WO2022147652A1 - 激光雷达及具有激光雷达的设备 - Google Patents

激光雷达及具有激光雷达的设备 Download PDF

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Publication number
WO2022147652A1
WO2022147652A1 PCT/CN2021/070317 CN2021070317W WO2022147652A1 WO 2022147652 A1 WO2022147652 A1 WO 2022147652A1 CN 2021070317 W CN2021070317 W CN 2021070317W WO 2022147652 A1 WO2022147652 A1 WO 2022147652A1
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Prior art keywords
laser
edge
detection
lidar
wall surface
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Ceased
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PCT/CN2021/070317
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English (en)
French (fr)
Inventor
卢盘
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Suteng Innovation Technology Co Ltd
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Suteng Innovation Technology Co Ltd
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Application filed by Suteng Innovation Technology Co Ltd filed Critical Suteng Innovation Technology Co Ltd
Priority to CN202180002985.XA priority Critical patent/CN115053149B/zh
Priority to PCT/CN2021/070317 priority patent/WO2022147652A1/zh
Publication of WO2022147652A1 publication Critical patent/WO2022147652A1/zh
Anticipated expiration legal-status Critical
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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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Definitions

  • the present application relates to the technical field of laser detection, and in particular, to a laser radar and a device having the laser radar.
  • LiDAR Due to its simple structure, low system load, and long optical-mechanical life, LiDAR is widely used in autonomous vehicles to detect the field of view around the vehicle.
  • the basic working principle of lidar is: the transmitting device makes the outgoing laser illuminate the entire detected field of view at one time by means of "flooding", and then the receiving device is used to receive all echo lasers in the field of view, thereby The detection information in the field of view area is obtained by analyzing the echo laser.
  • the traditional lidar has the problem of limited detection range or high total system power consumption.
  • the present application provides a laser radar and a device having the laser radar, which can improve the detection distance of the laser radar and reduce the total power consumption of the system.
  • the present application provides a lidar, including: a detection component, and the detection component includes:
  • a first laser emitting device for emitting a first laser beam to the first detection area
  • a second laser emitting device for emitting a second laser beam to the second detection area
  • a laser receiving device located between the first laser emitting device and the second laser emitting device, to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area;
  • the emission power of the first laser emitting device is greater than the emission power of the second laser emitting device.
  • the number of the detection components is two, the first detection areas of the two first laser emitting devices have overlapping parts, and/or the second detection areas of the two second laser emitting devices have overlapping parts;
  • the lidar further includes a control device, the control device is electrically connected with the two detection components, and the control device is configured to control the light-emitting timing of the two detection components to be staggered, so that each laser receiving device receives the first laser light of the corresponding detection component The first laser beam emitted by the emitting device, and the second laser beam emitted by the second laser emitting device of the corresponding detection assembly.
  • the casing defines a first accommodating cavity, and the detection assembly is disposed in the first accommodating cavity;
  • the casing includes a first side wall plate for installing the detection assembly, and the first side wall plate includes :
  • a first connecting segment facing the transmitting end of the first laser emitting device, so that the first laser beam emitted by the first laser emitting device passes through the first connecting segment and is emitted to the outside of the lidar;
  • the second connecting segment is connected to the first connecting segment and faces the transmitting end of the second laser emitting device, so that the second laser beam emitted by the second laser emitting device passes through the second connecting segment and is emitted to the outside of the lidar;
  • the included angle between the inner wall surface of the first connecting section and the inner wall surface of the second connecting section is a first included angle
  • the first included angle is an obtuse angle
  • the first connection segment includes a first edge connected to the second connection segment and a second edge located on a side away from the first edge
  • the second connection segment includes a third edge connected to the first connection segment and located on the side the fourth edge on the side away from the third edge, the distance between the first edge and the second edge is greater than the distance between the third edge and the fourth edge;
  • the first connecting segment is provided with a first opening; the receiving end of the laser receiving device passes through the first opening to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area.
  • the laser receiver has a first optical path axis
  • the housing further includes:
  • the installation cylinder has a second accommodating cavity, one end of the installation cylinder is connected to the outer edge of the first opening and makes the second accommodating cavity communicate with the first accommodating cavity, and the other end of the installation cylinder is parallel to the axis of the first optical path and away from the first The direction of the accommodating cavity extends; the object-side end of the laser receiving device is located in the second accommodating cavity after passing through the first opening.
  • it also includes:
  • a heat sink the housing further includes a second side wall plate opposite to the first side wall plate, and the heat sink is arranged on the inner wall surface of the second side wall plate.
  • the housing further includes:
  • the peripheral wall plate is located between the first end plate and the second end plate, and the peripheral wall plate is connected with the first end plate and the second end plate, so as to define the first accommodation cavity together with the first end plate and the second end plate
  • the peripheral wall plate comprises a first side wall plate and a second side wall plate, and the first connecting section connects the first end plate, and the second connecting section connects the first connecting section and the second end plate;
  • the included angle between the inner wall surface of the first connecting segment and the inner wall surface of the first end plate is smaller than the included angle between the inner wall surface of the second connecting segment and the inner wall surface of the second end plate, and the inner wall surface of the second side wall plate and the first
  • the included angle of the inner wall surface of one end plate is larger than the included angle of the inner wall surface of the second side wall plate and the inner wall surface of the second end plate.
  • the second sidewall panel includes:
  • the included angle between the inner wall surface of the third connecting segment and the inner wall surface of the fourth connecting segment is an obtuse angle
  • the included angle between the inner wall surface of the third connecting segment and the inner wall surface of the first end plate is larger than that of the fourth connecting segment.
  • the included angle with the inner wall surface of the second end plate is an obtuse angle
  • the third connection segment includes a fifth edge connected to the fourth connection segment and a sixth edge located on a side away from the fifth edge
  • the fourth connection segment includes a seventh edge connected to the third connection segment and located on a side away from the fifth edge.
  • the distance between the fifth edge and the sixth edge is greater than the distance between the seventh edge and the eighth edge, and the heat sink is disposed on the inner wall surface of the third connecting section.
  • the number of the detection assemblies and the first side wall plates is both two, each of the first side wall plates is used to install a corresponding detection assembly, and among the two first side wall plates, the two first side wall plates are connected to each other.
  • the included angle of the inner wall surfaces of the segments is the second included angle
  • the included angle of the inner wall surfaces of the two second connecting segments is the third included angle
  • the second included angle and the third included angle are equal and both are obtuse angles.
  • the present application provides a device including any of the above-mentioned lidars.
  • the present application provides a laser radar and a device having the laser radar.
  • the laser radar By setting the laser radar to include a plurality of laser emitting devices with different emitting powers, the emitting power of each laser emitting device can be matched with the energy demand of the detection area. , so as to improve the detection distance of the system and reduce the total power consumption of the system, and can also increase the detection field of view of the lidar and realize the wide-angle detection function.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a laser radar according to an embodiment of the present application
  • FIG. 2 is a schematic three-dimensional structural diagram of a detection component in a lidar provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of another three-dimensional structure of the lidar provided by the embodiment of the present application.
  • FIG. 4 is a schematic three-dimensional structural diagram of a laser emitting device and a part of a casing in a lidar provided by an embodiment of the present application;
  • FIG. 5 is an exploded schematic diagram of a lidar provided by an embodiment of the present application.
  • FIG. 6 is a top view of a partial structure of a housing in a lidar provided by an embodiment of the present application.
  • FIG. 7 is an exploded schematic diagram of structures such as a laser receiving device, a chip board, a driver board, a bracket, and a main control board in a lidar provided by an embodiment of the present application;
  • FIG. 8 is a top view of the lidar provided by an embodiment of the present application after removing part of the casing
  • FIG. 9 is a schematic structural diagram of an azimuth of the lidar provided by an embodiment of the present application after a part of the casing is removed; the azimuth may be an azimuth parallel to the axis of the first optical path of the laser receiving device.
  • FIG. 10 is a schematic diagram of a device in an embodiment of the application.
  • FIG. 11 is a schematic diagram of a device in another embodiment of the present application.
  • the lidar 10 provided by the present application can be applied to any device that needs to perform laser detection, such as a car 20 .
  • the lidar 10 can detect parameters such as the distance and speed of the vehicle relative to the obstacle, so that the vehicle can plan a path to actively avoid the obstacle according to the detected information, thereby avoiding the collision between the vehicle and the obstacle.
  • Obstacles can include taller vehicles, still objects on the side of the road, flying objects suddenly approaching, etc.
  • the vehicle may be an autonomous vehicle or an ordinary vehicle, which is not limited in this application.
  • the method of using lidar to identify obstacles in the surrounding environment has been widely used, especially the flash lidar system is widely used in the detection of the field of view of the car.
  • the traditional lidar has the problem of limited detection range or high total system power consumption.
  • the laser transmitting device of traditional lidar generally only uses one kind of transmitting power. If the transmitting power is low, there is a problem of limited detection distance. If the transmitting power is too high, there will be a problem of high system power consumption. Therefore, the present application proposes a lidar 10 and a device having the lidar 10 to solve the above problems.
  • the lidar 10 in this embodiment of the present application may include a detection component 110 .
  • the detection assembly 110 includes a laser emitting device 111 and a laser receiving device 112.
  • the detection assembly 110 in this embodiment of the present application includes a plurality of laser emitting devices 111, and each laser emitting device 111
  • the transmission power of the laser beam matches the energy requirement of the corresponding detection area
  • the laser receiving device 112 is used to receive all the laser beams emitted by the laser transmitting device 111 .
  • the energy requirement of the detection area is related to the distance from the detection area to the lidar 10.
  • each laser emitting device 111 can be adjusted appropriately according to the distance of 10, so as to improve the detection distance of the system and reduce the total power consumption of the laser emitting device 111 .
  • the following will take the detection assembly 110 including two laser emitting devices 111 as an example to describe in detail that the emission power of each laser emitting device 111 matches the energy requirement of the corresponding detection area:
  • the two laser emitting devices 111 may be referred to as a first laser emitting device 1111 and a second laser emitting device 1112, respectively.
  • the first laser emitting device 1111 is used to emit a first laser beam to the first detection area
  • the second laser The emitting device 1112 is used for emitting a second laser beam to the second detection area.
  • the laser receiving device 112 is located between the first laser emitting device 1111 and the second laser emitting device 1112 to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area. Wherein, the emission power of the first laser emitting device 1111 is greater than that of the second laser emitting device 1112 .
  • the transmission power of the first laser emitting device 1111 By setting the transmission power of the first laser emitting device 1111 to be greater than that of the second laser emitting device 1112 , the first laser emitting device 1111 can realize long-distance detection, and the second laser emitting device 1112 can realize short-range detection. In this way, the transmission power of each laser emitting device 111 can be matched with the energy demand of the detection area, thereby increasing the detection distance of the system and reducing the total power consumption of the system, and also increasing the detection field of view of the lidar 10, realizing Wide angle detection function.
  • the second laser emitting device 1112 with lower emission power can emit light beams to the ground, so as to be able to detect trash cans, children, or other relatively low light beams on the ground.
  • the first laser emitting device 1111 with higher emission power is used to emit light beams far away, so as to be able to detect objects in the air or other relatively far distances.
  • the detection distance of this system can reach more than 20m.
  • the detection distance of the laser radar 10 in the related art is generally limited to within 10 m due to the sensitivity of the detector and the damage to the system signal-to-noise ratio by ambient light noise, while the ranging mode of the laser radar 10 in the embodiment of the present application is compatible with short-range detection Mode and long-distance detection mode, can obtain 3D point cloud distance, amplitude and spatial coordinates and other information.
  • the sensitivity can be improved by changing the pixel coupling number of the chip. level to improve the sensitivity of the system. Since the ranging principle of the system is an indirect time-of-flight method based on the phase, it essentially calculates the signal strength by integrating the amount of charge, and solves the phase.
  • Multi-pixel fusion is beneficial to reduce the additive ambient light noise and improve the signal-to-noise ratio of the system.
  • the charges obtained by integration in different phase intervals DCS0-3 are directly accumulated, and the number of signal photons increases linearly (the random additive white noise in each pixel will not be linearly accumulated), which finally improves the system.
  • the signal-to-noise ratio improves the detection capability of the system.
  • the lidar 10 in this embodiment of the present application can also support a grayscale imaging mode, that is, Grayscale, which is similar to a common camera imaging function.
  • the first detection area and the second detection area may have overlapping portions. It should be noted that since the laser beam is emitted in the form of a cone, the “coincidence” in the above description only refers to a state within a reasonable detection distance of the laser radar 10 . For example, the first detection area and the second detection area cannot be overlapped at a position very close to the lidar 10 , so the overlapping state of the position is not considered. The reasonable detection distance depends on the application scenario of the lidar 10 .
  • the detection assembly 110 includes a plurality of laser emission devices 111
  • the light-emitting timings of different laser emitting devices 111 can be staggered.
  • the lidar 10 may further include a control device.
  • the control device is electrically connected to the detection assembly 110 and is configured to control the light-emitting timing of different laser emitting devices 111 of the detection assembly 110 to be staggered, so that the laser receiving device 112 can only receive the laser light emitted by the same laser emitting device 111 in the same time period bundle.
  • the light-emitting timings of the different laser emitting devices 111 of the detection assembly 110 may also be different.
  • the number of the detection components 110 may be one or more. When the number of detection assemblies 110 is multiple, the number of detection assemblies 110 may specifically be two, three, four, five, etc., which is not limited in this application. When the number of detection components 110 is plural, the detection field of view of the lidar 10 can be enlarged.
  • the detection areas of the laser emitting devices 111 of adjacent detection assemblies 110 may have overlapping portions.
  • the detection regions of the laser emitting devices 111 of adjacent detection assemblies 110 may have overlapping portions: in two adjacent detection assemblies 110 , the first detection regions of the two first laser emitting devices 1111 have overlapping portions, and the two second laser emitting devices 1111 have overlapping portions.
  • the second detection area of the transmitting device 1112 has overlapping portions.
  • the detection area of the laser emitting device 111 of the adjacent detection component 110 may have an overlapping area of about 10°, so that the detection area of the laser emitting device 111 of the adjacent detection component 110 may Field of view overlap area to increase point cloud density.
  • the control device of the lidar 10 can be electrically connected to all the detection components 110, and the control device is configured to control the light-emitting timing of the plurality of detection components 110 to be staggered, so that each laser receiving device 112 receives the corresponding detection component The first laser beam emitted by the first laser emitting device 1111 of 110 , and the second laser beam emitted by the second laser emitting device 1112 of the corresponding detection component 110 .
  • the light-emitting timings of the plurality of detection components 110 may be staggered in that the light-emitting timings of all the detection components 110 are staggered; that is, only one detection component 110 works in the same time period.
  • the staggering of the light-emitting timing of the detection components 110 may also mean that the light-emitting timings of two adjacent detection components 110 are staggered; that is, in the same time period, only one detection component 110 works in the two adjacent detection components 110 .
  • a complete detection effect can be achieved by adjusting the time period during which the detection component 110 emits light to an appropriate interval.
  • the control device is configured to control the light-emitting timing of the two detection assemblies 110 to be staggered, so that each laser receiving device 112 receives the first laser beam emitted by the first laser emitting device 1111 of the corresponding detection assembly 110 and the corresponding detection assembly 110 The second laser beam emitted by the second laser emitting device 1112.
  • the lidar 10 may further include a housing 120 .
  • the housing 120 defines a first accommodating cavity M, and the detection assembly 110 is located in the first accommodating cavity M.
  • the housing 120 may include a first side wall plate 121 for installing the detection assembly 110 .
  • the first laser emitting device 1111 and the second laser emitting device 1112 can be directly mounted on the first side wall plate 121 .
  • the first side wall plate 121 may be provided with a first laser emitting device 1111 for installing the first laser emitting device 1111 Mounting seat 1211.
  • a second mounting seat 1212 for mounting the second laser emitting device 1112 may also be provided on the first side wall plate 121 .
  • the connection between the first mounting seat 1211 and the first side wall plate 121 and between the second mounting seat 1212 and the first side wall plate 121 may be connected by means of screws or the like.
  • the first side wall panel 121 may be a flat panel.
  • the first side wall plate 121 may also include two plane plates with a certain included angle to
  • the first laser emitting device 1111 and the second laser emitting device 1112 can be respectively mounted on two flat panels.
  • the two flat panels included in the first side wall panel 121 may be referred to as a first connection segment 1213 and a second connection segment 1214, respectively, and the first connection segment 1213 faces the first laser emitting device.
  • the second connecting segment 1214 is connected to the first connecting segment 1213 and faces the transmitting end of the second laser emitting device 1112 , so that the second laser beam emitted by the second laser emitting device 1112 passes through the second connecting segment 1214 and is emitted to the lidar 10 outside.
  • the included angle between the inner wall surface of the first connecting segment 1213 and the inner wall surface of the second connecting segment 1214 is a first included angle, and the first included angle may be an obtuse angle.
  • the first included angle may be 170°, 150°, 135°, 129°, 120°, 100° and the like. Referring to FIG. 9 , it shows the included angle r1 between the first connecting section 1213 and the horizontal direction, and the included angle r2 between the second connecting section 1214 and the vertical direction.
  • the above-mentioned flat plate can be of any shape.
  • the flat plate may be a circular plate or a square plate, and the like.
  • the first side wall panel 121 may also be a curved panel.
  • the included angle between the inner wall surface of the first connecting section 1213 and the inner wall surface of the second connecting section 1214 can be appropriately adjusted according to the actual situation.
  • the inner wall surface of the first connecting section 1213 and the inner wall surface of the second connecting section 1214 are The included angle can be appropriately adjusted according to the installation orientation of the first laser emitting device 1111 and the second laser emitting device 1112 .
  • the outgoing light of the laser emitting device 111 will be distributed in a specific area of the space according to a certain law, and the energy distribution of the laser receiving device 112 can be set to match the energy distribution of the laser emitting device 111, so that the entire image can be received at one time in an imaging manner.
  • the efficiency of detecting the echo photons in the field of view and making each region of the detector chip receive the echo signal energy is spatially the same, so as to reduce the optical loss of the laser receiving device 112 .
  • the energy distribution curves of the two laser transmitting devices 111 can be simulated first, and then the energy distribution curves of the two laser transmitting devices 111 can be simulated according to the According to the field of view requirements of 111, a suitable laser receiving device 112 is selected, and the matching of energy distribution is realized by adjusting the orientation of the laser transmitting device 111 and the laser receiving device 112. After the installation orientations of the two laser emitting devices 111 and the laser receiving devices 112 are determined, the angle between the inner wall surface of the first connecting segment 1213 and the inner wall surface of the second connecting segment 1214 can be determined accordingly.
  • Selecting an appropriate laser receiving device 112 according to the field of view requirements of the two laser emitting devices 111 may be as follows: the total field of view of the laser receiving device 112 can cover the total field of view of the two laser emitting devices 111 .
  • the matching of the energy distribution of the laser receiving device 112 and the energy distribution of the laser transmitting device 111 may be: the peak value of the uniformity distribution of the laser receiving device 112 is adapted to the peak value of the total energy distribution of the laser transmitting device 111 .
  • the first side wall plate 121 may transmit light as a whole.
  • the first side wall plate 121 may also only be in the region corresponding to the emitting end of the first laser emitting device 1111 and the region corresponding to the emitting end of the second laser emitting device 1112 Translucent.
  • the first side wall plate 121 may also include a substrate 1215 , a first light-transmitting plate 1216 and a second light-transmitting plate 1217 , and the substrate 1215 is located at a position corresponding to the transmitting end of the first laser emitting device 1111 .
  • a second opening is provided in the area, and a third opening is provided in the area corresponding to the emitting end of the second laser emitting device 1112 , and the first light-transmitting plate 1216 can be arranged at the second opening, so that the first laser emitting device 1111 emits The light emitted by the laser beam can pass through the first transparent plate 1216 , and the second transparent plate 1217 can be disposed at the second opening, so that the light emitted by the second laser emitting device 1112 can pass through the second transparent plate 1217 .
  • the laser receiving device 112 can be installed on the first connecting section 1213 or on the second connecting section 1214 .
  • the first connecting segment 1213 includes a first edge connected to the second connecting segment 1214 and a second edge located on a side away from the first edge.
  • the second connecting segment 1214 includes a third edge connected to the first connecting segment 1213 and a second edge located away from the first edge.
  • the fourth edge on one side of the third edge, the distance between the first edge and the second edge is the first dimension h1, and the distance between the third edge and the fourth edge is the second dimension h2, in order to make the lidar 10
  • the overall size is small, and the laser receiving device 112 can be installed in the connecting section corresponding to the larger one of the first size h1 and the second size h2.
  • the laser receiving device 112 can be installed on the first connecting section 1213 corresponding to the first size h1 .
  • the first connection section 1213 may be provided with a first opening 12131 , and the receiving end of the laser receiving device 112 may pass through the first opening 12131 to receive the reflected light from the first detection area. The first laser beam and the second laser beam reflected by the second detection area.
  • the casing 120 may further include a Mounting barrel 122 at the receiving end.
  • the installation cylinder 122 has a second accommodating cavity N (see FIG. 4 ).
  • One end of the installation cylinder 122 is connected to the outer edge of the first opening 12131 and communicates the second accommodating cavity N with the first accommodating cavity M.
  • One end extends in a direction parallel to the first optical path axis of the laser receiver 112 and away from the first accommodating cavity M, so that the object side end of the laser receiver 112 is located in the second accommodating cavity N after passing through the first opening 12131 .
  • a third light-transmitting plate 1221 may be provided at one end of the mounting cylinder 122 away from the first accommodating cavity M.
  • the lidar 10 may also include components such as a chip board 130 , a driving board 140 and a main control board 150 , and these components have precision devices such as control chips, and the temperature of the laser emitting device 111 is generally high, The operation of the above-mentioned precision devices will be affected. Therefore, in order to facilitate the dissipation of heat in the laser radar 10 to protect the above-mentioned precision devices, the laser radar 10 may further include a heat sink 160 .
  • the heat sink 160 may be any component with heat dissipation properties.
  • the heat dissipation member 160 may be a component made of a material with high thermal conductivity or a thermally conductive adhesive with high thermal conductivity.
  • the heat sink 160 may be located anywhere in the first accommodating cavity M.
  • the housing 120 may include a second side wall plate 123 disposed opposite to the first side wall plate 121. Since more heat generated in the lidar 10 comes from the laser emitting device 111, the heat sink The 160 can be disposed on the inner wall surface of the second side wall plate 123 opposite to the first side wall plate 121 , so as to better dissipate the heat generated by the laser emitting device 111 .
  • the first side wall plate 121 since the first side wall plate 121 is used to install the detection component 110, in order to enable the detection component 110 to be smoothly installed on the first side wall plate 121, the first side wall plate 121 may have a large enough installation area, which is compatible with the first side wall plate 121.
  • the area of the second side wall plate 123 opposite to the one side wall plate 121 can also be enlarged, so that the heat dissipation area of the heat sink 160 mounted on the second side wall plate 123 can be larger and the heat dissipation effect can be enhanced.
  • the housing 120 may further include a first end plate 124 , a second end plate 125 and a peripheral wall plate 126 .
  • the first end plate 124 is disposed opposite to the second end plate 125 .
  • the peripheral wall plate 126 is located between the first end plate 124 and the second end plate 125 and is connected to both the first end plate 124 and the second end plate 125, so that the peripheral wall plate 126, the first end plate 124 and the second end plate 125 collectively define the first accommodating cavity M.
  • the peripheral wall plate 126 includes the above-mentioned first side wall plate 121 and the second side wall plate 123 , and the first connection section 1213 of the first side wall plate 121 is connected to the first end plate 124 , and the second connection of the first side wall plate 121
  • the segment 1214 connects the first connecting segment 1213 and the second end plate 125 .
  • a plurality of heat dissipation holes 127 may also be provided on the casing 120 .
  • the heat dissipation holes 127 may be through holes or blind holes. In order to avoid affecting the appearance and display effect of the lidar 10 , referring to FIGS. 3 and 4 , the heat dissipation holes 127 may be provided on the second end plate 125 .
  • the first end plate 124 may be parallel to the second end plate 125 . 1 , 3 , 4 and 5 , the peripheral wall plate 126 may further include a third side wall plate 128 and a fourth side wall plate 129 , and the third side wall plate 128 is used for connecting one end of the first side wall plate 121 and one end of the second side wall plate 123 , the fourth side wall plate 129 is used for connecting the other end of the first side wall plate 121 and the other end of the second side wall plate 123 . Both the third sidewall panel 128 and the fourth sidewall panel 129 may be perpendicular to the first end panel 124 .
  • the included angle between the inner wall surface of the first connecting segment 1213 and the inner wall surface of the first end plate 124 may be smaller than the included angle between the inner wall surface of the second connecting segment 1214 and the inner wall surface of the second end plate 125 .
  • the angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the first end plate 124 can be greater than the angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the second end plate 125 horn.
  • the included angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the first end plate 124 is larger than the included angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the second end plate 125, that is, the first
  • the two side wall plates 123 are not perpendicular to the first end plate 124 or the second end plate 125, so that the area of the second side wall plate 123 can be enlarged, so that the area of the heat sink 160 can be enlarged to enhance the heat dissipation effect .
  • the second side wall panel 123 may be a flat panel.
  • the second side wall panel 123 may include two flat panels with a certain included angle.
  • the two flat panels included in the second side wall panel 123 may be referred to as the third connecting section 1231 and the fourth connecting section 1232 respectively.
  • the third connecting section 1231 is connected to the first end plate 124 and the fourth The connection segment 1232 connects the third connection segment 1231 and the second end plate 125 .
  • the included angle between the inner wall surface of the third connection segment 1231 and the inner wall surface of the fourth connection segment 1232 may be an obtuse angle, and the included angle between the inner wall surface of the third connection segment 1231 and the inner wall surface of the first end plate 124 may be greater than that of the fourth connection The included angle between the inner wall surface of the segment 1232 and the inner wall surface of the second end plate 125 .
  • a heat sink 160 may be provided on both the third connection segment 1231 and the fourth connection segment 1232 .
  • the heat dissipation member 160 may also be provided only on the third connecting segment 1231 . Since the third connecting section 1231 is disposed opposite to the first connecting section 1213, and the first laser emitting device 1111 corresponding to the first connecting section 1213 has a higher emission power and generates more heat, the heat sink 160 is disposed at The third connecting segment 1231 can better dissipate heat.
  • the third connection segment 1231 includes a fifth edge connected to the fourth connection segment 1232 and a sixth edge located on the side away from the fifth edge.
  • the fourth connection segment 1232 includes a connection to the third connection segment 1231.
  • the distance h3 between the fifth edge and the sixth edge may be greater than the distance h4 between the seventh edge and the eighth edge.
  • the number of the first side wall panels 121 may also be multiple, and the number of the first side wall panels 121 is equal to the number of the first detection assemblies 110, so that each first The side wall plate 121 is used for installing a corresponding one of the detection assemblies 110 .
  • Adjacent two first sidewall panels 121 may be coplanar. In order to reduce the overlapping size of the detection areas of the laser emission devices 111 of the two adjacent detection assemblies 110, thereby increasing the overall detection field of the lidar 10, referring to FIG.
  • the included angle between the inner wall surfaces of the two first connecting segments 1213 is the second included angle ⁇ 1
  • the included angle between the inner wall surfaces of the two second connecting segments 1214 is the third included angle ⁇ 2
  • the second included angle ⁇ 1 may be the same as the third included angle ⁇ 1.
  • the angles ⁇ 2 are equal and both are obtuse angles.
  • each of the first side wall plates 121 is used to install a corresponding detection assembly 110, and among the two first side wall plates 121, two The included angle between the inner wall surfaces of the first connecting segment 1213 and the inner wall surfaces of the two second connecting segments 1214 are equal and both are obtuse angles.
  • the second included angle ⁇ 1 may be 170°, 150°, 135°, 129°, 120°, 110°, 100° and so on.
  • the second included angle ⁇ 1 can also be adjusted appropriately according to the actual situation. For example, after the installation orientations of all the laser emitting devices 111 and all the laser receiving devices 112 are determined according to the matching of the energy distribution and the adjustment of the field angle, the second included angle ⁇ 1 can also be determined accordingly.
  • the number of the second side wall panels 123 may be two, and each second side wall panel 123 corresponds to one first side wall panel 121.
  • the number of the second side wall panels 123 may also be one, so that one second side wall panel 123 can correspond to two first side wall panels 123 .
  • Side wall panels 121 are both two, and each second side wall panel 123 corresponds to one first side wall panel 121.
  • a bracket 170 may also be provided in the first accommodating cavity M.
  • the bracket 170 may adopt a hollow design.
  • the laser beam emitted by the laser emitting device 111 has different intensities at different positions in the emission field of view, and this difference has a certain influence on the detection accuracy of the laser radar 10 .
  • the intensity difference of the laser beam emitted by the laser emitting device 111 at different positions in the emission field of view may be: the light intensity at the center of the emission field of view is lower, and the light intensity at the position near the edge of the emission field of view is higher.
  • the lidar 10 may further include a light diffuser (ie, a micro-optical system with a specific structure (DIFFUSER or ROE)).
  • the light homogenizer is used to adjust the light emitted by the laser emitting device 111, so that the light energy is distributed more uniformly everywhere in the emission field of view.
  • the laser beam emitted by the laser emitting device 111 passes through a specific micro-optical system (DIFFUSER or ROE) and then illuminates the field of view in a flood light manner. At this time, the light in the emission field of view will be distributed in the space according to a certain law. In a specific area of the emission field, the light intensity can be made more uniform throughout the field of view.
  • the light source chip in the laser emitting device 111 in this embodiment may be a vertical cavity surface laser (VCSEL) prepared by a semiconductor process, and the surface of the chip is covered with micro-optical devices such as DIFFUSER (diffraction type) or ROE (refractive type), so as to realize the The outgoing light is diffused and refracted or reflected several times inside to realize the shaping and homogenization of outgoing energy, and concentrate more energy within the designed outgoing field of view.
  • DIFFUSER is a diffractive micro-optical structure, and the material is generally high molecular organic matter.
  • ROE is a refraction micro-optical element made of glass.
  • the lidar 10 when the lidar 10 includes two detection assemblies 110 , the lidar 10 may include 30 VCSELs, and each detection assembly 110 includes 15 VCSELs, that is, the first laser emitting device 1111 of each detection assembly 110 Together with the second laser emitting device 1112, 15 VCSELs are included.
  • the total field of view of the transmitting end of the lidar 10 includes a horizontal field of view and a vertical field of view.
  • the total field of view of the receiving end of the lidar 10 includes a horizontal field of view and a vertical field of view.
  • the horizontal field of view of the receiving end can cover The lateral field of view of the transmitter and the longitudinal field of view of the receiver can cover the longitudinal field of view of the transmitter. Referring to FIG. 8 , it shows a situation in which the lateral viewing angle Q1 of the receiving end covers the lateral viewing angle P1 of the transmitting end.
  • the lateral viewing angle Q1 of the receiving end may be 130° to 160°.
  • the lateral field of view angle Q1 of the receiving end may be 135°, 140°, 145°, 150°, or 160°, or the like.
  • the lateral field of view P1 of the transmitting end may be 130° to 160°.
  • the lateral field of view P1 of the transmitting end may be 132°, 138°, 142°, 144°, 148°, 152° or 158°, etc.
  • FIG. 9 shows the situation of the longitudinal viewing angle Q2 of the receiving end.
  • the longitudinal viewing angle Q2 of the receiving end may be 100° to 130°.
  • the longitudinal field of view angle Q2 of the receiving end may be 105°, 108°, 112°, 118°, or 125°, or the like.
  • the longitudinal field of view of the transmitting end can be 100° to 130°.
  • the longitudinal viewing angle of the transmitting end may be 100°, 105°, 110°, 115°, 120°, 125°, and the like.
  • an embodiment of the present application further provides a device 1 , where the device 1 includes any of the above-mentioned lidars 10 .
  • the device 1 can be any device 1 capable of laser detection.
  • the device 1 may be a car 20 .
  • the car 20 includes a body of the car 20
  • the lidar 10 can be installed outside the body of the car 20 or embedded in the body of the car 20 .
  • the lidar 10 is preferably arranged on the roof of the main body of the automobile 20 .

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Abstract

一种激光雷达（10）及具有激光雷达（10）的设备，激光雷达（10）包括探测组件（110），探测组件（110）包括第一激光发射装置（1111），第二激光发射装置（1112），及激光接收装置（112），位于第一激光发射装置（1111）与第二激光发射装置（1112）之间，以接收经第一探测区域反射的第一激光束、以及经第二探测区域反射的第二激光束；其中，第一激光发射装置（1111）的发射功率大于第二激光发射装置（1112）的发射功率。通过将激光雷达（10）设置成包括发射功率不同的多个激光发射装置（111），既能够使每个激光发射装置（111）的发射功率与探测区域的能量需求相匹配，从而提升系统探测距离以及降低系统总功耗，又能够增大激光雷达（10）的探测视场角，实现广角探测功能。

Description

激光雷达及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具有激光雷达的设备。
背景技术
激光雷达因具有结构简单、系统负载低、光机寿命长等优点，被普遍应用于自动驾驶汽车上，以实现对汽车周围视场的探测。激光雷达的基本工作原理为：发射装置通过“泛光”的方式使出射激光一次性地照亮整个被探测的视场区域，之后接收装置用于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。然而，传统的激光雷达存在探测距离有限或系统总功耗过高的问题。
发明内容
本申请提供了一种激光雷达及具有该激光雷达的设备，能够提升激光雷达的探测距离以及降低系统总功耗。
第一方面，本申请提供了一种激光雷达，包括：探测组件，探测组件包括：
第一激光发射装置，用于向第一探测区域发射第一激光束；
第二激光发射装置，用于向第二探测区域发射第二激光束；及
激光接收装置，位于第一激光发射装置与第二激光发射装置之间，以接收经第一探测区域反射的第一激光束、以及经第二探测区域反射的第二激光束；
其中，第一激光发射装置的发射功率大于第二激光发射装置的发射功率。
根据一些实施例，探测组件的数量为两个，两个第一激光发射装置的第一探测区域具有重合部分，和/或，两个第二激光发射装置的第二探测区域具有重合部分；
激光雷达还包括调控装置，调控装置与两个探测组件电性连接，且调控装置配置成可控制两个探测组件的发光时序错开，以使每个激光接收装置接收对应的探测组件的第一激光发射装置发射的第一激光束、以及对应的探测组件的第二激光发射装置发射的第二激光束。
根据一些实施例，还包括壳体，壳体限定出第一容纳腔，探测组件设置于第一容纳腔内；壳体包括用于安装探测组件的第一侧壁板，第一侧壁板包括：
第一连接段，面向第一激光发射装置的发射端，以使第一激光发射装置发射的第一激光束穿过第一连接段而发射向激光雷达外；及
第二连接段，连接第一连接段，且面向第二激光发射装置的发射端，以使第二激光发射装置发射的第二激光束穿过第二连接段而发射向激光雷达外；
其中，第一连接段的内壁面与第二连接段的内壁面的夹角为第一夹角，第一夹角为钝角。
根据一些实施例，第一连接段包括与第二连接段连接的第一边缘及位于远离第一边缘一侧的第二边缘，第二连接段包括与第一连接段连接的第三边缘及位于远离第三边缘一侧的第四边缘，第一边缘与第二边缘之间的距离大于第三边缘与第四边缘之间的距离；
第一连接段设置有第一开口；激光接收装置的接收端穿过第一开口，以接收经第一探测区域反射的第一激光束以及经第二探测区域反射的第二激光束。
根据一些实施例，激光接收装置具有第一光路轴线，壳体还包括：
安装筒，具有第二容纳腔，安装筒的一端连接于第一开口的外边缘且使第二容纳腔与第一容纳腔连通，安装筒的另一端沿平行于第一光路轴线且远离第一容纳腔的方向延伸；激光接收装置的物侧端穿过第一开口后、位于第二容纳腔内。
根据一些实施例，还包括：
散热件，壳体还包括与第一侧壁板相对设置的第二侧壁板，散热件设置于第二侧壁板的内壁面。
根据一些实施例，壳体还包括：
第一端板；
第二端板，与第一端板相对设置；及
周壁板，位于第一端板与第二端板之间，且周壁板与第一端板以及第二端板均连接，以与第一端板以及第二端板共同限定出第一容纳腔；周壁板包括第一侧壁板以及第二侧壁板，且第一连接段连接第一端板，第二连接段连接第一连接段以及第二端板；
其中，第一连接段的内壁面与第一端板的内壁面的夹角小于第二连接段的内壁面与第二端板的内壁面的夹角，第二侧壁板的内壁面与第一端板的内壁面的夹角大于第二侧壁板的内壁面与第二端板的内壁面的夹角。
根据一些实施例，第二侧壁板包括：
第三连接段，连接第一端板；及
第四连接段，连接第三连接段与第二端板；
其中，第三连接段的内壁面与第四连接段的内壁面的夹角为钝角，且第三连接段的内 壁面与第一端板的内壁面的夹角大于第四连接段的内壁面与第二端板的内壁面之间的夹角。
根据一些实施例，第三连接段包括与第四连接段连接的第五边缘及位于远离第五边缘一侧的第六边缘，第四连接段包括与第三连接段连接的第七边缘及位于远离第七边缘一侧的第八边缘，第五边缘与第六边缘之间的距离大于第七边缘与第八边缘之间的距离，散热件设置于第三连接段的内壁面。
根据一些实施例，探测组件以及第一侧壁板的数量均为两个，每个第一侧壁板用于安装对应的一个探测组件，两个第一侧壁板中，两个第一连接段的内壁面的夹角为第二夹角，两个第二连接段的内壁面的夹角为第三夹角，第二夹角与第三夹角相等且均为钝角。
第二方面，本申请提供了一种设备，包括上述任意的激光雷达。
本申请提供一种激光雷达以及具有激光雷达的设备，通过将激光雷达设置成包括发射功率不同的多个激光发射装置，既能够使每个激光发射装置的发射功率与探测区域的能量需求相匹配，从而提升系统探测距离以及降低系统总功耗，又能够增大激光雷达的探测视场角，实现广角探测功能。
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为本申请实施例提供的激光雷达的一种立体结构示意图；
图2为本申请实施例提供的激光雷达中探测组件的立体结构示意图；
图3为本申请实施例提供的激光雷达的另一种立体结构示意图；
图4为本申请实施例提供的激光雷达中激光发射装置、以及部分壳体的立体结构示意图；
图5为本申请实施例提供的激光雷达的爆炸示意图；
图6为本申请实施例提供的激光雷达中壳体的部分结构的俯视图；
图7为本申请实施例提供的激光雷达中激光接收装置、芯片板、驱动板、支架以及主控板等结构的爆炸示意图；
图8为本申请实施例提供的激光雷达去除部分壳体后的俯视图；
图9为本申请实施例提供的激光雷达去除部分壳体后的一个方位的结构示意图；该方位可以为平行于激光接收装置的第一光路轴线的方位。
图10为本申请一种实施例中的设备的示意图；
图11为本申请另一种实施例中的设备的示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施例方式作进一步地详细描述。
下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
本申请提供的激光雷达10，可以应用于任何需要进行激光探测的设备上，例如汽车20。激光雷达10可以探测车辆相对于障碍物之间的距离以及速度等参数，以使车辆能够根据探测到的信息规划主动避开障碍物的路径，从而避免车辆与障碍物发生碰撞。障碍物可以包括更加高大的车辆、路边的静物、突然靠近的悬空飞行物等。其中，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，汽车利用激光雷达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汽车的视场探测中。但是，传统的激光雷达存在探测距离有限或系统总功耗过高的问题。传统的激光雷达的激光发射装置一般仅采用一种发射功率，若该发射功率较低，则存在探测距离有限的问题，若该发射功率过高，又会存在系统功耗较高的问题，基于此，本申请提出了一种激光雷达10及具有该激光雷达10的设备，旨在解决上述问题。
如图2所示，本申请实施例的激光雷达10可以包括探测组件110。探测组件110包括激光发射装置111以及激光接收装置112，为能够提升系统探测距离以及降低系统总功耗，本申请实施例的探测组件110包括多个激光发射装置111，且每个激光发射装置111的发射功率与对应的探测区域的能量需求相匹配，激光接收装置112用于接收所有的激光发射装置111发射的激光束。探测区域的能量需求与该探测区域至激光雷达10的距离有关，如， 远距离的探测区域的能量需求相对较高，近距离的探测区域的能量需求相对较低，这样根据探测区域至激光雷达10的距离对每个激光发射装置111的发射功率进行适当的调整，就能够实现既提升系统探测距离又降低激光发射装置111的总功耗。
以下将以探测组件110包括两个激光发射装置111为例，对每个激光发射装置111的发射功率与对应的探测区域的能量需求相匹配进行详细说明：
为便于表述，两个激光发射装置111可以分别称为第一激光发射装置1111以及第二激光发射装置1112，第一激光发射装置1111用于向第一探测区域发射第一激光束，第二激光发射装置1112用于向第二探测区域发射第二激光束。激光接收装置112位于第一激光发射装置1111与第二激光发射装置1112之间，以接收经第一探测区域反射的第一激光束、以及经第二探测区域反射的第二激光束。其中，第一激光发射装置1111的发射功率大于第二激光发射装置1112的发射功率。通过将第一激光发射装置1111的发射功率设置成大于第二激光发射装置1112的发射功率，则可以通过第一激光发射装置1111实现远距离的探测，通过第二激光发射装置1112实现近距离的探测，这样既能够使每个激光发射装置111的发射功率与探测区域的能量需求相匹配，从而提升系统探测距离以及降低系统总功耗，又能够增大激光雷达10的探测视场角，实现广角探测功能。如，当本申请实施例的激光雷达10运用于汽车20上时，可以使发射功率较小的第二激光发射装置1112向地面出射光束，以能够探测地面上的垃圾桶、小孩或其他比较低的物体；而使发射功率较大的第一激光发射装置1111用于向远方出射光束，以能够探测空中或其他距离相对较远的物体。本系统的探测距离可以达到20m以上。
相关技术中的激光雷达10由于探测器的灵敏度以及环境光噪声对系统信噪比的破坏，探测距离一般受限在10m以内，而本申请实施例的激光雷达10的测距模式兼容近距离探测模式以及远距离探测模式，可以获取3D的点云距离、幅度及空间坐标等信息，在探测过程中通过改变芯片的像素耦合数可以实现灵敏度的提高，同时多像素合并为一个像素后可以从感光层面提高系统的灵敏度。由于系统的测距原理是基于相位的间接飞行时间法，本质上是通过积分电荷量计算信号强度，解算相位。多像素融合有利于降低加性的环境光噪声，提高系统的信噪比。以2×2 BIN为例，不同相位区间(DCS0-3)内积分得到的电荷直接累加，信号光子数线性增大(各像素内随机的加性白噪声则不会线性累加)最终提 高了系统的信噪比，提高系统探测能力。除了测距模式，本申请实施例的激光雷达10还可以支持灰度成像模式，即Grayscale，类似于普通的相机成像功能。
第一探测区域与第二探测区域可以具有重合部分。需要注意的是，由于激光束以锥形的形式发出，故上述中的“重合”仅表示在激光雷达10合理的探测距离内的状态。如，第一探测区域与第二探测区域在距离激光雷达10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10的应用场景而定。
当探测组件110包括多个激光发射装置111时，为避免系统内的芯片、电路板等元器件的反射对光线造成串扰，或不同激光发射装置111的出射光线之间产生串扰，影响最终测量结果，不同激光发射装置111的发光时序可以错开。为使不同激光发射装置111的发光时序能够错开，激光雷达10还可以包括调控装置。调控装置与探测组件110电连接，且配置成可控制探测组件110的不同激光发射装置111的发光时序错开，以使激光接收装置112在同一时间段仅能够接收来自同一激光发射装置111发射的激光束。当然，为简化激光雷达10的控制流程以及提升激光雷达10的探测速度，探测组件110的不同激光发射装置111的发光时序也可以不错开。
探测组件110的数量可以为一个，也可以为多个。当探测组件110的数量为多个时，探测组件110的数量具体可以为两个、三个、四个、五个等，本申请对此不作限定。当探测组件110的数量为多个时，可以扩大激光雷达10的探测视场角。当然，为避免相邻探测组件110之间出现盲区，相邻探测组件110的激光发射装置111的探测区域可以具有重合部分。相邻探测组件110的激光发射装置111的探测区域具有重合部分可以为：相邻两个探测组件110中，两个第一激光发射装置1111的第一探测区域具有重合部分，两个第二激光发射装置1112的第二探测区域具有重合部分。
由于激光发射装置111的出射光能量的空间分布呈现边缘高，中心低的形式，即相邻两个探测组件110的视场拼接边缘是系统光源能量分布相对较弱的区域，这样可能会由于回波信号信噪比较低造成点云分布稀疏，为解决此问题，本申请实施例中，相邻探测组件110的激光发射装置111的探测区域可以存在约10°的重叠区域，以能够通过增加视场重合区来提高点云密度。
当探测组件110的数量为多个时，探测组件110之间会存在光线串扰，为了减小甚至 避免探测组件110之间的光线串扰，多个探测组件110的发光时序可以错开。此时，激光雷达10的调控装置可以与所有的探测组件110均电连接，且调控装置配置成可控制多个探测组件110的发光时序错开，以使每个激光接收装置112接收对应的探测组件110的第一激光发射装置1111发射的第一激光束、以及对应的探测组件110的第二激光发射装置1112发射的第二激光束。多个探测组件110的发光时序错开可以为全部探测组件110的发光时序均错开；即同一时间段仅有一个探测组件110工作。探测组件110的发光时序错开也可以为相邻的两个探测组件110的发光时序错开；即同一时间段，相邻的两个探测组件110中，仅有一个探测组件110工作。通过将探测组件110发光的时间段调小至合适的间隔，便可以起到完整的探测效果。
当探测组件110的数量为两个，且两个第一激光发射装置1111的第一探测区域具有重合部分，和/或，两个第二激光发射装置1112的第二探测区域具有重合部分时，调控装置配置成可控制两个探测组件110的发光时序错开，以使每个激光接收装置112接收对应的探测组件110的第一激光发射装置1111发射的第一激光束、以及对应的探测组件110的第二激光发射装置1112发射的第二激光束。
参见图1和图3，激光雷达10还可以包括壳体120。参见图4和图5，壳体120限定出第一容纳腔M，探测组件110位于第一容纳腔M内。壳体120可以包括用于安装探测组件110的第一侧壁板121。第一激光发射装置1111以及第二激光发射装置1112可以直接安装于第一侧壁板121上。当然，为保证第一激光发射装置1111与第一侧壁板121连接的稳固性，参见图2和图4，第一侧壁板121上可以设置用于安装第一激光发射装置1111的第一安装座1211。为保证第二激光发射装置1112与第一侧壁板121连接的稳固性，第一侧壁板121上还可以设置用于安装第二激光发射装置1112的第二安装座1212。第一安装座1211与第一侧壁板121之间、以及第二安装座1212与第一侧壁板121之间均可以通过螺钉等方式进行连接。
第一侧壁板121可以为一个平面板。当然，为减小第一探测区域与第二探测区域的重叠大小，从而增大激光雷达10整体的探测视场，第一侧壁板121也可以包括具有一定夹角的两个平面板，以使第一激光发射装置1111以及第二激光发射装置1112能够分别安装于两个平面板上。为便于表述，参见图1至图4，第一侧壁板121包括的两个平面板可以分 别称为第一连接段1213以及第二连接段1214，第一连接段1213面向第一激光发射装置1111的发射端，以使第一激光发射装置1111发射的第一激光束穿过第一连接段1213而发射向激光雷达10外。第二连接段1214连接第一连接段1213且面向第二激光发射装置1112的发射端，以使第二激光发射装置1112发射的第二激光束穿过第二连接段1214而发射向激光雷达10外。第一连接段1213的内壁面与第二连接段1214的内壁面的夹角为第一夹角，第一夹角可以为钝角。第一夹角可以为170°、150°、135°、129°、120°、100°等。参见图9，其示出了第一连接段1213与水平方向的夹角r1，以及第二连接段1214与竖直方向的夹角r2。上述的平面板可以是任意形状的。如，平面板可以为圆形板也可以为方形板等。当然，第一侧壁板121还可以为曲面板。
第一连接段1213的内壁面与第二连接段1214的内壁面的夹角可以根据实际情况进行适当调整。如，因第一连接段1213与第一激光发射装置1111对应，第二连接段1214与第二激光发射装置1112对应，因此第一连接段1213的内壁面与第二连接段1214的内壁面的夹角可以根据第一激光发射装置1111以及第二激光发射装置1112的设置方位进行适当调整。激光发射装置111的出射光会按照一定的规律分布在空间的特定区域内，激光接收装置112的能量分布可以设置成与激光发射装置111的能量分布相匹配，从而以成像的方式一次性接收整个探测视场内的回波光子且使探测器芯片各区域接收回波信号能量的效率在空间上是相同的，以降低激光接收装置112的光学损耗。
为使激光接收装置112的能量分布与激光发射装置111的能量分布相匹配，针对每个探测组件110，可以先将两个激光发射装置111的能量分布曲线模拟出来，之后根据两个激光发射装置111的视场需求选取合适的激光接收装置112，并通过调整激光发射装置111以及激光接收装置112的方位实现能量分布的匹配。当两个激光发射装置111以及激光接收装置112的设置方位确定后，第一连接段1213的内壁面与第二连接段1214的内壁面的夹角也就可以相应确定。
根据两个激光发射装置111的视场需求选取合适的激光接收装置112可以为：使激光接收装置112的总视场角能够覆盖两个激光发射装置111的总视场角。激光接收装置112的能量分布与激光发射装置111的能量分布相适配可以为：激光接收装置112的均匀度分布的峰值与激光发射装置111的总能量分布的峰值相适配。
为使激光发射装置111发射的激光束能够穿过第一侧壁板121，第一侧壁板121可以整体透光。当然，为避免壳体120内部的元器件显露，第一侧壁板121也可以仅在与第一激光发射装置1111的发射端对应的区域以及与第二激光发射装置1112的发射端对应的区域透光。除此之外，参见图1，第一侧壁板121也可以包括基板1215、第一透光板1216以及第二透光板1217，基板1215在与第一激光发射装置1111的发射端对应的区域设置有第二开口、在与第二激光发射装置1112的发射端对应的区域设置有第三开口，第一透光板1216可以设置于第二开口处，以使第一激光发射装置1111发射的光线能够穿过第一透光板1216，第二透光板1217可以设置于第二开口处，以使第二激光发射装置1112发射的光线能够穿过第二透光板1217。
激光接收装置112可以安装于第一连接段1213，也可以安装于第二连接段1214。第一连接段1213包括与第二连接段1214连接的第一边缘及位于远离第一边缘一侧的第二边缘，第二连接段1214包括与第一连接段1213连接的第三边缘及位于远离第三边缘一侧的第四边缘，第一边缘与第二边缘之间的距离为第一尺寸h1，第三边缘与第四边缘之间的距离为第二尺寸h2，为使激光雷达10的整体尺寸小巧，激光接收装置112可以安装于第一尺寸h1与第二尺寸h2中更大的一个尺寸对应的连接段。如，参见图1，当第一尺寸h1大于第二尺寸h2时，激光接收装置112可以安装于第一尺寸h1对应的第一连接段1213。具体地，参见图1、图3以及图4，第一连接段1213可以设置有第一开口12131，激光接收装置112的接收端可以穿过第一开口12131，以接收经第一探测区域反射的第一激光束以及经第二探测区域反射的第二激光束。
为避免激光接收装置112的接收端穿过第一开口12131后、裸露在壳体120的外部，容易造成破损，参见图1和图3，壳体120还可以包括用于容纳激光接收装置112的接收端的安装筒122。安装筒122具有第二容纳腔N(可参见图4)，安装筒122的一端连接于第一开口12131的外边缘且使第二容纳腔N与第一容纳腔M连通，安装筒122的另一端沿平行于激光接收装置112的第一光路轴线且远离第一容纳腔M的方向延伸，以使激光接收装置112的物侧端穿过第一开口12131后、位于第二容纳腔N内。安装筒122远离第一容纳腔M的一端可以设置第三透光板1221。
参见图7，激光雷达10还可以包括芯片板130、驱动板140以及主控板150等元器件， 且这些元器件上具有诸如控制芯片等精密器件，而激光发射装置111的温度一般较高，会影响上述精密器件的工作，故为便于激光雷达10内热量的散发从而保护上述精密器件，激光雷达10还可以包括散热件160。散热件160可以为具有散热性能的任意部件。如，散热件160可以为采用高导热率的材料制成的部件或具有高导热率的导热胶。
散热件160可以位于第一容纳腔M内的任意位置。参见图1和图5，壳体120可以包括与第一侧壁板121相对设置的第二侧壁板123，由于激光雷达10中产生的热量更多的来自于激光发射装置111，因此散热件160可以设置于与第一侧壁板121相对的第二侧壁板123的内壁面，以能够更好的将激光发射装置111产生的热量散出。同时，由于第一侧壁板121用于安装探测组件110，为使探测组件110能够在第一侧壁板121上平稳安装，第一侧壁板121可以具有足够大的安装面积，这样与第一侧壁板121相对的第二侧壁板123的面积也可以做大，从而能够使安装于第二侧壁板123上的散热件160的散热面积较大，增强散热效果。
参见图1、图3、图4以及图5，壳体120还可以包括第一端板124、第二端板125以及周壁板126。第一端板124与第二端板125相对设置。周壁板126位于第一端板124与第二端板125之间、且与第一端板124以及第二端板125均连接，以使周壁板126、第一端板124以及第二端板125共同限定出第一容纳腔M。周壁板126包括上述的第一侧壁板121以及第二侧壁板123，且第一侧壁板121的第一连接段1213连接第一端板124，第一侧壁板121的第二连接段1214连接第一连接段1213以及第二端板125。为了更好的散热，壳体120上还可以设置多个散热孔127。散热孔127可以为通孔也可以为盲孔。为避免影响激光雷达10的外观显示效果，参见图3和图4，散热孔127可以设置于第二端板125上。
第一端板124可以与第二端板125平行。参见图1、图3、图4以及图5，周壁板126还可以包括第三侧壁板128以及第四侧壁板129，第三侧壁板128用于连接第一侧壁板121的一端以及第二侧壁板123的一端，第四侧壁板129用于连接第一侧壁板121的另一端以及第二侧壁板123的另一端。第三侧壁板128以及第四侧壁板129均可以垂直于第一端板124。第一连接段1213的内壁面与第一端板124的内壁面的夹角可以小于第二连接段1214的内壁面与第二端板125的内壁面的夹角，在此情况下，为减小激光雷达10的尺寸，第二侧壁板123的内壁面与第一端板124的内壁面的夹角可以大于第二侧壁板123的内壁面与 第二端板125的内壁面的夹角。通过将第二侧壁板123的内壁面与第一端板124的内壁面的夹角设置成大于第二侧壁板123的内壁面与第二端板125的内壁面的夹角，即第二侧壁板123并不垂直于第一端板124或第二端板125，这样第二侧壁板123的面积就能够做大，从而使散热件160的面积能够做大，以增强散热效果。
第二侧壁板123可以为一个平面板。当然，为减小激光雷达10的尺寸，第二侧壁板123可以包括具有一定夹角的两个平面板。为便于表述，参见图1，第二侧壁板123包括的两个平面板可以分别称为第三连接段1231以及第四连接段1232，第三连接段1231连接第一端板124，第四连接段1232连接第三连接段1231以及第二端板125。第三连接段1231的内壁面与第四连接段1232的内壁面的夹角可以为钝角，且第三连接段1231的内壁面与第一端板124的内壁面的夹角可以大于第四连接段1232的内壁面与第二端板125的内壁面之间的夹角。
第三连接段1231以及第四连接段1232上均可以设置散热件160。当然，为降低成本，也可以仅在第三连接段1231上设置散热件160。由于第三连接段1231与第一连接段1213相对设置，而与第一连接段1213对应的第一激光发射装置1111的发射功率更大，产生的热量会更多，因此将散热件160设置于第三连接段1231可以使热量更好的散出。当然，为增大散热面积，第三连接段1231包括与第四连接段1232连接的第五边缘及位于远离第五边缘一侧的第六边缘，第四连接段1232包括与第三连接段1231连接的第七边缘及位于远离第七边缘一侧的第八边缘，第五边缘与第六边缘之间的距离h3可以大于第七边缘与第八边缘之间的距离h4。
当探测组件110的数量为多个时，第一侧壁板121的数量也可以为多个，且第一侧壁板121的数量与第一探测组件110的数量相等，以使每个第一侧壁板121用于安装对应的一个探测组件110。相邻两个第一侧壁板121可以共平面。为减小相邻两个探测组件110的激光发射装置111的探测区域的重叠大小，从而增大激光雷达10整体的探测视场，参见图6，相邻两个第一侧壁板121中，两个第一连接段1213的内壁面的夹角为第二夹角θ1，两个第二连接段1214的内壁面的夹角为第三夹角θ2，第二夹角θ1可以与第三夹角θ2相等且均为钝角。如，当探测组件110以及第一侧壁板121的数量均为两个时，每个第一侧壁板121用于安装对应的一个探测组件110，两个第一侧壁板121中，两个第一连接段1213 的内壁面的夹角与两个第二连接段1214的内壁面的夹角相等且均为钝角。第二夹角θ1可以为170°、150°、135°、129°、120°、110°、100°等。当然，与第一夹角相同，第二夹角θ1也可以根据实际情况进行适当调整。如，当所有的激光发射装置111与所有的激光接收装置112的设置方位根据能量分布匹配以及视场角调整确定后，第二夹角θ1也可以相应确定。所有的激光发射装置111以及所有的激光接收装置112的设置方位根据能量分布匹配以及视场角调整的具体实现与上述描述的每个探测组件110中激光发射装置111以及激光接收装置112的调整过程类似，在此不再赘述。
当探测组件110的数量以及第一侧壁板121的数量均为两个时，第二侧壁板123的数量可以为两个，且每个第二侧壁板123对应一个第一侧壁板121。当然，为减小激光雷达10的尺寸，参见图3、图5以及图7，第二侧壁板123的数量也可以为一个，以使该一个第二侧壁板123能够对应两个第一侧壁板121。
参见图7，为利于驱动板140等元器件在第一容纳腔M内的平稳固定，第一容纳腔M内还可以设置有支架170。为便于热量的散发以及减轻激光雷达10的重量，支架170可以采用镂空设计。
受硬件限制，相关技术中，激光发射装置111发射的激光束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10的探测精度有一定影响。激光发射装置111发射的激光束在发射视场内不同位置的强度差异可以为：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光线的均匀程度，一种实施例中，可以使激光雷达10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111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111发射的激光束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，能够使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111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)，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。本实施例中，当激光雷达10包括有两个探测组件110时，激光雷达10可以包括30个VCSEL，每个探测组件110包括15个VCSEL，即每个探测组件110的第一激光发射装置1111以及第二激光发射装置1112一起包括15个VCSEL。
激光雷达10的发射端的总视场角包括横向视场角以及纵向视场角，激光雷达10的接收端的总视场角包括横向视场角以及纵向视场角，接收端的横向视场角可以覆盖发射端的横向视场角，接收端的纵向视场角可以覆盖发射端的纵向视场角。参见图8，其示出了接收端的横向视场角Q1覆盖发射端的横向视场角P1的情形。接收端的横向视场角Q1可以为130°至160°。具体地，接收端的横向视场角Q1可以为135°、140°、145°、150°或160°等。发射端的横向视场角P1可以为130°至160°。具体地，发射端的横向视场角P1可以为132°、138°、142°、144°、148°、152°或158°等。参见图9，其示出了接收端的纵向视场角Q2的情形。接收端的纵向视场角Q2可以为100°至130°。具体地，接收端的纵向视场角Q2可以为105°、108°、112°、118°或125°等。发射端的纵向视场角可以为100°至130°。具体地，发射端的纵向视场角可以为100°、105°、110°、115°、120°、125°等。
参见图10和图11，本申请实施例的还提供了一种设备1，该设备1包括上述任意的激光雷达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1可以为汽车20。汽车20包括汽车20本体，激光雷达10可以安装于汽车20本体的外部或嵌入于汽车20本体内。当激光雷达10设置于汽车20本体外时，激光雷达10优选为设置于汽车20本体的车顶。
在本申请的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。此外，在本申请的描述中，除非另有说明，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (11)

  1. 一种激光雷达，其特征在于，包括：探测组件，所述探测组件包括：
    第一激光发射装置，用于向第一探测区域发射第一激光束；
    第二激光发射装置，用于向第二探测区域发射第二激光束；及
    激光接收装置，位于所述第一激光发射装置与所述第二激光发射装置之间，以接收经所述第一探测区域反射的所述第一激光束、以及经所述第二探测区域反射的所述第二激光束；
    其中，所述第一激光发射装置的发射功率大于所述第二激光发射装置的发射功率。
  2. 如权利要求1所述的激光雷达，其特征在于，
    所述探测组件的数量为两个，两个所述第一激光发射装置的所述第一探测区域具有重合部分，和/或，两个所述第二激光发射装置的所述第二探测区域具有重合部分；
    所述激光雷达还包括调控装置，所述调控装置与两个所述探测组件电性连接，且所述调控装置配置成可控制两个所述探测组件的发光时序错开，以使每个所述激光接收装置接收对应的所述探测组件的所述第一激光发射装置发射的所述第一激光束、以及对应的所述探测组件的所述第二激光发射装置发射的所述第二激光束。
  3. 如权利要求1所述的激光雷达，其特征在于，还包括壳体，所述壳体限定出第一容纳腔，所述探测组件设置于所述第一容纳腔内；所述壳体包括用于安装所述探测组件的第一侧壁板，所述第一侧壁板包括：
    第一连接段，面向所述第一激光发射装置的发射端，以使所述第一激光发射装置发射的所述第一激光束穿过所述第一连接段而发射向所述激光雷达外；及
    第二连接段，连接所述第一连接段，且面向所述第二激光发射装置的发射端，以使所述第二激光发射装置发射的所述第二激光束穿过所述第二连接段而发射向所述激光雷达外；
    其中，所述第一连接段的内壁面与所述第二连接段的内壁面的夹角为第一夹角，所述第一夹角为钝角。
  4. 如权利要求3所述的激光雷达，其特征在于，所述第一连接段包括与所述第二连接段连接的第一边缘及位于远离所述第一边缘一侧的第二边缘，所述第二连接段包括与所述 第一连接段连接的第三边缘及位于远离所述第三边缘一侧的第四边缘，所述第一边缘与所述第二边缘之间的距离大于所述第三边缘与所述第四边缘之间的距离；
    所述第一连接段设置有第一开口，所述激光接收装置的接收端穿过所述第一开口，以接收经所述第一探测区域反射的所述第一激光束以及经所述第二探测区域反射的所述第二激光束。
  5. 如权利要求4所述的激光雷达，其特征在于，所述激光接收装置具有第一光路轴线，所述壳体还包括：
    安装筒，具有第二容纳腔，所述安装筒的一端连接所述第一开口的外边缘且使所述第二容纳腔与所述第一容纳腔连通，所述安装筒的另一端沿平行于所述第一光路轴线且远离所述第一容纳腔的方向延伸；所述激光接收装置的接收端穿过所述第一开口后、位于所述第二容纳腔内。
  6. 如权利要求3所述的激光雷达，其特征在于，还包括：
    散热件，所述壳体还包括与所述第一侧壁板相对设置的第二侧壁板，所述散热件设置于所述第二侧壁板的内壁面。
  7. 如权利要求6所述的激光雷达，其特征在于，所述壳体还包括：
    第一端板；
    第二端板，与所述第一端板相对设置；及
    周壁板，位于所述第一端板与所述第二端板之间，且所述周壁板与所述第一端板以及所述第二端板均连接，以与所述第一端板以及所述第二端板共同限定出所述第一容纳腔；所述周壁板包括所述第一侧壁板以及所述第二侧壁板，且所述第一连接段连接所述第一端板，所述第二连接段连接所述第一连接段以及所述第二端板；
    其中，所述第一连接段的内壁面与所述第一端板的内壁面的夹角小于所述第二连接段的内壁面与所述第二端板的内壁面的夹角，所述第二侧壁板的内壁面与所述第一端板的内壁面的夹角大于所述第二侧壁板的内壁面与所述第二端板的内壁面的夹角。
  8. 如权利要求7所述的激光雷达，其特征在于，所述第二侧壁板包括：
    第三连接段，连接所述第一端板；及
    第四连接段，连接所述第三连接段与所述第二端板；
    其中，所述第三连接段的内壁面与所述第四连接段的内壁面的夹角为钝角，且所述第三连接段的内壁面与所述第一端板的内壁面的夹角大于所述第四连接段的内壁面与所述第二端板的内壁面之间的夹角。
  9. 如权利要求8所述的激光雷达，其特征在于，所述第三连接段包括与所述第四连接段连接的第五边缘及位于远离所述第五边缘一侧的第六边缘，所述第四连接段包括与所述第三连接段连接的第七边缘及位于远离所述第七边缘一侧的第八边缘，所述第五边缘与所述第六边缘之间的距离大于所述第七边缘与所述第八边缘之间的距离，所述散热件设置于所述第三连接段的内壁面。
  10. 如权利要求3所述的激光雷达，其特征在于，
    所述探测组件以及所述第一侧壁板的数量均为两个，每个所述第一侧壁板用于安装对应的一个所述探测组件，两个所述第一侧壁板中，两个所述第一连接段的内壁面的夹角为第二夹角，两个所述第二连接段的内壁面的夹角为第三夹角，所述第二夹角与所述第三夹角相等且均为钝角。
  11. 一种设备，其特征在于，包括权利要求1至10中任一项所述的激光雷达。
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