Emission assembly, lidar, terminal, vehicle, and control method

Abstract

An emission assembly (1), a lidar, a terminal, a vehicle, and a control method. The emission assembly (1) comprises a laser array (11) and an emission optical system (12); the laser array (11) comprises at least two emission channels, and the emission channels are used for emitting light beams; and the emission optical system (12) is located on a light-exit side of the laser array (11), and is used for adjusting the light beams emitted from different emission channels of the laser array (11) to light beams of different emission field-of-view angles. Since the emission optical system (12) can adjust the light beams emitted from different emission channels of the laser array (11) to light beams of different emission field-of-view angles, the emission assembly (1) can support emission of light beams at a plurality of different emission field-of-view angles. When the emission assembly (1) is applied to the lidar, the lidar can switch between different emission field-of-view angles, thereby meeting the requirements of traffic control, especially intelligent driving.

Description

A transmitting component, a lidar, a terminal, a vehicle, and a control method.

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202422842859.9, filed on November 21, 2024, entitled "A Transmitting Component, LiDAR, Terminal and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of sensor technology, and more particularly to transmitting components, lidar, terminals, vehicles, and control methods for traffic control. Background Technology

[0004] Compared to traditional technologies such as millimeter-wave radar and ultrasonic radar, lidar has a shorter operating wavelength, which can significantly improve performance such as detection resolution and detection range. Applying lidar to vehicles can help enhance the intelligent driving experience.

[0005] In existing technologies, the emission field of view of lidar is fixed (e.g., typically 120 degrees), and it is impossible to switch to different emission field of view for environmental perception, which cannot meet the needs of intelligent driving. Summary of the Invention

[0006] This application provides a transmitting component, a lidar, a terminal, a vehicle, and a control method, which can transmit beams with different transmission field of view and support the lidar to switch between different transmission field of view to meet the needs of traffic control, especially intelligent driving.

[0007] In a first aspect, a transmitting component is provided, including a laser array and a transmitting optical system; the laser array includes at least two transmitting channels for transmitting light beams; the transmitting optical system is located on the light-emitting side of the laser array and is used to adjust the light beams emitted from different transmitting channels in the laser array into light beams with different emission field angles.

[0008] In the transmitting component provided in this embodiment, the transmitting optical system can adjust the light beams emitted from different transmitting channels in the laser array into light beams with different transmitting field of view angles, enabling the transmitting component to support the emission of light beams with multiple different transmitting field of view angles. When the transmitting component is applied to lidar, it can enable lidar to switch between different transmitting field of view angles to meet the needs of traffic control, especially intelligent driving.

[0009] In one possible design, the emitting optical system may include a first lens module located on the light-emitting side of the laser array, used to deflect the passing light beam along a first direction; wherein, the light beams from different channels in the laser array are deflected at different angles along the first direction after passing through the first lens module, the first direction being perpendicular to a third direction, which is the light-emitting direction of the first lens module.

[0010] The above design method is based on the first lens module deflecting the light beams emitted from different channels at different angles along the first direction, thereby forming different emission field angles of light beams emitted from different emission channels in the first direction. It is simple and easy to implement.

[0011] In one possible design, the first lens module may specifically include: a first cylindrical lens array located on the light-emitting side of the laser array, the first cylindrical lens array including a plurality of cylindrical lenses arranged along a first direction, the cylindrical direction of each of the plurality of cylindrical lenses being parallel to a second direction, each of the plurality of cylindrical lenses being used to amplify the divergence angle of the passing beam along the first direction, the second direction being perpendicular to the third direction and the first direction; and at least one prism located on the light-emitting side of the first cylindrical lens array for deflecting the passing beam along the first direction.

[0012] In one possible example, at least one prism is a single prism; beams from different channels in the laser array are projected onto different positions of the prism along a first direction after passing through a first cylindrical lens array.

[0013] In another possible example, at least one prism is multiple prisms arranged along a first direction; the multiple prisms satisfy the condition that at least one of their shape, orientation, and size is different; the beams from different channels in the laser array are projected onto different prisms of the multiple prisms along the first direction after passing through the first cylindrical lens array.

[0014] In the above design, the beam is deflected along the first direction by the prism, which is simple to implement and low in cost. Furthermore, before the beam enters the prism, it passes through the first cylindrical lens array, so that the beam obtains a small divergence angle before entering the prism, which helps the beam to obtain a large field of view after being deflected by the prism.

[0015] In one possible design, the first cylindrical lens array can be separated from at least one prism, for example, the distance between at least one prism and the light-emitting surface of the first cylindrical lens array is less than a first threshold.

[0016] In another possible design, the first cylindrical lens array is integrated with at least one prism, for example, at least one prism is attached to the light-emitting surface of the first cylindrical lens array, or the first cylindrical lens array and at least one prism are different parts of the same optical element.

[0017] In one possible design, the transmitting optical system may further include a second lens module located between the laser array and the first lens module, for: collimating the passing beam along a first direction, wherein the collimated beam has a field of view along the first direction as a first angle; and collimating the passing beam along a second direction, wherein the collimated beam at different positions along the second direction forms at least one field of view along the second direction; wherein the second direction is perpendicular to the third direction and the first direction.

[0018] This design method uses a second lens module to collimate the beam emitted by the laser array in the first and second directions, which can make the incident beam on the first lens module a collimated beam, better ensuring the output effect of the beam after passing through the first lens module, while reducing the requirements on the laser array.

[0019] In one possible design, the second lens module may specifically include: a second cylindrical lens array located on the light-emitting side of the laser array, the second cylindrical lens array including at least two cylindrical lenses arranged along a first direction, the cylindrical direction of each of the at least two cylindrical lenses being parallel to a second direction, and each of the at least two cylindrical lenses being used to collimate the passing light beam along the first direction; and a first cylindrical lens located on the light-emitting side of the second cylindrical lens array, the cylindrical direction of the first cylindrical lens being parallel to the first direction, and the first cylindrical lens being used to collimate the passing light beam along the second direction.

[0020] This design method uses two sets of lenses (i.e., the first cylindrical lens array and the first cylindrical lens) to collimate the light beam in the first direction and the second direction respectively, which is simple and easy to implement.

[0021] In one possible design, the cylindrical lenses in the second cylindrical lens array correspond one-to-one with the emission channels of the laser array, and the beam emitted by each emission channel of the laser array is projected onto the cylindrical lens corresponding to each emission channel.

[0022] This design approach can minimize the size and cost of the second cylindrical lens array while ensuring beam collimation.

[0023] In a second aspect, this application provides a lidar including a transmitting component as described in the first aspect or any possible design of the first aspect.

[0024] In one possible design, the lidar also includes a control device for: controlling a first emission channel of the laser array to emit a first beam, the emission field of view of the first beam after passing through the emission optics system being the first emission field of view; controlling a second emission channel of the laser array to emit a second beam, the emission field of view of the second beam after passing through the emission optics system being the second emission field of view; wherein the first emission field of view and the second emission field of view are different.

[0025] In one possible design, the control device can also be used to: control the first emission channel of the laser array to stop emitting a beam while controlling the second emission channel to emit the second beam.

[0026] Thirdly, this application provides a control method applicable to lidar, which includes an emitting component as described in the first aspect or any possible design of the first aspect. The method includes: controlling a first emitting channel of a laser array to emit a first beam, the first beam's emission field of view after passing through an emitting optical system being a first emission field of view; controlling a second emitting channel of the laser array to emit a second beam, the second beam's emission field of view after passing through an emitting optical system being a second emission field of view; wherein the first emission field of view and the second emission field of view are different.

[0027] In one possible design, the first emission channel of the laser array can be controlled to stop emitting a beam while the second emission channel is controlling the second emission channel to emit the second beam.

[0028] Fourthly, this application provides a terminal including a lidar as described in the second aspect or any possible design of the second aspect.

[0029] Fifthly, this application provides a vehicle including a lidar as described in the second aspect or any possible design of the second aspect.

[0030] In a sixth aspect, this application provides a computer-readable storage medium storing a computer program or instructions that, when executed, cause the method described in the third aspect or any possible design of the third aspect to be implemented.

[0031] In a seventh aspect, this application provides a computer program product that, when run on a computer, enables the implementation of the method described in the third aspect or any possible design of the third aspect.

[0032] The specific designs and beneficial effects of the second to seventh aspects mentioned above can be found in the specific designs and beneficial effects of the first aspect, and will not be repeated here. Attached Figure Description

[0033] Figure 1 is a schematic diagram of an application scenario provided by an embodiment of this application;

[0034] Figure 2 is a schematic diagram of a transmitting component 1 provided in an embodiment of this application;

[0035] Figures 3A and 3B are schematic diagrams of a laser array 11 provided in an embodiment of this application;

[0036] Figures 4A to 4F are schematic diagrams of the emission field of view of the beam corresponding to different channels;

[0037] Figure 5 is a schematic diagram of a transmitting optical system 12 provided in an embodiment of this application;

[0038] Figures 6A to 6F are schematic diagrams of the structure of the first lens module 121;

[0039] Figure 7A is a schematic diagram of another emission optical system 12 provided in an embodiment of this application;

[0040] Figures 7B and 7C are schematic diagrams of another emission optical system 12 provided in the embodiments of this application;

[0041] Figure 8 is a schematic diagram of the structure of the second lens module 122;

[0042] Figures 9A and 9B are examples of the modulation effect of the second lens module 122 on the light beam;

[0043] Figure 10 is a schematic diagram of another emission optical system 12 provided in an embodiment of this application;

[0044] Figure 11 is a schematic diagram of another emission optical system 12 provided in an embodiment of this application;

[0045] Figure 12 is a schematic diagram of a lidar provided in an embodiment of this application;

[0046] Figure 13 is a flowchart of a control method provided in an embodiment of this application;

[0047] Figures 14A and 14B are example diagrams of switching the emission field of view of a lidar. Detailed Implementation

[0048] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the shapes and sizes of the components in the accompanying drawings do not reflect actual proportions and are merely illustrative of the content of this application.

[0049] The technical solutions provided in this application can be applied to terminal devices with detection capabilities, especially those with laser detection capabilities. These terminal devices can be intelligent devices with laser detection capabilities, including but not limited to: smart home devices such as televisions, robot vacuums, smart lamps, audio systems, smart lighting systems, electrical control systems, home background music systems, home theater systems, intercom systems, and video surveillance; intelligent transportation equipment such as automobiles, ships, drones, trains, freight cars, and trucks; and intelligent manufacturing equipment such as robots, industrial equipment, intelligent logistics, and smart factories. Alternatively, the terminal device can also be a computer device with laser detection capabilities, such as a desktop computer, personal computer, or server. It should also be understood that the terminal device can also be a portable electronic device with laser detection capabilities, such as a mobile phone, tablet computer, PDA, headphones, speakers, wearable devices (such as smartwatches), in-vehicle devices, virtual reality devices, and augmented reality devices. Examples of portable electronic devices include, but are not limited to, devices equipped with... Or other portable electronic devices with different operating systems. The aforementioned portable electronic devices can also be, for example, laptops with touch-sensitive surfaces (such as touch panels).

[0050] In one possible application scenario, the technical solution provided in this application embodiment can be applied to LiDAR. Referring to Figure 1, which is a schematic diagram of an application scenario provided by this application embodiment, in this example, the LiDAR is installed on a vehicle, and is therefore also called a vehicle-mounted LiDAR. Besides vehicle-mounted LiDAR, LiDAR also includes shipborne LiDAR installed on ships, and airborne LiDAR installed on machines, etc. In one possible example, as shown in Figure 1, the LiDAR can be specifically installed at the front of a vehicle. During vehicle operation, the LiDAR can emit a detection signal (specifically a laser signal, or a laser beam, etc.). This detection signal illuminates an object in front of the vehicle and is reflected by the object. The reflected detection signal (also called an echo signal, reflected signal, or reflected beam, etc.) can be received by the LiDAR. The LiDAR can then determine information about obstacles in front of the vehicle based on the reflected detection signal, such as the distance, orientation, height, speed, attitude, size, or shape of the obstacle, so as to utilize this obstacle information to realize the vehicle's driving functions, such as, but not limited to, autonomous driving or assisted driving.

[0051] It should be noted that in the example given in Figure 1, the lidar is installed at the front of the vehicle, but in actual applications it is not limited to this. The lidar can also be installed in other locations, such as the rear of the vehicle or the roof.

[0052] Referring to Figure 2, which is a schematic diagram of a transmitting component 1 provided in an embodiment of this application, the transmitting component 1 can be applied in a lidar. The transmitting component 1 includes a laser array 11 and a transmitting optical system 12.

[0053] The laser array 11 includes at least two emission channels for emitting beams.

[0054] In one possible design, the laser array 11 is a one-dimensional array. For example, as shown in Figure 3A, the laser array 11 includes n lasers, numbered L1, L2, ..., Ln. In one possible example, one laser in the laser array 11 corresponds to one emission channel; for example, the laser array 11 shown in Figure 3A has a total of n emission channels.

[0055] In another possible design, the laser array 11 is a two-dimensional array. For example, as shown in Figure 3B, the laser array 11 includes m×n lasers, forming an m-row, n-column two-dimensional array. In one possible example, one laser in the laser array 11 corresponds to one emission channel, and the laser array 11 has a total of m×n emission channels. In another possible example, multiple lasers in the laser array 11 correspond to one emission channel; for example, each column of m lasers corresponds to one emission channel, and the laser array 11 has a total of n emission channels. Of course, the above are just examples, and the actual division of emission channels is not limited to these.

[0056] The emitting optical system 12 is located on the light-emitting side of the laser array 11. The emitting optical system 12 is used to adjust the light beams emitted from different emission channels in the laser array 11 into beams with different emission field of view angles. The emission field of view angle, also known as the emission field of view, determines the range of the field of view reached by the beam. The larger the emission field of view angle, the larger the range of the field of view reached by the beam; conversely, the smaller the emission field of view angle, the smaller the range of the field of view reached by the beam. In specific implementations, the emitting optical system 12 can be a purely solid-state emitting optical system, meaning that the positions of the optical elements in the emitting optical system are fixed. For example, it may not include movable optical elements such as galvanometers or rotating mirrors.

[0057] The different emission field of view angles can include: different emission field of view angles in a first direction; and / or different emission field of view angles in a second direction. Wherein, the first direction and the second direction are different, and both the first direction and the second direction are different from a third direction, which is the light emission direction of the emitting optical system 12 (or emitting component 1).

[0058] Optionally, the first and second directions can be located on the cross-section of the third direction (a plane perpendicular to the third direction), that is, both the first and second directions are perpendicular to the third direction. Of course, the above is just an example, and the actual implementation is not limited to this.

[0059] Alternatively, the first and second directions can be perpendicular to each other. For example, the x-direction can be horizontal and the y-direction vertical; or, for example, the y-direction can be horizontal and the x-direction vertical. Of course, these are just examples and are not limited to this in practice.

[0060] In a specific example, in the xyz coordinate system shown in Figure 2, the third direction is the z-direction (specifically, the positive z-direction), and the first and second directions can be the x-direction and the y-direction, respectively. Of course, this is just an example, and the actual implementation is not limited to this. For instance, the x-direction and y-direction can be interchanged.

[0061] For ease of description, the following text will primarily use the x-direction as the first direction, the y-direction as the second direction, and the z-direction as the third direction. Unless otherwise specified, the x-direction can include the positive and / or negative x-direction, the y-direction can include the positive and / or negative y-direction, and the z-direction can include the positive and / or negative z-direction.

[0062] Taking the example of the emitting optical system 12 adjusting the light beams emitted from different emitting channels into light beams with different emission field angles in the x-direction (i.e., the first direction), the light beams after passing through the emitting optical system 12 form different emission field angles in the x-direction, including but not limited to the following cases:

[0063] Case 1: The light beams in different channels of the laser array 11 form different emission field angles in the x-direction after passing through the emission optics system 12, and the emission field angles of the light beams corresponding to different channels do not overlap. For example, as shown in Figure 4A, three channels are illustrated. The emission field angles of the light beams in these three channels after passing through the emission optics system 12 are emission field angle 1 (a1, a1'), emission field angle 2 (a2, a2'), and emission field angle 3 (a3, a3'). Let the positive x-direction be 0° and the negative x-direction be 180°, then a1 < a1' < a2 < a2' < a3 < a3'.

[0064] Case 2: The light beams in different channels of the laser array 11 form different emission field angles in the x-direction after passing through the emission optics system 12, and the emission field angles of the light beams corresponding to different channels partially overlap. For example, as shown in Figure 4B, three channels are illustrated. The emission field angles of the light beams in these three channels after passing through the emission optics system 12 are emission field angle 1 (a1, a1'), emission field angle 2 (a2, a2'), and emission field angle 3 (a3, a3'). Let the positive x-direction be 0° and the negative x-direction be 180°, then a1 < a2 < a1' < a3 < a2' < a3'.

[0065] Case 3: The beams in different channels of the laser array 11 form different emission field angles in the x-direction after passing through the emission optics system 12, and the boundaries of the emission field angles of the beams corresponding to adjacent channels coincide. For example, as shown in Figure 4C, three channels are illustrated. The emission field angles of the beams in these three channels after passing through the emission optics system 12 are emission field angle 1 (a1, a1'), emission field angle 2 (a2, a2'), and emission field angle 3 (a3, a3'). Let the positive x-direction be 0° and the negative x-direction be 180°, then a1 < a1' = a2 < a2' = a3 < a3'.

[0066] It should be understood that in practical applications, at least two of the above three situations may occur simultaneously. For example, as shown in Figure 4D, the emission field of view 2 and emission field of view 3 partially overlap, while the emission field of view 1 and emission field of view 2 do not overlap. Or, as shown in Figure 4E, the boundaries of the emission field of view 2 and emission field of view 3 just coincide, while the emission field of view 1 and emission field of view 2 partially overlap, and so on.

[0067] In one possible implementation, the arrangement order of the channels is the same as the arrangement order of the emission field of view of the beams corresponding to the channels, as shown in Figures 4A to 4E. Channels 1, 2, and 3 are arranged sequentially along the negative x-direction, and the emission field of view 1, 2, and 3 of the beams corresponding to channels 1, 2, and 3 are also arranged sequentially along the negative x-direction.

[0068] In another possible implementation, the order of the channels and the order of the emission field of view of the beams corresponding to the channels are different. As shown in Figure 4F, channels 1, 2, and 3 are arranged in the negative x direction, and the order of the emission field of view 1, 2, and 3 of the beams corresponding to channels 1, 2, and 3 in the negative x direction is emission field of view 3, 1, and 2.

[0069] It is understandable that Figures 4A to 4F are based on the example of 3 channels, but the actual number of channels is not limited to 3.

[0070] For details regarding the different emission field angles formed in the y-direction by light beams emitted from different emission channels after passing through the emission optical system 12, please refer to the above-mentioned details regarding the different emission field angles formed in the x-direction by light beams emitted from different emission channels after passing through the emission optical system 12, which will not be elaborated further.

[0071] In the transmitting component 1 provided in this application embodiment, the transmitting optical system 12 can adjust the beams emitted from different transmitting channels in the laser array 11 into beams with different transmitting field of view, so that the transmitting component 1 can support the transmission of beams with a variety of different transmitting field of view. When the transmitting component 1 is applied to lidar, it can help the lidar switch between different transmitting field of view, better meet the needs of traffic control, especially intelligent driving.

[0072] The following section describes the specific structural design of the emission optical system 12, taking as an example the different emission field angles formed in the x-direction (i.e., the first direction) after the light beams emitted from different emission channels pass through the emission optical system 12.

[0073] In one possible design, referring to Figure 5, the emitting optical system 12 includes a first lens module 121 located on the light-emitting side of the laser array 11, used to deflect the passing light beam along the x-direction. The light beams from different channels in the laser array 11 are deflected at different angles along the x-direction after passing through the first lens module 121. It can be understood that deflection along the x-direction means that the light beam deviates from the z-direction and moves closer to the x-direction. The angle ranges corresponding to the light beams from different channels may partially overlap or not overlap, without limitation.

[0074] The above design method, based on the first lens module 121, deflects the light beams emitted from different channels at different angles along the x-direction, thereby forming different emission field angles in the x-direction with light beams emitted from different emission channels. It is simple and easy to implement.

[0075] In one possible design, as shown in Figures 6A to 6D, the first lens module 121 may include a first cylindrical lens array 121A and at least one first prism 121B.

[0076] The first cylindrical lens array 121A is located on the light-emitting side of the laser array 11. The first cylindrical lens array 121A includes multiple cylindrical lenses arranged along the x-direction, where the cylindrical direction of each cylindrical lens is parallel to the y-direction. Each cylindrical lens is used to amplify the divergence angle of the passing beam along the x-direction. It can be understood that amplifying the divergence angle along the x-direction means that as the beam travels further in the z-direction, the size of the beam in the x-direction increases.

[0077] At least one first prism 121B is located on the light-emitting side of the first cylindrical lens array 121A and is used to deflect the passing light beam along the x-direction.

[0078] The cylindrical lens involved in the embodiments of this application can be a semi-cylindrical lens or other aspherical lenses, or it can be a combination of multiple lenses. When the cylindrical lens is a semi-cylindrical lens, it can specifically be a cylindrical lens with its curved surface facing the light or a cylindrical lens with its flat surface facing the light, without limitation. For ease of illustration, the cylindrical lenses in the accompanying drawings are all examples of semi-cylindrical lenses, and specifically, examples of semi-cylindrical lenses with their curved surfaces facing the light, but the actual implementation is not limited to this.

[0079] In some possible examples, at least one first prism 121B may be multiple prisms. These multiple prisms are arranged in this manner along the x-direction, with the cylindrical surfaces of the prisms parallel to the y-direction; the multiple prisms satisfy the condition that at least one of their shape, orientation, or size is different. After passing through the first cylindrical lens array 121A, the beams from different channels in the laser array 11 are projected along the x-direction onto different prisms of the multiple prisms.

[0080] It can be understood that beams from different channels projected along the x-direction onto different prisms of multiple prisms mean that the beams from different channels are projected at different positions along the x-direction. The positions of the prisms onto which beams from different channels are projected can partially overlap (e.g., beams from channel 1 are projected onto prisms 1 and 2, and beams from channel 2 are projected onto prisms 2 and 3), or they can not overlap (e.g., beams from channel 1 are projected onto prisms 1 and 2, and beams from channel 2 are projected onto prisms 3 and 4). Based on the condition that multiple prisms differ in at least one of shape, orientation, or size, the angle range of the beams deflected along the x-direction by different prisms can be different.

[0081] In a specific implementation, the light beams from all channels of the laser array 11 are projected onto the prism along the x-direction after passing through the first cylindrical lens array 121A, as shown in Figure 6A. Alternatively, the light beams from some channels of the laser array 11 are projected onto the prism along the x-direction after passing through the first cylindrical lens array 121A, while the light beams from other channels can exit directly from the first cylindrical lens array 121A without passing through the prism, as shown in Figure 6B.

[0082] In some other possible examples, at least one first prism 121B is a prism.

[0083] In practice, the beams from all channels in the laser array 11 are projected onto the prism along the x-direction after passing through the first cylindrical lens array 121A, as shown in Figure 6C. The beams from different channels in the laser array 11 are projected onto different positions of the prism along the x-direction after passing through the first cylindrical lens array 121A. The beams projected onto different positions of the prism are deflected at different angles along the x-direction after passing through the prism, thus achieving different ranges of deflection angles along the x-direction for beams from different channels after passing through the first lens module 121.

[0084] Alternatively, in the laser array 11, only a portion of the beams from some channels may pass through the first cylindrical lens array 121A and be projected onto the prism along the x-direction, as shown in Figure 6D; while another portion may exit directly from the first cylindrical lens array 121A. The beam projected onto the prism experiences a deflection along the x-direction after passing through the prism, while the beam exiting directly from the first cylindrical lens array 121A maintains a constant emission angle since it does not pass through the prism. These two portions of the beam experience different ranges of deflection along the x-direction after passing through the first lens module 121. Furthermore, for the portion of the beam projected onto the prism, the angle of deflection along the x-direction can differ depending on the position of the light projected onto the prism, as shown in Figure 6D.

[0085] In one possible example, as shown in Figure 6E, at least one first prism 121B and the first cylindrical lens array 121A can be separately configured. For example, the distance between the light-emitting surfaces of at least one first prism 121B and the first cylindrical lens array 121A is less than a first threshold. This threshold can be set according to actual conditions, as long as it ensures that the light beam emitted from the light-emitting surface of the first cylindrical lens array 121A can be projected onto at least one first prism 121B. For example, this threshold can be any value between 0 and 10 mm.

[0086] In another possible example, as shown in FIG6F, the first cylindrical lens array 121A is integrated with at least one first prism 121B. For example, the first cylindrical lens array 121A and at least one first prism 121B are disposed in close proximity, or the first cylindrical lens array 121A and at least one first prism 121B are different parts of the same optical element.

[0087] It is understandable that in the examples given in Figures 6A to 6F, the prism is always a triangular prism, but the actual implementation is not limited to this. It can also be a quadrangular prism, a pentaangular prism, or other prisms, or it can be replaced with any other optical element that can deflect the beam, such as a combination of multiple lenses. In the above design, the beam is deflected along the x-direction by the prism, which is simple to implement and low in cost. Furthermore, before the beam enters the prism, it passes through the first cylindrical lens array 121A, so that the beam obtains a small divergence angle before entering the prism, which helps the beam to obtain a larger field of view after being deflected by the prism.

[0088] In this embodiment, there may be no other optical elements between the laser array 11 and the first lens module 121, meaning that the light beam emitted from the laser array 11 directly enters the first lens module 121; or, there may be other optical elements between the laser array 11 and the first lens module 121, meaning that the light beam emitted from the laser array 11 passes through other optical elements before entering the first lens module 121.

[0089] In one possible design, the beam emitted from the laser array 11 is a collimated beam, as shown in Figure 7A. There are no other optical elements between the laser array 11 and the first lens module 121. After being emitted from the laser array 11, the beam directly enters the first lens module 121. In this design, the laser array 11 directly emits a collimated beam, which simplifies the structure of the emitting optical system 12 and reduces its size.

[0090] In another possible design, the beam emitted from the laser array 11 is a divergent beam, and a second lens module 122 is also included between the laser array 11 and the first lens module 121, as shown in Figure 7B. The second lens module 122 is used to collimate the beam emitted from the laser array 11 to adjust the divergent beam into a collimated beam.

[0091] For example, the second lens module 122, used to collimate the beam emitted by the laser array 11, may include:

[0092] 1) Collimate the passing beam along the x-direction. This can be understood as adjusting each ray in the beam to be parallel (or approximately parallel) to the plane containing the x and z directions (for ease of description, let's call it the xz plane), as shown in the upper right figure of Figure 7C.

[0093] After a beam of light at different positions along the x-direction is collimated, its field of view along the x-direction can be the same, for example, all being the first angle. It can be understood that the field of view of the collimated beam along the x-direction refers to the angle formed between the component of the collimated beam in the xz plane and the z-direction; for example, the first angle is close to or equal to 0°.

[0094] 2) Collimate the passing beam along the y-direction. This can be understood as adjusting the individual rays in the beam to be parallel (or approximately parallel) to the plane containing the y and z directions (for ease of description, denoted as the yz plane), as shown in the lower right diagram of Figure 7C.

[0095] When a beam of light at different positions along the y-direction is collimated, it forms at least one field of view along the y-direction. In other words, the field of view along the y-direction can be the same or different for beams of light at different positions along the y-direction after collimation. It can be understood that the field of view of the collimated beam along the y-direction refers to the angle formed between the component of the collimated beam in the yz plane and the z-direction. For example, the lower right diagram in Figure 7C shows three different field of view angles a, b, and c formed along the y-direction.

[0096] The above design collimates the beam emitted by the laser array 11 through the second lens module 122, which makes the incident beam on the first lens module 121 a collimated beam, better ensuring the output effect of the beam after passing through the first lens module 121, and at the same time reducing the requirements on the laser array 11.

[0097] In one possible design, as shown in Figure 8, the second lens module 122 may include a second cylindrical lens array 122A and a first cylindrical lens 122B.

[0098] The second cylindrical lens array 122A is located on the light-emitting side of the laser array 11. The second cylindrical lens array 122A includes at least two cylindrical lenses arranged along the x-direction. The cylindrical direction of each of the at least two cylindrical lenses is parallel to the y-direction. Each of the at least two cylindrical lenses is used to collimate the passing light beam along the x-direction. As shown in the upper right figure of Figure 9A or Figure 9B, after the light beam passes through the second cylindrical lens array 122A, the angle between the component of the light beam in the xz plane and the z-direction is 0°.

[0099] Since the function of the second cylindrical lens array 122A is to collimate the beam, while the function of the first cylindrical lens array 121A is to expand the divergence angle of the collimated beam, the number of cylindrical lenses in the second cylindrical lens array 122A can be less than the number of cylindrical lenses in the first cylindrical lens array 121A. In other words, the arrangement of cylindrical lenses in the first cylindrical lens array 121A can be relatively denser than the arrangement of cylindrical lenses in the second cylindrical lens array 122A.

[0100] The first cylindrical lens 122B is located on the light-emitting side of the second cylindrical lens array 122A. The cylindrical direction of the first cylindrical lens 122B is parallel to the x-direction. The first cylindrical lens 122B is used to collimate the passing light beam along the y-direction.

[0101] In practice, after the light beam at different positions in the y-direction is collimated along the y-direction, the field of view along the y-direction can depend on the cylindrical size of the second cylindrical lens array 122A. The larger the cylindrical size of the second cylindrical lens array 122A, the smaller the difference in the field of view along the y-direction after the light beam at different positions in the y-direction is collimated. As shown in the lower right figure of Figure 9A, after the light beam emitted from the laser array 11 passes through the second cylindrical lens array 122A, the component of the light beam in the yz plane forms multiple different angles with the z-direction; as shown in the lower right figure of Figure 9B, after the cylindrical size of the second cylindrical lens array 122A is increased to a certain size, the angles formed by the component of the light beam in the yz plane and the z-direction after passing through the second cylindrical lens array 122A can all be close to or 0°.

[0102] It is understandable that the implementation of each cylindrical lens in the second lens module 122 can refer to the relevant introduction of the cylindrical lenses in the first cylindrical lens array 121A mentioned above, and will not be elaborated here.

[0103] This design method, by setting two sets of lenses (i.e., the second cylindrical lens array 122A and the first cylindrical lens 122B) to collimate the beam in the x-direction and y-direction respectively, is simple and easy to implement.

[0104] In one possible design, the cylindrical lenses in the second cylindrical lens array 122A correspond one-to-one with the emission channels of the laser array 11, and the beam emitted by each emission channel of the laser array 11 is projected onto the cylindrical lens corresponding to each emission channel. For example, the laser array 11 shown in Figures 9A and 9B has 3 emission channels, and the corresponding number of cylindrical lenses in the second cylindrical lens array 122A is 3.

[0105] This design approach can minimize the size and cost of the second cylindrical lens array 122A while ensuring beam collimation.

[0106] It is understood that the positions of the optical elements in the emission optical system 12 described in this application embodiment can be adjusted according to actual conditions. As an example, the positions of the second cylindrical lens array 122A and the first cylindrical lens 122B in the example given in FIG8 can also be interchanged. That is, the beam emitted from the laser array 11 is first collimated in the y-direction by the first cylindrical lens 122B, and then collimated in the x-direction by the second cylindrical lens array 122A, as shown in FIG10. Of course, FIG10 is only one possible example and is not limited to this.

[0107] The above describes the specific structure of the emission optical system 12, which enables light beams emitted from different emission channels to form different emission field angles in the x-direction (i.e., the first direction) after passing through the emission optical system 12. In practical applications, the structure in the x-direction (i.e., the first direction) and the structure in the y-direction (i.e., the second direction) can be interchanged to achieve different emission field angles in the y-direction after light beams emitted from different emission channels pass through the emission optical system 12.

[0108] Furthermore, in this embodiment, the beams emitted from different emission channels can be designed to form different emission field angles in the x direction (i.e., the first direction) and in the y direction (i.e., the second direction) after passing through the emission optical system 12, according to the requirements.

[0109] As a possible example, as shown in Figure 11, a third lens module 123 can also be provided in the transmitting optical system 12, the specific structure of which can be referenced from the first lens module 121. For example, the third lens module 123 includes a third cylindrical lens array 123A and at least one second prism 123B. However, the positional orientation of the third cylindrical lens array 123A is completely different from that of the first lens module 121.

[0110] The third cylindrical lens array 123A is located on the light-emitting side of the first lens module 121. The third cylindrical lens array 123A includes a plurality of cylindrical lenses arranged along the y direction. The cylindrical direction of each of the plurality of cylindrical lenses is parallel to the x direction. Each of the plurality of cylindrical lenses is used to expand the divergence angle of the passing light beam along the y direction.

[0111] At least one second prism 123B is located on the light-emitting side of the third cylindrical lens array 123A, and is used to deflect the passing light beam along the y direction.

[0112] Regarding the third cylindrical lens array 123A expanding the divergence angle of the passing beam and at least one second prism 123B deflecting the passing beam along the y direction, please refer to the above description of the first cylindrical lens array 121A expanding the divergence angle of the passing beam and at least one first prism 121B deflecting the passing beam along the x direction, which will not be elaborated here.

[0113] Based on the above method, the transmitting optical system 12 can adjust the beams emitted from different transmitting channels in the laser array 11 into beams with different transmitting field of view along the x and y directions. This can help the lidar switch between different transmitting field of view in the x and y directions, which can better meet the needs of traffic control, especially intelligent driving.

[0114] Based on the same technical concept, this application also provides a lidar, including the transmitting component 1 mentioned above. Based on the transmitting component 1, the lidar has the ability to switch between different transmission field of view angles, which can better meet the needs of traffic control, especially intelligent driving.

[0115] In one possible implementation, as shown in Figure 12, the lidar may further include a control device 2 for controlling the opening and closing of each emission channel in the laser array 11, thereby enabling the lidar to switch between different emission field angles. For example, the control device 2 can be connected to the laser array 11 in the emission assembly 1 via a controller area network (CAN) bus or other means, and control any emission channel of the laser array 11 to emit or stop emitting a beam.

[0116] Referring to Figure 13, which is a flowchart of a possible control method provided in an embodiment of this application, the method can be executed by the control device 2, and the method includes:

[0117] S101, control the first emission channel of the laser array 11 to emit a first beam, and the emission field of view of the first beam after passing through the emission optical system 12 is the first emission field of view;

[0118] S102, control the second emission channel of the laser array 11 to emit a second beam, and the emission field of view of the second beam after passing through the emission optical system 12 is the second emission field of view;

[0119] The first launch field of view is different from the second launch field of view.

[0120] In one specific implementation, the control device 2 can control different emission channels to emit beams at different times, thereby achieving the effect of dynamically switching the emission field of view of the lidar.

[0121] For example, as shown in Figure 14A, the first emission channel of the laser array 11 is controlled to emit the first beam during the time period T1, and the second emission channel of the laser array 11 is controlled to emit the second beam during the time period T2. Then, the emission field of view of the lidar during the time period T1 is the first emission field of view (i.e., a1~a1'), and the emission field of view during the time period T2 is the first emission field of view plus the second emission field of view (i.e., a1~a2').

[0122] For example, as shown in Figure 14B, during time period T1, the first emission channel of laser array 11 is controlled to emit the first beam, and during time period T2, the second emission channel of laser array 11 is controlled to emit the second beam and the first emission channel of laser array 11 is controlled to stop emitting the beam. Then, the emission field of view of the lidar during time period T1 is the first emission field of view (i.e., a1~a1'), and the emission field of view during time period T2 is the second emission field of view (i.e., a2~a2').

[0123] It is understood that Figures 14A and 14B are only some possible examples, and the actual way of switching the emission field of view of lidar is not limited to these.

[0124] Based on the above methods, the dynamic switching of different emission field of view of the lidar can be realized, which can better meet the needs of traffic control, especially intelligent driving.

[0125] Optionally, as shown in Figure 12, the lidar may also include a receiving component 3 for receiving the reflected beams of the first beam and the second beam.

[0126] Further optionally, the lidar also includes a processing unit 4 for determining at least one of the following: distance, azimuth, altitude, velocity, attitude, size, or shape of at least one target, based on the reflected beams of the first beam and the second beam.

[0127] In practice, the control device 2 and the processing device 4 can be integrated into one device or distributed among multiple devices.

[0128] For example, it can be implemented by integrating a single device, which can be an integrated circuit chip, such as a general-purpose processor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other integrated chips. This device may include a central processing unit (CPU), a neural-network processing unit (NPU), and a graphics processing unit (GPU), and may also include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitations.

[0129] Based on the same technical concept, this application also provides a terminal, including the lidar described above. This terminal can be applied to intelligent transportation equipment (such as cars, ships, drones, trains, freight trucks, etc.), smart home devices (such as televisions, robot vacuum cleaners, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, intelligent logistics, etc.), etc.

[0130] Based on the same technical concept, this application embodiment also provides a control device, including at least one processor and an interface circuit. The interface circuit is used to provide data or code instructions to at least one processor, and the at least one processor is used to implement the method executed by the control device 2 through logic circuits or execution code instructions.

[0131] Based on the same technical concept, embodiments of this application also provide a computer-readable storage medium storing a computer program or instructions, which, when executed, implements the method performed by the control device 2.

[0132] Based on the same technical concept, this application also provides a computer program product that, when running on a processor, implements the method executed by the control device 2.

[0133] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0135] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0136] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0137] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of protection of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A transmitting assembly, characterized in that, Includes laser arrays and emitting optical systems; The laser array includes at least two emission channels for emitting a light beam; The emission optical system is located on the light-emitting side of the laser array, and the emission optical system is used to adjust the light beams emitted from different emission channels in the laser array into light beams with different emission field angles; The emission optical system includes a first lens module for deflecting the passing light beam along a first direction; wherein, the light beams from different channels in the laser array are deflected at different angles along the first direction after passing through the first lens module, and the first direction is perpendicular to a third direction, which is the light output direction of the first lens module.

2. The launching assembly as claimed in claim 1, characterized in that, The first lens module includes: A first cylindrical lens array is located on the light-emitting side of the laser array. The first cylindrical lens array includes a plurality of cylindrical lenses arranged along the first direction. The cylindrical direction of each of the plurality of cylindrical lenses is parallel to the second direction. Each of the plurality of cylindrical lenses is used to expand the divergence angle of the passing light beam along the first direction. The second direction is perpendicular to the third direction and the first direction. At least one prism, located on the light-emitting side of the first cylindrical lens array, is used to deflect the passing light beam along the first direction.

3. The launching assembly as described in claim 2, characterized in that, The at least one prism is a single prism; The beams from different channels in the laser array are projected onto different positions of the prism along the first direction after passing through the first cylindrical lens array.

4. The launching assembly as claimed in claim 2, characterized in that, The at least one prism is a plurality of prisms, which are arranged along the first direction; the plurality of prisms satisfy the condition that at least one of their shape, orientation, and size is different. The beams from different channels in the laser array are projected onto different prisms of the plurality of prisms along the first direction after passing through the first cylindrical lens array.

5. The launching assembly as described in any one of claims 2-4, characterized in that, The distance between the at least one prism and the light-emitting surface of the first cylindrical lens array is less than a first threshold; or... The first cylindrical lens array is integrated with the at least one prism.

6. The launching assembly as described in any one of claims 1-4, characterized in that, The emission optical system further includes a second lens module located between the laser array and the first lens module, for: The passing light beam is collimated along the first direction, and the field of view of the collimated light beam along the first direction is the first angle; and, The passing light beam is collimated along the second direction, and the collimated light beam at different positions along the second direction forms at least one field of view along the second direction; wherein, the second direction is perpendicular to the third direction and the first direction.

7. The launching assembly as claimed in claim 6, characterized in that, The second lens module includes: A second cylindrical lens array is located on the light-emitting side of the laser array. The second cylindrical lens array includes at least two cylindrical lenses arranged along the first direction. The cylindrical direction of each of the at least two cylindrical lenses is parallel to the second direction. Each of the at least two cylindrical lenses is used to collimate the passing light beam along the first direction. A first cylindrical lens is located on the light-emitting side of the second cylindrical lens array. The cylindrical direction of the first cylindrical lens is parallel to the first direction. The first cylindrical lens is used to collimate the passing light beam along the second direction.

8. The launching assembly as claimed in claim 7, characterized in that, The cylindrical lenses in the second cylindrical lens array correspond one-to-one with the emission channels of the laser array, and the light beam emitted by each emission channel of the laser array is projected onto the cylindrical lens corresponding to each emission channel.

9. The launching assembly as claimed in claim 5, characterized in that, The emission optical system further includes a second lens module located between the laser array and the first lens module, for: The passing light beam is collimated along the first direction, and the field of view of the collimated light beam along the first direction is the first angle; and, The passing light beam is collimated along the second direction, and the collimated light beam at different positions along the second direction forms at least one field of view along the second direction; wherein, the second direction is perpendicular to the third direction and the first direction.

10. The launching assembly as claimed in claim 9, characterized in that, The second lens module includes: A second cylindrical lens array is located on the light-emitting side of the laser array. The second cylindrical lens array includes at least two cylindrical lenses arranged along the first direction. The cylindrical direction of each of the at least two cylindrical lenses is parallel to the second direction. Each of the at least two cylindrical lenses is used to collimate the passing light beam along the first direction. A first cylindrical lens is located on the light-emitting side of the second cylindrical lens array. The cylindrical direction of the first cylindrical lens is parallel to the first direction. The first cylindrical lens is used to collimate the passing light beam along the second direction.

11. The launching assembly as claimed in claim 10, characterized in that, The cylindrical lenses in the second cylindrical lens array correspond one-to-one with the emission channels of the laser array, and the light beam emitted by each emission channel of the laser array is projected onto the cylindrical lens corresponding to each emission channel.

12. A lidar, characterized in that, Includes the launching component as described in any one of claims 1-11.

13. The lidar as described in claim 12, characterized in that, The lidar also includes a control device for: The first emission channel of the laser array is controlled to emit a first beam, and the emission field of view of the first beam after passing through the emission optical system is the first emission field of view. The second emission channel of the laser array is controlled to emit a second beam, and the emission field of view of the second beam after passing through the emission optical system is the second emission field of view. The first emission field of view is different from the second emission field of view.

14. The lidar as described in claim 13, characterized in that, The control device is also used for: While controlling the second emission channel to emit the second beam, the first emission channel of the laser array is controlled to stop emitting the beam.

15. A terminal, characterized in that, Including the lidar as described in any one of claims 12-14.

16. A vehicle, characterized in that, Including the lidar as described in any one of claims 12-14.

17. A control method applied to lidar, characterized in that, The lidar includes a transmitting component as described in any one of claims 1-11, and the method includes: The first emission channel of the laser array is controlled to emit a first beam, and the emission field of view of the first beam after passing through the emission optical system is the first emission field of view. The second emission channel of the laser array is controlled to emit a second beam, and the emission field of view of the second beam after passing through the emission optical system is the second emission field of view. The first emission field of view is different from the second emission field of view.

18. The method as described in claim 17, characterized in that, Also includes: While controlling the second emission channel to emit the second beam, the first emission channel of the laser array is controlled to stop emitting the beam.

19. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions that, when executed, cause the method described in claim 17 or 18 to be implemented.

20. A computer program product, characterized in that, When it is run on a computer, it enables the method described in claim 17 or 18 to be implemented.

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