WO2023092859A1 - Laser radar transmitting apparatus, laser radar apparatus, and electronic device - Google Patents

Abstract

A laser radar transmitting apparatus (400), a laser radar apparatus (1200), and an electronic device (1400). The transmitting apparatus (400) comprises: a light source (401), which is used for transmitting N beams of light; a transmitting lens (402), which is used for collimating the N beams of light; a diffusion sheet (403), which has a first field of view in a first direction and is used for converting the N beams of light into M rows of linear light, which has a first divergence angle in the first direction, wherein each row of linear light is formed by the overlapping of K beams of linear light, the first field of view is equal to the first divergence angle, and N = M * K; and an adjusting apparatus (404), wherein the transmitting lens (402) and the diffusion sheet (403) are arranged on the adjusting apparatus (404), the optical axis of the light source (401) coincides with the optical axis of the transmitting lens (402), and the adjusting apparatus (404) adjusts the transmitting lens (402) to be in a first position, so that the N beams of light form a linear light signal on a surface of a target object, or adjusts the transmitting lens (402) to be in a second position, so that the N beams of light form a floodlight signal on the surface of the target object. The laser radar transmitting apparatus (400) has a simple structure, can emit two different kinds of light, and can perform efficient three-dimensional measurement and obstacle avoidance.

Description

Laser radar emission device, laser radar device and electronic equipment

This application claims the priority of the Chinese patent application with application number 202111432950.8 and the title of the invention "Lidar emission device, Lidar device and electronic equipment" filed with China Patent Office on November 29, 2021, the entire contents of which are incorporated by reference in this application.

technical field

The present application relates to the technical field of laser radar, and more specifically, to a laser radar transmitting device, a laser radar device and electronic equipment.

Background technique

Simultaneous localization and mapping (SLAM) technology is often used to solve the positioning and map construction problems of mobile robots in unknown environments, and thus is widely used in sweeping robots, service robots, drones, and self-driving cars. And other devices that need to automatically realize real-time positioning, path planning, obstacle avoidance and other functions without unmanned operation. According to the type of sensor, SLAM can be divided into laser SLAM and visual SLAM. Among them, laser SLAM is realized by laser radar, which can usually achieve very high measurement accuracy.

Laser SLAM is based on laser direct structuring (LDS) technology to achieve distance mapping and intelligent obstacle avoidance through additional sensor modules. LDS uses a 360-degree high-speed rotating single-beam laser to measure the distance of the target object under different rotation angles in real time. Limited by the number of lasers in LDS and the measurement mode of rotating distance measurement, laser SLAM based on LDS can only perform two-dimensional distance measurement, and the mechanical structure of the measurement module needs to protrude from the top of the electronic device for measurement, which has low reliability. , The problem of short service life. In addition, the energy of the lidar beam is concentrated, which can achieve a longer measurement distance but cannot measure with higher precision.

Therefore, it is necessary to provide a lidar device with simpler structure, higher measurement accuracy and more comprehensive functions for SLAM technology.

Contents of the invention

The embodiment of the present application provides a laser radar transmitting device, a laser radar device and electronic equipment. The laser radar transmitting device of the present application has a simple structure and can transmit two different optical signals through a set of optical path systems, and has both long-distance and large-angle Depth measurement and close-range high-precision depth measurement.

In a first aspect, a laser radar emitting device is provided, including: a light source, including a light-emitting array composed of N light-emitting units, for emitting N beams of light, wherein the N light-emitting units are composed of M arrays arranged along the first direction The light-emitting units in one row and the light-emitting units in K columns arranged along the second direction; the emitting lens, used to collimate the N beams of light; the diffusion sheet, the diffusion sheet has a first The angle of view is used to convert the N beams of light into M rows of linear lights having a first divergence angle in the first direction, each row of linear lights is formed by overlapping K beams of linear lights, the The first angle of view is equal to the first divergence angle, N=M*K; the adjustment device, the emission lens and the diffusion sheet are arranged on the adjustment device, the optical axis of the light source and the emission lens The optical axes coincide with each other, and the adjustment device is used to adjust the position of the emission lens and the diffusion sheet on the optical axis of the emission lens, wherein the adjustment device adjusts the emission lens to the first position making the N beams of light form a linear light signal on the surface of the target object, or adjusting the emitting lens to a second position so that the N beams of light form a flood light signal on the surface of the target object, the The first position and the second position have a relative displacement in the direction of the optical axis of the emitting lens.

It should be understood that the coincidence of the optical axis of the light source and the optical axis of the emitting lens refers to mutual coincidence within the allowable range of error, and does not specifically refer to a state of complete coincidence.

In the embodiment of the present application, on the one hand, the emission device uses a diffuser with a first viewing angle in the first direction to obtain a linear light beam parallel to the first direction, and uses a light source with a light-emitting array, and the light emitted by the light-emitting array passes through the quasi- After the beam shaping of the straight mirror and the diffuser, multiple beams of linear beams with the first divergence angle are formed, so that the emitting device can emit multi-line lasers to the target object at the same time, and measure the three-dimensional depth information, which improves the measurement performance of the emitting device and Measurement accuracy, at the same time, the first divergence angle is equal to the first field of view angle, so that the launch device can measure the depth information of the target object in real time without rotating, avoiding the use of rotating mechanical structures, and the device does not need to rotate the light source to obtain the first angle Upward field of view, so there is no need to install the emitter at a position protruding from the top of the device to avoid the device from blocking the light source, so that the device can enter the low space, prolonging the service life of the emitter, and the first field of view Enough three-dimensional depth information can be obtained, so that the device can also be used in obstacle detection and avoidance. On the other hand, the emitting device also adjusts the emitting lens to different positions by driving the adjusting device, so that the emitting device can emit linear light signals when the emitting lens is at the first position, and can emit flood light signals when the emitting lens is at the second position. , so that a laser radar transmitting device can transmit two different optical signals without switching the optical path through only one set of optical path system. In the equipment that needs SLAM and obstacle avoidance functions, the equipment can be fully capable of short-distance high-precision Surveying and mapping, but also capable of long-distance map construction.

It should be understood that the first direction may be a horizontal direction or a vertical direction. The first viewing angle is generally greater than or equal to 60 degrees.

In a possible implementation manner, the emitting device includes: a driving device, configured to drive the adjusting device to adjust the positions of the emitting lens and the diffusion sheet on the optical axis of the emitting lens.

In a possible implementation manner, the driving device drives the adjusting device according to the position information of the target object and/or the resolution requirement of the emitting device to adjust the position of the emitting lens to the first first position or second position.

In the embodiment of the present application, the transmitting device may adjust the position of the transmitting lens according to the position information of the target object so as to transmit an optical signal suitable for the current position to the target object. When the target object is far away from the emission device, for example, the distance reaches more than 3 meters, the driving device adjusts the emission lens to the first position to emit a linear light signal to the target object; when the target object is closer to the emission device, for example, the distance Within 3 meters, the driving device adjusts the emitting lens to the second position to emit flood light signals to the target object. Or adjust the position of the emission lens according to the resolution requirement of the emission device, for example, when the resolution requirement is high, adjust the emission lens to the second position, and when the resolution requirement is low, adjust the emission lens to the first position.

In a possible implementation manner, the emitting lens includes a light incident surface and a light exiting surface opposite to the light incident surface, and the emitting lens is used for collimating light passing through the light incident surface and passing through the light incident surface The N beams of light emitted from the light emitting surface.

In a possible implementation manner, when the adjustment device adjusts the emission lens to the first position, the N beams of light emitted through the light exit surface are first speckle light, and the first A speckle light passes through the diffuser to form a first linear light, and the first linear light is projected to the target object to form the linear light signal. When the adjusting device adjusts the emitting lens to the In the second position, the N beams of light emitted through the light exit surface are flood lights, and the flood lights are projected to the target object through the diffusion sheet to form the flood light signal.

In a possible implementation manner, when the adjustment device adjusts the emission lens to the first position, the N beams of light emitted through the light exit surface are first speckle light, and the first A speckle light passes through the diffuser to form a first linear light, and the first linear light is projected to the target object to form the linear light signal. When the adjusting device adjusts the emitting lens to the When the second position is mentioned, the N beams of light emitted through the light exit surface are the second speckle light, and the second speckle light forms a second linear light through the diffusion sheet, and the second linear light projected onto the target object to form the flood light signal.

It should be understood that when the emitting lens is at the second position, the light emitted from the light exit surface of the emitting lens can be flood light, and the flood light is still flood light after being shaped by the diffuser, and is projected to the target object to form a flood light signal; from The light emitted from the light exit surface of the emitting lens can also be speckle light. The speckle light is shaped by the diffuser to form a linear light, and the linear light is projected to the target object. Since the linear light is the second Linear light, and there is a certain distance between the emitting device and the target object. The linear light has a diffusion effect after passing through the distance, and can be connected on the surface of the target object to form a flood light signal. The linear light can also pass through the emitting device. After connecting other optical elements, it achieves the diffuse effect of being connected together, and then is projected to the target object to form a flood light signal.

In a possible implementation manner, the first position is a position such that a deviation between a focus position of the N beams of light passing through the emitting lens and a focus of the emitting lens is equal to 0.

In a possible implementation manner, the relative displacement is such that when the emitting lens is at the second position, the pixel standard deviation σ of the amplitude image received by the lidar is the smallest, and the pixel standard deviation σ is represented by The following formula represents:

Wherein, u _ij is the signal quantity of the pixel in row i and column j of the magnitude image, u _y is the average value of the signal quantity of the magnitude image, and the magnitude image has X×Y pixels.

In a possible implementation manner, the value range of the relative displacement is 290-310 μm.

In the embodiment of the present application, by configuring the numerical range of the relative displacement, the uniformity of the optical signal emitted from the emitting lens to the target object can be optimized when the emitting lens is located at the second position.

In a possible implementation manner, the emission device further includes: an optical diffraction element, arranged between the emission lens and the diffusion sheet, for duplicating the N beams of light passing through the emission lens to obtain N* P*Q beams of light, so that the diffuser projects the N*P*Q beams of light onto the target object to form M*P rows of linear spots parallel to the first direction, and each row of the linear spot The light spot is formed by the overlapping of the linear light of K*Q beams.

In the embodiment of the present application, the replication capability of the optical diffraction element can be used to increase the number of linear beams projected onto the surface of the target object without changing the light source, which improves the detection accuracy of the laser radar device and expands the range of the laser radar device. The field of view angle in the second direction enables the laser radar device to have a wider detection range in the second direction, thereby improving the detection capability of the laser radar device.

In a possible implementation manner, the emitting lens is a collimating lens.

In a possible implementation manner, the emission lens is a projection lens, and the projection lens has a second viewing angle in the first direction and a third viewing angle in the second direction, so that The angle of view in the first direction of the field of view formed by the N beams of linear light converted by the diffusion sheet is the first angle of view, and the field of view in the second direction is Angle is the third viewing angle.

In the embodiment of the present application, by using a projection lens with a larger field of view, the field of view of the laser radar device in the second direction is larger, and the detection range of the laser radar device in the second direction is expanded. When using a light-emitting unit When there are more light sources, combined with the setting of the projection lens, the linear beam projected to the surface of the target object not only has a larger field of view, but also has a larger number, thereby further improving the detection accuracy of the lidar device.

In a possible implementation manner, the adjustment device includes: a stator, the stator is arranged on the carrier board of the light source; a mover, the mover is connected to the carrier board, and the emitting lens and The diffusion sheet is arranged on the mover, and the mover moves so that the emission lens and the diffusion sheet move relative to the stator along the optical axis direction of the emission lens, and the emission lens and the diffusion sheet move relative to the stator along the optical axis direction of the emission lens. The diffuser is relatively stationary.

In the embodiment of the present application, the adjustment device adopts a structure composed of a stator and a mover, and fixes the emitting lens and the diffuser on the mover. By adjusting the position of the mover, the position of the emitting lens is adjusted, thereby changing the Light signal, the structure of the adjustment device is simple, and the adjustment operation is convenient.

In a possible implementation manner, the stator includes a first bracket and a first driver; the mover includes a second bracket, a second driver, and a lifting element; the first bracket is fixed on the carrier plate The first driver is connected to the first bracket; the emitting lens and the diffuser are fixed on the second bracket, and the second bracket is connected to the carrier through the lifting element. on the board, the second driver is installed in the second bracket; the first driver and the second driver cooperate with each other and drive the second bracket away from or away from the first bracket Move in a direction close to the carrier.

In the embodiment of the present application, the first driving member and the second driving member are used to cooperate with each other to generate a driving force, and the mover moves along the direction of the optical axis away from the carrier plate with the help of the driving force, and adjusts the emitting lens according to the position information of the target object The distance between the light source and the light signal projected on the target object can be changed by intelligently adjusting the position of the emitting lens, so that the linear light field and the flood light field can be combined in one optical path system.

In a possible implementation manner, the driving device is configured to control the first driving member and the second driving member to work under the first current according to the position information of the target object so as to adjust the emission lens to the first position; or control the first driving member and the second driving member to work under a second current to adjust the emitting lens to the second position.

In a possible implementation manner, the first driving member includes a coil, the coil is arranged between the first bracket and the second bracket, the driving device is electrically connected to the coil, and the The second driving member includes a permanent magnet, the permanent magnet is arranged on the surface of the second bracket facing the coil, and the coil is energized to generate a magnetic force along the optical axis direction to push the permanent magnet to move; or

The second driver includes a coil, the coil is arranged between the first bracket and the second bracket, the driving device is electrically connected to the coil, the first driver includes a permanent magnet, the The permanent magnet is arranged on the surface of the first bracket facing the coil, and the coil is energized to generate a magnetic force along the optical axis direction of the emitting lens to push the permanent magnet to move.

In the embodiment of the present application, the structure of the coil and the permanent magnet is used to generate the magnetic force, and the mover moves along the direction of the optical axis away from the carrier with the help of the magnetic force, and the driving circuit can control the magnitude of the coil current, that is, the magnitude of the magnetic force can be controlled, that is, The displacement of the mover relative to the stator can be controlled, so that the precise control of the position of the emitting lens can be realized. It should be understood that the surface described in this application may be an inner surface or an outer surface, which is not limited in this application.

In a possible implementation manner, the first bracket has a support part and a suspension part, the support part extends from the carrier board in a direction away from the carrier board along the optical axis, and the suspension part extends from the The inner wall of the support portion facing the second bracket extends toward the second bracket, and the first driving member is fixedly connected to the lower surface of the suspension portion facing the carrier plate.

In the embodiment of the present application, with the help of the first bracket designed as two inverted "L"-shaped structures in cross section, the first driving member is placed around the optical axis of the light-emitting element, so that the first driving member and the second The direction of the driving force generated when the driving parts cooperate with each other can be parallel to the optical axis, so that the displacement of the lens can basically move along the optical axis.

In a possible implementation manner, the launching device is applied to a cleaning robot.

When the launching device of the embodiment of the present application is applied to the sweeping robot, since the launching device does not need to protrude from the top of the equipment, the sweeping robot will not be stuck due to the height of the launching device when cleaning places such as the bottom of the bed Or a collision occurs, resulting in failure or damage, which improves the working efficiency of the sweeping robot and prolongs the service life of the sweeping robot.

In a possible implementation manner, the light source is a vertical cavity surface emitting laser.

In a second aspect, there is provided a laser radar device, including: a transmitting device as in any possible implementation manner of the first aspect, configured to project an optical signal to a target object; a receiving device, connected to the transmitting device, for The reflected light signal returned by the target object is received, and the reflected light signal is analyzed to obtain the depth information of the target object.

The lidar device in the embodiment of the present application has a simple structure and supports both high-precision short-distance measurement and long-distance surveying and mapping.

In a possible implementation manner, the receiving device includes: a receiving lens, configured to receive the reflected light signal, and the viewing angle of the receiving lens is equal to the first viewing angle; a sensor is arranged on the Below the receiving lens, it is used to analyze the reflected light signal to obtain the depth information of the target object.

In a possible implementation manner, the sensor is connected to the driving module, and is configured to send driving information to the driving module so that the driving module drives the light source.

In the embodiment of the present application, the transmitting device is controlled by the receiving device, which facilitates the synchronization of detection and sampling, and avoids situations where the laser radar device cannot perform in-depth detection or detection errors due to asynchronous detection and sampling timing between the transmitting device and the receiving device, and improves the accuracy of the laser radar. The efficiency of device depth detection.

In a possible implementation manner, the sensor determines the driving information according to depth information of the target object.

In a possible implementation manner, the receiving device further includes: an optical filter, disposed above the sensor, for transmitting the reflected light signal with a predetermined wavelength.

In the embodiment of the present application, by setting an optical filter, it is possible to filter out the influence of optical signals other than signal light, such as ambient light signals, on depth detection, improve the signal-to-noise ratio, and improve the accuracy of depth information detection.

In a possible implementation manner, the receiving device further includes: a support member, configured to support the receiving lens so that the sensor is disposed below the receiving lens.

In a third aspect, an electronic device is provided, including the lidar device in any possible implementation manner of the second aspect.

Description of drawings

FIG. 1 is a schematic structural diagram of a laser radar device.

Fig. 2 is a schematic diagram of depth detection of a lidar device.

FIG. 3 is a two-dimensional map construction scene diagram and an effect diagram of a lidar device of the present application.

Fig. 4 is a schematic structural diagram of a laser radar emitting device of the present application.

FIG. 5 is a diagram of the beam shaping process of a laser radar emitting device of the present application.

Fig. 6a is a schematic diagram of the effect of an optical signal emitted by a laser radar emitting device of the present application.

Fig. 6b is a schematic diagram of another optical signal emitted by a laser radar emitting device of the present application.

FIG. 7 is a three-dimensional map construction scene diagram and an effect diagram of the lidar device of the present application.

FIG. 8 is a schematic structural diagram of another laser radar emitting device of the present application.

FIG. 9 is a schematic structural diagram of another laser radar emitting device of the present application.

Fig. 10 is a schematic structural diagram of another laser radar emitting device of the present application.

Fig. 11 is a schematic structural diagram of another laser radar emitting device of the present application.

Fig. 12 is a schematic structural diagram of a lidar device of the present application.

Fig. 13 is a schematic structural diagram of a receiving device of the present application.

Fig. 14 is a schematic structural diagram of an electronic device of the present application.

FIG. 15 is a schematic diagram of a focusing curve of a transmitting lens of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

LiDAR device is an important part of Simultaneous localization and mapping (SLAM) technology, which can measure depth information independently of ambient light, and thus has been widely used. Taking the sweeping robot as an example, Figure 1 and Figure 2 respectively show the common laser radar device and its principle of depth detection. The embodiment of this application takes a sweeping robot as an example to explain the working principle and effect of the laser radar device. It should be understood that the laser radar device described in this application can also be applied to service robots, drones, self-driving cars and other equipment.

The top of the sweeping robot 100 is provided with a laser radar device 101, which can emit a beam of laser light and rotate on the top of the sweeping robot. The laser radar device 101 can be fixed relative to the sweeping robot 100. and rotate; it can also rotate by itself relative to the cleaning robot 100 . The laser radar device usually includes a laser radar transmitting device 102 and a laser radar receiving device 103. The transmitting device 102 is usually a laser direct structuring (LDS) module, which emits a single beam of linear laser light outwards. Rotate, the optical signal 2001 emitted by the transmitting device 102 is reflected by the target object 200 to form a reflected optical signal 2002 carrying depth information, which is received by the receiving device 103, and the cleaning robot 100 obtains the depth information of the target object by analyzing the reflected optical signal 2002. Combined with the movement trajectory of the cleaning robot 100 itself, a two-dimensional indoor map can be constructed. Since the laser radar device 101 detects the depth information by rotating, in order to avoid the occlusion of the optical signal by the sweeping robot 100 itself, the laser radar device 101 must protrude from the top of the sweeping robot 100, so that the sweeping robot 100 travels to a low level such as the bottom of the bed. In a low position, the protruding lidar device 101 is likely to be stuck or collided, affecting the normal travel and service life of the cleaning robot 100 . In addition, the laser radar device based on the rotating mechanical structure is limited by the rotational speed and sampling rate of the mechanical structure, and the resolution of the laser radar device is also limited accordingly. For example, the rotation speed of a typical lidar device is 360rpm (that is, 6 revolutions per second), and the sampling rate is 2080Sa/s, and its calculated angular resolution is only 1°.

FIG. 3 shows a scene where the sweeping robot 100 builds a two-dimensional map through the lidar device 101 in an indoor environment 300 with obstacles 301 and a schematic rendering of the two-dimensional map. It can be seen from FIG. 3 that the laser radar device 101 can only obtain limited two-dimensional depth information and the resolution is limited by its rotating mechanical structure, and does not support more precise and accurate map mapping or three-dimensional obstacle avoidance. Combined with 3D vision camera to obtain 3D depth information to support 3D map mapping and obstacle avoidance functions. In addition, when the sweeping robot 100 includes multiple laser radar devices 101, although multiple laser beams can be emitted simultaneously, the multiple devices need to protrude from the top of the sweeping robot 100 and avoid mutual interference between the multiple laser radar devices 101. The occlusion increases the height of the plurality of laser radar devices 101 protruding from the top of the cleaning robot 100 , which further increases the risk of the cleaning robot 100 colliding with the environment.

Generally, the three-dimensional vision cameras used for combining with lidar devices are generally divided into: time of flight (TOF), structured light (Structure light, SL) and binocular stereo vision cameras according to different measurement principles. Among them, the time-of-flight camera adopts the active light detection method, and obtains the distance of the target object by detecting the flight (round-trip) time of the light signal. The time-of-flight camera is generally composed of light source, optical components, sensors, control circuits, and processing circuits. According to the continuous state of the signal light on the object plane, the time-of-flight depth detection transmitter can be divided into Flood TOF and Spot TOF.

In view of this, this application provides a laser radar emission device, which does not need to be combined with a visual camera. It has a simple structure and can transmit two different optical signals through a set of optical path systems, and has both long-distance and large-angle depth measurement and short-distance High-precision depth measurement enables electronic equipment to achieve efficient depth detection and realize SLAM and obstacle avoidance functions only by using lidar devices.

FIG. 4 is a schematic structural diagram of a laser radar transmitting device of the present application.

The emitting device 400 includes: a light source 401 , an emitting lens 402 , a diffuser 403 , an adjustment device 404 and a driving device 405 . The light signal emitted by the light source 401 is projected onto the surface of the target object after passing through the emitting lens 402 and the diffuser 403 .

The light source 401 includes a light-emitting array composed of N light-emitting units 4001 for emitting N beams of light, where N is a positive integer, wherein the light-emitting units 4001 in each row of the light-emitting array are arranged along the first direction, and the light-emitting units 4001 in each column of the light-emitting array are arranged along the first direction. aligned in the second direction.

The emitting lens 402 is used to collimate the N beams of light emitted by the light source 401 .

The diffuser 403 has a first angle of view in the first direction, and is used to convert the N beams of light passing through the emitting lens 402 into M rows of linear lights with a first divergence angle in the first direction, and each row of linear lights is composed of K The beam-shaped lights are overlapped and formed, the first viewing angle is equal to the first divergence angle, N=M*K.

The adjusting device 404, the emitting lens 402 and the diffuser 403 are arranged on the adjusting device 404, the optical axis of the light source 401 coincides with the optical axis of the emitting lens 402, and the adjusting device 404 is used to adjust the emitting lens 402 and the diffusing sheet 403 in the emitting lens 402 position on the optical axis, wherein the adjusting device 404 adjusts the emitting lens 402 to the first position so that the N beams of light form a linear light signal on the surface of the target object, or adjusts the emitting lens 402 to the second position so that the N beams The light forms a flood light signal on the surface of the target object, and the first position and the second position have a relative displacement in the direction of the optical axis of the emitting lens 402 .

It should be understood that the first direction may be a vertical direction or a horizontal direction; N=M*K, that is, each row of the light-emitting array includes K light-emitting units 4001, each column includes M light-emitting units 4001, and the first direction is the same as the first direction. The two directions have an included angle less than or equal to 90°; preferably, the first direction is perpendicular to the second direction. FIG. 4 also shows the effect of the emitting device emitting a linear light signal when the adjusting device 404 adjusts the emitting lens 402 to the first position.

Optionally, the transmitting device 400 includes:

The driving device 405 is used to drive the adjusting device 404 to adjust the positions of the emitting lens 402 and the diffuser 403 on the optical axis of the emitting lens 402 .

FIG. 5 shows the beam shaping process when the transmitting lens 402 of the lidar transmitting device in FIG. 4 is located at the first position. Specifically, the optical axis of the light source is indicated by a dotted line _l1 , and the optical axis of the emitting lens is indicated by a dotted line _l2 . It should be understood that l ₁ and l ₂ overlap each other, but there are errors in the actual production and assembly process so that l ₁ and l ₂ cannot be completely overlapped. Therefore, the overlapping of _l1 and _l2 described in the embodiment of the present application refers to overlapping within the allowable range of error, and does not specifically refer to a state of complete overlapping.

Each light-emitting unit 4001 emits a laser beam with a divergence angle a; after being collimated by the emitting lens 402, the laser beam is converted into a collimated laser beam, and the divergence angle of the laser beam will be reduced to b at this time; the collimated The laser beam passes through the diffuser 403 having a first angle of view c in the first direction, and is shaped into a light beam having a first divergence angle d in the first direction and a divergence angle b in the second direction, wherein the first The angle of view c is equal to the first angle of divergence d. Since the first angle of view c is much larger than the angle of divergence (a or b) of the light beam, the laser beam emitted by each light emitting unit 4001 is converted into a laser beam in the first direction The beam with a divergence angle much larger than that in the second direction presents a linear spot on a plane perpendicular to the beam, that is, the laser beam is converted into a linear beam.

Exemplarily, the divergence angle of the laser beam emitted by the light source is 20°, that is, the divergence angle of the laser beam in the first direction and the second direction is both 20°, and the divergence angle of the beam after collimation by the collimator is 0.3°, After passing through a wide-angle diffuser with a 120° field of view in the first direction, the beam is shaped into a linear beam with a divergence angle of 120° in the first direction and a divergence angle of 0.3° in the second direction. A linear spot is formed on the surface. Each of the N light beams undergoes the above beam shaping process to form a row of linear light spots in the first direction, so that the emitting device 400 can project a line of light parallel to the first direction to the target object.

When the emitting lens 402 is in the second position, after being collimated by the emitting lens 402, the divergence angle of the laser beam is reduced to e, b<e<c, and the collimated laser beam produces a "virtual focus" effect at this time, mutually Connected together to form flood light and then projected to the target object through the diffusion sheet 403, or the laser beam passes through the diffusion sheet 403 to form a linear beam with a "virtual focus" effect. The linear beam projected to the target object is relatively thick, and M lines of linear beams are connected. In one piece, an effect similar to floodlight is formed, so that the emitting device 400 can project floodlight to the target object.

FIG. 15 shows a focusing curve of an emitting lens 402 . The first position and the second position will be described below in conjunction with FIG. 15 . The optical path system of the transmitting device 400 has a focus position, and the focus position is located on the optical axis ₁₂ of the transmitting lens 402 at the same time. When the focus of the emission lens 402 is at the focus position, the emission device 400 is in a focus state; when the focus of the emission lens 402 deviates from the focus position, the emission device 400 is in a virtual focus state. The deviation amount is recorded as ΔQ, and ΔQ is equal to the distance between the focal point of the emitting lens 402 and the light source 401 minus the distance between the focus position and the light source 401 . Taking the value of ΔQ as the abscissa, and taking the spot size projected by the transmitting device 400 on the target object when the distance between the target object and the transmitting device 400 is 1m as the y-axis, the focus curve as shown in Figure 15 can be obtained, when ΔQ= 0, the emitting device 400 is in the focusing state, and the spot size is clear and small; when the absolute value of △Q is greater than a certain value, the emitting device 400 is in the virtual focus state, and as the absolute value of △Q increases, the spot size becomes smaller. big.

Optionally, the first position is a position where the deviation between the focus position of the N beams of light passing through the emitting lens 402 and the focus of the emitting lens 402 is equal to 0, that is, ΔQ=0. It should be understood that, in the actual production and assembly process, there are situations where errors make the value of ΔQ smaller or close to 0, and at this time, the emitting device 400 is still in the focusing state.

Optionally, the relative displacement makes the emitting lens 402 closer to the light source 401 when in the first position than when in the second position.

Specifically, referring to Fig. 5 and Fig. 15, taking the first position, that is, the position of ΔQ=0 as an example, the first position and the second position have a relative displacement, that is, the second position can be compared with the first position on the optical axis _l2 It is closer to the light source 401, or farther away from the light source 401, so that the emitting device 400 is in a virtual focus state when the emitting lens 402 is in the second position.

Optionally, the relative displacement is such that when the transmitting lens 402 is at the second position, the pixel standard deviation σ of the amplitude image received by the laser radar is the smallest, and the pixel standard deviation σ is represented by the following formula:

Among them, u _ij is the signal amount of the pixel in the i-th row and the j-th column of the amplitude image, u _y is the average value of the signal amount of the amplitude image, and the amplitude image has X×Y pixels.

Preferably, the value range of the relative displacement is 290-310 μm.

Specifically, when the emitting lens 402 is located at the second position, the relative displacement from the first position is within 290-310 μm, which can make the uniformity of the dispersion of the N beams of light passing through the emitting lens 402 the best, thereby forming a uniform floodlight projected to The target object finally forms a depth image with the best uniformity.

It should be understood that the numerical range of the relative displacement is related to factors such as the arrangement of the light emitting units and the distance between the light emitting units. When the emission lens 402 is located at the second position, in order to obtain the best uniformity of the flood light, the numerical range of the relative displacement can be set according to the distance between the light emitting units 4001 and the number of the light emitting units 4001, so that the emission device 400 is directed toward the target object. The pixel standard deviation σ of the magnitude image received by the receiving end after floodlight projection is the smallest, and the processed depth image has the best uniformity.

The pixel standard deviation σ of the magnitude image is the standard deviation of the signal quantity of each pixel of the magnitude image, and the smaller the pixel standard deviation of the magnitude image is, the more uniform the signal quantity distribution of the magnitude image is.

In this embodiment, by configuring the numerical range of the relative displacement, the uniformity of the optical signal emitted from the emitting lens when it reaches the target object can be optimized when the emitting lens is located at the second position, thereby ensuring that when the emitting lens is located at the second position The pixel standard deviation of the magnitude image received by the receiving end is the smallest, which helps to improve the imaging quality of the depth image.

FIG. 6a and FIG. 6b show the effect of the light signal emitted by the laser radar emitting device 400 of the present application when the emitting lens 402 is located at the first position and the second position.

Specifically, when the emitting lens 402 is at a certain position, the focal point of the emitting lens 402 is located at the focus position of the emitting device, so that the divergence angle of the N beams of light emitted by the light source 401 after passing through the emitting lens 402 is small (for example, less than or equal to 0.3°) At this time, the divergence angle of the N beams of light in the second direction after being shaped by the diffuser 403 is also small (less than or equal to 0.3°), and a line light signal can be formed on the surface of the target object, as shown in FIG. 6a.

When the emitting lens 402 is at the second position, the focal point of the emitting lens 402 deviates from the focusing position of the emitting device, so that the divergence angle of the N beams of light emitted by the light source 401 after passing through the emitting lens 402 is relatively large (for example, greater than 0.3°), at this time The divergence angle of the N beams of light in the second direction after being shaped by the diffuser 403 is also relatively large (greater than 0.3°), which can form flood light signals on the surface of the target object, as shown in FIG. 6b.

FIG. 7 is a schematic effect diagram of a scene where a laser radar device of the present application constructs a three-dimensional map through a laser radar emitting device 400 in an indoor environment 300 with obstacles 301 .

In this embodiment, the emitting device 400 uses a diffuser 403 with a first viewing angle in the first direction to obtain a linear light beam parallel to the first direction. The emission device 400 utilizes a light source 401 with a light-emitting array, and the light emitted by the light-emitting array is shaped by the emission lens 402 and the diffusion sheet 403 to form multiple linear beams, so that the emission device 400 can simultaneously emit multiple lines of laser light to the target object. The measurement of three-dimensional depth information can be used in obstacle detection and avoidance without combining with other visual cameras, and the volume is small, which is easy to be integrated in the device; in addition, the multi-beam linear light emitted by the emitting device 400 has The first divergence angle, the first divergence angle is equal to the first field of view angle, so that the emitting device 400 can measure the depth information of the target object in real time without rotation, avoiding the use of a rotating mechanical structure, and does not need to rotate the light source to obtain the first angle of view. The field of view in one direction does not need to be installed at a position protruding from the top of the device to avoid the device from blocking the light source, so that the device can enter the low space, avoiding the collision of the device and prolonging the service life of the transmitter. The transmitting device 400 of the present application enables the device to support two functions of map building and obstacle avoidance with only one transmitting device, which reduces the cost and facilitates miniaturization and thinning of the device. In addition, the transmitting device 400 adjusts the transmitting lens 402 to different positions by driving the adjusting device 404, so that the transmitting device 400 can transmit linear optical signals or flood optical signals without switching optical paths through only one set of optical path systems. The light field meets the depth detection scenarios with different requirements and improves the working efficiency of the lidar device.

Optionally, the light source 401 is a vertical cavity surface emitting laser (Verticah cavity surface emitting laser, VCSEL). VCSEL is a semiconductor diode laser. The emitted laser beam generally leaves the device from the top surface and in a substantially vertical manner. The VCSEL light source has many advantages such as small size, high power, small beam divergence angle, and stable operation. It is a depth detection system. As the first choice of light source, the embodiment of this application uses VCSEL as an example for illustration. Specifically, the light source may be a single-chip multi-point emitting VCSEL chip, and multiple light-emitting points are arranged in a two-dimensional matrix, correspondingly emitting multiple beams of laser signals to form a matrix laser signal array.

Optionally, the driving device 405 drives the adjusting device 404 to adjust the positions of the emitting lens 402 and the diffuser 403 on the optical axis ₁₂ of the emitting lens 402 according to the position information of the target object.

Specifically, the driving device 405 can drive the adjusting device 404 according to the position information of the target object. For example, when the target object is far away from the emitting device 400, for example, the distance reaches more than 3 meters, and the current scene is suitable for spot light. Field, the driving device 405 can drive the adjusting device 404 to adjust the emitting lens 402 to the first position according to the position information of the target object, and the emitting device 400 emits linear light; when the target object is relatively close to the emitting device 400, for example, the distance is within Within 3 meters, the current scene is suitable for a flood light field, and the driving device 405 can drive the adjustment device 404 to adjust the emitting lens 402 to the second position according to the position information of the target object, and the emitting device 400 emits flood light at this time.

Optionally, the driving device 405 drives the adjusting device 404 to adjust the positions of the emitting lens 402 and the diffuser 403 on the optical axis ₁₂ of the emitting lens 402 according to the resolution requirement of the lidar device.

Specifically, when the resolution requirement is high, the adjustment device 404 adjusts the emission lens 402 to the second position, and when the resolution requirement is low, the adjustment device 404 adjusts the emission lens 402 to the first position.

In this embodiment, according to the position information of the target object, the lidar emitting device emits laser light suitable for the current scene, which can emit flood light when the target object is relatively close and requires a high-precision image, and when the target object is far away and only requires a rough outline By emitting linear light, the laser radar device has both high precision and long-distance mapping.

Optionally, the light source 401 is an edge emitting laser (Edge emitting laser, EEL) or a light emitting diode (Light emitting diodes, HED).

It should be understood that the light source 401 may be one type of light source, or may be a combination of the above-mentioned multiple light sources. The optical signal can be an optical signal carrying a spatial optical pattern that has been optically modulated, processed, or controlled, it can be an optical signal that has been optically modulated, processed, or controlled for sub-area illumination, or it can be a periodic optical signal that has been optically modulated, processed, or controlled. A light signal for illumination, or a combination of the above light signals. The optical axis _l1 of the light source 401 is located at the geometric center of the light emitting plane and is perpendicular to the light emitting plane.

Optionally, the emitting lens 402 is a glass or plastic lens or a glass/plastic combination. The emitting lens 402 can change the beam diameter and divergence angle of the optical signal emitted by the light source 401, so that the beam becomes a collimated parallel beam with more concentrated energy, and obtains a small high-density light spot.

Optionally, the emission lens 402 includes a plurality of lenses arranged back and forth along the optical axis l- ₂ direction, the plurality of lenses are used to collimate the N beams of light, and the incident surface of the lens closest to the light source 401 among the plurality of lenses is the emission lens The light incident surface of 402 and the light exit surface of the lens farthest from the light source 401 among the plurality of lenses are used as the light exit surface of the emitting lens 402 .

Optionally, when the adjusting device 404 adjusts the emitting lens 402 to the first position, the N beams of light emitted through the light exit surface are the first speckle light, and the first speckle light passes through the diffusion sheet 403 to form the first linear light, The first linear light is projected to the target object to form a linear light signal. When the adjustment device 404 adjusts the emitting lens 402 to the second position, the N beams of light emitted through the light exit surface are flood light, and the flood light is absorbed by the diffuser 403 Projected onto the target object to form a flood light signal.

Optionally, when the adjusting device 404 adjusts the emitting lens 402 to the first position, the N beams of light emitted through the light exit surface are the first speckle light, and the first speckle light passes through the diffusion sheet 403 to form the first linear light, The first linear light is projected to the target object to form a linear light signal. When the adjustment device 404 adjusts the emitting lens 402 to the second position, the N beams of light emitted through the light exit surface are the second speckle light, and the second speckle The light passes through the diffuser 403 to form a second linear light, and the second linear light is projected to the target object to form a flood light signal.

Specifically, when the emitting lens 402 is located at the second position, since the focal length of the emitting lens 402 deviates from the best focus position of the entire emitting device at this time, after the N beams of light pass through the emitting lens 402 due to a large divergence angle, the focal length of the emitting lens 402 If it is far away from the best focus position, the light emitted from the light exit surface of the emission lens 402 can be flood light, and the flood light is still flood light after being shaped by the diffusion sheet 403, and is projected to the target object to form a flood light signal; the emission lens If the focal length of 402 deviates from the optimal position and is closer, the light emitted from the light exit surface of the emitting lens 402 may also be speckle light, and the speckle light is shaped by the diffuser 403 to form the second linear light, because the second linear light is The linear light emitted when the lens 402 is located at the second position, and there is a certain distance between the emitting device 400 and the target object, the linear light has a diffusion effect after passing through the distance, and can be connected into one piece on the surface of the target object to form a flood light signal .

It should be understood that in the embodiment of the present application, when the emitting lens 402 is located at the second position, the flood light or speckle light emitted from the light exit surface of the emitting lens 402 will form a flood light signal after reaching the surface of the target object, in other words, the emitting When the lens 402 is at the second position, the emitting device 400 emits flood light.

Optionally, the emitting lens 402 is a collimating mirror.

FIG. 8 is a schematic structural diagram of another laser radar emitting device itself.

Optionally, the emission lens 402 is the projection lens 801 . The projection lens 801 has a second viewing angle in the first direction and a third viewing angle in the second direction, so that the viewing field formed by the N beams of linear light converted by the diffuser 403 has a viewing angle in the first direction. The field angle is the first field angle, and the field angle in the second direction is the third field angle.

Specifically, compared with the emission lens 402, the projection lens 801 not only has collimation capability, but also has a larger field of view and a shorter focal length. On the one hand, the field of view of the light beam passing through the projection lens 801 in the second direction The angle is further increased, so that the detection range of the laser radar device in the second direction is expanded; The light beams increase the number of light beams forming each line of linear light spots, increase the number of lines of linear light spots, and reduce the distance between linear light plates, thereby improving the line resolution of the laser radar device in the second direction.

Exemplarily, the light source 401 has 34*17 light-emitting arrays, and can emit 578 beams of light. The horizontal viewing angle of the field of view formed by the projection lens 801 is 46.7°, and the vertical viewing angle is 60.2°. The 578 beams After the light passes through the diffuser 403 with a horizontal field angle of 120° for beam shaping, the formed light field has a horizontal field angle of 120° and a vertical field angle of 60.2°, including 34 rows of horizontal light spots, and each line of light spots Formed by 17 beams of horizontal line light, the line resolution at this time is 1.37°.

In this embodiment, by using the projection lens 801 with a larger viewing angle, the viewing angle of the laser radar device in the second direction is larger, and the detection range of the laser radar device in the second direction is expanded.

FIG. 9 is a schematic structural diagram of another laser radar emitting device of the present application.

Optionally, the emission device 400 further includes: an optical diffraction element 901, arranged between the emission lens 402 and the diffusion sheet 403, for copying the N beams of light after the emission lens 402 to obtain N*P*Q beams of light, so that the diffusion The sheet 403 projects N*P*Q beams of light to the target object to form M*P rows of linear light spots parallel to the first direction, and each row of linear light spots is formed by overlapping K*Q beams of linear light.

Specifically, P and Q are the replication magnifications of the optical diffraction element 901 in the first direction and the second direction, respectively. The optical diffraction element (Diffraction optical element, DOE) 1101 may also be replaced by a micro lens array (Micro lens array, MLA), a grating, or a combination of at least one or more of the above optical elements. The embodiment of the present application uses a DOE as an example for description, and the DOE is usually made of glass or plastic.

As an example and not a limitation, when the light source 401 is an 8*8 light-emitting array, it can emit 64 beams of light, and the horizontal field of view and vertical field of view of the field of view formed by the 64 beams of light passing through the emitting lens 402 are respectively 16.3 ° and 12.9°, the optical diffraction element 901 has 3 times the replication capability in the first direction and the second direction respectively, that is, the P=Q=3 of the optical diffraction element 901, the 64 beams of light are formed after being copied by the optical diffraction element 901 64*9=576 beams of light, the horizontal viewing angle of the field of view formed by these 576 beams of light is 16.3°*3=48.9°, and the vertical viewing angle is 12.9°*3=38.7°. The viewing angle in the direction is 120°, and the 576 beams of light will form a viewing field with a horizontal viewing angle of 120° and a vertical viewing angle of 38.7° after passing through the diffuser 403 .

In this embodiment, by utilizing the duplication capability of the optical diffraction element 901, the number of linear beams projected onto the surface of the target object can be increased without increasing the light emitting unit 4001 of the light source 401, and the laser radar device can be enlarged in the second direction. The field of view angle makes the laser radar device have a wider detection range in the second direction, thereby improving the detection capability of the laser radar device.

It should be understood that the projection lens 801 may also be used as the transmitting lens 402 in the transmitting device 400 including the optical diffraction element 901, which can further expand the detection range of the laser radar device in the second direction.

FIG. 10 and FIG. 11 are schematic structural diagrams of the laser radar emitting device 400 of the present application when the emitting lens 402 is located at the first position and the second position respectively.

Optionally, the emitting device 400 further includes: a carrier board 1001 on which the light source 401 is disposed.

It should be understood that the transmitting device 400 may not include the carrier board 1001 , and may be directly integrated on the functional modules of the lidar emitting device. The carrier board 1001 may be the carrier board of the emitting device 400 or the carrier board of the light source 401 .

Preferably, as shown in FIG. 10 or FIG. 11 , the adjusting device 404 includes:

The stator 4041 is arranged on the carrier board 1001; the mover 4042, the mover is connected on the carrier board 1001, the emission lens 402 is arranged on the mover 4041, and the mover 4042 moves so that the emission lens 402 is along the light of the emission lens 402 relative to the stator 4042. Axis l ₂ direction movement.

The adjustment device 404 adopts a simple combined structure of the stator 4041 and the mover 4042, and fixes the emitting lens 402 on the mover 4042. By adjusting the position of the mover 4042, the position of the emitting lens 402 is adjusted, thereby changing the laser radar emitting device 400. Optical signal, while improving the performance of the deep lidar device, the adjustment device 404 has a simple structure, easy operation, and convenient processing.

It should be understood that processing errors may cause a certain angle deviation between the moving direction of the emitting lens 402 and the direction of the optical axis l ₂ of the emitting lens 402 .

Optionally, the mover 4042 moves so that the emitting lens moves relative to the stator 4041 in a direction having a first included angle with the direction of the optical axis _l2 of the emitting lens.

Optionally, the stator 4041 includes: the first bracket 10 and the first driving element 11 ; the mover 4042 includes: the second bracket 20 , the second driving element 22 and the lifting element 21 .

Wherein the first bracket 10 is fixed on the carrier board 1001, the first driver 11 is connected on the first bracket 10; the emitting lens 402 is fixed on the second bracket 20, and the second bracket 20 is connected on the carrier board 1001 through the lifting element 21 , the second driver 22 is installed in the second bracket 20; the first driver 11 and the second driver 22 cooperate with each other and drive the second bracket 20 to move away from or close to the carrier plate 1001 relative to the first bracket 10.

Specifically, the first bracket 10 has a supporting function, and the first driving member 11 can drive the mover 4042 . The second bracket 20 can support and drive the emitting lens 402 to move, and the lifting element 21 can be driven by the first driving member 11 and the second driving member 22 to adjust the position of the second bracket 20 , thereby driving the emitting lens 402 to move.

In this embodiment, the first driving member 11 and the second driving member 22 are used to cooperate with each other to generate a driving force, and the mover 6042 moves away from or close to the carrier plate 1201 in the direction of the optical axis ₁₂ with the help of the driving force, and according to the target object The distance between the emitting lens 602 and the light source can be adjusted by the position information of the emitting lens, and the light field projected on the target object can be changed by intelligently adjusting the position of the emitting lens, so that two light fields of line light and flood light can be emitted in one optical path system .

Optionally, the first driving member 11 includes a coil, and the driving device 405 can generate an electromagnetic field through the first driving member 11 . The second driving member 22 includes a permanent magnet, which can push the second driving member 22 to move when the first driving member 11 is energized to generate a magnetic force along the optical axis ₁₂ .

It should be understood that the specific arrangement of the first driving member 11 and the second driving member 22 is not limited thereto, for example, the coil and the permanent magnet can be interchanged, specifically, the second driving member 22 includes a coil, and the coil is arranged between the first bracket 10 and the permanent magnet. Between the second brackets 20, the drive circuit is electrically connected to the coil. The first driver 11 includes a permanent magnet. The permanent magnet is arranged on the surface of the first bracket 10 facing the coil. The coil is energized to generate a magnetic force along the direction of the optical axis ₁ to push the permanent magnet. magnet movement. The surface of the first support 10 facing the coil may be an outer surface or an inner surface, which is not limited in this embodiment of the present application.

Optionally, the driving device 405 is used to control the first driving member 11 and the second driving member 22 to work under the first current to adjust the emitting lens 402 to The first position; or control the first driving member 11 and the second driving member 22 to work under the second current to adjust the emitting lens 402 to the second position.

In this embodiment, the structure of a coil and a permanent magnet is used to generate magnetic force, the mover 4042 moves away from or close to the carrier plate 1001 along the direction of the optical axis ₁₂ by means of the magnetic force, and the driving circuit can control the magnitude of the coil current, that is, the magnetic force can be controlled Therefore, the displacement of the mover 4042 relative to the stator 4041 can be controlled, so that the precise control of the position of the emitting lens 402 can be realized.

Optionally, the first bracket 10 has a support portion 30 and a suspension portion 31, the support portion 30 extends from the carrier plate 1001 in a direction away from the carrier plate 1001 along the optical axis ₁₂ , and the suspension portion 31 faces the second bracket from the support portion 30 The inner wall of the bracket 20 extends toward the second bracket 20 , and the first driving member 11 is fixedly connected to the lower surface of the suspension part 31 facing the carrier board 1001 .

Specifically, by means of the first bracket 10 designed as two inverted "L"-shaped structures in cross-section, the first driving member 11 presents a state of being arranged around the optical axis _l1 of the light source 401, so that the first driving member 11 and The direction of the driving force generated when the second driving member 22 cooperates with each other can be parallel to the optical axis ₁₁ of the light source 401, that is, parallel to the optical axis ₁₂ of the emitting lens 402, so that the displacement of the emitting lens 402 can be basically along the The optical axis l ₂ moves.

Optionally, the lifting element 21 may be an elastic member such as a spring. In the process of adjusting the emitting lens 402 from the first position to the second position, the elastic force produced by the elastic member in the opposite direction to the magnetic force can effectively play a role of damping, and the elastic force continues to increase with the displacement of the emitting lens 402 increase objectively causes the moving speed of the emitting lens 402 to be slower and slower, and finally reaches a force balance state at the second position, and when the emitting lens 402 is reset, the elastic member can provide pulling force for pulling the emitting lens 602 to move, and at the same time A buffer can be provided to protect the transmit lens 402 . In other preferred embodiments, the lifting element 21 can also adopt other structures, such as hydraulic lifts, pulley slide rail assemblies, etc., but relatively speaking, the spring has many advantages such as convenient assembly, light weight, small size, and easy maintenance.

The embodiment of the present application also provides a laser radar device. FIG. 12 is a schematic structural diagram of a laser radar device of the present application. As shown in FIG. 12 , the laser radar device 1200 includes:

A transmitting device 400, configured to project an optical signal to a target object;

The receiving device 1201 is connected with the transmitting device 400, and is used for receiving the reflected light signal returned by the target object, and analyzing the reflected light signal to obtain the depth information of the target object.

Optionally, as shown in FIG. 13, the receiving device 1201 includes:

The receiving lens 1202 is used to receive the reflected light signal, and the viewing angle of the receiving lens 1402 is equal to the first viewing angle;

The sensor 1203 is disposed under the receiving lens 1402 and is used to analyze the reflected light signal to obtain the depth information of the target object.

Specifically, the receiving lens 1202 may be an optical structure composed of a spherical surface or an aspheric surface, and is used to focus incident light onto the sensor 1203, and the sensor 1203 converts the optical signal collected by the lens into an electrical signal. The receiving lens 1202 may be composed of one or more lenses, and each lens may be injection-molded with materials such as resin, for example.

The lidar device 1200 in this embodiment has a simple structure and high measurement accuracy, and the emitted light field itself has a first field of view angle in the first direction, and does not need to rotate the light source 401 to obtain the field of view in the first direction. The field of view does not need to be installed at a position protruding from the top of the device to avoid the device from blocking the light source, which is convenient for the overall integration and assembly of the device.

Optionally, the lidar device 1200 includes a plurality of emitting devices 400, which can realize 360° full-angle depth information detection by setting them at different positions of the device and combining angles.

Optionally, the sensor 1203 is connected with the driving device 405 for sending driving information to the driving device 405 so that the driving module drives the light source 401 .

In this embodiment, the transmitting device 400 is controlled by the receiving device 1201, which facilitates the synchronization of detection and sampling, and avoids situations where the transmitting device 400 and the receiving device 1201 are not synchronized with the timing of detection and sampling, resulting in the inability of the laser radar device 1200 to perform depth detection or detection errors. , improve the efficiency of the depth detection of the lidar device.

Optionally, the sensor 1203 determines driving information according to the depth information of the target object.

Optionally, the receiving device 1201 further includes:

The optical filter 1204 is disposed above the sensor 1203 and is used for passing the reflected light signal of a predetermined wavelength.

In this embodiment, by setting the optical filter 1204, optical signals other than signal light, such as ambient light signals, can be filtered out to improve the signal-to-noise ratio.

Optionally, the receiving device 1201 further includes:

The supporting member 1205 is used to support the receiving lens 1202 so that the sensor 1203 is disposed under the receiving lens 1202 .

The embodiment of the present application further provides an electronic device 1400 , as shown in FIG. 14 , the electronic device 1400 includes: a laser radar device 1200 .

As an example and not a limitation, the electronic device in the embodiment of the present application may be a portable or mobile computing device such as a terminal device, a mobile phone, a tablet computer, a notebook computer, a desktop computer, a game device, a vehicle electronic device, or a wearable smart device, and Electronic databases, automobiles, bank ATMs (Automated Teller Machines, ATMs) and other electronic equipment. The wearable smart device includes full-featured, large-sized, complete or partial functions independent of smartphones, such as smart watches or smart glasses, etc., and only focuses on a certain type of application functions, and needs to cooperate with other devices such as smartphones Use, such as various smart bracelets, smart jewelry and other equipment for physical sign monitoring.

It should be noted that, on the premise of no conflict, each embodiment described in this application and/or the technical features in each embodiment can be combined with each other arbitrarily, and the technical solution obtained after the combination should also fall within the protection scope of this application .

It should be understood that the terms used in the embodiments of the present application and the appended claims are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. For example, the singular forms of "a", "above" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

In the several embodiments provided in this application, it should be understood that the disclosed systems and devices can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present application.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (23)

1. A launcher for laser radar, characterized in that the launcher comprises:

   The light source includes a light-emitting array composed of N light-emitting units for emitting N beams of light, wherein the N light-emitting units are composed of M rows of light-emitting units arranged along the first direction and K columns arranged along the second direction Composition of the light-emitting unit;

   an emitting lens for collimating the N beams of light;

   a diffusion sheet, the diffusion sheet has a first angle of view in the first direction, and is used to convert the N beams of light into M rows of linear lights with a first divergence angle in the first direction, each The line-shaped light is formed by overlapping K beams of the line-shaped light, and the first viewing angle is equal to the first divergence angle, N=M*K;

   An adjustment device, the emission lens and the diffusion sheet are arranged on the adjustment device, the optical axis of the light source coincides with the optical axis of the emission lens, and the adjustment device is used to adjust the emission lens and the The position of the diffuser on the optical axis of the emission lens, wherein the adjustment device adjusts the emission lens to the first position so that the N beams of light form a linear light signal on the surface of the target object, or the The emitting lens is adjusted to a second position so that the N beams of light form a flood light signal on the surface of the target object, and the first position and the second position are in the direction of the optical axis of the emitting lens with relative displacement.
2. The transmitting device according to claim 1, wherein the transmitting device comprises:

   The driving device is used to drive the adjustment device to adjust the positions of the emission lens and the diffusion sheet on the optical axis of the emission lens.
3. The emitting device according to claim 2, wherein the driving device drives the adjusting device according to the position information of the target object and/or the resolution requirement of the emitting device to adjust the position of the emitting lens to to the first or second position.
4. The emitting device according to claim 1, wherein the emitting lens comprises a light incident surface and a light exit surface opposite to the light incident surface, and the emitting lens is used to collimate light passing through the light incident surface. The N beams of light that pass through and exit the light exit surface.
5. The emitting device according to claim 4, wherein when the adjusting device adjusts the emitting lens to the first position, the N beams of light emitted through the light emitting surface are first speckles light, the first speckle light passes through the diffuser to form a first linear light, and the first linear light is projected onto the target object to form the linear light signal. When the adjusting device adjusts the When the emitting lens reaches the second position, the N beams of light emitted through the light exit surface are flood light, and the flood light is projected to the target object through the diffusion sheet to form the flood light light signal.
6. The emitting device according to claim 4, wherein when the adjusting device adjusts the emitting lens to the first position, the N beams of light emitted through the light emitting surface are first speckles light, the first speckle light passes through the diffuser to form a first linear light, and the first linear light is projected onto the target object to form the linear light signal. When the adjusting device adjusts the When the emission lens reaches the second position, the N beams of light emitted through the light exit surface are second speckle light, and the second speckle light forms second linear light through the diffusion sheet, so The second linear light is projected onto the target object to form the flood light signal.
7. The emitting device according to claim 1, wherein the first position is a position where the deviation between the focus position of the N beams of light passing through the emitting lens and the focus of the emitting lens is equal to 0.
8. The transmitting device according to claim 1, wherein the relative displacement is such that when the transmitting lens is at the second position, the pixel standard deviation σ of the amplitude image received by the laser radar is the smallest, and the The pixel standard deviation σ is expressed by the following formula:

   

   Wherein, u _ij is the signal quantity of the pixel in row i and column j of the magnitude image, u _y is the average value of the signal quantity of the magnitude image, and the magnitude image has X×Y pixels.
9. The emission device according to claim 7 or 8, characterized in that the value range of the relative displacement is 290-310 μm.
10. The transmitting device according to any one of claims 1-9, wherein the transmitting device further comprises:

    The optical diffraction element is arranged between the emission lens and the diffusion sheet, and is used to copy the N beams of light after passing through the emission lens to obtain N*P*Q beams of light, so that the diffusion sheet divides the N*P*Q beams of light. P*Q beams of light are projected onto the target object to form M*P rows of linear light spots parallel to the first direction, and each row of linear light spots is formed by overlapping K*Q beams of linear light.
11. The emission device according to any one of claims 1-10, wherein the emission lens is a collimator.
12. The emission device according to any one of claims 1-11, wherein the emission lens is a projection lens, and the projection lens has a second viewing angle in the first direction and the second The third angle of view in the direction, so that the angle of view in the first direction of the field of view formed by the N beams of linear light converted by the diffusion sheet is the first angle of view , the viewing angle in the second direction is the third viewing angle.
13. The transmitting device according to any one of claims 1-12, wherein the adjusting device comprises:

    a stator, the stator is arranged on the carrier plate of the light source;

    A mover, the mover is connected to the carrier plate, the emission lens and the diffusion sheet are arranged on the mover, and the mover moves so that the emission lens and the diffusion sheet are relatively The stator moves along the optical axis direction of the emission lens, and the emission lens and the diffusion sheet are relatively stationary.
14. The transmitting device according to any one of claims 1-13, characterized in that,

    The stator includes a first bracket and a first driving member;

    The mover includes a second bracket, a second driving member and a lifting element;

    The first bracket is fixed on the carrier plate, and the first driving member is connected to the first bracket;

    The emission lens and the diffuser are fixed on the second bracket, the second bracket is connected to the carrier plate through the lifting element, and the second driving member is installed in the second bracket ;

    The first driving member and the second driving member cooperate with each other and drive the second bracket to move away from or close to the carrier relative to the first bracket.
15. The transmitting device according to any one of claims 1-14, characterized in that,

    The first driver includes a coil, the coil is arranged between the first bracket and the second bracket, the driving device is electrically connected to the coil, the second driver includes a permanent magnet, the The permanent magnet is arranged on the surface of the second bracket facing the coil, and the coil is energized to generate a magnetic force along the optical axis direction to push the permanent magnet to move; or

    The second driver includes a coil, the coil is arranged between the first bracket and the second bracket, the driving device is electrically connected to the coil, the first driver includes a permanent magnet, the The permanent magnet is arranged on the surface of the first bracket facing the coil, and the coil is energized to generate a magnetic force along the optical axis direction of the emitting lens to push the permanent magnet to move.
16. The transmitting device according to any one of claims 1-15, wherein the driving device is configured to control the first The driving member and the second driving member work under a first current to adjust the emitting lens to the first position; or control the first driving member and the second driving member to work under a second current to adjust the emitting lens to the second position.
17. The launching device according to any one of claims 1-16, wherein the first bracket has a support portion and a suspension portion, and the support portion is along a direction away from the carrier plate from the carrier plate The optical axis extends, the suspension part extends from the inner wall of the support part facing the second bracket to the second bracket, and the first driving part is fixedly connected to the suspension part facing the carrier. the lower surface of the board.
18. A laser radar device, characterized in that the device comprises:

    The emitting device according to any one of claims 1-17, configured to project an optical signal to a target object;

    The receiving device is connected with the transmitting device, and is used for receiving the reflected light signal returned by the target object, and analyzing the reflected light signal to obtain the depth information of the target object.
19. The device according to claim 18, wherein the receiving device comprises:

    a receiving lens, configured to receive the reflected light signal, and the viewing angle of the receiving lens is equal to the first viewing angle;

    The sensor is arranged under the receiving lens and is used to analyze the reflected light signal to obtain the depth information of the target object.
20. The device according to claim 19, wherein the sensor is connected to the driving device for sending driving information to the driving device so that the driving device drives the light source.
21. The device according to claim 19 or 20, wherein the sensor determines the driving information according to depth information of the target object.
22. The device according to any one of claims 18-21, wherein the receiving device further comprises:

    The optical filter is arranged above the sensor and is used for passing the reflected light signal with a predetermined wavelength.
23. An electronic device, characterized by comprising: the laser radar device according to any one of claims 18-22.

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