Laser radar and equipment with laser radar

Abstract

The present application discloses a laser radar and a device having the laser radar. The laser radar includes a detection assembly, which includes a first laser emitting device, a second laser emitting device, and a laser receiving device located between the first laser emitting device and the second laser emitting device to receive a first laser beam reflected by a first detection area and a second laser beam reflected by a second detection area; wherein the transmission power of the first laser emitting device is greater than the transmission power of the second laser emitting device. The embodiments of the present application configure the laser radar to include multiple laser emitting devices with different transmission powers. This allows the transmission power of each laser emitting device to match the energy requirements of the detection area, thereby improving the system's detection range and reducing the system's total power consumption. It also increases the laser radar's detection field of view, achieving a wide-angle detection function.

Description

Technical Field

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

[0002] LiDAR (LiDAR) is widely used in autonomous vehicles due to its simple structure, low system load, and long optical and mechanical lifespan. It detects the surrounding area of the vehicle. The basic operating principle of LiDAR is that a transmitter emits laser light, illuminating the entire field of view at once, using a "flood" technique. A receiver then receives all the laser echoes from the field of view, analyzing them to obtain detection information within the field of view. However, traditional LiDAR suffers from limited detection range and excessive system power consumption. Summary of the Invention

[0003] The present application provides a laser radar and a device having the laser radar, which can improve the detection range of the laser radar and reduce the total power consumption of the system.

[0004] In a first aspect, the present application provides a laser radar, comprising: a detection component, the detection component comprising:

[0005] A first laser emitting device, configured to emit a first laser beam toward a first detection area;

[0006] A second laser emitting device, configured to emit a second laser beam toward a second detection area; and

[0007] a laser receiving device, located between the first laser emitting device and the second laser emitting device, to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area;

[0008] The emission power of the first laser emitting device is greater than the emission power of the second laser emitting device.

[0009] According to some embodiments, the number of detection assemblies is two, the first detection areas of the two first laser emitting devices have overlapping portions, and / or the second detection areas of the two second laser emitting devices have overlapping portions;

[0010] The laser radar also includes a control device, which is electrically connected to the two detection components, and the control device is configured to control the staggered light emission timing of the two detection components so that each laser receiving device receives the first laser beam emitted by the first laser emitting device of the corresponding detection component and the second laser beam emitted by the second laser emitting device of the corresponding detection component.

[0011] According to some embodiments, the device further includes a housing, the housing defining a first accommodating cavity, the detection assembly being disposed in the first accommodating cavity; the housing including a first side wall plate for mounting the detection assembly, the first side wall plate including:

[0012] The first connecting section faces the emitting end of the first laser emitting device, so that the first laser beam emitted by the first laser emitting device passes through the first connecting section and is emitted outside the laser radar; and

[0013] a second connecting section connected to the first connecting section and facing the emission end of the second laser emitting device, so that the second laser beam emitted by the second laser emitting device passes through the second connecting section and is emitted outside the laser radar;

[0014] The angle between the inner wall surface of the first connecting section and the inner wall surface of the second connecting section is a first angle, and the first angle is an obtuse angle.

[0015] According to some embodiments, the first connecting segment includes a first edge connected to the second connecting segment and a second edge located on a side away from the first edge; the second connecting segment includes a third edge connected to the first connecting segment and a fourth edge located on a side away from the third edge; and the distance between the first edge and the second edge is greater than the distance between the third edge and the fourth edge.

[0016] The first connecting section is provided with a first opening; the receiving end of the laser receiving device passes through the first opening to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area.

[0017] According to some embodiments, the laser receiving device has a first optical path axis, and the housing further comprises:

[0018] The mounting tube has a second accommodating cavity. One end of the mounting tube is connected to the outer edge of the first opening and connects the second accommodating cavity with the first accommodating cavity. The other end of the mounting tube extends in a direction parallel to the axis of the first optical path and away from the first accommodating cavity. The object side end of the laser receiving device passes through the first opening and is located in the second accommodating cavity.

[0019] According to some embodiments, further comprising:

[0020] The heat dissipation element is provided on the inner wall surface of the second side wall plate.

[0021] According to some embodiments, the housing further comprises:

[0022] a first end plate;

[0023] a second end plate, disposed opposite to the first end plate; and

[0024] a peripheral wall plate, located between the first end plate and the second end plate, and connected to both the first end plate and the second end plate to define a first accommodating cavity together with the first end plate and the second end plate; the peripheral wall plate includes a first side wall plate and a second side wall plate, wherein the first connecting section is connected to the first end plate, and the second connecting section is connected to the first connecting section and the second end plate;

[0025] Among them, the angle between the inner wall surface of the first connecting section and the inner wall surface of the first end plate is smaller than the angle between the inner wall surface of the second connecting section and the inner wall surface of the second end plate, and the angle between the inner wall surface of the second side wall plate and the inner wall surface of the first end plate is larger than the angle between the inner wall surface of the second side wall plate and the inner wall surface of the second end plate.

[0026] According to some embodiments, the second sidewall panel comprises:

[0027] a third connecting section connected to the first end plate; and

[0028] a fourth connecting section, connecting the third connecting section and the second end plate;

[0029] Among them, the angle between the inner wall surface of the third connecting segment and the inner wall surface of the fourth connecting segment is an obtuse angle, and the angle between the inner wall surface of the third connecting segment and the inner wall surface of the first end plate is greater than the angle between the inner wall surface of the fourth connecting segment and the inner wall surface of the second end plate.

[0030] According to some embodiments, the third connecting segment includes a fifth edge connected to the fourth connecting segment and a sixth edge located on a side away from the fifth edge, the fourth connecting segment includes a seventh edge connected to the third connecting segment and an eighth edge located on a side away from the seventh edge, the distance between the fifth edge and the sixth edge is greater than the distance between the seventh edge and the eighth edge, and the heat sink is arranged on the inner wall surface of the third connecting segment.

[0031] According to some embodiments, there are two detection components and two first side wall plates, each first side wall plate is used to install a corresponding detection component, and in the two first side wall plates, the angle between the inner wall surfaces of the two first connecting sections is the second angle, and the angle between the inner wall surfaces of the two second connecting sections is the third angle, and the second angle is equal to the third angle and both are obtuse angles.

[0032] In a second aspect, the present application provides a device comprising any of the above-mentioned laser radars.

[0033] The present application provides a laser radar and a device having a laser radar. By configuring the laser radar to include multiple laser emitting devices with different emission powers, the emission power of each laser emitting device can be matched with the energy requirement of the detection area, thereby improving the system detection distance and reducing the total power consumption of the system, and the detection field angle of the laser radar can be increased to achieve wide-angle detection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of a three-dimensional structure of a laser radar provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the three-dimensional structure of the detection component in the laser radar provided in an embodiment of the present application;

[0037] Figure 3 Another schematic diagram of the three-dimensional structure of the laser radar provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the three-dimensional structure of a laser emitting device and a portion of a housing in a laser radar provided in an embodiment of the present application;

[0039] Figure 5 An exploded diagram of a laser radar provided in an embodiment of the present application;

[0040] Figure 6 A top view of a portion of the shell structure of a laser radar provided in an embodiment of the present application;

[0041] Figure 7 An exploded diagram of the laser receiving device, chip board, driver board, bracket, and main control board in the laser radar provided in an embodiment of the present application;

[0042] Figure 8 A top view of the laser radar provided in an embodiment of the present application with part of the housing removed;

[0043] Figure 9 A schematic structural diagram of a laser radar provided in an embodiment of the present application after removing part of the shell; the orientation may be an orientation parallel to the first optical path axis of the laser receiving device.

[0044] Figure 10 A schematic diagram of a device in one embodiment of the present application;

[0045] Figure 11 This is a schematic diagram of a device in another embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0047] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0048] The laser radar 10 provided in this application can be applied to any device that requires laser detection, such as a car 20. The laser radar 10 can detect parameters such as the distance and speed between the vehicle and the obstacle, so that the vehicle can plan a path to actively avoid the obstacle based on the detected information, thereby preventing the vehicle from colliding with the obstacle. Obstacles can include taller vehicles, stationary objects on the roadside, and suddenly approaching flying objects. The vehicle can be an autonomous vehicle or an ordinary vehicle, and this application does not limit this.

[0049] Currently, the method of using laser radar to identify obstacles in the surrounding environment has been widely used in automobiles, especially flash laser radar systems are widely used in automobile field of view detection. However, traditional laser radars have problems such as limited detection range or excessive total system power consumption. The laser emitting device of a traditional laser radar generally only uses one transmission power. If the transmission power is low, there is a problem of limited detection range. If the transmission power is too high, there will be a problem of high system power consumption. Based on this, the present application proposes a laser radar 10 and a device having the laser radar 10 to solve the above problems.

[0050] like Figure 2 As shown, the laser radar 10 of the embodiment of the present application may include a detection component 110. The detection component 110 includes a laser emitting device 111 and a laser receiving device 112. In order to improve the detection distance of the system and reduce the total power consumption of the system, the detection component 110 of the embodiment of the present application includes multiple laser emitting devices 111, and the emission power of each laser emitting device 111 matches the energy demand of the corresponding detection area. The laser receiving device 112 is used to receive the laser beams emitted by all the laser emitting devices 111. The energy demand of the detection area is related to the distance from the detection area to the laser radar 10. For example, the energy demand of the long-distance detection area is relatively high, and the energy demand of the short-distance detection area is relatively low. In this way, by appropriately adjusting the emission power of each laser emitting device 111 according to the distance from the detection area to the laser radar 10, it is possible to achieve both improving the detection distance of the system and reducing the total power consumption of the laser emitting device 111.

[0051] The following describes in detail how to match the emission power of each laser emitting device 111 with the energy requirement of the corresponding detection area, taking the detection component 110 including two laser emitting devices 111 as an example:

[0052] For ease of description, the two laser emitting devices 111 can be referred to as a first laser emitting device 1111 and a second laser emitting device 1112, respectively. The first laser emitting device 1111 is used to emit a first laser beam toward a first detection area, and the second laser emitting device 1112 is used to emit a second laser beam toward a second detection area. The laser receiving device 112 is located between the first laser emitting device 1111 and the second laser emitting device 1112 to receive the first laser beam reflected from the first detection area and the second laser beam reflected from the second detection area. The emission power of the first laser emitting device 1111 is greater than the emission power of the second laser emitting device 1112. By setting the emission power of the first laser emitting device 1111 to be greater than the emission power of the second laser emitting device 1112, long-range detection can be achieved through the first laser emitting device 1111, and close-range detection can be achieved through the second laser emitting device 1112. This not only allows the emission power of each laser emitting device 111 to match the energy requirements of the detection area, thereby improving the system's detection range and reducing the system's total power consumption, but also increases the detection field of view of the laser radar 10, achieving wide-angle detection capabilities. For example, when the laser radar 10 of the embodiment of the present application is used on a car 20, the second laser emitting device 1112 with a lower emission power can emit a light beam toward the ground to detect trash cans, children, or other relatively low objects on the ground; while the first laser emitting device 1111 with a higher emission power can be used to emit a light beam far away to detect objects in the air or other relatively distant objects. The detection range of this system can reach over 20 meters.

[0053] The laser radar 10 in the related art is generally limited to a detection range of less than 10m due to the sensitivity of the detector and the damage of the ambient light noise to the system signal-to-noise ratio. The ranging mode of the laser radar 10 in the embodiment of the present application is compatible with the short-range detection mode and the long-range detection mode, and can obtain 3D point cloud distance, amplitude and spatial coordinates and other information. During the detection process, the sensitivity can be improved by changing the pixel coupling number of the chip. At the same time, after multiple pixels are merged into one pixel, the sensitivity of the system can be improved from the photosensitive level. Since the ranging principle of the system is based on the indirect time-of-flight method based on the phase, it is essentially to calculate the signal intensity and solve the phase by integrating the charge. Multi-pixel fusion is beneficial to reduce additive ambient light noise and improve the signal-to-noise ratio of the system. Taking 2×2BIN as an example, the charges obtained by integrating in different phase intervals (DCS0-3) are directly accumulated, and the number of signal photons increases linearly (the random additive white noise in each pixel will not be linearly accumulated), which ultimately improves the signal-to-noise ratio of the system and improves the system detection capability. In addition to the ranging mode, the laser radar 10 in the embodiment of the present application can also support grayscale imaging mode, i.e. Grayscale, which is similar to the imaging function of an ordinary camera.

[0054] The first detection area and the second detection area may overlap. It should be noted that since the laser beam is emitted in a cone shape, the "overlap" mentioned above only refers to the state within the reasonable detection range of the laser radar 10. For example, the first detection area and the second detection area cannot overlap in an area very close to the laser radar 10, so the overlap state in this area is not considered. The reasonable detection range depends on the application scenario of the laser radar 10.

[0055] When the detection component 110 includes multiple laser emitting devices 111, in order to avoid crosstalk caused by reflections from components such as chips and circuit boards within the system, or crosstalk between the emitted light from different laser emitting devices 111, which affects the final measurement results, the light emission timings of different laser emitting devices 111 can be staggered. In order to stagger the light emission timings of different laser emitting devices 111, the laser radar 10 can also include a control device. The control device is electrically connected to the detection component 110 and is configured to control the light emission timings of different laser emitting devices 111 of the detection component 110 to be staggered, so that the laser receiving device 112 can only receive laser beams emitted from the same laser emitting device 111 in the same time period. Of course, in order to simplify the control process of the laser radar 10 and improve the detection speed of the laser radar 10, the light emission timings of different laser emitting devices 111 of the detection component 110 can also be staggered.

[0056] The number of detection components 110 can be one or more. When the number of detection components 110 is more than one, the number of detection components 110 can specifically be two, three, four, five, etc., which is not limited in this application. When the number of detection components 110 is more than one, the detection field angle of the laser radar 10 can be expanded. Of course, in order to avoid blind spots between adjacent detection components 110, the detection areas of the laser emitting devices 111 of adjacent detection components 110 may have overlapping parts. The overlapping parts of the detection areas of the laser emitting devices 111 of adjacent detection components 110 can be: in two adjacent detection components 110, the first detection areas of the two first laser emitting devices 1111 have overlapping parts, and the second detection areas of the two second laser emitting devices 1112 have overlapping parts.

[0057] Since the spatial distribution of the output light energy of the laser emitting device 111 is high at the edges and low in the center, that is, the edge of the field of view of two adjacent detection components 110 is an area where the energy distribution of the system light source is relatively weak, this may cause a sparse point cloud distribution due to the low signal-to-noise ratio of the echo signal. To solve this problem, in an embodiment of the present application, the detection areas of the laser emitting devices 111 of adjacent detection components 110 may have an overlapping area of about 10°, so as to increase the point cloud density by increasing the overlapping area of the field of view.

[0058] When there are multiple detection assemblies 110, light crosstalk may occur between the detection assemblies 110. To reduce or even avoid light crosstalk between the detection assemblies 110, the light emission timings of the multiple detection assemblies 110 can be staggered. In this case, the control device of the laser radar 10 can be electrically connected to all the detection assemblies 110, and the control device is configured to control the light emission timings of the multiple detection assemblies 110 to be staggered, so that each laser receiving device 112 receives the first laser beam emitted by the first laser emitting device 1111 of the corresponding detection assembly 110 and the second laser beam emitted by the second laser emitting device 1112 of the corresponding detection assembly 110. The light emission timings of the multiple detection assemblies 110 can be staggered, that is, only one detection assembly 110 is operational during the same time period. The light emission timings of the multiple detection assemblies 110 can also be staggered, that is, only one of the two adjacent detection assemblies 110 is operational during the same time period. By reducing the time period during which the detection component 110 emits light to a suitable interval, a complete detection effect can be achieved.

[0059] When there are two detection components 110, and the first detection areas of the two first laser emitting devices 1111 have overlapping parts, and / or the second detection areas of the two second laser emitting devices 1112 have overlapping parts, the control device is configured to control the light emission timing of the two detection components 110 to be staggered, so that each laser receiving device 112 receives the first laser beam emitted by the first laser emitting device 1111 of the corresponding detection component 110, and the second laser beam emitted by the second laser emitting device 1112 of the corresponding detection component 110.

[0060] See also Figure 1 and Figure 3 , the laser radar 10 may further include a housing 120. Figure 4 and Figure 5 The housing 120 defines a first accommodating chamber M, and the detection assembly 110 is located in the first accommodating chamber M. The housing 120 may include a first side wall plate 121 for mounting the detection assembly 110. The first laser emitting device 1111 and the second laser emitting device 1112 may be directly mounted on the first side wall plate 121. Of course, in order to ensure the stability of the connection between the first laser emitting device 1111 and the first side wall plate 121, see Figure 2 and Figure 4 A first mounting base 1211 for mounting the first laser emitting device 1111 can be provided on the first side wall plate 121. To ensure the stability of the connection between the second laser emitting device 1112 and the first side wall plate 121, a second mounting base 1212 for mounting the second laser emitting device 1112 can also be provided on the first side wall plate 121. The first mounting base 1211 and the first side wall plate 121, as well as the second mounting base 1212 and the first side wall plate 121, can be connected by screws or other means.

[0061] The first side wall plate 121 can be a flat plate. Of course, in order to reduce the overlap between the first detection area and the second detection area, thereby increasing the overall detection field of view of the laser radar 10, the first side wall plate 121 can also include two flat plates with a certain angle, so that the first laser emitting device 1111 and the second laser emitting device 1112 can be installed on the two flat plates respectively. For ease of description, see Figures 1 to 4The two planar plates included in the first side wall plate 121 can be respectively referred to as the first connecting section 1213 and the second connecting section 1214. The first connecting section 1213 faces the emitting end of the first laser emitting device 1111, so that the first laser beam emitted by the first laser emitting device 1111 passes through the first connecting section 1213 and is emitted outside the laser radar 10. The second connecting section 1214 is connected to the first connecting section 1213 and faces the emitting end of the second laser emitting device 1112, so that the second laser beam emitted by the second laser emitting device 1112 passes through the second connecting section 1214 and is emitted outside the laser radar 10. The angle between the inner wall surface of the first connecting section 1213 and the inner wall surface of the second connecting section 1214 is a first angle, and the first angle can be an obtuse angle. The first angle can be 170°, 150°, 135°, 129°, 120°, 100°, etc. See. Figure 9 , which shows the angle r1 between the first connecting section 1213 and the horizontal direction, and the angle r2 between the second connecting section 1214 and the vertical direction. The above-mentioned planar plate can be of any shape. For example, the planar plate can be a circular plate or a square plate. Of course, the first sidewall plate 121 can also be a curved plate.

[0062] The angle between the inner wall of the first connecting section 1213 and the inner wall of the second connecting section 1214 can be adjusted appropriately based on actual conditions. For example, because the first connecting section 1213 corresponds to the first laser emitting device 1111 and the second connecting section 1214 corresponds to the second laser emitting device 1112, the angle between the inner wall of the first connecting section 1213 and the inner wall of the second connecting section 1214 can be adjusted appropriately based on the placement of the first laser emitting device 1111 and the second laser emitting device 1112. The emitted light from the laser emitting device 111 is distributed within a specific area of space according to a certain pattern. The energy distribution of the laser receiving device 112 can be configured to match the energy distribution of the laser emitting device 111. This allows the laser to receive echo photons from the entire detection field of view simultaneously in an imaging manner, ensuring that the efficiency of receiving echo signal energy in each area of the detector chip is spatially uniform, thereby reducing optical loss in the laser receiving device 112.

[0063] To match the energy distribution of the laser receiving device 112 with that of the laser emitting device 111, the energy distribution curves of the two laser emitting devices 111 can be simulated for each detection assembly 110. Then, the appropriate laser receiving device 112 can be selected based on the field of view requirements of the two laser emitting devices 111. Energy distribution matching can be achieved by adjusting the orientation of the laser emitting device 111 and the laser receiving device 112. Once the orientation of the two laser emitting devices 111 and the laser receiving device 112 is determined, the angle between the inner wall of the first connecting section 1213 and the inner wall of the second connecting section 1214 can also be determined accordingly.

[0064] Selecting a suitable laser receiving device 112 based on the field of view requirements of the two laser emitting devices 111 may be done by ensuring that the total field of view angle of the laser receiving device 112 covers the total field of view angle of the two laser emitting devices 111. Matching the energy distribution of the laser receiving device 112 to the energy distribution of the laser emitting device 111 may be done by matching the peak value of the uniformity distribution of the laser receiving device 112 to the peak value of the total energy distribution of the laser emitting device 111.

[0065] In order to allow the laser beam emitted by the laser emitting device 111 to pass through the first side wall plate 121, the first side wall plate 121 can be entirely light-transmissive. Of course, to prevent the components inside the housing 120 from being exposed, the first side wall plate 121 can also be light-transmissive only in the area corresponding to the emission end of the first laser emitting device 1111 and the area corresponding to the emission end of the second laser emitting device 1112. In addition, see Figure 1 The first side wall plate 121 may also include a substrate 1215, a first light-transmitting plate 1216 and a second light-transmitting plate 1217. The substrate 1215 is provided with a second opening in an area corresponding to the emitting end of the first laser emitting device 1111 and a third opening in an area corresponding to the emitting end of the second laser emitting device 1112. The first light-transmitting plate 1216 can be provided at the second opening so that the light emitted by the first laser emitting device 1111 can pass through the first light-transmitting plate 1216. The second light-transmitting plate 1217 can be provided at the second opening so that the light emitted by the second laser emitting device 1112 can pass through the second light-transmitting plate 1217.

[0066] The laser receiving device 112 can be installed on the first connecting section 1213 or the second connecting section 1214. The first connecting section 1213 includes a first edge connected to the second connecting section 1214 and a second edge located on a side away from the first edge. The second connecting section 1214 includes a third edge connected to the first connecting section 1213 and a fourth edge located on a side away from the third edge. The distance between the first edge and the second edge is a first dimension h1, and the distance between the third edge and the fourth edge is a second dimension h2. In order to make the overall size of the laser radar 10 compact, the laser receiving device 112 can be installed on the connecting section corresponding to the larger dimension of the first dimension h1 or the second dimension h2. For example, see Figure 1 When the first dimension h1 is larger than the second dimension h2, the laser receiving device 112 can be installed on the first connecting section 1213 corresponding to the first dimension h1. Figure 1 、 Figure 3 as well as Figure 4The first connecting section 1213 may be provided with a first opening 12131 , and the receiving end of the laser receiving device 112 may pass through the first opening 12131 to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area.

[0067] To prevent the receiving end of the laser receiving device 112 from passing through the first opening 12131 and being exposed to the outside of the housing 120, which may cause damage, see Figure 1 and Figure 3 The housing 120 may further include a mounting tube 122 for accommodating the receiving end of the laser receiving device 112. The mounting tube 122 has a second accommodating cavity N (see Figure 4 ), one end of the mounting tube 122 is connected to the outer edge of the first opening 12131 and connects the second accommodating chamber N with the first accommodating chamber M. The other end of the mounting tube 122 extends in a direction parallel to the first optical path axis of the laser receiving device 112 and away from the first accommodating chamber M, so that the object-side end of the laser receiving device 112 passes through the first opening 12131 and is located in the second accommodating chamber N. A third light-transmitting plate 1221 can be disposed at the end of the mounting tube 122 away from the first accommodating chamber M.

[0068] See also Figure 7 The laser radar 10 may also include components such as a chip board 130, a driver board 140, and a main control board 150. These components include precision devices such as control chips. The temperature of the laser emitting device 111 is generally high, which may affect the operation of the above-mentioned precision devices. Therefore, to facilitate the dissipation of heat within the laser radar 10 and thus protect the above-mentioned precision devices, the laser radar 10 may also include a heat sink 160. The heat sink 160 can be any component with heat dissipation properties. For example, the heat sink 160 can be a component made of a material with high thermal conductivity or a thermally conductive adhesive with high thermal conductivity.

[0069] The heat sink 160 can be located at any position in the first accommodation chamber M. Figure 1 and Figure 5 The housing 120 may include a second side wall plate 123 disposed opposite the first side wall plate 121. Since the heat generated in the laser radar 10 mainly comes from the laser emitting device 111, the heat sink 160 may be disposed on the inner wall surface of the second side wall plate 123 opposite the first side wall plate 121 to better dissipate the heat generated by the laser emitting device 111. At the same time, since the first side wall plate 121 is used to mount the detection assembly 110, in order to ensure that the detection assembly 110 can be stably mounted on the first side wall plate 121, the first side wall plate 121 may have a sufficiently large mounting area. In this way, the area of the second side wall plate 123 opposite the first side wall plate 121 can also be enlarged, thereby enabling the heat dissipation area of the heat sink 160 mounted on the second side wall plate 123 to be larger, thereby enhancing the heat dissipation effect.

[0070] See also Figure 1 、 Figure 3 、 Figure 4 as well as Figure 5 , the shell 120 may also include a first end plate 124, a second end plate 125 and a surrounding wall plate 126. The first end plate 124 and the second end plate 125 are arranged opposite to each other. The surrounding wall plate 126 is located between the first end plate 124 and the second end plate 125, and is connected to both the first end plate 124 and the second end plate 125, so that the surrounding wall plate 126, the first end plate 124 and the second end plate 125 jointly define a first accommodating cavity M. The surrounding wall plate 126 includes the above-mentioned first side wall plate 121 and the second side wall plate 123, and the first connecting section 1213 of the first side wall plate 121 is connected to the first end plate 124, and the second connecting section 1214 of the first side wall plate 121 is connected to the first connecting section 1213 and the second end plate 125. In order to better dissipate heat, a plurality of heat dissipation holes 127 may be provided on the shell 120. The heat dissipation hole 127 may be a through hole or a blind hole. In order to avoid affecting the appearance display effect of the laser radar 10, see Figure 3 and Figure 4 , the heat dissipation hole 127 can be set on the second end plate 125.

[0071] The first end plate 124 may be parallel to the second end plate 125. Figure 1 、 Figure 3 、 Figure 4 as well as Figure 5 The peripheral wall plate 126 may further include a third side wall plate 128 and a fourth side wall plate 129. The third side wall plate 128 is used to connect one end of the first side wall plate 121 and one end of the second side wall plate 123, and the fourth side wall plate 129 is used to connect the other end of the first side wall plate 121 and the other end of the second side wall plate 123. Both the third side wall plate 128 and the fourth side wall plate 129 may be perpendicular to the first end plate 124. The angle between the inner wall surface of the first connecting section 1213 and the inner wall surface of the first end plate 124 may be smaller than the angle between the inner wall surface of the second connecting section 1214 and the inner wall surface of the second end plate 125. In this case, to reduce the size of the laser radar 10, the angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the first end plate 124 may be larger than the angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the second end plate 125. By setting the angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the first end plate 124 to be greater than the angle between the inner wall surface of the second side wall plate 123 and the inner wall surface of the second end plate 125, that is, the second side wall plate 123 is not perpendicular to the first end plate 124 or the second end plate 125, the area of the second side wall plate 123 can be increased, thereby increasing the area of the heat dissipation element 160 to enhance the heat dissipation effect.

[0072] The second side wall plate 123 can be a flat plate. Of course, in order to reduce the size of the laser radar 10, the second side wall plate 123 can include two flat plates with a certain angle. Figure 1 The two planar panels included in the second sidewall panel 123 can be respectively referred to as a third connecting segment 1231 and a fourth connecting segment 1232. The third connecting segment 1231 is connected to the first end panel 124, and the fourth connecting segment 1232 is connected to the third connecting segment 1231 and the second end panel 125. The angle between the inner wall surface of the third connecting segment 1231 and the inner wall surface of the fourth connecting segment 1232 can be an obtuse angle, and the angle between the inner wall surface of the third connecting segment 1231 and the inner wall surface of the first end panel 124 can be greater than the angle between the inner wall surface of the fourth connecting segment 1232 and the inner wall surface of the second end panel 125.

[0073] Heat sinks 160 can be provided on both the third connecting segment 1231 and the fourth connecting segment 1232. Of course, to reduce costs, heat sink 160 can also be provided only on the third connecting segment 1231. Since the third connecting segment 1231 is positioned opposite the first connecting segment 1213, and the first laser emitting device 1111 corresponding to the first connecting segment 1213 has a higher emission power and generates more heat, providing heat sink 160 on the third connecting segment 1231 allows for better heat dissipation. Of course, to increase the heat dissipation area, the third connecting segment 1231 includes a fifth edge connected to the fourth connecting segment 1232 and a sixth edge located away from the fifth edge. The fourth connecting segment 1232 includes a seventh edge connected to the third connecting segment 1231 and an eighth edge located away from the seventh edge. The distance h3 between the fifth and sixth edges can be greater than the distance h4 between the seventh and eighth edges.

[0074] When there are multiple detection assemblies 110, there can also be multiple first side wall panels 121, and the number of first side wall panels 121 is equal to the number of first detection assemblies 110, so that each first side wall panel 121 is used to mount a corresponding detection assembly 110. Two adjacent first side wall panels 121 can be coplanar. In order to reduce the overlap of the detection areas of the laser emitting devices 111 of two adjacent detection assemblies 110, thereby increasing the overall detection field of view of the laser radar 10, see Figure 6In two adjacent first sidewall panels 121, the angle between the inner wall surfaces of the two first connecting sections 1213 is a second angle θ1, and the angle between the inner wall surfaces of the two second connecting sections 1214 is a third angle θ2. The second angle θ1 can be equal to the third angle θ2 and both are obtuse angles. For example, when there are two detection assemblies 110 and two first sidewall panels 121, each first sidewall panel 121 is used to mount a corresponding detection assembly 110. In the two first sidewall panels 121, the angle between the inner wall surfaces of the two first connecting sections 1213 and the inner wall surfaces of the two second connecting sections 1214 are equal to each other and both are obtuse angles. The second angle θ1 can be 170°, 150°, 135°, 129°, 120°, 110°, 100°, etc. Of course, like the first angle, the second angle θ1 can also be appropriately adjusted according to actual conditions. For example, after the placement positions of all laser emitting devices 111 and all laser receiving devices 112 are determined based on energy distribution matching and field of view angle adjustment, the second angle θ1 can also be determined accordingly. The specific implementation of the placement positions of all laser emitting devices 111 and all laser receiving devices 112 based on energy distribution matching and field of view angle adjustment is similar to the adjustment process of the laser emitting devices 111 and laser receiving devices 112 in each detection assembly 110 described above, and will not be repeated here.

[0075] When the number of the detection components 110 and the number of the first side wall plates 121 are both two, the number of the second side wall plates 123 can be two, and each second side wall plate 123 corresponds to one first side wall plate 121. Of course, in order to reduce the size of the laser radar 10, see Figure 3 、 Figure 5 as well as Figure 7 The number of the second side wall plate 123 may also be one, so that the one second side wall plate 123 can correspond to two first side wall plates 121 .

[0076] See also Figure 7 In order to facilitate the stable fixation of components such as the driving board 140 in the first accommodating chamber M, a bracket 170 may be further provided in the first accommodating chamber M. In order to facilitate heat dissipation and reduce the weight of the laser radar 10, the bracket 170 may adopt a hollow design.

[0077] Due to hardware limitations, in the related art, the intensity of the laser beam emitted by the laser emitting device 111 at different positions in the emission field of view is different, and this difference has a certain impact on the detection accuracy of the laser radar 10. The intensity difference of the laser beam emitted by the laser emitting device 111 at different positions in the emission field of view can be: the light intensity at the center of the emission field of view is lower, and the light intensity at the position close to the edge of the emission field of view is higher. In order to improve the uniformity of light at various locations in the emission field of view, in one embodiment, the laser radar 10 can also include a homogenizer (i.e., a micro-optical system (DIFFUSER or ROE) with a specific structure). The homogenizer is used to adjust the light emitted by the laser emitting device 111 so that the light energy distribution at various locations in the emission field of view is more uniform. The laser beam emitted by the laser emitting device 111 passes through a specific micro-optical system (DIFFUSER or ROE) and illuminates the field of view at one time in a flood emission manner. At this time, the light in the emission field of view will be distributed in a specific area of space according to a certain rule, which can make the light intensity at various locations in the emission field of view more uniform.

[0078] Specifically, the light source chip in the laser emitting device 111 in this embodiment can be a vertical cavity surface laser (VCSEL) manufactured by semiconductor technology. The chip surface is covered with micro-optical devices such as DIFFUSER (diffraction type) or ROE (refractive type), which realizes the diffusion of the outgoing light and realizes the shaping and homogenization of the outgoing energy through multiple internal refraction or reflection, so as to concentrate more energy within the designed outgoing field of view. DIFFUSER is a diffraction micro-optical structure, and the material is generally a polymer organic material. ROE is a refractive micro-optical element made of glass. The function achieved is similar to that of Diffuser, but the principle is based on the refraction and reflection of light, similar to a microlens array. It has better high temperature resistance and higher cost. In this embodiment, when the laser radar 10 includes two detection components 110, the laser radar 10 can include 30 VCSELs, and each detection component 110 includes 15 VCSELs, that is, the first laser emitting device 1111 and the second laser emitting device 1112 of each detection component 110 together include 15 VCSELs.

[0079] The total field of view of the transmitting end of the laser radar 10 includes the horizontal field of view angle and the vertical field of view angle. The total field of view of the receiving end of the laser radar 10 includes the horizontal field of view angle and the vertical field of view angle. The horizontal field of view of the receiving end can cover the horizontal field of view of the transmitting end, and the vertical field of view of the receiving end can cover the vertical field of view of the transmitting end. Figure 8, which shows the situation where the lateral field of view angle Q1 of the receiving end covers the lateral field of view angle P1 of the transmitting end. The lateral field of view angle Q1 of the receiving end can be 130° to 160°. Specifically, the lateral field of view angle Q1 of the receiving end can be 135°, 140°, 145°, 150° or 160°, etc. The lateral field of view angle P1 of the transmitting end can be 130° to 160°. Specifically, the lateral field of view angle P1 of the transmitting end can be 132°, 138°, 142°, 144°, 148°, 152° or 158°, etc. See Figure 9 , which shows the longitudinal field of view angle Q2 of the receiving end. The longitudinal field of view angle Q2 of the receiving end can be 100° to 130°. Specifically, the longitudinal field of view angle Q2 of the receiving end can be 105°, 108°, 112°, 118°, or 125°, etc. The longitudinal field of view angle of the transmitting end can be 100° to 130°. Specifically, the longitudinal field of view angle of the transmitting end can be 100°, 105°, 110°, 115°, 120°, 125°, etc.

[0080] See also Figure 10 and Figure 11 The embodiments of the present application further provide a device 1, which includes any of the aforementioned laser radars 10. The device 1 can be any device 1 capable of performing laser detection. Specifically, the device 1 can be a car 20. The car 20 includes a car body 20, and the laser radar 10 can be installed outside the car body 20 or embedded in the car body 20. When the laser radar 10 is disposed outside the car body 20, the laser radar 10 is preferably disposed on the roof of the car body 20.

[0081] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0082] The above disclosure is only a preferred embodiment of the present application, and certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A laser radar, characterized in that: include: At least one detection assembly, each of the detection assemblies comprising: A first laser emitting device, configured to emit a first laser beam toward a first detection area; A second laser emitting device, configured to emit a second laser beam toward a second detection area; and a laser receiving device, located between the first laser emitting device and the second laser emitting device, to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area; Wherein, the emission power of the first laser emitting device is greater than the emission power of the second laser emitting device; There are multiple detection assemblies, and in two adjacent detection assemblies, the first detection areas of the two first laser emitting devices have an overlapping portion, and / or the second detection areas of the two second laser emitting devices have an overlapping portion; The laser radar also includes a control device, which is electrically connected to the multiple detection components, and the control device is configured to control the staggered light emission timing of the multiple detection components so that each laser receiving device receives the first laser beam emitted by the first laser emitting device of the corresponding detection component and the second laser beam emitted by the second laser emitting device of the corresponding detection component.

2. The laser radar according to claim 1, wherein There are two detection assemblies, the first detection areas of the two first laser emitting devices have an overlapping portion, and / or the second detection areas of the two second laser emitting devices have an overlapping portion; The control device is configured to control the staggered light emission timing of the two detection components so that each laser receiving device receives the first laser beam emitted by the first laser emitting device of the corresponding detection component and the second laser beam emitted by the second laser emitting device of the corresponding detection component.

3. The laser radar according to claim 1, wherein The device further includes a housing, wherein the housing defines a first accommodating cavity, and the detection assembly is disposed in the first accommodating cavity; the housing includes a first side wall plate for mounting the detection assembly, and the first side wall plate includes: a first connecting section facing an emitting end of the first laser emitting device, so that the first laser beam emitted by the first laser emitting device passes through the first connecting section and is emitted out of the laser radar; and a second connecting section connected to the first connecting section and facing the emission end of the second laser emitting device, so that the second laser beam emitted by the second laser emitting device passes through the second connecting section and is emitted outside the laser radar; The angle between the inner wall surface of the first connecting section and the inner wall surface of the second connecting section is a first angle, and the first angle is an obtuse angle.

4. The laser radar according to claim 3, wherein The first connecting section includes a first edge connected to the second connecting section and a second edge located away from the first edge; the second connecting section includes a third edge connected to the first connecting section and a fourth edge located away from the third edge; the distance between the first edge and the second edge is greater than the distance between the third edge and the fourth edge; The first connecting section is provided with a first opening, and the receiving end of the laser receiving device passes through the first opening to receive the first laser beam reflected by the first detection area and the second laser beam reflected by the second detection area.

5. The laser radar according to claim 4, wherein: The laser receiving device has a first optical path axis, and the housing further comprises: The mounting tube has a second accommodating cavity, one end of the mounting tube is connected to the outer edge of the first opening and connects the second accommodating cavity with the first accommodating cavity, and the other end of the mounting tube extends in a direction parallel to the axis of the first optical path and away from the first accommodating cavity; the receiving end of the laser receiving device passes through the first opening and is located in the second accommodating cavity.

6. The laser radar according to claim 3, wherein Also includes: The heat dissipation element is provided on the inner wall surface of the second side wall plate. The shell further includes a second side wall plate arranged opposite to the first side wall plate.

7. The laser radar according to claim 6, wherein: The housing further comprises: a first end plate; a second end plate, disposed opposite to the first end plate; and a peripheral wall plate, located between the first end plate and the second end plate, and connected to both the first end plate and the second end plate to define the first accommodating cavity together with the first end plate and the second end plate; the peripheral wall plate includes the first side wall plate and the second side wall plate, the first connecting section connects the first end plate, and the second connecting section connects the first connecting section and the second end plate; Among them, the angle between the inner wall surface of the first connecting section and the inner wall surface of the first end plate is smaller than the angle between the inner wall surface of the second connecting section and the inner wall surface of the second end plate, and the angle between the inner wall surface of the second side wall plate and the inner wall surface of the first end plate is larger than the angle between the inner wall surface of the second side wall plate and the inner wall surface of the second end plate.

8. The laser radar according to claim 7, wherein: The second side wall panel comprises: a third connecting section, connected to the first end plate; and a fourth connecting section, connecting the third connecting section and the second end plate; Among them, the angle between the inner wall surface of the third connecting segment and the inner wall surface of the fourth connecting segment is an obtuse angle, and the angle between the inner wall surface of the third connecting segment and the inner wall surface of the first end plate is greater than the angle between the inner wall surface of the fourth connecting segment and the inner wall surface of the second end plate.

9. The laser radar according to claim 8, wherein The third connecting section includes a fifth edge connected to the fourth connecting section and a sixth edge located on a side away from the fifth edge. The fourth connecting section includes a seventh edge connected to the third connecting section and an eighth edge located on a side away from the seventh edge. The distance between the fifth edge and the sixth edge is greater than the distance between the seventh edge and the eighth edge. The heat dissipation member is arranged on the inner wall surface of the third connecting section.

10. The laser radar according to claim 3, wherein: There are two detection components and two first side wall plates, each of which is used to install a corresponding detection component. Among the two first side wall plates, the angle between the inner wall surfaces of the two first connecting sections is the second angle, and the angle between the inner wall surfaces of the two second connecting sections is the third angle. The second angle is equal to the third angle and both are obtuse angles.

11. A device, characterized in that A laser radar comprising the laser radar according to any one of claims 1 to 10.

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