WO2022147652A1

WO2022147652A1 - Laser radar and device having laser radar

Info

Publication number: WO2022147652A1
Application number: PCT/CN2021/070317
Authority: WO
Inventors: 卢盘
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2021-01-05
Filing date: 2021-01-05
Publication date: 2022-07-14
Also published as: CN115053149A

Abstract

A laser radar (10) and a device having the laser radar (10). The laser radar (10) comprises: a detection assembly (110) comprising a first laser emitting apparatus (1111) and a second laser emitting apparatus (1112); and a laser receiving apparatus (112) located between the first laser emitting apparatus (1111) and the second laser emitting apparatus (1112) to receive a first laser beam reflected by a first detection region and a second laser beam reflected by a second detection region. The transmit power of the first laser emitting apparatus (1111) is greater than that of the second laser emitting apparatus (1112). By configuring the laser radar (10) to comprise a plurality of laser emitting apparatuses (111) having different transmit power, the transmit power of each laser emitting apparatus (111) matches the energy requirements of the detection regions, thereby increasing the detection distance of a system and reducing the total power consumption of the system; moreover, the detection field-of-view angle of the laser radar (10) can be increased, thereby achieving a wide-angle detection function.

Description

LiDAR and devices with LiDAR

technical field

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.

Background technique

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. However, the traditional lidar has the problem of limited detection range or high total system power consumption.

SUMMARY OF THE INVENTION

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.

In a first aspect, 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; and

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;

Wherein, the emission power of the first laser emitting device is greater than the emission power of the second laser emitting device.

According to some embodiments, 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.

According to some embodiments, it further includes a casing, 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; and

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;

Wherein, 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, and the first included angle is an obtuse angle.

According to some embodiments, 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, and 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.

According to some embodiments, the laser receiver has a first optical path axis, and 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.

According to some embodiments, 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.

According to some embodiments, the housing further includes:

the first end plate;

a second end plate disposed opposite the first end plate; and

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;

Wherein, 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.

According to some embodiments, the second sidewall panel includes:

a third connecting section connecting the first end plate; and

the fourth connecting segment, connecting the third connecting segment and the second end plate;

Wherein, 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, and 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.

According to some embodiments, 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, and the fourth connection segment includes a seventh edge connected to the third connection segment and located on a side away from the fifth edge. On the eighth edge away from the seventh 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.

According to some embodiments, 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, and the second included angle and the third included angle are equal and both are obtuse angles.

In a second aspect, 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. 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.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

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;

6 is a top view of a partial structure of a housing in a lidar provided by an embodiment of the present application;

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;

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.

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.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application, as recited in the appended claims.

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. Wherein, the vehicle may be an autonomous vehicle or an ordinary vehicle, which is not limited in this application.

At present, 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. However, 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.

As shown in FIG. 2 , 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. In order to improve the detection distance of the system and reduce the total power consumption of the system, 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, and 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. For example, the energy requirement of the long-distance detection area is relatively high, and the energy requirement of the short-range detection area is relatively low. The transmission power of 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:

For ease of expression, 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, and 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 . 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. For example, when the lidar 10 according to the embodiment of the present application is applied to the car 20, 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. and 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. During the detection process, 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. Taking 2×2 BIN as an example, 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. In addition to the ranging mode, 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 .

When the detection assembly 110 includes a plurality of laser emission devices 111, in order to avoid crosstalk caused by the reflection of components such as chips and circuit boards in the system, or crosstalk between the outgoing lights of different laser emission devices 111, the final measurement result will be affected. , the light-emitting timings of different laser emitting devices 111 can be staggered. In order to stagger the light-emitting timings of different laser emitting devices 111 , 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. Of course, in order to simplify the control process of the lidar 10 and improve the detection speed of the lidar 10 , 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. Of course, in order to avoid a blind area between adjacent detection assemblies 110 , 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.

Since the spatial distribution of the emitted light energy of the laser emitting device 111 is in the form of high edge and low center, that is, the splicing edge of the field of view of the two adjacent detection components 110 is an area where the energy distribution of the system light source is relatively weak. The low signal-to-noise ratio of the wave signal causes the point cloud distribution to be sparse. To solve this problem, in the embodiment of the present application, 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.

When the number of the detection components 110 is multiple, there will be light crosstalk between the detection components 110. In order to reduce or even avoid the light crosstalk between the detection components 110, the lighting timings of the multiple detection components 110 can be staggered. At this time, 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.

When the number of detection assemblies 110 is two, and the first detection regions of the two first laser emitting devices 1111 have overlapping portions, and/or the second detection regions of the two second laser emitting devices 1112 have overlapping portions, 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.

Referring to FIGS. 1 and 3 , the lidar 10 may further include a housing 120 . Referring to FIGS. 4 and 5 , 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 . Of course, in order to ensure the stability of the connection between the first laser emitting device 1111 and the first side wall plate 121 , referring to FIGS. 2 and 4 , 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. In order to ensure the stability of the connection between the second laser emitting device 1112 and the first side wall plate 121 , 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. Of course, in order to reduce the overlapping size of the first detection area and the second detection area, thereby increasing the detection field of view of the lidar 10 as a whole, 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. For ease of description, referring to FIGS. 1 to 4 , 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. 1111 , so that the first laser beam emitted by the first laser emitting device 1111 passes through the first connecting section 1213 and is emitted to the outside of the lidar 10 . 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. For example, the flat plate may be a circular plate or a square plate, and the like. Of course, 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. For example, since the first connecting section 1213 corresponds to the first laser emitting device 1111 and the second connecting section 1214 corresponds to the second laser emitting device 1112, 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 .

In order to match the energy distribution of the laser receiving device 112 with the energy distribution of the laser transmitting device 111, for each detection component 110, 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 .

In order to enable the laser beam emitted by the laser emitting device 111 to pass through the first side wall plate 121 , the first side wall plate 121 may transmit light as a whole. Of course, in order to prevent the components inside the casing 120 from being exposed, 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. In addition, referring to FIG. 1 , 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. For example, referring to FIG. 1 , when the first size h1 is larger than the second size h2 , the laser receiving device 112 can be installed on the first connecting section 1213 corresponding to the first size h1 . Specifically, referring to FIG. 1 , FIG. 3 and FIG. 4 , 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.

In order to prevent the receiving end of the laser receiving device 112 from being exposed to the outside of the casing 120 after passing through the first opening 12131 , which may easily cause damage, see FIGS. 1 and 3 , 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.

Referring to FIG. 7 , 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. For example, 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. Referring to FIGS. 1 and 5 , 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 . At the same time, 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.

Referring to FIGS. 1 , 3 , 4 and 5 , 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 . For better heat dissipation, 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 . With the size of the small lidar 10 , 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. By setting 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 to be 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. Of course, in order to reduce the size of the lidar 10, the second side wall panel 123 may include two flat panels with a certain included angle. For ease of description, referring to FIG. 1 , 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 . Of course, in order to reduce the cost, 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. Of course, in order to increase the heat dissipation area, 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. For the connected seventh edge and the eighth edge located on the side away from the seventh edge, 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.

When the number of the detection assemblies 110 is multiple, 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. 6, in the two adjacent first side wall panels 121, The included angle between the inner wall surfaces of the two first connecting segments 1213 is the second included angle θ1, the included angle between the inner wall surfaces of the two second connecting segments 1214 is the third included angle θ2, and the second included angle θ1 may be the same as the third included angle θ1. The angles θ2 are equal and both are obtuse angles. For example, when the number of the detection assemblies 110 and the first side wall plates 121 is two, 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 θ1 may be 170°, 150°, 135°, 129°, 120°, 110°, 100° and so on. Of course, like the first included angle, the second included angle θ1 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 θ1 can also be determined accordingly. The specific implementation of the setting orientation of all the laser emitting devices 111 and all the laser receiving devices 112 according to the matching of energy distribution and the adjustment of the field of view is the same as the above-described adjustment process of the laser emitting device 111 and the laser receiving device 112 in each detection assembly 110 similar, and will not be repeated here.

When the number of the detection assemblies 110 and the number of the first side wall panels 121 are both two, 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. Of course, in order to reduce the size of the lidar 10 , referring to FIGS. 3 , 5 and 7 , 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 .

Referring to FIG. 7 , in order to facilitate the stable fixing of components such as the driving board 140 in the first accommodating cavity M, a bracket 170 may also be provided in the first accommodating cavity M. In order to facilitate the dissipation of heat and reduce the weight of the lidar 10, the bracket 170 may adopt a hollow design.

Due to hardware limitations, in the related art, 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. In order to improve the uniformity of light in the emission field of view, in one embodiment, 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.

Specifically, 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. Its function is similar to that of Diffsuer, but the principle is based on the refraction and reflection of light. Similar to a microlens array, it has better high temperature resistance and higher cost. In this embodiment, 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°. Specifically, 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°. Specifically, the lateral field of view P1 of the transmitting end may be 132°, 138°, 142°, 144°, 148°, 152° or 158°, etc. Referring to FIG. 9, it 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°. Specifically, 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°. Specifically, the longitudinal viewing angle of the transmitting end may be 100°, 105°, 110°, 115°, 120°, 125°, and the like.

Referring to FIG. 10 and FIG. 11 , 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. Specifically, the device 1 may be a car 20 . The car 20 includes a body of the car 20 , and the lidar 10 can be installed outside the body of the car 20 or embedded in the body of the car 20 . When the lidar 10 is arranged outside the main body of the automobile 20 , the lidar 10 is preferably arranged on the roof of the main body of the automobile 20 .

In the description of the present application, it should be understood that the terms "first", "second" and the like are used for descriptive purposes only, and should not be construed as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations. Also, in the description of the present application, unless otherwise specified, "a plurality" means two or more. "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects are an "or" relationship.

The above disclosures are only the preferred embodiments of the present application, and of course, the scope of the rights of the present application cannot be limited by this. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

A laser radar, characterized in that it includes: a detection component, wherein 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; and

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 second laser beam;

Wherein, the emission power of the first laser emitting device is greater than the emission power of the second laser emitting device.
The lidar of claim 1, wherein:

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 of the detection components is staggered. The laser receiving device receives the first laser beam emitted by the first laser emission device of the corresponding detection assembly and the second laser beam emitted by the second laser emission device of the corresponding detection assembly .
The lidar of claim 1, further comprising a casing, the casing defines a first accommodating cavity, the detection component is disposed in the first accommodating cavity; the casing comprises a first accommodating cavity; For installing the first side wall plate of the detection assembly, 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 ;and

A second connection segment, connected to the first connection segment, and facing the emitting end of the second laser emitting device, so that the second laser beam emitted by the second laser emitting device passes through the second connection The segment is emitted to the outside of the lidar;

Wherein, 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, and the first included angle is an obtuse angle.
The lidar of claim 3, wherein the first connecting segment comprises a first edge connected to the second connecting segment and a second edge located on a side away from the first edge, the The second connecting segment includes a third edge connected to the first connecting segment and a fourth edge located on a side away from the third edge, and the distance between the first edge and the second edge is greater than the distance between the first edge and the second edge the distance between the third edge and the fourth edge;

The first connection section is provided with a first opening, and 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 first laser beam reflected by the first detection area. The second laser beam reflected by the detection area.
The lidar of claim 4, wherein the laser receiving device has a first optical path axis, and the housing further comprises:

An installation cylinder has a second accommodating cavity, one end of the installation cylinder is connected to the outer edge of the first opening and communicates the second accommodating cavity with the first accommodating cavity, and the other end of the installation cylinder is parallel to the extending in the direction of the first optical path axis and away from the first accommodating cavity; the receiving end of the laser receiving device is located in the second accommodating cavity after passing through the first opening.
The lidar of claim 3, further comprising:

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 lidar of claim 6, wherein the housing further comprises:

the first end plate;

a second end plate opposite the first end plate; and

A 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 to connect with the first end plate and the second end plate together define the first accommodating cavity; the peripheral wall plate includes the first side wall plate and the second side wall plate, and the first connecting section connects the first an end plate, wherein the second connection segment connects the first connection segment and the second end plate;

Wherein, 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. The included angle between the inner wall surface of the second side wall plate and the inner wall surface of the first end plate is greater than the included angle between the inner wall surface of the second side wall plate and the inner wall surface of the second end plate.
The lidar of claim 7, wherein the second sidewall plate comprises:

a third connecting segment connecting the first end plate; and

a fourth connecting segment, connecting the third connecting segment and the second end plate;

Wherein, 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, and 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 the included angle between the inner wall surface of the fourth connecting segment and the inner wall surface of the second end plate.
The lidar of claim 8, wherein the third connection segment comprises a fifth edge connected to the fourth connection segment and a sixth edge located on a side away from the fifth edge, the The fourth connecting segment includes a seventh edge connected to the third connecting segment and an eighth edge located on a side away from the seventh edge, and the distance between the fifth edge and the sixth edge is greater than the distance between the fifth edge and the sixth edge The distance between the seventh edge and the eighth edge, the heat sink is disposed on the inner wall surface of the third connecting segment.
The lidar of claim 3, wherein:

The number of the detection components and the first side wall panels is two, and each of the first side wall panels is used to install a corresponding detection component, and among the two first side wall panels, The included angle between the inner wall surfaces of the two first connecting segments is the second included angle, the included angle between the inner wall surfaces of the two second connecting segments is the third included angle, and the second included angle is the same as the third included angle. The three included angles are equal and obtuse.
A device, characterized by comprising the lidar according to any one of claims 1 to 10.