区域进行部分交错拼接，得到的该激光雷达系统的探测区域的水平角度范围为180°。需要说明的是，第一探测视场角和第二探测视场角在进行交错拼接时存在一定的交叠区域(图中为A区域)，其中，重叠区域的探测分辨率较高；该区域的大小和第一激光收发组件和第二激光收发组件的布局方式、以及第一探测区域和第二探测区域的大小相关。上述这种第一激光收发组件和第二激光收发组件相对设置的结构，使激光雷达系统的后端空间比较宽裕，可以避免第一激光收发组件和第二激光收发组件所包含的各种器件之间的相互影响和干扰。
进一步的说明，由前述图2D和图2E实施例可知，各激光收发组件中的激光发射装置和激光接收装置可以有多种布局方式，具体可以沿水平方向或者竖直方向排布，接下来以激光雷达系统中包括两个激光收发组件，且这两个激光收发组件为水平排列、每个激光收发组件的激光发射装置和激光接收装置水平排列的布局方式进行说明。
第一种应用场景：
如图6所示，该激光雷达系统中的第一激光收发组件中的第一激光发射装置和第一激光接收装置沿水平方向并列排布，第二激光收发组件中的第二激光发射装置和第二激光接收装置沿水平方向并列排布。此时，第一激光发射装置的出射方向与第一激光接收装置的光轴方向相同；第二激光发射装置的出射方向与第二激光接收装置的光轴方向相同。
本实施例涉及的是第一激光收发组件和第二激光收发组件中只包括一个激光发射装置和一个对应的激光接收装置的情况。在这种情况下，第一激光发射装置的出射激光投射至第一探测区域，第一激光接收装置接收该第一探测区域中物体反射后返回的反射激光。同时，第二激光发射装置的出射激光投射至第二探测区域，第二激光接收装置接收该第二探测区域中物体反射后返回的反射激光。该激光雷达系统的探测区域为第一探测区域与第二探测区域拼接后的探测区域。需要说明的是，图6中的第一探测区域和第二探测区域仅仅只给出了一种相交拼接的情况，在实际应用中还包括诸如相邻拼接、不相邻也不相交拼接的情况。另外，图6主要是示意各激光收发组件的出射方向和光轴方向的关系，不代表实际每个激光收发组件的探测区域都是图中所示的大小。可选的，在上述布局方式下，第一激光收发组件和第二激光收发组件中也可以包括多个激光发射装置和对应的一个激光接收装置，如图6A所示，其中#1激光发射装置和#2激光发射装置同时与#1激光接收装置对应，且#1激光发射装置和#2激光发射装置的出射方向与#1激光接收装置的光轴方向相同。另外，#1激光发射装置和#2激光发射装置发射出射激光至各对应的探测区域中(#1探测区域和#2探测区域)，#1接收镜头接收来自#1探测区域和#2探测区域中物体反射后返回的反射激光。相应的，#3激光发射装置和#4激光发射装置同时与#2激光接收装置对应，且#3激光发射装置和#4激光发射装置的出射方向与#2激光接收装置的光轴方向相同。另外，#3激光发射装置和#4激光发射装置发射出射激光至对应的探测区域中(#3探测区域和#4探测区域)，#2接收镜头接收来自#3探测区域和#4探测区域中物体反射后返回的反射激光。
具体的，如图15至图23所示，该激光雷达系统10包括：壳体100、激光发射装置、多个激光接收装置；壳体100用于限定出内部腔室200，内部腔室200可以分为发射腔室210以及接收腔室220，激光发射装置设置于发射腔室210，用于向第一目标区域发射激光束，多个激光接收装置设置于接收腔室220，多个激光接收装置可接收第二目标区域内反射的激光束，第一目标区域与第二目标区域至少部分重合；其中，第二目标区域由多个子探测区域组合而成，每个子探测区域均小于第一目标区域且与第一目标区域至少部分重合，各激光接收装置一一对应接收各子探测区域内的反射的激光束。
激光发射装置的数量与激光接收装置的数量相同，各激光接收装置一一对应接收各激光发射装置发射至第一目标区域并反射回的激光束。激光发射装置的数量可以为两个，为了方便描述，将两个激光发射装置称为第一发射装置410以及第二发射装置420。第一发射装置410朝第一子发射区域内发射激光束，第二发射装置420朝第二子发射区域内发射激光束。第一子发射区域与第二子发射区域可以部分重合、完全重合或不重合。优选的，第一子发射区域与第二子发射区域可以部分重合，实现对整体探测视场的全覆盖。
当激光发射装置为两个时，激光接收装置的数量也可以为两个，为了描述方便，将两个激光接收装置称为第一接收装置310以及第二接收装置320，第 一接收装置310以及第二接收装置320用于接收第一目标区域内反射回的激光束。可选的，第一接收装置310接收第一子探测区域内反射回的激光束，第二接收装置320接收第二子探测区域内反射回的激光束。第一接收装置310和第二接收装置320的接收视场角小于第二目标区域，能够简化接收镜头的设计难度，减少环境光的干扰提高接收信号的信噪比。第一子探测区域与第二子探测区域可以部分重合、完全重合或不重合。优选的，第一子探测区域与第二子探测区域可以部分重合，实现对整体探测视场的全覆盖。
各激光接收装置一一对应各激光发射装置，对应的一对激光发射装置和激光接收装置构成一激光收发组件。激光雷达系统包括两个激光收发组件，分别为第一激光收发组件和第二激光收发组件；第一激光收发组件包括第一发射装置410和第一接收装置310，第二激光收发组件包括第二发射装置420和第二接收装置320。
第一激光收发组件中，第一接收装置310的第一子探测区域位于第一发射装置410的第一子发射区域内，重合的区域即为第一探测区域；第二激光收发组件中，第二接收装置320的第二子探测区域位于第二发射装置420的第二子发射区域内，重合的区域即为第二探测区域。第一激光收发组件对应的第一探测区域和第二激光收发组件对应的第二探测区域朝向不同的方向，第一探测区域和第二探测区域在水平方向上进行拼接。
如图22所示，如前述，第一激光发射装置410的出射方向与第一激光接收装置310的光轴方向相同；第二激光发射装置420的出射方向与第二激光接收装置320的光轴方向相同。第一激光收发组件的第一激光发射装置410和第一激光接收装置310设置于01平面上；第二激光收发组件的第二激光发射装置420和第二激光接收装置320设置于02平面上。需要说明的是，01平面并非特指单一平面；第一激光发射装置和第一激光接收装置的设置平面相互平行，同时两者的光轴方向均垂直于其设置平面，第一激光发射装置的光轴方向和第一激光接收装置的光轴方向相同；因此01平面也可以由至少两个相互平行的01’平面和01”平面构成，第一激光发射装置设置于01’平面，第一激光接收装置设置于01”平面。当激光雷达系统的外壳体内结构紧凑时，第一激光发射装置也可以分为多个发射块设置于多个相互平行的01’-1平面、01’-2平面等平面上。02平面与01平面类似，此处不再赘述。
壳体100包括外壳体110和内壳体120；外壳体110用于限定出内部腔室200，外壳体110包括第一透光板1126和两个第二透光板1125；内壳体120设置于内部腔室200，内壳体120与外壳体110的内壁面连接，且内壳体120将内部腔室200分隔成发射腔室210和接收腔室220。第一透光板1126面向发射腔室210，且第一发射装置410和第二发射装置420发射的激光束穿过第一透光板1126而发射向激光雷达系统外；两个第二透光板1125均面向接收腔室220，且第一接收装置310接收穿过其中一个第二透光板1125的激光束、第二接收装置320穿过另一个第二透光板1125的激光束。
外壳体110还包括两个相对的端板111和周壁板112；周壁板112位于两个端板111之间，且与两个端板111共同限定出内部腔室200，周壁板112包括发射壁1125、第一接收壁1121以及第二接收壁1122，沿周壁板112的周向，第一接收壁1121以及第二接收壁1122分别位于发射壁1123的两端，第一透光板1126设置于发射壁1123，两个第二透光板1125设置于第一接收壁1121和第二接收壁1122；内壳体120分别连接两个端板111以及发射壁1123，并与发射壁1123、两个端板111共同限定出发射腔室210。
发射壁、第一接收壁以及第二接收壁均呈平板状，第一接收壁与发射壁之间呈第一夹角、第二接收壁与发射壁之间呈第二夹角，第一夹角等于第二夹角且均呈为小于一百八十度的钝角。
内壳体120包括第一板体121以及第二板体122，第一板体121以及第二板体122均分别连接发射壁1123以及两个端板111，第一板体121与第二板体122之间的面向发射腔室210的夹角呈钝角，第一板体121的面向发射腔室210的表面设置第一发射装置410，第二板体122的面向发射腔室210的表面设置第二发射装置420。第一板体121和第一接收装置310的设置平面构成前述01平面，第二板体122和第二接收装置320的设置平面构成前述02平面。
第一接收装置310具有第一光路轴线，第一光路轴线垂直于与其相交的第一透光板1126，第二接收装置320具有第二光路轴线，第二光路轴线垂直于与其相交的第二透光板1125，第一光路轴线与第二光路轴线的夹角大于四十五度。
第一接收装置310具有第一锥形探测场，第一锥形探测场具有靠近发射壁1123的第一极限边缘线，第二接收装置320具有第二锥形探测场，第二锥形探测场具有靠近发射壁1123的第二极限边缘线，第一极限边缘线与第二极限边缘线交叉，且交叉点位于发射壁1123的面向探测物的一侧。
激光雷达系统10还包括调控装置，调控装置配置成可控制第一发射装置410以及第二发射装置420的开闭，以使得第一接收装置310接收第一发射装置410发射向第一子探测区域内的激光束、第二接收装置320接收第二发射装置420发射向第二子探测区域内的激光束，加入调控装置后，各子发射区域是否重合便不受影响。
激光发射装置发射的光线在发射视场内不同位置的强度具有差异，这种差异对激光雷达系统的探测精度有一定影响。为了提升发射视场中各处的光线的均匀程度，一种实施例中，可以使激光雷达还包括匀光器(即具有特定结构的微光学系统(DIFFUSER或ROE))。匀光器用于对激光发射装置发射的光线进行调节，以使得发射视场中各处的光线能量分布得更加均匀。由激光发射装置发射的出射光经特定的微光学系统(DIFFUSER或ROE)后以泛光出射的方式一次性照亮视场，此时发射视场内的光线会按照一定的规律分布在空间的特定区域内，此时发射视场内光线的强度随位置变化的曲线图如图24所示。可以看到，发射视场内各处的光线强度变得更加均匀。
如图25所示，接收端光学镜头通常为中心位置处接收效率最高，往周围区域的接收效率衰减较快，即图25中的曲线1所示。为了获取更加均匀的探测，激光接收装置的接收端光学镜头可以进行相应的改进，具体地，激光接收装置的接收端光学镜头可以采用6片光学透镜，其中5片玻璃球面镜和1片玻璃非球面镜(相比球面镜提高了自由度，具有高阶维度，相当于1.5-2片玻璃球面镜)，多透镜相互配合实现矫正并有效补偿了子午面和弧矢面的像差，并在足够大通光的前提下保证足够的分辨率(面阵雷达的要求)。子午面与弧矢面的离焦造成成像失真，通过高折射率材质，优化光路内部传输的视场角等方式压缩畸变，一般要求TV畸变小于-30％。
可选的，在上述水平方向排列的应用场景中，本申请还提供了一种激光雷达系统，该激光雷达系统，如图6B所示，该激光雷达系统包括第一激光收发组件和第二激光收发组件，第一激光收发组件包括多个第一激光发射装置和一个对应的第一激光接收装置，第二激光收发组件包括多个第二激光发射装置和一个对应第二激光接收装置，其中的多个第一激光发射装置围绕第一激光接收装置设置，多个第二激光发射装置围绕第二激光接收装置设置。在该种结构中，第一激光接收装置用于接收多个第一发射装置的出射激光投射至各对应探测区域中物体反射后返回的反射激光，且第一激光接收装置的光轴方向与各第一激光发射装置的出射方向相同。第二激光接收装置用于接收多个第二发射装置的出射激光投射至各对应探测区域中物体反射后返回的反射激光，且第二激光接收装置的光轴方向与各第二激光发射装置的出射方向相同。
上一应用场景是基于第一探测视场角与第二探测视场角相背设置为例进行说明的，接下来以第一探测视场角与第二探测视场角相对设置为例进行说明。
第二种应用场景：
如图7所示，激光雷达系统中的第一激光收发组件的第一激光发射装置和第一激光接收装置沿水平方向并列排布，第二激光收发组件的第二激光发射装置和第二激光接收装置沿水平方向并列排布。此时，第一激光发射装置的出射方向与第一激光接收装置的光轴方向相同；第二激光发射装置的出射方向与第二激光接收装置的光轴方向相同。
本实施例涉及的激光雷达系统的探测原理与图6实施例所述的激光雷达系统的探测原理相同，详细内容请参见前述图6实施例的内容。在此不作重复说明。
可选的，在该种布局方式下，第一激光收发组件和第二激光收发组件中也可以包括多个激光发射装置和对应的一个激光接收装置，如图7A所示，本实施例涉及的激光雷达系统的探测原理与图6A实施例所述的激光雷达系统的探测原理相同，详细内容请参见前述图6A实施例的内容。在此不作重复说明。
可选的，在上述水平方向排列的应用场景中，本申请还提供了一种激光雷达系统，该激光雷达系统，如图7B所示，该实施例与图6B实施例涉及的原理相同，具体细节内容请参见前述说明，在此不做重复说明。
接下来的实施例以激光雷达系统中包括两个激光收发组件，且这两个激光收发组件为水平排列、每个激光收发组件的激光发射装置和激光接收装置竖直排列的布局方式进行说明。
第三种应用场景：
如图8所示，激光雷达系统中的第一激光收发组件的第一激光发射装置和第一激光接收装置沿竖直方向排布，第二激光收发组件的第二激光发射装置和第二激光接收装置沿竖直方向排布。此时，第一激光发射装置的出射方向与第一激光接收装置的光轴方向相同；第二激光发射装置的出射方向与第二激光接收装置的光轴方向相同。
本实施例涉及的是第一激光收发组件和第二激光收发组件中只包括一个激光发射装置和一个对应的激光接收装置的情况。在这种情况下，第一激光发射装置的出射激光投射至第一探测区域，第一激光接收装置接收第一探测区域中物体反射后返回的反射激光。同时，第二激光发射装置的出射激光投射至第二探测区域，第二激光接收装置接收该第二探测区域中物体反射后返回的激光。该激光雷达系统的探测区域为第一探测区域与第二探测区域拼接后的探测区域。可选的，在上述布局方式下，第一激光收发组件和第二激光收发组件中也可以包括多个激光发射装置和对应的一个激光接收装置，如图8A所示，其中#1激光发射装置和#2激光发射装置同时与#1激光接收装置对应，且#1激光发射装置和#2激光发射装置的出射方向与#1激光接收装置的光轴方向相同。另外，#1激光发射装置和#2激光发射装置发射出射激光至各对应的探测区域中(#1探测区域和#2探测区域)，#1激光接收装置接收来自#1探测区域和#2探测区域中物体后返回的反射激光。相应的，#3激光发射装置和#4激光发射装置同时与#2激光接收装置对应，且#3激光发射装置和#4激光发射装置的出射方向与#2激光接收装置的光轴方向相同。另外，#3激光发射装置和#4激光发射装置发射出射激光至对应的探测区域中(#3探测区域和#4探测区域)，#2激光接收装置接收来自#3探测区域和#4探测区域中物体反射后返回的反射激光。
上一应用场景是基于第一探测视场角与第二探测视场角相背设置为例进行说明的，接下来以第一探测视场角与第二探测视场角相对设置为例进行说明。
第四种应用场景：
如图9所示，激光雷达系统中的第一激光收发组件的第一激光发射装置和第一激光接收装置沿竖直方向排布，第二激光收发组件的第二激光发射装置和第二激光接收装置沿竖直方向排布。此时，第一激光发射装置的出射方向与第一激光接收装置的光轴方向相同；第二激光发射装置的出射方向与第二激光接收装置的光轴方向相同。
本实施例涉及的激光雷达系统的探测原理与图8实施例所述的激光雷达系统的探测原理相同，详细内容请参见前述图8实施例的内容。在此不作重复说明。
可选的，在该种布局方式下，第一激光收发组件和第二激光收发组件中也可以包括多个激光发射装置和对应的一个激光接收装置，如图9A所示，本实施例涉及的激光雷达系统的探测原理与图8A实施例所述的激光雷达系统的探测原理相同，详细内容请参见前述图8A实施例的内容。在此不作重复说明。
进一步的说明，由前述图2F实施例可知，各激光收发组件中的激光发射装置和激光接收装置可以交错排布，第一探测区域和第二探测区域相对设置。接下来举例说明。
第五种应用场景：
如图10所示，第一激光收发组件的第一激光发射装置和第二激光收发组件的第二激光接收装置沿竖直方向排布，第二激光收发组件的第二激光发射装置和第一激光收发组件的第一激光接收装置沿竖直方向排布。第一激光发射装置的出射方向与第一激光接收装置的光轴方向相同；第二激光发射装置的出射方向与第二激光接收装置的光轴方向相同。
本实施例涉及的是第一激光收发组件和第二激光收发组件中包括激光发射装置和激光接收装置交错排列的情况。在这种情况下，如图10所示，第一激光发射装置与第二激光发射装置相被设置在01平面和02平面上，且第一激光发射装置的出射激光投射至第一探测区域，第二激光发射装置的出射激光投射至第二探测区域；第一激光接收装置和第二激光接收装置相对设置在03平面和04平面上；第一激光接收装置接收来自第一探测区域中物体反射的激光光束，第二激光接收装置接收来自第二探测区域中物体反射后返回的激光。
需要说明的是，上述图6-图10中涉及到的探测区域在图中所示的是椭圆形的区域，这仅是一种示意性的说明，说明探测区域具有一定的角度范围、大小、和方向，并不局限于椭圆形的形状和大小，可以是任一种形状大小的区域，本实施例对此不做限制。
可选的，在实际应用环境下，天空探测子区域中的物体的反射率相对较高；对地探测子区域中的物体可能更多的是诸如沙土、砖头、灰色减速带、石质路沿等，这些物体的反射率普遍较低。中心探测子区域表征了激光雷达系统的极限性能。
在一个实施例中，结合图1应用场景，如图12所示，本申请还提供了一种车辆，上述任一实施例所述的激光雷达系统安装于该车辆的前端和/或后端，且激光雷达系统与地面距离达到预设高度。
本实施例中的激光雷达系统可以安装在车辆上的任一位置，但是为了更好的探测车身周围环境道路的情况，通常将激光雷达系统安装在车辆的前端、后端或侧面。具体的，在车辆上安装激光雷达系统时，将激光雷达系统安装在距离地面有一定预设高度的位置，且该预设高度和车辆的高度有对应关系，该对应关系可以根据技术人员的经验值得到，例如，通常小轿车的高度在1.4-1.6米范围内，则对应的激光雷达系统的安装高度在1.5米左右，能够实现车辆周围合理视场角度的探测，通常货车的高度在1.6-2.7米范围内，则对应的激光 雷达系统的安装高度在2.1左右，上述这些对应关系仅为举例说明，并不代表真实的设计参数，因此，根据车辆高度对应得到激光雷达系统的安装高度的方法都在本申请保护范围内。
在上述所有实施例的基础上，本申请还提供了一种激光雷达系统的控制方法，该方法应用于上述任一实施例所述的激光雷达系统。该激光雷达系统包括至少两个激光收发组件，至少两个所述激光收发组件对应的探测区域进行拼接；每个所述探测区域沿竖直方向划分为至少两个探测子区域，每个所述探测子区域对准所述探测区域沿竖直方向的不同角度范围；每个激光收发组件包括对应设置的激光发射装置和激光接收装置，如图13所示，所述方法包括：
S101、控制激光发射装置发射预设方向的出射激光至对应的探测区域。
S102、控制激光接收装置接收对应的探测区域中的物体反射出射激光后返回的反射激光。上述步骤S101-S102所述的激光雷达系统的控制方法对应前述图2实施例所述的激光雷达系统，具体解释说明参见图2实施例的说明内容，在此不做重复说明。
应该理解的是，虽然图13的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图13中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行。
本申请提供的激光雷达系统的方法，可以应用于如图14所示的计算机设备中。该计算机设备可以是终端，其内部结构图可以如图14所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口、显示屏和输入装置。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统和计算机程序。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种激光雷达系统的控制方法。该计算机设备的显示屏可以是液晶显示屏或者电子墨水显示屏，该计算机设备的输入装置可以是显示屏上覆盖的触摸层，也可以是计算机设备外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。
本领域技术人员可以理解，图14中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：
控制激光发射装置发射预设方向的出射激光至对应的探测区域；
控制激光接收装置接收对应的所述探测区域中的物体反射所述出射激光后返回的反射激光。
上述实施例提供的一种计算机设备，其实现原理和技术效果与上述方法实施例类似，在此不再赘述。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时还实现以下步骤：
控制激光发射装置发射预设方向的出射激光至对应的探测区域；
控制激光接收装置接收对应的所述探测区域中的物体反射所述出射激光后返回的反射激光。
上述实施例提供的一种计算机可读存储介质，其实现原理和技术效果与上述方法实施例类似，在此不再赘述。
如图15至图23所示，本实施例提供了一种激光雷达10，该激光雷达10能够增大探测视角，从而减小探测盲区。具体地，该激光雷达10可以包括壳体100、激光发射装置以及多个(两个或两个以上)激光接收装置。
壳体100限定出内部腔室200，内部腔室200可以分为发射腔室210以及接收腔室220，激光发射装置设置于发射腔室210内，各激光接收装置设置于接收腔室220内。内部腔室200可以仅由发射腔室210以及内部腔室200构成，内部腔室200也可以除开发射腔室210以及接收腔室220外还包括其它空间。例如，内部腔室内还可分隔出一部分空间放置激光雷达的电路板等元器件。由于电路板上具有诸如控制芯片等精密器件，而激光发射装置的温度一般较高，而上述精密器件对温度的影响较大，故为了保护上述精密器件，可以利用隔热材料在内部腔室内单独隔离出绝热腔室，让上述精密器件设置于绝热腔室内从而起到良好的保护效果。
本实施例中，内部腔室200由发射腔室210以及接收腔室220构成。发射腔室210以及接收腔室220仅以两者的功能作用进行划分，应当注意的是，发射腔室210以及接收腔室220两者可以相互连通，仅进行虚拟划分。而当发射腔室210与接收腔室220联通时，由于激光发射装置产生的激光束易在内部腔室200的侧壁上散射或在光学器件上反射，当散射或反射的激光束进入接收装置内时，将造成干扰影响激光雷达10的探测精度。故一种优选地实施例中，发射腔室210与接收腔室220两者也可以利用隔离部件进行分隔，从而使发射腔室210以及接收腔室220为相对独立的部分。
本实施例中，发射腔室210以及接收腔室220为相对独立分隔的两部分。具体地，激光雷达10的壳体100可以包括外壳体110以及内壳体120，外壳体110限定出上述的内部腔室200，内壳体120在内部腔室200内分隔出上述的发射腔室210以及接收腔室220。并且，为了便于使发射腔室210内发射的激光束传送至壳体100外、壳体100外的激光束传送至壳体100内的接收腔室220，外壳体110可以包括第一透光板1126以及第二透光板1125。第一透光 板1126面向发射腔室210，用于使发射腔室210内产生的激光束透过并传送至壳体100外。第二透光板1125面向接收腔室220，用于使壳体100外反射回的激光束透过并传送至壳体100内。第一透光板1126以及第二透光板1125在外壳体110上的具体布置位置视具体情况而定。
激光发射装置的数量可以为一个也可以为多个。当激光发射装置的数量为一个时，多个激光接收装置同时接收激光发射装置发出并经由被探测物发射的激光束。当激光发射装置的数量为多个时，每个激光接收装置亦可以同时接收所有激光发射装置发射并经由被探测物反射回的激光束。特别地，激光发射装置为多个时，其数量可以与激光接收装置的数量一致，此时，可以让每个激光接收装置仅对应接收一个激光发射装置发射并经由被探测物反射回的激光束。这样的结构一方面能够简化系统设计、降低接收装置后端的解算难度、减少光线串扰，组装光调时简单易操作，另一方面，当某个激光发射装置出现故障时，也仅有一个激光接收装置受到影响，不会使所有激光接收装置的探测范围均受到影响，故提升了适用性能。
需要注意的是，本实施例中，不管激光发射装置的数量为一个还是多个，各激光发射装置均理解为向第一目标区域发射激光束。当激光发射装置一个时，一个激光发射装置发射的激光束布满第一目标区域，当激光发射装置的数量为多个时，各激光发射装置发射的激光束所覆盖的区域的总和为第一目标区域。即第一目标区域由多个子发射区域组合而成，各激光发射装置一一对应向各子发射区域内发射激光束。而每个子发射区域之间可以部分重合、完全重合或不重合。需要注意的是，由于无论是发射区域还是接收区域，其均呈锥形，故上述中的“重合”仅表示在激光雷达合理的探测距离内的状态(例如，接收区域与发射区域在距离激光雷达极近的部位无法做到重合，故此部位的重合状态不予考虑)。合理的探测距离大小视激光雷达的应用场景而定。
而当每个激光接收装置仅对应接收一个激光发射装置发射并经由被探测物反射回的激光束时，为了减少管线串扰(即防止第一发射装置发射的激光束被第二接收装置误接收、第二发射装置发射的激光束被第一接收装置误接收)一种实施例中，可以让每个发射区域之间部分重合，每个激光接收装置仅接收每个子发射区域的与其它发射区域的不重合部分所反射的激光束。另一种实施例中，也可以让每个子发射区域均不重合。优选地，又一种实施例中，亦可以使激光雷达10还包括调控装置，调控装置配置成可控制第一发射装置410以及第二发射装置420的开闭，以使得第一接收装置310接收第一发射装置410发射向第一子探测区域内的激光束、第二接收装置320接收第二发射装置420发射向第二子探测区域内的激光束，加入调控装置后，各子发射区域是否重合便不受影响。
调控装置的具体调控过程可以为：在某一时间段内，使其中一个激光发射装置开启并发射激光束，其它激光发射装置不发射激光束。此时，其中一个对应的激光接收装置开启并接收反射回的由上述激光发射装置发射的激光束。下 一时间段，使另一个激光发射装置开启发射激光束，其它激光发射装置不发射激光束。此时，对应上述激光发射装置的激光接收装置开启并接收反射回的由上述激光发射装置发射的激光束。如此往复，通过将间隔的时间段调小至合适的时间，便可以起到完整的探测效果。
本实施例中的多个激光接收装置均设置于接收腔室220，多个激光接收装置可接收第二目标区域内反射的激光束，第一目标区域与第二目标区域至少部分重合。需要说明的是，第二目标区域由多个子探测区域组合而成，每个子探测区域均小于第一目标区域且与第一目标区域至少部分重合，各激光接收装置一一对应接收各子探测区域内的反射的激光束。特别地，第二目标区域可以完全属于第一目标区域、也可以仅部分属于第一目标区域。由于激光接收装置仅能接收由第一目标区域反射的激光束，故为了提高接收视场的利用率，优选地，第二目标区域完全属于第一目标区域。
本实施例提供的激光雷达10，将激光发射装置以及激光接收装置独立设置，且激光接收装置的数量至少为两个，相对于现有技术中仅有一个激光接收装置的结构而言，增加多个激光接收装置能够扩大接收视场，增大探测视角，从而减小激光雷达10的探测盲区。
如图16至图18所示，一种实施例中，激光发射装置的数量可以为两个，为了描述方便，将两个激光发射装置称为第一发射装置410以及第二发射装置420。第一发射装置410朝第一子发射区域(即前述的多个子发射区域中对应的一个)内发射激光束，第二发射装置420朝第二子发射区域(即前述的多个子发射区域中对应的另一个)内发射激光束，第一目标区域由第一子发射区域与第二子发射区域组合而成。第一子发射区域与第二子发射区域可以部分重合、完全重合或不重合。优选地，第一子发射区域与第二子发射区域可以部分重合，实现对整体探测视场的全覆盖。具体情况前文已有阐述，这里不进行赘述。
当激光发射装置为两个时，激光接收装置的数量也可以为两个，为了描述方便，将两个激光接收装置称为第一接收装置310以及第二接收装置320，第一接收装置310以及第二接收装置320用于接收由第一目标区域内反射回的激光束。当激光雷达10具有两个接收装置以及两个发射装置时，一种实施例中，如图8至图9所示，两个激光发射装置可以位于两个激光接收装置之间，具体地，第一发射装置410位于第二发射装置420以及第二接收装置320之间，第二发射装置420位于第一发射装置410以及第一接收装置310之间。并且，此时可以使第一发射装置410发射的激光束以及第一接收装置310接收的激光束朝右边(以图示的方位为参照)，使第二发射装置420发射的激光束以及第二接收装置320接收的激光束朝左边(以图示的方位为参照)。
本实施例中，第一接收装置310用于接收第一子探测区域内的光线，第一子探测区域位于第一子发射区域内，当然，在其他实施例中，第一子探测区域也可以部分位于第一子发射区域外，此时，第一接收装置仅能接收第一子探测区域的位于第一子发射区域内的部分所反射的激光束。第二接收装置320用于 接收第二子探测区域内的光线，第二子探测区域位于第二子发射区域内。而当第一子发射区域与第二子发射区域具有重合部分时，为了不使第二发射装置420发射的激光束反射至第一接收装置310、第一发射装置410发射的激光束反射至第二接收装置320，第一子探测区域可以位于第一子发射区域的除去上述重合部分的位置、第二子探测区域可以位于第二子发射区域的除去上述重合部分的位置。特别地，由于光线在探测区域内会形成漫反射，造成光线串扰，故即使采用上述方案，也无法彻底解决光线串扰的问题。优选地，本实施例中的激光雷达10还可以包括调控装置(图中未示出)，调控装置配置成可控制第一发射装置410以及第二发射装置420的开闭，以使得第一接收装置310接收第一发射装置410发射向第一子探测区域内的激光束、第二接收装置320接收第二发射装置420发射向第二子探测区域内的激光束。调控装置的一种具体工作原理前文已有阐述，这里不进行赘述。调控装置可以使第一发射装置开启时，仅第一接收装置接收由探测区域内反射回的光线；第二发射装置开启时，仅第二接收装置接收由探测区域内反射回的光线。故基本解决了光线串扰的问题。
如图16至图17所示，壳体100可以包括外壳体110以及内壳体120，外壳体110限定出内部腔室200，外壳体110包括第一透光板1126以及两个第二透光板1125。内壳体120设置于内部腔室200，内壳体120与外壳体110的内壁面连接，且内壳体120将内部腔室200分隔成发射腔室210以及接收腔室220。其中，内壳体120分别连接两个端板111以及发射壁1123，并与发射壁1123、两个端板111共同限定出发射腔室210。
第一透光板1126面向发射腔室210，且第一发射装置410以及第二发射装置420发射的激光束穿过第一透光板1126而发射向激光雷达10外。两个第二透光板1125均面向接收腔室220，且第一接收装置310接收穿过其中一个第二透光板1125的激光束、第二接收装置320接收穿过另一个第二透光板1125的激光束。
具体地，外壳体110包括两个相对的端板111以及周壁板112。周壁板112位于两个端板111之间，且与两个端板111共同限定出内部腔室200，周壁板112包括发射壁1123、第一接收壁1121以及第二接收壁1122。沿周壁板112的周向，第一接收壁1121以及第二接收壁1122分别位于发射壁1123的两端。
第一透光板1126设置于发射壁1123，第一透光板1126可以为平面板也可以为曲面板，具体可以视发射壁1123的形状而定。第一透光板1126为平面板时，其可以为圆形或多边形，本实施例中，第一透光板1126为呈矩形的平板。第一透光板1126可以完全覆盖发射壁1123(此时第一透光板1126即为发射壁1123)也可以部分覆盖发射壁1123。
两个第二透光板1125一一对应设置于第一接收壁1121以及第二接收壁1122。同样地，第二透光板1125可以为平面板也可以为曲面板，具体视第一接收壁1121以及第二接收壁1122的形状而定。第二透光板1125为平面板时， 其可以为圆形或多边形，本实施例中，第二透光板1125为呈矩形的平板。
当发射壁1123、第一接收壁1121以及第二接收壁1122均呈平板状时，第一接收壁1121、第二接收壁1122以及发射壁1123可以共平面。为了减少第一子接收区域以及第二子接收区域之间的重叠大小，从而增大激光雷达整体的探测视场，本实施例中，如图1、图2、图8以及图9所示，第一接收壁1121与发射壁1123之间呈第一夹角c、第二接收壁1122与发射壁1123之间呈第二夹角d，第一夹角c等于第二夹角d且均呈为小于一百八十度的钝角，例如，第一夹角c与第二夹角d均可以为170度、150度、135度、120度或100度等。需要注意的是，上述中，第一夹角c以及第二夹角d均为由壳体100内部测量所得到的夹角，即第一夹角c为第一接收壁1121的内壁面与发射壁1123的内壁面的夹角，第二夹角d为第二接收壁1122的内壁面与发射壁1123的内壁面之间的夹角。
如图24至图25所示，受硬件限制，现有技术中，激光发射装置发射的光线在发射视场内不同位置的光线强度具有差异，这种差异对激光雷达的探测精度有一定影响。图10中可以看出，位于发射视场中心位置的光线强度较低，位于发射视场的靠近边缘的部位光线强度较高。为了提升发射视场中各处的光线的均匀程度，一种实施例中，可以使激光雷达还包括匀光器(即具有特定结构的微光学系统(DIFFUSER或ROE))。匀光器用于对激光发射装置发射的光线进行调节，以使得发射视场中各处的光线能量分布得更加均匀。由激光发射装置发射的出射光经特定的微光学系统(DIFFUSER或ROE)后以泛光出射的方式一次性照亮视场，此时发射视场内的光线会按照一定的规律分布在空间的特定区域内，此时发射视场内光线的强度随位置变化的曲线图如图11所示。可以看到，发射视场内各处的光线强度变得更加均匀。
具体地，本实施例中激光发射装置中的光源芯片可以为半导体工艺制备的垂直腔面激光器(VCSEL)，其出射光的视场角一般为20-24°。芯片表面覆盖DIFFUSER(衍射型)或ROE(折射型)等微光学器件，实现对出射光的扩散并通过内部多次折射或反射后实现出射能量的整形和匀化出射，集中更多的能量在设计的出射视场角范围内。DIFFUSER是一种衍射型微光学结构，材质一般为高分子有机物。ROE是一种玻璃材质的折射型微光学元件，实现的功能与Diffsuer类似但原理是基于光的折射和反射，类似于微透镜阵列，其耐高温特性更优异，成本更高。根据光源芯片的远场能量分布曲线线型，设计相应的接收端光学镜头参数补偿发射光源的能量分布不均匀性。
如图26至图27所示，接收端光学镜头通常为中心位置处接收效率最高，往周围区域的接收效率衰减较快，即图26中的曲线1所示。采用均匀度差的接收端光学镜头进行接收，与前述能量分布均匀性不足的激光发射装置进行配合后，激光雷达能够进行探测的距离不均匀、探测视场小，即图27中的探测视场E，中间的探测距离远，两侧的探测距离严重不足。
一种实施例中，为了获取更加均匀的探测，激光接收装置的接收端光学镜 头可以进行相应的改进，具体地，激光接收装置的接收端光学镜头可以采用6片光学透镜，其中5片玻璃球面镜和1片玻璃非球面镜(相比球面镜提高了自由度，具有高阶维度，相当于1.5-2片玻璃球面镜)，多透镜相互配合实现矫正并有效补偿了子午面和弧矢面的像差，并在足够大通光的前提下保证足够的分辨率(面阵雷达的要求)。子午面与弧矢面的离焦造成成像失真，通过高折射率材质，优化光路内部传输的视场角等方式压缩畸变，一般要求TV畸变小于-30％。大通光必然导致接收的反射的激光束与接收端光学镜头的中心光轴夹角较大，通过使用高低折射率变化的透镜组合方式，改善球差。高性能、多层镜面镀膜涂覆配合适配的LAS滤光片通带设计保证接收端光学镜头的能量传输效率高达95％；为了降低串扰和噪声，在透镜上镀膜保证单片透镜的红外透过率小于0.5％。由于传统的阳极氧化等黑化工艺对红外波段的反射率仍然较高，接收端光学镜头内部光阑内表面及结构件内壁采用高低温渐变工艺涂覆的纳米涂层，有效改善近红外波段的吸光特性大幅降低了杂散光对探测效果的影响。使用2个负色散和1个具有波面整形的透镜消除系统色差，透镜内部采用尽可能的对称设计的透镜改善波前像差。高低折射率、不同材质透镜组合降低色散效应。5组球面镜加1个非球面镜相互配合迭代透镜设计的曲面函数，迭代优化实现大通光、高传输函数(MTF)和宽带宽的接收端光学镜头均匀度(RI)曲线。
激光接收装置的接收端光学镜头的参数优化后，其与激光发射装置匹配后形成的激光雷达探测视场的图例如附图27中的视场范围F，图27中，激光雷达能够探测的视场角更大,且在不同角度上能够探测的距离更加均匀。
理论上实现上述功能也可以通过至少3片玻璃非球面镜组合，通过高阶菲涅尔参数匹配设计实现。通过对接收端光学镜头的合理优化，有利于解决实际工况中高低物体的饱和膨胀及光晕现象对测距性能的影响。接收端光学镜头的设计景深需要满足激光雷达的参数需求，一般为近场0.5m以上可清晰聚焦成像，这一点也限制了接收端光学镜头的实际透镜数量不可能少于2片。激光雷达的成像方式为一次性接收探测视场内反射的激光束且激光接收装置的探测器的各区域接收反射的激光束的能量效率在空间上是相同的。
一种实施例中，如图17以及图22所示，第一接收装置310具有第一光路轴线530，第一光路轴线530垂直于与其相交的第二透光板1125，第二接收装置320具有第二光路轴线540，第二光路轴线540垂直于与其相交的第二透光板1125，第一光路轴线530与第二光路轴线540的夹角a大于四十五度。这样的结构相对于现有技术中的激光雷达而言能够具有更大的视场角。
为了不使得激光雷达10具有视场盲区，本实施例中，如图16以及图23所示，第一接收装置310具有第一锥形探测场，第一锥形探测场具有靠近发射壁1123的第一极限边缘线m，第二接收装置320具有第二锥形探测场，第二锥形探测场具有靠近发射壁1123的第二极限边缘线n，第一极限边缘线m与第二极限边缘线n交叉，且交叉点位于发射壁1123的面向探测物的一侧。第 一极限边缘线m与第二极限边缘线n的夹角b最小可以为1度。由于激光雷达10的尺寸较小，第一接收装置310以及第二接收装置320之间的间距较小，故即使第一极限边缘线与第二极限边缘线的夹角较小时，激光雷达10前方的视场盲区也不会过大。示例性的，当第一极限边缘线m与第二极限边缘线n的夹角b为1度时，由于第一接收装置以及第二接收装置之间的间距通常为在一分米以内，这里取间距一分米，通过计算，激光雷达正前方的视场盲区最远为5.7米。一方面，激光雷达的探测区域可能大于5.7米，另一方面，盲区的空间狭长，对探测影响不大，又一方面，出现在盲区内的探测物一般需先经过可探测区，故即使探测物出现在激光雷达正前方的狭长盲区内，其运动参数也能够间接获取。
如图16至图18所示，内壳体120可以包括第一板体121以及第二板体122，第一板体121以及第二板体122均分别连接发射壁1123以及两个端板111，第一板体121与第二板体122之间的夹角呈钝角(这里指第一板体121与第二板体122的面向发射腔室210的夹角)，第一板体121的面向发射腔室210的表面设置第一发射装置410，第二板体122的面向发射腔室210的表面设置第二发射装置420。当第一发射装置410以及第二发射装置420安装完成后，可以使第一发射装置410发射的激光束的中心轴线510垂直于第一板体121，第二发射装置420发射的激光束的中心轴线520垂直于第二板体122。这样，在设计内壳体120的形状时，可以通过调整第一板体121与第二板体122之间的夹角从而控制第一发射装置410以及第二发射装置420最终的发射视场，降低了设计难度。
内壳体120可以仅包括第一板体121以及第二板体122，且第一板体121与第二板体122一体成型。同时，第一板体121以及第二板体122也可以为内壳体120的仅用于安装第一发射装置410以及第二发射装置420的板体，内壳体120还具有其他部分。
为了提高散热效率，本实施例中，内壳体120与周壁板112一体设置，进一步地，还可以为内壳体120、周壁板112以及其中一个端板111一体成型。这样的结构可以加快两个发射装置的热传导效率，提升激光雷达10的散热性能。一种实施例中，为了更好地进行散热，周壁板112的外壁面上还可以设置多个散热槽1124；周壁板112的内壁面上还可以设置有多个散热筋1128。具体地，散热槽1124可以为盲槽或通槽，且各散热槽1124可以设置于周壁板112的位于第一透光板1126以及第二透光板1125之外的任何部位。
一种实施例中，第一板体121的面向第一发射装置410的表面设置有第一安装槽1211，第一发射装置410嵌于第一安装槽1211。第二板体122的面向第二发射装置420的表面设置有第二安装槽，第二发射装置420嵌于第二安装槽。这样的结构一方面能够使得两个发射装置安装得更加牢靠，另一方面，也能增加内壳体120与两个发射装置之间的接触面积，从而提成散热性能。进一步地，第一安装槽1211内还可以设置有第一导热件，第一导热件连接第一安 装槽1211以及第一发射装置410。第二安装槽内设置有第二导热件，第二导热件连接第二安装槽以及第二发射装置420。第一导热件以及第二导热件可以为任何具有优良导热性能的材质。同时，第一导热件以及第二导热件还可以选用具有缓冲性能的材质，例如，第一导热件以及第二导热件可以均为导热硅胶。
第一导热槽的形状视第一发射装置410的形状而定，本实施例中，第一发射装置410的面向第一板体121的表面呈矩形，故第一导热槽为横截面呈矩形的槽体。此时，第一导热件可以呈矩形的片状，且垫于第一导热槽的槽底，第一导热件也可以为环形，且位于第一发射装置410的外周边缘与第一导热槽的槽侧壁之间的间隙内。当然，第一发射装置410、第一导热槽以及第一导热件还可以为其他形状，这里不做赘述。
如图28至29所示，本申请实施例的第二方面还提供了一种设备1，该设备1包括上述任一实施例中的激光雷达10。该设备1可以为任意具有进行激光探测的设备1，具体地，该设备可以为汽车。汽车包括汽车本体20，激光雷达10可以安装于汽车本体20的外部或嵌入于汽车本体20内。当激光雷达10设置于汽车本体20外时，激光雷达10优选为设置于汽车本体20的车顶。
本实施例的附图中相同或相似的标号对应相同或相似的部件；在本申请的描述中，需要理解的是，若有术语“上”、“下”、“左”、“右”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申请和简化描述，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，因此附图中描述位置关系的用语仅用于示例性说明，不能理解为对本专利的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (23)

  1. 一种激光雷达系统，其特征在于，所述激光雷达系统包括：至少两个激光收发组件；至少两个所述激光收发组件对应的探测区域进行拼接；每个所述探测区域沿竖直方向划分为至少两个探测子区域，每个所述探测子区域对准所述探测区域沿竖直方向的不同角度范围；每个所述激光收发组件包括对应设置的激光发射装置和激光接收装置；
    所述激光发射装置用于发射预设方向的出射激光至对应的探测区域；
    所述激光接收装置用于接收对应的所述探测区域中的物体反射所述出射激光后返回的反射激光。
  2. 根据权利要求1所述的激光雷达系统，其特征在于，至少两个所述激光收发组件沿水平方向并列排布，至少两个所述激光收发组件对应的所述探测区域在水平方向上进行拼接。
  3. 根据权利要求1所述的激光雷达系统，其特征在于，所述激光收发组件的所述激光发射装置和所述激光接收装置沿水平方向或者竖直方向排布。
  4. 根据权利要求1-3任一项所述的激光雷达系统，其特征在于，所述激光雷达系统包括两个激光收发组件，分别为第一激光收发组件和第二激光收发组件；所述第一激光收发组件对应的第一探测区域和所述第二激光收发组件对应的第二探测区域朝向不同的方向，所述第一探测区域和所述第二探测区域在水平方向上进行拼接。
  5. 根据权利要求4所述的激光雷达系统，其特征在于，所述第一探测区域和所述第二探测区域相对设置。
  6. 根据权利要求4所述的激光雷达系统，其特征在于，所述第一探测区域和所述第二探测区域相背设置。
  7. 根据权利要求6所述的激光雷达系统，其特征在于，所述第一激光收发组件的第一激光发射装置和第一激光接收装置沿水平方向并列排布，所述第一激光发射装置的出射方向与所述第一激光接收装置的光轴方向相同；所述第二激光收发组件的第二激光发射装置和第二激光接收装置沿水平方向并列排布，所述第二激光发射装置的出射方向与所述第二激光接收装置的光轴方向相同。
  8. 根据权利要求7所述的激光雷达系统，其特征在于，所述第一激光发射装置围绕所述第一激光接收装置设置，所述第二激光发射装置围绕所述第二激光接收装置设置。
  9. 根据权利要求1所述的激光雷达系统，其特征在于，每个所述探测子区域的探测距离不同。
  10. 一种激光雷达系统的控制方法，应用于所述激光雷达系统，其特征在于，所述激光雷达系统包括至少两个激光收发组件，至少两个所述激光收发组件对应的探测区域进行拼接；每个所述探测区域沿竖直方向划分为至少两个探测子区域，每个所述探测子区域对准所述探测区域沿竖直方向的不同角度范围； 每个所述激光收发组件包括对应设置的激光发射装置和激光接收装置，所述方法包括：
    控制所述激光发射装置发射预设方向的出射激光至对应的探测区域；
    控制所述激光接收装置接收对应的所述探测区域中的物体反射所述出射激光后返回的反射激光。
  11. 一种激光雷达，其特征在于，包括：
    壳体，限定出发射腔室以及接收腔室；
    激光发射装置，设置于所述发射腔室，用于向第一目标区域发射激光束；
    多个激光接收装置，设置于所述接收腔室，所述多个激光接收装置可接收第二目标区域内反射的所述激光束，所述第一目标区域与所述第二目标区域至少部分重合；
    其中，所述第二目标区域由多个子探测区域组合而成，每个所述子探测区域均小于所述第一目标区域且与所述第一目标区域至少部分重合，各所述激光接收装置一一对应接收各所述子探测区域内的反射的所述激光束。
  12. 如权利要求11所述的激光雷达，其特征在于，
    所述发射腔室内设置有多个所述激光发射装置，所述第一目标区域由多个子发射区域组合而成，各所述激光发射装置一一对应向各所述子发射区域内发射所述激光束。
  13. 如权利要求12所述的激光雷达，其特征在于，
    所述激光发射装置的数量与所述激光接收装置的数量相同，各所述激光接收装置一一对应接收各所述激光发射装置发射至所述第一目标区域并反射回的所述激光束。
  14. 如权利要求13所述的激光雷达，其特征在于，
    所述激光发射装置的数量为两个，分别为第一发射装置以及第二发射装置，所述第一发射装置朝第一子发射区域内发射所述激光束，所述第二发射装置朝第二子发射区域内发射所述激光束，所述第一目标区域由所述第一子发射区域与所述第二子发射区域组合而成；
    所述激光接收装置的数量为两个，分别为第一接收装置以及第二接收装置，所述第一接收装置以及所述第二接收装置均用于接收由所述第一目标区域内反射回的所述激光束。
  15. 如权利要求14所述的激光雷达，其特征在于，
    所述第一接收装置用于接收第一子探测区域内的光线，所述第一子探测区域位于所述第一子发射区域内；
    所述第二接收装置用于接收第二子探测区域内的光线，所述第二子探测区域位于所述第二子发射区域内。
  16. 如权利要求15所述的激光雷达，其特征在于，
    所述第一子发射区域与所述第二子发射区域具有重合部分；
    所述激光雷达还包括调控装置，所述调控装置配置成可控制所述第一发射 装置以及所述第二发射装置的开闭，以使得所述第一接收装置接收所述第一发射装置发射向所述第一子探测区域内的所述激光束、所述第二接收装置接收所述第二发射装置发射向所述第二子探测区域内的所述激光束。
  17. 如权利要求16所述的激光雷达，其特征在于，所述壳体包括：
    外壳体，限定出内部腔室，所述外壳体包括第一透光板以及两个第二透光板；
    内壳体，设置于所述内部腔室，所述内壳体与所述外壳体的内壁面连接，且所述内壳体将所述内部腔室分隔成所述发射腔室以及所述接收腔室；
    其中，所述第一透光板面向所述发射腔室，且所述第一发射装置以及所述第二发射装置发射的所述激光束穿过所述第一透光板而发射向所述激光雷达外；两个所述第二透光板均面向所述接收腔室，且所述第一接收装置接收穿过其中一个所述第二透光板的所述激光束、所述第二接收装置接收穿过另一个所述第二透光板的所述激光束。
  18. 如权利要求17所述的激光雷达，其特征在于，所述外壳体包括：
    两个相对的端板；
    周壁板，位于两个所述端板之间，且与两个所述端板共同限定出所述内部腔室，所述周壁板包括发射壁、第一接收壁以及第二接收壁，沿所述周壁板的周向，所述第一接收壁以及所述第二接收壁分别位于所述发射壁的两端，所述第一透光板设置于所述发射壁，两个所述第二透光板一一对应设置于所述第一接收壁以及所述第二接收壁；
    其中，所述内壳体分别连接两个所述端板以及所述发射壁，并与所述发射壁、两个所述端板共同限定出所述发射腔室。
  19. 如权利要求18所述的激光雷达，其特征在于，
    所述发射壁、所述第一接收壁以及所述第二接收壁均呈平板状，所述第一接收壁与所述发射壁之间呈第一夹角、所述第二接收壁与所述发射壁之间呈第二夹角，所述第一夹角等于所述第二夹角且均呈为小于一百八十度的钝角。
  20. 如权利要求19所述的激光雷达，其特征在于，
    所述内壳体包括第一板体以及第二板体，所述第一板体以及所述第二板体均分别连接所述发射壁以及两个所述端板，所述第一板体与所述第二板体之间的面向所述发射腔室的夹角呈钝角，所述第一板体的面向所述发射腔室的表面设置所述第一发射装置，所述第二板体的面向所述发射腔室的表面设置所述第二发射装置。
  21. 如权利要求19所述的激光雷达，其特征在于，
    所述第一接收装置具有第一光路轴线，所述第一光路轴线垂直于与其相交的所述第二透光板，所述第二接收装置具有第二光路轴线，所述第二光路轴线垂直于与其相交的所述第二透光板，所述第一光路轴线与所述第二光路轴线的夹角大于四十五度。
  22. 如权利要求19所述的激光雷达，其特征在于，
    所述第一接收装置具有第一锥形探测场，所述第一锥形探测场具有靠近所述发射壁的第一极限边缘线，所述第二接收装置具有第二锥形探测场，所述第二锥形探测场具有靠近所述发射壁的第二极限边缘线，所述第一极限边缘线与所述第二极限边缘线交叉，且交叉点位于所述发射壁的面向探测物的一侧。
  23. 一种设备，其特征在于，包括权利要求11-22任一项所述的激光雷达。
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