WO2021196192A1

WO2021196192A1 - Laser transmission and reception system, lidar and self-driving device

Info

Publication number: WO2021196192A1
Application number: PCT/CN2020/083289
Authority: WO
Inventors: 马丁昽
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2021-10-07
Also published as: CN113167870B; CN113167870A

Abstract

A laser transmission and reception system (2), a lidar (100) and a self-driving device (200). The laser transmission and reception system (2) comprises an emitting module (21) and a receiving module (22). The emitting module (21) comprises a laser emission unit (211) and an optical emission unit (212). The receiving module (22) comprises an array detector (221), the array detector (221) comprising a plurality of pixel units, and each pixel unit having a photosensitive region having an area smaller than that of the pixel unit. The laser emission unit (211) is used to emit an emitted laser. The optical emission unit (212) is used to enable the emitted laser to form a plurality of emitted laser beams corresponding to the photosensitive region, and enable the emitted laser beams to be emitted to a detection region. Each photosensitive region in the receiving module (22) is used to receive echo laser beams returned after the emitted laser beams corresponding thereto are reflected by an object in the detection region. The laser transmission and reception system (2) improves the utilization rate of signal light.

Description

Laser transceiver system, lidar and autopilot equipment

Technical field

The embodiment of the present invention relates to the field of radar technology, in particular to a laser transceiver system, a laser radar, and an automatic driving device.

Background technique

The existing laser transceiver systems using array detection mainly include signal light sources and related drives, beam shaping systems, beam deflection systems, receiving antennas (also called receiving lenses), array detectors, control and signal processing systems, etc. The detection distance is mainly limited by factors such as the clear aperture of the receiving lens, the emission power of the signal light source, and the fill factor of the array detector (that is, the ratio of the photosensitive area to the entire pixel area).

In a conventional array detector, in addition to the photosensitive area in a single pixel, there are some integrated circuits, multilayer wiring, and increased spacing to resist crosstalk between pixels. These integrated circuits, wiring and spacing constitute a relatively large The gap between the pixels. That is, a single pixel is not all a light-sensitive area, and the light-sensitive area only occupies a part of a single pixel. The conventional array detector directly uses the flood light source after shaping the signal light source, resulting in a large loss of light energy received by the photosensitive area of the array detector through the receiving lens, and the utilization rate of light energy is photosensitive area/single Pixel area, the light energy irradiated to areas other than the photosensitive area is not used.

Summary of the invention

In view of the above-mentioned defects in the prior art, the main purpose of the embodiments of the present invention is to provide a laser transceiver system, a laser radar, and an automatic driving device, which can improve the utilization rate of light energy.

A technical solution adopted in the embodiment of the present invention is to provide a laser transceiving system, the laser transceiving system includes a transmitting module and a receiving module; the transmitting module includes a laser transmitting unit and a transmitting optical unit; the receiving module The group includes an array detector, the array detector includes a plurality of pixel units, and each pixel unit has a photosensitive area with an area smaller than the pixel unit;

The laser emitting unit is used for emitting outgoing laser; the emitting optical unit is used for causing the outgoing laser to form a plurality of outgoing laser beams corresponding to the photosensitive area, and for emitting the outgoing laser beam to the detection area; Each photosensitive area in the receiving module is used for receiving the echo laser beam that the corresponding outgoing laser beam returns after being reflected by the object in the detection area.

Optionally, the imaging of each echo laser beam on the array detector does not exceed the range of the photosensitive area receiving the echo laser beam.

Optionally, each of the echo laser beams has the same size in the plane where the photosensitive area is located, and the echo laser beam is a beam with the largest size that can be received by the photosensitive area.

Optionally, the emitting optical unit includes a diffractive optical element and a lens; the diffractive optical element is used to make the emitted laser light form a plurality of emitted laser beams corresponding to the photosensitive area, and the lens is used to collimate the The outgoing laser beam and the outgoing laser beam are incident on the detection area.

Optionally, the transmitting optical unit includes an optical fiber array, an optical fiber splitting plate, and a lens. One end of the optical fiber array is connected to the laser emitting unit, and the other end is fixed to the optical fiber splitting plate. For the multiple optical fibers with the same number of photosensitive areas, the arrangement of the optical fiber fixing positions on the fiber splitting plate corresponds to the photosensitive area;

The optical fiber array and the optical fiber splitting plate are used to make the emergent laser light form a plurality of emergent laser beams corresponding to the photosensitive area, and the lens is used to collimate the emergent laser beam and make the emergent laser light The beam is incident on the detection area.

Optionally, the laser transceiver system further includes a plurality of microlenses corresponding to the pixel unit, the microlenses are arranged on the pixel unit, and the microlenses are used to converge the echo laser beam. Shoot toward the photosensitive area.

An embodiment of the present invention also provides a laser transceiver system. The laser transceiver system includes a transmitting module and a receiving module; the receiving module includes an array detector, and the array detector includes a plurality of pixel units. The pixel unit has a photosensitive area with an area smaller than that of the pixel unit; the laser transceiver system further includes a plurality of microlenses corresponding to the pixel unit, and the microlenses are arranged on the pixel unit;

The emitting module is used to emit the outgoing laser light and make the outgoing laser light to the detection area; a plurality of the microlenses are used to converge the echo laser light to form a plurality of echo laser beams that are directed to the echo laser light The light-sensitive area corresponding to the beam, wherein the echo laser is the laser light returned after the outgoing laser light is reflected by the object in the detection area; each light-sensitive area in the receiving module is used to receive the echo laser beam.

An embodiment of the present invention also provides a laser radar, the laser radar includes the laser transceiver system as described above, and the laser radar further includes a transmission drive system and a control and signal processing system;

The emission driving system is used to drive the emission module;

The control and signal processing system is used to control the transmission drive system to drive the transmission module and control the reception module to receive the echo laser beam.

An embodiment of the present invention also provides an automatic driving device, including a driving device body and the above-mentioned lidar, and the lidar is installed on the driving device body.

The beneficial effect of the embodiment of the present invention is: in the embodiment of the present invention, the emitting optical unit is arranged in the emitting module, and the emitting optical unit makes the emitted laser light form a plurality of emitted laser beams corresponding to the photosensitive area of each pixel unit in the array detector. Or by arranging a corresponding microlens on each pixel unit, the microlens will converge the echo laser to form multiple echo laser beams that are directed to the photosensitive area corresponding to the echo laser beam, so that a single pixel unit covers the area The signal light energy is all concentrated in the photosensitive area, which increases the light intensity of the dot matrix area, improves the signal light energy value that a single pixel unit of the array detector can receive, improves the utilization of the returned signal light, and enhances the signal light energy. The noise ratio can reduce the power of the light source used, and can increase the test distance and improve the accuracy of distance measurement under the same light source power.

Description of the drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a scale limitation.

Figure 1 shows a structural block diagram of a lidar provided by an embodiment of the present invention;

Figure 2 shows a schematic diagram of an array detector in an embodiment of the present invention;

Figure 3 shows a structural block diagram of a lidar provided by another embodiment of the present invention;

Figure 4 shows a schematic diagram of the array detector receiving light beams in an embodiment of the present invention;

FIG. 5 shows a schematic diagram of the laser emission effect of an embodiment of the present invention using a diffractive optical element;

Figure 6 shows a schematic diagram of the optical path of an embodiment of the present invention using diffractive optical elements and microlenses;

FIG. 7 shows a schematic diagram of the echo laser receiving effect in a single pixel unit after adding a microlens in an embodiment of the present invention;

FIG. 8 shows a schematic diagram of the laser emission effect of an embodiment of the present invention using an optical fiber array and an optical fiber splitting plate;

FIG. 9 shows a schematic diagram of the optical path of an embodiment of the present invention using an optical fiber array, an optical fiber splitting plate, and a micro lens;

FIG. 10 shows a schematic diagram of an optical path of a lidar provided by another embodiment of the present invention;

FIG. 11 shows a schematic diagram of the echo laser receiving effect in a single pixel unit before and after adding a microlens in FIG. 10;

FIG. 12 shows a schematic structural diagram of an automatic driving device provided by an embodiment of the present invention;

FIG. 13 shows a schematic structural diagram of an automatic driving device provided by another embodiment.

The reference signs in the specific implementation are as follows:

Lidar 100, launch drive system 1, laser transceiver system 2, control and signal processing system 3, launch module 21, laser launch unit 211, launch optical unit 212, diffractive optical element 2121a, fiber array 2121b, fiber splitter 2121c , Lens 2122, receiving module 22, array detector 221, receiving optical system 222, micro lens 223, automatic driving device 200, driving device body 201.

Detailed ways

The embodiments of the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and therefore are only used as examples, and cannot be used to limit the protection scope of the present invention.

It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present invention should have the usual meanings understood by those skilled in the art to which the present invention belongs.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", " The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the indicated device or element must be It has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. In the description of the present invention, "plurality" and "several" mean two or more (including two), unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

In the present invention, unless expressly stipulated and defined otherwise, the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. touch. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than that of the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

As shown in FIG. 1, an embodiment of the present invention provides a laser radar 100, which includes a transmission drive system 1, a laser transceiver system 2, and a control and signal processing system 3. Among them, the laser transceiver system 2 includes a transmitting module 21 and a receiving module 22. The transmitting module 21 is used to transmit outgoing laser light, and the receiving module 22 is used to receive echo laser light. The emission driving system 1 is used to drive the emission module 21. The control and signal processing system 3 is used for controlling the transmitting driving system 1 to drive the transmitting module 21 and controlling the receiving module 22 to receive the echo laser. The echo laser is the laser light that returns after the outgoing laser light is reflected by the object in the detection area.

As shown in FIG. 2, the receiving module 22 includes an array detector 221 which includes a plurality of pixel units, and each pixel unit has a photosensitive area with an area smaller than the pixel unit. The array detector 221 can adopt an avalanche photodiode (APD) array, a silicon photomultiplier (SiPM), a multi-pixel photon counter (MPPC) array, and a photomultiplier tube (photomultiplier tube). , PMT) array, single-photon avalanche diode (SPAD) array, fast charge-coupled device (CCD) and complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS), etc. can form an array The receiving device. In addition, as shown in FIG. 3, the receiving module 22 further includes a receiving optical system 222, and the receiving optical system 222 may adopt a ball lens, a ball lens group, or a cylindrical lens group. The receiving optical system 222 is used for condensing the echo laser, and emits the collected echo laser to the array detector 221. The white part in the figure represents the blind area of pixel detection caused by no photosensitive area.

In some embodiments, by arranging a specific optical device at the transmitting end, the echo laser light received by the array detector 221 is condensed in the photosensitive area of the pixel unit, thereby improving the utilization rate of signal light. As shown in FIG. 3, the emission module 21 includes a laser emission unit 211 and an emission optical unit 212. The laser emission unit 211 is used to emit an emission laser, and the emission optical unit 212 is used to form a plurality of emission lasers corresponding to the photosensitive area. Beam, and the outgoing laser beam is emitted to the detection area. Among them, the outgoing laser forming multiple outgoing laser beams corresponding to the photosensitive area means that after each outgoing laser beam is emitted to the detection area, it is reflected by an object in the detection area to form a corresponding echo laser beam, and each echo laser beam It is received by the photosensitive area of the corresponding pixel unit on the array detector 221. For example, after the outgoing laser beam ob _{1 is} emitted to the detection area, its echo laser beam ib ₁ _{is received by the photosensitive area a 1} of the corresponding pixel unit on the array detector 221, and the outgoing laser beam ob _{2 is} emitted to the detection area. The echo laser beam ib ₂ _{is received by the photosensitive area a 2} of the corresponding pixel unit on the array detector 221. After the outgoing laser beam ob _{n is} emitted to the detection area, the echo laser beam ib _n is correspondingly received on the array detector 221 the photosensitive region of the pixel unit receiving a _n. Correspondingly, each photosensitive area in the receiving module 22 is used to receive the echo laser beam returned from the corresponding outgoing laser beam after being reflected by the object in the detection area.

The transmitting optical system 212 also includes a collimating optical element. The collimating optical element is used to collimate the outgoing laser beam and emit the collimated outgoing laser beam to the detection area. The laser emitting unit 211 may be various types of signal light sources, such as laser diode (LD), vertical cavity surface emitting laser (VCSEL), edge emitting laser (Edge Emitting Laser, EEL), light emitting Devices such as Light Emitting Diode (LED). The collimating optical element in the transmitting optical unit 212 may adopt an optical fiber and a ball lens group, a separate ball lens group, a cylindrical lens group, and the like.

Each echo laser beam has the same size (for example, diameter or area) in the plane where the photosensitive area is located. As shown in FIG. 4, by controlling the size of the outgoing laser beam, the imaging of each echo laser beam on the array detector 221 does not exceed the range of the photosensitive area receiving the echo laser beam, that is, each photosensitive area receives The incident range of the echo laser beam does not exceed the range of the photosensitive area. In some preferred embodiments, each echo laser beam is the beam with the largest size that can be received by the photosensitive area, that is, each outgoing laser beam is the beam with the largest area among the receivable beams in each photosensitive area.

As shown in FIG. 5, in an embodiment, the transmitting optical unit 212 includes a diffractive optical element (DOE) 2121a and a lens 2122 (that is, the collimating optical element mentioned above). DOE 2121a, also known as binary optical device, is mainly used for laser beam shaping, such as homogenization, collimation, focusing, and formation of specific patterns. The DOE 2121a is used to make the emitted laser light to form multiple emitted laser beams corresponding to the photosensitive area, and the lens 2122 is used to collimate the emitted laser beam and make the emitted laser beam incident on the detection area. A schematic diagram of the array detector 221 receiving and emitting laser beams is shown in FIG. 4.

Due to the low fill factor of the array detector 221, in a single pixel unit covered by the flood light source in the prior art, only the signal light of the photosensitive area is collected. In the above embodiment, by using DOE2121a, in the same illumination field of view, the energy of the flood light source is concentrated on the dot matrix with the same ratio of resolution as the M*N of the array detector 221, that is, the area covered by a single pixel unit The signal light energy is all concentrated in the photosensitive area, which increases the light intensity of the dot matrix area, improves the signal light energy value that a single pixel unit of the array detector 221 can receive, improves the utilization rate of the returned signal light, and enhances the signal light energy. The noise ratio can reduce the power of the light source used, and can increase the test distance and improve the accuracy of distance measurement under the same light source power.

In some embodiments, in addition to arranging a specific optical device at the transmitting end to converge the echo laser received by the array detector 221 in the photosensitive area of the pixel unit to improve the utilization of signal light, it may also be provided at the receiving end. Specific optical devices further improve the convergence ability of the echo laser. As shown in FIG. 6, on the basis of the embodiment provided in FIG. 5, a plurality of microlenses 223 (that is, a microlens array) corresponding to the pixel unit can also be provided on the pixel unit, and the microlens 223 can increase the size of the pixel unit. The duty cycle is to converge the echo laser beam to the photosensitive area, reduce the problem of less filling factor of the photosensitive area caused by the process, improve the utilization rate of signal light, and improve the ranging ability under the same light source power. The echo laser receiving effect in a single pixel unit after adding the microlens 223 is shown in FIG. 7.

As shown in FIG. 8, in another embodiment, the transmitting optical unit 212 includes an optical fiber array 2121b, an optical fiber splitting plate 2121c, and a lens 2122. One end of the optical fiber array 2121b is connected to the laser emitting unit 211, and the other end is fixed to the optical fiber splitting plate. 2121c, the optical fiber array 2121b includes the same number of optical fibers as the photosensitive areas, and the arrangement of the optical fiber fixing positions on the fiber splitting plate 2121c corresponds to the photosensitive area. Specifically, the arrangement ratio of the optical fiber fixing positions on the optical fiber splitting plate 2121c is the same as the size of the photosensitive area of a single pixel unit of the array detector 221 and the corresponding pitch ratio. The fiber array 2121b and the fiber splitter plate 2121c are used to make the emitted laser light to form a plurality of outgoing laser beams corresponding to the photosensitive area, and the lens 2122 is used to collimate the outgoing laser beam and make the outgoing laser beam incident on the detection area. The signal light is divided into the dot matrix light that exactly matches the size and position of the photosensitive area on the pixel unit of the array detector 221 through the fiber array 2121b and the fiber splitter plate 2121c, and the dot matrix light is projected out through the lens 2122, and the flood light source The energy is concentrated on the dot matrix with the same resolution ratio as the M*N of the array detector 221, that is, the signal light energy of the area covered by a single pixel unit is concentrated in the photosensitive area, which increases the light intensity of the dot matrix area and improves The signal light energy value that can be received by a single pixel unit of the array detector 221 improves the utilization of the returned signal light, enhances the signal-to-noise ratio, reduces the light source power used, and increases the test distance and improvement under the same light source power. Range accuracy.

Similarly, in addition to setting up a specific optical device at the transmitting end to converge the echo laser received by the array detector 221 in the photosensitive area of the pixel unit to improve the utilization of signal light, a specific optical device can also be set at the receiving end. The device further improves the convergence ability of the echo laser. As shown in FIG. 9, on the basis of the embodiment provided in FIG. 8, a plurality of microlenses 223 (that is, a microlens array) corresponding to the pixel unit can also be provided on the pixel unit, and the microlens 223 can increase the size of the pixel unit. The duty cycle is to converge the echo laser beam to the photosensitive area, reduce the problem of less filling factor of the photosensitive area caused by the process, improve the utilization rate of signal light, and improve the ranging ability under the same light source power. The echo laser receiving effect in a single pixel unit after adding the microlens 223 is shown in FIG. 7.

In some embodiments, a specific optical device may not be provided at the transmitting end, but a specific optical device may be set at the receiving end, so that the echo laser received by the array detector 221 is concentrated in the photosensitive area of the pixel unit, and the signal light is improved. Utilization rate. As shown in FIG. 10, in an embodiment, the laser transceiver system 2 includes a transmitting module 21 and a receiving module 22; the receiving module 22 includes an array detector 221, and the array detector 221 includes a plurality of pixel units. The unit has a photosensitive area with an area smaller than that of the pixel unit; the laser transceiver system 2 further includes a plurality of microlenses 223 (that is, a microlens array) corresponding to the pixel unit, and the microlens 223 is disposed on the pixel unit. The emitting module 21 is used to emit the outgoing laser light and emit the outgoing laser light to the detection area; the micro lens 223 is used to converge the echo laser light to form a plurality of echo laser beams directed toward the photosensitive area corresponding to the echo laser beam, wherein The echo laser beam is the laser beam returned after the outgoing laser is reflected by the object in the detection area; each photosensitive area in the receiving module 22 is used to receive the echo laser beam. The echo laser receiving effect in a single pixel unit before and after the addition of the micro lens 223 is shown in FIG. 11. By adding the micro lens 223, the problem of less filling factor of the photosensitive area caused by the process can be reduced, the utilization rate of the signal light can be improved, and the ranging ability can be improved under the same light source power.

In this embodiment, the emitting module 21 also includes a laser emitting unit 211 and a emitting optical unit 212. The laser emitting unit 211 is used for emitting laser light, and the emitting optical unit 212 includes a collimating optical element, which is used for collimating. The laser beam is emitted, and the collimated laser beam is emitted to the detection area. The laser emitting unit 211 may be various types of signal light sources, such as a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a light emitting diode (LED), and other devices. The collimating optical element in the transmitting optical unit 212 may adopt an optical fiber and a ball lens group, a separate ball lens group, a cylindrical lens group, and the like.

The control and signal processing system 3 may adopt a Field Programmable Gate Array (FPGA), and the FPGA is connected to the emission driving system 1 to perform emission control of the emitted laser. The FPGA is also connected to the clock pin, data pin, and control pin of the receiving module 22 respectively to control the receiving and controlling of the echo laser.

Based on the above-mentioned lidar 100, an embodiment of the present invention proposes an automatic driving device 200 that includes the lidar 100 in the above-mentioned embodiment. The automatic driving device 200 can be a car, an airplane, a boat, or other related to the use of lidar for intelligence. A device for sensing and detection. The automatic driving device 200 includes a driving device body 201 and the lidar 100 in the above embodiment, and the lidar 100 is installed on the driving device body 201.

As shown in FIG. 12, the automatic driving device 200 is an unmanned vehicle, and the lidar 100 is installed on the side of the vehicle body. As shown in FIG. 13, the automatic driving device 200 is also an unmanned car, and the lidar 100 is installed on the roof of the car.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope shall be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any manner. The present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

A laser transceiver system (2), characterized in that the laser transceiver system (2) includes a transmitting module (21) and a receiving module (22); the transmitting module (21) includes a laser transmitting unit (211) ) And a transmitting optical unit (212); the receiving module (22) includes an array detector (221), the array detector (221) includes a plurality of pixel units, and each pixel unit has an area smaller than the The photosensitive area of the pixel unit;

The laser emitting unit (211) is used to emit outgoing laser; the emitting optical unit (212) is used to make the outgoing laser form a plurality of outgoing laser beams corresponding to the photosensitive area, and make the outgoing laser beam It is emitted to the detection area; each photosensitive area in the receiving module (22) is used to receive the echo laser beam that the corresponding outgoing laser beam returns after being reflected by the object in the detection area.
The laser transceiver system (2) according to claim 1, wherein the imaging of each echo laser beam on the array detector (221) does not exceed that of the echo laser beam receiving the echo laser beam. The range of the photosensitive area.
The laser transceiver system (2) according to claim 2, characterized in that, each of the echo laser beams has the same size in the plane where the photosensitive area is located, and the echo laser beam is the same in the photosensitive area. The largest beam received.
The laser transceiver system (2) according to claim 1, wherein the transmitting optical unit (212) includes a diffractive optical element (2121a) and a lens (2122); the diffractive optical element (2121a) is used to make The outgoing laser forms a plurality of outgoing laser beams corresponding to the photosensitive area, and the lens (2122) is used to collimate the outgoing laser beam and make the outgoing laser beam incident on the detection area.
The laser transceiver system (2) according to claim 1, wherein the transmitting optical unit (212) comprises an optical fiber array (2121b), an optical fiber splitter plate (2121c) and a lens (2122), and the optical fiber array (2121b) One end is connected to the laser emitting unit (211), and the other end is fixed to the optical fiber splitting plate (2121c). The optical fiber array (2121b) includes the same number of optical fibers as the photosensitive regions, so The arrangement of the optical fiber fixing positions on the optical fiber splitting plate (2121c) corresponds to the photosensitive area;

The optical fiber array (2121b) and the optical fiber splitting plate (2121c) are used to make the emergent laser form a plurality of emergent laser beams corresponding to the photosensitive area, and the lens (2122) is used to collimate the The laser beam is emitted and the emitted laser beam is incident on the detection area.
The laser transceiver system (2) according to claim 1, wherein the laser transceiver system (2) further comprises a plurality of microlenses (223) corresponding to the pixel unit, and the microlenses (223) It is arranged on the pixel unit, and the micro lens (223) is used to converge the echo laser beam and shoot it toward the photosensitive area.
A laser transceiver system (2), characterized in that the laser transceiver system (2) includes a transmitting module (21) and a receiving module (22); the receiving module (22) includes an array detector (221) ), the array detector (221) includes a plurality of pixel units, and each pixel unit has a photosensitive area with an area smaller than the pixel unit; the laser transceiver system (2) also includes a corresponding pixel unit A plurality of micro lenses (223), the micro lenses (223) are arranged on the pixel unit;

The emitting module (21) is used to emit the outgoing laser and make the outgoing laser to be emitted to the detection area; a plurality of the microlenses (223) are used to converge the echo laser to form a plurality of echo laser beams. The light-sensitive area corresponding to the echo laser beam, wherein the echo laser is the laser light that returns after the emitted laser light is reflected by an object in the detection area; each light-sensitive area in the receiving module (22) is used To receive the echo laser beam.
The laser transceiver system (2) according to claim 7, characterized in that the imaging of each echo laser beam on the array detector (221) does not exceed that of the echo laser beam receiving the echo laser beam. The range of the photosensitive area.
A lidar (100), characterized in that the lidar (100) comprises the laser transceiver system (2) according to any one of claims 1-8, and the lidar (100) further comprises a transmission driver System (1) and control and signal processing system (3);

The emission driving system (1) is used to drive the emission module (21);

The control and signal processing system (3) is used for controlling the transmitting driving system (1) to drive the transmitting module (21), and controlling the receiving module (22) to receive the echo laser beam.
An automatic driving device (200), characterized by comprising a driving device body (201) and the lidar (100) according to claim 9, wherein the lidar (100) is installed on the driving device body (201) ).