Laser radar and mobile device

Abstract

The embodiment of the invention discloses a laser radar and a mobile device, the laser radar comprises a laser emission module, a laser receiving module and a light extinction structure, the light extinction structure comprises at least one of a first light extinction device and a second light extinction device, the first light extinction device is provided with a first light through hole, one first light through hole corresponds to one laser emission unit, and the second light extinction device is provided with a second light through hole. At least part of detection light formed by each laser transmitter in a laser transmitting unit can pass through the light guide plate; the second light eliminator is provided with a second light through hole, and one second light through hole corresponds to one laser receiving unit and is used for enabling at least part of the echo light correspondingly received by each laser receiver in the laser receiving unit to pass through. The first extinction device and the second extinction device can reduce and even eliminate stray light on light passing paths of detection light and echo light in a multi-channel radar system, so that the laser radar has a cleaner point cloud form, recognition of a target object is more accurate, and anti-interference performance to a complex environment is higher.

Description

Technical Field

[0001] The present application relates to the technical field of laser detection equipment, and in particular to a laser radar and a movable device. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target characteristics such as position and speed. Its working principle is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] In order to meet the requirements of high beam, LiDAR usually sets up multiple channels of laser light sources and detectors inside the whole machine. When the number of LiDAR lines is more, the object details that can be captured are richer, that is, the resolution is higher, and the point cloud formed is obviously clearer. However, when there are multiple channels inside the LiDAR, interference between channels is inevitable, which affects the performance of the LiDAR. Summary of the invention

[0004] The embodiments of the present application provide a laser radar and a movable device, which are used to improve the problem in the related art that when multiple channels are arranged inside the laser radar, interference between channels is inevitable, which affects the performance of the laser radar.

[0005] In a first aspect, an embodiment of the present application provides a laser radar, including:

[0006] A laser emission module, comprising a plurality of laser emission units, wherein the laser emission units include one or more laser emitters, and each of the laser emitters in the laser emission units is used to form a detection light and emit the detection light toward a target object outside the laser radar;

[0007] A laser receiving module, comprising a plurality of laser receiving units, wherein the laser receiving units include one or more laser receivers, one laser receiving unit corresponds to one laser emitting unit, and each laser receiver in the laser receiving unit is used to receive the echo light reflected by the corresponding detection light from the target object;

[0008] The extinction structure includes at least one of a first extinction device and a second extinction device, wherein the first extinction device is located on the light path of the detection light in the laser radar, and the first extinction device has at least one first light hole, and the first light hole corresponds to all the laser emitters in a laser emitting unit, and is used to allow at least part of the detection light formed by each laser emitter in a laser emitting unit to pass through; the second extinction device is located on the light path of the echo light in the laser radar, and the second extinction device has at least one second light hole, and the second light hole corresponds to all the laser receivers in a laser receiving unit, and is used to allow at least part of the echo light received by each laser receiver in a laser receiving unit to pass through.

[0009] In a second aspect, an embodiment of the present application provides a laser radar, including:

[0010] A laser emission module, comprising a plurality of laser emission units, wherein the laser emission units include one or more laser emitters, and each of the laser emitters in the laser emission units is used to form a detection light and emit the detection light toward a target object outside the laser radar;

[0011] A laser receiving module, comprising a plurality of laser receiving units, wherein the laser receiving units include one or more laser receivers, one laser receiving unit corresponds to one laser emitting unit, and each laser receiver in the laser receiving unit is used to receive the echo light reflected by the corresponding detection light from the target object;

[0012] The extinction structure includes at least one of a first extinction device and a second extinction device, wherein the first extinction device is located on the light path of the detection light in the laser radar, the first extinction device includes a first extinction portion and at least one first light-transmitting portion, the first extinction portion is arranged around the periphery of the first light-transmitting portion, and the first light-transmitting portion corresponds to all the laser emitters in a laser emitting unit, and is used to allow at least part of the detection light formed by each of the laser emitters in the laser emitting unit to pass through; the second extinction device is located on the light path of the echo light in the laser radar, the second extinction device includes a second extinction portion and at least one second light-transmitting portion, the second extinction portion is arranged around the periphery of the second light-transmitting portion, and the second light-transmitting portion corresponds to all the laser receivers in the laser receiving unit, and is used to allow at least part of the echo light received by each of the laser receivers in the laser receiving unit to pass through.

[0013] In a third aspect, an embodiment of the present application provides a movable device, comprising a main body of the movable device and the above-mentioned laser radar, wherein the laser radar is connected to the main body.

[0014] In the laser radar and movable device of the present application, the first extinct device has an extinction function. If the light signal hits the first extinct device, it can be absorbed and eliminated by the first extinct device, and if the light signal does not hit the first extinct device, it will not be absorbed and eliminated by the first extinct device. In the embodiment of the present application, a first light hole is set on the first extinct device. When the light signal is incident in the direction of the hole axis of the first light hole, it can pass through the first light hole without hindrance. As the angle of the light signal relative to the hole axis of the first light hole increases, the light signal will gradually hit the first extinct device and be absorbed and eliminated by the first extinct device, so that the light signal passing through the first light hole gradually decreases; that is, in the embodiment of the present application, the first light hole is set on the first extinct device, which can realize the passage of light signals at a certain angle, and absorb and eliminate light signals exceeding the angle (such as light signals at unexpected angles). Based on this, the first light hole is designed to allow at least part of the detection light formed by the corresponding laser transmitter to pass through, while the stray light is easily absorbed and eliminated by the first light emitter due to the existence of the first light emitter. In the multi-channel lidar system, it can effectively produce an isolation effect, reduce or even eliminate the stray light (such as emission crosstalk and leader crosstalk) on the light path of the detection light; similarly, the second light emitter can reduce or even eliminate the stray light (such as reception crosstalk) on the light path of the echo light in the multi-channel radar system, so that the lidar has a cleaner point cloud form, more accurate recognition of target objects, and stronger anti-interference ability in complex environments (such as rain, dust, grease, etc. in the field of view). BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a schematic diagram of the structure of a laser radar provided in the first embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of the first structure of a laser emission module in a laser radar provided in an embodiment of the present application;

[0018] Figure 3 This is a second structural schematic diagram of a laser emission module in a laser radar provided in an embodiment of the present application;

[0019] Figure 4 This is a third structural schematic diagram of a laser emission module in a laser radar provided in an embodiment of the present application;

[0020] Figure 5This is a schematic diagram of the first structure of a laser receiving module in a laser radar provided in an embodiment of the present application;

[0021] Figure 6 This is a second structural schematic diagram of a laser receiving module in a laser radar provided in an embodiment of the present application;

[0022] Figure 7 This is a third structural schematic diagram of a laser receiving module in a laser radar provided in an embodiment of the present application;

[0023] Figure 8 This is a schematic diagram of a first structure of a first extinguisher and a laser emission module in a laser radar provided in an embodiment of the present application;

[0024] Fig. 9 This is a second structural schematic diagram of the first de-glare device and the laser emission module in the laser radar provided in the embodiment of the present application;

[0025] Fig.10 This is a third structural schematic diagram of the first de-glare device and the laser emission module in the laser radar provided in the embodiment of the present application;

[0026] Fig.11 It is a schematic diagram of the main structure of the first deflector in the laser radar provided in an embodiment of the present application;

[0027] Fig.12 is a schematic diagram of the structure of a laser radar provided in another embodiment of the present application;

[0028] Fig.13 This is a second structural schematic diagram of a second extinguisher and a laser receiving module in a laser radar provided in an embodiment of the present application;

[0029] Fig.14 This is a second structural schematic diagram of a second extinguisher and a laser receiving module in a laser radar provided in an embodiment of the present application;

[0030] Fig.15 This is a third structural schematic diagram of the second extinguisher and the laser receiving module in the laser radar provided in the embodiment of the present application;

[0031] Fig.16 It is a schematic diagram of the main structure of the second deglare device in the laser radar provided in an embodiment of the present application;

[0032] Fig.17 is a schematic diagram of the structure of a mobile device provided in an embodiment of the present application;

[0033] Fig.18 This is a schematic diagram of the fourth structure of the first deflector in the laser radar provided in an embodiment of the present application.

[0034] Description of reference numerals:

[0035] 1. Laser radar; 2. Mobile device; 3. Main body;

[0036] 10. Laser emission module; 11. Laser emission unit; 11a. First laser emission unit; 11b. Second laser emission unit; 11c. Third laser emission unit; 11d. Fourth laser emission unit; 11e. Fifth laser emission unit; 111. Laser emitter;

[0037] 20, laser receiving module; 21, laser receiving unit; 21a, first laser receiving unit; 21b, second laser receiving unit; 21c, third laser receiving unit; 21d, fourth laser receiving unit; 21e, fifth laser receiving unit; 211, laser receiver;

[0038] 30. matting structure; 31. first matting device; 311. first light-transmitting hole; 312. first matting strip; 313. second matting strip; 314. third matting strip; 315. fourth matting strip; 316. fifth matting strip; 317. sixth matting strip; 318. seventh matting strip; 319. first matting portion; 310. first light-transmitting portion;

[0039] 32, second light-reducing device; 321, second light-through hole; 322, ninth light-reducing strip; 323, tenth light-reducing strip; 324, eleventh light-reducing strip; 325, twelfth light-reducing strip; 326, thirteenth light-reducing strip; 327, fourteenth light-reducing strip; 328, fifteenth light-reducing strip;

[0040] 33. A first light-transmitting substrate; 34. A second light-transmitting substrate;

[0041] 40. beam splitter; 41. light transmitting portion; 42. reflecting portion;

[0042] 51. Transmitting lens; 52. Transmitting and receiving lens; 53. Receiving lens;

[0043] 60. Scanning device;

[0044] x, first direction; y, second direction; z, depth direction. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0046] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0047] First, see Figure 1 The embodiment of the present application provides a laser radar 1, which includes a laser transmitting module 10 and a laser receiving module 20. The laser transmitting module 10 is used to emit detection light to a target object outside the laser radar 1, and the laser receiving module 20 is used to receive the echo light reflected by the target object from the detection light, and output a corresponding electrical signal by comparing the echo light with the local oscillation light. The signal processing unit then processes the electrical signal appropriately to form a point cloud map. By processing the point cloud map, parameters such as the distance, direction, height, speed, posture and shape of the target object can be obtained, thereby realizing the laser detection function, and can be applied to navigation avoidance, obstacle recognition, ranging, speed measurement, automatic driving and other scenarios of products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0048] According to actual needs, the laser radar 1 can be used in addition to the field of laser detection technology, and can also be used in other application scenarios, such as part diameter detection, surface roughness detection, strain detection, displacement detection, vibration detection, speed detection, distance detection, acceleration detection and object shape detection and other technical fields.

[0049] See also Figures 2 to 4 The laser emission module 10 includes a plurality of laser emission units 11, and the laser emission unit 11 includes one or more laser emitters 111, and the laser emitter 111 is used to form detection light and emit the detection light to the target object outside the laser radar 1. Among them, the laser emitter 111 can be a vertical cavity surface emitting laser (Vertical-CavitySurface-Emitting Laser, referred to as VCSEL), an edge emitting laser (Edge Emitting Laser, referred to as EEL), an LD light source, etc., and the specific type of the laser emitter 111 is not limited here.

[0050] Among them, the multiple laser emitters 111 included in the laser emission module 10 can be randomly arranged or regularly arranged, wherein the regular arrangement can be: arranged along the row direction and / or column direction; for example, the laser emission module 10 includes M*N laser emitters 111, and the M*N laser emitters 111 are divided into M rows and N columns, M is a positive integer greater than 1, and N is a positive integer greater than 1.

[0051] The multiple laser emitting units 11 in the laser emitting module 10 may include one or more of a first laser emitting unit 11a, a second laser emitting unit 11b, a third laser emitting unit 11c, a fourth laser emitting unit 11d, and a fifth laser emitting unit 11e, wherein the first laser emitting unit 11a includes a laser emitter 111; the second laser emitting unit 11b includes a plurality of laser emitters 111 distributed along the row direction; the third laser emitting unit 11c includes a plurality of laser emitters 111 distributed along the column direction; the fourth laser emitting unit 11d includes a plurality of laser emitters 111 distributed in a matrix along the row direction and the column direction; the fifth laser emitting unit 11e includes a plurality of laser emitters 111 arranged in a ring along the row direction and the column direction. The ring arrangement may be a triangular ring arrangement, a quadrilateral ring arrangement, etc., which is not limited thereto.

[0052] If the laser emitting unit 11 includes multiple laser emitters 111, the multiple laser emitters 111 in the same laser emitting unit 11 can be lit at the same time to improve the scanning efficiency of the laser radar 1. The multiple laser emitters 111 in the same laser emitting unit 11 can also be lit in time-sharing, and there is no limitation on this.

[0053] See also Figures 5 to 7 The laser receiving module 20 includes a plurality of laser receiving units 21, and the laser receiving unit 21 includes one or more laser receivers 211, and the laser receiver 211 is used to receive the echo light reflected by the target object outside the laser radar 1. Among them, the laser receiver 211 can adopt a silicon photomultiplier (SiPM for short), an avalanche photodiode (APD for short), a single photon avalanche photodiode (SPAD for short), etc., and the specific type of the laser receiver 211 is not limited here.

[0054] Among them, the multiple laser receivers 211 included in the laser receiving module 20 can be arranged randomly or regularly, wherein the regular arrangement can be: arranged along the row direction and / or column direction; for example, the laser receiving module 20 includes P*Q laser receivers 211, and the P*Q laser receivers 211 are divided into P rows and Q columns, P is a positive integer greater than 1, and Q is a positive integer greater than 1.

[0055] The number of laser receivers 211 included in the laser receiving module 20 may be equal to the number of laser emitters 111 included in the laser emitting module 10, and one laser receiver 211 corresponds to one laser emitter 111. The above M may be equal to P, and N may be equal to Q, which is not limited.

[0056] A laser receiving unit 21 corresponds to a laser emitting unit 11. Each laser receiver 211 in the laser receiving unit 21 is used to receive the echo light reflected by the target object outside the laser radar 1. The echo light received by each laser receiver 211 is formed by the detection light of each laser emitter 111 in the corresponding laser emitting unit 11 reflected by the target object.

[0057] It can be understood that if the laser emitting unit 11 includes one laser emitter 111, the laser receiving unit 21 includes one laser receiver 211, and the one laser receiver 211 is used to receive the echo light reflected back by the target object from the detection light of one laser emitter 111 in the corresponding laser emitting unit 11. If the laser emitting unit 11 includes multiple laser emitters 111, the laser receiving unit 21 includes multiple laser receivers 211, and the multiple laser receivers 211 are arranged in a one-to-one correspondence with the multiple laser emitters 111, and each laser receiver 211 is used to receive the echo light reflected back by the target object from the detection light of the corresponding laser emitter 111.

[0058] It can be understood that if the laser receiving unit 21 includes a plurality of laser receivers 211, the arrangement form of the plurality of laser receivers 211 in the laser receiving unit 21 can be substantially similar to the arrangement form of the plurality of laser emitters 111 in the corresponding laser emitting unit 11. For example, the plurality of laser emitting units 11 in the laser emitting module 10 can include one or more of a first laser receiving unit 21a, a second laser receiving unit 21b, a third laser receiving unit 21c, a fourth laser receiving unit 21d, and a fifth laser receiving unit 21e, wherein the first laser receiving unit 21a includes a laser receiver 211; the second laser receiving unit 21b includes a plurality of laser receivers 211 distributed along the row direction; the third laser receiving unit 21c includes a plurality of laser receivers 211 distributed along the column direction; the fourth laser receiving unit 21d includes a plurality of laser receiving units 211 distributed in a matrix along the row direction and the column direction; and the fifth laser receiving unit 21e includes a plurality of laser receivers 211 arranged in a ring along the row direction and the column direction. The annular arrangement may be a triangular annular arrangement, a quadrilateral annular arrangement, etc., and is not limited thereto.

[0059] In the embodiment of the present application, the laser radar 1 also includes an extinction structure 30, which is used to reduce or even eliminate stray light in the laser radar 1, so that the echo light received by the laser receiver 211 is roughly formed by the detection light of the corresponding laser transmitter 111 reflected by the target object, thereby improving the detection performance of the laser radar 1.

[0060] Specifically, see Figure 1The extinction structure 30 includes at least one of a first extinction device 31 and a second extinction device 32 . The first extinction device 31 is located on the light path of the detection light in the laser radar 1 , and the second extinction device 32 is located on the light path of the echo light in the laser radar 1 .

[0061] The light path of the detection light in the laser radar 1 refers to the path that the detection light passes through in the laser radar 1 when it is transmitted from the laser transmitter 111 to the target object outside the laser radar 1. The light path of the echo light in the laser radar 1 refers to the path that the echo light passes through in the laser radar 1 when it is transmitted from the target object to the laser receiver 211 in the laser radar 1. It should be noted that the light path of the detection light in the laser radar 1 and the light path of the echo light in the laser radar 1 can correspond to different optical path channels, and the light path of the detection light in the laser radar 1 and the light path of the echo light in the laser radar 1 can also partially correspond to the same optical path channel, and there is no limitation on this.

[0062] Next, see Figures 8 to 11 , the first deluminator 31 is described in detail.

[0063] The first light extinguisher 31 has at least one first light hole 311, and a first light hole 311 corresponds to all laser emitters 111 in a laser emitting unit 11, and is used to allow at least part of the detection light formed by each laser emitter 111 in a laser emitting unit 11 to pass through. It should be noted that the first light hole 311 is used to allow at least part of the detection light formed by each laser emitter 111 in a laser emitting unit 11 to pass through, which means that at least part of the detection light formed by each laser emitter 111 in a laser emitting unit 11 can pass through the corresponding first light hole 311, so that the detection light emitted by each laser emitter 111 in a laser emitting unit 11 can be transmitted backward, so as to achieve the laser detection performance of each laser emitter 111.

[0064] It can be understood that if the laser emitting unit 11 includes one laser emitter 111, the first light hole 311 corresponding to the laser emitting unit 11 corresponds to one laser emitter 111; if the laser emitting unit 11 includes multiple laser emitters 111, the first light hole 311 corresponding to the laser emitting unit 11 corresponds to multiple laser emitters 111.

[0065] Among them, the first extinction device 31 has an extinction function, and if the light signal hits the first extinction device 31, it can be absorbed and eliminated by the first extinction device 31, and if the light signal does not hit the first extinction device 31, it will not be absorbed and eliminated by the first extinction device 31. In the embodiment of the present application, a first light hole 311 is set on the first extinction device 31. When the light signal is incident in the direction of the hole axis of the first light hole 311, it can pass through the first light hole 311 without hindrance. As the angle of the light signal relative to the hole axis of the first light hole 311 increases, the light signal will gradually hit the first extinction device 31 and be absorbed and eliminated by the first extinction device 31, so that the light signal passing through the first light hole 311 gradually decreases; that is, in the embodiment of the present application, the first light hole 311 is set on the first extinction device 31, which can realize the passage of light signals at a certain angle, and absorb and eliminate light signals exceeding the angle (such as light signals at unexpected angles). Based on this, the first light hole 311 is designed to allow at least part of the detection light formed by the corresponding laser emitter 111 to pass through, while the stray light is easily absorbed and eliminated by the first dimmer 31 due to the existence of the first dimmer 31. In the multi-channel lidar system, it can effectively produce an isolation effect, reduce or even eliminate the stray light (such as emission crosstalk and leading crosstalk) on the light path of the detection light, so that the lidar 1 has a cleaner point cloud form, more accurate recognition of target objects, and stronger anti-interference ability in complex environments (such as rain, dust, grease, etc. in the field of view).

[0066] Specifically, the first light hole 311 can allow at least part of the detection light formed by each laser emitter 111 in a corresponding laser emitting unit 11 to pass through, while absorbing and eliminating the detection light formed by each laser emitter 111 in other laser emitting units 11. In this way, it is possible to prevent the detection light formed by the laser emitter 111 in other laser emitting units 11 from entering the light path of the laser emitter 111 in the laser emitting unit 11 to form stray light. For another example, if the laser emitter 111 in other laser emitting units 11 is lit, and the detection light emitted by the laser emitter 111 of the other laser emitting units 11 passes through the optical system in the laser radar 1 or passes through a highly reflective object (such as white paper, white wall) or even a highly reflective object (such as a road sign, road sign) outside the laser radar 1, it is difficult to be reflected into the laser emitting unit 11 corresponding to the first light hole 311 due to the existence of the first light hole 311, which can solve the problem of stray light in the extra light output channel caused by one channel being lit and multiple channels emitting light.

[0067] The surface of the first extinct device 31 may be provided with an extinction material, or the first extinct device 31 may be made of an extinction material, so that the light signal hitting the first extinct device 31 can be absorbed and eliminated by the first extinct device 31. The surface of the first extinct device 31 includes the outer surface of the first extinct device 31 and the inner surface of the first extinct device 31 forming the first light through hole 311. The extinction material described in the embodiment of the present application may be any material having an extinction function, and is not limited thereto.

[0068] Among them, the first light hole 311 can allow part of the detection light emitted by the corresponding laser emitter 111 to pass through, or can allow all of the detection light emitted by the corresponding laser emitter 111 to pass through. In the embodiment of the present application, the first light hole 311 is used to allow part of the detection light emitted by the corresponding laser emitter 111 to pass through. In this way, the divergence angle of the detection light emitted by the laser emitter 111 after passing through the first light hole 311 will be reduced, which can avoid scattering to the channels of the laser emitters 111 in other laser emitting units 11, causing one channel to light up and multiple channels to emit light, causing the problem of stray light in the extra light output channels. At the same time, it can also reduce the energy intensity when entering the channels of the laser emitters 111 of other laser emitting units 11 due to reflections from the optical system in the laser radar 1 or highly reflective objects or even highly reflective objects outside the laser radar 1, thereby reducing or even eliminating emission crosstalk and leading crosstalk.

[0069] It should be noted that if the first light-through hole 311 allows part of the detection light emitted by the corresponding laser emitter 111 to pass through, the intensity of the detection light will be reduced. Therefore, in actual design, the structure of the first light-extinguisher 31 can be reasonably designed according to factors such as detection requirements, so that the first light-extinguisher 31 can have the effect of eliminating stray light and ensuring that the light throughput of the laser emitter 111 is sufficient. Specifically, in actual design, the light-through area of ​​the first light-through hole 311, the depth of the first light-through hole 311, the wall width between two adjacent first light-through holes 311 when the first light-extinguisher 31 includes multiple first light-through holes 311, and other parameters can be adjusted according to factors such as detection requirements, so that the first light-extinguisher 31 can have the effect of eliminating stray light and ensuring that the light throughput of the laser emitter 111 is sufficient.

[0070] For example, see Fig.11If the depth of the first light hole 311 is h1, the width of the first light hole 311 in the first direction x is a1, and the first direction x is perpendicular to the depth direction z of the first light hole 311, then the angle θ1 of the light signal allowed to pass through the first light hole 311 in the first direction x satisfies: θ1=2*arctan(a1 / h1), that is, the light flux of the first light hole 311 in the first direction x is related to the depth h1 of the first light hole 311 and the width a1 of the first light hole 311 in the first direction x. The light flux of the first light hole 311 can be adjusted by adjusting h1 and a1, so that the light flux of the first light hole 311 can achieve sufficient light flux of the laser emitter 111. It should be noted that the larger the wall width b1 between two adjacent first light holes 311 in the first direction x, the more light signals will be absorbed and eliminated. Therefore, in actual design, the wall width b1 between two adjacent first light holes 311 in the first direction x can be adjusted by detecting needs so that the light intensity loss of the laser emitter 111 after passing through the first de-luminator 31 is lower.

[0071] The first light extinguisher 31 may include one first light through hole 311, or may include multiple first light through holes 311. If the first light extinguisher 31 includes multiple first light through holes 311, each first light through hole 311 corresponds to a laser emitting unit 11, and is used to allow at least part of the detection light formed by each laser emitter 111 in the corresponding laser emitting unit 11 to pass through. It can be understood that the first light extinguisher 31 may be provided with first light through holes 311 corresponding to all laser emitting units 11 in the laser emitting module 10, or may be provided with first light through holes 311 corresponding to some laser emitters 111 in the laser emitting module 10, and this is not limited.

[0072] See also Fig.10If the plurality of laser emitting units 11 include a first laser emitting unit 11a, the first laser emitting unit 11a includes a laser emitter 111, and the first extinction device 31 includes a plurality of first extinction bars 312 extending along the row direction and a plurality of second extinction bars 313 extending along the column direction. The plurality of first extinction bars 312 and the plurality of second extinction bars 313 are alternately arranged so that a first light through hole 311 corresponding to the first laser emitting unit 11a is formed between two adjacent first extinction bars 312 and two adjacent second extinction bars 313. At this time, the depth h1 of the above-mentioned first light-through hole 311 can correspond to the depth of the first extinction strip 312, and can also correspond to the depth of the second extinction strip 313, wherein the depth of the first extinction strip 312 and the depth of the second extinction strip 313 can be equal or different; the first direction x can correspond to the row direction, and can also correspond to the column direction. If the first direction x corresponds to the row direction, the width a1 of the first light-through hole 311 in the first direction x corresponds to the spacing between two adjacent second extinction strips 313, and the wall width b1 between two adjacent first light-through holes 311 in the first direction x corresponds to the wall width of the second extinction strip 313 in the first direction x, and there is no limitation on this.

[0073] See also Fig. 9 , if the plurality of laser emitting units 11 include a second laser emitting unit 11b, the second laser emitting unit 11b includes a plurality of laser emitters 111 distributed along the row direction, the first light extinction device 31 includes a plurality of third light extinction strips 314 extending along the row direction, and a first light through hole 311 corresponding to the second laser emitting unit 11b is formed between two adjacent third light extinction strips 314. At this time, the depth h1 of the first light through hole 311 may correspond to the depth of the third light extinction strip 314, the first direction x corresponds to the column direction, the width a1 of the first light through hole 311 in the first direction x corresponds to the spacing between two adjacent third light extinction strips 314, and the wall width b1 between two adjacent first light through holes 311 in the first direction x corresponds to the wall width of the third light extinction strip 314 in the first direction x.

[0074] See also Fig.10 , if the plurality of laser emitting units 11 include a third laser emitting unit 11c, the third laser emitting unit 11c includes a plurality of laser emitters 111 distributed along the column direction, the first light extinction device 31 includes a plurality of fourth light extinction strips 315 extending along the column direction, and a first light through hole 311 corresponding to the third laser emitting unit 11c is formed between two adjacent fourth light extinction strips 315. At this time, the depth h1 of the first light through hole 311 may correspond to the depth of the fourth light extinction strip 315, the first direction x corresponds to the row direction, the width a1 of the first light through hole 311 in the first direction x corresponds to the spacing between two adjacent fourth light extinction strips 315, and the wall width b1 between two adjacent first light through holes 311 in the first direction x corresponds to the wall width of the fourth light extinction strip 315 in the first direction x.

[0075] See also Fig.10 If the multiple laser emitting units 11 include a fourth laser emitting unit 11d, the fourth laser emitting unit 11d includes a plurality of laser emitting units 111 distributed in a matrix along the row direction and the column direction, the first extinction device 31 includes a plurality of fifth extinction bars 316 extending along the row direction and a plurality of sixth extinction bars 317 extending along the column direction, the plurality of fifth extinction bars 316 and the plurality of sixth extinction bars 317 are alternately arranged, and a first light hole 311 corresponding to the fourth laser emitting unit 11d is formed between two adjacent fifth extinction bars 316 and two adjacent sixth extinction bars 317. At this time, the depth h1 of the above-mentioned first light-through hole 311 can correspond to the depth of the fifth extinction strip 316, and can also correspond to the depth of the sixth extinction strip 317, wherein the depth of the fifth extinction strip 316 and the depth of the sixth extinction strip 317 can be equal or different; the above-mentioned first direction x can correspond to the row direction, and can also correspond to the column direction. If the first direction x corresponds to the row direction, the width a1 of the first light-through hole 311 in the first direction x corresponds to the spacing between two adjacent sixth extinction strips 317, and the wall width b1 between two adjacent first light-through holes 311 in the first direction x corresponds to the wall width of the sixth extinction strip 317 in the first direction x, and there is no limitation on this.

[0076] See also Figure 8 If the multiple laser emitting units 11 include a fifth laser emitting unit 11e, the fifth laser emitting unit 11e includes a plurality of laser emitters 111 arranged in a ring shape along the row direction and the column direction, the first de-glazing device 31 includes at least three groups of first de-glazing elements, each group of first de-glazing elements includes two opposite seventh de-glazing strips 318, one of the seventh de-glazing strips 318 in each group of first de-glazing elements is connected end to end in sequence to form a first closed de-glazing unit, and the other seventh de-glazing strips 318 in each group of first de-glazing elements are connected end to end in sequence to form a second closed de-glazing unit, the second closed de-glazing unit is arranged around the periphery of the first closed de-glazing unit, and a first light through hole 311 corresponding to the fifth laser emitting unit 11e is formed between the two. At this time, the depth h1 of the above-mentioned first light-through hole 311 can correspond to the depth of the seventh extinction strip 318, and the first direction x corresponds to the arrangement direction of two seventh extinction strips 318 in any group of first extinction pieces. Then, the width a1 of the first light-through hole 311 in the first direction x corresponds to the spacing between the two seventh extinction strips 318 in the group of first extinction pieces, and the wall width b1 between two adjacent first light-through holes 311 in the first direction x corresponds to the wall width of a seventh extinction strip 318 in the group of first extinction pieces in the first direction x, and there is no limitation on this.

[0077] It should be noted that if the multiple laser emitting units 11 in the laser emitting module 10 include one or more of the first laser emitting unit 11a, the second laser emitting unit 11b, the third laser emitting unit 11c, the fourth laser emitting unit 11d, and the fifth laser emitting unit 11e, then the first light holes 311 in the first deglazing device 31 can select corresponding exemplary solutions, which are not limited. It should be noted that two adjacent deglazing bars (the first deglazing bar 312, the second deglazing bar 313, the third deglazing bar 314, the fourth deglazing bar 315, the fifth deglazing bar 316, the sixth deglazing bar 317, and the seventh deglazing bar 318) can be connected as a whole to simplify the structure of the first deglazing device 31 and reduce the manufacturing cost.

[0078] See also Fig.11 , the extinction structure 30 may also include a first light-transmitting substrate 33 connected to the first light-extinguisher 31, so that the first light-extinguisher 31 can be installed on the first light-transmitting substrate 33, and installed in the laser radar 1 through the first light-transmitting substrate 33, for example, installed on the shell of the laser radar 1 or installed on the internal device of the laser radar 1. Among them, the first light-transmitting substrate 33 allows the optical signal to pass directly. Here, the internal device may include a laser transmitter 111, a transmitting lens 51, a beam splitter 40, a transceiver lens 52, a scanning device 60, and the like. It should be noted that the extinction structure 30 can also be directly formed on the internal device of the laser radar 1, which will be described in more detail below.

[0079] The first deglazer 31 is located on the light path of the detection light in the laser radar 1, and the first deglazer 31 can be located at any position on the light path of the detection light in the laser radar 1. In an exemplary solution, the laser emission module 10 is provided with the first deglazer 31, at which time, the first deglazer 31 can be connected to any laser emitter 111 in the laser emission module 10, the first deglazer 31 can be connected to any laser emitter 111 in the laser emission module 10 on the same carrier (such as a launch plate, a first light-transmitting substrate 33), the first deglazer 31 can also be connected to the housing through the first light-transmitting substrate 33, etc., and this is not limited.

[0080] In another exemplary embodiment, see Fig.12, the laser radar 1 also includes a transmitting lens 51 located downstream of the laser transmitting module 10 along the light path of the detection light, and a first deglare 31 is arranged between the laser transmitting module 10 and the transmitting lens 51, and / or, a first deglare 31 is arranged on the transmitting lens 51. Among them, if the first deglare 31 is arranged between the laser transmitting module 10 and the transmitting lens 51, since there is a certain distance between the first deglare 31 and the laser transmitting module 10 and the transmitting lens 51, at this time, the first deglare 31 can be installed on the shell of the laser radar 1 through the first light-transmitting substrate 33, etc. Among them, if the first deglare 31 is arranged on the transmitting lens 51, the first deglare 31 can be connected to the transmitting lens 51, and can also be connected to the transmitting lens 51 through the first light-transmitting substrate 33, which is not limited. If the first deglare 31 is arranged on the transmitting lens 51, the first deglare 31 can be arranged on the light-incoming side and / or the light-outgoing side of the transmitting lens 51.

[0081] In another exemplary embodiment, the laser radar 1 further includes a beam splitter 40 located downstream of the laser emission module 10 along the light path of the detection light, wherein the beam splitter 40 may also be located downstream of the emission lens 51 along the light path of the detection light, and a first deglare 31 is provided between the emission lens 51 and the beam splitter 40, and / or, a first deglare 31 is provided on the beam splitter 40. If a first deglare 31 is provided between the emission lens 51 and the beam splitter 40, since there is a certain distance between the first deglare 31 and the emission lens 51 and the beam splitter 40, at this time, the first deglare 31 may be installed on the housing of the laser radar 1 through a first light-transmitting substrate 33, etc. If a first deglare 31 is provided on the beam splitter 40, the first deglare 31 may be connected to the beam splitter 40, or may be connected to the beam splitter 40 through a first light-transmitting substrate 33, and this is not limited.

[0082] It should be noted that the beam splitter 40 is also located upstream of the laser receiving module 20 along the light path of the echo light, and the beam splitter 40 has a light-transmitting portion 41 and a reflecting portion 42, the light-transmitting portion 41 is used to transmit one of the detection light and the echo light, and the reflecting portion 42 is used to reflect the other of the detection light and the echo light. If the light-transmitting portion 41 is used to transmit the detection light, the first deglare 31 provided on the beam splitter 40 may be: the first deglare 31 is provided on the light-entry side and / or the light-exiting side of the detection light on the light-transmitting portion 41. If the first deglare 31 is provided on both the light-entry side and the light-exiting side of the light-transmitting portion 41, the first deglare 31 provided on the light-entry side and the light-exiting side may be the same or different, for example, the deglare bars of the first deglare 31 on one side are distributed along the row direction, and the deglare bars of the first deglare 31 on the other side are distributed along the column direction.

[0083] If the reflective portion 42 is used to reflect the detection light, the first extinguisher 31 is provided on the beam splitter 40 as follows: the reflective surface of the reflective portion 42 that reflects the detection light is provided with the first extinguisher 31. The light-transmitting portion 41 can be made of a light-transmitting material or can be a light-transmitting hole, which is not limited.

[0084] In addition, the laser radar 1 may also include a transceiver lens 52, a scanning device 60, etc., which are located downstream of the laser emission module 10 along the light path of the detection light, wherein the transceiver lens 52 can be located downstream of the beam splitter 40 along the light path of the detection light, and the scanning device 60 can be located downstream of the transceiver lens 52. Along the light path of the detection light, a first de-optical device 31 can be arranged between the transceiver lens 52 and the device upstream thereof, and a first de-optical device 31 can be arranged on the transceiver lens 52. Along the light path of the detection light, a first de-optical device 31 can be arranged between the scanning device 60 and the device upstream thereof, and a first de-optical device 31 can be arranged on the scanning device 60. The arrangement method of the first de-optical device 31 is similar to the relevant description of the above-mentioned beam splitter 40, and will not be repeated here one by one.

[0085] Next, see Figures 13 to 16 , the second deluminator 32 is described in detail.

[0086] The second light-eliminating device 32 has at least one second light-through hole 321, and one second light-through hole 321 corresponds to all laser receivers 211 in a laser receiving unit 21, and is used to allow at least part of the echo light received by each laser receiver 211 in a laser receiving unit 21 to pass through. The echo light received by the laser receiver 211 refers to the echo light formed by the outgoing detection light of the laser transmitter 111 corresponding to the laser receiver 211 reflected by the target object. That is, the setting of the second light-through hole 321 can enable the laser receiver 211 to receive at least part of the echo light formed by the outgoing detection light of the laser transmitter 111 corresponding to it reflected by the target object, and absorb and eliminate the stray light carried by at least part of the echo light.

[0087] It can be understood that if the laser receiving unit 21 includes one laser receiver 211, the second light hole 321 corresponding to the laser receiving unit 21 corresponds to one laser receiver 211; if the laser receiving unit 21 includes multiple laser receivers 211, the second light hole 321 corresponding to the laser receiving unit 21 corresponds to multiple laser receivers 211.

[0088] Among them, the second extinct device 32 has an extinction function, and if the light signal hits the second extinct device 32, it can be absorbed and eliminated by the second extinct device 32, and if the light signal does not hit the second extinct device 32, it will not be absorbed and eliminated by the second extinct device 32. In the embodiment of the present application, a second light hole 321 is set on the second extinct device 32. When the light signal is incident in the direction of the hole axis of the second light hole 321, it can pass through the second light hole 321 without hindrance. As the angle of the light signal relative to the hole axis of the second light hole 321 increases, the light signal will gradually hit the second extinct device 32 and be absorbed and eliminated by the second extinct device 32, so that the light signal passing through the second light hole 321 gradually decreases; that is, in the embodiment of the present application, the second light hole 321 is set on the second extinct device 32, so that the light signal at a certain angle can pass through, and the light signal exceeding the angle (such as the light signal at an unexpected angle) is absorbed and eliminated. Based on this, the second light hole 321 is designed to allow at least part of the detection light formed by the corresponding laser receiver 211 to pass through, while the stray light is easily absorbed and eliminated by the second de-glazing device 32 due to the existence of the second de-glazing device 32. In the multi-channel lidar system, it can effectively produce an isolation effect, reduce or even eliminate the stray light (such as receiving crosstalk) on the light path of the echo light, so that the lidar 1 has a cleaner point cloud form, more accurate recognition of the target object, and stronger anti-interference ability in complex environments (such as rain, dust, grease, etc. in the field of view).

[0089] Specifically, the second light hole 321 can allow at least a portion of the echo light received by each laser receiver 211 in a corresponding laser receiving unit 21 to pass through, while absorbing and eliminating the echo light corresponding to each laser receiver 211 in other laser receiving units 21. In this way, it is possible to prevent the echo light corresponding to the laser receiver 211 in other laser receiving units 21 from entering the light path of the laser receiver 211 in the laser receiving unit 21 to form stray light.

[0090] The surface of the second extinguisher 32 may be provided with an extinction material, or the second extinguisher 32 may be made of an extinction material, so that the light signal hitting the second extinguisher 32 can be absorbed and eliminated by the second extinguisher 32. The surface of the second extinguisher 32 includes the outer surface of the second extinguisher 32 and the inner surface of the second extinguisher 32 forming the second light through hole 321.

[0091] It should be noted that the second light hole 321 can allow part of the echo light received by the corresponding laser receiver 211 to pass through, or can allow all of the echo light received by the corresponding laser receiver 211 to pass through. In the embodiment of the present application, the second light hole 321 is used to allow part of the echo light received by the laser receiver 211 to pass through. The size of the second light hole 321 is limited, and can better absorb and eliminate stray light. If the second light hole 321 is used to allow part of the echo light received by the laser receiver 211 to pass through, the light intensity of the echo light will be reduced. Therefore, in actual design, the structure of the second extinguisher 32 can be reasonably designed according to factors such as detection requirements, so that the second extinguisher 32 can have the effect of eliminating stray light and ensuring that the laser receiver 211 receives enough light. Specifically, in actual design, parameters such as the light-transmitting area of ​​the second light-transmitting hole 321, the depth of the second light-transmitting hole 321, the wall width between two adjacent second light-transmitting holes 321 when the second light-transmitting device 32 includes multiple second light-transmitting holes 321, etc. can be adjusted according to factors such as detection requirements, so that the second light-transmitting device 32 can have the effect of eliminating stray light and ensuring that the light transmittance of the laser receiver 211 is sufficient.

[0092] For example, see Fig.16 If the depth of the second light hole 321 is h2, the width of the second light hole 321 in the second direction y is a2, and the second direction y is perpendicular to the depth direction z of the second light hole 321, then the angle θ2 of the light signal allowed to pass through the second light hole 321 in the second direction y satisfies: θ2=2*arctan(a2 / h2), that is, the light transmittance of the second light hole 321 in the second direction y is related to the depth h2 of the second light hole 321 and the width a2 of the second light hole 321 in the second direction y. The light transmittance of the second light hole 321 can be adjusted by adjusting h2 and a2, so that the light transmittance of the second light hole 321 can achieve sufficient light transmittance of the laser receiver 211. It should be noted that the larger the wall width b2 between two adjacent second light holes 321 in the second direction y, the more light signals will be absorbed and eliminated. Therefore, in actual design, the wall width b2 between two adjacent second light holes 321 in the second direction y can be adjusted according to detection needs, so that the light intensity loss of the laser receiver 211 after passing through the second de-luminator 32 is lower.

[0093] The second light extinction device 32 may include one second light through hole 321, or may include multiple second light through holes 321. If the second light extinction device 32 includes multiple second light through holes 321, each second light through hole 321 corresponds to a laser receiving unit 21, and is used to allow at least part of the echo light received by each laser receiver 211 in the corresponding laser receiving unit 21 to pass through. It can be understood that the second light extinction device 32 may be provided with second light through holes 321 corresponding to all laser receiving units 21 in the laser receiving module 20, or may be provided with second light through holes 321 corresponding to some laser receivers 211 in the laser receiving module 20, and this is not limited.

[0094] See also Fig.15 If the plurality of laser receiving units 21 include a first laser receiving unit 21a, the first laser receiving unit 21a includes a laser receiver 211, and the second extinction device 32 includes a plurality of ninth extinction bars 322 extending along the row direction and a plurality of tenth extinction bars 323 extending along the column direction, the plurality of ninth extinction bars 322 and the plurality of tenth extinction bars 323 are alternately arranged so that a second light through hole 321 corresponding to the first laser receiving unit 21a is formed between two adjacent ninth extinction bars 322 and two adjacent tenth extinction bars 323. At this time, the depth h2 of the above-mentioned second light-through hole 321 can correspond to the depth of the ninth extinction strip 322, and can also correspond to the depth of the tenth extinction strip 323, wherein the depth of the ninth extinction strip 322 and the depth of the tenth extinction strip 323 can be equal or different; the second direction y can correspond to the row direction, and can also correspond to the column direction. If the second direction y corresponds to the row direction, the width a2 of the second light-through hole 321 in the second direction y corresponds to the spacing between two adjacent tenth extinction strips 323, and the wall width b2 between two adjacent second light-through holes 321 in the second direction y corresponds to the wall width of the tenth extinction strip 323 in the second direction y, and there is no limitation on this.

[0095] See also Fig.14 If the plurality of laser receiving units 21 include a second laser receiving unit 21b, and the second laser receiving unit 21b includes a plurality of laser receivers 211 distributed along the row direction, the second light extinction device 32 includes a plurality of eleventh light extinction strips 324 extending along the row direction, and a second light through hole 321 corresponding to the second laser receiving unit 21b is formed between two adjacent eleventh light extinction strips 324. At this time, the depth h2 of the second light through hole 321 may correspond to the depth of the eleventh light extinction strip 324, the second direction y corresponds to the column direction, the width a2 of the second light through hole 321 in the second direction y corresponds to the spacing between two adjacent eleventh light extinction strips 324, and the wall width b2 between two adjacent second light through holes 321 in the second direction y corresponds to the wall width of the eleventh light extinction strip 324 in the column direction.

[0096] See also Fig.15If the plurality of laser receiving units 21 include a third laser receiving unit 21c, and the third laser receiving unit 21c includes a plurality of laser receivers 211 distributed along the column direction, the second light extinction device 32 includes a plurality of twelfth light extinction strips 325 extending along the column direction, and a second light through hole 321 corresponding to the third laser receiving unit 21c is formed between two adjacent twelfth light extinction strips 325. At this time, the depth h2 of the second light through hole 321 may correspond to the depth of the twelfth light extinction strip 325, the second direction y corresponds to the row direction, the width a2 of the second light through hole 321 in the second direction y corresponds to the spacing between the two adjacent twelfth light extinction strips 325, and the wall width b2 between the two adjacent second light through holes 321 in the second direction y corresponds to the wall width of the twelfth light extinction strip 325 in the row direction.

[0097] See also Fig.15 If the plurality of laser receiving units 21 include a fourth laser receiving unit 21d, and the fourth laser receiving unit 21d includes a plurality of laser receivers 211 distributed in a matrix along the row direction and the column direction, the second extinction device 32 includes a plurality of thirteenth extinction bars 326 extending along the row direction and a plurality of fourteenth extinction bars 327 extending along the column direction, the plurality of thirteenth extinction bars 326 and the plurality of fourteenth extinction bars 327 are alternately arranged, and a second light-through hole 321 corresponding to the fourth laser receiving unit 21d is formed between two adjacent thirteenth extinction bars 326 and two adjacent fourteenth extinction bars 327. At this time, the depth h2 of the above-mentioned second light-through hole 321 can correspond to the depth of the thirteenth extinction strip 326, and can also correspond to the depth of the fourteenth extinction strip 327, wherein the depth of the thirteenth extinction strip 326 and the depth of the fourteenth extinction strip 327 can be equal or different; the above-mentioned second direction y can correspond to the row direction, and can also correspond to the column direction. If the second direction y corresponds to the row direction, the width a2 of the second light-through hole 321 in the second direction y corresponds to the spacing between two adjacent fourteenth extinction strips 327, and the wall width b2 between two adjacent second light-through holes 321 in the second direction y corresponds to the wall width of the fourteenth extinction strip 327 in the second direction y, and there is no limitation on this.

[0098] See also Fig.13If the plurality of laser receiving units 21 include a fifth laser receiving unit 21e, and the fifth laser receiving unit 21e includes a plurality of laser receivers 211 arranged in a ring shape along the row direction and the column direction, the second de-optic device 32 includes at least three groups of second de-optic components, each group of second de-optic components includes two opposite fifteenth de-optic strips 328, one of the fifteenth de-optic strips 328 in each group of second de-optic components is connected end to end in sequence to form a third closed de-optic unit, and the other fifteenth de-optic strips 328 in each group of second de-optic components are connected end to end in sequence to form a fourth closed de-optic unit, and the fourth closed de-optic unit is arranged around the periphery of the third closed de-optic unit, and a second light through hole 321 corresponding to the fifth laser receiving unit 21e is formed between the two. At this time, the depth h2 of the second light-through hole 321 can correspond to the depth of the fifteenth extinction strip 328, and the second direction y corresponds to the arrangement direction of the two fifteenth extinction strips 328 in any group of second extinction pieces. Then, the width a2 of the second light-through hole 321 in the second direction y corresponds to the spacing between the two fifteenth extinction strips 328 in the group of second extinction pieces, and the wall width b2 between two adjacent second light-through holes 321 in the second direction y corresponds to the wall width of the fifteenth extinction strip 328 in the group of second extinction pieces in the second direction y, and this is not limited.

[0099] It should be noted that if the multiple laser receiving units 21 in the laser receiving module 20 include one or more of the first laser receiving unit 21a, the second laser receiving unit 21b, the third laser receiving unit 21c, the fourth laser receiving unit 21d, and the fifth laser receiving unit 21e, then the first light holes 321 in the second deglazing device 32 can select corresponding exemplary solutions, which are not limited. It should be noted that two adjacent deglazing strips (the ninth deglazing strip 322, the tenth deglazing strip 323, the eleventh deglazing strip 324, the twelfth deglazing strip 325, the thirteenth deglazing strip 326, the fourteenth deglazing strip 327, and the fifteenth deglazing strip 328) can be connected as a whole to simplify the structure of the first deglazing device 32 and reduce the manufacturing cost.

[0100] See also Fig.16 The extinction structure 30 may also include a second light-transmitting substrate 34 connected to the second light-extinguisher 32, so that the second light-transmitting device 32 can be installed on the second light-transmitting substrate 34, and installed in the laser radar 1 through the second light-transmitting substrate 34, for example, installed on the shell of the laser radar 1 or installed on the internal device of the laser radar 1. Among them, the second light-transmitting substrate 34 allows the optical signal to pass directly. Here, the internal device may include a laser receiver 211, a receiving lens 53, a beam splitter 40, a transceiver lens 52, a scanning device 60, and the like. It should be noted that the extinction structure 30 can also be directly formed on the internal device of the laser radar 1, which will be described in more detail below.

[0101] The second deglazer 32 is located on the light path of the echo light in the laser radar 1, and the second deglazer 32 can be located at any position on the light path of the echo light in the laser radar 1. In an exemplary solution, the laser receiving module 20 is provided with a second deglazer 32, at which time, the second deglazer 32 can be connected to any laser receiver 211 in the laser receiving module 20, the second deglazer 32 can be connected to any laser receiver 211 in the laser receiving module 20 on the same carrier (such as a receiving plate, a second light-transmitting substrate 34), the second deglazer 32 can also be connected to the housing through the second light-transmitting substrate 34, etc., and this is not limited.

[0102] In another exemplary embodiment, see Fig.12 The laser radar 1 also includes a receiving lens 53 located upstream of the laser receiving module 20 along the light path of the echo light, and a second deglazer 32 is arranged between the laser receiving module 20 and the receiving lens 53, and / or, a second deglazer 32 is arranged on the receiving lens 53. Among them, if a second deglazer 32 is arranged between the laser receiving module 20 and the receiving lens 53, since there is a certain distance between the second deglazer 32 and the laser receiving module 20 and the receiving lens 53, at this time, the second deglazer 32 can be installed on the shell of the laser radar 1 through the second transparent substrate 34, etc. Among them, if a second deglazer 32 is arranged on the receiving lens 53, the second deglazer 32 can be connected to the receiving lens 53, and can also be connected to the receiving lens 53 through the second transparent substrate 34, which is not limited. If a second deglazer 32 is arranged on the receiving lens 53, the second deglazer 32 can be arranged on the light input side and / or the light output side of the receiving lens 53.

[0103] In another exemplary solution, if the laser radar 1 also includes the beam splitter 40 located upstream of the laser receiving module 20 along the light path of the echo light as described above, wherein the beam splitter 40 can also be located upstream of the receiving lens 53 along the light path of the echo light, and a second de-optical device 32 is provided between the receiving lens 53 and the beam splitter 40, and / or, a second de-optical device 32 is provided on the beam splitter 40. Among them, if a second de-optical device 32 is provided between the receiving lens 53 and the beam splitter 40, since there is a certain distance between the second de-optical device 32 and the receiving lens 53 and the beam splitter 40, at this time, the second de-optical device 32 can be installed on the housing of the laser radar 1 through the second light-transmitting substrate 34, etc. Among them, if a second de-optical device 32 is provided on the beam splitter 40, the second de-optical device 32 can be connected to the beam splitter 40, and can also be connected to the beam splitter 40 through the second light-transmitting substrate 34, and this is not limited.

[0104] It should be noted that if the light-transmitting portion 41 of the beam splitter 40 is used to transmit the echo light, the beam splitter 40 may be provided with a second deglare 32, which may be: the second deglare 32 is provided on the light-incident side and / or the light-reflecting side of the light-transmitting portion 41. If the second deglare 32 is provided on both the light-incident side and the light-exiting side of the light-transmitting portion 41, the second deglare 32 provided on the light-incident side and the light-exiting side may be the same or different, for example, the deglare bars of the second deglare 32 on one side are distributed along the row direction, and the deglare bars of the second deglare 32 on the other side are distributed along the column direction.

[0105] If the reflection part 42 is used to reflect the return light, the second deglare device 32 may be provided on the beam splitter 40 , which may be that the second deglare device 32 is provided on the reflection surface of the reflection part 42 that reflects the return light.

[0106] It can be understood that if the laser radar 1 can also include a transceiver lens 52, a scanning device 60, etc. located upstream of the laser receiving module 20 along the light path of the echo light, wherein the transceiver lens 52 can be located upstream of the beam splitter 40 along the light path of the echo light, and the scanning device 60 can be located upstream of the transceiver lens 52, and a second deflector 32 can be arranged between the transceiver lens 52 and the device downstream thereof along the light path of the echo light, and a second deflector 32 can be arranged on the transceiver lens 52, and a second deflector 32 can be arranged between the scanning device 60 and the device downstream thereof along the light path of the echo light, and a second deflector 32 can be arranged on the scanning device 60, and the arrangement method of the second deflector 32 is similar to the relevant description of the above-mentioned beam splitter 40, and will not be repeated here.

[0107] For another example, the laser radar 1 also includes a filter located upstream of the laser receiving module 20 along the light path of the echo light, and a light-transmitting protective plate located on the light-receiving side of the laser receiving module 20. The filter and the light-transmitting protective plate may also be provided with a second de-dubbing device 32, etc., which will not be elaborated herein.

[0108] It is understandable that the matting structure 30 may include only one first matting device 31, only one second matting device 32, multiple first matting devices 31, multiple second matting devices 32, both the first matting device 31 and the second matting device 32, and so on.

[0109] If the extinction structure 30 includes both the first extinction device 31 and the second extinction device 32, the laser emitting unit 11 corresponding to the first light through hole 311 in the first extinction device 31 may correspond to the laser receiving unit 21 corresponding to the second light through hole 321 in the second extinction device 32. Specifically, the plurality of laser emitting units 11 include a sixth laser emitting unit, and the plurality of laser receiving units 21 include a sixth laser receiving unit, and the sixth laser receiving unit corresponds to the sixth laser emitting unit; the first extinction device 31 has a first light through hole 311 corresponding to the sixth laser emitting unit, and the second extinction device 32 has a second light through hole 321 corresponding to the sixth laser receiving unit, that is, stray light is eliminated from both the light path of the detection light and the light path of the echo light, so that the stray light mixed in the echo light received by the sixth laser receiving unit is lower, and the detection result is more reliable. The sixth laser emitting unit may be any one of the first laser emitting unit 11a to the fifth laser emitting unit 11e, and the sixth laser receiving unit may be any one of the first laser receiving unit 21a to the fifth laser receiving unit 21e.

[0110] It should be noted that the multiple laser receiving units 21 in the laser receiving module 20 can also be divided into at least two laser receiving groups, each laser receiving group includes at least one laser receiving unit 21, and all laser receiving groups can share the same receiving board or be respectively arranged on different receiving boards. The second extinguisher 32 can be provided on the light path of the echo light of all laser receiving groups, or the second extinguisher 32 can be provided on the light path of the echo light of some laser receiving groups, and this is not limited.

[0111] The second extinguisher 32 will cause the attenuation of the transmittance, while the light energy of the echo light of the target object at a relatively close distance is relatively strong, and it can still meet the detection requirements after a certain light loss, while the light energy of the echo light of the target object at a relatively far distance is relatively weak, and it may not be able to meet the detection requirements after a certain light loss. Therefore, in at least two laser receiving groups, the laser receiving group used to receive the echo light of the target object at a relatively close distance can be designed to have a corresponding second extinguisher 32 on the light path, while the laser receiving group used to receive the echo light of the target object at a relatively far distance is not provided with the second extinguisher 32 on the light path. For example, at least two laser receiving groups include a first laser receiving group and a second laser receiving group. Compared with the second laser receiving group, the first laser receiving group is used to receive the echo light of the target object at a relatively close distance. The light path of the first laser receiving group can be correspondingly provided with a second extinguisher 32, while the light path of the second laser receiving group is not provided with a second extinguisher 32.

[0112] It should be noted that the aforementioned shorter distance and longer distance can be flexibly designed according to actual needs and are not limited thereto.

[0113] Second, see Fig.17 An embodiment of the present application provides a movable device 2, which includes a main body 3 of the movable device 2 and a laser radar 1 connected to the main body 3, wherein the main body 3 can be any movable device, for example, a car, a drone, etc., without limitation.

[0114] The specific structure of the laser radar 1 refers to the above-mentioned embodiments. Since the movable device 2 adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0115] Embodiment 2

[0116] The difference between this embodiment and the first embodiment is that in the first embodiment, light is transmitted through the first light-transmitting hole 311 on the first light-extinguishing device 31 and the second light-transmitting hole 321 on the second light-extinguishing device 32, while in this embodiment, the light is transmitted through the first light-transmitting hole 311 on the first light-extinguishing device 31 and the second light-transmitting hole 321 on the second light-extinguishing device 32. Fig.18 The first light extinction device 31 includes a first light extinction portion 319 and a first light passing portion 310, the first light extinction portion 319 is arranged around the periphery of the first light passing portion 310, the second light extinction device 32 includes a second light extinction portion and a second light passing portion, the second light extinction portion is arranged around the periphery of the second light passing portion, the first light extinction portion 319 and the second light extinction portion are made of light extinction material, and the first light passing portion 310 and the second light passing portion are made of light passing material. If the light signal hits the interface between the first light extinction portion 319 and the first light passing portion 310, it will also be absorbed and eliminated by the first light extinction portion 319, and if the light signal hits the interface between the second light extinction portion and the second light passing portion, it will also be absorbed and eliminated by the second light extinction portion.

[0117] It should be noted that the first deflector 31 can be directly installed in the laser radar 1 through its own structure, and the second deflector 32 can be directly installed in the laser radar 1 through its own structure.

[0118] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0119] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A laser radar (1), characterized in that: include: A laser emission module (10) comprising a plurality of laser emission units (11), wherein the laser emission unit (11) comprises one or more laser emitters (111), and each of the laser emitters (111) in the laser emission unit (11) is used to form detection light and emit the detection light toward a target object outside the laser radar (1); A laser receiving module (20) comprises a plurality of laser receiving units (21), wherein the laser receiving units (21) comprise one or more laser receivers (211), one laser receiving unit (21) corresponds to one laser emitting unit (11), and each laser receiver (211) in the laser receiving unit (21) is used to receive the echo light reflected by the corresponding detection light from the target object; The extinction structure (30) comprises at least one of a first extinction device (31) and a second extinction device (32), wherein the first extinction device (31) is located on a light path of detection light in the laser radar (1), and the first extinction device (31) has at least one first light hole (311), and one first light hole (311) corresponds to all the laser emitters (111) in one laser emission unit (11), and is used to make each of the laser emitters (111) in one laser emission unit (11) At least part of the formed detection light can pass through; the second deglare device (32) is located on the light path of the echo light in the laser radar (1), and the second deglare device (32) has at least one second light through hole (321), and one second light through hole (321) corresponds to all the laser receivers (211) in one laser receiving unit (21), and is used to allow at least part of the echo light received by each laser receiver (211) in one laser receiving unit (21) to pass through.

2. The laser radar (1) according to claim 1, characterized in that: The plurality of laser emitting units (11) include a first laser emitting unit (11a), the first laser emitting unit (11a) includes a laser emitter (111), the first de-duster (31) includes a plurality of first de-duster strips (312) extending along a row direction and a plurality of second de-duster strips (313) extending along a column direction, the plurality of first de-duster strips (312) and the plurality of second de-duster strips (313) are arranged alternately, and a first light hole (311) corresponding to the first laser emitting unit (11a) is formed between two adjacent first de-duster strips (312) and two adjacent second de-duster strips (313); And / or, the plurality of laser emitting units (11) include a second laser emitting unit (11b), the second laser emitting unit (11b) includes a plurality of laser emitters (111) distributed along a row direction, the first de-duster (31) includes a plurality of third de-duster strips (314) extending along a row direction, and a first light-through hole (311) corresponding to the second laser emitting unit (11b) is formed between two adjacent third de-duster strips (314); And / or, the plurality of laser emitting units (11) include a third laser emitting unit (11c), the third laser emitting unit (11c) includes a plurality of laser emitters (111) distributed along a row direction, the first de-duster (31) includes a plurality of fourth de-duster strips (315) extending along a row direction, and a first light-through hole (311) corresponding to the third laser emitting unit (11c) is formed between two adjacent fourth de-duster strips (315); And / or, the plurality of laser emitting units (11) include a fourth laser emitting unit (11d), the fourth laser emitting unit (11d) includes a plurality of laser emitters (111) distributed in a matrix along a row direction and a column direction, the first light extinction device (31) includes a plurality of fifth light extinction bars (316) extending along a row direction and a plurality of sixth light extinction bars (317) extending along a column direction, the plurality of fifth light extinction bars (316) and the plurality of sixth light extinction bars (317) are arranged in an alternating manner, and a first light through hole (311) corresponding to the fourth laser emitting unit (11d) is formed between two adjacent fifth light extinction bars (316) and two adjacent sixth light extinction bars (317); And / or, the plurality of laser emitting units (11) include a fifth laser emitting unit (11e), the fifth laser emitting unit (11e) includes a plurality of laser emitters (111) distributed in a ring shape along a row direction and a column direction, the first de-optic device (31) includes at least three groups of first de-optic elements, each group of the first de-optic elements includes two opposite seventh de-optic strips (318), one of the seventh de-optic strips (318) in each group of the first de-optic elements is connected end to end in sequence to form a first closed de-optic unit, the other of the seventh de-optic strips (318) in each group of the first de-optic elements is connected end to end in sequence to form a second closed de-optic unit, the second closed de-optic unit is located at the periphery of the first closed de-optic unit, and a first light hole (311) corresponding to the fifth laser emitting unit (11e) is formed between the two.

3. The laser radar (1) according to claim 1, characterized in that: The laser emission module (10) is provided with the first deglare device (31), and the first deglare device (31) is connected to any one of the laser emitters (111) in the laser emission module (10), or the first deglare device (31) and any one of the laser emitters (111) in the laser emission module (10) are connected to the same carrier.

4. The laser radar (1) according to claim 1, characterized in that: The plurality of laser receiving units (21) include a first laser receiving unit (21a), the first laser receiving unit (21a) includes a laser receiver (211), the second de-lighter (32) includes a plurality of ninth de-lighting strips (322) extending in a row direction and a plurality of ninth de-lighting strips (322) extending in a column direction, the plurality of ninth de-lighting strips (322) and the plurality of ninth de-lighting strips (322) are arranged alternately, and a second light through hole (321) corresponding to the first laser receiving unit (21a) is formed between two adjacent ninth de-lighting strips (322) and two adjacent ninth de-lighting strips (322); And / or, the plurality of laser receiving units (21) include a second laser receiving unit (21b), the second laser receiving unit (21b) includes a plurality of laser receivers (211) distributed along a row direction, the second de-duster (32) includes a plurality of tenth de-duster strips (323) extending along the row direction, and a second light-through hole (321) corresponding to the second laser receiving unit (21b) is formed between two adjacent tenth de-duster strips (323); And / or, the plurality of laser receiving units (21) include a third laser receiving unit (21c), the third laser receiving unit (21c) includes a plurality of laser receivers (211) distributed along a row direction, the second de-duster (32) includes a plurality of eleventh de-duster strips (324) extending along a row direction, and a second light-through hole (321) corresponding to the third laser receiving unit (21c) is formed between two adjacent eleventh de-duster strips (324); And / or, the plurality of laser receiving units (21) include a fourth laser receiving unit (21d), the fourth laser receiving unit (21d) includes a plurality of laser receivers (211) distributed in a matrix along a row direction and a column direction, the second extinction device (32) includes a plurality of twelfth extinction bars (325) extending along a row direction and a plurality of thirteenth extinction bars (326) extending along a column direction, the plurality of twelfth extinction bars (325) and the plurality of thirteenth extinction bars (326) are arranged alternately, and a second light through hole (321) corresponding to the fourth laser receiving unit (21d) is formed between two adjacent twelfth extinction bars (325) and two adjacent thirteenth extinction bars (326); And / or, the plurality of laser receiving units (21) include a fifth laser receiving unit (21e), the fifth laser receiving unit (21e) includes a plurality of laser receivers (211) distributed in a ring shape along a row direction and a column direction, the second de-optic device (32) includes at least three groups of second de-optic elements, each group of the second de-optic elements includes two opposite fourteenth de-optic strips (327), one of the fourteenth de-optic strips (327) in each group of the second de-optic elements is connected end to end in sequence to form a third closed de-optic unit, and the other fourteenth de-optic strips (327) in each group of the second de-optic elements are connected end to end in sequence to form a fourth closed de-optic unit, the fourth closed de-optic unit is located at the periphery of the third closed de-optic unit, and a second light through hole (321) corresponding to the fifth laser receiving unit (21e) is formed between the two.

5. The laser radar (1) according to claim 1, characterized in that: The laser receiving module (20) is provided with the second de-optical device (32), and the second de-optical device (32) is connected to any one of the laser receivers (211) in the laser receiving module (20), or the second de-optical device (32) and any one of the laser receivers (211) in the laser receiving module (20) are connected to the same carrier.

6. The laser radar (1) according to claim 1, characterized in that: Also includes: A beam splitter (40) is located downstream of the laser emission module (10) along the light path of the detection light and upstream of the laser receiving module (20) along the light path of the echo light, wherein the beam splitter (40) comprises a light-transmitting portion (41) and a reflecting portion (42). The light-transmitting portion (41) is used to transmit detection light, the reflecting portion (42) is used to reflect echo light, the light-incoming side and / or the light-outgoing side of the light-transmitting portion (41) is provided with the first de-duster (31), and the reflecting surface of the reflecting portion (42) is provided with the second de-duster (32); Alternatively, the light-transmitting portion (41) is used to transmit the echo light, the reflecting portion (42) is used to reflect the detection light, the light-incoming side and / or the light-outgoing side of the light-transmitting portion (41) is provided with the second extinguisher (32), and the reflecting surface of the reflecting portion (42) is provided with the first extinguisher (31).

7. The laser radar (1) according to any one of claims 1 to 6, characterized in that: The plurality of laser emitting units (11) include a sixth laser emitting unit (11), the plurality of laser receiving units (21) include a sixth laser receiving unit (21), and the sixth laser receiving unit (21) corresponds to the sixth laser emitting unit (11); The first deglare device (31) has the first light-through hole (311) corresponding to the sixth laser emitting unit (11), and the second deglare device (32) has the second light-through hole (321) corresponding to the sixth laser receiving unit (21).

8. The laser radar (1) according to claim 1, characterized in that: The multiple laser receiving units (21) are divided into at least two laser receiving groups, each of the laser receiving groups includes at least one laser receiving unit (21), the at least two laser receiving groups include a first laser receiving group and a second laser receiving group, the first laser receiving group is used to receive echo light corresponding to a closer target object than the second laser receiving group, the second extinguisher (32) is arranged on the light path of the first laser receiving group, and the second extinguisher (32) is not arranged on the light path of the second laser receiving group.

9. A laser radar (1), characterized in that: include: A laser emission module (10) comprising a plurality of laser emission units (11), wherein the laser emission unit (11) comprises one or more laser emitters (111), and each of the laser emitters (111) in the laser emission unit (11) is used to form detection light and emit the detection light toward a target object outside the laser radar (1); A laser receiving module (20) comprises a plurality of laser receiving units (21), wherein the laser receiving units (21) comprise one or more laser receivers (211), one laser receiving unit (21) corresponds to one laser emitting unit (11), and each laser receiver (211) in the laser receiving unit (21) is used to receive the echo light reflected by the corresponding detection light from the target object; The extinction structure (30) comprises at least one of a first extinction device (31) and a second extinction device (32), wherein the first extinction device (31) is located on a light path of detection light in the laser radar (1), and the first extinction device (31) comprises a first extinction portion and at least one first light passing portion, wherein the first extinction portion is arranged around the periphery of the first light passing portion, and one first light passing portion corresponds to all the laser emitters (111) in one laser emitting unit (11), and is used to make each of the laser emitters (111) in one laser emitting unit (11) form The second de-optic device (32) is located on the light path of the echo light in the laser radar (1), and the second de-optic device (32) comprises a second de-optic portion and at least one second light-transmitting portion, the second de-optic portion is arranged around the periphery of the second light-transmitting portion, and one of the second light-transmitting portions corresponds to all the laser receivers (211) in one of the laser receiving units (21), and is used to allow at least part of the echo light received by each of the laser receivers (211) in one of the laser receiving units (21) to pass through.

10. A movable device (2), characterized in that: It comprises a main body (3) of a movable device (2) and a laser radar (1) according to any one of claims 1 to 9, wherein the laser radar (1) is connected to the main body (3).

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