Light emitting device for laser radar, design method and laser radar

Abstract

The invention provides a light emission device for a laser radar, and the device comprises an emission assembly which at least comprises a first emission unit and a second emission unit, the first emission unit and the second emission unit are mutually spaced, each emission unit is configured to emit a light beam, and each emission unit comprises a light-emitting unit array; the light modulation assembly is arranged at the downstream of the light path of the transmitting assembly, the light modulation assembly at least comprises a first light modulation unit and a second light modulation unit, and each light modulation unit corresponds to one transmitting unit and is configured to modulate the transmitting light beam of the transmitting unit corresponding to the light modulation unit; and the collimation assembly is arranged at the downstream of the light path of the dimming assembly and is configured to shape the light beams modulated by the dimming assembly, so that view fields formed by the light beams emitted from the collimation assembly are mutually overlapped or adjacently connected. According to the light emitting device, the dimming assemblies are arranged between the emitting assembly and the collimation assembly, and each dimming assembly can modulate the emitted light beams of the corresponding emitting unit, so that view fields formed by the light beams emitted from the collimation assembly are mutually overlapped or adjacently connected; therefore, part of view field energy loss caused by the interval between the adjacent emission units is made up, and the continuity of the view field range is improved to form a view field with a larger length-width ratio.

Description

Technical Field

[0001] The present invention generally relates to the field of laser radar, and in particular to a light emitting device and a design method for laser radar, and a laser radar. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. It is an advanced detection method that combines laser technology with photoelectric detection technology. LiDAR is widely used in autonomous driving, drones, intelligent robots, resource exploration and other fields due to its advantages such as high resolution, good concealment, strong anti-active interference ability, good low-altitude detection performance, small size and light weight.

[0003] At present, in the design of LiDAR, the transmitting end uses an array of multiple discrete lasers or an array laser cut directly from a wafer (such as a vertical cavity surface emitting laser [VCSEL]) combined with a collimator to achieve a certain field of view (FOV). The FOV depends on the focal length of the collimator lens, the size of the laser's light-emitting surface, or the total size of the laser array's light-emitting surface. The aspect ratio of this size will limit the horizontal and vertical ratios of the FOV. Specifically, Figure 1a As shown, the vertical dimension a of the light-emitting surface of the laser (along the y direction in the figure) and the corresponding vertical field of view (FOV V ) is:

[0004] FOV V =2*arctan(a / 2f)……(Formula A)

[0005] Where f is the focal length of the lens of the collimating assembly.

[0006] Correspondingly, the horizontal dimension b of the light-emitting surface of the laser (along the x direction in the figure) and the corresponding horizontal field of view (FOV H ) is:

[0007] FOV H =2*arctan(b / 2f)……(Formula B)

[0008] The vertical and horizontal dimensions can be formed by a single laser or by an array of lasers. Figure 1b As shown, the array laser includes multiple light-emitting units (partitions), and the light-emitting points (optical cavities) of the same grayscale in the figure constitute a light-emitting partition (partition 1 and partition 2 shown in the figure), and each partition can be controlled to light up individually.

[0009] According to the above formula A and formula B, it can be seen that the field of view of the laser (array) output light is related to its own size. The vertical field of view FOVV Horizontal field of view FOV H The ratio of is equivalent to the ratio of the vertical size to the horizontal size of the laser (array) (without considering lens distortion). For example, when the vertical size and horizontal size of the laser (array) are close, the vertical field of view FOV V Horizontal field of view FOV H Also close.

[0010] In some application scenarios of LiDAR, the focus is on the range of the smaller vertical field of view near vertical 0° and the larger horizontal field of view (such as FOV H / FOV V >5), but due to the limitation of process level, the yield of lasers with vertical dimension / horizontal dimension (or horizontal dimension / vertical dimension) above 3 is difficult to guarantee, so it is difficult to achieve a field of view with a larger aspect ratio. In some schemes, multiple discretely packaged lasers are arranged in an array to achieve a field of view with a larger aspect ratio. Compared with the array lasers cut directly from the wafer, the arrangement size will be significantly increased, which is not conducive to the miniaturization of laser radar. In addition, due to the problem of routing that requires regional drive for multiple light-emitting partitions in the array laser, there is an isolation area of ​​a certain size between adjacent light-emitting units. The field of view formed by the light beams emitted by adjacent light-emitting units is discrete and discontinuous, and the energy distribution in the field of view formed by the light beam emitted by each light-emitting unit is uneven, which will easily lead to missed targets and inaccurate detection results.

[0011] Therefore, how to optimize the continuity of the field of view formed by the light beams emitted by multiple transmitting units to form a field of view with a larger aspect ratio, how to improve the continuity of the transmitting unit's own field of view and the uniformity of energy distribution, reduce target omissions and improve the accuracy of detection results, are the needs for continuous improvement in the lidar field.

[0012] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0013] In view of one or more problems in the prior art, the present invention provides a light emitting device for laser radar, by arranging a dimming component between the emitting component and the collimating component, each dimming component can modulate the emission light beam of the corresponding emitting unit, so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other, thereby compensating for the partial field of view energy loss caused by the interval between adjacent emitting units, which is beneficial to improve the continuity of the field of view range to form a field of view with a larger aspect ratio. The light emitting device includes:

[0014] An emitting assembly, comprising at least a first emitting unit and a second emitting unit, wherein the first emitting unit and the second emitting unit are spaced apart from each other, each emitting unit is configured to emit a light beam, and each emitting unit comprises an array of light emitting units;

[0015] A dimming component is arranged downstream of the optical path of the emitting component, the dimming component comprises at least a first dimming unit and a second dimming unit, wherein each dimming unit corresponds to one of the emitting units and is configured to modulate the emission light beam of the emitting unit corresponding thereto; and

[0016] A collimating component is disposed downstream of the optical path of the dimming component and is configured to shape the light beam modulated by the dimming component so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other.

[0017] According to one aspect of the present invention, the first dimming unit and the second dimming unit are configured to respectively deflect the emission light beams of the first emitting unit and the second emitting unit in directions away from each other to form the field of view.

[0018] According to one aspect of the present invention, the aspect ratio of the combined field of view formed by the emission light beams of each emitting unit of the emitting component being modulated by the dimming component and shaped by the collimating component is greater than the aspect ratio of the light-emitting surface of any emitting unit in the emitting component.

[0019] According to one aspect of the present invention, the first dimming unit and the second dimming unit are wedge-shaped mirrors, and a side of the wedge-shaped mirror close to the light-emitting surfaces of the first emitting unit and the second emitting unit is substantially parallel to a plane where the light-emitting surfaces are located, and a side of the wedge-shaped mirror facing away from the light-emitting surfaces of the first emitting unit and the second emitting unit forms a wedge angle with the plane where the light-emitting surfaces are located.

[0020] According to one aspect of the present invention, the parameters of the dimming component are related to the parameters of the emitting component, the parameters of the collimating component and the field of view, wherein the parameters of the dimming component include the material refractive index and wedge angle value of each dimming unit, the parameters of the emitting component include the distance between the first emitting unit and the second emitting unit, and the parameters of the collimating component include the focal length.

[0021] According to one aspect of the present invention, the thickness of the ends of the first dimming unit and the second dimming unit that are close to each other is smaller than the thickness of the ends that are far away from each other.

[0022] According to one aspect of the present invention, the light-emitting unit array includes a one-dimensional light-emitting unit array / a two-dimensional light-emitting unit array, the light-emitting unit array includes a plurality of light-emitting units spaced apart from each other, each light-emitting unit can be independently selected and addressed, and each light-emitting unit includes a plurality of micro units that can emit light simultaneously.

[0023] According to one aspect of the present invention, a microlens array is arranged on one side of the light emitting surface of each dimming unit close to the first emitting unit and the second emitting unit, and the microlens array includes a plurality of microlenses, each microlens corresponds to one of the light emitting units and is configured to modulate the light beam emitted by the light emitting unit corresponding thereto.

[0024] According to one aspect of the present invention, the center of each microlens is aligned with the center of the light emitting surface of a corresponding light emitting unit, and the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is related to the parameters of the light emitting unit array.

[0025] According to one aspect of the present invention, the parameters of the light emitting unit array include: the spacing between adjacent light emitting units, the size of each light emitting unit, and the divergence angle of the light beam emitted by each light emitting unit.

[0026] According to one aspect of the present invention, the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is set so that each microlens only modulates the light beam emitted by the corresponding light emitting unit.

[0027] According to one aspect of the present invention, the distance d between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit satisfies: d≤(pitch-a) / [2*tan(θ / 2)], wherein pitch is the spacing between adjacent light emitting units along the first direction or the second direction, a is the size of each light emitting unit along the first direction or the second direction, θ is the divergence angle of the emitted light beam of each light emitting unit along the first direction or the second direction, and the first direction is perpendicular to the second direction.

[0028] According to one aspect of the present invention, the curved surfaces of adjacent microlenses in the microlens array are in contact with each other in a first direction and / or a second direction, and the first direction is perpendicular to the second direction.

[0029] According to one aspect of the present invention, the light emitting unit is of surface emitting type, the light emitting unit array constitutes the emitting unit, and the emitting unit constitutes a vertical cavity surface emitting laser or a photonic crystal surface emitting laser.

[0030] The present invention also provides a design method for a light emitting device for a laser radar, wherein the emitted light of the light emitting device is used to cover a detection area, and the design method comprises:

[0031] Determine parameters of a transmitting assembly, wherein the transmitting assembly comprises at least a first transmitting unit and a second transmitting unit, wherein the first transmitting unit and the second transmitting unit are spaced apart from each other, wherein an emission light beam of each transmitting unit is configured to cover a sub-area, and each transmitting unit comprises an array of light-emitting units;

[0032] determining parameters of a collimating assembly disposed downstream of the optical path of the transmitting assembly; and

[0033] The parameters of the dimming component are determined according to the parameters of the emitting component, the parameters of the collimating component and the detection area, wherein the dimming component is arranged between the emitting component and the collimating component, and the dimming component includes at least a first dimming unit and a second dimming unit, each dimming unit corresponds to one of the emitting units, and is configured to modulate the emission light beam of the corresponding emitting unit so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other.

[0034] According to one aspect of the present invention, the first dimming unit and the second dimming unit are configured to respectively deflect the emission light beams of the first emitting unit and the second emitting unit in directions away from each other to form the field of view.

[0035] According to one aspect of the present invention, the aspect ratio of the combined field of view formed by the emission light beams of each emitting unit of the emitting component being modulated by the dimming component and shaped by the collimating component is greater than the aspect ratio of the light-emitting surface of any emitting unit in the emitting component.

[0036] According to one aspect of the present invention, the first dimming unit and the second dimming unit are wedge-shaped mirrors, and a side of the wedge-shaped mirror close to the light-emitting surfaces of the first emitting unit and the second emitting unit is substantially parallel to a plane where the light-emitting surfaces are located, and a side of the wedge-shaped mirror facing away from the light-emitting surfaces of the first emitting unit and the second emitting unit forms a wedge angle with the plane where the light-emitting surfaces are located.

[0037] According to one aspect of the present invention, the parameters of the emitting component include the distance between the first emitting unit and the second emitting unit, the parameters of the collimating component include the focal length, and the parameters of the dimming component include the material refractive index and wedge angle value of each dimming unit.

[0038] According to one aspect of the present invention, the thickness of the ends of the first dimming unit and the second dimming unit that are close to each other is smaller than the thickness of the ends that are far away from each other.

[0039] According to one aspect of the present invention, the light-emitting unit array includes a one-dimensional light-emitting unit array / a two-dimensional light-emitting unit array, the light-emitting unit array includes a plurality of light-emitting units spaced apart from each other, each light-emitting unit can be independently selected and addressed, and each light-emitting unit includes a plurality of micro units that can emit light simultaneously.

[0040] According to one aspect of the present invention, a microlens array is arranged on one side of the light emitting surface of each dimming unit close to the first emitting unit and the second emitting unit, and the microlens array includes a plurality of microlenses, each microlens corresponds to one of the light emitting units and is configured to modulate the light beam emitted by the light emitting unit corresponding thereto.

[0041] According to one aspect of the present invention, the center of each microlens is aligned with the center of the light emitting surface of a corresponding light emitting unit, and the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is related to the parameters of the light emitting unit array.

[0042] According to one aspect of the present invention, the parameters of the light emitting unit array include: the spacing between adjacent light emitting units, the size of each light emitting unit, and the divergence angle of the light beam emitted by each light emitting unit.

[0043] According to one aspect of the present invention, the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is set so that each microlens only modulates the light beam emitted by the corresponding light emitting unit.

[0044] According to one aspect of the present invention, the distance d between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit satisfies: d≤(pitch-a) / [2*tan(θ / 2)], wherein pitch is the spacing between adjacent light emitting units along the first direction or the second direction, a is the size of each light emitting unit along the first direction or the second direction, θ is the divergence angle of the emitted light beam of each light emitting unit along the first direction or the second direction, and the first direction is perpendicular to the second direction.

[0045] According to one aspect of the present invention, adjacent microlenses in the microlens array are in contact with each other in a first direction and / or a second direction, and the first direction is perpendicular to the second direction; the light-emitting unit is a surface-emitting type, the light-emitting unit array constitutes the emitting unit, and the emitting unit constitutes a vertical cavity surface-emitting laser or a photonic crystal surface-emitting laser.

[0046] The present invention also relates to a laser radar, comprising:

[0047] The light emitting device as described above is configured to emit a detection light beam for detecting obstacles;

[0048] A detection device configured to respond to the echo reflected by the obstacle when the detection light beam is incident on the obstacle and convert it into an electrical signal; and

[0049] The processing device is coupled to the detection device and is configured to calculate obstacle information based on the electrical signal.

[0050] According to one aspect of the present invention, the detection device comprises a detection unit array, the detection unit array comprises a plurality of detection units, wherein each detection unit corresponds to one of the light emitting units of one of the emission units of the light emitting device.

[0051] According to one aspect of the present invention, the laser radar comprises an all-solid-state laser radar.

[0052] In summary, the scheme of the present invention has been introduced in detail. The light emitting device of the present invention arranges a dimming component between the emitting component and the collimating component. Each dimming component can modulate the emission light beam of the corresponding emitting unit, so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other, thereby compensating for the partial field of view energy loss caused by the interval between adjacent emitting units, which is beneficial to improving the continuity of the field of view range to form a field of view with a larger aspect ratio.

[0053] Furthermore, the light emitting device of the present invention arranges a microlens array downstream of the optical path of the emitting unit, and each microlens corresponds to one of the light emitting units of the emitting unit. Each microlens can modulate the emission light beam of the light emitting unit corresponding thereto, thereby compensating for the partial field of view energy loss caused by the interval between adjacent light emitting units, which is beneficial to further improve the continuity of the field of view range and the uniformity of energy distribution.

[0054] Furthermore, the emission light beam of the emission component can form a field of view with a larger aspect ratio after being modulated by the dimming component and shaped by the collimating component. The aspect ratio of the combined field of view formed by the emission light beams of each emission unit of the emission component after being modulated by the dimming component and shaped by the collimating component is greater than the aspect ratio of the light-emitting surface of any emission unit in the emission component. Compared with the traditional method of arranging multiple discretely packaged lasers into an array with a larger aspect ratio, it is conducive to the miniaturization of the entire device and reduces the processing requirements for the emission unit.

[0055] Furthermore, the emission light beam of the light-emitting unit can be widened, amplified and homogenized after being modulated by the microlens, which can optimize the partial field of view energy loss caused by the interval between adjacent light-emitting units, and is conducive to forming a field of view with more uniform energy distribution, stronger continuity and larger coverage.

[0056] Furthermore, by integrating the microlens array on one side of each dimming unit close to the light emitting surface of the emitting unit, it is helpful to improve the integration of the light emitting device and to further reduce the size of the light emitting device.

[0057] Furthermore, the light emitting device of the present invention can be applied to laser radars. After the emission light beam of the emitting unit is modulated by a dimming component and shaped by a collimating component, and the emission light beam of the light emitting unit is modulated by a microlens and shaped by a collimating component, a field of view with more uniform energy distribution, stronger continuity, larger aspect ratio, and larger coverage can be formed. Accordingly, a larger detection range can be covered at the receiving end, so that more echo light beams can be received, thereby improving the signal-to-noise ratio of the echo signal, which is beneficial to reducing the risk of target missed detection and improving the accuracy of the detection results.

[0058] Furthermore, the light emitting device of the present invention is applied to a laser radar, which can optimize the continuity and energy distribution uniformity of the field of view formed by the light beam emitted by a laser including a plurality of light-emitting units that can be driven separately, thereby helping to reduce target omissions and improve the accuracy of detection results.

[0059] Furthermore, the light emitting device of the present invention can be applied to an all-solid-state laser radar to form a field of view with more uniform energy distribution, stronger continuity, and a larger aspect ratio at the transmitting end, thereby forming a planar light source with a higher coverage ratio or even full coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0061] Figure 1a A schematic diagram showing the field of view of the light emitting surface of the laser;

[0062] Figure 1b A schematic diagram of an array laser including two partitions is shown;

[0063] Figure 2 A schematic diagram of a light emitting device according to an embodiment of the present invention is shown;

[0064] Figure 3a and 3b Schematic diagrams of light fields without using a dimming component and using a dimming component are shown respectively;

[0065] Figure 4a and 4b Schematic diagrams showing the fields of view without using the dimming component and using the dimming component respectively;

[0066] Figure 5a and Figure 5b Schematic diagrams showing the field of view distribution when not using the dimming component and when using the dimming component respectively;

[0067] Figure 6a and Figure 6b Schematic diagrams showing the field energy distribution when the dimming component is not used and when the dimming component is used respectively;

[0068] Figure 7a and Figure 7b Schematic diagrams of a first dimming unit and a second dimming unit according to an embodiment of the present invention are respectively shown;

[0069] Figure 8 A schematic diagram of a transmitting unit according to an embodiment of the present invention is shown;

[0070] Fig. 9 It shows the field of view formed by the light beam of the light emitting device without the microlens array;

[0071] Fig.10 The field of view formed by the light beam of the light emitting device provided with the microlens array is shown;

[0072] Fig.11 A schematic diagram showing a microlens array disposed between an emission component and a dimming component according to a preferred embodiment of the present invention;

[0073] Fig.12a and Figure 12b Schematic diagrams of a microlens array according to a preferred embodiment of the present invention are shown in plan and stereo respectively;

[0074] Fig.13a and Fig.13b Schematic diagrams showing respectively that light beams emitted by adjacent light emitting units do not crosstalk in the horizontal direction and do crosstalk according to a preferred embodiment of the present invention;

[0075] Fig.14a and Fig.14b Schematic diagrams showing that light beams emitted by adjacent light-emitting units do not crosstalk in the vertical direction and do crosstalk according to a preferred embodiment of the present invention;

[0076] Fig.15a A schematic diagram showing the contact of the curved surfaces of adjacent microlenses in the first direction or the second direction according to a preferred embodiment of the present invention;

[0077] Fig.15b A schematic diagram showing that the curved surfaces of adjacent microlenses in the first direction and the second direction do not touch each other according to a preferred embodiment of the present invention;

[0078] Figure 16a to Figure 16cA schematic diagram showing the integration of an emission unit, a microlens array and a dimming unit according to some preferred embodiments of the present invention;

[0079] Fig.17 A flow chart showing a method for designing a light emitting device according to an embodiment of the present invention is shown;

[0080] Fig.18 A schematic diagram of a laser radar according to an embodiment of the present invention is shown;

[0081] Fig.19a and Fig.19b Schematic diagrams showing energy distribution at the transmitting end and the receiving end when no microlens is provided downstream of the light path of the light emitting unit; and

[0082] Fig.20a and Fig.20b Schematic diagrams showing energy distribution at the transmitting end and the receiving end when a microlens is arranged downstream of the optical path of the light emitting unit according to a preferred embodiment of the present invention are shown respectively. DETAILED DESCRIPTION

[0083] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0084] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0085] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0087] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0088] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0089] The present invention provides a light emitting device 10 for laser radar, Figure 2 FIG. 1 is a schematic diagram showing a light emitting device 10 according to an embodiment of the present invention. Figure 2 As shown, the light emitting device 10 includes an emitting component 11, a dimming component 12 and a collimating component 13, wherein the emitting component 11 includes at least a first emitting unit 111 and a second emitting unit 112, and the first emitting unit 111 and the second emitting unit 112 are spaced apart from each other (such as Figure 2Each emitting unit is configured to emit a light beam, and each emitting unit includes an array of light emitting units (refer to Figure 8 , which will be described in detail later); the dimming component 12 is arranged downstream of the optical path of the emitting component 11, and the dimming component 12 includes at least a first dimming unit 121 and a second dimming unit 122, wherein each dimming unit corresponds to one of the emitting units and is configured to modulate the emission light beam of the emitting unit corresponding thereto; the collimating component 13 is arranged downstream of the optical path of the dimming component 12, and is configured to shape the light beam modulated by the dimming component 12 so that the fields of view (FOV) formed by the light beams emitted from the collimating component 13 overlap or are adjacent to each other.

[0090] It should be noted that the "adjacent" includes both closely adjacent and adjacent with a small gap, as long as the gap is much smaller than that when the dimming component is not used (refer to Figure 3a and Figure 4a ) in the solution. In addition, it can be understood by those skilled in the art that the field of view here refers to the far field of view (relative to the focal length of the lens), and laser radar is usually used to detect distances of more than several meters.

[0091] The light emitting device of the present invention is provided with a dimming component between the emitting component and the collimating component. Each dimming component can modulate the emission light beam of the corresponding emitting unit, so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other, thereby compensating for the partial field of view energy loss caused by the interval between adjacent emitting units, which is beneficial to improve the continuity of the field of view range to form an expected field of view range (for example, with a larger aspect ratio). The following is a detailed description.

[0092] like Figure 2 As shown, the first dimming unit 121 can correspond to the first emitting unit 111, the second dimming unit 122 can correspond to the second emitting unit 112, the first dimming unit 121 is configured to modulate the emission light beam of the first emitting unit 111, the second dimming unit 122 is configured to modulate the emission light beam of the second emitting unit 112, and the collimating component 13 is configured to shape the modulated light beams of the first dimming unit 121 and the second dimming unit 122 so that the fields of view (FOV) formed by the light beams emitted from the collimating component 13 overlap or are adjacent to each other.

[0093] Preferably, the first dimming unit and the second dimming unit are configured to respectively deflect the emission light beams of the first emitting unit and the second emitting unit in directions away from each other, so as to form the field of view FOV (i.e., overlapping or adjacent fields of view). Figure 2As shown, the first dimming unit 121 and the second dimming unit 122 are configured to respectively deflect the emission light beams of the first emitting unit 111 and the second emitting unit 112 in directions away from each other. For example, the first dimming unit 121 is configured to deflect the emission light beam of the first emitting unit 111 in an upward direction (refer to the N1 direction shown in the figure), and the second dimming unit 122 is configured to deflect the emission light beam of the second emitting unit 121 in a downward direction (refer to the N2 direction shown in the figure). That is to say, the first dimming unit 121 and the second dimming unit 122 can respectively diverge the emission light beams of the first emitting unit 111 and the second emitting unit 112 to both sides.

[0094] More intuitively, refer to Figures 3a to 4b , Figure 3a and 3b The light fields without and with dimming components are shown respectively. Figure 4a and 4b The fields of view without and with the dimming component are shown respectively. It can be seen that when the dimming component is not used, since there is a gap g between the first emitting unit 111 and the second emitting unit 112, there will inevitably be a gap between the luminous surfaces of adjacent emitting units when the circuit board is mounted (see Figure 2 ), so there is an obvious gap G between the fields of view formed by the emission light beams of the first emission unit 111 and the second emission unit 112 after being modulated by the collimating component 13 (see Figure 4a ), it should be understood that Figure 3a The near light field is shown, so the field of view interval is not shown; in the case of using the dimming component 12, although there is a gap g between the first emitting unit 111 and the second emitting unit 112 (see Figure 2 ), but after the emission light beams of the first emission unit 111 and the second emission unit 112 are modulated by the first dimming unit 121 and the second dimming unit 122 and then shaped by the collimating component 13, the fields of view formed by the light beams emitted from the collimating component 13 can overlap or be adjacent to each other. It can be seen that the dimming component can improve the field of view interval problem caused by the interval between adjacent emission units.

[0095] Further, refer to Figures 3a to 4bCompared with the case where the dimming component is not used, when the dimming component 12 is used, the emission light beams of the first emitting unit 111 and the second emitting unit 112 are modulated by the dimming component 12, and then shaped by the collimating component 13. The field of view formed by the light beam emitted from the collimating component 13 has a larger aspect ratio. In the traditional scheme, due to the limitation of the process level, the aspect ratio of the field of view of the emission light beam of a single emitting unit is relatively small (generally less than or equal to 3), and it is difficult to achieve a field of view with an aspect ratio greater than 3. If a plurality of discretely packaged lasers are arranged in an array with a large aspect ratio, the arrangement size is large, which is not conducive to the miniaturization of the entire device. The scheme of the present invention has made improvements on this. The scheme of the present invention can achieve a field of view with a larger aspect ratio (for example, an aspect ratio greater than 3, preferably greater than 5) through the dimming component, which is conducive to the miniaturization of the entire device and reduces the processing requirements for the emitting unit.

[0096] Furthermore, the aspect ratio of the combined field of view formed by the emitted light beams of each emitting unit of the emitting assembly after being modulated by the dimming assembly and shaped by the collimating assembly is greater than the aspect ratio of the light-emitting surface of any emitting unit in the emitting assembly. Figure 5a and Figure 5b When the dimming component is not used, the aspect ratio of the light-emitting surface of a single emitting unit is relatively small (for example, less than or equal to 3). However, when the dimming component is used, the aspect ratio of the combined field of view formed by the light beams emitted by multiple (for example, two) emitting units after being modulated by the dimming component and shaped by the collimating component is significantly increased (for example, greater than 3, greater than 5, greater than 6, etc.), thereby forming a continuous field of view with a large aspect ratio.

[0097] Figure 5a and Figure 5b The field of view distribution when the dimming component is not used and when the dimming component is used are shown respectively. It can be seen that when the dimming component is not used, due to the obvious gap between the first emitting unit 111 and the second emitting unit 112, the field of view distribution formed by the emission light beams of the first emitting unit 111 and the second emitting unit 112 is discontinuous, resulting in partial loss of the field of view; while when the dimming component 12 is used, although there is a gap between the first emitting unit 111 and the second emitting unit 112, the emission light beams of the first emitting unit 111 and the second emitting unit 112 are modulated by the dimming component 12 and then shaped by the collimating component 13, so that the light beam emitted from the collimating component 13 can form a continuous field of view, thereby improving the problem of partial loss of the field of view caused by the gap between adjacent emitting units and achieving a larger aspect ratio.

[0098] Figure 6a and Figure 6bThe field of view energy distribution when the dimming component is not used and when the dimming component is used are shown respectively. It can be seen that when the dimming component is not used, due to the gap between the first emitting unit 111 and the second emitting unit 112, near the coordinate value Y=0, the corresponding radiation intensity is relatively low and is basically 0, and on the left and right sides of the coordinate value Y=0, the radiation intensity is relatively high, and near the coordinate values ​​Y=60 and Y=-60, the corresponding radiation intensity is up to about 4.8, that is, from both sides of the coordinate value Y to the middle, the corresponding radiation intensity gradually weakens, and even the middle radiation intensity is 0; when the dimming component 12 is used, although there is a gap between the first emitting unit 111 and the second emitting unit 112, the emission light beams of the first emitting unit 111 and the second emitting unit 112 can form a continuous field of view after being modulated by the dimming component 12 and then shaped by the collimating component 13, and the problem of partial field of view energy loss caused by the gap between adjacent emitting units is significantly improved.

[0099] It can be seen that the light emitting device of the present invention, by arranging a dimming component between the emitting component and the collimating component, can make the fields of view formed by the light beams emitted from the collimating component overlap or be adjacent to each other, thereby improving the field of view interval problem caused by the interval between adjacent emitting units, which is beneficial to improving the continuity of the field of view range and achieving a larger field of view aspect ratio.

[0100] In the light emitting device of the present invention, preferably, the first dimming unit and the second dimming unit may be wedge-shaped mirrors, the side of the wedge-shaped mirrors close to the light emitting surfaces of the first emitting unit and the second emitting unit is substantially parallel to the plane of the light emitting surface, and the side of the wedge-shaped mirrors away from the light emitting surfaces of the first emitting unit and the second emitting unit forms a wedge angle with the plane where the light emitting surface is located. Specifically, Figure 7a and Figure 7b As shown, the first dimming unit 121 and the second dimming unit 122 can both be wedge-shaped mirrors, wherein a side S1 of the first dimming unit 121 (wedge-shaped mirror) close to the light emitting surface E1 of the first emitting unit 111 is substantially parallel to the light emitting surface plane E1, and a side S1' of the first dimming unit 121 (wedge-shaped mirror) away from the light emitting surface E1 of the first emitting unit 111 forms a wedge angle value α1 with the plane where the light emitting surface E1 is located; a side S2 of the second dimming unit 122 (wedge-shaped mirror) close to the light emitting surface E2 of the second emitting unit 112 is substantially parallel to the light emitting surface plane E2, and a side S2' of the wedge-shaped mirror (second dimming unit 122) away from the light emitting surface E2 of the second emitting unit 112 forms a wedge angle value α2 with the plane where the light emitting surface E2 is located. It should be noted that, since the side (S1, S2) of the wedge-shaped mirror close to the light-emitting surface (E1, E2) of the first emitting unit 111 and the second emitting unit 112 is substantially parallel to the light-emitting surface plane, for convenience, Figure 7aThe wedge angle value α1 is represented by the angle formed by the side S1 ′ of the first dimming unit 121 away from the light emitting surface E1 of the first emitting unit 111 and the side S1 of the first dimming unit 121 close to the light emitting surface E1 of the first emitting unit 111. Similarly, Figure 7b The wedge angle value α2 is represented by the angle formed by the side S2' of the second dimming unit 122 away from the light emitting surface E2 of the second emitting unit 112 and the side S2 of the second dimming unit 122 close to the light emitting surface E2 of the second emitting unit 112. It should be noted that this embodiment is described by taking two dimming units as an example, and in the light reflecting device of the present invention, the specific number of dimming units in the dimming component can also be more (for example, 3, 4, 5, etc.), and accordingly, the specific number of emitting units can also be more, depending on the actual situation.

[0101] In the light emitting device of the present invention, preferably, the parameters of the dimming component are related to the parameters of the emitting component, the parameters of the collimating component and the field of view, wherein the parameters of the dimming component include the material refractive index and wedge angle value of each dimming unit, the parameters of the emitting component include the distance between the first emitting unit and the second emitting unit, and the parameters of the collimating component include the focal length of the lens. The following is a detailed introduction.

[0102] Preferably, the wedge angle value α is positively correlated (or proportional) to the distance g between adjacent emitting units, negatively correlated (or inversely proportional) to the focal length D of the collimating component, and negatively correlated (or inversely proportional) to the material refractive index η of the dimming unit. The following is an introduction using the first emitting unit 111, the second emitting unit 112, the first dimming unit 121, and the second dimming unit 122 as examples. It should be understood that the situation with a larger number of emitting units and dimming units is similar and will not be described in detail.

[0103] like Figure 2 , Figure 7a and Figure 7bAs shown, the parameters of the dimming component 12 are related to the parameters of the emitting component 11, the parameters of the collimating component 13 and the field of view (FOV) formed by the light beam emitted from the collimating component 13, wherein the parameters of the dimming component 12 include the material refractive index and the wedge angle value of each dimming unit, for example, the parameters of the first dimming unit 121 include the material refractive index η1 and the wedge angle value α1, and the parameters of the second dimming unit 122 include the material refractive index η2 and the wedge angle value α2; the parameters of the emitting component 11 include, for example, the distance g between the first emitting unit 111 and the second emitting unit 112; the collimating component 13 can adopt a collimating lens or a collimating lens group, and the parameters of the collimating component 13 include the focal length D. For the first dimming unit 121, the wedge angle value α1 is positively correlated (or proportional) to the distance g between the first emitting unit 111 and the second emitting unit 112, negatively correlated (or inversely proportional) to the focal length D of the collimating component 13, and negatively correlated (or inversely proportional) to the material refractive index η1 of the first dimming unit 121; similarly, for the second dimming unit 122, the wedge angle value α2 is positively correlated (or proportional) to the distance g between the first emitting unit 111 and the second emitting unit 112, negatively correlated (or inversely proportional) to the focal length D of the collimating component 13, and negatively correlated (or inversely proportional) to the material refractive index η2 of the second dimming unit 122. Optionally, when the material refractive indices η1 and η2 of the first dimming unit 121 and the first dimming unit 122 are the same, the wedge angle values ​​α1 and α2 may be equal. It should be noted that although the present embodiment is described by taking two emitting units as an example, the case of a larger number of emitting units, i.e., dimming units, is similar and will not be described in detail here. In addition, it should be noted that the present invention does not limit the specific surface shape and number of the collimating lenses in the collimating assembly, which depends on the actual situation. In a specific embodiment of the present invention, the collimating assembly 13 includes a convex lens to converge the light beam modulated by the dimming assembly so that the fields of view formed by the light beams emitted from the collimating assembly overlap or abut each other.

[0104] In the light emitting device of the present invention, preferably, the thickness of the ends of the first dimming unit and the second dimming unit that are close to each other is smaller than the thickness of the ends that are far away from each other. Figure 2 As shown, the thickness of the end portions t of the first dimming unit 121 and the second dimming unit 122 close to each other is smaller than the thickness of the end portions t′ far away from each other.

[0105] In the light emitting device of the present invention, preferably, each dimming unit in the dimming component can be integrated into one. Taking two dimming units as an example, Figure 2 As shown, the first dimming unit 121 and the second dimming unit 122 can be integrated into one body, and the thickness of the end t of the first dimming unit 121 and the second dimming unit 122 close to each other is less than the thickness of the end t' away from each other. In addition, the dimming units in the dimming component may not be integrated into one body. For example, two dimming units are used. Fig.11 As shown, the first dimming unit 121 and the second dimming unit 122 can be spaced apart from each other, and the thickness of the end portions t of the first dimming unit 121 and the second dimming unit 122 close to each other is less than the thickness of the end portions t' away from each other. In addition, although not shown in the figure, the dimming units in the dimming component can also be partially integrated into one. It should be understood that the case where the dimming component includes a larger number of dimming units is similar to this, and will not be repeated here.

[0106] In the light emitting device of the present invention, each emitting unit includes a light emitting unit array, which can be a one-dimensional light emitting unit array or a two-dimensional light emitting unit array. The light emitting unit array includes a plurality of light emitting units spaced from each other, each light emitting unit can be independently gated and addressed, and each light emitting unit can include a plurality of micro units that can emit light simultaneously. Preferably, each light emitting unit can be used as a light emitting partition of the laser, and the partition wire bonding PAD of the laser (refer to Figure 8 The wire bonding PAD area shown in the shaded part is used to drive each light-emitting unit to work. The following is an example of an emission unit composed of a two-dimensional light-emitting unit array. Those skilled in the art should understand that the situation of an emission unit composed of a one-dimensional light-emitting unit array is similar to this, and will not be repeated here.

[0107] Figure 8 FIG. 1 shows a schematic diagram of a transmitting unit 111 according to an embodiment of the present invention. Figure 8 As shown, the emission unit 111 includes a light-emitting unit array consisting of 12 light-emitting units 111U in 3 rows and 4 columns. Each light-emitting unit constitutes a partition, and multiple partitions constitute a light-emitting unit array. In the process design, due to the need for routing of regional drives, the drive lines of different partitions may need to be connected to different pads (refer to Figure 8 The wire bonding PAD area shown in the shaded part, the multiple partitions have a common substrate for example), so that the light emitting units 111U are arranged discontinuously, and there is an isolation area of ​​a certain size between adjacent light emitting units (see Figure 8 The isolation areas shown in the figure are gap1 and gap2. The size of the isolation area depends on the thickness of the wiring and the isolation size required by the process design. Since there is an isolation area between adjacent light-emitting units, there is a gap in the field of view formed by the light beams emitted by the light-emitting units. Fig. 9 As shown.

[0108] In order to optimize the field of view formed by the emission light beams of a plurality of light-emitting units that can be driven separately, preferably, referring to Fig.11A microlens array 14 can be arranged downstream of the optical path of the emitting unit 111. The microlens array 14 includes a plurality of microlenses 141. Each microlens 141 corresponds to one of the light-emitting units 111U in the emitting unit 111 and is configured to modulate the emission light beam of the corresponding light-emitting unit 111U, so that the fields of view (FOV) formed by the light beams emitted from the plurality of microlenses 141 after being shaped by the collimating component 13 overlap or are adjacent to each other.

[0109] In order to optimize the field of view formed by the emission light beams of the plurality of light-emitting units that can be driven separately, preferably, a microlens array can be arranged on one side of each dimming unit close to the light-emitting surface of the first emission unit and the second emission unit, the microlens array comprising a plurality of microlenses, each microlens corresponding to one of the light-emitting units and configured to modulate the light beam emitted by the light-emitting unit corresponding thereto. Specifically, Fig.11 As shown, a microlens array 14 is provided on one side of the first dimming unit 121 close to the light emitting surface of the first emitting unit 111, and the microlens array 14 includes a plurality of microlenses 141, each microlens 141 corresponds to one of the light emitting units 111U, for example, microlens 141-1 can correspond to light emitting unit 111U-1, microlens 141-2 can correspond to light emitting unit 111U-2, microlens 141-3 can correspond to light emitting unit 111U-3, and microlenses 141-1, 141-2, 141-3 can modulate the emission light beams of light emitting units 111U-1, 111U-2, 111U-3, and so on. It should be understood that the situation for the second dimming unit 122 is similar and will not be described here. Preferably, the number and arrangement of the microlenses correspond to the number and arrangement of the light emitting units.

[0110] In the light emitting device of the present invention, preferably, the size of the light emitting units in each emitting unit is the same, referring to Figure 8 For example, the horizontal dimension of each light emitting unit 111U is ax, and the vertical dimension is ay. Preferably, the spacing between adjacent light emitting units is the same, referring to Figure 8 For example, the center spacing of adjacent light emitting units in the horizontal direction is pitch1, the center spacing in the vertical direction is pitch2, the edge spacing of adjacent light emitting units in the horizontal direction is gap1, and the edge spacing in the vertical direction is gap2. In addition, the divergence angle of the emitted light beam of each light emitting unit 111U includes a divergence angle θx in the horizontal direction and a divergence angle θy in the vertical direction. Figure 13a to Figure 14b Preferably, refer to Figure 8, each light-emitting unit 111U can be independently enabled and addressed, that is, each light-emitting unit 111U can be selected to be controlled individually. Among them, each light-emitting unit 111U (that is, each partition) can include multiple micro units 1110 that can emit light simultaneously. Preferably, each micro unit 1110 can also be independently enabled and addressed. It should be noted that although the present embodiment is introduced by taking the light-emitting unit array composed of 3*4 light-emitting units as an example, the present invention is not limited to this. In actual applications, the specific number and arrangement of the light-emitting units can be flexibly adjusted according to actual needs, which are all within the protection scope of the present invention.

[0111] In the light-emitting unit array of the present invention, the light-emitting unit can be a surface-emitting type, the light-emitting unit array can constitute an emitting unit, and one or more emitting units can constitute a vertical cavity surface-emitting laser (Vertical-CavitySurface-Emitting Laser, VCSEL) or a photonic crystal surface-emitting laser (Photonic CrystalSurface Emitting Laser, PCSEL). When it is applied to a laser radar, a field of view with higher continuity and more uniform energy distribution can be formed at the transmitting end, which is conducive to reducing target leakage and improving the accuracy of the detection result. Since the light-emitting unit array includes a plurality of light-emitting units, each light-emitting unit constitutes a partition, and each light-emitting unit can be independently gated and addressed, in actual detection, the laser radar can start one or more light-emitting units for local detection according to the detection requirements, which is conducive to reducing power consumption and being more energy-saving and environmentally friendly. Similarly, the laser radar can also start one or more emitting units for local detection according to the requirements, which are all within the protection scope of the present invention. Preferably, the laser radar can be a fully solid-state laser radar. In addition, the laser radar can also be a scanning laser radar or a mechanical rotating laser radar.

[0112] The above embodiments have introduced the emission unit (light emitting unit array) in the light emitting device of the present invention. The microlens array will be introduced below.

[0113] Fig.12a FIG. 4 shows a schematic plan view of a microlens array 14 according to a preferred embodiment of the present invention, Figure 12b FIG. 1 shows a three-dimensional schematic diagram of a microlens array 14 according to a preferred embodiment of the present invention. Fig.12a and Figure 12b In this embodiment, the microlens array 14 includes 3 rows and 4 columns, a total of 12 microlenses. Preferably, the size of each microlens is the same. Fig.12a and Figure 12b For example, the size of each microlens 141 in the horizontal direction is ax', and the size in the vertical direction is ay'. Preferably, the spacing between adjacent microlenses is the same, referring to Fig.12a and Figure 12b For example, the center spacing of adjacent microlenses in the horizontal direction is pitch1', and the center spacing in the vertical direction is pitch2'. Preferably, the specific number of microlenses 141 in the microlens array 14 is equal to the number of light-emitting units 111U in the emission unit 111 (light-emitting unit array) and the arrangement method is the same, such as Figure 8 , Fig.12a and Figure 12b As shown, the 12 light emitting units 111U in the emitting unit 111 are arranged in 3 rows and 4 columns, and accordingly, the 12 micro lenses 141 in the micro lens array 14 are also arranged in 3 rows and 4 columns. Figure 12b In the microlens array shown, the curved surfaces of the plurality of microlenses are in contact with each other. Optionally, the curved surfaces of the plurality of microlenses in the microlens array may also be non-contacting (see Fig.15a , Fig.15b , which will be described in detail later). It should be understood that this embodiment only takes 12 microlenses as an example for illustrative description, and does not constitute a limitation to the present invention. In practical applications, the specific number and arrangement of microlenses in the microlens array can be flexibly set according to requirements.

[0114] Preferably, the center of each microlens is aligned with the center of the light emitting surface of a corresponding light emitting unit, and the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is related to the parameters of the light emitting unit array. Fig.13a As shown, for example, microlens 141 L The center O' and the corresponding light emitting unit 111U L The center O of the light emitting surface is aligned, that is, the line between the center O' and the center O is substantially perpendicular to the light emitting surface of the light emitting unit.

[0115] In the light emitting device of the present invention, the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is also called the back working distance. The distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is related to the parameters of the light emitting unit array. The parameters of the light emitting unit array include: the spacing between adjacent light emitting units, the size of each light emitting unit, and the divergence angle of the emitted light beam of each light emitting unit, wherein the spacing, size, and divergence angle are related to the direction, including the spacing, size, and divergence angle along the first direction and the spacing, size, and divergence angle along the second direction. Preferably, the first direction can be the horizontal direction (or vertical direction), and the second direction can be the vertical direction (or horizontal direction). The first value of the distance can be first calculated according to the spacing, size, and divergence angle along the first direction, and then the second value of the distance can be calculated according to the spacing, size, and divergence angle along the second direction, and then the distance is determined according to the first value and the second value.

[0116] Specifically, refer to Fig.13a , in a first direction (eg, horizontal direction), for example, microlens 141 L The center O' and the corresponding light emitting unit 111U L The distance dx between the center O of the light emitting surface and the light emitting unit 111U L Dimensions ax, light emitting unit 111U L and its adjacent light emitting unit 111U R The center distance pitch1 between the light emitting units 111U L For example, referring to Fig.14a In the second direction (eg, vertical direction), the microlens 141 D The center O' and the corresponding light emitting unit 111U D The distance dy between the center O of the light emitting surface and the light emitting unit 111U D Dimensions ay, light emitting unit 111U D and its adjacent light emitting unit 111U U The center distance pitch2 between the light emitting units 111U D It is related to the vertical divergence angle θy of the emitted light beam.

[0117] The above embodiment introduces that the distance between the center of the microlens and the center of the light emitting surface of the corresponding light emitting unit is related to the parameters of the light emitting unit array. In the light emitting device of the present invention, the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is set so that each microlens only modulates the light beam emitted by the corresponding light emitting unit, thereby reducing the crosstalk between the light beams emitted by adjacent light emitting units. The following is a detailed description.

[0118] In order to make each microlens modulate only the light beam emitted by the corresponding light-emitting unit, the distance d between the center of each microlens and the center of the light-emitting surface of a corresponding light-emitting unit satisfies (condition 1):

[0119] d≤(pitch-a) / [2*tan(θ / 2)]……(Condition 1)

[0120] Wherein, pitch is the spacing between adjacent light-emitting units along the first direction or the second direction, a is the size of each light-emitting unit along the first direction or the second direction, θ is the divergence angle of the emitted light beam of each light-emitting unit along the first direction or the second direction, and the first direction is perpendicular to the second direction. The following is an example in which the first direction is the horizontal direction and the second direction is the vertical direction.

[0121] First, the first direction (eg, horizontal direction) is introduced.

[0122] Reference Fig.13a , assuming that the light emitting unit 111U L The divergence angle of the emitted light beam in the horizontal direction is θx. To make the light emitting unit 111U L and its adjacent light emitting unit 111U R In order for the emitted light beam to not cause crosstalk in the horizontal direction, (condition 2) must be met:

[0123] tan(θx / 2)≤(pitch1-ax) / [2*dx]……(Condition 2)

[0124] That is, the microlens 141 L The center O' and the corresponding light emitting unit 111U L The distance dx between the centers O of the light emitting surfaces needs to satisfy (condition 3):

[0125] dx≤(pitch1-ax) / [2*tan(θx / 2)]……(Condition 3)

[0126] Wherein, dx is the first value of the distance, pitch1 is the light emitting unit 111U L and its adjacent light emitting unit 111U R The center distance along the horizontal direction, ax is the light emitting unit 111U L The horizontal dimension of the light emitting unit 111U is θx. L The divergence angle of the emitted light beam in the horizontal direction.

[0127] On the contrary, when the microlens 141 L The center O' and the corresponding light emitting unit 111U LWhen the distance dx between the centers O of the light emitting surfaces does not satisfy the above (condition 3), that is, when dx>(pitch1-ax) / [2*tan(θx / 2)], the emission light beams of the adjacent light emitting units in the horizontal direction will crosstalk. Fig.13b As shown, the horizontal left light emitting unit 111U L The emitted light beam will be transmitted to the right microlens 141 R Top, right light unit 111U R The emitted light beam will be transmitted to the micro lens 141 on the left L superior.

[0128] Therefore, in order to prevent crosstalk between the light beams emitted by adjacent light-emitting units in the horizontal direction, the distance between the center of the microlens and the center of the light-emitting surface of the corresponding light-emitting unit must at least meet the above (condition 3).

[0129] The second direction (eg, vertical direction) is described below.

[0130] Reference Fig.14a , assuming that the light emitting unit 111U D The divergence angle of the emitted light beam in the vertical direction is θy. To make the light emitting unit 111U D and its adjacent light emitting unit 111U U If the emitted light beam does not crosstalk in the vertical direction, then (condition 4) must be met:

[0131] tan(θy / 2)≤(pitch2-ay) / [(2*dy)]……(Condition 4)

[0132] That is, the microlens 141 D The center O' and the corresponding light emitting unit 111U D The distance dy between the centers O of the light-emitting surfaces satisfies (condition 5):

[0133] dy≤(pitch2-ay) / [2*tan(θy / 2)]......(Condition 5)

[0134] Wherein, dy is the second value of the distance, pitch2 is the light emitting unit 111U D and its adjacent light emitting unit 111U U The center distance along the vertical direction, ay is the distance between the light emitting units 111U D The vertical dimension, θy, is the size of the light emitting unit 111U. D The divergence angle of the emitted light beam in the vertical direction.

[0135] On the contrary, when the microlens 141 D The center O' and the corresponding light emitting unit 111UD When the distance dy between the centers O of the light emitting surfaces does not satisfy the above (condition 5), that is, when dy>(pitch2-ay) / [2*tan(θy / 2)], the emitted light beams of the adjacent light emitting units in the vertical direction will crosstalk. Fig.14b , vertically upward light emitting unit 111U U The emitted light beam will be transmitted to the micro lens 141 below D Upper and lower light emitting units 111U D The emitted light beam will be transmitted to the upper microlens 141 U superior.

[0136] Therefore, in order to prevent crosstalk between the emitted light beams of adjacent light-emitting units in the vertical direction, the distance between the center of the microlens and the center of the light-emitting surface of the corresponding light-emitting unit must at least meet the above (condition 5).

[0137] Furthermore, in order to prevent crosstalk between the light beams emitted by adjacent light-emitting units in the horizontal and vertical directions, (Condition 6) needs to be met:

[0138] d≤min{dx,dy}......(Condition 6)

[0139] Wherein, d is the distance between the center O' of the microlens and the center O of the light-emitting surface of the corresponding light-emitting unit, dx is the distance between the center of the microlens corresponding to the light beams emitted by adjacent light-emitting units in the horizontal direction without crosstalk and the center of the light-emitting surface of the corresponding light-emitting unit, and dy is the distance between the center of the microlens corresponding to the light beams emitted by adjacent light-emitting units in the vertical direction without crosstalk and the center of the light-emitting surface of the corresponding light-emitting unit.

[0140] On the contrary, when the distance d between the center O' of the microlens and the center O of the light emitting surface of the corresponding light emitting unit does not satisfy the above (condition 6), that is, when d>min{dx,dy}, the emission light beams of adjacent light emitting units in the horizontal direction and / or vertical direction will crosstalk.

[0141] The above embodiments introduce in detail the conditions (condition 1, condition 3, condition 5, condition 6) that need to be satisfied by the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit. The distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is set so that each microlens only modulates the light beam emitted by the light emitting unit corresponding to it, thereby reducing the crosstalk between the light beams emitted by adjacent light emitting units.

[0142] In the light emitting device of the present invention, the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is set so that the curved surfaces of adjacent microlenses in the microlens array in the first direction and / or the second direction are in contact, wherein the first direction is perpendicular to the second direction. Figure 12b The figure shows the situation where the curved surfaces of adjacent microlenses in the microlens array in the first direction and the second direction are in contact with each other. Fig.15a The figure shows the situation where the curved surfaces of adjacent microlenses in the microlens array are in contact with each other in the first direction or the second direction. Fig.15b The figure shows a situation where the curved surfaces of adjacent microlenses in the microlens array do not touch each other in the first direction and the second direction.

[0143] In some preferred embodiments of the present invention, the divergence angle of the light emitting unit in the horizontal direction is equal to the divergence angle in the vertical direction, and both are described as θ below. Figure 8 , Fig.12a and Figure 12b Since the center of each microlens is aligned with the center of the light emitting surface of a corresponding light emitting unit, the center spacing pitch1 of adjacent light emitting units in the horizontal direction is equal to the center spacing pitch1' of adjacent microlenses in the horizontal direction, that is, pitch1=pitch1', and the center spacing pitch2 of adjacent light emitting units in the vertical direction is equal to the center spacing pitch2' of adjacent microlenses in the vertical direction, that is, pitch2=pitch2'.

[0144] Method 1:

[0145] When the distance d between the center of the microlens and the center of the light emitting surface of the corresponding light emitting unit is d=dx=dy, the size of the microlens in the horizontal direction is ax'=pitch1'=pitch1, and the size in the vertical direction is ay'=pitch2'=pitch2. At this time, the curved surfaces of adjacent microlenses in the microlens array in the first direction (e.g., X direction or Y direction) and the second direction (e.g., Y direction or X direction) are in contact, refer to Figure 12b The situation shown.

[0146] Method 2:

[0147] When the distance d between the center of the microlens and the center of the light emitting surface of the corresponding light emitting unit is d=dx<dy, the size of the microlens in the horizontal direction is ax'=pitch1'=pitch1, and the size in the vertical direction is ay'=2d*tan(θ / 2)+ay, that is, ay'=2dx*tan(θ / 2)+ay. At this time, ay'<pitch2', the curved surfaces of adjacent microlenses in the microlens array are in contact in the first direction (e.g., X direction, horizontal direction), and are not in contact in the second direction (e.g., Y direction, vertical direction). Fig.15a The situation shown.

[0148] Method 3:

[0149] Although not shown in the figure, similarly, when the distance d=dy<dx between the center of the microlens and the center of the light emitting surface of the corresponding light emitting unit, the size of the microlens in the horizontal direction is ax'=2d*tan(θ / 2)+ax, that is, ax'=2dy*tan(θ / 2)+ax, and the size in the vertical direction is ay'=pitch2'=pitch2. At this time, ax'<pitch1', and the curved surfaces of adjacent microlenses in the microlens array are in contact in the second direction (for example, the Y direction, the vertical direction), and are not in contact in the first direction (for example, the X direction, the horizontal direction).

[0150] Method 4:

[0151] Similarly, when the distance between the center of the microlens and the center of the light-emitting surface of the corresponding light-emitting unit is d<dx<dy, the size of the microlens in the horizontal direction is ax'=2d*tan(θ / 2)+ax, and the size in the vertical direction is ay'=2d*tan(θ / 2)+ay. At this time, ax'<pitch1', ay'<pitch2', and the curved surfaces of adjacent microlenses in the microlens array in the first direction (for example, the X direction) and the second direction (for example, the Y direction) do not touch each other. Fig.15b The situation shown.

[0152] The above embodiments introduce several ways of setting the distance between the center of a microlens and the center of a light-emitting surface of a corresponding light-emitting unit. In the actual design process, it is preferably set to the above-mentioned way 1 so that the curved surfaces of adjacent microlenses in the microlens array in the first direction and the second direction are in contact, which is beneficial to reduce the crosstalk between the emission light beams of adjacent light-emitting units and reduce the processing difficulty of the microlens array.

[0153] In the light emitting device of the present invention, the microlens array can be integrated with the dimming unit. Fig.11 and Fig.16aFor example, the microlens array 14 can be integrated with the dimming unit 121 / 122. In addition, the microlens array can also be integrated with the light emitting unit array, referring to Fig.16b . Alternative, such as Fig.16c As shown, the microlens array can also be integrated with the light emitting unit array and the dimming unit. In a specific embodiment of the present invention, the microlens array 14 can be packaged together with the light emitting unit array 111 through a packaging material (not shown in the figure). Optionally, the microlens array 14 can be integrated on, for example, a glass sheet at the exit of the packaging shell of the laser formed by the light emitting unit array 111, but the present invention is not limited thereto, and the specific material of the packaging material and the packaging position can be set according to actual conditions.

[0154] Those skilled in the art should understand that in the actual design of the light emitting device, the radius of curvature and thickness of the microlens should also be considered. Specifically, the radius of curvature and thickness can be optimized by optical simulation based on the required field of view and the difficulty of surface processing to optimize the field of view formed by the light beams emitted by adjacent light emitting units. There is an obvious spacing problem.

[0155] The light emitting device of the present invention is introduced above. The light emitting device of the present invention is provided with a dimming component between the emitting component and the collimating component. Each dimming component can modulate the emission light beam of the corresponding emitting unit, so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other, thereby compensating for the partial field of view energy loss caused by the interval between adjacent emitting units, which is beneficial to improve the continuity of the field of view range to form a field of view with a larger aspect ratio. By providing a microlens array downstream of the optical path of the emitting unit, each microlens corresponds to one of the light emitting units of the emitting unit, and each microlens can modulate the emission light beam of the corresponding light emitting unit, thereby compensating for the partial field of view energy loss caused by the interval between adjacent light emitting units, which is beneficial to further improve the continuity of the field of view range and the uniformity of energy distribution.

[0156] The present invention also relates to a design method of a light emitting device for a laser radar, wherein the emitted light of the light emitting device is used to cover a detection area, and the light emitting device includes the light emitting device 10 as described above.

[0157] Fig.17The flowchart of the design method 300 according to one embodiment of the present invention is shown. The design method includes steps S310 to S330. In step S310, the parameters of the transmitting component 11 are determined. The transmitting component 11 includes at least a first transmitting unit 111 and a second transmitting unit 112. The first transmitting unit 111 and the second transmitting unit 112 are spaced apart from each other. The emission light beam of each transmitting unit is configured to cover a sub-area. Each transmitting unit includes a light emitting unit array. In step S320, the parameters of the collimating component 13 are determined. The collimating component 13 is set at Downstream of the optical path of the emitting component 11; in step S330, the parameters of the dimming component 12 are determined according to the parameters of the emitting component 11, the parameters of the collimating component 13 and the detection area, wherein the dimming component 12 is arranged between the emitting component 11 and the collimating component 13, and the dimming component 12 includes at least a first dimming unit 121 and a second dimming unit 122, each dimming unit corresponds to one of the emitting units, and is configured to modulate the emission light beam of the corresponding emitting unit so that the fields of view formed by the light beams emitted from the collimating component 13 overlap or are adjacent to each other.

[0158] According to a preferred embodiment of the present invention, the first dimming unit 121 and the second dimming unit 122 are configured to respectively deflect the emission light beams of the first emitting unit 111 and the second emitting unit 112 in directions away from each other to form the field of view.

[0159] According to a preferred embodiment of the present invention, the first dimming unit 121 and the second dimming unit 122 are wedge-shaped mirrors, and a side of the wedge-shaped mirror close to the light-emitting surface of the first emitting unit 111 and the second emitting unit 112 is basically parallel to the plane where the light-emitting surface is located, and a side of the wedge-shaped mirror away from the light-emitting surface of the first emitting unit 111 and the second emitting unit 112 forms a wedge angle with the plane where the light-emitting surface is located.

[0160] According to a preferred embodiment of the present invention, the parameters of the emitting component 11 include the distance g between the first emitting unit 111 and the second emitting unit 112, and the parameters of the dimming component 12 include the material refractive index η and the wedge angle value α of each dimming unit.

[0161] According to a preferred embodiment of the present invention, the thickness of the ends of the first dimming unit 121 and the second dimming unit 122 that are close to each other is smaller than the thickness of the ends that are far away from each other.

[0162] According to a preferred embodiment of the present invention, the light-emitting unit array includes a one-dimensional light-emitting unit array / a two-dimensional light-emitting unit array, the light-emitting unit array includes a plurality of light-emitting units spaced apart from each other, each light-emitting unit can be independently selected and addressed, and each light-emitting unit includes a plurality of micro units that can emit light simultaneously.

[0163] According to a preferred embodiment of the present invention, a microlens array 14 is provided on one side of the light emitting surface of each dimming unit close to the first emitting unit 111 and the second emitting unit 112, and the microlens array 14 includes a plurality of microlenses 141, each microlens 141 corresponds to one of the light emitting units 111U, and is configured to modulate the light beam emitted by the light emitting unit corresponding thereto.

[0164] According to a preferred embodiment of the present invention, the center O' of each microlens is aligned with the center O of the light emitting surface of a corresponding light emitting unit, and the distance between the center O' of each microlens and the center O of the light emitting surface of a corresponding light emitting unit is related to the parameters of the light emitting unit array.

[0165] According to a preferred embodiment of the present invention, the parameters of the light emitting unit array include: the spacing between adjacent light emitting units, the size of each light emitting unit, and the divergence angle of the light beam emitted by each light emitting unit.

[0166] According to a preferred embodiment of the present invention, the distance between the center O' of each microlens and the center O of the light emitting surface of a corresponding light emitting unit is set so that each microlens only modulates the light beam emitted by the corresponding light emitting unit.

[0167] According to a preferred embodiment of the present invention, the distance d between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit satisfies: d≤(pitch-a) / [2*tan(θ / 2)], wherein pitch is the spacing between adjacent light emitting units along the first direction or the second direction, a is the size of each light emitting unit along the first direction or the second direction, θ is the divergence angle of the emitted light beam of each light emitting unit along the first direction or the second direction, and the first direction is perpendicular to the second direction.

[0168] According to a preferred embodiment of the present invention, adjacent microlenses in the microlens array are in contact with each other at curved surfaces in a first direction and / or a second direction, and the first direction is perpendicular to the second direction; the light-emitting unit is a surface-emitting type, the light-emitting unit array constitutes the emitting unit, and the emitting unit constitutes a vertical-cavity surface-emitting laser (Vertical-Cavity Surface-Emitting Laser, VCSEL) or a photonic crystal surface-emitting laser (Photonic Crystal Surface Emitting Laser, PCSEL).

[0169] The design method 300 of the present invention is introduced above. In addition, the present invention also provides a laser radar. Fig.18 FIG. 4 shows a schematic diagram of a laser radar 500 according to an embodiment of the present invention. Fig.18 As shown, the laser radar 500 includes the light emitting device 10, the detection device 520 and the processing device 530 as described above: wherein the light emitting device 10 is configured to emit a detection light beam Light for detecting an obstacle OB; the detection device 520 is configured to respond to the echo Light' reflected by the detection light beam Light incident on the obstacle OB and convert it into an electrical signal; the processing device 530 is coupled to the detection device 520 and configured to calculate obstacle information based on the electrical signal.

[0170] According to a preferred embodiment of the present invention, the detection device 520 includes a detection unit array, the detection unit array includes a plurality of detection units 521 (one of which is exemplarily shown in the figure), each detection unit 521 can be used as a region, and each detection unit 521 can correspond to one of the light-emitting units 111U of one of the emission units (e.g., emission units 111 / 112) in the light emitting device 10. Preferably, the plurality of detection units 521 can be arranged as a one-dimensional linear array or a two-dimensional surface array. Preferably, each detection unit 521 can include a plurality of pixels (not shown in the figure), and each pixel can include at least one single photon avalanche diode (SPAD).

[0171] According to a preferred embodiment of the present invention, the laser radar 500 can be a fully solid-state laser radar to form a fully covered array light source. In addition, the laser radar 500 can also be a scanning laser radar or a mechanical rotating laser radar, which are all within the protection scope of the present invention.

[0172] Fig.19a shows the energy distribution at the emission end when no microlens is provided downstream of the light path of the light emitting unit, Fig.19bshows the energy distribution at the receiving end when no microlens is set downstream of the light path of the light emitting unit. Fig.19a It can be seen that the micro units 1110 in the light emitting unit 111U are relatively independent, and the light energy emitted by each micro unit 1110 is not homogenized, with high energy in the middle (dark grayscale) and low energy in the periphery (light grayscale), resulting in uneven energy distribution in the field of view formed by the light beam emitted by the entire light emitting unit 111U. Fig.19b As shown, the echo energy received by the detection unit 521 corresponding to the light-emitting unit 111U is also unevenly distributed, thereby affecting the signal-to-noise ratio and the accuracy of the detection result.

[0173] Fig.20a shows the energy distribution at the emission end when a microlens is provided downstream of the light path of the light emitting unit, Fig.20b shows the energy distribution at the receiving end when a microlens is provided downstream of the light path of the light emitting unit. Fig.20a It can be seen that the emitted light of each micro-unit 1110 in the light-emitting unit 111U is homogenized by the micro-lens, and the energy distribution of the emitted light of each micro-unit 1110 is more uniform after being emitted by the micro-lens, so that the energy distribution within the field of view formed by the emitted light beam of the entire light-emitting unit 111U after being emitted by the micro-lens is more uniform. Fig.20b , the distribution of the echo energy received by the detection unit 521 corresponding to the light-emitting unit 111U is also more uniform, which is conducive to improving the signal-to-noise ratio of the echo signal and improving the accuracy of the detection result. In addition, after the emission light beam of the light-emitting unit 111U is modulated by the microlens, the field of view formed after it is emitted from the microlens can be widened and magnified to a certain extent, which can reduce the gap between the field of view areas corresponding to the adjacent light-emitting units, thereby further increasing the coverage area of ​​the echo energy in the detection unit 521, further reducing the possibility of missing the target, and further improving the accuracy of the detection result.

[0174] The present invention also provides a computer-readable storage medium, comprising computer-executable instructions stored thereon, which implement the operation of the laser radar as described above when executed by a processor.

[0175] In some preferred embodiments, the computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. The computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable storage medium can be, for example, but not limited to, the form or device of electricity, magnetism, light, or semiconductor, and more specifically examples (non-exhaustive list) include: an electrical connection with one or more wires, a portable computer hard disk, a hard disk, a random access memory (RAM), a non-volatile random access memory (NVRAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0176] In addition, the present invention also provides a computer device (not shown in the figure), including a memory and a processor, wherein the memory is configured to store computer executable instructions, and the executable instructions implement the operation of the laser radar as described above when executed by the processor.

[0177] In some preferred embodiments of the present invention, the processor / processing device may include a central processing unit (CPU), and may also include other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The present invention is not limited to this and it depends on the specific circumstances.

[0178] In summary, the scheme of the present invention has been introduced in detail. The light emitting device of the present invention arranges a dimming component between the emitting component and the collimating component. Each dimming component can modulate the emission light beam of the corresponding emitting unit, so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other, thereby compensating for the partial field of view energy loss caused by the interval between adjacent emitting units, which is beneficial to improving the continuity of the field of view range to form a field of view with a larger aspect ratio.

[0179] Furthermore, the light emitting device of the present invention arranges a microlens array downstream of the optical path of the emitting unit, and each microlens corresponds to one of the light emitting units of the emitting unit. Each microlens can modulate the emission light beam of the light emitting unit corresponding thereto, thereby compensating for the partial field of view energy loss caused by the interval between adjacent light emitting units, which is beneficial to further improve the continuity of the field of view range and the uniformity of energy distribution.

[0180] Furthermore, the emission light beam of the emission component can form a field of view with a larger aspect ratio after being modulated by the dimming component and shaped by the collimating component. The aspect ratio of the combined field of view formed by the emission light beams of each emission unit of the emission component after being modulated by the dimming component and shaped by the collimating component is greater than the aspect ratio of the light-emitting surface of any emission unit in the emission component. Compared with the traditional method of arranging multiple discretely packaged lasers into an array with a larger aspect ratio, it is conducive to the miniaturization of the entire device and reduces the processing requirements for the emission unit.

[0181] Furthermore, the emission light beam of the light-emitting unit can be widened, amplified and homogenized after being modulated by the microlens, which can optimize the partial field of view energy loss caused by the interval between adjacent light-emitting units, and is conducive to forming a field of view with more uniform energy distribution, stronger continuity and larger coverage.

[0182] Furthermore, by integrating the microlens array on one side of each dimming unit close to the light emitting surface of the emitting unit, it is helpful to improve the integration of the light emitting device and to further reduce the size of the light emitting device.

[0183] Furthermore, the light emitting device of the present invention can be applied to laser radars. After the emission light beam of the emitting unit is modulated by a dimming component and shaped by a collimating component, and the emission light beam of the light emitting unit is modulated by a microlens and shaped by a collimating component, a field of view with more uniform energy distribution, stronger continuity, larger aspect ratio, and larger coverage can be formed. Accordingly, a larger detection range can be covered at the receiving end, so that more echo light beams can be received, thereby improving the signal-to-noise ratio of the echo signal, which is beneficial to reducing the risk of target missed detection and improving the accuracy of the detection results.

[0184] Furthermore, the light emitting device of the present invention is applied to a laser radar, which can optimize the continuity and energy distribution uniformity of the field of view formed by the light beam emitted by a laser including a plurality of light-emitting units that can be driven separately, thereby helping to reduce target omissions and improve the accuracy of detection results.

[0185] Furthermore, the light emitting device of the present invention can be applied to an all-solid-state laser radar to form a field of view with more uniform energy distribution, stronger continuity, and a larger aspect ratio at the transmitting end, thereby forming a planar light source with a higher coverage ratio or even full coverage.

[0186] It should be noted that, although the light emitting device and several modules or submodules of the laser radar are mentioned in the above detailed description, this division is not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided into multiple modules to be concretized.

[0187] It should be noted that this specification provides method operation steps as described in the embodiments or schematic diagrams, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or device product is executed, it can be executed in the order or in parallel according to the method shown in the embodiments or flowcharts.

[0188] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A light emitting device for laser radar, comprising: An emitting assembly, comprising at least a first emitting unit and a second emitting unit, wherein the first emitting unit and the second emitting unit are spaced apart from each other, each emitting unit is configured to emit a light beam, and each emitting unit comprises an array of light emitting units; A dimming component is arranged downstream of the optical path of the emitting component, and the dimming component comprises at least a first dimming unit and a second dimming unit, wherein each dimming unit corresponds to one of the emitting units and is configured to modulate the emission light beam of the emitting unit corresponding thereto; and A collimating component is disposed downstream of the optical path of the dimming component and is configured to shape the light beam modulated by the dimming component so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other. 2 . The light emitting device according to claim 1 , wherein the first dimming unit and the second dimming unit are configured to respectively deflect the emission light beams of the first emitting unit and the second emitting unit in directions away from each other to form the field of view.

3. The light emitting device according to claim 1, wherein the aspect ratio of the combined field of view formed by the emission light beams of each emitting unit of the emitting component being modulated by the dimming component and shaped by the collimating component is greater than the aspect ratio of the light emitting surface of any emitting unit in the emitting component.

4. The light emitting device according to any one of claims 1 to 3, wherein the first dimming unit and the second dimming unit are wedge-shaped mirrors, a side of the wedge-shaped mirror close to the light emitting surface of the first emitting unit and the second emitting unit is substantially parallel to the plane where the light emitting surface is located, and a side of the wedge-shaped mirror away from the light emitting surface of the first emitting unit and the second emitting unit forms a wedge angle with the plane where the light emitting surface is located.

5. The light emitting device according to claim 4, wherein the parameters of the dimming component are related to the parameters of the emitting component, the parameters of the collimating component and the field of view, wherein the parameters of the dimming component include the material refractive index and wedge angle value of each dimming unit, the parameters of the emitting component include the distance between the first emitting unit and the second emitting unit, and the parameters of the collimating component include the focal length. 6 . The light emitting device according to claim 1 , wherein thicknesses of ends of the first dimming unit and the second dimming unit that are close to each other are smaller than thicknesses of ends that are far away from each other.

7. A light emitting device according to any one of claims 1-3, wherein the light emitting unit array comprises a one-dimensional light emitting unit array / a two-dimensional light emitting unit array, the light emitting unit array comprises a plurality of light emitting units spaced apart from each other, each light emitting unit can be independently selected and addressed, and each light emitting unit comprises a plurality of micro units that can emit light simultaneously.

8. The light emitting device according to claim 7, wherein a microlens array is arranged on one side of each dimming unit close to the light emitting surface of the first emitting unit and the second emitting unit, the microlens array comprises a plurality of microlenses, each microlens corresponds to one of the light emitting units and is configured to modulate the light beam emitted by the light emitting unit corresponding thereto.

9. The light emitting device according to claim 8, wherein the center of each microlens is aligned with the center of the light emitting surface of a corresponding light emitting unit, and the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is related to the parameters of the light emitting unit array.

10. The light emitting device according to claim 9, wherein the parameters of the light emitting unit array include: The spacing between adjacent light-emitting units, the size of each light-emitting unit, and the divergence angle of the emitted light beam of each light-emitting unit.

11. The light emitting device according to claim 9, wherein the distance between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit is set so that each microlens only modulates the light beam emitted by the corresponding light emitting unit.

12. The light emitting device according to claim 9, wherein the distance d between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit satisfies: d≤(pitch-a) / [2*tan(θ / 2)], wherein, pitch is the spacing between adjacent light emitting units along the first direction or the second direction, a is the size of each light emitting unit along the first direction or the second direction, θ is the divergence angle of the emitted light beam of each light emitting unit along the first direction or the second direction, and the first direction is perpendicular to the second direction. 13 . The light emitting device according to claim 8 , wherein curved surfaces of adjacent microlenses in the microlens array are in contact with each other in a first direction and / or a second direction, and the first direction is perpendicular to the second direction. 14 . The light emitting device according to claim 7 , wherein the light emitting unit is a surface emitting type, the light emitting unit array constitutes the emitting unit, and the emitting unit constitutes a vertical cavity surface emitting laser or a photonic crystal surface emitting laser.

15. A method for designing a light emitting device for a laser radar, wherein the emitted light of the light emitting device is used to cover a detection area, the method comprising: Determine parameters of a transmitting assembly, wherein the transmitting assembly comprises at least a first transmitting unit and a second transmitting unit, wherein the first transmitting unit and the second transmitting unit are spaced apart from each other, wherein an emission light beam of each transmitting unit is configured to cover a sub-area, and each transmitting unit comprises an array of light-emitting units; Determining parameters of a collimating assembly, the collimating assembly being disposed downstream of the optical path of the transmitting assembly; and The parameters of the dimming component are determined according to the parameters of the emitting component, the parameters of the collimating component and the detection area, wherein the dimming component is arranged between the emitting component and the collimating component, and the dimming component includes at least a first dimming unit and a second dimming unit, each dimming unit corresponds to one of the emitting units, and is configured to modulate the emission light beam of the corresponding emitting unit so that the fields of view formed by the light beams emitted from the collimating component overlap or abut each other. 16 . The design method according to claim 15 , wherein the first dimming unit and the second dimming unit are configured to respectively deflect the emission light beams of the first emitting unit and the second emitting unit in directions away from each other to form the field of view.

17. The design method according to claim 15, wherein the aspect ratio of the combined field of view formed by the light beams emitted after the emission light beams of each emission unit of the emission component are modulated by the dimming component and shaped by the collimating component is greater than the aspect ratio of the light-emitting surface of any emission unit in the emission component.

18. A design method according to any one of claims 15-17, wherein the first dimming unit and the second dimming unit are wedge-shaped mirrors, a side of the wedge-shaped mirror close to the light-emitting surface of the first emitting unit and the second emitting unit is basically parallel to the plane where the light-emitting surface is located, and a side of the wedge-shaped mirror away from the light-emitting surface of the first emitting unit and the second emitting unit forms a wedge angle with the plane where the light-emitting surface is located.

19. The design method according to claim 18, wherein the parameters of the emitting component include the distance between the first emitting unit and the second emitting unit, the parameters of the collimating component include the focal length, and the parameters of the dimming component include the material refractive index and wedge angle value of each dimming unit. 20 . The design method according to claim 15 , wherein the thickness of the ends of the first dimming unit and the second dimming unit that are close to each other is smaller than the thickness of the ends that are far away from each other.

21. A design method according to any one of claims 15-17, wherein the light-emitting unit array comprises a one-dimensional light-emitting unit array / a two-dimensional light-emitting unit array, the light-emitting unit array comprises a plurality of light-emitting units spaced apart from each other, each light-emitting unit can be independently selected and addressed, and each light-emitting unit comprises a plurality of micro units that can emit light simultaneously.

22. According to the design method according to claim 21, a microlens array is arranged on one side of the light emitting surface of each dimming unit close to the first emitting unit and the second emitting unit, and the microlens array includes a plurality of microlenses, each microlens corresponds to one of the light emitting units and is configured to modulate the light beam emitted by the light emitting unit corresponding thereto.

23. The design method according to claim 22, wherein the center of each microlens is aligned with the center of the light-emitting surface of a corresponding light-emitting unit, and the distance between the center of each microlens and the center of the light-emitting surface of a corresponding light-emitting unit is related to the parameters of the light-emitting unit array.

24. The design method according to claim 23, wherein the parameters of the light emitting unit array include: The spacing between adjacent light-emitting units, the size of each light-emitting unit, and the divergence angle of the emitted light beam of each light-emitting unit.

25. The design method according to claim 23, wherein the distance between the center of each microlens and the center of the light-emitting surface of a corresponding light-emitting unit is set so that each microlens only modulates the light beam emitted by the corresponding light-emitting unit.

26. The design method according to claim 23, wherein the distance d between the center of each microlens and the center of the light emitting surface of a corresponding light emitting unit satisfies: d≤(pitch-a) / [2*tan(θ / 2)], wherein, pitch is the spacing between adjacent light emitting units along the first direction or the second direction, a is the size of each light emitting unit along the first direction or the second direction, θ is the divergence angle of the emitted light beam of each light emitting unit along the first direction or the second direction, and the first direction is perpendicular to the second direction.

27. The design method according to claim 22, wherein adjacent microlenses in the microlens array are in contact with each other at curved surfaces in a first direction and / or a second direction, and the first direction is perpendicular to the second direction; the light-emitting unit is a surface-emitting type, the light-emitting unit array constitutes the emitting unit, and the emitting unit constitutes a vertical cavity surface-emitting laser or a photonic crystal surface-emitting laser.

28. A laser radar, comprising: The light emitting device according to any one of claims 1 to 14, configured to emit a detection light beam for detecting obstacles; A detection device configured to respond to the echo reflected by the obstacle when the detection light beam is incident on the obstacle and convert it into an electrical signal; and The processing device is coupled to the detection device and is configured to calculate obstacle information based on the electrical signal.

29. The laser radar according to claim 28, wherein the detection device comprises a detection unit array, the detection unit array comprises a plurality of detection units, wherein each detection unit corresponds to one of the light-emitting units of one of the emitting units of the light-emitting device.

30. The laser radar of claim 28 or 29, wherein the laser radar comprises an all-solid-state laser radar.

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